{
  "best_global_step": null,
  "best_metric": null,
  "best_model_checkpoint": null,
  "epoch": 3.0,
  "eval_steps": 500,
  "global_step": 13371,
  "is_hyper_param_search": false,
  "is_local_process_zero": true,
  "is_world_process_zero": true,
  "log_history": [
    {
      "epoch": 0,
      "gripper_loss": 52.0,
      "loss": 2.796875,
      "pos_loss": 8.5,
      "rot_loss": 1.375,
      "step": 0
    },
    {
      "epoch": 0.0002243661655822302,
      "grad_norm": 15.587583541870117,
      "learning_rate": 1.2437810945273632e-06,
      "loss": 3.3301,
      "step": 1
    },
    {
      "epoch": 0.0002243661655822302,
      "gripper_loss": 3.09375,
      "loss": 0.62109375,
      "pos_loss": 2.84375,
      "rot_loss": 2.703125,
      "step": 1
    },
    {
      "epoch": 0.0004487323311644604,
      "grad_norm": 4.688905239105225,
      "learning_rate": 2.4875621890547264e-06,
      "loss": 0.7312,
      "step": 2
    },
    {
      "epoch": 0.0004487323311644604,
      "gripper_loss": 5.65625,
      "loss": 0.9296875,
      "pos_loss": 5.375,
      "rot_loss": 2.578125,
      "step": 2
    },
    {
      "epoch": 0.0006730984967466906,
      "grad_norm": 5.591314315795898,
      "learning_rate": 3.7313432835820897e-06,
      "loss": 0.938,
      "step": 3
    },
    {
      "epoch": 0.0006730984967466906,
      "gripper_loss": 21.375,
      "loss": 1.2265625,
      "pos_loss": 5.21875,
      "rot_loss": 0.6953125,
      "step": 3
    },
    {
      "epoch": 0.0008974646623289208,
      "grad_norm": 8.142597198486328,
      "learning_rate": 4.975124378109453e-06,
      "loss": 1.0073,
      "step": 4
    },
    {
      "epoch": 0.0008974646623289208,
      "gripper_loss": 3.359375,
      "loss": 1.125,
      "pos_loss": 7.9375,
      "rot_loss": 2.84375,
      "step": 4
    },
    {
      "epoch": 0.001121830827911151,
      "grad_norm": 4.736363410949707,
      "learning_rate": 6.2189054726368165e-06,
      "loss": 0.7522,
      "step": 5
    },
    {
      "epoch": 0.001121830827911151,
      "gripper_loss": 2.234375,
      "loss": 0.26953125,
      "pos_loss": 1.03125,
      "rot_loss": 1.0546875,
      "step": 5
    },
    {
      "epoch": 0.0013461969934933811,
      "grad_norm": 3.654186248779297,
      "learning_rate": 7.462686567164179e-06,
      "loss": 0.573,
      "step": 6
    },
    {
      "epoch": 0.0013461969934933811,
      "gripper_loss": 24.875,
      "loss": 1.34375,
      "pos_loss": 3.140625,
      "rot_loss": 2.71875,
      "step": 6
    },
    {
      "epoch": 0.0015705631590756115,
      "grad_norm": 6.046701908111572,
      "learning_rate": 8.706467661691542e-06,
      "loss": 1.0564,
      "step": 7
    },
    {
      "epoch": 0.0015705631590756115,
      "gripper_loss": 18.625,
      "loss": 0.765625,
      "pos_loss": 0.9609375,
      "rot_loss": 0.94921875,
      "step": 7
    },
    {
      "epoch": 0.0017949293246578416,
      "grad_norm": 5.884616374969482,
      "learning_rate": 9.950248756218906e-06,
      "loss": 1.062,
      "step": 8
    },
    {
      "epoch": 0.0017949293246578416,
      "gripper_loss": 1.7265625,
      "loss": 0.2578125,
      "pos_loss": 0.33984375,
      "rot_loss": 1.7890625,
      "step": 8
    },
    {
      "epoch": 0.002019295490240072,
      "grad_norm": 4.200830459594727,
      "learning_rate": 1.1194029850746268e-05,
      "loss": 0.5327,
      "step": 9
    },
    {
      "epoch": 0.002019295490240072,
      "gripper_loss": 3.53125,
      "loss": 0.55078125,
      "pos_loss": 4.15625,
      "rot_loss": 0.48828125,
      "step": 9
    },
    {
      "epoch": 0.002243661655822302,
      "grad_norm": 2.7074639797210693,
      "learning_rate": 1.2437810945273633e-05,
      "loss": 0.4165,
      "step": 10
    },
    {
      "epoch": 0.002243661655822302,
      "gripper_loss": 4.71875,
      "loss": 1.453125,
      "pos_loss": 6.875,
      "rot_loss": 6.84375,
      "step": 10
    },
    {
      "epoch": 0.0024680278214045323,
      "grad_norm": 4.082066535949707,
      "learning_rate": 1.3681592039800995e-05,
      "loss": 0.6489,
      "step": 11
    },
    {
      "epoch": 0.0024680278214045323,
      "gripper_loss": 11.0,
      "loss": 0.88671875,
      "pos_loss": 4.5625,
      "rot_loss": 0.9375,
      "step": 11
    },
    {
      "epoch": 0.0026923939869867622,
      "grad_norm": 7.957912921905518,
      "learning_rate": 1.4925373134328359e-05,
      "loss": 1.1177,
      "step": 12
    },
    {
      "epoch": 0.0026923939869867622,
      "gripper_loss": 3.046875,
      "loss": 0.2255859375,
      "pos_loss": 0.65234375,
      "rot_loss": 0.58203125,
      "step": 12
    },
    {
      "epoch": 0.0029167601525689926,
      "grad_norm": 3.1535117626190186,
      "learning_rate": 1.616915422885572e-05,
      "loss": 0.2659,
      "step": 13
    },
    {
      "epoch": 0.0029167601525689926,
      "gripper_loss": 1.71875,
      "loss": 0.287109375,
      "pos_loss": 1.390625,
      "rot_loss": 0.94140625,
      "step": 13
    },
    {
      "epoch": 0.003141126318151223,
      "grad_norm": 4.5806779861450195,
      "learning_rate": 1.7412935323383084e-05,
      "loss": 0.4792,
      "step": 14
    },
    {
      "epoch": 0.003141126318151223,
      "gripper_loss": 2.8125,
      "loss": 0.298828125,
      "pos_loss": 1.3359375,
      "rot_loss": 0.6953125,
      "step": 14
    },
    {
      "epoch": 0.003365492483733453,
      "grad_norm": 3.4953114986419678,
      "learning_rate": 1.8656716417910448e-05,
      "loss": 0.3816,
      "step": 15
    },
    {
      "epoch": 0.003365492483733453,
      "gripper_loss": 1.5703125,
      "loss": 0.232421875,
      "pos_loss": 0.7890625,
      "rot_loss": 0.97265625,
      "step": 15
    },
    {
      "epoch": 0.0035898586493156833,
      "grad_norm": 3.00543212890625,
      "learning_rate": 1.990049751243781e-05,
      "loss": 0.332,
      "step": 16
    },
    {
      "epoch": 0.0035898586493156833,
      "gripper_loss": 0.9921875,
      "loss": 0.384765625,
      "pos_loss": 0.83203125,
      "rot_loss": 2.765625,
      "step": 16
    },
    {
      "epoch": 0.003814224814897913,
      "grad_norm": 2.677457571029663,
      "learning_rate": 2.1144278606965175e-05,
      "loss": 0.2704,
      "step": 17
    },
    {
      "epoch": 0.003814224814897913,
      "gripper_loss": 0.341796875,
      "loss": 0.1728515625,
      "pos_loss": 1.2265625,
      "rot_loss": 0.296875,
      "step": 17
    },
    {
      "epoch": 0.004038590980480144,
      "grad_norm": 1.6681803464889526,
      "learning_rate": 2.2388059701492536e-05,
      "loss": 0.2576,
      "step": 18
    },
    {
      "epoch": 0.004038590980480144,
      "gripper_loss": 4.46875,
      "loss": 0.6484375,
      "pos_loss": 2.546875,
      "rot_loss": 1.4296875,
      "step": 18
    },
    {
      "epoch": 0.0042629571460623735,
      "grad_norm": 3.0872530937194824,
      "learning_rate": 2.3631840796019903e-05,
      "loss": 0.6733,
      "step": 19
    },
    {
      "epoch": 0.0042629571460623735,
      "gripper_loss": 20.0,
      "loss": 1.4296875,
      "pos_loss": 3.046875,
      "rot_loss": 2.515625,
      "step": 19
    },
    {
      "epoch": 0.004487323311644604,
      "grad_norm": 15.909579277038574,
      "learning_rate": 2.4875621890547266e-05,
      "loss": 1.3643,
      "step": 20
    },
    {
      "epoch": 0.004487323311644604,
      "gripper_loss": 5.0,
      "loss": 0.484375,
      "pos_loss": 2.015625,
      "rot_loss": 0.70703125,
      "step": 20
    },
    {
      "epoch": 0.004711689477226834,
      "grad_norm": 3.5826048851013184,
      "learning_rate": 2.6119402985074626e-05,
      "loss": 0.4998,
      "step": 21
    },
    {
      "epoch": 0.004711689477226834,
      "gripper_loss": 1.1953125,
      "loss": 0.25,
      "pos_loss": 1.375,
      "rot_loss": 0.73046875,
      "step": 21
    },
    {
      "epoch": 0.004936055642809065,
      "grad_norm": 2.143045663833618,
      "learning_rate": 2.736318407960199e-05,
      "loss": 0.3586,
      "step": 22
    },
    {
      "epoch": 0.004936055642809065,
      "gripper_loss": 2.640625,
      "loss": 0.318359375,
      "pos_loss": 1.375,
      "rot_loss": 0.87890625,
      "step": 22
    },
    {
      "epoch": 0.005160421808391295,
      "grad_norm": 1.8826229572296143,
      "learning_rate": 2.8606965174129357e-05,
      "loss": 0.2957,
      "step": 23
    },
    {
      "epoch": 0.005160421808391295,
      "gripper_loss": 1.25,
      "loss": 0.2197265625,
      "pos_loss": 0.953125,
      "rot_loss": 0.81640625,
      "step": 23
    },
    {
      "epoch": 0.0053847879739735245,
      "grad_norm": 1.7500526905059814,
      "learning_rate": 2.9850746268656717e-05,
      "loss": 0.3141,
      "step": 24
    },
    {
      "epoch": 0.0053847879739735245,
      "gripper_loss": 4.75,
      "loss": 0.8515625,
      "pos_loss": 2.8125,
      "rot_loss": 2.546875,
      "step": 24
    },
    {
      "epoch": 0.005609154139555755,
      "grad_norm": 3.9689316749572754,
      "learning_rate": 3.109452736318408e-05,
      "loss": 0.6931,
      "step": 25
    },
    {
      "epoch": 0.005609154139555755,
      "gripper_loss": 0.5078125,
      "loss": 0.267578125,
      "pos_loss": 0.921875,
      "rot_loss": 0.91015625,
      "step": 25
    },
    {
      "epoch": 0.005833520305137985,
      "grad_norm": 1.7572638988494873,
      "learning_rate": 3.233830845771144e-05,
      "loss": 0.3507,
      "step": 26
    },
    {
      "epoch": 0.005833520305137985,
      "gripper_loss": 1.140625,
      "loss": 0.2177734375,
      "pos_loss": 1.7421875,
      "rot_loss": 0.158203125,
      "step": 26
    },
    {
      "epoch": 0.006057886470720216,
      "grad_norm": 3.042124032974243,
      "learning_rate": 3.3582089552238805e-05,
      "loss": 0.2932,
      "step": 27
    },
    {
      "epoch": 0.006057886470720216,
      "gripper_loss": 2.578125,
      "loss": 0.25390625,
      "pos_loss": 0.8359375,
      "rot_loss": 0.365234375,
      "step": 27
    },
    {
      "epoch": 0.006282252636302446,
      "grad_norm": 2.745429039001465,
      "learning_rate": 3.482587064676617e-05,
      "loss": 0.4045,
      "step": 28
    },
    {
      "epoch": 0.006282252636302446,
      "gripper_loss": 3.71875,
      "loss": 0.251953125,
      "pos_loss": 0.74609375,
      "rot_loss": 0.375,
      "step": 28
    },
    {
      "epoch": 0.0065066188018846755,
      "grad_norm": 2.6913363933563232,
      "learning_rate": 3.606965174129353e-05,
      "loss": 0.3374,
      "step": 29
    },
    {
      "epoch": 0.0065066188018846755,
      "gripper_loss": 1.390625,
      "loss": 0.146484375,
      "pos_loss": 0.462890625,
      "rot_loss": 0.54296875,
      "step": 29
    },
    {
      "epoch": 0.006730984967466906,
      "grad_norm": 2.0843005180358887,
      "learning_rate": 3.7313432835820896e-05,
      "loss": 0.2614,
      "step": 30
    },
    {
      "epoch": 0.006730984967466906,
      "gripper_loss": 1.4140625,
      "loss": 0.34765625,
      "pos_loss": 0.84375,
      "rot_loss": 0.8828125,
      "step": 30
    },
    {
      "epoch": 0.006955351133049136,
      "grad_norm": 2.877230405807495,
      "learning_rate": 3.855721393034826e-05,
      "loss": 0.4751,
      "step": 31
    },
    {
      "epoch": 0.006955351133049136,
      "gripper_loss": 1.359375,
      "loss": 0.1904296875,
      "pos_loss": 0.796875,
      "rot_loss": 0.56640625,
      "step": 31
    },
    {
      "epoch": 0.0071797172986313666,
      "grad_norm": 3.2779784202575684,
      "learning_rate": 3.980099502487562e-05,
      "loss": 0.2609,
      "step": 32
    },
    {
      "epoch": 0.0071797172986313666,
      "gripper_loss": 1.2890625,
      "loss": 0.291015625,
      "pos_loss": 1.4375,
      "rot_loss": 1.078125,
      "step": 32
    },
    {
      "epoch": 0.007404083464213597,
      "grad_norm": 1.2275804281234741,
      "learning_rate": 4.104477611940299e-05,
      "loss": 0.2874,
      "step": 33
    },
    {
      "epoch": 0.007404083464213597,
      "gripper_loss": 1.5390625,
      "loss": 0.279296875,
      "pos_loss": 1.2421875,
      "rot_loss": 0.7578125,
      "step": 33
    },
    {
      "epoch": 0.007628449629795826,
      "grad_norm": 2.1926169395446777,
      "learning_rate": 4.228855721393035e-05,
      "loss": 0.3474,
      "step": 34
    },
    {
      "epoch": 0.007628449629795826,
      "gripper_loss": 1.65625,
      "loss": 0.431640625,
      "pos_loss": 3.171875,
      "rot_loss": 0.353515625,
      "step": 34
    },
    {
      "epoch": 0.007852815795378058,
      "grad_norm": 2.2749946117401123,
      "learning_rate": 4.3532338308457714e-05,
      "loss": 0.3602,
      "step": 35
    },
    {
      "epoch": 0.007852815795378058,
      "gripper_loss": 0.23046875,
      "loss": 0.384765625,
      "pos_loss": 1.21875,
      "rot_loss": 2.71875,
      "step": 35
    },
    {
      "epoch": 0.008077181960960288,
      "grad_norm": 1.33109712600708,
      "learning_rate": 4.477611940298507e-05,
      "loss": 0.208,
      "step": 36
    },
    {
      "epoch": 0.008077181960960288,
      "gripper_loss": 2.046875,
      "loss": 0.2060546875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.69921875,
      "step": 36
    },
    {
      "epoch": 0.008301548126542517,
      "grad_norm": 1.6977691650390625,
      "learning_rate": 4.6019900497512435e-05,
      "loss": 0.2739,
      "step": 37
    },
    {
      "epoch": 0.008301548126542517,
      "gripper_loss": 1.46875,
      "loss": 0.12109375,
      "pos_loss": 0.19921875,
      "rot_loss": 0.53515625,
      "step": 37
    },
    {
      "epoch": 0.008525914292124747,
      "grad_norm": 1.8497759103775024,
      "learning_rate": 4.7263681592039805e-05,
      "loss": 0.1772,
      "step": 38
    },
    {
      "epoch": 0.008525914292124747,
      "gripper_loss": 1.6640625,
      "loss": 0.486328125,
      "pos_loss": 1.4765625,
      "rot_loss": 3.109375,
      "step": 38
    },
    {
      "epoch": 0.008750280457706977,
      "grad_norm": 2.224081039428711,
      "learning_rate": 4.850746268656717e-05,
      "loss": 0.2969,
      "step": 39
    },
    {
      "epoch": 0.008750280457706977,
      "gripper_loss": 0.5078125,
      "loss": 0.08837890625,
      "pos_loss": 0.53125,
      "rot_loss": 0.1796875,
      "step": 39
    },
    {
      "epoch": 0.008974646623289208,
      "grad_norm": 2.035212516784668,
      "learning_rate": 4.975124378109453e-05,
      "loss": 0.3314,
      "step": 40
    },
    {
      "epoch": 0.008974646623289208,
      "gripper_loss": 0.71484375,
      "loss": 0.2470703125,
      "pos_loss": 1.28125,
      "rot_loss": 0.9375,
      "step": 40
    },
    {
      "epoch": 0.009199012788871438,
      "grad_norm": 2.216834783554077,
      "learning_rate": 5.099502487562189e-05,
      "loss": 0.3677,
      "step": 41
    },
    {
      "epoch": 0.009199012788871438,
      "gripper_loss": 1.5390625,
      "loss": 0.193359375,
      "pos_loss": 1.140625,
      "rot_loss": 0.27734375,
      "step": 41
    },
    {
      "epoch": 0.009423378954453668,
      "grad_norm": 3.0675411224365234,
      "learning_rate": 5.223880597014925e-05,
      "loss": 0.2463,
      "step": 42
    },
    {
      "epoch": 0.009423378954453668,
      "gripper_loss": 5.5625,
      "loss": 0.2890625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.44921875,
      "step": 42
    },
    {
      "epoch": 0.009647745120035899,
      "grad_norm": 2.4503400325775146,
      "learning_rate": 5.3482587064676617e-05,
      "loss": 0.417,
      "step": 43
    },
    {
      "epoch": 0.009647745120035899,
      "gripper_loss": 0.640625,
      "loss": 0.68359375,
      "pos_loss": 1.5390625,
      "rot_loss": 5.46875,
      "step": 43
    },
    {
      "epoch": 0.00987211128561813,
      "grad_norm": 3.366696357727051,
      "learning_rate": 5.472636815920398e-05,
      "loss": 0.4313,
      "step": 44
    },
    {
      "epoch": 0.00987211128561813,
      "gripper_loss": 0.64453125,
      "loss": 0.12060546875,
      "pos_loss": 0.34765625,
      "rot_loss": 0.625,
      "step": 44
    },
    {
      "epoch": 0.01009647745120036,
      "grad_norm": 2.512380361557007,
      "learning_rate": 5.5970149253731344e-05,
      "loss": 0.34,
      "step": 45
    },
    {
      "epoch": 0.01009647745120036,
      "gripper_loss": 1.359375,
      "loss": 0.451171875,
      "pos_loss": 1.7109375,
      "rot_loss": 2.5625,
      "step": 45
    },
    {
      "epoch": 0.01032084361678259,
      "grad_norm": 2.0727078914642334,
      "learning_rate": 5.7213930348258714e-05,
      "loss": 0.3115,
      "step": 46
    },
    {
      "epoch": 0.01032084361678259,
      "gripper_loss": 1.7109375,
      "loss": 0.1865234375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.59375,
      "step": 46
    },
    {
      "epoch": 0.010545209782364819,
      "grad_norm": 1.9372347593307495,
      "learning_rate": 5.845771144278607e-05,
      "loss": 0.2483,
      "step": 47
    },
    {
      "epoch": 0.010545209782364819,
      "gripper_loss": 0.67578125,
      "loss": 0.322265625,
      "pos_loss": 1.3046875,
      "rot_loss": 1.8203125,
      "step": 47
    },
    {
      "epoch": 0.010769575947947049,
      "grad_norm": 2.808472156524658,
      "learning_rate": 5.9701492537313435e-05,
      "loss": 0.2692,
      "step": 48
    },
    {
      "epoch": 0.010769575947947049,
      "gripper_loss": 2.109375,
      "loss": 0.296875,
      "pos_loss": 1.4921875,
      "rot_loss": 0.75,
      "step": 48
    },
    {
      "epoch": 0.01099394211352928,
      "grad_norm": 2.2775309085845947,
      "learning_rate": 6.09452736318408e-05,
      "loss": 0.2559,
      "step": 49
    },
    {
      "epoch": 0.01099394211352928,
      "gripper_loss": 2.078125,
      "loss": 0.31640625,
      "pos_loss": 2.140625,
      "rot_loss": 0.404296875,
      "step": 49
    },
    {
      "epoch": 0.01121830827911151,
      "grad_norm": 2.3174805641174316,
      "learning_rate": 6.218905472636816e-05,
      "loss": 0.2318,
      "step": 50
    },
    {
      "epoch": 0.01121830827911151,
      "gripper_loss": 0.75390625,
      "loss": 0.138671875,
      "pos_loss": 0.4609375,
      "rot_loss": 0.69921875,
      "step": 50
    },
    {
      "epoch": 0.01144267444469374,
      "grad_norm": 2.1538798809051514,
      "learning_rate": 6.343283582089553e-05,
      "loss": 0.2365,
      "step": 51
    },
    {
      "epoch": 0.01144267444469374,
      "gripper_loss": 2.140625,
      "loss": 0.34375,
      "pos_loss": 1.703125,
      "rot_loss": 1.1796875,
      "step": 51
    },
    {
      "epoch": 0.01166704061027597,
      "grad_norm": 1.5760674476623535,
      "learning_rate": 6.467661691542288e-05,
      "loss": 0.2111,
      "step": 52
    },
    {
      "epoch": 0.01166704061027597,
      "gripper_loss": 0.62109375,
      "loss": 0.09423828125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.1220703125,
      "step": 52
    },
    {
      "epoch": 0.0118914067758582,
      "grad_norm": 1.6529996395111084,
      "learning_rate": 6.592039800995025e-05,
      "loss": 0.2947,
      "step": 53
    },
    {
      "epoch": 0.0118914067758582,
      "gripper_loss": 0.88671875,
      "loss": 0.318359375,
      "pos_loss": 2.609375,
      "rot_loss": 0.380859375,
      "step": 53
    },
    {
      "epoch": 0.012115772941440431,
      "grad_norm": 1.8175790309906006,
      "learning_rate": 6.716417910447761e-05,
      "loss": 0.2527,
      "step": 54
    },
    {
      "epoch": 0.012115772941440431,
      "gripper_loss": 0.57421875,
      "loss": 0.255859375,
      "pos_loss": 0.96484375,
      "rot_loss": 1.4921875,
      "step": 54
    },
    {
      "epoch": 0.012340139107022662,
      "grad_norm": 2.0491783618927,
      "learning_rate": 6.840796019900497e-05,
      "loss": 0.2969,
      "step": 55
    },
    {
      "epoch": 0.012340139107022662,
      "gripper_loss": 0.99609375,
      "loss": 0.326171875,
      "pos_loss": 1.453125,
      "rot_loss": 1.3359375,
      "step": 55
    },
    {
      "epoch": 0.012564505272604892,
      "grad_norm": 2.506805181503296,
      "learning_rate": 6.965174129353234e-05,
      "loss": 0.3755,
      "step": 56
    },
    {
      "epoch": 0.012564505272604892,
      "gripper_loss": 3.171875,
      "loss": 0.234375,
      "pos_loss": 0.8828125,
      "rot_loss": 0.48828125,
      "step": 56
    },
    {
      "epoch": 0.01278887143818712,
      "grad_norm": 2.93621563911438,
      "learning_rate": 7.08955223880597e-05,
      "loss": 0.2708,
      "step": 57
    },
    {
      "epoch": 0.01278887143818712,
      "gripper_loss": 1.984375,
      "loss": 0.220703125,
      "pos_loss": 1.265625,
      "rot_loss": 0.333984375,
      "step": 57
    },
    {
      "epoch": 0.013013237603769351,
      "grad_norm": 2.1722347736358643,
      "learning_rate": 7.213930348258706e-05,
      "loss": 0.2947,
      "step": 58
    },
    {
      "epoch": 0.013013237603769351,
      "gripper_loss": 0.7890625,
      "loss": 0.10107421875,
      "pos_loss": 0.5078125,
      "rot_loss": 0.25,
      "step": 58
    },
    {
      "epoch": 0.013237603769351581,
      "grad_norm": 2.432504177093506,
      "learning_rate": 7.338308457711443e-05,
      "loss": 0.2388,
      "step": 59
    },
    {
      "epoch": 0.013237603769351581,
      "gripper_loss": 0.95703125,
      "loss": 0.298828125,
      "pos_loss": 1.25,
      "rot_loss": 1.2734375,
      "step": 59
    },
    {
      "epoch": 0.013461969934933812,
      "grad_norm": 2.688185930252075,
      "learning_rate": 7.462686567164179e-05,
      "loss": 0.3041,
      "step": 60
    },
    {
      "epoch": 0.013461969934933812,
      "gripper_loss": 1.0703125,
      "loss": 0.1240234375,
      "pos_loss": 0.66796875,
      "rot_loss": 0.25390625,
      "step": 60
    },
    {
      "epoch": 0.013686336100516042,
      "grad_norm": 2.133695125579834,
      "learning_rate": 7.587064676616916e-05,
      "loss": 0.2388,
      "step": 61
    },
    {
      "epoch": 0.013686336100516042,
      "gripper_loss": 2.03125,
      "loss": 0.2294921875,
      "pos_loss": 0.91796875,
      "rot_loss": 0.61328125,
      "step": 61
    },
    {
      "epoch": 0.013910702266098272,
      "grad_norm": 1.7088117599487305,
      "learning_rate": 7.711442786069652e-05,
      "loss": 0.2478,
      "step": 62
    },
    {
      "epoch": 0.013910702266098272,
      "gripper_loss": 1.2578125,
      "loss": 0.140625,
      "pos_loss": 0.71875,
      "rot_loss": 0.2470703125,
      "step": 62
    },
    {
      "epoch": 0.014135068431680503,
      "grad_norm": 1.894936442375183,
      "learning_rate": 7.835820895522389e-05,
      "loss": 0.2616,
      "step": 63
    },
    {
      "epoch": 0.014135068431680503,
      "gripper_loss": 1.40625,
      "loss": 0.333984375,
      "pos_loss": 1.3515625,
      "rot_loss": 0.9296875,
      "step": 63
    },
    {
      "epoch": 0.014359434597262733,
      "grad_norm": 3.349698066711426,
      "learning_rate": 7.960199004975125e-05,
      "loss": 0.3132,
      "step": 64
    },
    {
      "epoch": 0.014359434597262733,
      "gripper_loss": 1.203125,
      "loss": 0.169921875,
      "pos_loss": 0.6875,
      "rot_loss": 0.58203125,
      "step": 64
    },
    {
      "epoch": 0.014583800762844963,
      "grad_norm": 2.893404245376587,
      "learning_rate": 8.084577114427862e-05,
      "loss": 0.2693,
      "step": 65
    },
    {
      "epoch": 0.014583800762844963,
      "gripper_loss": 0.6796875,
      "loss": 0.3203125,
      "pos_loss": 1.046875,
      "rot_loss": 2.03125,
      "step": 65
    },
    {
      "epoch": 0.014808166928427194,
      "grad_norm": 1.8184477090835571,
      "learning_rate": 8.208955223880597e-05,
      "loss": 0.3145,
      "step": 66
    },
    {
      "epoch": 0.014808166928427194,
      "gripper_loss": 0.87890625,
      "loss": 0.23046875,
      "pos_loss": 1.734375,
      "rot_loss": 0.326171875,
      "step": 66
    },
    {
      "epoch": 0.015032533094009424,
      "grad_norm": 2.4858803749084473,
      "learning_rate": 8.333333333333333e-05,
      "loss": 0.2693,
      "step": 67
    },
    {
      "epoch": 0.015032533094009424,
      "gripper_loss": 1.625,
      "loss": 0.150390625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.3125,
      "step": 67
    },
    {
      "epoch": 0.015256899259591653,
      "grad_norm": 2.172531843185425,
      "learning_rate": 8.45771144278607e-05,
      "loss": 0.3087,
      "step": 68
    },
    {
      "epoch": 0.015256899259591653,
      "gripper_loss": 0.181640625,
      "loss": 0.72265625,
      "pos_loss": 2.703125,
      "rot_loss": 4.84375,
      "step": 68
    },
    {
      "epoch": 0.015481265425173883,
      "grad_norm": 1.4516137838363647,
      "learning_rate": 8.582089552238806e-05,
      "loss": 0.3317,
      "step": 69
    },
    {
      "epoch": 0.015481265425173883,
      "gripper_loss": 0.28515625,
      "loss": 0.326171875,
      "pos_loss": 2.453125,
      "rot_loss": 0.859375,
      "step": 69
    },
    {
      "epoch": 0.015705631590756115,
      "grad_norm": 1.357586145401001,
      "learning_rate": 8.706467661691543e-05,
      "loss": 0.2627,
      "step": 70
    },
    {
      "epoch": 0.015705631590756115,
      "gripper_loss": 0.478515625,
      "loss": 0.1298828125,
      "pos_loss": 0.7578125,
      "rot_loss": 0.396484375,
      "step": 70
    },
    {
      "epoch": 0.015929997756338344,
      "grad_norm": 2.5403971672058105,
      "learning_rate": 8.830845771144279e-05,
      "loss": 0.2113,
      "step": 71
    },
    {
      "epoch": 0.015929997756338344,
      "gripper_loss": 1.4609375,
      "loss": 0.1650390625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.287109375,
      "step": 71
    },
    {
      "epoch": 0.016154363921920576,
      "grad_norm": 1.9798637628555298,
      "learning_rate": 8.955223880597014e-05,
      "loss": 0.2292,
      "step": 72
    },
    {
      "epoch": 0.016154363921920576,
      "gripper_loss": 1.3359375,
      "loss": 0.216796875,
      "pos_loss": 0.98046875,
      "rot_loss": 0.82421875,
      "step": 72
    },
    {
      "epoch": 0.016378730087502805,
      "grad_norm": 1.9731450080871582,
      "learning_rate": 9.079601990049751e-05,
      "loss": 0.2598,
      "step": 73
    },
    {
      "epoch": 0.016378730087502805,
      "gripper_loss": 0.66796875,
      "loss": 0.349609375,
      "pos_loss": 1.5703125,
      "rot_loss": 1.828125,
      "step": 73
    },
    {
      "epoch": 0.016603096253085033,
      "grad_norm": 2.189785957336426,
      "learning_rate": 9.203980099502487e-05,
      "loss": 0.3202,
      "step": 74
    },
    {
      "epoch": 0.016603096253085033,
      "gripper_loss": 2.5,
      "loss": 0.275390625,
      "pos_loss": 1.0234375,
      "rot_loss": 0.58984375,
      "step": 74
    },
    {
      "epoch": 0.016827462418667265,
      "grad_norm": 2.6997299194335938,
      "learning_rate": 9.328358208955224e-05,
      "loss": 0.2759,
      "step": 75
    },
    {
      "epoch": 0.016827462418667265,
      "gripper_loss": 0.984375,
      "loss": 0.1884765625,
      "pos_loss": 1.2734375,
      "rot_loss": 0.3359375,
      "step": 75
    },
    {
      "epoch": 0.017051828584249494,
      "grad_norm": 1.4911493062973022,
      "learning_rate": 9.452736318407961e-05,
      "loss": 0.2162,
      "step": 76
    },
    {
      "epoch": 0.017051828584249494,
      "gripper_loss": 2.15625,
      "loss": 0.3359375,
      "pos_loss": 1.7578125,
      "rot_loss": 0.9765625,
      "step": 76
    },
    {
      "epoch": 0.017276194749831726,
      "grad_norm": 2.236469030380249,
      "learning_rate": 9.577114427860697e-05,
      "loss": 0.2395,
      "step": 77
    },
    {
      "epoch": 0.017276194749831726,
      "gripper_loss": 0.64453125,
      "loss": 0.2314453125,
      "pos_loss": 1.515625,
      "rot_loss": 0.55078125,
      "step": 77
    },
    {
      "epoch": 0.017500560915413955,
      "grad_norm": 1.5827174186706543,
      "learning_rate": 9.701492537313434e-05,
      "loss": 0.2427,
      "step": 78
    },
    {
      "epoch": 0.017500560915413955,
      "gripper_loss": 1.359375,
      "loss": 0.29296875,
      "pos_loss": 1.75,
      "rot_loss": 0.796875,
      "step": 78
    },
    {
      "epoch": 0.017724927080996187,
      "grad_norm": 2.0037121772766113,
      "learning_rate": 9.82587064676617e-05,
      "loss": 0.1981,
      "step": 79
    },
    {
      "epoch": 0.017724927080996187,
      "gripper_loss": 0.33984375,
      "loss": 0.5390625,
      "pos_loss": 2.9375,
      "rot_loss": 2.578125,
      "step": 79
    },
    {
      "epoch": 0.017949293246578416,
      "grad_norm": 1.813341498374939,
      "learning_rate": 9.950248756218906e-05,
      "loss": 0.3054,
      "step": 80
    },
    {
      "epoch": 0.017949293246578416,
      "gripper_loss": 0.6484375,
      "loss": 0.271484375,
      "pos_loss": 1.5859375,
      "rot_loss": 1.015625,
      "step": 80
    },
    {
      "epoch": 0.018173659412160648,
      "grad_norm": 1.2051732540130615,
      "learning_rate": 0.00010074626865671642,
      "loss": 0.1649,
      "step": 81
    },
    {
      "epoch": 0.018173659412160648,
      "gripper_loss": 1.3125,
      "loss": 0.443359375,
      "pos_loss": 2.34375,
      "rot_loss": 1.375,
      "step": 81
    },
    {
      "epoch": 0.018398025577742876,
      "grad_norm": 2.8796472549438477,
      "learning_rate": 0.00010199004975124378,
      "loss": 0.3793,
      "step": 82
    },
    {
      "epoch": 0.018398025577742876,
      "gripper_loss": 1.6015625,
      "loss": 0.349609375,
      "pos_loss": 1.96875,
      "rot_loss": 1.0078125,
      "step": 82
    },
    {
      "epoch": 0.018622391743325105,
      "grad_norm": 2.803400993347168,
      "learning_rate": 0.00010323383084577115,
      "loss": 0.2743,
      "step": 83
    },
    {
      "epoch": 0.018622391743325105,
      "gripper_loss": 2.90625,
      "loss": 0.166015625,
      "pos_loss": 0.263671875,
      "rot_loss": 0.271484375,
      "step": 83
    },
    {
      "epoch": 0.018846757908907337,
      "grad_norm": 2.9502601623535156,
      "learning_rate": 0.0001044776119402985,
      "loss": 0.3757,
      "step": 84
    },
    {
      "epoch": 0.018846757908907337,
      "gripper_loss": 0.69921875,
      "loss": 0.20703125,
      "pos_loss": 0.466796875,
      "rot_loss": 1.25,
      "step": 84
    },
    {
      "epoch": 0.019071124074489566,
      "grad_norm": 3.61799955368042,
      "learning_rate": 0.00010572139303482588,
      "loss": 0.2637,
      "step": 85
    },
    {
      "epoch": 0.019071124074489566,
      "gripper_loss": 0.99609375,
      "loss": 0.54296875,
      "pos_loss": 0.51171875,
      "rot_loss": 4.53125,
      "step": 85
    },
    {
      "epoch": 0.019295490240071798,
      "grad_norm": 2.803785800933838,
      "learning_rate": 0.00010696517412935323,
      "loss": 0.3899,
      "step": 86
    },
    {
      "epoch": 0.019295490240071798,
      "gripper_loss": 1.03125,
      "loss": 0.388671875,
      "pos_loss": 3.40625,
      "rot_loss": 0.220703125,
      "step": 86
    },
    {
      "epoch": 0.019519856405654026,
      "grad_norm": 2.1398122310638428,
      "learning_rate": 0.00010820895522388059,
      "loss": 0.2557,
      "step": 87
    },
    {
      "epoch": 0.019519856405654026,
      "gripper_loss": 0.6640625,
      "loss": 0.1669921875,
      "pos_loss": 1.1796875,
      "rot_loss": 0.259765625,
      "step": 87
    },
    {
      "epoch": 0.01974422257123626,
      "grad_norm": 1.6665064096450806,
      "learning_rate": 0.00010945273631840796,
      "loss": 0.1744,
      "step": 88
    },
    {
      "epoch": 0.01974422257123626,
      "gripper_loss": 1.40625,
      "loss": 0.220703125,
      "pos_loss": 1.421875,
      "rot_loss": 0.23046875,
      "step": 88
    },
    {
      "epoch": 0.019968588736818487,
      "grad_norm": 1.990110158920288,
      "learning_rate": 0.00011069651741293532,
      "loss": 0.272,
      "step": 89
    },
    {
      "epoch": 0.019968588736818487,
      "gripper_loss": 1.25,
      "loss": 0.10009765625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.220703125,
      "step": 89
    },
    {
      "epoch": 0.02019295490240072,
      "grad_norm": 1.7994823455810547,
      "learning_rate": 0.00011194029850746269,
      "loss": 0.3594,
      "step": 90
    },
    {
      "epoch": 0.02019295490240072,
      "gripper_loss": 1.546875,
      "loss": 0.25,
      "pos_loss": 1.53125,
      "rot_loss": 0.42578125,
      "step": 90
    },
    {
      "epoch": 0.020417321067982948,
      "grad_norm": 1.8164807558059692,
      "learning_rate": 0.00011318407960199004,
      "loss": 0.2371,
      "step": 91
    },
    {
      "epoch": 0.020417321067982948,
      "gripper_loss": 1.3046875,
      "loss": 0.5546875,
      "pos_loss": 1.140625,
      "rot_loss": 1.4453125,
      "step": 91
    },
    {
      "epoch": 0.02064168723356518,
      "grad_norm": 6.445250988006592,
      "learning_rate": 0.00011442786069651743,
      "loss": 0.5542,
      "step": 92
    },
    {
      "epoch": 0.02064168723356518,
      "gripper_loss": 1.25,
      "loss": 0.154296875,
      "pos_loss": 0.427734375,
      "rot_loss": 0.5703125,
      "step": 92
    },
    {
      "epoch": 0.02086605339914741,
      "grad_norm": 2.077415943145752,
      "learning_rate": 0.00011567164179104479,
      "loss": 0.3196,
      "step": 93
    },
    {
      "epoch": 0.02086605339914741,
      "gripper_loss": 0.98828125,
      "loss": 0.267578125,
      "pos_loss": 1.15625,
      "rot_loss": 0.84375,
      "step": 93
    },
    {
      "epoch": 0.021090419564729637,
      "grad_norm": 2.698735237121582,
      "learning_rate": 0.00011691542288557214,
      "loss": 0.3035,
      "step": 94
    },
    {
      "epoch": 0.021090419564729637,
      "gripper_loss": 0.90625,
      "loss": 0.1982421875,
      "pos_loss": 0.5625,
      "rot_loss": 0.66796875,
      "step": 94
    },
    {
      "epoch": 0.02131478573031187,
      "grad_norm": 2.656702756881714,
      "learning_rate": 0.00011815920398009951,
      "loss": 0.3164,
      "step": 95
    },
    {
      "epoch": 0.02131478573031187,
      "gripper_loss": 1.796875,
      "loss": 0.41796875,
      "pos_loss": 1.625,
      "rot_loss": 0.9296875,
      "step": 95
    },
    {
      "epoch": 0.021539151895894098,
      "grad_norm": 3.2873032093048096,
      "learning_rate": 0.00011940298507462687,
      "loss": 0.3806,
      "step": 96
    },
    {
      "epoch": 0.021539151895894098,
      "gripper_loss": 0.83984375,
      "loss": 0.376953125,
      "pos_loss": 1.890625,
      "rot_loss": 1.4609375,
      "step": 96
    },
    {
      "epoch": 0.02176351806147633,
      "grad_norm": 2.632638692855835,
      "learning_rate": 0.00012064676616915424,
      "loss": 0.3071,
      "step": 97
    },
    {
      "epoch": 0.02176351806147633,
      "gripper_loss": 1.1796875,
      "loss": 0.34375,
      "pos_loss": 1.3203125,
      "rot_loss": 0.8671875,
      "step": 97
    },
    {
      "epoch": 0.02198788422705856,
      "grad_norm": 3.361527919769287,
      "learning_rate": 0.0001218905472636816,
      "loss": 0.314,
      "step": 98
    },
    {
      "epoch": 0.02198788422705856,
      "gripper_loss": 1.8125,
      "loss": 0.15625,
      "pos_loss": 0.4765625,
      "rot_loss": 0.283203125,
      "step": 98
    },
    {
      "epoch": 0.02221225039264079,
      "grad_norm": 2.08803653717041,
      "learning_rate": 0.00012313432835820895,
      "loss": 0.2695,
      "step": 99
    },
    {
      "epoch": 0.02221225039264079,
      "gripper_loss": 4.15625,
      "loss": 0.31640625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.439453125,
      "step": 99
    },
    {
      "epoch": 0.02243661655822302,
      "grad_norm": 3.127488613128662,
      "learning_rate": 0.0001243781094527363,
      "loss": 0.2799,
      "step": 100
    },
    {
      "epoch": 0.02243661655822302,
      "gripper_loss": 1.5859375,
      "loss": 0.130859375,
      "pos_loss": 0.36328125,
      "rot_loss": 0.296875,
      "step": 100
    },
    {
      "epoch": 0.02266098272380525,
      "grad_norm": 1.6990078687667847,
      "learning_rate": 0.0001256218905472637,
      "loss": 0.2213,
      "step": 101
    },
    {
      "epoch": 0.02266098272380525,
      "gripper_loss": 0.50390625,
      "loss": 0.1328125,
      "pos_loss": 0.7578125,
      "rot_loss": 0.2373046875,
      "step": 101
    },
    {
      "epoch": 0.02288534888938748,
      "grad_norm": 2.304713249206543,
      "learning_rate": 0.00012686567164179105,
      "loss": 0.3688,
      "step": 102
    },
    {
      "epoch": 0.02288534888938748,
      "gripper_loss": 0.89453125,
      "loss": 0.34375,
      "pos_loss": 2.796875,
      "rot_loss": 0.34375,
      "step": 102
    },
    {
      "epoch": 0.023109715054969712,
      "grad_norm": 2.2224667072296143,
      "learning_rate": 0.0001281094527363184,
      "loss": 0.3051,
      "step": 103
    },
    {
      "epoch": 0.023109715054969712,
      "gripper_loss": 0.2021484375,
      "loss": 0.142578125,
      "pos_loss": 0.7578125,
      "rot_loss": 0.41015625,
      "step": 103
    },
    {
      "epoch": 0.02333408122055194,
      "grad_norm": 2.303541421890259,
      "learning_rate": 0.00012935323383084577,
      "loss": 0.3112,
      "step": 104
    },
    {
      "epoch": 0.02333408122055194,
      "gripper_loss": 0.474609375,
      "loss": 0.30078125,
      "pos_loss": 0.498046875,
      "rot_loss": 0.478515625,
      "step": 104
    },
    {
      "epoch": 0.02355844738613417,
      "grad_norm": 4.327918529510498,
      "learning_rate": 0.00013059701492537312,
      "loss": 0.4595,
      "step": 105
    },
    {
      "epoch": 0.02355844738613417,
      "gripper_loss": 0.6484375,
      "loss": 0.140625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.3125,
      "step": 105
    },
    {
      "epoch": 0.0237828135517164,
      "grad_norm": 1.5561507940292358,
      "learning_rate": 0.0001318407960199005,
      "loss": 0.2765,
      "step": 106
    },
    {
      "epoch": 0.0237828135517164,
      "gripper_loss": 0.734375,
      "loss": 0.3671875,
      "pos_loss": 1.2890625,
      "rot_loss": 0.90234375,
      "step": 106
    },
    {
      "epoch": 0.02400717971729863,
      "grad_norm": 3.315133810043335,
      "learning_rate": 0.00013308457711442786,
      "loss": 0.3567,
      "step": 107
    },
    {
      "epoch": 0.02400717971729863,
      "gripper_loss": 0.310546875,
      "loss": 0.40625,
      "pos_loss": 3.453125,
      "rot_loss": 0.5078125,
      "step": 107
    },
    {
      "epoch": 0.024231545882880862,
      "grad_norm": 2.0156943798065186,
      "learning_rate": 0.00013432835820895522,
      "loss": 0.299,
      "step": 108
    },
    {
      "epoch": 0.024231545882880862,
      "gripper_loss": 0.8515625,
      "loss": 0.1865234375,
      "pos_loss": 0.8125,
      "rot_loss": 0.50390625,
      "step": 108
    },
    {
      "epoch": 0.02445591204846309,
      "grad_norm": 2.3788928985595703,
      "learning_rate": 0.00013557213930348258,
      "loss": 0.2559,
      "step": 109
    },
    {
      "epoch": 0.02445591204846309,
      "gripper_loss": 1.59375,
      "loss": 0.1484375,
      "pos_loss": 0.486328125,
      "rot_loss": 0.32421875,
      "step": 109
    },
    {
      "epoch": 0.024680278214045323,
      "grad_norm": 1.5568269491195679,
      "learning_rate": 0.00013681592039800993,
      "loss": 0.2092,
      "step": 110
    },
    {
      "epoch": 0.024680278214045323,
      "gripper_loss": 0.71484375,
      "loss": 0.10205078125,
      "pos_loss": 0.427734375,
      "rot_loss": 0.28515625,
      "step": 110
    },
    {
      "epoch": 0.02490464437962755,
      "grad_norm": 1.8799049854278564,
      "learning_rate": 0.00013805970149253732,
      "loss": 0.2742,
      "step": 111
    },
    {
      "epoch": 0.02490464437962755,
      "gripper_loss": 0.671875,
      "loss": 0.208984375,
      "pos_loss": 1.5703125,
      "rot_loss": 0.212890625,
      "step": 111
    },
    {
      "epoch": 0.025129010545209784,
      "grad_norm": 2.0517194271087646,
      "learning_rate": 0.00013930348258706467,
      "loss": 0.2367,
      "step": 112
    },
    {
      "epoch": 0.025129010545209784,
      "gripper_loss": 0.53125,
      "loss": 0.287109375,
      "pos_loss": 2.21875,
      "rot_loss": 0.2294921875,
      "step": 112
    },
    {
      "epoch": 0.025353376710792012,
      "grad_norm": 2.7074050903320312,
      "learning_rate": 0.00014054726368159203,
      "loss": 0.2739,
      "step": 113
    },
    {
      "epoch": 0.025353376710792012,
      "gripper_loss": 0.392578125,
      "loss": 0.37890625,
      "pos_loss": 1.3359375,
      "rot_loss": 2.046875,
      "step": 113
    },
    {
      "epoch": 0.02557774287637424,
      "grad_norm": 2.40958833694458,
      "learning_rate": 0.0001417910447761194,
      "loss": 0.2087,
      "step": 114
    },
    {
      "epoch": 0.02557774287637424,
      "gripper_loss": 0.37109375,
      "loss": 0.2578125,
      "pos_loss": 1.8046875,
      "rot_loss": 0.515625,
      "step": 114
    },
    {
      "epoch": 0.025802109041956473,
      "grad_norm": 2.092846393585205,
      "learning_rate": 0.00014303482587064675,
      "loss": 0.2926,
      "step": 115
    },
    {
      "epoch": 0.025802109041956473,
      "gripper_loss": 1.0625,
      "loss": 1.015625,
      "pos_loss": 3.046875,
      "rot_loss": 3.765625,
      "step": 115
    },
    {
      "epoch": 0.026026475207538702,
      "grad_norm": 7.78044319152832,
      "learning_rate": 0.00014427860696517413,
      "loss": 0.7661,
      "step": 116
    },
    {
      "epoch": 0.026026475207538702,
      "gripper_loss": 1.4296875,
      "loss": 0.1298828125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.236328125,
      "step": 116
    },
    {
      "epoch": 0.026250841373120934,
      "grad_norm": 2.1528940200805664,
      "learning_rate": 0.00014552238805970149,
      "loss": 0.2861,
      "step": 117
    },
    {
      "epoch": 0.026250841373120934,
      "gripper_loss": 1.2109375,
      "loss": 0.1923828125,
      "pos_loss": 1.203125,
      "rot_loss": 0.10205078125,
      "step": 117
    },
    {
      "epoch": 0.026475207538703163,
      "grad_norm": 2.3126449584960938,
      "learning_rate": 0.00014676616915422887,
      "loss": 0.2483,
      "step": 118
    },
    {
      "epoch": 0.026475207538703163,
      "gripper_loss": 1.3203125,
      "loss": 0.205078125,
      "pos_loss": 1.2421875,
      "rot_loss": 0.1337890625,
      "step": 118
    },
    {
      "epoch": 0.026699573704285395,
      "grad_norm": 2.1716504096984863,
      "learning_rate": 0.00014800995024875623,
      "loss": 0.2332,
      "step": 119
    },
    {
      "epoch": 0.026699573704285395,
      "gripper_loss": 2.609375,
      "loss": 0.25390625,
      "pos_loss": 0.91796875,
      "rot_loss": 0.2158203125,
      "step": 119
    },
    {
      "epoch": 0.026923939869867623,
      "grad_norm": 3.0434343814849854,
      "learning_rate": 0.00014925373134328358,
      "loss": 0.3368,
      "step": 120
    },
    {
      "epoch": 0.026923939869867623,
      "gripper_loss": 1.5234375,
      "loss": 0.33984375,
      "pos_loss": 1.6953125,
      "rot_loss": 0.875,
      "step": 120
    },
    {
      "epoch": 0.027148306035449855,
      "grad_norm": 2.416205644607544,
      "learning_rate": 0.00015049751243781097,
      "loss": 0.3168,
      "step": 121
    },
    {
      "epoch": 0.027148306035449855,
      "gripper_loss": 0.703125,
      "loss": 0.44921875,
      "pos_loss": 1.3125,
      "rot_loss": 0.67578125,
      "step": 121
    },
    {
      "epoch": 0.027372672201032084,
      "grad_norm": 3.6601691246032715,
      "learning_rate": 0.00015174129353233832,
      "loss": 0.5088,
      "step": 122
    },
    {
      "epoch": 0.027372672201032084,
      "gripper_loss": 0.8828125,
      "loss": 0.1875,
      "pos_loss": 0.95703125,
      "rot_loss": 0.45703125,
      "step": 122
    },
    {
      "epoch": 0.027597038366614316,
      "grad_norm": 1.741716742515564,
      "learning_rate": 0.00015298507462686568,
      "loss": 0.3188,
      "step": 123
    },
    {
      "epoch": 0.027597038366614316,
      "gripper_loss": 1.9296875,
      "loss": 0.275390625,
      "pos_loss": 1.5546875,
      "rot_loss": 0.33203125,
      "step": 123
    },
    {
      "epoch": 0.027821404532196545,
      "grad_norm": 2.2250120639801025,
      "learning_rate": 0.00015422885572139304,
      "loss": 0.3066,
      "step": 124
    },
    {
      "epoch": 0.027821404532196545,
      "gripper_loss": 1.2578125,
      "loss": 0.294921875,
      "pos_loss": 0.71875,
      "rot_loss": 0.98046875,
      "step": 124
    },
    {
      "epoch": 0.028045770697778773,
      "grad_norm": 3.737720251083374,
      "learning_rate": 0.0001554726368159204,
      "loss": 0.4001,
      "step": 125
    },
    {
      "epoch": 0.028045770697778773,
      "gripper_loss": 1.9296875,
      "loss": 0.240234375,
      "pos_loss": 0.4140625,
      "rot_loss": 1.15625,
      "step": 125
    },
    {
      "epoch": 0.028270136863361005,
      "grad_norm": 2.2060790061950684,
      "learning_rate": 0.00015671641791044778,
      "loss": 0.2759,
      "step": 126
    },
    {
      "epoch": 0.028270136863361005,
      "gripper_loss": 0.5859375,
      "loss": 0.314453125,
      "pos_loss": 2.609375,
      "rot_loss": 0.302734375,
      "step": 126
    },
    {
      "epoch": 0.028494503028943234,
      "grad_norm": 1.9086161851882935,
      "learning_rate": 0.00015796019900497514,
      "loss": 0.2607,
      "step": 127
    },
    {
      "epoch": 0.028494503028943234,
      "gripper_loss": 1.6328125,
      "loss": 0.412109375,
      "pos_loss": 1.375,
      "rot_loss": 0.78125,
      "step": 127
    },
    {
      "epoch": 0.028718869194525466,
      "grad_norm": 4.101030349731445,
      "learning_rate": 0.0001592039800995025,
      "loss": 0.3401,
      "step": 128
    },
    {
      "epoch": 0.028718869194525466,
      "gripper_loss": 0.90234375,
      "loss": 0.30078125,
      "pos_loss": 1.2265625,
      "rot_loss": 1.2734375,
      "step": 128
    },
    {
      "epoch": 0.028943235360107695,
      "grad_norm": 2.2524359226226807,
      "learning_rate": 0.00016044776119402985,
      "loss": 0.3284,
      "step": 129
    },
    {
      "epoch": 0.028943235360107695,
      "gripper_loss": 1.6171875,
      "loss": 0.1923828125,
      "pos_loss": 0.9296875,
      "rot_loss": 0.1865234375,
      "step": 129
    },
    {
      "epoch": 0.029167601525689927,
      "grad_norm": 2.2090115547180176,
      "learning_rate": 0.00016169154228855723,
      "loss": 0.2788,
      "step": 130
    },
    {
      "epoch": 0.029167601525689927,
      "gripper_loss": 2.0625,
      "loss": 0.396484375,
      "pos_loss": 2.484375,
      "rot_loss": 0.609375,
      "step": 130
    },
    {
      "epoch": 0.029391967691272156,
      "grad_norm": 2.643707275390625,
      "learning_rate": 0.0001629353233830846,
      "loss": 0.4049,
      "step": 131
    },
    {
      "epoch": 0.029391967691272156,
      "gripper_loss": 1.65625,
      "loss": 0.5078125,
      "pos_loss": 2.03125,
      "rot_loss": 1.265625,
      "step": 131
    },
    {
      "epoch": 0.029616333856854388,
      "grad_norm": 3.1209909915924072,
      "learning_rate": 0.00016417910447761195,
      "loss": 0.3582,
      "step": 132
    },
    {
      "epoch": 0.029616333856854388,
      "gripper_loss": 2.078125,
      "loss": 0.1943359375,
      "pos_loss": 0.875,
      "rot_loss": 0.267578125,
      "step": 132
    },
    {
      "epoch": 0.029840700022436616,
      "grad_norm": 1.8955928087234497,
      "learning_rate": 0.0001654228855721393,
      "loss": 0.2705,
      "step": 133
    },
    {
      "epoch": 0.029840700022436616,
      "gripper_loss": 0.34765625,
      "loss": 0.1708984375,
      "pos_loss": 0.9375,
      "rot_loss": 0.478515625,
      "step": 133
    },
    {
      "epoch": 0.03006506618801885,
      "grad_norm": 1.2996209859848022,
      "learning_rate": 0.00016666666666666666,
      "loss": 0.2629,
      "step": 134
    },
    {
      "epoch": 0.03006506618801885,
      "gripper_loss": 1.8828125,
      "loss": 0.166015625,
      "pos_loss": 0.80859375,
      "rot_loss": 0.1650390625,
      "step": 134
    },
    {
      "epoch": 0.030289432353601077,
      "grad_norm": 1.5765305757522583,
      "learning_rate": 0.00016791044776119405,
      "loss": 0.2172,
      "step": 135
    },
    {
      "epoch": 0.030289432353601077,
      "gripper_loss": 2.5625,
      "loss": 0.1748046875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.326171875,
      "step": 135
    },
    {
      "epoch": 0.030513798519183306,
      "grad_norm": 1.7973854541778564,
      "learning_rate": 0.0001691542288557214,
      "loss": 0.2339,
      "step": 136
    },
    {
      "epoch": 0.030513798519183306,
      "gripper_loss": 1.375,
      "loss": 0.142578125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.421875,
      "step": 136
    },
    {
      "epoch": 0.030738164684765538,
      "grad_norm": 2.2033090591430664,
      "learning_rate": 0.00017039800995024876,
      "loss": 0.2765,
      "step": 137
    },
    {
      "epoch": 0.030738164684765538,
      "gripper_loss": 1.40625,
      "loss": 0.1689453125,
      "pos_loss": 0.80078125,
      "rot_loss": 0.314453125,
      "step": 137
    },
    {
      "epoch": 0.030962530850347766,
      "grad_norm": 1.691565990447998,
      "learning_rate": 0.00017164179104477612,
      "loss": 0.3026,
      "step": 138
    },
    {
      "epoch": 0.030962530850347766,
      "gripper_loss": 1.8125,
      "loss": 0.375,
      "pos_loss": 1.515625,
      "rot_loss": 1.1953125,
      "step": 138
    },
    {
      "epoch": 0.03118689701593,
      "grad_norm": 2.6986355781555176,
      "learning_rate": 0.00017288557213930347,
      "loss": 0.3796,
      "step": 139
    },
    {
      "epoch": 0.03118689701593,
      "gripper_loss": 1.1484375,
      "loss": 0.2890625,
      "pos_loss": 2.015625,
      "rot_loss": 0.30078125,
      "step": 139
    },
    {
      "epoch": 0.03141126318151223,
      "grad_norm": 2.2027206420898438,
      "learning_rate": 0.00017412935323383086,
      "loss": 0.2294,
      "step": 140
    },
    {
      "epoch": 0.03141126318151223,
      "gripper_loss": 1.0703125,
      "loss": 0.439453125,
      "pos_loss": 2.015625,
      "rot_loss": 1.90625,
      "step": 140
    },
    {
      "epoch": 0.031635629347094456,
      "grad_norm": 2.6507012844085693,
      "learning_rate": 0.0001753731343283582,
      "loss": 0.3986,
      "step": 141
    },
    {
      "epoch": 0.031635629347094456,
      "gripper_loss": 0.4453125,
      "loss": 0.228515625,
      "pos_loss": 0.921875,
      "rot_loss": 0.8515625,
      "step": 141
    },
    {
      "epoch": 0.03185999551267669,
      "grad_norm": 2.0278260707855225,
      "learning_rate": 0.00017661691542288557,
      "loss": 0.2714,
      "step": 142
    },
    {
      "epoch": 0.03185999551267669,
      "gripper_loss": 1.78125,
      "loss": 0.19140625,
      "pos_loss": 0.41796875,
      "rot_loss": 0.83984375,
      "step": 142
    },
    {
      "epoch": 0.03208436167825892,
      "grad_norm": 2.3361854553222656,
      "learning_rate": 0.00017786069651741293,
      "loss": 0.2771,
      "step": 143
    },
    {
      "epoch": 0.03208436167825892,
      "gripper_loss": 0.890625,
      "loss": 0.1484375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.369140625,
      "step": 143
    },
    {
      "epoch": 0.03230872784384115,
      "grad_norm": 1.8573548793792725,
      "learning_rate": 0.00017910447761194028,
      "loss": 0.3182,
      "step": 144
    },
    {
      "epoch": 0.03230872784384115,
      "gripper_loss": 0.4921875,
      "loss": 0.54296875,
      "pos_loss": 1.78125,
      "rot_loss": 3.453125,
      "step": 144
    },
    {
      "epoch": 0.03253309400942338,
      "grad_norm": 2.0413339138031006,
      "learning_rate": 0.00018034825870646767,
      "loss": 0.3689,
      "step": 145
    },
    {
      "epoch": 0.03253309400942338,
      "gripper_loss": 1.640625,
      "loss": 0.26171875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.76171875,
      "step": 145
    },
    {
      "epoch": 0.03275746017500561,
      "grad_norm": 2.3007688522338867,
      "learning_rate": 0.00018159203980099502,
      "loss": 0.277,
      "step": 146
    },
    {
      "epoch": 0.03275746017500561,
      "gripper_loss": 0.796875,
      "loss": 0.296875,
      "pos_loss": 0.984375,
      "rot_loss": 1.515625,
      "step": 146
    },
    {
      "epoch": 0.03298182634058784,
      "grad_norm": 2.7637124061584473,
      "learning_rate": 0.00018283582089552238,
      "loss": 0.3496,
      "step": 147
    },
    {
      "epoch": 0.03298182634058784,
      "gripper_loss": 0.890625,
      "loss": 0.34765625,
      "pos_loss": 2.015625,
      "rot_loss": 0.87109375,
      "step": 147
    },
    {
      "epoch": 0.03320619250617007,
      "grad_norm": 2.048407554626465,
      "learning_rate": 0.00018407960199004974,
      "loss": 0.2856,
      "step": 148
    },
    {
      "epoch": 0.03320619250617007,
      "gripper_loss": 1.21875,
      "loss": 0.2333984375,
      "pos_loss": 0.44140625,
      "rot_loss": 1.09375,
      "step": 148
    },
    {
      "epoch": 0.0334305586717523,
      "grad_norm": 2.0887482166290283,
      "learning_rate": 0.0001853233830845771,
      "loss": 0.2709,
      "step": 149
    },
    {
      "epoch": 0.0334305586717523,
      "gripper_loss": 1.8046875,
      "loss": 0.1787109375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.68359375,
      "step": 149
    },
    {
      "epoch": 0.03365492483733453,
      "grad_norm": 2.093386173248291,
      "learning_rate": 0.00018656716417910448,
      "loss": 0.2472,
      "step": 150
    },
    {
      "epoch": 0.03365492483733453,
      "gripper_loss": 0.291015625,
      "loss": 0.30078125,
      "pos_loss": 2.40625,
      "rot_loss": 0.42578125,
      "step": 150
    },
    {
      "epoch": 0.03387929100291676,
      "grad_norm": 1.744396448135376,
      "learning_rate": 0.00018781094527363186,
      "loss": 0.2291,
      "step": 151
    },
    {
      "epoch": 0.03387929100291676,
      "gripper_loss": 0.7109375,
      "loss": 0.43359375,
      "pos_loss": 1.5859375,
      "rot_loss": 0.95703125,
      "step": 151
    },
    {
      "epoch": 0.03410365716849899,
      "grad_norm": 3.109457492828369,
      "learning_rate": 0.00018905472636815922,
      "loss": 0.4358,
      "step": 152
    },
    {
      "epoch": 0.03410365716849899,
      "gripper_loss": 0.65234375,
      "loss": 0.671875,
      "pos_loss": 3.609375,
      "rot_loss": 0.7421875,
      "step": 152
    },
    {
      "epoch": 0.03432802333408122,
      "grad_norm": 3.849493980407715,
      "learning_rate": 0.00019029850746268658,
      "loss": 0.5439,
      "step": 153
    },
    {
      "epoch": 0.03432802333408122,
      "gripper_loss": 0.72265625,
      "loss": 0.384765625,
      "pos_loss": 1.296875,
      "rot_loss": 1.5859375,
      "step": 153
    },
    {
      "epoch": 0.03455238949966345,
      "grad_norm": 2.645474672317505,
      "learning_rate": 0.00019154228855721393,
      "loss": 0.3385,
      "step": 154
    },
    {
      "epoch": 0.03455238949966345,
      "gripper_loss": 0.6640625,
      "loss": 0.1982421875,
      "pos_loss": 0.6875,
      "rot_loss": 0.451171875,
      "step": 154
    },
    {
      "epoch": 0.034776755665245684,
      "grad_norm": 2.4065492153167725,
      "learning_rate": 0.00019278606965174132,
      "loss": 0.3329,
      "step": 155
    },
    {
      "epoch": 0.034776755665245684,
      "gripper_loss": 0.57421875,
      "loss": 0.51953125,
      "pos_loss": 1.4765625,
      "rot_loss": 0.79296875,
      "step": 155
    },
    {
      "epoch": 0.03500112183082791,
      "grad_norm": 4.433366298675537,
      "learning_rate": 0.00019402985074626867,
      "loss": 0.5649,
      "step": 156
    },
    {
      "epoch": 0.03500112183082791,
      "gripper_loss": 1.7890625,
      "loss": 0.416015625,
      "pos_loss": 0.66796875,
      "rot_loss": 1.2421875,
      "step": 156
    },
    {
      "epoch": 0.03522548799641014,
      "grad_norm": 4.125662326812744,
      "learning_rate": 0.00019527363184079603,
      "loss": 0.469,
      "step": 157
    },
    {
      "epoch": 0.03522548799641014,
      "gripper_loss": 1.0078125,
      "loss": 0.2294921875,
      "pos_loss": 0.84375,
      "rot_loss": 0.72265625,
      "step": 157
    },
    {
      "epoch": 0.035449854161992374,
      "grad_norm": 1.8462315797805786,
      "learning_rate": 0.0001965174129353234,
      "loss": 0.3545,
      "step": 158
    },
    {
      "epoch": 0.035449854161992374,
      "gripper_loss": 2.140625,
      "loss": 0.271484375,
      "pos_loss": 0.4921875,
      "rot_loss": 0.318359375,
      "step": 158
    },
    {
      "epoch": 0.0356742203275746,
      "grad_norm": 3.238206624984741,
      "learning_rate": 0.00019776119402985075,
      "loss": 0.3701,
      "step": 159
    },
    {
      "epoch": 0.0356742203275746,
      "gripper_loss": 1.3046875,
      "loss": 0.251953125,
      "pos_loss": 0.4140625,
      "rot_loss": 1.328125,
      "step": 159
    },
    {
      "epoch": 0.03589858649315683,
      "grad_norm": 2.157240152359009,
      "learning_rate": 0.00019900497512437813,
      "loss": 0.2784,
      "step": 160
    },
    {
      "epoch": 0.03589858649315683,
      "gripper_loss": 1.109375,
      "loss": 0.19921875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.5546875,
      "step": 160
    },
    {
      "epoch": 0.03612295265873906,
      "grad_norm": 2.071938991546631,
      "learning_rate": 0.00020024875621890549,
      "loss": 0.2953,
      "step": 161
    },
    {
      "epoch": 0.03612295265873906,
      "gripper_loss": 0.68359375,
      "loss": 0.412109375,
      "pos_loss": 1.421875,
      "rot_loss": 1.015625,
      "step": 161
    },
    {
      "epoch": 0.036347318824321295,
      "grad_norm": 3.005540609359741,
      "learning_rate": 0.00020149253731343284,
      "loss": 0.4514,
      "step": 162
    },
    {
      "epoch": 0.036347318824321295,
      "gripper_loss": 1.1640625,
      "loss": 0.310546875,
      "pos_loss": 1.25,
      "rot_loss": 1.0703125,
      "step": 162
    },
    {
      "epoch": 0.03657168498990352,
      "grad_norm": 2.12831974029541,
      "learning_rate": 0.0002027363184079602,
      "loss": 0.3059,
      "step": 163
    },
    {
      "epoch": 0.03657168498990352,
      "gripper_loss": 1.0625,
      "loss": 0.60546875,
      "pos_loss": 1.640625,
      "rot_loss": 2.3125,
      "step": 163
    },
    {
      "epoch": 0.03679605115548575,
      "grad_norm": 2.268902540206909,
      "learning_rate": 0.00020398009950248756,
      "loss": 0.4458,
      "step": 164
    },
    {
      "epoch": 0.03679605115548575,
      "gripper_loss": 0.55078125,
      "loss": 0.2265625,
      "pos_loss": 1.1640625,
      "rot_loss": 0.466796875,
      "step": 164
    },
    {
      "epoch": 0.037020417321067985,
      "grad_norm": 2.209486961364746,
      "learning_rate": 0.00020522388059701494,
      "loss": 0.3029,
      "step": 165
    },
    {
      "epoch": 0.037020417321067985,
      "gripper_loss": 0.97265625,
      "loss": 0.193359375,
      "pos_loss": 0.87109375,
      "rot_loss": 0.349609375,
      "step": 165
    },
    {
      "epoch": 0.03724478348665021,
      "grad_norm": 2.2878260612487793,
      "learning_rate": 0.0002064676616915423,
      "loss": 0.2351,
      "step": 166
    },
    {
      "epoch": 0.03724478348665021,
      "gripper_loss": 1.4765625,
      "loss": 0.150390625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.259765625,
      "step": 166
    },
    {
      "epoch": 0.03746914965223244,
      "grad_norm": 1.5960655212402344,
      "learning_rate": 0.00020771144278606965,
      "loss": 0.2037,
      "step": 167
    },
    {
      "epoch": 0.03746914965223244,
      "gripper_loss": 0.80078125,
      "loss": 0.318359375,
      "pos_loss": 0.703125,
      "rot_loss": 2.0625,
      "step": 167
    },
    {
      "epoch": 0.037693515817814674,
      "grad_norm": 1.951344609260559,
      "learning_rate": 0.000208955223880597,
      "loss": 0.3199,
      "step": 168
    },
    {
      "epoch": 0.037693515817814674,
      "gripper_loss": 0.6484375,
      "loss": 0.2265625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.671875,
      "step": 168
    },
    {
      "epoch": 0.037917881983396906,
      "grad_norm": 1.827569842338562,
      "learning_rate": 0.00021019900497512437,
      "loss": 0.261,
      "step": 169
    },
    {
      "epoch": 0.037917881983396906,
      "gripper_loss": 0.91015625,
      "loss": 0.1669921875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.30859375,
      "step": 169
    },
    {
      "epoch": 0.03814224814897913,
      "grad_norm": 2.096493721008301,
      "learning_rate": 0.00021144278606965175,
      "loss": 0.3065,
      "step": 170
    },
    {
      "epoch": 0.03814224814897913,
      "gripper_loss": 0.1396484375,
      "loss": 0.2177734375,
      "pos_loss": 0.890625,
      "rot_loss": 1.0703125,
      "step": 170
    },
    {
      "epoch": 0.03836661431456136,
      "grad_norm": 1.7599838972091675,
      "learning_rate": 0.0002126865671641791,
      "loss": 0.261,
      "step": 171
    },
    {
      "epoch": 0.03836661431456136,
      "gripper_loss": 0.1025390625,
      "loss": 0.439453125,
      "pos_loss": 2.28125,
      "rot_loss": 1.9375,
      "step": 171
    },
    {
      "epoch": 0.038590980480143595,
      "grad_norm": 2.5469350814819336,
      "learning_rate": 0.00021393034825870647,
      "loss": 0.3196,
      "step": 172
    },
    {
      "epoch": 0.038590980480143595,
      "gripper_loss": 0.279296875,
      "loss": 0.412109375,
      "pos_loss": 2.375,
      "rot_loss": 1.375,
      "step": 172
    },
    {
      "epoch": 0.03881534664572583,
      "grad_norm": 1.8844083547592163,
      "learning_rate": 0.00021517412935323382,
      "loss": 0.251,
      "step": 173
    },
    {
      "epoch": 0.03881534664572583,
      "gripper_loss": 4.5,
      "loss": 0.2578125,
      "pos_loss": 0.66796875,
      "rot_loss": 0.298828125,
      "step": 173
    },
    {
      "epoch": 0.03903971281130805,
      "grad_norm": 1.8138529062271118,
      "learning_rate": 0.00021641791044776118,
      "loss": 0.3394,
      "step": 174
    },
    {
      "epoch": 0.03903971281130805,
      "gripper_loss": 1.65625,
      "loss": 0.296875,
      "pos_loss": 1.2734375,
      "rot_loss": 0.61328125,
      "step": 174
    },
    {
      "epoch": 0.039264078976890285,
      "grad_norm": 2.394873857498169,
      "learning_rate": 0.00021766169154228856,
      "loss": 0.4235,
      "step": 175
    },
    {
      "epoch": 0.039264078976890285,
      "gripper_loss": 0.365234375,
      "loss": 0.2236328125,
      "pos_loss": 1.53125,
      "rot_loss": 0.27734375,
      "step": 175
    },
    {
      "epoch": 0.03948844514247252,
      "grad_norm": 2.465569257736206,
      "learning_rate": 0.00021890547263681592,
      "loss": 0.2883,
      "step": 176
    },
    {
      "epoch": 0.03948844514247252,
      "gripper_loss": 1.5,
      "loss": 0.287109375,
      "pos_loss": 0.9140625,
      "rot_loss": 0.7578125,
      "step": 176
    },
    {
      "epoch": 0.03971281130805474,
      "grad_norm": 2.214937925338745,
      "learning_rate": 0.00022014925373134328,
      "loss": 0.3501,
      "step": 177
    },
    {
      "epoch": 0.03971281130805474,
      "gripper_loss": 0.9296875,
      "loss": 0.392578125,
      "pos_loss": 1.890625,
      "rot_loss": 1.4375,
      "step": 177
    },
    {
      "epoch": 0.039937177473636974,
      "grad_norm": 2.0050294399261475,
      "learning_rate": 0.00022139303482587063,
      "loss": 0.2808,
      "step": 178
    },
    {
      "epoch": 0.039937177473636974,
      "gripper_loss": 2.65625,
      "loss": 0.384765625,
      "pos_loss": 2.0625,
      "rot_loss": 0.50390625,
      "step": 178
    },
    {
      "epoch": 0.040161543639219206,
      "grad_norm": 2.368727922439575,
      "learning_rate": 0.00022263681592039802,
      "loss": 0.2847,
      "step": 179
    },
    {
      "epoch": 0.040161543639219206,
      "gripper_loss": 0.17578125,
      "loss": 0.75390625,
      "pos_loss": 2.578125,
      "rot_loss": 4.96875,
      "step": 179
    },
    {
      "epoch": 0.04038590980480144,
      "grad_norm": 2.1283795833587646,
      "learning_rate": 0.00022388059701492538,
      "loss": 0.4448,
      "step": 180
    },
    {
      "epoch": 0.04038590980480144,
      "gripper_loss": 3.84375,
      "loss": 0.609375,
      "pos_loss": 2.0625,
      "rot_loss": 2.78125,
      "step": 180
    },
    {
      "epoch": 0.040610275970383664,
      "grad_norm": 2.3559510707855225,
      "learning_rate": 0.00022512437810945273,
      "loss": 0.3087,
      "step": 181
    },
    {
      "epoch": 0.040610275970383664,
      "gripper_loss": 1.6640625,
      "loss": 0.30859375,
      "pos_loss": 0.609375,
      "rot_loss": 1.3515625,
      "step": 181
    },
    {
      "epoch": 0.040834642135965896,
      "grad_norm": 2.3094305992126465,
      "learning_rate": 0.0002263681592039801,
      "loss": 0.3801,
      "step": 182
    },
    {
      "epoch": 0.040834642135965896,
      "gripper_loss": 0.765625,
      "loss": 0.447265625,
      "pos_loss": 1.1953125,
      "rot_loss": 0.9140625,
      "step": 182
    },
    {
      "epoch": 0.04105900830154813,
      "grad_norm": 3.4150102138519287,
      "learning_rate": 0.00022761194029850745,
      "loss": 0.479,
      "step": 183
    },
    {
      "epoch": 0.04105900830154813,
      "gripper_loss": 0.9921875,
      "loss": 0.3984375,
      "pos_loss": 1.7890625,
      "rot_loss": 1.171875,
      "step": 183
    },
    {
      "epoch": 0.04128337446713036,
      "grad_norm": 3.3770859241485596,
      "learning_rate": 0.00022885572139303486,
      "loss": 0.3638,
      "step": 184
    },
    {
      "epoch": 0.04128337446713036,
      "gripper_loss": 1.7578125,
      "loss": 0.212890625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.39453125,
      "step": 184
    },
    {
      "epoch": 0.041507740632712585,
      "grad_norm": 2.6390464305877686,
      "learning_rate": 0.00023009950248756221,
      "loss": 0.3105,
      "step": 185
    },
    {
      "epoch": 0.041507740632712585,
      "gripper_loss": 0.71484375,
      "loss": 0.43359375,
      "pos_loss": 3.25,
      "rot_loss": 0.66015625,
      "step": 185
    },
    {
      "epoch": 0.04173210679829482,
      "grad_norm": 2.018432855606079,
      "learning_rate": 0.00023134328358208957,
      "loss": 0.2662,
      "step": 186
    },
    {
      "epoch": 0.04173210679829482,
      "gripper_loss": 0.6953125,
      "loss": 0.59375,
      "pos_loss": 1.3203125,
      "rot_loss": 0.8359375,
      "step": 186
    },
    {
      "epoch": 0.04195647296387705,
      "grad_norm": 5.886080265045166,
      "learning_rate": 0.00023258706467661693,
      "loss": 0.6646,
      "step": 187
    },
    {
      "epoch": 0.04195647296387705,
      "gripper_loss": 1.5546875,
      "loss": 0.439453125,
      "pos_loss": 1.3828125,
      "rot_loss": 2.3125,
      "step": 187
    },
    {
      "epoch": 0.042180839129459274,
      "grad_norm": 2.515416145324707,
      "learning_rate": 0.00023383084577114428,
      "loss": 0.3772,
      "step": 188
    },
    {
      "epoch": 0.042180839129459274,
      "gripper_loss": 1.7578125,
      "loss": 0.318359375,
      "pos_loss": 0.8359375,
      "rot_loss": 0.6484375,
      "step": 188
    },
    {
      "epoch": 0.042405205295041506,
      "grad_norm": 2.6589057445526123,
      "learning_rate": 0.00023507462686567167,
      "loss": 0.3684,
      "step": 189
    },
    {
      "epoch": 0.042405205295041506,
      "gripper_loss": 0.76953125,
      "loss": 0.337890625,
      "pos_loss": 1.078125,
      "rot_loss": 1.453125,
      "step": 189
    },
    {
      "epoch": 0.04262957146062374,
      "grad_norm": 2.49347186088562,
      "learning_rate": 0.00023631840796019903,
      "loss": 0.255,
      "step": 190
    },
    {
      "epoch": 0.04262957146062374,
      "gripper_loss": 1.2734375,
      "loss": 0.39453125,
      "pos_loss": 1.1875,
      "rot_loss": 1.34375,
      "step": 190
    },
    {
      "epoch": 0.04285393762620597,
      "grad_norm": 2.8555855751037598,
      "learning_rate": 0.00023756218905472638,
      "loss": 0.3303,
      "step": 191
    },
    {
      "epoch": 0.04285393762620597,
      "gripper_loss": 0.50390625,
      "loss": 0.328125,
      "pos_loss": 1.296875,
      "rot_loss": 1.328125,
      "step": 191
    },
    {
      "epoch": 0.043078303791788196,
      "grad_norm": 2.350135326385498,
      "learning_rate": 0.00023880597014925374,
      "loss": 0.3391,
      "step": 192
    },
    {
      "epoch": 0.043078303791788196,
      "gripper_loss": 3.296875,
      "loss": 0.4765625,
      "pos_loss": 1.828125,
      "rot_loss": 1.0546875,
      "step": 192
    },
    {
      "epoch": 0.04330266995737043,
      "grad_norm": 2.6142871379852295,
      "learning_rate": 0.0002400497512437811,
      "loss": 0.4194,
      "step": 193
    },
    {
      "epoch": 0.04330266995737043,
      "gripper_loss": 0.11279296875,
      "loss": 0.474609375,
      "pos_loss": 1.1796875,
      "rot_loss": 3.09375,
      "step": 193
    },
    {
      "epoch": 0.04352703612295266,
      "grad_norm": 1.9953477382659912,
      "learning_rate": 0.00024129353233830848,
      "loss": 0.3101,
      "step": 194
    },
    {
      "epoch": 0.04352703612295266,
      "gripper_loss": 2.703125,
      "loss": 0.287109375,
      "pos_loss": 0.72265625,
      "rot_loss": 0.6484375,
      "step": 194
    },
    {
      "epoch": 0.04375140228853489,
      "grad_norm": 2.383368492126465,
      "learning_rate": 0.00024253731343283584,
      "loss": 0.2585,
      "step": 195
    },
    {
      "epoch": 0.04375140228853489,
      "gripper_loss": 1.03125,
      "loss": 0.310546875,
      "pos_loss": 1.3984375,
      "rot_loss": 0.66796875,
      "step": 195
    },
    {
      "epoch": 0.04397576845411712,
      "grad_norm": 1.980002999305725,
      "learning_rate": 0.0002437810945273632,
      "loss": 0.3582,
      "step": 196
    },
    {
      "epoch": 0.04397576845411712,
      "gripper_loss": 1.703125,
      "loss": 0.306640625,
      "pos_loss": 1.1796875,
      "rot_loss": 0.87109375,
      "step": 196
    },
    {
      "epoch": 0.04420013461969935,
      "grad_norm": 2.2525460720062256,
      "learning_rate": 0.0002450248756218905,
      "loss": 0.3638,
      "step": 197
    },
    {
      "epoch": 0.04420013461969935,
      "gripper_loss": 1.9375,
      "loss": 0.29296875,
      "pos_loss": 0.94921875,
      "rot_loss": 0.75390625,
      "step": 197
    },
    {
      "epoch": 0.04442450078528158,
      "grad_norm": 2.691166639328003,
      "learning_rate": 0.0002462686567164179,
      "loss": 0.3511,
      "step": 198
    },
    {
      "epoch": 0.04442450078528158,
      "gripper_loss": 1.3984375,
      "loss": 0.185546875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.470703125,
      "step": 198
    },
    {
      "epoch": 0.04464886695086381,
      "grad_norm": 1.756571650505066,
      "learning_rate": 0.0002475124378109453,
      "loss": 0.2312,
      "step": 199
    },
    {
      "epoch": 0.04464886695086381,
      "gripper_loss": 0.9140625,
      "loss": 0.302734375,
      "pos_loss": 1.171875,
      "rot_loss": 0.828125,
      "step": 199
    },
    {
      "epoch": 0.04487323311644604,
      "grad_norm": 1.8219962120056152,
      "learning_rate": 0.0002487562189054726,
      "loss": 0.2832,
      "step": 200
    },
    {
      "epoch": 0.04487323311644604,
      "gripper_loss": 2.171875,
      "loss": 0.28515625,
      "pos_loss": 1.1796875,
      "rot_loss": 0.4296875,
      "step": 200
    },
    {
      "epoch": 0.04509759928202827,
      "grad_norm": 1.8717589378356934,
      "learning_rate": 0.00025,
      "loss": 0.2788,
      "step": 201
    },
    {
      "epoch": 0.04509759928202827,
      "gripper_loss": 0.875,
      "loss": 0.263671875,
      "pos_loss": 1.453125,
      "rot_loss": 0.3515625,
      "step": 201
    },
    {
      "epoch": 0.0453219654476105,
      "grad_norm": 3.0686323642730713,
      "learning_rate": 0.0002512437810945274,
      "loss": 0.4182,
      "step": 202
    },
    {
      "epoch": 0.0453219654476105,
      "gripper_loss": 2.8125,
      "loss": 0.373046875,
      "pos_loss": 1.9765625,
      "rot_loss": 0.5,
      "step": 202
    },
    {
      "epoch": 0.04554633161319273,
      "grad_norm": 2.2953593730926514,
      "learning_rate": 0.0002524875621890547,
      "loss": 0.2616,
      "step": 203
    },
    {
      "epoch": 0.04554633161319273,
      "gripper_loss": 0.828125,
      "loss": 0.357421875,
      "pos_loss": 1.2421875,
      "rot_loss": 1.9609375,
      "step": 203
    },
    {
      "epoch": 0.04577069777877496,
      "grad_norm": 1.5072870254516602,
      "learning_rate": 0.0002537313432835821,
      "loss": 0.2494,
      "step": 204
    },
    {
      "epoch": 0.04577069777877496,
      "gripper_loss": 0.75390625,
      "loss": 0.6015625,
      "pos_loss": 3.9375,
      "rot_loss": 1.1640625,
      "step": 204
    },
    {
      "epoch": 0.04599506394435719,
      "grad_norm": 2.2602202892303467,
      "learning_rate": 0.00025497512437810943,
      "loss": 0.3573,
      "step": 205
    },
    {
      "epoch": 0.04599506394435719,
      "gripper_loss": 0.65234375,
      "loss": 0.5234375,
      "pos_loss": 2.390625,
      "rot_loss": 0.90625,
      "step": 205
    },
    {
      "epoch": 0.046219430109939424,
      "grad_norm": 3.2797365188598633,
      "learning_rate": 0.0002562189054726368,
      "loss": 0.5051,
      "step": 206
    },
    {
      "epoch": 0.046219430109939424,
      "gripper_loss": 0.63671875,
      "loss": 0.271484375,
      "pos_loss": 0.84765625,
      "rot_loss": 1.375,
      "step": 206
    },
    {
      "epoch": 0.04644379627552165,
      "grad_norm": 3.5084147453308105,
      "learning_rate": 0.0002574626865671642,
      "loss": 0.366,
      "step": 207
    },
    {
      "epoch": 0.04644379627552165,
      "gripper_loss": 0.71484375,
      "loss": 0.578125,
      "pos_loss": 0.94921875,
      "rot_loss": 4.4375,
      "step": 207
    },
    {
      "epoch": 0.04666816244110388,
      "grad_norm": 3.28016996383667,
      "learning_rate": 0.00025870646766169153,
      "loss": 0.3583,
      "step": 208
    },
    {
      "epoch": 0.04666816244110388,
      "gripper_loss": 0.18359375,
      "loss": 0.3515625,
      "pos_loss": 1.2421875,
      "rot_loss": 1.3125,
      "step": 208
    },
    {
      "epoch": 0.046892528606686114,
      "grad_norm": 2.9214680194854736,
      "learning_rate": 0.0002599502487562189,
      "loss": 0.3879,
      "step": 209
    },
    {
      "epoch": 0.046892528606686114,
      "gripper_loss": 2.578125,
      "loss": 0.37109375,
      "pos_loss": 1.4375,
      "rot_loss": 0.4921875,
      "step": 209
    },
    {
      "epoch": 0.04711689477226834,
      "grad_norm": 2.7927117347717285,
      "learning_rate": 0.00026119402985074624,
      "loss": 0.3235,
      "step": 210
    },
    {
      "epoch": 0.04711689477226834,
      "gripper_loss": 0.392578125,
      "loss": 0.8203125,
      "pos_loss": 1.0625,
      "rot_loss": 7.125,
      "step": 210
    },
    {
      "epoch": 0.04734126093785057,
      "grad_norm": 2.2442116737365723,
      "learning_rate": 0.00026243781094527363,
      "loss": 0.4208,
      "step": 211
    },
    {
      "epoch": 0.04734126093785057,
      "gripper_loss": 0.7109375,
      "loss": 0.1640625,
      "pos_loss": 0.390625,
      "rot_loss": 0.474609375,
      "step": 211
    },
    {
      "epoch": 0.0475656271034328,
      "grad_norm": 3.1835525035858154,
      "learning_rate": 0.000263681592039801,
      "loss": 0.4042,
      "step": 212
    },
    {
      "epoch": 0.0475656271034328,
      "gripper_loss": 1.1640625,
      "loss": 0.2216796875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.419921875,
      "step": 212
    },
    {
      "epoch": 0.047789993269015035,
      "grad_norm": 2.360595226287842,
      "learning_rate": 0.00026492537313432834,
      "loss": 0.3109,
      "step": 213
    },
    {
      "epoch": 0.047789993269015035,
      "gripper_loss": 1.15625,
      "loss": 0.296875,
      "pos_loss": 1.109375,
      "rot_loss": 0.9921875,
      "step": 213
    },
    {
      "epoch": 0.04801435943459726,
      "grad_norm": 2.019441843032837,
      "learning_rate": 0.0002661691542288557,
      "loss": 0.2915,
      "step": 214
    },
    {
      "epoch": 0.04801435943459726,
      "gripper_loss": 1.4453125,
      "loss": 0.357421875,
      "pos_loss": 0.796875,
      "rot_loss": 0.6640625,
      "step": 214
    },
    {
      "epoch": 0.04823872560017949,
      "grad_norm": 2.855198383331299,
      "learning_rate": 0.00026741293532338306,
      "loss": 0.4094,
      "step": 215
    },
    {
      "epoch": 0.04823872560017949,
      "gripper_loss": 0.18359375,
      "loss": 0.64453125,
      "pos_loss": 1.671875,
      "rot_loss": 4.34375,
      "step": 215
    },
    {
      "epoch": 0.048463091765761725,
      "grad_norm": 2.423081636428833,
      "learning_rate": 0.00026865671641791044,
      "loss": 0.308,
      "step": 216
    },
    {
      "epoch": 0.048463091765761725,
      "gripper_loss": 0.1748046875,
      "loss": 0.271484375,
      "pos_loss": 1.828125,
      "rot_loss": 0.39453125,
      "step": 216
    },
    {
      "epoch": 0.04868745793134396,
      "grad_norm": 2.254424571990967,
      "learning_rate": 0.0002699004975124378,
      "loss": 0.2963,
      "step": 217
    },
    {
      "epoch": 0.04868745793134396,
      "gripper_loss": 0.84765625,
      "loss": 0.32421875,
      "pos_loss": 0.6796875,
      "rot_loss": 1.0546875,
      "step": 217
    },
    {
      "epoch": 0.04891182409692618,
      "grad_norm": 3.0190296173095703,
      "learning_rate": 0.00027114427860696515,
      "loss": 0.4263,
      "step": 218
    },
    {
      "epoch": 0.04891182409692618,
      "gripper_loss": 0.244140625,
      "loss": 0.23046875,
      "pos_loss": 0.9765625,
      "rot_loss": 0.95703125,
      "step": 218
    },
    {
      "epoch": 0.049136190262508414,
      "grad_norm": 1.7792738676071167,
      "learning_rate": 0.00027238805970149254,
      "loss": 0.3262,
      "step": 219
    },
    {
      "epoch": 0.049136190262508414,
      "gripper_loss": 1.5390625,
      "loss": 0.267578125,
      "pos_loss": 1.28125,
      "rot_loss": 0.3515625,
      "step": 219
    },
    {
      "epoch": 0.049360556428090646,
      "grad_norm": 2.3283560276031494,
      "learning_rate": 0.00027363184079601987,
      "loss": 0.3188,
      "step": 220
    },
    {
      "epoch": 0.049360556428090646,
      "gripper_loss": 1.578125,
      "loss": 0.51953125,
      "pos_loss": 1.9765625,
      "rot_loss": 2.515625,
      "step": 220
    },
    {
      "epoch": 0.04958492259367287,
      "grad_norm": 2.714306354522705,
      "learning_rate": 0.00027487562189054725,
      "loss": 0.377,
      "step": 221
    },
    {
      "epoch": 0.04958492259367287,
      "gripper_loss": 0.48046875,
      "loss": 0.330078125,
      "pos_loss": 2.25,
      "rot_loss": 0.6640625,
      "step": 221
    },
    {
      "epoch": 0.0498092887592551,
      "grad_norm": 1.9377031326293945,
      "learning_rate": 0.00027611940298507464,
      "loss": 0.2583,
      "step": 222
    },
    {
      "epoch": 0.0498092887592551,
      "gripper_loss": 1.2734375,
      "loss": 0.423828125,
      "pos_loss": 1.8125,
      "rot_loss": 0.6328125,
      "step": 222
    },
    {
      "epoch": 0.050033654924837336,
      "grad_norm": 2.61486554145813,
      "learning_rate": 0.00027736318407960196,
      "loss": 0.3879,
      "step": 223
    },
    {
      "epoch": 0.050033654924837336,
      "gripper_loss": 0.94140625,
      "loss": 0.84765625,
      "pos_loss": 1.671875,
      "rot_loss": 2.046875,
      "step": 223
    },
    {
      "epoch": 0.05025802109041957,
      "grad_norm": 4.327167510986328,
      "learning_rate": 0.00027860696517412935,
      "loss": 0.7695,
      "step": 224
    },
    {
      "epoch": 0.05025802109041957,
      "gripper_loss": 0.212890625,
      "loss": 0.33984375,
      "pos_loss": 1.40625,
      "rot_loss": 0.99609375,
      "step": 224
    },
    {
      "epoch": 0.05048238725600179,
      "grad_norm": 2.3591599464416504,
      "learning_rate": 0.0002798507462686567,
      "loss": 0.3671,
      "step": 225
    },
    {
      "epoch": 0.05048238725600179,
      "gripper_loss": 0.609375,
      "loss": 0.298828125,
      "pos_loss": 1.2109375,
      "rot_loss": 0.7578125,
      "step": 225
    },
    {
      "epoch": 0.050706753421584025,
      "grad_norm": 2.8761842250823975,
      "learning_rate": 0.00028109452736318406,
      "loss": 0.394,
      "step": 226
    },
    {
      "epoch": 0.050706753421584025,
      "gripper_loss": 0.1357421875,
      "loss": 0.447265625,
      "pos_loss": 2.828125,
      "rot_loss": 1.0078125,
      "step": 226
    },
    {
      "epoch": 0.05093111958716626,
      "grad_norm": 2.7021658420562744,
      "learning_rate": 0.00028233830845771145,
      "loss": 0.3792,
      "step": 227
    },
    {
      "epoch": 0.05093111958716626,
      "gripper_loss": 1.4921875,
      "loss": 0.291015625,
      "pos_loss": 1.09375,
      "rot_loss": 0.6484375,
      "step": 227
    },
    {
      "epoch": 0.05115548575274848,
      "grad_norm": 2.1834282875061035,
      "learning_rate": 0.0002835820895522388,
      "loss": 0.2888,
      "step": 228
    },
    {
      "epoch": 0.05115548575274848,
      "gripper_loss": 1.390625,
      "loss": 0.423828125,
      "pos_loss": 1.3671875,
      "rot_loss": 1.3984375,
      "step": 228
    },
    {
      "epoch": 0.051379851918330714,
      "grad_norm": 2.7620317935943604,
      "learning_rate": 0.00028482587064676616,
      "loss": 0.4531,
      "step": 229
    },
    {
      "epoch": 0.051379851918330714,
      "gripper_loss": 0.376953125,
      "loss": 0.34765625,
      "pos_loss": 1.53125,
      "rot_loss": 1.5625,
      "step": 229
    },
    {
      "epoch": 0.051604218083912946,
      "grad_norm": 1.6828755140304565,
      "learning_rate": 0.0002860696517412935,
      "loss": 0.2018,
      "step": 230
    },
    {
      "epoch": 0.051604218083912946,
      "gripper_loss": 0.80078125,
      "loss": 0.2431640625,
      "pos_loss": 0.6953125,
      "rot_loss": 0.80859375,
      "step": 230
    },
    {
      "epoch": 0.05182858424949518,
      "grad_norm": 1.8212649822235107,
      "learning_rate": 0.0002873134328358209,
      "loss": 0.3317,
      "step": 231
    },
    {
      "epoch": 0.05182858424949518,
      "gripper_loss": 2.875,
      "loss": 0.2158203125,
      "pos_loss": 0.515625,
      "rot_loss": 0.25,
      "step": 231
    },
    {
      "epoch": 0.052052950415077404,
      "grad_norm": 1.6461482048034668,
      "learning_rate": 0.00028855721393034826,
      "loss": 0.2654,
      "step": 232
    },
    {
      "epoch": 0.052052950415077404,
      "gripper_loss": 0.4921875,
      "loss": 0.451171875,
      "pos_loss": 2.4375,
      "rot_loss": 1.1953125,
      "step": 232
    },
    {
      "epoch": 0.052277316580659636,
      "grad_norm": 2.0956344604492188,
      "learning_rate": 0.0002898009950248756,
      "loss": 0.3474,
      "step": 233
    },
    {
      "epoch": 0.052277316580659636,
      "gripper_loss": 1.484375,
      "loss": 0.302734375,
      "pos_loss": 0.73828125,
      "rot_loss": 1.546875,
      "step": 233
    },
    {
      "epoch": 0.05250168274624187,
      "grad_norm": 1.7181307077407837,
      "learning_rate": 0.00029104477611940297,
      "loss": 0.2792,
      "step": 234
    },
    {
      "epoch": 0.05250168274624187,
      "gripper_loss": 1.078125,
      "loss": 0.2734375,
      "pos_loss": 1.578125,
      "rot_loss": 0.59765625,
      "step": 234
    },
    {
      "epoch": 0.0527260489118241,
      "grad_norm": 1.4162384271621704,
      "learning_rate": 0.0002922885572139303,
      "loss": 0.3944,
      "step": 235
    },
    {
      "epoch": 0.0527260489118241,
      "gripper_loss": 1.921875,
      "loss": 0.349609375,
      "pos_loss": 0.53125,
      "rot_loss": 0.66015625,
      "step": 235
    },
    {
      "epoch": 0.052950415077406325,
      "grad_norm": 3.5733466148376465,
      "learning_rate": 0.00029353233830845774,
      "loss": 0.4734,
      "step": 236
    },
    {
      "epoch": 0.052950415077406325,
      "gripper_loss": 0.7265625,
      "loss": 0.263671875,
      "pos_loss": 1.5,
      "rot_loss": 0.37109375,
      "step": 236
    },
    {
      "epoch": 0.05317478124298856,
      "grad_norm": 2.306548833847046,
      "learning_rate": 0.0002947761194029851,
      "loss": 0.3251,
      "step": 237
    },
    {
      "epoch": 0.05317478124298856,
      "gripper_loss": 1.046875,
      "loss": 0.236328125,
      "pos_loss": 0.6015625,
      "rot_loss": 1.046875,
      "step": 237
    },
    {
      "epoch": 0.05339914740857079,
      "grad_norm": 2.0381088256835938,
      "learning_rate": 0.00029601990049751245,
      "loss": 0.3365,
      "step": 238
    },
    {
      "epoch": 0.05339914740857079,
      "gripper_loss": 0.16015625,
      "loss": 0.373046875,
      "pos_loss": 0.87109375,
      "rot_loss": 2.546875,
      "step": 238
    },
    {
      "epoch": 0.053623513574153014,
      "grad_norm": 2.0871803760528564,
      "learning_rate": 0.00029726368159203984,
      "loss": 0.2673,
      "step": 239
    },
    {
      "epoch": 0.053623513574153014,
      "gripper_loss": 1.7421875,
      "loss": 0.466796875,
      "pos_loss": 2.28125,
      "rot_loss": 1.3671875,
      "step": 239
    },
    {
      "epoch": 0.05384787973973525,
      "grad_norm": 2.7981293201446533,
      "learning_rate": 0.00029850746268656717,
      "loss": 0.4536,
      "step": 240
    },
    {
      "epoch": 0.05384787973973525,
      "gripper_loss": 1.171875,
      "loss": 0.341796875,
      "pos_loss": 1.171875,
      "rot_loss": 1.4453125,
      "step": 240
    },
    {
      "epoch": 0.05407224590531748,
      "grad_norm": 2.408308982849121,
      "learning_rate": 0.00029975124378109455,
      "loss": 0.2865,
      "step": 241
    },
    {
      "epoch": 0.05407224590531748,
      "gripper_loss": 0.51953125,
      "loss": 0.392578125,
      "pos_loss": 2.09375,
      "rot_loss": 1.2578125,
      "step": 241
    },
    {
      "epoch": 0.05429661207089971,
      "grad_norm": 2.441540241241455,
      "learning_rate": 0.00030099502487562194,
      "loss": 0.381,
      "step": 242
    },
    {
      "epoch": 0.05429661207089971,
      "gripper_loss": 2.6875,
      "loss": 0.2421875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.447265625,
      "step": 242
    },
    {
      "epoch": 0.054520978236481936,
      "grad_norm": 2.7136363983154297,
      "learning_rate": 0.00030223880597014926,
      "loss": 0.3367,
      "step": 243
    },
    {
      "epoch": 0.054520978236481936,
      "gripper_loss": 0.578125,
      "loss": 0.16015625,
      "pos_loss": 0.50390625,
      "rot_loss": 0.52734375,
      "step": 243
    },
    {
      "epoch": 0.05474534440206417,
      "grad_norm": 1.6649657487869263,
      "learning_rate": 0.00030348258706467665,
      "loss": 0.2977,
      "step": 244
    },
    {
      "epoch": 0.05474534440206417,
      "gripper_loss": 2.015625,
      "loss": 0.69140625,
      "pos_loss": 1.0234375,
      "rot_loss": 1.546875,
      "step": 244
    },
    {
      "epoch": 0.0549697105676464,
      "grad_norm": 3.161957263946533,
      "learning_rate": 0.000304726368159204,
      "loss": 0.5671,
      "step": 245
    },
    {
      "epoch": 0.0549697105676464,
      "gripper_loss": 1.015625,
      "loss": 0.53125,
      "pos_loss": 1.96875,
      "rot_loss": 2.765625,
      "step": 245
    },
    {
      "epoch": 0.05519407673322863,
      "grad_norm": 2.50581431388855,
      "learning_rate": 0.00030597014925373136,
      "loss": 0.2806,
      "step": 246
    },
    {
      "epoch": 0.05519407673322863,
      "gripper_loss": 0.984375,
      "loss": 0.4921875,
      "pos_loss": 0.875,
      "rot_loss": 1.328125,
      "step": 246
    },
    {
      "epoch": 0.05541844289881086,
      "grad_norm": 3.0481765270233154,
      "learning_rate": 0.00030721393034825875,
      "loss": 0.51,
      "step": 247
    },
    {
      "epoch": 0.05541844289881086,
      "gripper_loss": 1.1015625,
      "loss": 0.400390625,
      "pos_loss": 2.71875,
      "rot_loss": 0.5234375,
      "step": 247
    },
    {
      "epoch": 0.05564280906439309,
      "grad_norm": 2.1030516624450684,
      "learning_rate": 0.0003084577114427861,
      "loss": 0.3201,
      "step": 248
    },
    {
      "epoch": 0.05564280906439309,
      "gripper_loss": 0.69140625,
      "loss": 0.21484375,
      "pos_loss": 0.98828125,
      "rot_loss": 0.408203125,
      "step": 248
    },
    {
      "epoch": 0.05586717522997532,
      "grad_norm": 1.8524115085601807,
      "learning_rate": 0.00030970149253731346,
      "loss": 0.2784,
      "step": 249
    },
    {
      "epoch": 0.05586717522997532,
      "gripper_loss": 1.5390625,
      "loss": 0.578125,
      "pos_loss": 1.6796875,
      "rot_loss": 1.3359375,
      "step": 249
    },
    {
      "epoch": 0.05609154139555755,
      "grad_norm": 2.721989393234253,
      "learning_rate": 0.0003109452736318408,
      "loss": 0.4956,
      "step": 250
    },
    {
      "epoch": 0.05609154139555755,
      "gripper_loss": 2.359375,
      "loss": 0.291015625,
      "pos_loss": 0.921875,
      "rot_loss": 0.54296875,
      "step": 250
    },
    {
      "epoch": 0.05631590756113978,
      "grad_norm": 2.0238609313964844,
      "learning_rate": 0.0003121890547263682,
      "loss": 0.3107,
      "step": 251
    },
    {
      "epoch": 0.05631590756113978,
      "gripper_loss": 0.353515625,
      "loss": 0.263671875,
      "pos_loss": 0.81640625,
      "rot_loss": 1.015625,
      "step": 251
    },
    {
      "epoch": 0.05654027372672201,
      "grad_norm": 2.646317720413208,
      "learning_rate": 0.00031343283582089556,
      "loss": 0.3679,
      "step": 252
    },
    {
      "epoch": 0.05654027372672201,
      "gripper_loss": 1.6640625,
      "loss": 0.4140625,
      "pos_loss": 0.99609375,
      "rot_loss": 1.6328125,
      "step": 252
    },
    {
      "epoch": 0.05676463989230424,
      "grad_norm": 2.7946770191192627,
      "learning_rate": 0.0003146766169154229,
      "loss": 0.3719,
      "step": 253
    },
    {
      "epoch": 0.05676463989230424,
      "gripper_loss": 2.234375,
      "loss": 0.2353515625,
      "pos_loss": 0.578125,
      "rot_loss": 0.2734375,
      "step": 253
    },
    {
      "epoch": 0.05698900605788647,
      "grad_norm": 2.7007339000701904,
      "learning_rate": 0.00031592039800995027,
      "loss": 0.3544,
      "step": 254
    },
    {
      "epoch": 0.05698900605788647,
      "gripper_loss": 0.796875,
      "loss": 0.26953125,
      "pos_loss": 0.578125,
      "rot_loss": 0.6328125,
      "step": 254
    },
    {
      "epoch": 0.0572133722234687,
      "grad_norm": 2.3023054599761963,
      "learning_rate": 0.00031716417910447766,
      "loss": 0.3484,
      "step": 255
    },
    {
      "epoch": 0.0572133722234687,
      "gripper_loss": 0.625,
      "loss": 0.208984375,
      "pos_loss": 1.046875,
      "rot_loss": 0.369140625,
      "step": 255
    },
    {
      "epoch": 0.05743773838905093,
      "grad_norm": 1.601024866104126,
      "learning_rate": 0.000318407960199005,
      "loss": 0.2792,
      "step": 256
    },
    {
      "epoch": 0.05743773838905093,
      "gripper_loss": 2.078125,
      "loss": 0.45703125,
      "pos_loss": 0.84375,
      "rot_loss": 0.69921875,
      "step": 256
    },
    {
      "epoch": 0.057662104554633165,
      "grad_norm": 2.8154666423797607,
      "learning_rate": 0.00031965174129353237,
      "loss": 0.3691,
      "step": 257
    },
    {
      "epoch": 0.057662104554633165,
      "gripper_loss": 0.78515625,
      "loss": 0.15625,
      "pos_loss": 0.30078125,
      "rot_loss": 0.60546875,
      "step": 257
    },
    {
      "epoch": 0.05788647072021539,
      "grad_norm": 1.9723645448684692,
      "learning_rate": 0.0003208955223880597,
      "loss": 0.2626,
      "step": 258
    },
    {
      "epoch": 0.05788647072021539,
      "gripper_loss": 0.53515625,
      "loss": 0.7734375,
      "pos_loss": 2.546875,
      "rot_loss": 0.8828125,
      "step": 258
    },
    {
      "epoch": 0.05811083688579762,
      "grad_norm": 3.9859042167663574,
      "learning_rate": 0.0003221393034825871,
      "loss": 0.644,
      "step": 259
    },
    {
      "epoch": 0.05811083688579762,
      "gripper_loss": 0.57421875,
      "loss": 0.46484375,
      "pos_loss": 2.34375,
      "rot_loss": 1.65625,
      "step": 259
    },
    {
      "epoch": 0.058335203051379854,
      "grad_norm": 2.2325494289398193,
      "learning_rate": 0.00032338308457711447,
      "loss": 0.3351,
      "step": 260
    },
    {
      "epoch": 0.058335203051379854,
      "gripper_loss": 0.2001953125,
      "loss": 0.55859375,
      "pos_loss": 0.671875,
      "rot_loss": 3.65625,
      "step": 260
    },
    {
      "epoch": 0.05855956921696208,
      "grad_norm": 3.7043004035949707,
      "learning_rate": 0.0003246268656716418,
      "loss": 0.4546,
      "step": 261
    },
    {
      "epoch": 0.05855956921696208,
      "gripper_loss": 0.8046875,
      "loss": 0.283203125,
      "pos_loss": 1.2734375,
      "rot_loss": 0.671875,
      "step": 261
    },
    {
      "epoch": 0.05878393538254431,
      "grad_norm": 2.031054973602295,
      "learning_rate": 0.0003258706467661692,
      "loss": 0.3215,
      "step": 262
    },
    {
      "epoch": 0.05878393538254431,
      "gripper_loss": 1.1640625,
      "loss": 0.451171875,
      "pos_loss": 2.203125,
      "rot_loss": 1.3515625,
      "step": 262
    },
    {
      "epoch": 0.05900830154812654,
      "grad_norm": 1.5022661685943604,
      "learning_rate": 0.0003271144278606965,
      "loss": 0.3411,
      "step": 263
    },
    {
      "epoch": 0.05900830154812654,
      "gripper_loss": 1.0546875,
      "loss": 0.15234375,
      "pos_loss": 0.498046875,
      "rot_loss": 0.1748046875,
      "step": 263
    },
    {
      "epoch": 0.059232667713708775,
      "grad_norm": 1.6899993419647217,
      "learning_rate": 0.0003283582089552239,
      "loss": 0.1969,
      "step": 264
    },
    {
      "epoch": 0.059232667713708775,
      "gripper_loss": 0.5390625,
      "loss": 0.375,
      "pos_loss": 2.5,
      "rot_loss": 0.734375,
      "step": 264
    },
    {
      "epoch": 0.059457033879291,
      "grad_norm": 1.6006584167480469,
      "learning_rate": 0.0003296019900497513,
      "loss": 0.2559,
      "step": 265
    },
    {
      "epoch": 0.059457033879291,
      "gripper_loss": 0.9375,
      "loss": 0.326171875,
      "pos_loss": 1.8046875,
      "rot_loss": 0.50390625,
      "step": 265
    },
    {
      "epoch": 0.05968140004487323,
      "grad_norm": 2.2941782474517822,
      "learning_rate": 0.0003308457711442786,
      "loss": 0.2422,
      "step": 266
    },
    {
      "epoch": 0.05968140004487323,
      "gripper_loss": 0.59375,
      "loss": 0.12890625,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.498046875,
      "step": 266
    },
    {
      "epoch": 0.059905766210455465,
      "grad_norm": 1.3936842679977417,
      "learning_rate": 0.000332089552238806,
      "loss": 0.2479,
      "step": 267
    },
    {
      "epoch": 0.059905766210455465,
      "gripper_loss": 1.1015625,
      "loss": 0.18359375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.4375,
      "step": 267
    },
    {
      "epoch": 0.0601301323760377,
      "grad_norm": 1.6203703880310059,
      "learning_rate": 0.0003333333333333333,
      "loss": 0.2483,
      "step": 268
    },
    {
      "epoch": 0.0601301323760377,
      "gripper_loss": 0.333984375,
      "loss": 0.181640625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.9375,
      "step": 268
    },
    {
      "epoch": 0.06035449854161992,
      "grad_norm": 1.3560147285461426,
      "learning_rate": 0.0003345771144278607,
      "loss": 0.2803,
      "step": 269
    },
    {
      "epoch": 0.06035449854161992,
      "gripper_loss": 2.109375,
      "loss": 0.279296875,
      "pos_loss": 1.03125,
      "rot_loss": 0.416015625,
      "step": 269
    },
    {
      "epoch": 0.060578864707202154,
      "grad_norm": 1.7432103157043457,
      "learning_rate": 0.0003358208955223881,
      "loss": 0.256,
      "step": 270
    },
    {
      "epoch": 0.060578864707202154,
      "gripper_loss": 0.3984375,
      "loss": 0.1181640625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.2421875,
      "step": 270
    },
    {
      "epoch": 0.060803230872784386,
      "grad_norm": 2.0829646587371826,
      "learning_rate": 0.0003370646766169154,
      "loss": 0.335,
      "step": 271
    },
    {
      "epoch": 0.060803230872784386,
      "gripper_loss": 0.74609375,
      "loss": 0.2158203125,
      "pos_loss": 0.71875,
      "rot_loss": 0.46484375,
      "step": 271
    },
    {
      "epoch": 0.06102759703836661,
      "grad_norm": 2.0113790035247803,
      "learning_rate": 0.0003383084577114428,
      "loss": 0.3177,
      "step": 272
    },
    {
      "epoch": 0.06102759703836661,
      "gripper_loss": 0.1376953125,
      "loss": 0.43359375,
      "pos_loss": 3.75,
      "rot_loss": 0.314453125,
      "step": 272
    },
    {
      "epoch": 0.061251963203948843,
      "grad_norm": 1.9243930578231812,
      "learning_rate": 0.00033955223880597013,
      "loss": 0.3976,
      "step": 273
    },
    {
      "epoch": 0.061251963203948843,
      "gripper_loss": 0.98828125,
      "loss": 0.193359375,
      "pos_loss": 0.90234375,
      "rot_loss": 0.25,
      "step": 273
    },
    {
      "epoch": 0.061476329369531076,
      "grad_norm": 1.8452341556549072,
      "learning_rate": 0.0003407960199004975,
      "loss": 0.2306,
      "step": 274
    },
    {
      "epoch": 0.061476329369531076,
      "gripper_loss": 0.072265625,
      "loss": 0.40234375,
      "pos_loss": 2.15625,
      "rot_loss": 1.640625,
      "step": 274
    },
    {
      "epoch": 0.06170069553511331,
      "grad_norm": 2.6724612712860107,
      "learning_rate": 0.0003420398009950249,
      "loss": 0.1973,
      "step": 275
    },
    {
      "epoch": 0.06170069553511331,
      "gripper_loss": 0.55078125,
      "loss": 0.6328125,
      "pos_loss": 2.609375,
      "rot_loss": 0.7421875,
      "step": 275
    },
    {
      "epoch": 0.06192506170069553,
      "grad_norm": 3.240436315536499,
      "learning_rate": 0.00034328358208955223,
      "loss": 0.584,
      "step": 276
    },
    {
      "epoch": 0.06192506170069553,
      "gripper_loss": 0.216796875,
      "loss": 0.439453125,
      "pos_loss": 1.2578125,
      "rot_loss": 0.796875,
      "step": 276
    },
    {
      "epoch": 0.062149427866277765,
      "grad_norm": 3.048497200012207,
      "learning_rate": 0.0003445273631840796,
      "loss": 0.3972,
      "step": 277
    },
    {
      "epoch": 0.062149427866277765,
      "gripper_loss": 1.5078125,
      "loss": 0.66796875,
      "pos_loss": 1.1015625,
      "rot_loss": 1.5,
      "step": 277
    },
    {
      "epoch": 0.06237379403186,
      "grad_norm": 3.2025492191314697,
      "learning_rate": 0.00034577114427860695,
      "loss": 0.6812,
      "step": 278
    },
    {
      "epoch": 0.06237379403186,
      "gripper_loss": 1.6796875,
      "loss": 0.388671875,
      "pos_loss": 1.8359375,
      "rot_loss": 0.490234375,
      "step": 278
    },
    {
      "epoch": 0.06259816019744223,
      "grad_norm": 3.004859209060669,
      "learning_rate": 0.00034701492537313433,
      "loss": 0.3408,
      "step": 279
    },
    {
      "epoch": 0.06259816019744223,
      "gripper_loss": 0.90625,
      "loss": 0.26953125,
      "pos_loss": 0.92578125,
      "rot_loss": 0.376953125,
      "step": 279
    },
    {
      "epoch": 0.06282252636302446,
      "grad_norm": 2.6277964115142822,
      "learning_rate": 0.0003482587064676617,
      "loss": 0.3611,
      "step": 280
    },
    {
      "epoch": 0.06282252636302446,
      "gripper_loss": 1.453125,
      "loss": 0.216796875,
      "pos_loss": 0.9375,
      "rot_loss": 0.2734375,
      "step": 280
    },
    {
      "epoch": 0.06304689252860668,
      "grad_norm": 1.6263847351074219,
      "learning_rate": 0.00034950248756218904,
      "loss": 0.283,
      "step": 281
    },
    {
      "epoch": 0.06304689252860668,
      "gripper_loss": 1.0546875,
      "loss": 0.435546875,
      "pos_loss": 1.78125,
      "rot_loss": 1.4375,
      "step": 281
    },
    {
      "epoch": 0.06327125869418891,
      "grad_norm": 2.2561612129211426,
      "learning_rate": 0.0003507462686567164,
      "loss": 0.3291,
      "step": 282
    },
    {
      "epoch": 0.06327125869418891,
      "gripper_loss": 0.56640625,
      "loss": 0.3984375,
      "pos_loss": 0.8515625,
      "rot_loss": 0.5546875,
      "step": 282
    },
    {
      "epoch": 0.06349562485977114,
      "grad_norm": 2.919201612472534,
      "learning_rate": 0.00035199004975124376,
      "loss": 0.4561,
      "step": 283
    },
    {
      "epoch": 0.06349562485977114,
      "gripper_loss": 0.69921875,
      "loss": 0.30078125,
      "pos_loss": 0.76953125,
      "rot_loss": 1.4609375,
      "step": 283
    },
    {
      "epoch": 0.06371999102535338,
      "grad_norm": 2.244216203689575,
      "learning_rate": 0.00035323383084577114,
      "loss": 0.2732,
      "step": 284
    },
    {
      "epoch": 0.06371999102535338,
      "gripper_loss": 1.65625,
      "loss": 0.369140625,
      "pos_loss": 1.0390625,
      "rot_loss": 0.48046875,
      "step": 284
    },
    {
      "epoch": 0.06394435719093561,
      "grad_norm": 2.850771188735962,
      "learning_rate": 0.0003544776119402985,
      "loss": 0.4663,
      "step": 285
    },
    {
      "epoch": 0.06394435719093561,
      "gripper_loss": 0.236328125,
      "loss": 0.30078125,
      "pos_loss": 1.3203125,
      "rot_loss": 1.140625,
      "step": 285
    },
    {
      "epoch": 0.06416872335651784,
      "grad_norm": 1.815827488899231,
      "learning_rate": 0.00035572139303482585,
      "loss": 0.2761,
      "step": 286
    },
    {
      "epoch": 0.06416872335651784,
      "gripper_loss": 1.2421875,
      "loss": 0.197265625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.357421875,
      "step": 286
    },
    {
      "epoch": 0.06439308952210007,
      "grad_norm": 2.1811740398406982,
      "learning_rate": 0.00035696517412935324,
      "loss": 0.3665,
      "step": 287
    },
    {
      "epoch": 0.06439308952210007,
      "gripper_loss": 0.2138671875,
      "loss": 0.291015625,
      "pos_loss": 0.984375,
      "rot_loss": 1.234375,
      "step": 287
    },
    {
      "epoch": 0.0646174556876823,
      "grad_norm": 2.1757349967956543,
      "learning_rate": 0.00035820895522388057,
      "loss": 0.2625,
      "step": 288
    },
    {
      "epoch": 0.0646174556876823,
      "gripper_loss": 1.0859375,
      "loss": 0.55078125,
      "pos_loss": 0.8359375,
      "rot_loss": 1.3515625,
      "step": 288
    },
    {
      "epoch": 0.06484182185326452,
      "grad_norm": 3.499364137649536,
      "learning_rate": 0.00035945273631840795,
      "loss": 0.5898,
      "step": 289
    },
    {
      "epoch": 0.06484182185326452,
      "gripper_loss": 1.21875,
      "loss": 0.2890625,
      "pos_loss": 1.03125,
      "rot_loss": 0.53515625,
      "step": 289
    },
    {
      "epoch": 0.06506618801884675,
      "grad_norm": 3.0844714641571045,
      "learning_rate": 0.00036069651741293534,
      "loss": 0.3474,
      "step": 290
    },
    {
      "epoch": 0.06506618801884675,
      "gripper_loss": 0.169921875,
      "loss": 0.55078125,
      "pos_loss": 3.6875,
      "rot_loss": 1.0859375,
      "step": 290
    },
    {
      "epoch": 0.06529055418442899,
      "grad_norm": 2.6526808738708496,
      "learning_rate": 0.00036194029850746267,
      "loss": 0.3868,
      "step": 291
    },
    {
      "epoch": 0.06529055418442899,
      "gripper_loss": 1.109375,
      "loss": 0.302734375,
      "pos_loss": 0.9765625,
      "rot_loss": 0.47265625,
      "step": 291
    },
    {
      "epoch": 0.06551492035001122,
      "grad_norm": 2.572707414627075,
      "learning_rate": 0.00036318407960199005,
      "loss": 0.3286,
      "step": 292
    },
    {
      "epoch": 0.06551492035001122,
      "gripper_loss": 0.87109375,
      "loss": 0.337890625,
      "pos_loss": 0.74609375,
      "rot_loss": 0.439453125,
      "step": 292
    },
    {
      "epoch": 0.06573928651559345,
      "grad_norm": 2.8024346828460693,
      "learning_rate": 0.0003644278606965174,
      "loss": 0.5098,
      "step": 293
    },
    {
      "epoch": 0.06573928651559345,
      "gripper_loss": 0.54296875,
      "loss": 0.53515625,
      "pos_loss": 1.6953125,
      "rot_loss": 2.671875,
      "step": 293
    },
    {
      "epoch": 0.06596365268117568,
      "grad_norm": 2.7597970962524414,
      "learning_rate": 0.00036567164179104476,
      "loss": 0.3333,
      "step": 294
    },
    {
      "epoch": 0.06596365268117568,
      "gripper_loss": 0.8828125,
      "loss": 0.333984375,
      "pos_loss": 1.625,
      "rot_loss": 0.82421875,
      "step": 294
    },
    {
      "epoch": 0.06618801884675792,
      "grad_norm": 2.5194451808929443,
      "learning_rate": 0.00036691542288557215,
      "loss": 0.3792,
      "step": 295
    },
    {
      "epoch": 0.06618801884675792,
      "gripper_loss": 0.89453125,
      "loss": 0.62890625,
      "pos_loss": 2.1875,
      "rot_loss": 3.421875,
      "step": 295
    },
    {
      "epoch": 0.06641238501234013,
      "grad_norm": 3.3336567878723145,
      "learning_rate": 0.0003681592039800995,
      "loss": 0.4631,
      "step": 296
    },
    {
      "epoch": 0.06641238501234013,
      "gripper_loss": 0.578125,
      "loss": 0.376953125,
      "pos_loss": 0.90625,
      "rot_loss": 1.53125,
      "step": 296
    },
    {
      "epoch": 0.06663675117792237,
      "grad_norm": 2.6251168251037598,
      "learning_rate": 0.00036940298507462686,
      "loss": 0.3333,
      "step": 297
    },
    {
      "epoch": 0.06663675117792237,
      "gripper_loss": 0.37890625,
      "loss": 0.142578125,
      "pos_loss": 0.373046875,
      "rot_loss": 0.20703125,
      "step": 297
    },
    {
      "epoch": 0.0668611173435046,
      "grad_norm": 2.1140666007995605,
      "learning_rate": 0.0003706467661691542,
      "loss": 0.2926,
      "step": 298
    },
    {
      "epoch": 0.0668611173435046,
      "gripper_loss": 0.6171875,
      "loss": 0.26953125,
      "pos_loss": 1.6328125,
      "rot_loss": 0.56640625,
      "step": 298
    },
    {
      "epoch": 0.06708548350908683,
      "grad_norm": 2.2646384239196777,
      "learning_rate": 0.0003718905472636816,
      "loss": 0.2528,
      "step": 299
    },
    {
      "epoch": 0.06708548350908683,
      "gripper_loss": 0.60546875,
      "loss": 0.3359375,
      "pos_loss": 1.4609375,
      "rot_loss": 1.328125,
      "step": 299
    },
    {
      "epoch": 0.06730984967466906,
      "grad_norm": 2.0531444549560547,
      "learning_rate": 0.00037313432835820896,
      "loss": 0.2974,
      "step": 300
    },
    {
      "epoch": 0.06730984967466906,
      "gripper_loss": 0.90625,
      "loss": 0.2890625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.7734375,
      "step": 300
    },
    {
      "epoch": 0.0675342158402513,
      "grad_norm": 2.958157539367676,
      "learning_rate": 0.0003743781094527363,
      "loss": 0.4465,
      "step": 301
    },
    {
      "epoch": 0.0675342158402513,
      "gripper_loss": 0.6796875,
      "loss": 0.40234375,
      "pos_loss": 1.703125,
      "rot_loss": 1.4140625,
      "step": 301
    },
    {
      "epoch": 0.06775858200583353,
      "grad_norm": 2.4228076934814453,
      "learning_rate": 0.0003756218905472637,
      "loss": 0.3098,
      "step": 302
    },
    {
      "epoch": 0.06775858200583353,
      "gripper_loss": 1.546875,
      "loss": 0.375,
      "pos_loss": 1.6953125,
      "rot_loss": 0.8515625,
      "step": 302
    },
    {
      "epoch": 0.06798294817141574,
      "grad_norm": 2.030914306640625,
      "learning_rate": 0.00037686567164179106,
      "loss": 0.328,
      "step": 303
    },
    {
      "epoch": 0.06798294817141574,
      "gripper_loss": 0.79296875,
      "loss": 0.306640625,
      "pos_loss": 1.25,
      "rot_loss": 0.66796875,
      "step": 303
    },
    {
      "epoch": 0.06820731433699798,
      "grad_norm": 2.1997783184051514,
      "learning_rate": 0.00037810945273631844,
      "loss": 0.2833,
      "step": 304
    },
    {
      "epoch": 0.06820731433699798,
      "gripper_loss": 1.640625,
      "loss": 0.189453125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.41015625,
      "step": 304
    },
    {
      "epoch": 0.06843168050258021,
      "grad_norm": 1.645492434501648,
      "learning_rate": 0.0003793532338308458,
      "loss": 0.2574,
      "step": 305
    },
    {
      "epoch": 0.06843168050258021,
      "gripper_loss": 1.765625,
      "loss": 0.28125,
      "pos_loss": 1.265625,
      "rot_loss": 0.466796875,
      "step": 305
    },
    {
      "epoch": 0.06865604666816244,
      "grad_norm": 1.9709715843200684,
      "learning_rate": 0.00038059701492537315,
      "loss": 0.252,
      "step": 306
    },
    {
      "epoch": 0.06865604666816244,
      "gripper_loss": 1.6015625,
      "loss": 0.7265625,
      "pos_loss": 1.1796875,
      "rot_loss": 0.78515625,
      "step": 306
    },
    {
      "epoch": 0.06888041283374467,
      "grad_norm": 3.229234218597412,
      "learning_rate": 0.00038184079601990054,
      "loss": 0.6646,
      "step": 307
    },
    {
      "epoch": 0.06888041283374467,
      "gripper_loss": 2.0625,
      "loss": 0.26171875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.466796875,
      "step": 307
    },
    {
      "epoch": 0.0691047789993269,
      "grad_norm": 2.47257924079895,
      "learning_rate": 0.00038308457711442787,
      "loss": 0.2958,
      "step": 308
    },
    {
      "epoch": 0.0691047789993269,
      "gripper_loss": 2.6875,
      "loss": 0.2421875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.39453125,
      "step": 308
    },
    {
      "epoch": 0.06932914516490914,
      "grad_norm": 2.7278294563293457,
      "learning_rate": 0.00038432835820895525,
      "loss": 0.2596,
      "step": 309
    },
    {
      "epoch": 0.06932914516490914,
      "gripper_loss": 3.796875,
      "loss": 0.244140625,
      "pos_loss": 0.375,
      "rot_loss": 0.2373046875,
      "step": 309
    },
    {
      "epoch": 0.06955351133049137,
      "grad_norm": 2.705793857574463,
      "learning_rate": 0.00038557213930348264,
      "loss": 0.314,
      "step": 310
    },
    {
      "epoch": 0.06955351133049137,
      "gripper_loss": 0.4296875,
      "loss": 0.37109375,
      "pos_loss": 2.28125,
      "rot_loss": 0.5234375,
      "step": 310
    },
    {
      "epoch": 0.06977787749607359,
      "grad_norm": 1.9973411560058594,
      "learning_rate": 0.00038681592039800997,
      "loss": 0.3198,
      "step": 311
    },
    {
      "epoch": 0.06977787749607359,
      "gripper_loss": 0.76171875,
      "loss": 0.103515625,
      "pos_loss": 0.279296875,
      "rot_loss": 0.1279296875,
      "step": 311
    },
    {
      "epoch": 0.07000224366165582,
      "grad_norm": 1.6486377716064453,
      "learning_rate": 0.00038805970149253735,
      "loss": 0.2336,
      "step": 312
    },
    {
      "epoch": 0.07000224366165582,
      "gripper_loss": 0.359375,
      "loss": 0.462890625,
      "pos_loss": 1.7109375,
      "rot_loss": 0.87109375,
      "step": 312
    },
    {
      "epoch": 0.07022660982723805,
      "grad_norm": 2.244215250015259,
      "learning_rate": 0.0003893034825870647,
      "loss": 0.3757,
      "step": 313
    },
    {
      "epoch": 0.07022660982723805,
      "gripper_loss": 1.203125,
      "loss": 0.2060546875,
      "pos_loss": 0.81640625,
      "rot_loss": 0.314453125,
      "step": 313
    },
    {
      "epoch": 0.07045097599282028,
      "grad_norm": 2.1782355308532715,
      "learning_rate": 0.00039054726368159206,
      "loss": 0.2618,
      "step": 314
    },
    {
      "epoch": 0.07045097599282028,
      "gripper_loss": 1.7109375,
      "loss": 0.306640625,
      "pos_loss": 0.859375,
      "rot_loss": 0.5546875,
      "step": 314
    },
    {
      "epoch": 0.07067534215840252,
      "grad_norm": 2.1367130279541016,
      "learning_rate": 0.00039179104477611945,
      "loss": 0.3123,
      "step": 315
    },
    {
      "epoch": 0.07067534215840252,
      "gripper_loss": 3.40625,
      "loss": 0.361328125,
      "pos_loss": 1.578125,
      "rot_loss": 0.458984375,
      "step": 315
    },
    {
      "epoch": 0.07089970832398475,
      "grad_norm": 2.696489095687866,
      "learning_rate": 0.0003930348258706468,
      "loss": 0.3107,
      "step": 316
    },
    {
      "epoch": 0.07089970832398475,
      "gripper_loss": 0.546875,
      "loss": 0.1669921875,
      "pos_loss": 0.8125,
      "rot_loss": 0.2451171875,
      "step": 316
    },
    {
      "epoch": 0.07112407448956698,
      "grad_norm": 1.2431347370147705,
      "learning_rate": 0.00039427860696517416,
      "loss": 0.2284,
      "step": 317
    },
    {
      "epoch": 0.07112407448956698,
      "gripper_loss": 1.828125,
      "loss": 0.419921875,
      "pos_loss": 0.75390625,
      "rot_loss": 0.8515625,
      "step": 317
    },
    {
      "epoch": 0.0713484406551492,
      "grad_norm": 3.1148431301116943,
      "learning_rate": 0.0003955223880597015,
      "loss": 0.4653,
      "step": 318
    },
    {
      "epoch": 0.0713484406551492,
      "gripper_loss": 0.875,
      "loss": 0.353515625,
      "pos_loss": 1.8828125,
      "rot_loss": 1.0078125,
      "step": 318
    },
    {
      "epoch": 0.07157280682073143,
      "grad_norm": 1.9084817171096802,
      "learning_rate": 0.0003967661691542289,
      "loss": 0.3594,
      "step": 319
    },
    {
      "epoch": 0.07157280682073143,
      "gripper_loss": 1.40625,
      "loss": 0.2177734375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.14453125,
      "step": 319
    },
    {
      "epoch": 0.07179717298631366,
      "grad_norm": 2.0542755126953125,
      "learning_rate": 0.00039800995024875626,
      "loss": 0.2898,
      "step": 320
    },
    {
      "epoch": 0.07179717298631366,
      "gripper_loss": 0.29296875,
      "loss": 0.166015625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.34375,
      "step": 320
    },
    {
      "epoch": 0.0720215391518959,
      "grad_norm": 2.2085013389587402,
      "learning_rate": 0.0003992537313432836,
      "loss": 0.3196,
      "step": 321
    },
    {
      "epoch": 0.0720215391518959,
      "gripper_loss": 0.2392578125,
      "loss": 0.322265625,
      "pos_loss": 1.0,
      "rot_loss": 1.8046875,
      "step": 321
    },
    {
      "epoch": 0.07224590531747813,
      "grad_norm": 1.5459414720535278,
      "learning_rate": 0.00040049751243781097,
      "loss": 0.3229,
      "step": 322
    },
    {
      "epoch": 0.07224590531747813,
      "gripper_loss": 1.2421875,
      "loss": 0.2421875,
      "pos_loss": 0.76171875,
      "rot_loss": 0.421875,
      "step": 322
    },
    {
      "epoch": 0.07247027148306036,
      "grad_norm": 2.0944950580596924,
      "learning_rate": 0.0004017412935323383,
      "loss": 0.3103,
      "step": 323
    },
    {
      "epoch": 0.07247027148306036,
      "gripper_loss": 0.482421875,
      "loss": 0.32421875,
      "pos_loss": 1.53125,
      "rot_loss": 1.03125,
      "step": 323
    },
    {
      "epoch": 0.07269463764864259,
      "grad_norm": 1.6728929281234741,
      "learning_rate": 0.0004029850746268657,
      "loss": 0.405,
      "step": 324
    },
    {
      "epoch": 0.07269463764864259,
      "gripper_loss": 0.83203125,
      "loss": 0.294921875,
      "pos_loss": 1.3671875,
      "rot_loss": 0.83203125,
      "step": 324
    },
    {
      "epoch": 0.07291900381422481,
      "grad_norm": 1.5982692241668701,
      "learning_rate": 0.00040422885572139307,
      "loss": 0.3118,
      "step": 325
    },
    {
      "epoch": 0.07291900381422481,
      "gripper_loss": 0.87109375,
      "loss": 0.22265625,
      "pos_loss": 1.2578125,
      "rot_loss": 0.34375,
      "step": 325
    },
    {
      "epoch": 0.07314336997980704,
      "grad_norm": 1.6029869318008423,
      "learning_rate": 0.0004054726368159204,
      "loss": 0.2324,
      "step": 326
    },
    {
      "epoch": 0.07314336997980704,
      "gripper_loss": 1.625,
      "loss": 0.443359375,
      "pos_loss": 1.078125,
      "rot_loss": 1.2109375,
      "step": 326
    },
    {
      "epoch": 0.07336773614538927,
      "grad_norm": 3.551969051361084,
      "learning_rate": 0.0004067164179104478,
      "loss": 0.3904,
      "step": 327
    },
    {
      "epoch": 0.07336773614538927,
      "gripper_loss": 0.7265625,
      "loss": 0.67578125,
      "pos_loss": 2.46875,
      "rot_loss": 1.4375,
      "step": 327
    },
    {
      "epoch": 0.0735921023109715,
      "grad_norm": 2.9081239700317383,
      "learning_rate": 0.0004079601990049751,
      "loss": 0.4932,
      "step": 328
    },
    {
      "epoch": 0.0735921023109715,
      "gripper_loss": 0.39453125,
      "loss": 0.6015625,
      "pos_loss": 0.98046875,
      "rot_loss": 1.0390625,
      "step": 328
    },
    {
      "epoch": 0.07381646847655374,
      "grad_norm": 4.32270622253418,
      "learning_rate": 0.0004092039800995025,
      "loss": 0.6206,
      "step": 329
    },
    {
      "epoch": 0.07381646847655374,
      "gripper_loss": 0.91015625,
      "loss": 0.39453125,
      "pos_loss": 2.171875,
      "rot_loss": 0.44140625,
      "step": 329
    },
    {
      "epoch": 0.07404083464213597,
      "grad_norm": 2.7832508087158203,
      "learning_rate": 0.0004104477611940299,
      "loss": 0.3215,
      "step": 330
    },
    {
      "epoch": 0.07404083464213597,
      "gripper_loss": 1.234375,
      "loss": 0.298828125,
      "pos_loss": 1.0859375,
      "rot_loss": 0.373046875,
      "step": 330
    },
    {
      "epoch": 0.0742652008077182,
      "grad_norm": 2.7105841636657715,
      "learning_rate": 0.0004116915422885572,
      "loss": 0.3683,
      "step": 331
    },
    {
      "epoch": 0.0742652008077182,
      "gripper_loss": 0.7578125,
      "loss": 0.400390625,
      "pos_loss": 1.0546875,
      "rot_loss": 2.28125,
      "step": 331
    },
    {
      "epoch": 0.07448956697330042,
      "grad_norm": 2.406963586807251,
      "learning_rate": 0.0004129353233830846,
      "loss": 0.3649,
      "step": 332
    },
    {
      "epoch": 0.07448956697330042,
      "gripper_loss": 1.0859375,
      "loss": 0.1650390625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.26953125,
      "step": 332
    },
    {
      "epoch": 0.07471393313888265,
      "grad_norm": 1.96197509765625,
      "learning_rate": 0.0004141791044776119,
      "loss": 0.1964,
      "step": 333
    },
    {
      "epoch": 0.07471393313888265,
      "gripper_loss": 1.28125,
      "loss": 0.4609375,
      "pos_loss": 0.796875,
      "rot_loss": 0.5234375,
      "step": 333
    },
    {
      "epoch": 0.07493829930446488,
      "grad_norm": 3.6353213787078857,
      "learning_rate": 0.0004154228855721393,
      "loss": 0.5315,
      "step": 334
    },
    {
      "epoch": 0.07493829930446488,
      "gripper_loss": 0.79296875,
      "loss": 0.287109375,
      "pos_loss": 0.71875,
      "rot_loss": 0.80078125,
      "step": 334
    },
    {
      "epoch": 0.07516266547004712,
      "grad_norm": 2.277885675430298,
      "learning_rate": 0.0004166666666666667,
      "loss": 0.3743,
      "step": 335
    },
    {
      "epoch": 0.07516266547004712,
      "gripper_loss": 0.9765625,
      "loss": 0.35546875,
      "pos_loss": 1.03125,
      "rot_loss": 1.6171875,
      "step": 335
    },
    {
      "epoch": 0.07538703163562935,
      "grad_norm": 2.472832679748535,
      "learning_rate": 0.000417910447761194,
      "loss": 0.3724,
      "step": 336
    },
    {
      "epoch": 0.07538703163562935,
      "gripper_loss": 0.21484375,
      "loss": 0.3046875,
      "pos_loss": 1.4453125,
      "rot_loss": 0.85546875,
      "step": 336
    },
    {
      "epoch": 0.07561139780121158,
      "grad_norm": 2.7884879112243652,
      "learning_rate": 0.0004191542288557214,
      "loss": 0.3774,
      "step": 337
    },
    {
      "epoch": 0.07561139780121158,
      "gripper_loss": 0.8671875,
      "loss": 0.408203125,
      "pos_loss": 1.1796875,
      "rot_loss": 1.3359375,
      "step": 337
    },
    {
      "epoch": 0.07583576396679381,
      "grad_norm": 2.9942660331726074,
      "learning_rate": 0.00042039800995024874,
      "loss": 0.4304,
      "step": 338
    },
    {
      "epoch": 0.07583576396679381,
      "gripper_loss": 0.171875,
      "loss": 0.150390625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.439453125,
      "step": 338
    },
    {
      "epoch": 0.07606013013237604,
      "grad_norm": 2.0010228157043457,
      "learning_rate": 0.0004216417910447761,
      "loss": 0.2831,
      "step": 339
    },
    {
      "epoch": 0.07606013013237604,
      "gripper_loss": 0.32421875,
      "loss": 0.1982421875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.498046875,
      "step": 339
    },
    {
      "epoch": 0.07628449629795826,
      "grad_norm": 1.630017876625061,
      "learning_rate": 0.0004228855721393035,
      "loss": 0.2498,
      "step": 340
    },
    {
      "epoch": 0.07628449629795826,
      "gripper_loss": 0.9765625,
      "loss": 0.40234375,
      "pos_loss": 1.5234375,
      "rot_loss": 1.6171875,
      "step": 340
    },
    {
      "epoch": 0.0765088624635405,
      "grad_norm": 2.054664373397827,
      "learning_rate": 0.00042412935323383083,
      "loss": 0.3026,
      "step": 341
    },
    {
      "epoch": 0.0765088624635405,
      "gripper_loss": 0.2890625,
      "loss": 0.62109375,
      "pos_loss": 2.40625,
      "rot_loss": 3.015625,
      "step": 341
    },
    {
      "epoch": 0.07673322862912273,
      "grad_norm": 2.327333688735962,
      "learning_rate": 0.0004253731343283582,
      "loss": 0.3889,
      "step": 342
    },
    {
      "epoch": 0.07673322862912273,
      "gripper_loss": 0.22265625,
      "loss": 0.32421875,
      "pos_loss": 1.1015625,
      "rot_loss": 1.5625,
      "step": 342
    },
    {
      "epoch": 0.07695759479470496,
      "grad_norm": 2.381513833999634,
      "learning_rate": 0.00042661691542288555,
      "loss": 0.3624,
      "step": 343
    },
    {
      "epoch": 0.07695759479470496,
      "gripper_loss": 0.1826171875,
      "loss": 0.2490234375,
      "pos_loss": 0.4609375,
      "rot_loss": 1.5234375,
      "step": 343
    },
    {
      "epoch": 0.07718196096028719,
      "grad_norm": 1.9423664808273315,
      "learning_rate": 0.00042786069651741293,
      "loss": 0.2727,
      "step": 344
    },
    {
      "epoch": 0.07718196096028719,
      "gripper_loss": 0.2294921875,
      "loss": 0.388671875,
      "pos_loss": 2.21875,
      "rot_loss": 1.453125,
      "step": 344
    },
    {
      "epoch": 0.07740632712586942,
      "grad_norm": 1.3937451839447021,
      "learning_rate": 0.0004291044776119403,
      "loss": 0.233,
      "step": 345
    },
    {
      "epoch": 0.07740632712586942,
      "gripper_loss": 1.5234375,
      "loss": 0.2578125,
      "pos_loss": 0.71875,
      "rot_loss": 0.69140625,
      "step": 345
    },
    {
      "epoch": 0.07763069329145166,
      "grad_norm": 2.048408031463623,
      "learning_rate": 0.00043034825870646765,
      "loss": 0.3436,
      "step": 346
    },
    {
      "epoch": 0.07763069329145166,
      "gripper_loss": 1.1953125,
      "loss": 0.333984375,
      "pos_loss": 0.96484375,
      "rot_loss": 1.0,
      "step": 346
    },
    {
      "epoch": 0.07785505945703387,
      "grad_norm": 2.534684658050537,
      "learning_rate": 0.00043159203980099503,
      "loss": 0.3674,
      "step": 347
    },
    {
      "epoch": 0.07785505945703387,
      "gripper_loss": 0.921875,
      "loss": 0.306640625,
      "pos_loss": 1.578125,
      "rot_loss": 0.59375,
      "step": 347
    },
    {
      "epoch": 0.0780794256226161,
      "grad_norm": 2.6457595825195312,
      "learning_rate": 0.00043283582089552236,
      "loss": 0.3293,
      "step": 348
    },
    {
      "epoch": 0.0780794256226161,
      "gripper_loss": 1.8359375,
      "loss": 0.244140625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.4921875,
      "step": 348
    },
    {
      "epoch": 0.07830379178819834,
      "grad_norm": 1.9136689901351929,
      "learning_rate": 0.00043407960199004974,
      "loss": 0.3566,
      "step": 349
    },
    {
      "epoch": 0.07830379178819834,
      "gripper_loss": 0.498046875,
      "loss": 0.228515625,
      "pos_loss": 1.1015625,
      "rot_loss": 0.359375,
      "step": 349
    },
    {
      "epoch": 0.07852815795378057,
      "grad_norm": 2.497775077819824,
      "learning_rate": 0.00043532338308457713,
      "loss": 0.325,
      "step": 350
    },
    {
      "epoch": 0.07852815795378057,
      "gripper_loss": 0.70703125,
      "loss": 0.390625,
      "pos_loss": 1.2890625,
      "rot_loss": 2.109375,
      "step": 350
    },
    {
      "epoch": 0.0787525241193628,
      "grad_norm": 1.895078420639038,
      "learning_rate": 0.00043656716417910446,
      "loss": 0.3069,
      "step": 351
    },
    {
      "epoch": 0.0787525241193628,
      "gripper_loss": 0.6484375,
      "loss": 0.3203125,
      "pos_loss": 0.9921875,
      "rot_loss": 0.59375,
      "step": 351
    },
    {
      "epoch": 0.07897689028494503,
      "grad_norm": 3.310403347015381,
      "learning_rate": 0.00043781094527363184,
      "loss": 0.481,
      "step": 352
    },
    {
      "epoch": 0.07897689028494503,
      "gripper_loss": 1.0859375,
      "loss": 0.30078125,
      "pos_loss": 0.51953125,
      "rot_loss": 1.3984375,
      "step": 352
    },
    {
      "epoch": 0.07920125645052727,
      "grad_norm": 2.357114791870117,
      "learning_rate": 0.0004390547263681592,
      "loss": 0.3132,
      "step": 353
    },
    {
      "epoch": 0.07920125645052727,
      "gripper_loss": 0.93359375,
      "loss": 0.5859375,
      "pos_loss": 1.734375,
      "rot_loss": 1.2109375,
      "step": 353
    },
    {
      "epoch": 0.07942562261610948,
      "grad_norm": 3.183189630508423,
      "learning_rate": 0.00044029850746268656,
      "loss": 0.5198,
      "step": 354
    },
    {
      "epoch": 0.07942562261610948,
      "gripper_loss": 1.0078125,
      "loss": 0.404296875,
      "pos_loss": 2.15625,
      "rot_loss": 0.90625,
      "step": 354
    },
    {
      "epoch": 0.07964998878169172,
      "grad_norm": 2.838874340057373,
      "learning_rate": 0.00044154228855721394,
      "loss": 0.3683,
      "step": 355
    },
    {
      "epoch": 0.07964998878169172,
      "gripper_loss": 5.125,
      "loss": 0.33984375,
      "pos_loss": 0.6875,
      "rot_loss": 0.5078125,
      "step": 355
    },
    {
      "epoch": 0.07987435494727395,
      "grad_norm": 2.7063376903533936,
      "learning_rate": 0.00044278606965174127,
      "loss": 0.4075,
      "step": 356
    },
    {
      "epoch": 0.07987435494727395,
      "gripper_loss": 1.8125,
      "loss": 0.30078125,
      "pos_loss": 1.5703125,
      "rot_loss": 0.357421875,
      "step": 356
    },
    {
      "epoch": 0.08009872111285618,
      "grad_norm": 2.707430362701416,
      "learning_rate": 0.00044402985074626865,
      "loss": 0.3104,
      "step": 357
    },
    {
      "epoch": 0.08009872111285618,
      "gripper_loss": 1.140625,
      "loss": 0.240234375,
      "pos_loss": 0.765625,
      "rot_loss": 0.63671875,
      "step": 357
    },
    {
      "epoch": 0.08032308727843841,
      "grad_norm": 1.7678308486938477,
      "learning_rate": 0.00044527363184079604,
      "loss": 0.3365,
      "step": 358
    },
    {
      "epoch": 0.08032308727843841,
      "gripper_loss": 0.5078125,
      "loss": 0.6171875,
      "pos_loss": 5.28125,
      "rot_loss": 0.33203125,
      "step": 358
    },
    {
      "epoch": 0.08054745344402064,
      "grad_norm": 2.5858864784240723,
      "learning_rate": 0.00044651741293532337,
      "loss": 0.2787,
      "step": 359
    },
    {
      "epoch": 0.08054745344402064,
      "gripper_loss": 1.7578125,
      "loss": 0.2470703125,
      "pos_loss": 0.859375,
      "rot_loss": 0.36328125,
      "step": 359
    },
    {
      "epoch": 0.08077181960960288,
      "grad_norm": 2.080554723739624,
      "learning_rate": 0.00044776119402985075,
      "loss": 0.3177,
      "step": 360
    },
    {
      "epoch": 0.08077181960960288,
      "gripper_loss": 0.62109375,
      "loss": 0.3125,
      "pos_loss": 1.625,
      "rot_loss": 0.67578125,
      "step": 360
    },
    {
      "epoch": 0.08099618577518511,
      "grad_norm": 1.67068350315094,
      "learning_rate": 0.0004490049751243781,
      "loss": 0.2994,
      "step": 361
    },
    {
      "epoch": 0.08099618577518511,
      "gripper_loss": 0.69921875,
      "loss": 0.625,
      "pos_loss": 2.125,
      "rot_loss": 1.2109375,
      "step": 361
    },
    {
      "epoch": 0.08122055194076733,
      "grad_norm": 2.6503007411956787,
      "learning_rate": 0.00045024875621890546,
      "loss": 0.5266,
      "step": 362
    },
    {
      "epoch": 0.08122055194076733,
      "gripper_loss": 0.5,
      "loss": 0.384765625,
      "pos_loss": 2.15625,
      "rot_loss": 0.5,
      "step": 362
    },
    {
      "epoch": 0.08144491810634956,
      "grad_norm": 2.9425277709960938,
      "learning_rate": 0.00045149253731343285,
      "loss": 0.4138,
      "step": 363
    },
    {
      "epoch": 0.08144491810634956,
      "gripper_loss": 1.125,
      "loss": 0.3359375,
      "pos_loss": 1.3359375,
      "rot_loss": 0.71484375,
      "step": 363
    },
    {
      "epoch": 0.08166928427193179,
      "grad_norm": 2.870063304901123,
      "learning_rate": 0.0004527363184079602,
      "loss": 0.2659,
      "step": 364
    },
    {
      "epoch": 0.08166928427193179,
      "gripper_loss": 0.361328125,
      "loss": 0.41796875,
      "pos_loss": 3.25,
      "rot_loss": 0.287109375,
      "step": 364
    },
    {
      "epoch": 0.08189365043751402,
      "grad_norm": 2.2510344982147217,
      "learning_rate": 0.00045398009950248756,
      "loss": 0.4437,
      "step": 365
    },
    {
      "epoch": 0.08189365043751402,
      "gripper_loss": 0.2578125,
      "loss": 0.1748046875,
      "pos_loss": 0.7421875,
      "rot_loss": 0.498046875,
      "step": 365
    },
    {
      "epoch": 0.08211801660309626,
      "grad_norm": 1.7241743803024292,
      "learning_rate": 0.0004552238805970149,
      "loss": 0.2203,
      "step": 366
    },
    {
      "epoch": 0.08211801660309626,
      "gripper_loss": 0.5390625,
      "loss": 0.451171875,
      "pos_loss": 2.078125,
      "rot_loss": 1.0234375,
      "step": 366
    },
    {
      "epoch": 0.08234238276867849,
      "grad_norm": 2.5128767490386963,
      "learning_rate": 0.0004564676616915423,
      "loss": 0.3674,
      "step": 367
    },
    {
      "epoch": 0.08234238276867849,
      "gripper_loss": 0.62890625,
      "loss": 0.333984375,
      "pos_loss": 1.5390625,
      "rot_loss": 0.478515625,
      "step": 367
    },
    {
      "epoch": 0.08256674893426072,
      "grad_norm": 2.164466619491577,
      "learning_rate": 0.0004577114427860697,
      "loss": 0.3242,
      "step": 368
    },
    {
      "epoch": 0.08256674893426072,
      "gripper_loss": 1.75,
      "loss": 0.38671875,
      "pos_loss": 1.2734375,
      "rot_loss": 1.2265625,
      "step": 368
    },
    {
      "epoch": 0.08279111509984294,
      "grad_norm": 2.4900906085968018,
      "learning_rate": 0.00045895522388059704,
      "loss": 0.3892,
      "step": 369
    },
    {
      "epoch": 0.08279111509984294,
      "gripper_loss": 0.578125,
      "loss": 0.416015625,
      "pos_loss": 1.1796875,
      "rot_loss": 1.59375,
      "step": 369
    },
    {
      "epoch": 0.08301548126542517,
      "grad_norm": 3.0384955406188965,
      "learning_rate": 0.00046019900497512443,
      "loss": 0.3971,
      "step": 370
    },
    {
      "epoch": 0.08301548126542517,
      "gripper_loss": 0.380859375,
      "loss": 0.2021484375,
      "pos_loss": 0.73046875,
      "rot_loss": 0.296875,
      "step": 370
    },
    {
      "epoch": 0.0832398474310074,
      "grad_norm": 2.506673574447632,
      "learning_rate": 0.00046144278606965176,
      "loss": 0.3622,
      "step": 371
    },
    {
      "epoch": 0.0832398474310074,
      "gripper_loss": 2.375,
      "loss": 0.2177734375,
      "pos_loss": 0.380859375,
      "rot_loss": 0.265625,
      "step": 371
    },
    {
      "epoch": 0.08346421359658963,
      "grad_norm": 2.441699981689453,
      "learning_rate": 0.00046268656716417914,
      "loss": 0.3402,
      "step": 372
    },
    {
      "epoch": 0.08346421359658963,
      "gripper_loss": 0.8125,
      "loss": 0.73828125,
      "pos_loss": 0.9375,
      "rot_loss": 1.78125,
      "step": 372
    },
    {
      "epoch": 0.08368857976217187,
      "grad_norm": 2.9831807613372803,
      "learning_rate": 0.0004639303482587065,
      "loss": 0.7583,
      "step": 373
    },
    {
      "epoch": 0.08368857976217187,
      "gripper_loss": 0.470703125,
      "loss": 0.171875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.458984375,
      "step": 373
    },
    {
      "epoch": 0.0839129459277541,
      "grad_norm": 2.208231210708618,
      "learning_rate": 0.00046517412935323386,
      "loss": 0.2423,
      "step": 374
    },
    {
      "epoch": 0.0839129459277541,
      "gripper_loss": 0.5390625,
      "loss": 0.349609375,
      "pos_loss": 1.1640625,
      "rot_loss": 1.53125,
      "step": 374
    },
    {
      "epoch": 0.08413731209333633,
      "grad_norm": 2.506659984588623,
      "learning_rate": 0.00046641791044776124,
      "loss": 0.2893,
      "step": 375
    },
    {
      "epoch": 0.08413731209333633,
      "gripper_loss": 1.9140625,
      "loss": 0.5625,
      "pos_loss": 1.6953125,
      "rot_loss": 0.5703125,
      "step": 375
    },
    {
      "epoch": 0.08436167825891855,
      "grad_norm": 3.2806036472320557,
      "learning_rate": 0.00046766169154228857,
      "loss": 0.5251,
      "step": 376
    },
    {
      "epoch": 0.08436167825891855,
      "gripper_loss": 0.8828125,
      "loss": 0.26171875,
      "pos_loss": 0.6875,
      "rot_loss": 1.1015625,
      "step": 376
    },
    {
      "epoch": 0.08458604442450078,
      "grad_norm": 1.6098856925964355,
      "learning_rate": 0.00046890547263681595,
      "loss": 0.2588,
      "step": 377
    },
    {
      "epoch": 0.08458604442450078,
      "gripper_loss": 0.859375,
      "loss": 0.404296875,
      "pos_loss": 1.9453125,
      "rot_loss": 1.3203125,
      "step": 377
    },
    {
      "epoch": 0.08481041059008301,
      "grad_norm": 2.2520945072174072,
      "learning_rate": 0.00047014925373134334,
      "loss": 0.4089,
      "step": 378
    },
    {
      "epoch": 0.08481041059008301,
      "gripper_loss": 1.5078125,
      "loss": 0.30859375,
      "pos_loss": 0.8984375,
      "rot_loss": 0.8125,
      "step": 378
    },
    {
      "epoch": 0.08503477675566525,
      "grad_norm": 1.9410204887390137,
      "learning_rate": 0.00047139303482587067,
      "loss": 0.3457,
      "step": 379
    },
    {
      "epoch": 0.08503477675566525,
      "gripper_loss": 0.251953125,
      "loss": 0.259765625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.78515625,
      "step": 379
    },
    {
      "epoch": 0.08525914292124748,
      "grad_norm": 1.7034960985183716,
      "learning_rate": 0.00047263681592039805,
      "loss": 0.2607,
      "step": 380
    },
    {
      "epoch": 0.08525914292124748,
      "gripper_loss": 0.408203125,
      "loss": 0.58203125,
      "pos_loss": 0.890625,
      "rot_loss": 4.59375,
      "step": 380
    },
    {
      "epoch": 0.08548350908682971,
      "grad_norm": 2.1038765907287598,
      "learning_rate": 0.0004738805970149254,
      "loss": 0.3341,
      "step": 381
    },
    {
      "epoch": 0.08548350908682971,
      "gripper_loss": 1.8125,
      "loss": 0.3828125,
      "pos_loss": 0.74609375,
      "rot_loss": 1.109375,
      "step": 381
    },
    {
      "epoch": 0.08570787525241194,
      "grad_norm": 2.649857997894287,
      "learning_rate": 0.00047512437810945276,
      "loss": 0.3689,
      "step": 382
    },
    {
      "epoch": 0.08570787525241194,
      "gripper_loss": 1.140625,
      "loss": 0.1787109375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.33203125,
      "step": 382
    },
    {
      "epoch": 0.08593224141799416,
      "grad_norm": 2.289476156234741,
      "learning_rate": 0.00047636815920398015,
      "loss": 0.2993,
      "step": 383
    },
    {
      "epoch": 0.08593224141799416,
      "gripper_loss": 0.365234375,
      "loss": 0.38671875,
      "pos_loss": 2.578125,
      "rot_loss": 0.90625,
      "step": 383
    },
    {
      "epoch": 0.08615660758357639,
      "grad_norm": 1.9625526666641235,
      "learning_rate": 0.0004776119402985075,
      "loss": 0.3474,
      "step": 384
    },
    {
      "epoch": 0.08615660758357639,
      "gripper_loss": 0.15234375,
      "loss": 0.48828125,
      "pos_loss": 1.953125,
      "rot_loss": 2.578125,
      "step": 384
    },
    {
      "epoch": 0.08638097374915862,
      "grad_norm": 1.790389895439148,
      "learning_rate": 0.00047885572139303486,
      "loss": 0.4209,
      "step": 385
    },
    {
      "epoch": 0.08638097374915862,
      "gripper_loss": 0.76953125,
      "loss": 0.85546875,
      "pos_loss": 3.28125,
      "rot_loss": 1.65625,
      "step": 385
    },
    {
      "epoch": 0.08660533991474086,
      "grad_norm": 3.666825532913208,
      "learning_rate": 0.0004800995024875622,
      "loss": 0.6372,
      "step": 386
    },
    {
      "epoch": 0.08660533991474086,
      "gripper_loss": 1.875,
      "loss": 0.2236328125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.291015625,
      "step": 386
    },
    {
      "epoch": 0.08682970608032309,
      "grad_norm": 2.373018741607666,
      "learning_rate": 0.0004813432835820896,
      "loss": 0.3027,
      "step": 387
    },
    {
      "epoch": 0.08682970608032309,
      "gripper_loss": 1.0390625,
      "loss": 0.44140625,
      "pos_loss": 0.625,
      "rot_loss": 2.609375,
      "step": 387
    },
    {
      "epoch": 0.08705407224590532,
      "grad_norm": 3.3407342433929443,
      "learning_rate": 0.00048258706467661696,
      "loss": 0.4136,
      "step": 388
    },
    {
      "epoch": 0.08705407224590532,
      "gripper_loss": 0.859375,
      "loss": 0.2470703125,
      "pos_loss": 0.765625,
      "rot_loss": 0.640625,
      "step": 388
    },
    {
      "epoch": 0.08727843841148755,
      "grad_norm": 2.2054460048675537,
      "learning_rate": 0.0004838308457711443,
      "loss": 0.3015,
      "step": 389
    },
    {
      "epoch": 0.08727843841148755,
      "gripper_loss": 0.33984375,
      "loss": 0.361328125,
      "pos_loss": 2.125,
      "rot_loss": 0.8046875,
      "step": 389
    },
    {
      "epoch": 0.08750280457706978,
      "grad_norm": 2.0903573036193848,
      "learning_rate": 0.0004850746268656717,
      "loss": 0.3445,
      "step": 390
    },
    {
      "epoch": 0.08750280457706978,
      "gripper_loss": 1.7265625,
      "loss": 0.3125,
      "pos_loss": 0.8984375,
      "rot_loss": 0.6953125,
      "step": 390
    },
    {
      "epoch": 0.087727170742652,
      "grad_norm": 2.16475510597229,
      "learning_rate": 0.000486318407960199,
      "loss": 0.3542,
      "step": 391
    },
    {
      "epoch": 0.087727170742652,
      "gripper_loss": 1.6171875,
      "loss": 0.220703125,
      "pos_loss": 0.640625,
      "rot_loss": 0.3359375,
      "step": 391
    },
    {
      "epoch": 0.08795153690823423,
      "grad_norm": 1.6940710544586182,
      "learning_rate": 0.0004875621890547264,
      "loss": 0.2537,
      "step": 392
    },
    {
      "epoch": 0.08795153690823423,
      "gripper_loss": 0.58203125,
      "loss": 0.1904296875,
      "pos_loss": 0.45703125,
      "rot_loss": 0.69921875,
      "step": 392
    },
    {
      "epoch": 0.08817590307381647,
      "grad_norm": 1.7081037759780884,
      "learning_rate": 0.0004888059701492537,
      "loss": 0.2697,
      "step": 393
    },
    {
      "epoch": 0.08817590307381647,
      "gripper_loss": 0.203125,
      "loss": 0.275390625,
      "pos_loss": 1.0234375,
      "rot_loss": 0.98046875,
      "step": 393
    },
    {
      "epoch": 0.0884002692393987,
      "grad_norm": 2.098789691925049,
      "learning_rate": 0.000490049751243781,
      "loss": 0.3455,
      "step": 394
    },
    {
      "epoch": 0.0884002692393987,
      "gripper_loss": 0.55859375,
      "loss": 0.380859375,
      "pos_loss": 1.1875,
      "rot_loss": 1.1796875,
      "step": 394
    },
    {
      "epoch": 0.08862463540498093,
      "grad_norm": 2.2244632244110107,
      "learning_rate": 0.0004912935323383085,
      "loss": 0.371,
      "step": 395
    },
    {
      "epoch": 0.08862463540498093,
      "gripper_loss": 0.9921875,
      "loss": 0.2734375,
      "pos_loss": 1.3828125,
      "rot_loss": 0.36328125,
      "step": 395
    },
    {
      "epoch": 0.08884900157056316,
      "grad_norm": 2.175891160964966,
      "learning_rate": 0.0004925373134328358,
      "loss": 0.3571,
      "step": 396
    },
    {
      "epoch": 0.08884900157056316,
      "gripper_loss": 0.376953125,
      "loss": 0.421875,
      "pos_loss": 1.953125,
      "rot_loss": 1.578125,
      "step": 396
    },
    {
      "epoch": 0.0890733677361454,
      "grad_norm": 2.296264171600342,
      "learning_rate": 0.0004937810945273631,
      "loss": 0.3369,
      "step": 397
    },
    {
      "epoch": 0.0890733677361454,
      "gripper_loss": 0.7421875,
      "loss": 0.37890625,
      "pos_loss": 1.015625,
      "rot_loss": 2.15625,
      "step": 397
    },
    {
      "epoch": 0.08929773390172761,
      "grad_norm": 1.7069942951202393,
      "learning_rate": 0.0004950248756218906,
      "loss": 0.3049,
      "step": 398
    },
    {
      "epoch": 0.08929773390172761,
      "gripper_loss": 1.015625,
      "loss": 0.287109375,
      "pos_loss": 1.921875,
      "rot_loss": 0.177734375,
      "step": 398
    },
    {
      "epoch": 0.08952210006730985,
      "grad_norm": 2.0038228034973145,
      "learning_rate": 0.0004962686567164179,
      "loss": 0.3958,
      "step": 399
    },
    {
      "epoch": 0.08952210006730985,
      "gripper_loss": 0.48828125,
      "loss": 0.408203125,
      "pos_loss": 0.94921875,
      "rot_loss": 0.5546875,
      "step": 399
    },
    {
      "epoch": 0.08974646623289208,
      "grad_norm": 2.8648808002471924,
      "learning_rate": 0.0004975124378109452,
      "loss": 0.5361,
      "step": 400
    },
    {
      "epoch": 0.08974646623289208,
      "gripper_loss": 1.8515625,
      "loss": 0.70703125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.6328125,
      "step": 400
    },
    {
      "epoch": 0.08997083239847431,
      "grad_norm": 2.721067190170288,
      "learning_rate": 0.0004987562189054726,
      "loss": 0.7417,
      "step": 401
    },
    {
      "epoch": 0.08997083239847431,
      "gripper_loss": 0.23046875,
      "loss": 0.3046875,
      "pos_loss": 1.1484375,
      "rot_loss": 1.2734375,
      "step": 401
    },
    {
      "epoch": 0.09019519856405654,
      "grad_norm": 2.1854188442230225,
      "learning_rate": 0.0005,
      "loss": 0.3265,
      "step": 402
    },
    {
      "epoch": 0.09019519856405654,
      "gripper_loss": 0.1953125,
      "loss": 0.3203125,
      "pos_loss": 1.921875,
      "rot_loss": 0.89453125,
      "step": 402
    },
    {
      "epoch": 0.09041956472963877,
      "grad_norm": 2.1497416496276855,
      "learning_rate": 0.0004999999926650565,
      "loss": 0.2683,
      "step": 403
    },
    {
      "epoch": 0.09041956472963877,
      "gripper_loss": 0.68359375,
      "loss": 0.5078125,
      "pos_loss": 1.6875,
      "rot_loss": 1.734375,
      "step": 403
    },
    {
      "epoch": 0.090643930895221,
      "grad_norm": 2.2702746391296387,
      "learning_rate": 0.0004999999706602262,
      "loss": 0.4565,
      "step": 404
    },
    {
      "epoch": 0.090643930895221,
      "gripper_loss": 1.046875,
      "loss": 0.302734375,
      "pos_loss": 0.5859375,
      "rot_loss": 1.75,
      "step": 404
    },
    {
      "epoch": 0.09086829706080322,
      "grad_norm": 1.5738509893417358,
      "learning_rate": 0.0004999999339855107,
      "loss": 0.252,
      "step": 405
    },
    {
      "epoch": 0.09086829706080322,
      "gripper_loss": 0.2490234375,
      "loss": 0.53515625,
      "pos_loss": 3.359375,
      "rot_loss": 0.84375,
      "step": 405
    },
    {
      "epoch": 0.09109266322638546,
      "grad_norm": 2.0681915283203125,
      "learning_rate": 0.0004999998826409119,
      "loss": 0.3615,
      "step": 406
    },
    {
      "epoch": 0.09109266322638546,
      "gripper_loss": 0.3046875,
      "loss": 0.1865234375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.435546875,
      "step": 406
    },
    {
      "epoch": 0.09131702939196769,
      "grad_norm": 2.2083306312561035,
      "learning_rate": 0.0004999998166264328,
      "loss": 0.281,
      "step": 407
    },
    {
      "epoch": 0.09131702939196769,
      "gripper_loss": 0.328125,
      "loss": 0.291015625,
      "pos_loss": 1.2421875,
      "rot_loss": 0.8203125,
      "step": 407
    },
    {
      "epoch": 0.09154139555754992,
      "grad_norm": 1.97050142288208,
      "learning_rate": 0.0004999997359420775,
      "loss": 0.3079,
      "step": 408
    },
    {
      "epoch": 0.09154139555754992,
      "gripper_loss": 1.4609375,
      "loss": 0.2734375,
      "pos_loss": 1.375,
      "rot_loss": 0.46484375,
      "step": 408
    },
    {
      "epoch": 0.09176576172313215,
      "grad_norm": 2.4043936729431152,
      "learning_rate": 0.0004999996405878506,
      "loss": 0.2421,
      "step": 409
    },
    {
      "epoch": 0.09176576172313215,
      "gripper_loss": 0.400390625,
      "loss": 0.2236328125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.67578125,
      "step": 409
    },
    {
      "epoch": 0.09199012788871438,
      "grad_norm": 2.03482723236084,
      "learning_rate": 0.0004999995305637575,
      "loss": 0.2828,
      "step": 410
    },
    {
      "epoch": 0.09199012788871438,
      "gripper_loss": 0.173828125,
      "loss": 0.4609375,
      "pos_loss": 1.0859375,
      "rot_loss": 2.1875,
      "step": 410
    },
    {
      "epoch": 0.09221449405429662,
      "grad_norm": 2.490745782852173,
      "learning_rate": 0.000499999405869805,
      "loss": 0.4075,
      "step": 411
    },
    {
      "epoch": 0.09221449405429662,
      "gripper_loss": 0.859375,
      "loss": 0.25390625,
      "pos_loss": 1.421875,
      "rot_loss": 0.2470703125,
      "step": 411
    },
    {
      "epoch": 0.09243886021987885,
      "grad_norm": 1.9322136640548706,
      "learning_rate": 0.0004999992665060002,
      "loss": 0.2773,
      "step": 412
    },
    {
      "epoch": 0.09243886021987885,
      "gripper_loss": 0.984375,
      "loss": 0.1826171875,
      "pos_loss": 0.671875,
      "rot_loss": 0.345703125,
      "step": 412
    },
    {
      "epoch": 0.09266322638546107,
      "grad_norm": 2.4452407360076904,
      "learning_rate": 0.0004999991124723514,
      "loss": 0.272,
      "step": 413
    },
    {
      "epoch": 0.09266322638546107,
      "gripper_loss": 2.03125,
      "loss": 0.244140625,
      "pos_loss": 1.25,
      "rot_loss": 0.15625,
      "step": 413
    },
    {
      "epoch": 0.0928875925510433,
      "grad_norm": 1.7565497159957886,
      "learning_rate": 0.0004999989437688676,
      "loss": 0.2791,
      "step": 414
    },
    {
      "epoch": 0.0928875925510433,
      "gripper_loss": 0.427734375,
      "loss": 0.09716796875,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1533203125,
      "step": 414
    },
    {
      "epoch": 0.09311195871662553,
      "grad_norm": 1.346742868423462,
      "learning_rate": 0.0004999987603955587,
      "loss": 0.212,
      "step": 415
    },
    {
      "epoch": 0.09311195871662553,
      "gripper_loss": 0.451171875,
      "loss": 0.37109375,
      "pos_loss": 3.078125,
      "rot_loss": 0.2333984375,
      "step": 415
    },
    {
      "epoch": 0.09333632488220776,
      "grad_norm": 1.6338145732879639,
      "learning_rate": 0.0004999985623524353,
      "loss": 0.337,
      "step": 416
    },
    {
      "epoch": 0.09333632488220776,
      "gripper_loss": 0.66796875,
      "loss": 0.37890625,
      "pos_loss": 1.265625,
      "rot_loss": 1.390625,
      "step": 416
    },
    {
      "epoch": 0.09356069104779,
      "grad_norm": 2.5971357822418213,
      "learning_rate": 0.0004999983496395093,
      "loss": 0.3467,
      "step": 417
    },
    {
      "epoch": 0.09356069104779,
      "gripper_loss": 0.3671875,
      "loss": 0.404296875,
      "pos_loss": 1.1328125,
      "rot_loss": 2.421875,
      "step": 417
    },
    {
      "epoch": 0.09378505721337223,
      "grad_norm": 1.9342561960220337,
      "learning_rate": 0.000499998122256793,
      "loss": 0.2662,
      "step": 418
    },
    {
      "epoch": 0.09378505721337223,
      "gripper_loss": 0.43359375,
      "loss": 0.62890625,
      "pos_loss": 1.0859375,
      "rot_loss": 1.5078125,
      "step": 418
    },
    {
      "epoch": 0.09400942337895446,
      "grad_norm": 3.0241637229919434,
      "learning_rate": 0.0004999978802042998,
      "loss": 0.5938,
      "step": 419
    },
    {
      "epoch": 0.09400942337895446,
      "gripper_loss": 0.1767578125,
      "loss": 0.171875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.482421875,
      "step": 419
    },
    {
      "epoch": 0.09423378954453668,
      "grad_norm": 1.7796217203140259,
      "learning_rate": 0.0004999976234820438,
      "loss": 0.2428,
      "step": 420
    },
    {
      "epoch": 0.09423378954453668,
      "gripper_loss": 0.419921875,
      "loss": 0.56640625,
      "pos_loss": 1.1953125,
      "rot_loss": 1.234375,
      "step": 420
    },
    {
      "epoch": 0.09445815571011891,
      "grad_norm": 2.45908784866333,
      "learning_rate": 0.0004999973520900402,
      "loss": 0.5325,
      "step": 421
    },
    {
      "epoch": 0.09445815571011891,
      "gripper_loss": 0.53125,
      "loss": 0.234375,
      "pos_loss": 0.9296875,
      "rot_loss": 0.423828125,
      "step": 421
    },
    {
      "epoch": 0.09468252187570114,
      "grad_norm": 2.0041229724884033,
      "learning_rate": 0.0004999970660283051,
      "loss": 0.3209,
      "step": 422
    },
    {
      "epoch": 0.09468252187570114,
      "gripper_loss": 2.265625,
      "loss": 0.404296875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.71484375,
      "step": 422
    },
    {
      "epoch": 0.09490688804128337,
      "grad_norm": 2.856065034866333,
      "learning_rate": 0.0004999967652968548,
      "loss": 0.469,
      "step": 423
    },
    {
      "epoch": 0.09490688804128337,
      "gripper_loss": 0.40625,
      "loss": 0.32421875,
      "pos_loss": 1.3515625,
      "rot_loss": 1.203125,
      "step": 423
    },
    {
      "epoch": 0.0951312542068656,
      "grad_norm": 2.1240153312683105,
      "learning_rate": 0.0004999964498957073,
      "loss": 0.303,
      "step": 424
    },
    {
      "epoch": 0.0951312542068656,
      "gripper_loss": 1.1953125,
      "loss": 0.435546875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.84765625,
      "step": 424
    },
    {
      "epoch": 0.09535562037244784,
      "grad_norm": 2.8643016815185547,
      "learning_rate": 0.000499996119824881,
      "loss": 0.5212,
      "step": 425
    },
    {
      "epoch": 0.09535562037244784,
      "gripper_loss": 0.396484375,
      "loss": 0.421875,
      "pos_loss": 1.0625,
      "rot_loss": 1.4921875,
      "step": 425
    },
    {
      "epoch": 0.09557998653803007,
      "grad_norm": 2.985673189163208,
      "learning_rate": 0.0004999957750843954,
      "loss": 0.4397,
      "step": 426
    },
    {
      "epoch": 0.09557998653803007,
      "gripper_loss": 0.21484375,
      "loss": 0.34765625,
      "pos_loss": 2.59375,
      "rot_loss": 0.58203125,
      "step": 426
    },
    {
      "epoch": 0.09580435270361229,
      "grad_norm": 1.8755977153778076,
      "learning_rate": 0.0004999954156742704,
      "loss": 0.2964,
      "step": 427
    },
    {
      "epoch": 0.09580435270361229,
      "gripper_loss": 0.326171875,
      "loss": 0.390625,
      "pos_loss": 1.8515625,
      "rot_loss": 0.9375,
      "step": 427
    },
    {
      "epoch": 0.09602871886919452,
      "grad_norm": 2.3073675632476807,
      "learning_rate": 0.0004999950415945275,
      "loss": 0.3491,
      "step": 428
    },
    {
      "epoch": 0.09602871886919452,
      "gripper_loss": 0.64453125,
      "loss": 0.2890625,
      "pos_loss": 1.4375,
      "rot_loss": 0.7890625,
      "step": 428
    },
    {
      "epoch": 0.09625308503477675,
      "grad_norm": 1.659311294555664,
      "learning_rate": 0.0004999946528451884,
      "loss": 0.3112,
      "step": 429
    },
    {
      "epoch": 0.09625308503477675,
      "gripper_loss": 0.373046875,
      "loss": 0.435546875,
      "pos_loss": 0.8046875,
      "rot_loss": 0.73828125,
      "step": 429
    },
    {
      "epoch": 0.09647745120035899,
      "grad_norm": 2.8266420364379883,
      "learning_rate": 0.0004999942494262759,
      "loss": 0.5271,
      "step": 430
    },
    {
      "epoch": 0.09647745120035899,
      "gripper_loss": 0.12353515625,
      "loss": 0.328125,
      "pos_loss": 2.09375,
      "rot_loss": 0.41015625,
      "step": 430
    },
    {
      "epoch": 0.09670181736594122,
      "grad_norm": 2.515751838684082,
      "learning_rate": 0.0004999938313378138,
      "loss": 0.3221,
      "step": 431
    },
    {
      "epoch": 0.09670181736594122,
      "gripper_loss": 0.515625,
      "loss": 0.77734375,
      "pos_loss": 1.859375,
      "rot_loss": 3.515625,
      "step": 431
    },
    {
      "epoch": 0.09692618353152345,
      "grad_norm": 3.1103515625,
      "learning_rate": 0.0004999933985798266,
      "loss": 0.5166,
      "step": 432
    },
    {
      "epoch": 0.09692618353152345,
      "gripper_loss": 1.9375,
      "loss": 0.337890625,
      "pos_loss": 1.296875,
      "rot_loss": 0.5390625,
      "step": 432
    },
    {
      "epoch": 0.09715054969710568,
      "grad_norm": 2.915649890899658,
      "learning_rate": 0.0004999929511523397,
      "loss": 0.4729,
      "step": 433
    },
    {
      "epoch": 0.09715054969710568,
      "gripper_loss": 1.546875,
      "loss": 0.2197265625,
      "pos_loss": 0.58203125,
      "rot_loss": 0.34765625,
      "step": 433
    },
    {
      "epoch": 0.09737491586268791,
      "grad_norm": 2.4527106285095215,
      "learning_rate": 0.0004999924890553793,
      "loss": 0.3196,
      "step": 434
    },
    {
      "epoch": 0.09737491586268791,
      "gripper_loss": 0.1416015625,
      "loss": 0.1962890625,
      "pos_loss": 0.7578125,
      "rot_loss": 0.671875,
      "step": 434
    },
    {
      "epoch": 0.09759928202827013,
      "grad_norm": 1.7087466716766357,
      "learning_rate": 0.0004999920122889725,
      "loss": 0.2534,
      "step": 435
    },
    {
      "epoch": 0.09759928202827013,
      "gripper_loss": 1.6875,
      "loss": 0.28515625,
      "pos_loss": 1.21875,
      "rot_loss": 0.298828125,
      "step": 435
    },
    {
      "epoch": 0.09782364819385236,
      "grad_norm": 1.8747400045394897,
      "learning_rate": 0.0004999915208531474,
      "loss": 0.2634,
      "step": 436
    },
    {
      "epoch": 0.09782364819385236,
      "gripper_loss": 1.4453125,
      "loss": 0.60546875,
      "pos_loss": 1.5234375,
      "rot_loss": 1.7578125,
      "step": 436
    },
    {
      "epoch": 0.0980480143594346,
      "grad_norm": 3.2440860271453857,
      "learning_rate": 0.0004999910147479327,
      "loss": 0.4858,
      "step": 437
    },
    {
      "epoch": 0.0980480143594346,
      "gripper_loss": 0.50390625,
      "loss": 0.279296875,
      "pos_loss": 1.1171875,
      "rot_loss": 0.87109375,
      "step": 437
    },
    {
      "epoch": 0.09827238052501683,
      "grad_norm": 2.251567840576172,
      "learning_rate": 0.0004999904939733581,
      "loss": 0.3092,
      "step": 438
    },
    {
      "epoch": 0.09827238052501683,
      "gripper_loss": 0.408203125,
      "loss": 0.37109375,
      "pos_loss": 1.921875,
      "rot_loss": 0.66796875,
      "step": 438
    },
    {
      "epoch": 0.09849674669059906,
      "grad_norm": 2.3942174911499023,
      "learning_rate": 0.0004999899585294543,
      "loss": 0.2897,
      "step": 439
    },
    {
      "epoch": 0.09849674669059906,
      "gripper_loss": 0.921875,
      "loss": 0.244140625,
      "pos_loss": 1.2578125,
      "rot_loss": 0.328125,
      "step": 439
    },
    {
      "epoch": 0.09872111285618129,
      "grad_norm": 2.332115650177002,
      "learning_rate": 0.0004999894084162526,
      "loss": 0.2522,
      "step": 440
    },
    {
      "epoch": 0.09872111285618129,
      "gripper_loss": 0.234375,
      "loss": 0.330078125,
      "pos_loss": 1.8046875,
      "rot_loss": 0.82421875,
      "step": 440
    },
    {
      "epoch": 0.09894547902176352,
      "grad_norm": 2.258836030960083,
      "learning_rate": 0.0004999888436337853,
      "loss": 0.3115,
      "step": 441
    },
    {
      "epoch": 0.09894547902176352,
      "gripper_loss": 0.392578125,
      "loss": 0.337890625,
      "pos_loss": 1.03125,
      "rot_loss": 1.765625,
      "step": 441
    },
    {
      "epoch": 0.09916984518734574,
      "grad_norm": 2.383017063140869,
      "learning_rate": 0.0004999882641820855,
      "loss": 0.3303,
      "step": 442
    },
    {
      "epoch": 0.09916984518734574,
      "gripper_loss": 1.234375,
      "loss": 0.34375,
      "pos_loss": 0.87890625,
      "rot_loss": 0.67578125,
      "step": 442
    },
    {
      "epoch": 0.09939421135292797,
      "grad_norm": 3.21832013130188,
      "learning_rate": 0.0004999876700611874,
      "loss": 0.4578,
      "step": 443
    },
    {
      "epoch": 0.09939421135292797,
      "gripper_loss": 1.7109375,
      "loss": 0.365234375,
      "pos_loss": 0.89453125,
      "rot_loss": 0.625,
      "step": 443
    },
    {
      "epoch": 0.0996185775185102,
      "grad_norm": 2.4550271034240723,
      "learning_rate": 0.0004999870612711256,
      "loss": 0.36,
      "step": 444
    },
    {
      "epoch": 0.0996185775185102,
      "gripper_loss": 0.26171875,
      "loss": 0.33203125,
      "pos_loss": 1.703125,
      "rot_loss": 0.70703125,
      "step": 444
    },
    {
      "epoch": 0.09984294368409244,
      "grad_norm": 2.6318938732147217,
      "learning_rate": 0.000499986437811936,
      "loss": 0.3257,
      "step": 445
    },
    {
      "epoch": 0.09984294368409244,
      "gripper_loss": 1.125,
      "loss": 0.2021484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.1669921875,
      "step": 445
    },
    {
      "epoch": 0.10006730984967467,
      "grad_norm": 2.6168739795684814,
      "learning_rate": 0.0004999857996836551,
      "loss": 0.2825,
      "step": 446
    },
    {
      "epoch": 0.10006730984967467,
      "gripper_loss": 0.76953125,
      "loss": 0.5234375,
      "pos_loss": 2.140625,
      "rot_loss": 1.421875,
      "step": 446
    },
    {
      "epoch": 0.1002916760152569,
      "grad_norm": 2.5880253314971924,
      "learning_rate": 0.0004999851468863204,
      "loss": 0.3108,
      "step": 447
    },
    {
      "epoch": 0.1002916760152569,
      "gripper_loss": 0.94140625,
      "loss": 0.2158203125,
      "pos_loss": 1.1171875,
      "rot_loss": 0.361328125,
      "step": 447
    },
    {
      "epoch": 0.10051604218083914,
      "grad_norm": 2.631626844406128,
      "learning_rate": 0.0004999844794199701,
      "loss": 0.3763,
      "step": 448
    },
    {
      "epoch": 0.10051604218083914,
      "gripper_loss": 1.890625,
      "loss": 0.2255859375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.458984375,
      "step": 448
    },
    {
      "epoch": 0.10074040834642135,
      "grad_norm": 1.9426988363265991,
      "learning_rate": 0.0004999837972846435,
      "loss": 0.3196,
      "step": 449
    },
    {
      "epoch": 0.10074040834642135,
      "gripper_loss": 0.984375,
      "loss": 0.224609375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.28515625,
      "step": 449
    },
    {
      "epoch": 0.10096477451200359,
      "grad_norm": 2.2903923988342285,
      "learning_rate": 0.0004999831004803805,
      "loss": 0.2799,
      "step": 450
    },
    {
      "epoch": 0.10096477451200359,
      "gripper_loss": 1.0234375,
      "loss": 0.4296875,
      "pos_loss": 1.1015625,
      "rot_loss": 2.390625,
      "step": 450
    },
    {
      "epoch": 0.10118914067758582,
      "grad_norm": 2.275101661682129,
      "learning_rate": 0.0004999823890072221,
      "loss": 0.3759,
      "step": 451
    },
    {
      "epoch": 0.10118914067758582,
      "gripper_loss": 0.8671875,
      "loss": 0.208984375,
      "pos_loss": 0.546875,
      "rot_loss": 0.703125,
      "step": 451
    },
    {
      "epoch": 0.10141350684316805,
      "grad_norm": 2.180123805999756,
      "learning_rate": 0.00049998166286521,
      "loss": 0.3245,
      "step": 452
    },
    {
      "epoch": 0.10141350684316805,
      "gripper_loss": 0.1923828125,
      "loss": 0.490234375,
      "pos_loss": 3.140625,
      "rot_loss": 1.1640625,
      "step": 452
    },
    {
      "epoch": 0.10163787300875028,
      "grad_norm": 1.7197802066802979,
      "learning_rate": 0.000499980922054387,
      "loss": 0.3304,
      "step": 453
    },
    {
      "epoch": 0.10163787300875028,
      "gripper_loss": 0.4453125,
      "loss": 0.375,
      "pos_loss": 1.5,
      "rot_loss": 0.66015625,
      "step": 453
    },
    {
      "epoch": 0.10186223917433251,
      "grad_norm": 2.0714540481567383,
      "learning_rate": 0.0004999801665747962,
      "loss": 0.3184,
      "step": 454
    },
    {
      "epoch": 0.10186223917433251,
      "gripper_loss": 1.2578125,
      "loss": 0.365234375,
      "pos_loss": 1.453125,
      "rot_loss": 1.46875,
      "step": 454
    },
    {
      "epoch": 0.10208660533991475,
      "grad_norm": 1.7384856939315796,
      "learning_rate": 0.0004999793964264821,
      "loss": 0.3163,
      "step": 455
    },
    {
      "epoch": 0.10208660533991475,
      "gripper_loss": 1.65625,
      "loss": 0.21484375,
      "pos_loss": 0.765625,
      "rot_loss": 0.251953125,
      "step": 455
    },
    {
      "epoch": 0.10231097150549696,
      "grad_norm": 1.574384331703186,
      "learning_rate": 0.00049997861160949,
      "loss": 0.2344,
      "step": 456
    },
    {
      "epoch": 0.10231097150549696,
      "gripper_loss": 1.15625,
      "loss": 0.1884765625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.3671875,
      "step": 456
    },
    {
      "epoch": 0.1025353376710792,
      "grad_norm": 1.6965957880020142,
      "learning_rate": 0.0004999778121238659,
      "loss": 0.2401,
      "step": 457
    },
    {
      "epoch": 0.1025353376710792,
      "gripper_loss": 2.421875,
      "loss": 0.234375,
      "pos_loss": 0.66796875,
      "rot_loss": 0.240234375,
      "step": 457
    },
    {
      "epoch": 0.10275970383666143,
      "grad_norm": 2.0333759784698486,
      "learning_rate": 0.0004999769979696565,
      "loss": 0.2373,
      "step": 458
    },
    {
      "epoch": 0.10275970383666143,
      "gripper_loss": 4.0,
      "loss": 0.302734375,
      "pos_loss": 0.8984375,
      "rot_loss": 0.357421875,
      "step": 458
    },
    {
      "epoch": 0.10298407000224366,
      "grad_norm": 2.0474658012390137,
      "learning_rate": 0.0004999761691469099,
      "loss": 0.2816,
      "step": 459
    },
    {
      "epoch": 0.10298407000224366,
      "gripper_loss": 1.4140625,
      "loss": 0.33984375,
      "pos_loss": 0.96875,
      "rot_loss": 1.703125,
      "step": 459
    },
    {
      "epoch": 0.10320843616782589,
      "grad_norm": 2.1701138019561768,
      "learning_rate": 0.0004999753256556745,
      "loss": 0.2749,
      "step": 460
    },
    {
      "epoch": 0.10320843616782589,
      "gripper_loss": 1.5078125,
      "loss": 0.71875,
      "pos_loss": 0.98828125,
      "rot_loss": 0.796875,
      "step": 460
    },
    {
      "epoch": 0.10343280233340812,
      "grad_norm": 3.617201805114746,
      "learning_rate": 0.000499974467496,
      "loss": 0.8052,
      "step": 461
    },
    {
      "epoch": 0.10343280233340812,
      "gripper_loss": 0.3359375,
      "loss": 0.3203125,
      "pos_loss": 1.921875,
      "rot_loss": 0.212890625,
      "step": 461
    },
    {
      "epoch": 0.10365716849899036,
      "grad_norm": 1.9581677913665771,
      "learning_rate": 0.0004999735946679365,
      "loss": 0.2621,
      "step": 462
    },
    {
      "epoch": 0.10365716849899036,
      "gripper_loss": 1.53125,
      "loss": 0.34375,
      "pos_loss": 2.28125,
      "rot_loss": 0.126953125,
      "step": 462
    },
    {
      "epoch": 0.10388153466457259,
      "grad_norm": 1.890446662902832,
      "learning_rate": 0.0004999727071715354,
      "loss": 0.2748,
      "step": 463
    },
    {
      "epoch": 0.10388153466457259,
      "gripper_loss": 1.0625,
      "loss": 0.431640625,
      "pos_loss": 0.78515625,
      "rot_loss": 1.0234375,
      "step": 463
    },
    {
      "epoch": 0.10410590083015481,
      "grad_norm": 2.912376642227173,
      "learning_rate": 0.0004999718050068488,
      "loss": 0.4829,
      "step": 464
    },
    {
      "epoch": 0.10410590083015481,
      "gripper_loss": 3.21875,
      "loss": 0.27734375,
      "pos_loss": 0.671875,
      "rot_loss": 0.318359375,
      "step": 464
    },
    {
      "epoch": 0.10433026699573704,
      "grad_norm": 2.588514804840088,
      "learning_rate": 0.0004999708881739296,
      "loss": 0.2865,
      "step": 465
    },
    {
      "epoch": 0.10433026699573704,
      "gripper_loss": 0.5546875,
      "loss": 0.1767578125,
      "pos_loss": 1.0625,
      "rot_loss": 0.109375,
      "step": 465
    },
    {
      "epoch": 0.10455463316131927,
      "grad_norm": 1.8480889797210693,
      "learning_rate": 0.0004999699566728314,
      "loss": 0.2455,
      "step": 466
    },
    {
      "epoch": 0.10455463316131927,
      "gripper_loss": 1.09375,
      "loss": 0.1376953125,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.140625,
      "step": 466
    },
    {
      "epoch": 0.1047789993269015,
      "grad_norm": 1.786994218826294,
      "learning_rate": 0.0004999690105036091,
      "loss": 0.286,
      "step": 467
    },
    {
      "epoch": 0.1047789993269015,
      "gripper_loss": 0.5625,
      "loss": 0.3359375,
      "pos_loss": 0.455078125,
      "rot_loss": 0.5234375,
      "step": 467
    },
    {
      "epoch": 0.10500336549248374,
      "grad_norm": 2.3385469913482666,
      "learning_rate": 0.0004999680496663183,
      "loss": 0.4165,
      "step": 468
    },
    {
      "epoch": 0.10500336549248374,
      "gripper_loss": 1.21875,
      "loss": 0.255859375,
      "pos_loss": 1.2109375,
      "rot_loss": 0.416015625,
      "step": 468
    },
    {
      "epoch": 0.10522773165806597,
      "grad_norm": 1.5999082326889038,
      "learning_rate": 0.000499967074161015,
      "loss": 0.255,
      "step": 469
    },
    {
      "epoch": 0.10522773165806597,
      "gripper_loss": 0.357421875,
      "loss": 0.56640625,
      "pos_loss": 1.390625,
      "rot_loss": 1.09375,
      "step": 469
    },
    {
      "epoch": 0.1054520978236482,
      "grad_norm": 2.6865198612213135,
      "learning_rate": 0.0004999660839877569,
      "loss": 0.4956,
      "step": 470
    },
    {
      "epoch": 0.1054520978236482,
      "gripper_loss": 0.75,
      "loss": 0.515625,
      "pos_loss": 0.94921875,
      "rot_loss": 0.609375,
      "step": 470
    },
    {
      "epoch": 0.10567646398923042,
      "grad_norm": 2.991288185119629,
      "learning_rate": 0.0004999650791466017,
      "loss": 0.4868,
      "step": 471
    },
    {
      "epoch": 0.10567646398923042,
      "gripper_loss": 1.3203125,
      "loss": 0.68359375,
      "pos_loss": 0.89453125,
      "rot_loss": 0.80078125,
      "step": 471
    },
    {
      "epoch": 0.10590083015481265,
      "grad_norm": 2.5676512718200684,
      "learning_rate": 0.0004999640596376086,
      "loss": 0.7905,
      "step": 472
    },
    {
      "epoch": 0.10590083015481265,
      "gripper_loss": 1.546875,
      "loss": 0.302734375,
      "pos_loss": 1.09375,
      "rot_loss": 0.447265625,
      "step": 472
    },
    {
      "epoch": 0.10612519632039488,
      "grad_norm": 2.329400062561035,
      "learning_rate": 0.0004999630254608374,
      "loss": 0.3308,
      "step": 473
    },
    {
      "epoch": 0.10612519632039488,
      "gripper_loss": 0.52734375,
      "loss": 0.64453125,
      "pos_loss": 1.796875,
      "rot_loss": 1.0,
      "step": 473
    },
    {
      "epoch": 0.10634956248597711,
      "grad_norm": 2.3473715782165527,
      "learning_rate": 0.0004999619766163487,
      "loss": 0.5557,
      "step": 474
    },
    {
      "epoch": 0.10634956248597711,
      "gripper_loss": 0.41796875,
      "loss": 0.5234375,
      "pos_loss": 4.0625,
      "rot_loss": 0.6796875,
      "step": 474
    },
    {
      "epoch": 0.10657392865155935,
      "grad_norm": 2.0261852741241455,
      "learning_rate": 0.0004999609131042041,
      "loss": 0.3201,
      "step": 475
    },
    {
      "epoch": 0.10657392865155935,
      "gripper_loss": 0.76171875,
      "loss": 0.12451171875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.203125,
      "step": 475
    },
    {
      "epoch": 0.10679829481714158,
      "grad_norm": 1.5317760705947876,
      "learning_rate": 0.0004999598349244661,
      "loss": 0.1919,
      "step": 476
    },
    {
      "epoch": 0.10679829481714158,
      "gripper_loss": 0.9140625,
      "loss": 0.61328125,
      "pos_loss": 0.765625,
      "rot_loss": 0.8828125,
      "step": 476
    },
    {
      "epoch": 0.10702266098272381,
      "grad_norm": 2.9835824966430664,
      "learning_rate": 0.0004999587420771979,
      "loss": 0.6035,
      "step": 477
    },
    {
      "epoch": 0.10702266098272381,
      "gripper_loss": 0.1552734375,
      "loss": 0.51953125,
      "pos_loss": 2.59375,
      "rot_loss": 2.265625,
      "step": 477
    },
    {
      "epoch": 0.10724702714830603,
      "grad_norm": 1.8981547355651855,
      "learning_rate": 0.0004999576345624634,
      "loss": 0.318,
      "step": 478
    },
    {
      "epoch": 0.10724702714830603,
      "gripper_loss": 0.400390625,
      "loss": 0.3984375,
      "pos_loss": 1.984375,
      "rot_loss": 1.2890625,
      "step": 478
    },
    {
      "epoch": 0.10747139331388826,
      "grad_norm": 1.9962072372436523,
      "learning_rate": 0.0004999565123803279,
      "loss": 0.3518,
      "step": 479
    },
    {
      "epoch": 0.10747139331388826,
      "gripper_loss": 0.38671875,
      "loss": 0.271484375,
      "pos_loss": 1.1875,
      "rot_loss": 0.353515625,
      "step": 479
    },
    {
      "epoch": 0.1076957594794705,
      "grad_norm": 1.6235558986663818,
      "learning_rate": 0.0004999553755308571,
      "loss": 0.2976,
      "step": 480
    },
    {
      "epoch": 0.1076957594794705,
      "gripper_loss": 0.1357421875,
      "loss": 0.54296875,
      "pos_loss": 1.015625,
      "rot_loss": 4.21875,
      "step": 480
    },
    {
      "epoch": 0.10792012564505273,
      "grad_norm": 1.5940293073654175,
      "learning_rate": 0.0004999542240141178,
      "loss": 0.3021,
      "step": 481
    },
    {
      "epoch": 0.10792012564505273,
      "gripper_loss": 0.5078125,
      "loss": 0.365234375,
      "pos_loss": 0.451171875,
      "rot_loss": 2.546875,
      "step": 481
    },
    {
      "epoch": 0.10814449181063496,
      "grad_norm": 1.4661755561828613,
      "learning_rate": 0.0004999530578301775,
      "loss": 0.2651,
      "step": 482
    },
    {
      "epoch": 0.10814449181063496,
      "gripper_loss": 0.6875,
      "loss": 0.1552734375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.1640625,
      "step": 482
    },
    {
      "epoch": 0.10836885797621719,
      "grad_norm": 1.2946354150772095,
      "learning_rate": 0.0004999518769791046,
      "loss": 0.3245,
      "step": 483
    },
    {
      "epoch": 0.10836885797621719,
      "gripper_loss": 0.11572265625,
      "loss": 0.6171875,
      "pos_loss": 1.9765625,
      "rot_loss": 4.0,
      "step": 483
    },
    {
      "epoch": 0.10859322414179942,
      "grad_norm": 1.6505653858184814,
      "learning_rate": 0.0004999506814609685,
      "loss": 0.3025,
      "step": 484
    },
    {
      "epoch": 0.10859322414179942,
      "gripper_loss": 1.53125,
      "loss": 0.421875,
      "pos_loss": 0.4765625,
      "rot_loss": 0.828125,
      "step": 484
    },
    {
      "epoch": 0.10881759030738165,
      "grad_norm": 2.523146629333496,
      "learning_rate": 0.0004999494712758393,
      "loss": 0.5491,
      "step": 485
    },
    {
      "epoch": 0.10881759030738165,
      "gripper_loss": 0.2158203125,
      "loss": 0.40625,
      "pos_loss": 1.171875,
      "rot_loss": 1.6875,
      "step": 485
    },
    {
      "epoch": 0.10904195647296387,
      "grad_norm": 1.9147007465362549,
      "learning_rate": 0.0004999482464237879,
      "loss": 0.2678,
      "step": 486
    },
    {
      "epoch": 0.10904195647296387,
      "gripper_loss": 0.189453125,
      "loss": 0.2451171875,
      "pos_loss": 0.83984375,
      "rot_loss": 1.078125,
      "step": 486
    },
    {
      "epoch": 0.1092663226385461,
      "grad_norm": 1.9320861101150513,
      "learning_rate": 0.0004999470069048864,
      "loss": 0.3348,
      "step": 487
    },
    {
      "epoch": 0.1092663226385461,
      "gripper_loss": 0.29296875,
      "loss": 0.197265625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.3671875,
      "step": 487
    },
    {
      "epoch": 0.10949068880412834,
      "grad_norm": 1.8388352394104004,
      "learning_rate": 0.0004999457527192074,
      "loss": 0.2759,
      "step": 488
    },
    {
      "epoch": 0.10949068880412834,
      "gripper_loss": 0.53125,
      "loss": 0.37890625,
      "pos_loss": 0.6484375,
      "rot_loss": 2.6875,
      "step": 488
    },
    {
      "epoch": 0.10971505496971057,
      "grad_norm": 1.6741924285888672,
      "learning_rate": 0.0004999444838668244,
      "loss": 0.3618,
      "step": 489
    },
    {
      "epoch": 0.10971505496971057,
      "gripper_loss": 0.55078125,
      "loss": 0.2431640625,
      "pos_loss": 0.62109375,
      "rot_loss": 0.91796875,
      "step": 489
    },
    {
      "epoch": 0.1099394211352928,
      "grad_norm": 2.109222888946533,
      "learning_rate": 0.0004999432003478121,
      "loss": 0.2388,
      "step": 490
    },
    {
      "epoch": 0.1099394211352928,
      "gripper_loss": 1.0234375,
      "loss": 0.546875,
      "pos_loss": 1.921875,
      "rot_loss": 2.484375,
      "step": 490
    },
    {
      "epoch": 0.11016378730087503,
      "grad_norm": 1.5229077339172363,
      "learning_rate": 0.0004999419021622457,
      "loss": 0.2137,
      "step": 491
    },
    {
      "epoch": 0.11016378730087503,
      "gripper_loss": 0.1416015625,
      "loss": 0.193359375,
      "pos_loss": 0.87890625,
      "rot_loss": 0.53125,
      "step": 491
    },
    {
      "epoch": 0.11038815346645726,
      "grad_norm": 1.7411624193191528,
      "learning_rate": 0.0004999405893102012,
      "loss": 0.3235,
      "step": 492
    },
    {
      "epoch": 0.11038815346645726,
      "gripper_loss": 0.34375,
      "loss": 0.404296875,
      "pos_loss": 1.9375,
      "rot_loss": 1.546875,
      "step": 492
    },
    {
      "epoch": 0.11061251963203948,
      "grad_norm": 1.7786279916763306,
      "learning_rate": 0.0004999392617917558,
      "loss": 0.3323,
      "step": 493
    },
    {
      "epoch": 0.11061251963203948,
      "gripper_loss": 1.21875,
      "loss": 0.287109375,
      "pos_loss": 1.4921875,
      "rot_loss": 0.36328125,
      "step": 493
    },
    {
      "epoch": 0.11083688579762171,
      "grad_norm": 1.8708164691925049,
      "learning_rate": 0.0004999379196069876,
      "loss": 0.2672,
      "step": 494
    },
    {
      "epoch": 0.11083688579762171,
      "gripper_loss": 0.298828125,
      "loss": 0.1435546875,
      "pos_loss": 0.578125,
      "rot_loss": 0.2373046875,
      "step": 494
    },
    {
      "epoch": 0.11106125196320395,
      "grad_norm": 1.5852216482162476,
      "learning_rate": 0.0004999365627559749,
      "loss": 0.3158,
      "step": 495
    },
    {
      "epoch": 0.11106125196320395,
      "gripper_loss": 1.6484375,
      "loss": 0.234375,
      "pos_loss": 0.765625,
      "rot_loss": 0.60546875,
      "step": 495
    },
    {
      "epoch": 0.11128561812878618,
      "grad_norm": 1.9439817667007446,
      "learning_rate": 0.0004999351912387978,
      "loss": 0.275,
      "step": 496
    },
    {
      "epoch": 0.11128561812878618,
      "gripper_loss": 1.1796875,
      "loss": 0.2578125,
      "pos_loss": 0.25,
      "rot_loss": 1.65625,
      "step": 496
    },
    {
      "epoch": 0.11150998429436841,
      "grad_norm": 1.914719581604004,
      "learning_rate": 0.0004999338050555364,
      "loss": 0.1744,
      "step": 497
    },
    {
      "epoch": 0.11150998429436841,
      "gripper_loss": 1.609375,
      "loss": 0.408203125,
      "pos_loss": 0.6015625,
      "rot_loss": 0.58984375,
      "step": 497
    },
    {
      "epoch": 0.11173435045995064,
      "grad_norm": 2.883070468902588,
      "learning_rate": 0.0004999324042062723,
      "loss": 0.4695,
      "step": 498
    },
    {
      "epoch": 0.11173435045995064,
      "gripper_loss": 0.55078125,
      "loss": 0.1982421875,
      "pos_loss": 1.265625,
      "rot_loss": 0.28125,
      "step": 498
    },
    {
      "epoch": 0.11195871662553288,
      "grad_norm": 1.55308997631073,
      "learning_rate": 0.0004999309886910874,
      "loss": 0.2253,
      "step": 499
    },
    {
      "epoch": 0.11195871662553288,
      "gripper_loss": 0.494140625,
      "loss": 0.2431640625,
      "pos_loss": 0.890625,
      "rot_loss": 0.6953125,
      "step": 499
    },
    {
      "epoch": 0.1121830827911151,
      "grad_norm": 2.7566869258880615,
      "learning_rate": 0.0004999295585100652,
      "loss": 0.3549,
      "step": 500
    },
    {
      "epoch": 0.1121830827911151,
      "gripper_loss": 0.53125,
      "loss": 0.70703125,
      "pos_loss": 1.171875,
      "rot_loss": 2.515625,
      "step": 500
    },
    {
      "epoch": 0.11240744895669733,
      "grad_norm": 2.904391050338745,
      "learning_rate": 0.0004999281136632892,
      "loss": 0.6377,
      "step": 501
    },
    {
      "epoch": 0.11240744895669733,
      "gripper_loss": 1.0234375,
      "loss": 0.234375,
      "pos_loss": 0.41015625,
      "rot_loss": 1.015625,
      "step": 501
    },
    {
      "epoch": 0.11263181512227956,
      "grad_norm": 2.1469273567199707,
      "learning_rate": 0.0004999266541508445,
      "loss": 0.2629,
      "step": 502
    },
    {
      "epoch": 0.11263181512227956,
      "gripper_loss": 0.458984375,
      "loss": 0.330078125,
      "pos_loss": 0.6796875,
      "rot_loss": 1.578125,
      "step": 502
    },
    {
      "epoch": 0.11285618128786179,
      "grad_norm": 2.0193898677825928,
      "learning_rate": 0.0004999251799728165,
      "loss": 0.3208,
      "step": 503
    },
    {
      "epoch": 0.11285618128786179,
      "gripper_loss": 2.03125,
      "loss": 0.28515625,
      "pos_loss": 1.1953125,
      "rot_loss": 0.40234375,
      "step": 503
    },
    {
      "epoch": 0.11308054745344402,
      "grad_norm": 1.5368071794509888,
      "learning_rate": 0.0004999236911292918,
      "loss": 0.2009,
      "step": 504
    },
    {
      "epoch": 0.11308054745344402,
      "gripper_loss": 1.0703125,
      "loss": 0.279296875,
      "pos_loss": 0.97265625,
      "rot_loss": 0.361328125,
      "step": 504
    },
    {
      "epoch": 0.11330491361902625,
      "grad_norm": 2.5050153732299805,
      "learning_rate": 0.0004999221876203578,
      "loss": 0.4133,
      "step": 505
    },
    {
      "epoch": 0.11330491361902625,
      "gripper_loss": 1.6875,
      "loss": 0.1669921875,
      "pos_loss": 0.275390625,
      "rot_loss": 0.2314453125,
      "step": 505
    },
    {
      "epoch": 0.11352927978460849,
      "grad_norm": 1.9001333713531494,
      "learning_rate": 0.0004999206694461027,
      "loss": 0.228,
      "step": 506
    },
    {
      "epoch": 0.11352927978460849,
      "gripper_loss": 0.84375,
      "loss": 0.451171875,
      "pos_loss": 1.421875,
      "rot_loss": 2.359375,
      "step": 506
    },
    {
      "epoch": 0.1137536459501907,
      "grad_norm": 1.613487958908081,
      "learning_rate": 0.0004999191366066156,
      "loss": 0.2632,
      "step": 507
    },
    {
      "epoch": 0.1137536459501907,
      "gripper_loss": 1.15625,
      "loss": 0.5625,
      "pos_loss": 1.3125,
      "rot_loss": 1.5859375,
      "step": 507
    },
    {
      "epoch": 0.11397801211577294,
      "grad_norm": 2.461608409881592,
      "learning_rate": 0.0004999175891019864,
      "loss": 0.48,
      "step": 508
    },
    {
      "epoch": 0.11397801211577294,
      "gripper_loss": 0.4375,
      "loss": 0.3671875,
      "pos_loss": 0.71875,
      "rot_loss": 1.734375,
      "step": 508
    },
    {
      "epoch": 0.11420237828135517,
      "grad_norm": 2.1518728733062744,
      "learning_rate": 0.000499916026932306,
      "loss": 0.3085,
      "step": 509
    },
    {
      "epoch": 0.11420237828135517,
      "gripper_loss": 1.109375,
      "loss": 0.189453125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.359375,
      "step": 509
    },
    {
      "epoch": 0.1144267444469374,
      "grad_norm": 1.5563031435012817,
      "learning_rate": 0.0004999144500976659,
      "loss": 0.2599,
      "step": 510
    },
    {
      "epoch": 0.1144267444469374,
      "gripper_loss": 0.283203125,
      "loss": 0.330078125,
      "pos_loss": 2.3125,
      "rot_loss": 0.55859375,
      "step": 510
    },
    {
      "epoch": 0.11465111061251963,
      "grad_norm": 1.35209059715271,
      "learning_rate": 0.0004999128585981589,
      "loss": 0.2955,
      "step": 511
    },
    {
      "epoch": 0.11465111061251963,
      "gripper_loss": 0.56640625,
      "loss": 0.283203125,
      "pos_loss": 1.859375,
      "rot_loss": 0.2734375,
      "step": 511
    },
    {
      "epoch": 0.11487547677810186,
      "grad_norm": 1.5902059078216553,
      "learning_rate": 0.0004999112524338781,
      "loss": 0.2703,
      "step": 512
    },
    {
      "epoch": 0.11487547677810186,
      "gripper_loss": 0.29296875,
      "loss": 0.40625,
      "pos_loss": 1.1328125,
      "rot_loss": 2.53125,
      "step": 512
    },
    {
      "epoch": 0.1150998429436841,
      "grad_norm": 1.8061310052871704,
      "learning_rate": 0.0004999096316049179,
      "loss": 0.2184,
      "step": 513
    },
    {
      "epoch": 0.1150998429436841,
      "gripper_loss": 0.11474609375,
      "loss": 0.3203125,
      "pos_loss": 1.015625,
      "rot_loss": 1.90625,
      "step": 513
    },
    {
      "epoch": 0.11532420910926633,
      "grad_norm": 1.5002822875976562,
      "learning_rate": 0.0004999079961113732,
      "loss": 0.1808,
      "step": 514
    },
    {
      "epoch": 0.11532420910926633,
      "gripper_loss": 0.345703125,
      "loss": 0.28125,
      "pos_loss": 1.0078125,
      "rot_loss": 0.41015625,
      "step": 514
    },
    {
      "epoch": 0.11554857527484855,
      "grad_norm": 1.755944013595581,
      "learning_rate": 0.0004999063459533404,
      "loss": 0.3599,
      "step": 515
    },
    {
      "epoch": 0.11554857527484855,
      "gripper_loss": 0.9296875,
      "loss": 0.189453125,
      "pos_loss": 0.96484375,
      "rot_loss": 0.25390625,
      "step": 515
    },
    {
      "epoch": 0.11577294144043078,
      "grad_norm": 1.6030960083007812,
      "learning_rate": 0.000499904681130916,
      "loss": 0.1743,
      "step": 516
    },
    {
      "epoch": 0.11577294144043078,
      "gripper_loss": 0.58984375,
      "loss": 0.29296875,
      "pos_loss": 0.65625,
      "rot_loss": 1.125,
      "step": 516
    },
    {
      "epoch": 0.11599730760601301,
      "grad_norm": 2.065822124481201,
      "learning_rate": 0.0004999030016441978,
      "loss": 0.241,
      "step": 517
    },
    {
      "epoch": 0.11599730760601301,
      "gripper_loss": 0.353515625,
      "loss": 0.2119140625,
      "pos_loss": 1.25,
      "rot_loss": 0.30078125,
      "step": 517
    },
    {
      "epoch": 0.11622167377159524,
      "grad_norm": 1.5237847566604614,
      "learning_rate": 0.0004999013074932842,
      "loss": 0.2334,
      "step": 518
    },
    {
      "epoch": 0.11622167377159524,
      "gripper_loss": 1.9296875,
      "loss": 0.3828125,
      "pos_loss": 1.9375,
      "rot_loss": 1.046875,
      "step": 518
    },
    {
      "epoch": 0.11644603993717748,
      "grad_norm": 1.4430179595947266,
      "learning_rate": 0.0004998995986782749,
      "loss": 0.2172,
      "step": 519
    },
    {
      "epoch": 0.11644603993717748,
      "gripper_loss": 0.134765625,
      "loss": 0.2255859375,
      "pos_loss": 1.2890625,
      "rot_loss": 0.55859375,
      "step": 519
    },
    {
      "epoch": 0.11667040610275971,
      "grad_norm": 1.3710464239120483,
      "learning_rate": 0.0004998978751992698,
      "loss": 0.2225,
      "step": 520
    },
    {
      "epoch": 0.11667040610275971,
      "gripper_loss": 1.2421875,
      "loss": 0.10302734375,
      "pos_loss": 0.158203125,
      "rot_loss": 0.134765625,
      "step": 520
    },
    {
      "epoch": 0.11689477226834194,
      "grad_norm": 1.320969581604004,
      "learning_rate": 0.0004998961370563705,
      "loss": 0.2745,
      "step": 521
    },
    {
      "epoch": 0.11689477226834194,
      "gripper_loss": 2.046875,
      "loss": 0.1376953125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.09423828125,
      "step": 521
    },
    {
      "epoch": 0.11711913843392416,
      "grad_norm": 1.4059199094772339,
      "learning_rate": 0.0004998943842496786,
      "loss": 0.2804,
      "step": 522
    },
    {
      "epoch": 0.11711913843392416,
      "gripper_loss": 0.9453125,
      "loss": 0.3828125,
      "pos_loss": 0.9140625,
      "rot_loss": 1.2890625,
      "step": 522
    },
    {
      "epoch": 0.11734350459950639,
      "grad_norm": 2.295197010040283,
      "learning_rate": 0.0004998926167792971,
      "loss": 0.4006,
      "step": 523
    },
    {
      "epoch": 0.11734350459950639,
      "gripper_loss": 0.69140625,
      "loss": 0.2314453125,
      "pos_loss": 1.2421875,
      "rot_loss": 0.333984375,
      "step": 523
    },
    {
      "epoch": 0.11756787076508862,
      "grad_norm": 1.77432382106781,
      "learning_rate": 0.0004998908346453296,
      "loss": 0.2574,
      "step": 524
    },
    {
      "epoch": 0.11756787076508862,
      "gripper_loss": 1.3203125,
      "loss": 0.341796875,
      "pos_loss": 1.5859375,
      "rot_loss": 1.1328125,
      "step": 524
    },
    {
      "epoch": 0.11779223693067085,
      "grad_norm": 1.7757093906402588,
      "learning_rate": 0.0004998890378478809,
      "loss": 0.2983,
      "step": 525
    },
    {
      "epoch": 0.11779223693067085,
      "gripper_loss": 0.1611328125,
      "loss": 0.3515625,
      "pos_loss": 1.703125,
      "rot_loss": 1.453125,
      "step": 525
    },
    {
      "epoch": 0.11801660309625309,
      "grad_norm": 2.4393179416656494,
      "learning_rate": 0.0004998872263870563,
      "loss": 0.3287,
      "step": 526
    },
    {
      "epoch": 0.11801660309625309,
      "gripper_loss": 0.5234375,
      "loss": 0.5546875,
      "pos_loss": 0.64453125,
      "rot_loss": 1.421875,
      "step": 526
    },
    {
      "epoch": 0.11824096926183532,
      "grad_norm": 2.2613778114318848,
      "learning_rate": 0.000499885400262962,
      "loss": 0.6851,
      "step": 527
    },
    {
      "epoch": 0.11824096926183532,
      "gripper_loss": 0.69140625,
      "loss": 0.34765625,
      "pos_loss": 1.8828125,
      "rot_loss": 0.8828125,
      "step": 527
    },
    {
      "epoch": 0.11846533542741755,
      "grad_norm": 2.2569305896759033,
      "learning_rate": 0.0004998835594757054,
      "loss": 0.3212,
      "step": 528
    },
    {
      "epoch": 0.11846533542741755,
      "gripper_loss": 0.875,
      "loss": 0.26171875,
      "pos_loss": 1.1015625,
      "rot_loss": 0.79296875,
      "step": 528
    },
    {
      "epoch": 0.11868970159299977,
      "grad_norm": 1.549877643585205,
      "learning_rate": 0.0004998817040253944,
      "loss": 0.2626,
      "step": 529
    },
    {
      "epoch": 0.11868970159299977,
      "gripper_loss": 0.087890625,
      "loss": 0.294921875,
      "pos_loss": 0.859375,
      "rot_loss": 1.53125,
      "step": 529
    },
    {
      "epoch": 0.118914067758582,
      "grad_norm": 1.5081838369369507,
      "learning_rate": 0.0004998798339121378,
      "loss": 0.2817,
      "step": 530
    },
    {
      "epoch": 0.118914067758582,
      "gripper_loss": 0.44921875,
      "loss": 0.26953125,
      "pos_loss": 0.361328125,
      "rot_loss": 1.96875,
      "step": 530
    },
    {
      "epoch": 0.11913843392416423,
      "grad_norm": 1.650683879852295,
      "learning_rate": 0.0004998779491360454,
      "loss": 0.3063,
      "step": 531
    },
    {
      "epoch": 0.11913843392416423,
      "gripper_loss": 1.125,
      "loss": 0.234375,
      "pos_loss": 0.93359375,
      "rot_loss": 0.4765625,
      "step": 531
    },
    {
      "epoch": 0.11936280008974647,
      "grad_norm": 1.936471700668335,
      "learning_rate": 0.0004998760496972277,
      "loss": 0.3704,
      "step": 532
    },
    {
      "epoch": 0.11936280008974647,
      "gripper_loss": 1.1484375,
      "loss": 0.671875,
      "pos_loss": 0.703125,
      "rot_loss": 0.515625,
      "step": 532
    },
    {
      "epoch": 0.1195871662553287,
      "grad_norm": 3.1358540058135986,
      "learning_rate": 0.0004998741355957963,
      "loss": 0.7432,
      "step": 533
    },
    {
      "epoch": 0.1195871662553287,
      "gripper_loss": 0.65234375,
      "loss": 0.18359375,
      "pos_loss": 0.322265625,
      "rot_loss": 0.353515625,
      "step": 533
    },
    {
      "epoch": 0.11981153242091093,
      "grad_norm": 2.0797157287597656,
      "learning_rate": 0.0004998722068318635,
      "loss": 0.3571,
      "step": 534
    },
    {
      "epoch": 0.11981153242091093,
      "gripper_loss": 0.2119140625,
      "loss": 0.455078125,
      "pos_loss": 2.046875,
      "rot_loss": 1.515625,
      "step": 534
    },
    {
      "epoch": 0.12003589858649316,
      "grad_norm": 2.04034423828125,
      "learning_rate": 0.0004998702634055424,
      "loss": 0.2876,
      "step": 535
    },
    {
      "epoch": 0.12003589858649316,
      "gripper_loss": 1.2421875,
      "loss": 0.18359375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.3671875,
      "step": 535
    },
    {
      "epoch": 0.1202602647520754,
      "grad_norm": 2.154538631439209,
      "learning_rate": 0.0004998683053169472,
      "loss": 0.2911,
      "step": 536
    },
    {
      "epoch": 0.1202602647520754,
      "gripper_loss": 0.765625,
      "loss": 0.33203125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.51171875,
      "step": 536
    },
    {
      "epoch": 0.12048463091765761,
      "grad_norm": 2.9526572227478027,
      "learning_rate": 0.0004998663325661925,
      "loss": 0.4246,
      "step": 537
    },
    {
      "epoch": 0.12048463091765761,
      "gripper_loss": 1.3046875,
      "loss": 0.1611328125,
      "pos_loss": 0.248046875,
      "rot_loss": 0.380859375,
      "step": 537
    },
    {
      "epoch": 0.12070899708323984,
      "grad_norm": 1.9069068431854248,
      "learning_rate": 0.0004998643451533944,
      "loss": 0.2767,
      "step": 538
    },
    {
      "epoch": 0.12070899708323984,
      "gripper_loss": 1.2890625,
      "loss": 0.1845703125,
      "pos_loss": 0.6328125,
      "rot_loss": 0.28515625,
      "step": 538
    },
    {
      "epoch": 0.12093336324882208,
      "grad_norm": 1.4706430435180664,
      "learning_rate": 0.0004998623430786693,
      "loss": 0.2018,
      "step": 539
    },
    {
      "epoch": 0.12093336324882208,
      "gripper_loss": 0.59375,
      "loss": 0.1806640625,
      "pos_loss": 0.1787109375,
      "rot_loss": 1.078125,
      "step": 539
    },
    {
      "epoch": 0.12115772941440431,
      "grad_norm": 2.1024866104125977,
      "learning_rate": 0.0004998603263421348,
      "loss": 0.2905,
      "step": 540
    },
    {
      "epoch": 0.12115772941440431,
      "gripper_loss": 0.6953125,
      "loss": 0.275390625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.373046875,
      "step": 540
    },
    {
      "epoch": 0.12138209557998654,
      "grad_norm": 2.343827247619629,
      "learning_rate": 0.0004998582949439092,
      "loss": 0.3871,
      "step": 541
    },
    {
      "epoch": 0.12138209557998654,
      "gripper_loss": 1.921875,
      "loss": 0.376953125,
      "pos_loss": 1.0546875,
      "rot_loss": 1.6796875,
      "step": 541
    },
    {
      "epoch": 0.12160646174556877,
      "grad_norm": 1.7591323852539062,
      "learning_rate": 0.0004998562488841116,
      "loss": 0.261,
      "step": 542
    },
    {
      "epoch": 0.12160646174556877,
      "gripper_loss": 0.2578125,
      "loss": 0.2353515625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.66015625,
      "step": 542
    },
    {
      "epoch": 0.121830827911151,
      "grad_norm": 2.288687229156494,
      "learning_rate": 0.0004998541881628622,
      "loss": 0.3093,
      "step": 543
    },
    {
      "epoch": 0.121830827911151,
      "gripper_loss": 0.263671875,
      "loss": 0.259765625,
      "pos_loss": 0.8515625,
      "rot_loss": 0.98046875,
      "step": 543
    },
    {
      "epoch": 0.12205519407673322,
      "grad_norm": 2.2645957469940186,
      "learning_rate": 0.0004998521127802819,
      "loss": 0.304,
      "step": 544
    },
    {
      "epoch": 0.12205519407673322,
      "gripper_loss": 0.447265625,
      "loss": 0.40234375,
      "pos_loss": 1.90625,
      "rot_loss": 0.95703125,
      "step": 544
    },
    {
      "epoch": 0.12227956024231545,
      "grad_norm": 2.268418073654175,
      "learning_rate": 0.0004998500227364925,
      "loss": 0.2933,
      "step": 545
    },
    {
      "epoch": 0.12227956024231545,
      "gripper_loss": 0.73046875,
      "loss": 0.1484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.392578125,
      "step": 545
    },
    {
      "epoch": 0.12250392640789769,
      "grad_norm": 2.260082483291626,
      "learning_rate": 0.0004998479180316165,
      "loss": 0.2712,
      "step": 546
    },
    {
      "epoch": 0.12250392640789769,
      "gripper_loss": 0.765625,
      "loss": 0.1796875,
      "pos_loss": 0.73828125,
      "rot_loss": 0.3125,
      "step": 546
    },
    {
      "epoch": 0.12272829257347992,
      "grad_norm": 1.763208031654358,
      "learning_rate": 0.0004998457986657776,
      "loss": 0.2493,
      "step": 547
    },
    {
      "epoch": 0.12272829257347992,
      "gripper_loss": 1.28125,
      "loss": 0.34375,
      "pos_loss": 0.60546875,
      "rot_loss": 1.1171875,
      "step": 547
    },
    {
      "epoch": 0.12295265873906215,
      "grad_norm": 1.818089246749878,
      "learning_rate": 0.0004998436646391,
      "loss": 0.3182,
      "step": 548
    },
    {
      "epoch": 0.12295265873906215,
      "gripper_loss": 0.2451171875,
      "loss": 0.154296875,
      "pos_loss": 0.71875,
      "rot_loss": 0.431640625,
      "step": 548
    },
    {
      "epoch": 0.12317702490464438,
      "grad_norm": 1.7378299236297607,
      "learning_rate": 0.000499841515951709,
      "loss": 0.2169,
      "step": 549
    },
    {
      "epoch": 0.12317702490464438,
      "gripper_loss": 2.046875,
      "loss": 0.1884765625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.21484375,
      "step": 549
    },
    {
      "epoch": 0.12340139107022662,
      "grad_norm": 1.801138162612915,
      "learning_rate": 0.0004998393526037307,
      "loss": 0.2061,
      "step": 550
    },
    {
      "epoch": 0.12340139107022662,
      "gripper_loss": 0.71875,
      "loss": 0.1796875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.392578125,
      "step": 550
    },
    {
      "epoch": 0.12362575723580883,
      "grad_norm": 1.5402891635894775,
      "learning_rate": 0.0004998371745952919,
      "loss": 0.2231,
      "step": 551
    },
    {
      "epoch": 0.12362575723580883,
      "gripper_loss": 0.71484375,
      "loss": 0.404296875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.349609375,
      "step": 551
    },
    {
      "epoch": 0.12385012340139107,
      "grad_norm": 2.671079158782959,
      "learning_rate": 0.0004998349819265208,
      "loss": 0.4954,
      "step": 552
    },
    {
      "epoch": 0.12385012340139107,
      "gripper_loss": 0.48046875,
      "loss": 0.31640625,
      "pos_loss": 1.3203125,
      "rot_loss": 1.171875,
      "step": 552
    },
    {
      "epoch": 0.1240744895669733,
      "grad_norm": 1.9416992664337158,
      "learning_rate": 0.0004998327745975456,
      "loss": 0.3042,
      "step": 553
    },
    {
      "epoch": 0.1240744895669733,
      "gripper_loss": 1.171875,
      "loss": 0.1728515625,
      "pos_loss": 0.671875,
      "rot_loss": 0.1611328125,
      "step": 553
    },
    {
      "epoch": 0.12429885573255553,
      "grad_norm": 1.926016926765442,
      "learning_rate": 0.000499830552608496,
      "loss": 0.2184,
      "step": 554
    },
    {
      "epoch": 0.12429885573255553,
      "gripper_loss": 0.20703125,
      "loss": 0.19140625,
      "pos_loss": 1.328125,
      "rot_loss": 0.189453125,
      "step": 554
    },
    {
      "epoch": 0.12452322189813776,
      "grad_norm": 1.3087209463119507,
      "learning_rate": 0.0004998283159595024,
      "loss": 0.2482,
      "step": 555
    },
    {
      "epoch": 0.12452322189813776,
      "gripper_loss": 1.765625,
      "loss": 0.1826171875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.283203125,
      "step": 555
    },
    {
      "epoch": 0.12474758806372,
      "grad_norm": 1.4371191263198853,
      "learning_rate": 0.0004998260646506961,
      "loss": 0.1854,
      "step": 556
    },
    {
      "epoch": 0.12474758806372,
      "gripper_loss": 1.96875,
      "loss": 0.6171875,
      "pos_loss": 1.0390625,
      "rot_loss": 0.65625,
      "step": 556
    },
    {
      "epoch": 0.12497195422930223,
      "grad_norm": 3.2121856212615967,
      "learning_rate": 0.0004998237986822092,
      "loss": 0.6367,
      "step": 557
    },
    {
      "epoch": 0.12497195422930223,
      "gripper_loss": 0.474609375,
      "loss": 0.2060546875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.78515625,
      "step": 557
    },
    {
      "epoch": 0.12519632039488446,
      "grad_norm": 1.825381875038147,
      "learning_rate": 0.0004998215180541744,
      "loss": 0.238,
      "step": 558
    },
    {
      "epoch": 0.12519632039488446,
      "gripper_loss": 0.423828125,
      "loss": 0.2060546875,
      "pos_loss": 1.3984375,
      "rot_loss": 0.07470703125,
      "step": 558
    },
    {
      "epoch": 0.12542068656046668,
      "grad_norm": 1.8361328840255737,
      "learning_rate": 0.0004998192227667259,
      "loss": 0.3004,
      "step": 559
    },
    {
      "epoch": 0.12542068656046668,
      "gripper_loss": 2.375,
      "loss": 0.431640625,
      "pos_loss": 2.890625,
      "rot_loss": 0.23828125,
      "step": 559
    },
    {
      "epoch": 0.12564505272604892,
      "grad_norm": 2.0654845237731934,
      "learning_rate": 0.0004998169128199982,
      "loss": 0.2806,
      "step": 560
    },
    {
      "epoch": 0.12564505272604892,
      "gripper_loss": 2.125,
      "loss": 0.55078125,
      "pos_loss": 0.69140625,
      "rot_loss": 0.71484375,
      "step": 560
    },
    {
      "epoch": 0.12586941889163114,
      "grad_norm": 2.6160459518432617,
      "learning_rate": 0.0004998145882141269,
      "loss": 0.543,
      "step": 561
    },
    {
      "epoch": 0.12586941889163114,
      "gripper_loss": 1.1015625,
      "loss": 0.283203125,
      "pos_loss": 1.65625,
      "rot_loss": 0.2333984375,
      "step": 561
    },
    {
      "epoch": 0.12609378505721336,
      "grad_norm": 1.5478618144989014,
      "learning_rate": 0.0004998122489492483,
      "loss": 0.3026,
      "step": 562
    },
    {
      "epoch": 0.12609378505721336,
      "gripper_loss": 0.8125,
      "loss": 0.0947265625,
      "pos_loss": 0.171875,
      "rot_loss": 0.1279296875,
      "step": 562
    },
    {
      "epoch": 0.1263181512227956,
      "grad_norm": 1.3151293992996216,
      "learning_rate": 0.0004998098950254999,
      "loss": 0.174,
      "step": 563
    },
    {
      "epoch": 0.1263181512227956,
      "gripper_loss": 0.431640625,
      "loss": 0.400390625,
      "pos_loss": 1.265625,
      "rot_loss": 1.234375,
      "step": 563
    },
    {
      "epoch": 0.12654251738837782,
      "grad_norm": 1.7716495990753174,
      "learning_rate": 0.0004998075264430196,
      "loss": 0.2809,
      "step": 564
    },
    {
      "epoch": 0.12654251738837782,
      "gripper_loss": 0.90625,
      "loss": 0.26953125,
      "pos_loss": 1.875,
      "rot_loss": 0.09130859375,
      "step": 564
    },
    {
      "epoch": 0.12676688355396007,
      "grad_norm": 1.8622210025787354,
      "learning_rate": 0.0004998051432019465,
      "loss": 0.2319,
      "step": 565
    },
    {
      "epoch": 0.12676688355396007,
      "gripper_loss": 0.2431640625,
      "loss": 0.322265625,
      "pos_loss": 1.0703125,
      "rot_loss": 1.7578125,
      "step": 565
    },
    {
      "epoch": 0.1269912497195423,
      "grad_norm": 1.8234459161758423,
      "learning_rate": 0.0004998027453024203,
      "loss": 0.245,
      "step": 566
    },
    {
      "epoch": 0.1269912497195423,
      "gripper_loss": 0.7421875,
      "loss": 0.34375,
      "pos_loss": 2.71875,
      "rot_loss": 0.2265625,
      "step": 566
    },
    {
      "epoch": 0.12721561588512453,
      "grad_norm": 1.591465950012207,
      "learning_rate": 0.0004998003327445819,
      "loss": 0.2506,
      "step": 567
    },
    {
      "epoch": 0.12721561588512453,
      "gripper_loss": 0.69140625,
      "loss": 0.2138671875,
      "pos_loss": 1.2578125,
      "rot_loss": 0.462890625,
      "step": 567
    },
    {
      "epoch": 0.12743998205070675,
      "grad_norm": 1.2143322229385376,
      "learning_rate": 0.0004997979055285729,
      "loss": 0.1885,
      "step": 568
    },
    {
      "epoch": 0.12743998205070675,
      "gripper_loss": 0.20703125,
      "loss": 0.353515625,
      "pos_loss": 1.171875,
      "rot_loss": 0.3359375,
      "step": 568
    },
    {
      "epoch": 0.12766434821628897,
      "grad_norm": 2.8340749740600586,
      "learning_rate": 0.0004997954636545355,
      "loss": 0.4302,
      "step": 569
    },
    {
      "epoch": 0.12766434821628897,
      "gripper_loss": 1.0546875,
      "loss": 0.11572265625,
      "pos_loss": 0.19921875,
      "rot_loss": 0.10791015625,
      "step": 569
    },
    {
      "epoch": 0.12788871438187122,
      "grad_norm": 1.5271751880645752,
      "learning_rate": 0.000499793007122613,
      "loss": 0.213,
      "step": 570
    },
    {
      "epoch": 0.12788871438187122,
      "gripper_loss": 0.671875,
      "loss": 0.2734375,
      "pos_loss": 1.9765625,
      "rot_loss": 0.244140625,
      "step": 570
    },
    {
      "epoch": 0.12811308054745343,
      "grad_norm": 1.5669474601745605,
      "learning_rate": 0.0004997905359329498,
      "loss": 0.1863,
      "step": 571
    },
    {
      "epoch": 0.12811308054745343,
      "gripper_loss": 0.984375,
      "loss": 0.1865234375,
      "pos_loss": 0.953125,
      "rot_loss": 0.28125,
      "step": 571
    },
    {
      "epoch": 0.12833744671303568,
      "grad_norm": 1.7763687372207642,
      "learning_rate": 0.0004997880500856906,
      "loss": 0.2582,
      "step": 572
    },
    {
      "epoch": 0.12833744671303568,
      "gripper_loss": 2.1875,
      "loss": 0.27734375,
      "pos_loss": 0.55078125,
      "rot_loss": 0.376953125,
      "step": 572
    },
    {
      "epoch": 0.1285618128786179,
      "grad_norm": 2.094478130340576,
      "learning_rate": 0.0004997855495809816,
      "loss": 0.3022,
      "step": 573
    },
    {
      "epoch": 0.1285618128786179,
      "gripper_loss": 1.203125,
      "loss": 0.6171875,
      "pos_loss": 1.046875,
      "rot_loss": 1.328125,
      "step": 573
    },
    {
      "epoch": 0.12878617904420014,
      "grad_norm": 2.752723455429077,
      "learning_rate": 0.0004997830344189693,
      "loss": 0.457,
      "step": 574
    },
    {
      "epoch": 0.12878617904420014,
      "gripper_loss": 0.40234375,
      "loss": 0.2470703125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.5625,
      "step": 574
    },
    {
      "epoch": 0.12901054520978236,
      "grad_norm": 1.8727599382400513,
      "learning_rate": 0.0004997805045998013,
      "loss": 0.2534,
      "step": 575
    },
    {
      "epoch": 0.12901054520978236,
      "gripper_loss": 0.294921875,
      "loss": 0.11572265625,
      "pos_loss": 0.3203125,
      "rot_loss": 0.162109375,
      "step": 575
    },
    {
      "epoch": 0.1292349113753646,
      "grad_norm": 1.9472389221191406,
      "learning_rate": 0.0004997779601236262,
      "loss": 0.2363,
      "step": 576
    },
    {
      "epoch": 0.1292349113753646,
      "gripper_loss": 3.4375,
      "loss": 0.35546875,
      "pos_loss": 1.3515625,
      "rot_loss": 0.6328125,
      "step": 576
    },
    {
      "epoch": 0.12945927754094683,
      "grad_norm": 2.025280714035034,
      "learning_rate": 0.0004997754009905931,
      "loss": 0.3082,
      "step": 577
    },
    {
      "epoch": 0.12945927754094683,
      "gripper_loss": 1.046875,
      "loss": 0.251953125,
      "pos_loss": 0.65234375,
      "rot_loss": 0.30859375,
      "step": 577
    },
    {
      "epoch": 0.12968364370652904,
      "grad_norm": 2.48254656791687,
      "learning_rate": 0.0004997728272008523,
      "loss": 0.2926,
      "step": 578
    },
    {
      "epoch": 0.12968364370652904,
      "gripper_loss": 0.333984375,
      "loss": 0.55859375,
      "pos_loss": 2.859375,
      "rot_loss": 1.21875,
      "step": 578
    },
    {
      "epoch": 0.1299080098721113,
      "grad_norm": 1.8269593715667725,
      "learning_rate": 0.0004997702387545548,
      "loss": 0.3578,
      "step": 579
    },
    {
      "epoch": 0.1299080098721113,
      "gripper_loss": 0.57421875,
      "loss": 0.2890625,
      "pos_loss": 1.2890625,
      "rot_loss": 0.8828125,
      "step": 579
    },
    {
      "epoch": 0.1301323760376935,
      "grad_norm": 1.8708549737930298,
      "learning_rate": 0.0004997676356518525,
      "loss": 0.2791,
      "step": 580
    },
    {
      "epoch": 0.1301323760376935,
      "gripper_loss": 0.74609375,
      "loss": 0.259765625,
      "pos_loss": 1.8125,
      "rot_loss": 0.083984375,
      "step": 580
    },
    {
      "epoch": 0.13035674220327576,
      "grad_norm": 1.8758294582366943,
      "learning_rate": 0.0004997650178928981,
      "loss": 0.2195,
      "step": 581
    },
    {
      "epoch": 0.13035674220327576,
      "gripper_loss": 0.171875,
      "loss": 0.5234375,
      "pos_loss": 1.6640625,
      "rot_loss": 3.265625,
      "step": 581
    },
    {
      "epoch": 0.13058110836885797,
      "grad_norm": 1.6872373819351196,
      "learning_rate": 0.0004997623854778453,
      "loss": 0.2086,
      "step": 582
    },
    {
      "epoch": 0.13058110836885797,
      "gripper_loss": 0.2333984375,
      "loss": 0.236328125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.9609375,
      "step": 582
    },
    {
      "epoch": 0.13080547453444022,
      "grad_norm": 1.668222427368164,
      "learning_rate": 0.0004997597384068485,
      "loss": 0.1949,
      "step": 583
    },
    {
      "epoch": 0.13080547453444022,
      "gripper_loss": 1.171875,
      "loss": 0.150390625,
      "pos_loss": 0.46875,
      "rot_loss": 0.244140625,
      "step": 583
    },
    {
      "epoch": 0.13102984070002244,
      "grad_norm": 1.3636208772659302,
      "learning_rate": 0.000499757076680063,
      "loss": 0.295,
      "step": 584
    },
    {
      "epoch": 0.13102984070002244,
      "gripper_loss": 0.8984375,
      "loss": 0.3125,
      "pos_loss": 1.703125,
      "rot_loss": 0.6953125,
      "step": 584
    },
    {
      "epoch": 0.13125420686560466,
      "grad_norm": 1.9638752937316895,
      "learning_rate": 0.0004997544002976451,
      "loss": 0.2267,
      "step": 585
    },
    {
      "epoch": 0.13125420686560466,
      "gripper_loss": 0.69140625,
      "loss": 0.345703125,
      "pos_loss": 1.3515625,
      "rot_loss": 1.5390625,
      "step": 585
    },
    {
      "epoch": 0.1314785730311869,
      "grad_norm": 1.9958585500717163,
      "learning_rate": 0.0004997517092597517,
      "loss": 0.2509,
      "step": 586
    },
    {
      "epoch": 0.1314785730311869,
      "gripper_loss": 1.0546875,
      "loss": 0.162109375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.17578125,
      "step": 586
    },
    {
      "epoch": 0.13170293919676912,
      "grad_norm": 1.5368648767471313,
      "learning_rate": 0.0004997490035665408,
      "loss": 0.2305,
      "step": 587
    },
    {
      "epoch": 0.13170293919676912,
      "gripper_loss": 0.86328125,
      "loss": 0.3828125,
      "pos_loss": 1.078125,
      "rot_loss": 0.8203125,
      "step": 587
    },
    {
      "epoch": 0.13192730536235137,
      "grad_norm": 2.455313205718994,
      "learning_rate": 0.0004997462832181713,
      "loss": 0.4434,
      "step": 588
    },
    {
      "epoch": 0.13192730536235137,
      "gripper_loss": 1.265625,
      "loss": 0.1396484375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.1396484375,
      "step": 588
    },
    {
      "epoch": 0.13215167152793358,
      "grad_norm": 1.7669541835784912,
      "learning_rate": 0.0004997435482148026,
      "loss": 0.2404,
      "step": 589
    },
    {
      "epoch": 0.13215167152793358,
      "gripper_loss": 1.1796875,
      "loss": 0.2734375,
      "pos_loss": 1.1484375,
      "rot_loss": 0.39453125,
      "step": 589
    },
    {
      "epoch": 0.13237603769351583,
      "grad_norm": 1.5261335372924805,
      "learning_rate": 0.0004997407985565952,
      "loss": 0.2729,
      "step": 590
    },
    {
      "epoch": 0.13237603769351583,
      "gripper_loss": 0.734375,
      "loss": 0.58203125,
      "pos_loss": 1.28125,
      "rot_loss": 0.67578125,
      "step": 590
    },
    {
      "epoch": 0.13260040385909805,
      "grad_norm": 2.160911798477173,
      "learning_rate": 0.0004997380342437106,
      "loss": 0.5854,
      "step": 591
    },
    {
      "epoch": 0.13260040385909805,
      "gripper_loss": 0.1953125,
      "loss": 0.181640625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.5078125,
      "step": 591
    },
    {
      "epoch": 0.13282477002468027,
      "grad_norm": 2.449777364730835,
      "learning_rate": 0.000499735255276311,
      "loss": 0.3235,
      "step": 592
    },
    {
      "epoch": 0.13282477002468027,
      "gripper_loss": 0.5859375,
      "loss": 0.18359375,
      "pos_loss": 0.400390625,
      "rot_loss": 0.68359375,
      "step": 592
    },
    {
      "epoch": 0.1330491361902625,
      "grad_norm": 1.8105486631393433,
      "learning_rate": 0.0004997324616545593,
      "loss": 0.282,
      "step": 593
    },
    {
      "epoch": 0.1330491361902625,
      "gripper_loss": 0.84375,
      "loss": 0.400390625,
      "pos_loss": 1.3984375,
      "rot_loss": 0.97265625,
      "step": 593
    },
    {
      "epoch": 0.13327350235584473,
      "grad_norm": 2.3199801445007324,
      "learning_rate": 0.0004997296533786196,
      "loss": 0.3794,
      "step": 594
    },
    {
      "epoch": 0.13327350235584473,
      "gripper_loss": 0.921875,
      "loss": 0.1435546875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.19140625,
      "step": 594
    },
    {
      "epoch": 0.13349786852142698,
      "grad_norm": 1.366872787475586,
      "learning_rate": 0.0004997268304486566,
      "loss": 0.2491,
      "step": 595
    },
    {
      "epoch": 0.13349786852142698,
      "gripper_loss": 0.3671875,
      "loss": 0.47265625,
      "pos_loss": 1.609375,
      "rot_loss": 2.90625,
      "step": 595
    },
    {
      "epoch": 0.1337222346870092,
      "grad_norm": 1.9503203630447388,
      "learning_rate": 0.0004997239928648359,
      "loss": 0.2708,
      "step": 596
    },
    {
      "epoch": 0.1337222346870092,
      "gripper_loss": 1.34375,
      "loss": 0.19140625,
      "pos_loss": 0.482421875,
      "rot_loss": 0.1865234375,
      "step": 596
    },
    {
      "epoch": 0.13394660085259144,
      "grad_norm": 2.1703898906707764,
      "learning_rate": 0.0004997211406273242,
      "loss": 0.2062,
      "step": 597
    },
    {
      "epoch": 0.13394660085259144,
      "gripper_loss": 0.66796875,
      "loss": 0.7421875,
      "pos_loss": 2.15625,
      "rot_loss": 1.703125,
      "step": 597
    },
    {
      "epoch": 0.13417096701817366,
      "grad_norm": 2.6146512031555176,
      "learning_rate": 0.0004997182737362886,
      "loss": 0.4636,
      "step": 598
    },
    {
      "epoch": 0.13417096701817366,
      "gripper_loss": 2.671875,
      "loss": 0.2333984375,
      "pos_loss": 0.51171875,
      "rot_loss": 0.53125,
      "step": 598
    },
    {
      "epoch": 0.13439533318375588,
      "grad_norm": 2.336116075515747,
      "learning_rate": 0.0004997153921918976,
      "loss": 0.2451,
      "step": 599
    },
    {
      "epoch": 0.13439533318375588,
      "gripper_loss": 0.49609375,
      "loss": 0.48046875,
      "pos_loss": 1.515625,
      "rot_loss": 0.82421875,
      "step": 599
    },
    {
      "epoch": 0.13461969934933812,
      "grad_norm": 2.4756362438201904,
      "learning_rate": 0.0004997124959943201,
      "loss": 0.3943,
      "step": 600
    },
    {
      "epoch": 0.13461969934933812,
      "gripper_loss": 1.453125,
      "loss": 0.23828125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.7734375,
      "step": 600
    },
    {
      "epoch": 0.13484406551492034,
      "grad_norm": 2.414447069168091,
      "learning_rate": 0.0004997095851437261,
      "loss": 0.3538,
      "step": 601
    },
    {
      "epoch": 0.13484406551492034,
      "gripper_loss": 0.7421875,
      "loss": 0.3359375,
      "pos_loss": 0.640625,
      "rot_loss": 2.109375,
      "step": 601
    },
    {
      "epoch": 0.1350684316805026,
      "grad_norm": 2.008450508117676,
      "learning_rate": 0.0004997066596402864,
      "loss": 0.2723,
      "step": 602
    },
    {
      "epoch": 0.1350684316805026,
      "gripper_loss": 1.015625,
      "loss": 0.458984375,
      "pos_loss": 1.46875,
      "rot_loss": 2.53125,
      "step": 602
    },
    {
      "epoch": 0.1352927978460848,
      "grad_norm": 1.4846426248550415,
      "learning_rate": 0.0004997037194841728,
      "loss": 0.2007,
      "step": 603
    },
    {
      "epoch": 0.1352927978460848,
      "gripper_loss": 0.51171875,
      "loss": 0.388671875,
      "pos_loss": 1.3984375,
      "rot_loss": 0.8125,
      "step": 603
    },
    {
      "epoch": 0.13551716401166705,
      "grad_norm": 2.0558526515960693,
      "learning_rate": 0.0004997007646755576,
      "loss": 0.3635,
      "step": 604
    },
    {
      "epoch": 0.13551716401166705,
      "gripper_loss": 1.1328125,
      "loss": 0.60546875,
      "pos_loss": 2.4375,
      "rot_loss": 2.21875,
      "step": 604
    },
    {
      "epoch": 0.13574153017724927,
      "grad_norm": 2.0410890579223633,
      "learning_rate": 0.0004996977952146143,
      "loss": 0.2886,
      "step": 605
    },
    {
      "epoch": 0.13574153017724927,
      "gripper_loss": 0.79296875,
      "loss": 0.220703125,
      "pos_loss": 0.427734375,
      "rot_loss": 0.7890625,
      "step": 605
    },
    {
      "epoch": 0.1359658963428315,
      "grad_norm": 2.2074105739593506,
      "learning_rate": 0.0004996948111015172,
      "loss": 0.322,
      "step": 606
    },
    {
      "epoch": 0.1359658963428315,
      "gripper_loss": 1.421875,
      "loss": 0.2734375,
      "pos_loss": 0.439453125,
      "rot_loss": 1.296875,
      "step": 606
    },
    {
      "epoch": 0.13619026250841373,
      "grad_norm": 2.4481425285339355,
      "learning_rate": 0.0004996918123364413,
      "loss": 0.2841,
      "step": 607
    },
    {
      "epoch": 0.13619026250841373,
      "gripper_loss": 0.17578125,
      "loss": 0.1826171875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.43359375,
      "step": 607
    },
    {
      "epoch": 0.13641462867399595,
      "grad_norm": 2.098860502243042,
      "learning_rate": 0.0004996887989195626,
      "loss": 0.3079,
      "step": 608
    },
    {
      "epoch": 0.13641462867399595,
      "gripper_loss": 0.08447265625,
      "loss": 0.208984375,
      "pos_loss": 1.2578125,
      "rot_loss": 0.25,
      "step": 608
    },
    {
      "epoch": 0.1366389948395782,
      "grad_norm": 1.8055131435394287,
      "learning_rate": 0.0004996857708510579,
      "loss": 0.2249,
      "step": 609
    },
    {
      "epoch": 0.1366389948395782,
      "gripper_loss": 0.126953125,
      "loss": 0.2490234375,
      "pos_loss": 1.125,
      "rot_loss": 0.83203125,
      "step": 609
    },
    {
      "epoch": 0.13686336100516042,
      "grad_norm": 1.5942462682724,
      "learning_rate": 0.0004996827281311051,
      "loss": 0.2983,
      "step": 610
    },
    {
      "epoch": 0.13686336100516042,
      "gripper_loss": 0.2255859375,
      "loss": 0.291015625,
      "pos_loss": 1.703125,
      "rot_loss": 0.83203125,
      "step": 610
    },
    {
      "epoch": 0.13708772717074266,
      "grad_norm": 1.2972010374069214,
      "learning_rate": 0.0004996796707598825,
      "loss": 0.2278,
      "step": 611
    },
    {
      "epoch": 0.13708772717074266,
      "gripper_loss": 0.388671875,
      "loss": 0.35546875,
      "pos_loss": 1.0703125,
      "rot_loss": 1.25,
      "step": 611
    },
    {
      "epoch": 0.13731209333632488,
      "grad_norm": 1.8151910305023193,
      "learning_rate": 0.0004996765987375695,
      "loss": 0.3508,
      "step": 612
    },
    {
      "epoch": 0.13731209333632488,
      "gripper_loss": 1.265625,
      "loss": 0.1416015625,
      "pos_loss": 0.41015625,
      "rot_loss": 0.11328125,
      "step": 612
    },
    {
      "epoch": 0.1375364595019071,
      "grad_norm": 2.232440710067749,
      "learning_rate": 0.0004996735120643465,
      "loss": 0.2693,
      "step": 613
    },
    {
      "epoch": 0.1375364595019071,
      "gripper_loss": 0.166015625,
      "loss": 0.31640625,
      "pos_loss": 1.765625,
      "rot_loss": 0.62109375,
      "step": 613
    },
    {
      "epoch": 0.13776082566748934,
      "grad_norm": 1.8235619068145752,
      "learning_rate": 0.0004996704107403945,
      "loss": 0.2294,
      "step": 614
    },
    {
      "epoch": 0.13776082566748934,
      "gripper_loss": 0.43359375,
      "loss": 0.3828125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.6171875,
      "step": 614
    },
    {
      "epoch": 0.13798519183307156,
      "grad_norm": 2.3819921016693115,
      "learning_rate": 0.0004996672947658957,
      "loss": 0.4297,
      "step": 615
    },
    {
      "epoch": 0.13798519183307156,
      "gripper_loss": 1.25,
      "loss": 0.359375,
      "pos_loss": 1.0390625,
      "rot_loss": 0.578125,
      "step": 615
    },
    {
      "epoch": 0.1382095579986538,
      "grad_norm": 1.6704127788543701,
      "learning_rate": 0.0004996641641410326,
      "loss": 0.3892,
      "step": 616
    },
    {
      "epoch": 0.1382095579986538,
      "gripper_loss": 1.078125,
      "loss": 0.267578125,
      "pos_loss": 0.9765625,
      "rot_loss": 0.46875,
      "step": 616
    },
    {
      "epoch": 0.13843392416423603,
      "grad_norm": 1.8641769886016846,
      "learning_rate": 0.0004996610188659893,
      "loss": 0.2164,
      "step": 617
    },
    {
      "epoch": 0.13843392416423603,
      "gripper_loss": 1.0546875,
      "loss": 0.119140625,
      "pos_loss": 0.265625,
      "rot_loss": 0.2021484375,
      "step": 617
    },
    {
      "epoch": 0.13865829032981827,
      "grad_norm": 1.5740097761154175,
      "learning_rate": 0.0004996578589409501,
      "loss": 0.2048,
      "step": 618
    },
    {
      "epoch": 0.13865829032981827,
      "gripper_loss": 0.376953125,
      "loss": 0.2099609375,
      "pos_loss": 1.1328125,
      "rot_loss": 0.5,
      "step": 618
    },
    {
      "epoch": 0.1388826564954005,
      "grad_norm": 1.5017744302749634,
      "learning_rate": 0.0004996546843661004,
      "loss": 0.2074,
      "step": 619
    },
    {
      "epoch": 0.1388826564954005,
      "gripper_loss": 0.84765625,
      "loss": 0.2109375,
      "pos_loss": 0.3828125,
      "rot_loss": 1.0859375,
      "step": 619
    },
    {
      "epoch": 0.13910702266098274,
      "grad_norm": 1.4040594100952148,
      "learning_rate": 0.0004996514951416266,
      "loss": 0.1866,
      "step": 620
    },
    {
      "epoch": 0.13910702266098274,
      "gripper_loss": 0.98828125,
      "loss": 0.130859375,
      "pos_loss": 0.490234375,
      "rot_loss": 0.1796875,
      "step": 620
    },
    {
      "epoch": 0.13933138882656496,
      "grad_norm": 1.436150074005127,
      "learning_rate": 0.0004996482912677158,
      "loss": 0.2284,
      "step": 621
    },
    {
      "epoch": 0.13933138882656496,
      "gripper_loss": 0.9765625,
      "loss": 0.3203125,
      "pos_loss": 0.79296875,
      "rot_loss": 0.59765625,
      "step": 621
    },
    {
      "epoch": 0.13955575499214717,
      "grad_norm": 2.8696529865264893,
      "learning_rate": 0.0004996450727445561,
      "loss": 0.2917,
      "step": 622
    },
    {
      "epoch": 0.13955575499214717,
      "gripper_loss": 0.8984375,
      "loss": 0.3359375,
      "pos_loss": 2.3125,
      "rot_loss": 0.349609375,
      "step": 622
    },
    {
      "epoch": 0.13978012115772942,
      "grad_norm": 1.2848105430603027,
      "learning_rate": 0.0004996418395723362,
      "loss": 0.2382,
      "step": 623
    },
    {
      "epoch": 0.13978012115772942,
      "gripper_loss": 0.953125,
      "loss": 0.126953125,
      "pos_loss": 0.275390625,
      "rot_loss": 0.2314453125,
      "step": 623
    },
    {
      "epoch": 0.14000448732331164,
      "grad_norm": 2.1388261318206787,
      "learning_rate": 0.0004996385917512459,
      "loss": 0.2166,
      "step": 624
    },
    {
      "epoch": 0.14000448732331164,
      "gripper_loss": 0.125,
      "loss": 0.2060546875,
      "pos_loss": 0.79296875,
      "rot_loss": 0.48046875,
      "step": 624
    },
    {
      "epoch": 0.14022885348889388,
      "grad_norm": 1.8840500116348267,
      "learning_rate": 0.0004996353292814758,
      "loss": 0.2458,
      "step": 625
    },
    {
      "epoch": 0.14022885348889388,
      "gripper_loss": 1.1640625,
      "loss": 0.24609375,
      "pos_loss": 1.09375,
      "rot_loss": 0.35546875,
      "step": 625
    },
    {
      "epoch": 0.1404532196544761,
      "grad_norm": 1.7313852310180664,
      "learning_rate": 0.0004996320521632173,
      "loss": 0.3035,
      "step": 626
    },
    {
      "epoch": 0.1404532196544761,
      "gripper_loss": 0.86328125,
      "loss": 0.119140625,
      "pos_loss": 0.431640625,
      "rot_loss": 0.1357421875,
      "step": 626
    },
    {
      "epoch": 0.14067758582005835,
      "grad_norm": 1.6052768230438232,
      "learning_rate": 0.0004996287603966627,
      "loss": 0.2007,
      "step": 627
    },
    {
      "epoch": 0.14067758582005835,
      "gripper_loss": 1.421875,
      "loss": 0.197265625,
      "pos_loss": 0.60546875,
      "rot_loss": 0.5859375,
      "step": 627
    },
    {
      "epoch": 0.14090195198564057,
      "grad_norm": 1.5443675518035889,
      "learning_rate": 0.0004996254539820052,
      "loss": 0.2399,
      "step": 628
    },
    {
      "epoch": 0.14090195198564057,
      "gripper_loss": 0.71875,
      "loss": 0.1396484375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.26171875,
      "step": 628
    },
    {
      "epoch": 0.14112631815122278,
      "grad_norm": 1.4486446380615234,
      "learning_rate": 0.0004996221329194388,
      "loss": 0.2347,
      "step": 629
    },
    {
      "epoch": 0.14112631815122278,
      "gripper_loss": 0.68359375,
      "loss": 0.2734375,
      "pos_loss": 0.625,
      "rot_loss": 0.51953125,
      "step": 629
    },
    {
      "epoch": 0.14135068431680503,
      "grad_norm": 2.568005323410034,
      "learning_rate": 0.0004996187972091583,
      "loss": 0.3826,
      "step": 630
    },
    {
      "epoch": 0.14135068431680503,
      "gripper_loss": 0.7890625,
      "loss": 0.240234375,
      "pos_loss": 1.6796875,
      "rot_loss": 0.2265625,
      "step": 630
    },
    {
      "epoch": 0.14157505048238725,
      "grad_norm": 1.8701262474060059,
      "learning_rate": 0.0004996154468513596,
      "loss": 0.239,
      "step": 631
    },
    {
      "epoch": 0.14157505048238725,
      "gripper_loss": 1.1640625,
      "loss": 0.60546875,
      "pos_loss": 1.4296875,
      "rot_loss": 1.0625,
      "step": 631
    },
    {
      "epoch": 0.1417994166479695,
      "grad_norm": 2.909482955932617,
      "learning_rate": 0.0004996120818462393,
      "loss": 0.5471,
      "step": 632
    },
    {
      "epoch": 0.1417994166479695,
      "gripper_loss": 0.859375,
      "loss": 0.1591796875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.169921875,
      "step": 632
    },
    {
      "epoch": 0.1420237828135517,
      "grad_norm": 1.9174998998641968,
      "learning_rate": 0.0004996087021939946,
      "loss": 0.255,
      "step": 633
    },
    {
      "epoch": 0.1420237828135517,
      "gripper_loss": 1.90625,
      "loss": 0.1337890625,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.150390625,
      "step": 633
    },
    {
      "epoch": 0.14224814897913396,
      "grad_norm": 1.7247201204299927,
      "learning_rate": 0.0004996053078948241,
      "loss": 0.1525,
      "step": 634
    },
    {
      "epoch": 0.14224814897913396,
      "gripper_loss": 0.60546875,
      "loss": 0.451171875,
      "pos_loss": 1.390625,
      "rot_loss": 1.1484375,
      "step": 634
    },
    {
      "epoch": 0.14247251514471618,
      "grad_norm": 2.6471877098083496,
      "learning_rate": 0.0004996018989489267,
      "loss": 0.3386,
      "step": 635
    },
    {
      "epoch": 0.14247251514471618,
      "gripper_loss": 0.6640625,
      "loss": 0.43359375,
      "pos_loss": 1.8671875,
      "rot_loss": 2.109375,
      "step": 635
    },
    {
      "epoch": 0.1426968813102984,
      "grad_norm": 1.3803824186325073,
      "learning_rate": 0.0004995984753565027,
      "loss": 0.2484,
      "step": 636
    },
    {
      "epoch": 0.1426968813102984,
      "gripper_loss": 0.2021484375,
      "loss": 0.26953125,
      "pos_loss": 1.4609375,
      "rot_loss": 0.98046875,
      "step": 636
    },
    {
      "epoch": 0.14292124747588064,
      "grad_norm": 1.6756483316421509,
      "learning_rate": 0.0004995950371177528,
      "loss": 0.2432,
      "step": 637
    },
    {
      "epoch": 0.14292124747588064,
      "gripper_loss": 0.71484375,
      "loss": 0.09619140625,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.12109375,
      "step": 637
    },
    {
      "epoch": 0.14314561364146286,
      "grad_norm": 1.6504125595092773,
      "learning_rate": 0.000499591584232879,
      "loss": 0.2733,
      "step": 638
    },
    {
      "epoch": 0.14314561364146286,
      "gripper_loss": 0.490234375,
      "loss": 0.43359375,
      "pos_loss": 2.1875,
      "rot_loss": 1.875,
      "step": 638
    },
    {
      "epoch": 0.1433699798070451,
      "grad_norm": 1.4723061323165894,
      "learning_rate": 0.0004995881167020836,
      "loss": 0.2764,
      "step": 639
    },
    {
      "epoch": 0.1433699798070451,
      "gripper_loss": 0.1669921875,
      "loss": 0.291015625,
      "pos_loss": 1.9765625,
      "rot_loss": 0.31640625,
      "step": 639
    },
    {
      "epoch": 0.14359434597262732,
      "grad_norm": 1.784872055053711,
      "learning_rate": 0.0004995846345255703,
      "loss": 0.2244,
      "step": 640
    },
    {
      "epoch": 0.14359434597262732,
      "gripper_loss": 0.341796875,
      "loss": 0.251953125,
      "pos_loss": 1.296875,
      "rot_loss": 0.412109375,
      "step": 640
    },
    {
      "epoch": 0.14381871213820957,
      "grad_norm": 1.8048579692840576,
      "learning_rate": 0.0004995811377035433,
      "loss": 0.2826,
      "step": 641
    },
    {
      "epoch": 0.14381871213820957,
      "gripper_loss": 0.333984375,
      "loss": 0.1337890625,
      "pos_loss": 0.421875,
      "rot_loss": 0.302734375,
      "step": 641
    },
    {
      "epoch": 0.1440430783037918,
      "grad_norm": 1.63997220993042,
      "learning_rate": 0.0004995776262362079,
      "loss": 0.3127,
      "step": 642
    },
    {
      "epoch": 0.1440430783037918,
      "gripper_loss": 0.8828125,
      "loss": 0.283203125,
      "pos_loss": 1.40625,
      "rot_loss": 0.41015625,
      "step": 642
    },
    {
      "epoch": 0.144267444469374,
      "grad_norm": 1.874778151512146,
      "learning_rate": 0.0004995741001237701,
      "loss": 0.3361,
      "step": 643
    },
    {
      "epoch": 0.144267444469374,
      "gripper_loss": 0.2578125,
      "loss": 0.294921875,
      "pos_loss": 0.66015625,
      "rot_loss": 1.734375,
      "step": 643
    },
    {
      "epoch": 0.14449181063495625,
      "grad_norm": 1.9985376596450806,
      "learning_rate": 0.0004995705593664368,
      "loss": 0.2731,
      "step": 644
    },
    {
      "epoch": 0.14449181063495625,
      "gripper_loss": 1.1015625,
      "loss": 0.326171875,
      "pos_loss": 1.0390625,
      "rot_loss": 0.6015625,
      "step": 644
    },
    {
      "epoch": 0.14471617680053847,
      "grad_norm": 1.976929783821106,
      "learning_rate": 0.000499567003964416,
      "loss": 0.2668,
      "step": 645
    },
    {
      "epoch": 0.14471617680053847,
      "gripper_loss": 1.6015625,
      "loss": 0.177734375,
      "pos_loss": 0.375,
      "rot_loss": 0.4921875,
      "step": 645
    },
    {
      "epoch": 0.14494054296612072,
      "grad_norm": 1.6514533758163452,
      "learning_rate": 0.0004995634339179158,
      "loss": 0.2618,
      "step": 646
    },
    {
      "epoch": 0.14494054296612072,
      "gripper_loss": 0.333984375,
      "loss": 0.451171875,
      "pos_loss": 1.8203125,
      "rot_loss": 1.1953125,
      "step": 646
    },
    {
      "epoch": 0.14516490913170293,
      "grad_norm": 2.7253286838531494,
      "learning_rate": 0.0004995598492271462,
      "loss": 0.3296,
      "step": 647
    },
    {
      "epoch": 0.14516490913170293,
      "gripper_loss": 0.455078125,
      "loss": 0.412109375,
      "pos_loss": 2.0625,
      "rot_loss": 1.7265625,
      "step": 647
    },
    {
      "epoch": 0.14538927529728518,
      "grad_norm": 1.5227223634719849,
      "learning_rate": 0.0004995562498923172,
      "loss": 0.2114,
      "step": 648
    },
    {
      "epoch": 0.14538927529728518,
      "gripper_loss": 0.1142578125,
      "loss": 0.1630859375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.54296875,
      "step": 648
    },
    {
      "epoch": 0.1456136414628674,
      "grad_norm": 1.9421336650848389,
      "learning_rate": 0.0004995526359136402,
      "loss": 0.2823,
      "step": 649
    },
    {
      "epoch": 0.1456136414628674,
      "gripper_loss": 1.484375,
      "loss": 0.3046875,
      "pos_loss": 0.39453125,
      "rot_loss": 1.9296875,
      "step": 649
    },
    {
      "epoch": 0.14583800762844962,
      "grad_norm": 1.9427266120910645,
      "learning_rate": 0.0004995490072913273,
      "loss": 0.2729,
      "step": 650
    },
    {
      "epoch": 0.14583800762844962,
      "gripper_loss": 0.9453125,
      "loss": 0.291015625,
      "pos_loss": 1.625,
      "rot_loss": 0.482421875,
      "step": 650
    },
    {
      "epoch": 0.14606237379403186,
      "grad_norm": 1.7349658012390137,
      "learning_rate": 0.0004995453640255914,
      "loss": 0.2618,
      "step": 651
    },
    {
      "epoch": 0.14606237379403186,
      "gripper_loss": 0.10400390625,
      "loss": 0.2734375,
      "pos_loss": 1.1484375,
      "rot_loss": 1.1328125,
      "step": 651
    },
    {
      "epoch": 0.14628673995961408,
      "grad_norm": 1.6626745462417603,
      "learning_rate": 0.0004995417061166461,
      "loss": 0.2637,
      "step": 652
    },
    {
      "epoch": 0.14628673995961408,
      "gripper_loss": 0.40625,
      "loss": 0.26171875,
      "pos_loss": 0.9296875,
      "rot_loss": 1.2734375,
      "step": 652
    },
    {
      "epoch": 0.14651110612519633,
      "grad_norm": 1.4482311010360718,
      "learning_rate": 0.0004995380335647061,
      "loss": 0.2371,
      "step": 653
    },
    {
      "epoch": 0.14651110612519633,
      "gripper_loss": 0.283203125,
      "loss": 0.2060546875,
      "pos_loss": 1.5,
      "rot_loss": 0.19140625,
      "step": 653
    },
    {
      "epoch": 0.14673547229077855,
      "grad_norm": 1.8897603750228882,
      "learning_rate": 0.0004995343463699872,
      "loss": 0.2294,
      "step": 654
    },
    {
      "epoch": 0.14673547229077855,
      "gripper_loss": 0.5546875,
      "loss": 0.384765625,
      "pos_loss": 0.91015625,
      "rot_loss": 2.671875,
      "step": 654
    },
    {
      "epoch": 0.1469598384563608,
      "grad_norm": 1.7160815000534058,
      "learning_rate": 0.0004995306445327055,
      "loss": 0.2533,
      "step": 655
    },
    {
      "epoch": 0.1469598384563608,
      "gripper_loss": 0.419921875,
      "loss": 0.734375,
      "pos_loss": 1.84375,
      "rot_loss": 0.6328125,
      "step": 655
    },
    {
      "epoch": 0.147184204621943,
      "grad_norm": 3.5046908855438232,
      "learning_rate": 0.0004995269280530782,
      "loss": 0.6846,
      "step": 656
    },
    {
      "epoch": 0.147184204621943,
      "gripper_loss": 0.53515625,
      "loss": 0.267578125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.5078125,
      "step": 656
    },
    {
      "epoch": 0.14740857078752523,
      "grad_norm": 2.1349096298217773,
      "learning_rate": 0.0004995231969313234,
      "loss": 0.3092,
      "step": 657
    },
    {
      "epoch": 0.14740857078752523,
      "gripper_loss": 0.390625,
      "loss": 0.203125,
      "pos_loss": 1.1953125,
      "rot_loss": 0.30859375,
      "step": 657
    },
    {
      "epoch": 0.14763293695310747,
      "grad_norm": 1.404710054397583,
      "learning_rate": 0.0004995194511676602,
      "loss": 0.259,
      "step": 658
    },
    {
      "epoch": 0.14763293695310747,
      "gripper_loss": 0.2353515625,
      "loss": 0.1533203125,
      "pos_loss": 0.9921875,
      "rot_loss": 0.251953125,
      "step": 658
    },
    {
      "epoch": 0.1478573031186897,
      "grad_norm": 1.7585601806640625,
      "learning_rate": 0.0004995156907623083,
      "loss": 0.2137,
      "step": 659
    },
    {
      "epoch": 0.1478573031186897,
      "gripper_loss": 1.34375,
      "loss": 0.296875,
      "pos_loss": 1.6875,
      "rot_loss": 0.578125,
      "step": 659
    },
    {
      "epoch": 0.14808166928427194,
      "grad_norm": 2.2902231216430664,
      "learning_rate": 0.0004995119157154884,
      "loss": 0.3387,
      "step": 660
    },
    {
      "epoch": 0.14808166928427194,
      "gripper_loss": 0.7578125,
      "loss": 0.1884765625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.310546875,
      "step": 660
    },
    {
      "epoch": 0.14830603544985416,
      "grad_norm": 2.0122270584106445,
      "learning_rate": 0.0004995081260274217,
      "loss": 0.3038,
      "step": 661
    },
    {
      "epoch": 0.14830603544985416,
      "gripper_loss": 4.03125,
      "loss": 0.33203125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.375,
      "step": 661
    },
    {
      "epoch": 0.1485304016154364,
      "grad_norm": 1.7822575569152832,
      "learning_rate": 0.0004995043216983312,
      "loss": 0.28,
      "step": 662
    },
    {
      "epoch": 0.1485304016154364,
      "gripper_loss": 0.2265625,
      "loss": 0.1103515625,
      "pos_loss": 0.46875,
      "rot_loss": 0.251953125,
      "step": 662
    },
    {
      "epoch": 0.14875476778101862,
      "grad_norm": 1.998000979423523,
      "learning_rate": 0.0004995005027284396,
      "loss": 0.2065,
      "step": 663
    },
    {
      "epoch": 0.14875476778101862,
      "gripper_loss": 0.28125,
      "loss": 0.357421875,
      "pos_loss": 1.046875,
      "rot_loss": 1.890625,
      "step": 663
    },
    {
      "epoch": 0.14897913394660084,
      "grad_norm": 1.8902586698532104,
      "learning_rate": 0.0004994966691179711,
      "loss": 0.2042,
      "step": 664
    },
    {
      "epoch": 0.14897913394660084,
      "gripper_loss": 0.52734375,
      "loss": 0.375,
      "pos_loss": 1.0078125,
      "rot_loss": 2.5,
      "step": 664
    },
    {
      "epoch": 0.14920350011218309,
      "grad_norm": 1.490220308303833,
      "learning_rate": 0.0004994928208671509,
      "loss": 0.1791,
      "step": 665
    },
    {
      "epoch": 0.14920350011218309,
      "gripper_loss": 1.28125,
      "loss": 0.234375,
      "pos_loss": 0.8203125,
      "rot_loss": 0.84375,
      "step": 665
    },
    {
      "epoch": 0.1494278662777653,
      "grad_norm": 1.6757982969284058,
      "learning_rate": 0.0004994889579762045,
      "loss": 0.272,
      "step": 666
    },
    {
      "epoch": 0.1494278662777653,
      "gripper_loss": 0.1640625,
      "loss": 0.2578125,
      "pos_loss": 1.1953125,
      "rot_loss": 1.2109375,
      "step": 666
    },
    {
      "epoch": 0.14965223244334755,
      "grad_norm": 1.1074235439300537,
      "learning_rate": 0.0004994850804453587,
      "loss": 0.2682,
      "step": 667
    },
    {
      "epoch": 0.14965223244334755,
      "gripper_loss": 0.65234375,
      "loss": 0.2236328125,
      "pos_loss": 0.6328125,
      "rot_loss": 1.203125,
      "step": 667
    },
    {
      "epoch": 0.14987659860892977,
      "grad_norm": 1.3141313791275024,
      "learning_rate": 0.0004994811882748412,
      "loss": 0.2579,
      "step": 668
    },
    {
      "epoch": 0.14987659860892977,
      "gripper_loss": 0.9140625,
      "loss": 0.1845703125,
      "pos_loss": 1.0,
      "rot_loss": 0.375,
      "step": 668
    },
    {
      "epoch": 0.150100964774512,
      "grad_norm": 1.5957112312316895,
      "learning_rate": 0.0004994772814648802,
      "loss": 0.2398,
      "step": 669
    },
    {
      "epoch": 0.150100964774512,
      "gripper_loss": 0.640625,
      "loss": 0.28515625,
      "pos_loss": 1.296875,
      "rot_loss": 1.265625,
      "step": 669
    },
    {
      "epoch": 0.15032533094009423,
      "grad_norm": 1.8534270524978638,
      "learning_rate": 0.0004994733600157049,
      "loss": 0.2594,
      "step": 670
    },
    {
      "epoch": 0.15032533094009423,
      "gripper_loss": 0.2890625,
      "loss": 0.390625,
      "pos_loss": 1.625,
      "rot_loss": 1.6640625,
      "step": 670
    },
    {
      "epoch": 0.15054969710567648,
      "grad_norm": 2.2229208946228027,
      "learning_rate": 0.0004994694239275456,
      "loss": 0.2716,
      "step": 671
    },
    {
      "epoch": 0.15054969710567648,
      "gripper_loss": 0.166015625,
      "loss": 0.357421875,
      "pos_loss": 2.640625,
      "rot_loss": 0.66796875,
      "step": 671
    },
    {
      "epoch": 0.1507740632712587,
      "grad_norm": 1.75014328956604,
      "learning_rate": 0.000499465473200633,
      "loss": 0.2692,
      "step": 672
    },
    {
      "epoch": 0.1507740632712587,
      "gripper_loss": 1.0703125,
      "loss": 0.384765625,
      "pos_loss": 0.671875,
      "rot_loss": 0.466796875,
      "step": 672
    },
    {
      "epoch": 0.15099842943684091,
      "grad_norm": 3.2846059799194336,
      "learning_rate": 0.0004994615078351993,
      "loss": 0.4373,
      "step": 673
    },
    {
      "epoch": 0.15099842943684091,
      "gripper_loss": 1.03125,
      "loss": 0.1591796875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.326171875,
      "step": 673
    },
    {
      "epoch": 0.15122279560242316,
      "grad_norm": 1.721624732017517,
      "learning_rate": 0.0004994575278314769,
      "loss": 0.1864,
      "step": 674
    },
    {
      "epoch": 0.15122279560242316,
      "gripper_loss": 0.84765625,
      "loss": 0.30859375,
      "pos_loss": 0.58984375,
      "rot_loss": 2.046875,
      "step": 674
    },
    {
      "epoch": 0.15144716176800538,
      "grad_norm": 2.054598093032837,
      "learning_rate": 0.0004994535331896994,
      "loss": 0.1733,
      "step": 675
    },
    {
      "epoch": 0.15144716176800538,
      "gripper_loss": 0.2314453125,
      "loss": 0.2333984375,
      "pos_loss": 1.7109375,
      "rot_loss": 0.369140625,
      "step": 675
    },
    {
      "epoch": 0.15167152793358762,
      "grad_norm": 1.2956631183624268,
      "learning_rate": 0.0004994495239101013,
      "loss": 0.2402,
      "step": 676
    },
    {
      "epoch": 0.15167152793358762,
      "gripper_loss": 1.46875,
      "loss": 0.349609375,
      "pos_loss": 1.28125,
      "rot_loss": 1.421875,
      "step": 676
    },
    {
      "epoch": 0.15189589409916984,
      "grad_norm": 1.6710392236709595,
      "learning_rate": 0.0004994454999929178,
      "loss": 0.3481,
      "step": 677
    },
    {
      "epoch": 0.15189589409916984,
      "gripper_loss": 0.78125,
      "loss": 0.1328125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.462890625,
      "step": 677
    },
    {
      "epoch": 0.1521202602647521,
      "grad_norm": 1.5627436637878418,
      "learning_rate": 0.0004994414614383849,
      "loss": 0.2059,
      "step": 678
    },
    {
      "epoch": 0.1521202602647521,
      "gripper_loss": 1.4921875,
      "loss": 0.12890625,
      "pos_loss": 0.404296875,
      "rot_loss": 0.1630859375,
      "step": 678
    },
    {
      "epoch": 0.1523446264303343,
      "grad_norm": 1.2791433334350586,
      "learning_rate": 0.0004994374082467397,
      "loss": 0.2329,
      "step": 679
    },
    {
      "epoch": 0.1523446264303343,
      "gripper_loss": 0.45703125,
      "loss": 0.423828125,
      "pos_loss": 1.0390625,
      "rot_loss": 3.0,
      "step": 679
    },
    {
      "epoch": 0.15256899259591652,
      "grad_norm": 1.6868250370025635,
      "learning_rate": 0.0004994333404182202,
      "loss": 0.179,
      "step": 680
    },
    {
      "epoch": 0.15256899259591652,
      "gripper_loss": 1.2421875,
      "loss": 0.16015625,
      "pos_loss": 0.474609375,
      "rot_loss": 0.453125,
      "step": 680
    },
    {
      "epoch": 0.15279335876149877,
      "grad_norm": 1.6474441289901733,
      "learning_rate": 0.0004994292579530647,
      "loss": 0.2468,
      "step": 681
    },
    {
      "epoch": 0.15279335876149877,
      "gripper_loss": 0.8203125,
      "loss": 0.181640625,
      "pos_loss": 0.98046875,
      "rot_loss": 0.25390625,
      "step": 681
    },
    {
      "epoch": 0.153017724927081,
      "grad_norm": 1.8731275796890259,
      "learning_rate": 0.0004994251608515132,
      "loss": 0.2424,
      "step": 682
    },
    {
      "epoch": 0.153017724927081,
      "gripper_loss": 0.734375,
      "loss": 0.671875,
      "pos_loss": 1.1171875,
      "rot_loss": 0.7109375,
      "step": 682
    },
    {
      "epoch": 0.15324209109266324,
      "grad_norm": 2.3955748081207275,
      "learning_rate": 0.0004994210491138058,
      "loss": 0.6753,
      "step": 683
    },
    {
      "epoch": 0.15324209109266324,
      "gripper_loss": 1.015625,
      "loss": 0.76171875,
      "pos_loss": 2.15625,
      "rot_loss": 2.890625,
      "step": 683
    },
    {
      "epoch": 0.15346645725824545,
      "grad_norm": 2.4351656436920166,
      "learning_rate": 0.0004994169227401839,
      "loss": 0.4285,
      "step": 684
    },
    {
      "epoch": 0.15346645725824545,
      "gripper_loss": 0.494140625,
      "loss": 0.462890625,
      "pos_loss": 1.734375,
      "rot_loss": 0.7421875,
      "step": 684
    },
    {
      "epoch": 0.1536908234238277,
      "grad_norm": 2.7258431911468506,
      "learning_rate": 0.0004994127817308895,
      "loss": 0.4099,
      "step": 685
    },
    {
      "epoch": 0.1536908234238277,
      "gripper_loss": 0.453125,
      "loss": 0.37109375,
      "pos_loss": 1.828125,
      "rot_loss": 1.2890625,
      "step": 685
    },
    {
      "epoch": 0.15391518958940992,
      "grad_norm": 2.1350796222686768,
      "learning_rate": 0.0004994086260861659,
      "loss": 0.2234,
      "step": 686
    },
    {
      "epoch": 0.15391518958940992,
      "gripper_loss": 0.296875,
      "loss": 0.12060546875,
      "pos_loss": 0.259765625,
      "rot_loss": 0.26953125,
      "step": 686
    },
    {
      "epoch": 0.15413955575499214,
      "grad_norm": 2.379150629043579,
      "learning_rate": 0.0004994044558062566,
      "loss": 0.2497,
      "step": 687
    },
    {
      "epoch": 0.15413955575499214,
      "gripper_loss": 0.1962890625,
      "loss": 0.1943359375,
      "pos_loss": 1.390625,
      "rot_loss": 0.1787109375,
      "step": 687
    },
    {
      "epoch": 0.15436392192057438,
      "grad_norm": 1.988358736038208,
      "learning_rate": 0.0004994002708914065,
      "loss": 0.2545,
      "step": 688
    },
    {
      "epoch": 0.15436392192057438,
      "gripper_loss": 0.490234375,
      "loss": 0.212890625,
      "pos_loss": 0.5703125,
      "rot_loss": 0.66015625,
      "step": 688
    },
    {
      "epoch": 0.1545882880861566,
      "grad_norm": 2.0619988441467285,
      "learning_rate": 0.0004993960713418612,
      "loss": 0.3513,
      "step": 689
    },
    {
      "epoch": 0.1545882880861566,
      "gripper_loss": 0.310546875,
      "loss": 0.29296875,
      "pos_loss": 1.0078125,
      "rot_loss": 1.3203125,
      "step": 689
    },
    {
      "epoch": 0.15481265425173885,
      "grad_norm": 1.766676425933838,
      "learning_rate": 0.0004993918571578671,
      "loss": 0.2379,
      "step": 690
    },
    {
      "epoch": 0.15481265425173885,
      "gripper_loss": 0.69140625,
      "loss": 0.1435546875,
      "pos_loss": 0.80859375,
      "rot_loss": 0.1357421875,
      "step": 690
    },
    {
      "epoch": 0.15503702041732106,
      "grad_norm": 1.2701241970062256,
      "learning_rate": 0.0004993876283396713,
      "loss": 0.2036,
      "step": 691
    },
    {
      "epoch": 0.15503702041732106,
      "gripper_loss": 1.4609375,
      "loss": 0.1552734375,
      "pos_loss": 0.59375,
      "rot_loss": 0.1875,
      "step": 691
    },
    {
      "epoch": 0.1552613865829033,
      "grad_norm": 1.7381874322891235,
      "learning_rate": 0.0004993833848875222,
      "loss": 0.2454,
      "step": 692
    },
    {
      "epoch": 0.1552613865829033,
      "gripper_loss": 0.83984375,
      "loss": 0.271484375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.50390625,
      "step": 692
    },
    {
      "epoch": 0.15548575274848553,
      "grad_norm": 2.3471291065216064,
      "learning_rate": 0.0004993791268016687,
      "loss": 0.4006,
      "step": 693
    },
    {
      "epoch": 0.15548575274848553,
      "gripper_loss": 0.455078125,
      "loss": 0.158203125,
      "pos_loss": 0.9140625,
      "rot_loss": 0.26171875,
      "step": 693
    },
    {
      "epoch": 0.15571011891406775,
      "grad_norm": 1.3033678531646729,
      "learning_rate": 0.0004993748540823606,
      "loss": 0.1569,
      "step": 694
    },
    {
      "epoch": 0.15571011891406775,
      "gripper_loss": 0.9609375,
      "loss": 0.38671875,
      "pos_loss": 0.83984375,
      "rot_loss": 0.51953125,
      "step": 694
    },
    {
      "epoch": 0.15593448507965,
      "grad_norm": 2.594738245010376,
      "learning_rate": 0.0004993705667298487,
      "loss": 0.4597,
      "step": 695
    },
    {
      "epoch": 0.15593448507965,
      "gripper_loss": 0.68359375,
      "loss": 0.1943359375,
      "pos_loss": 0.5625,
      "rot_loss": 0.458984375,
      "step": 695
    },
    {
      "epoch": 0.1561588512452322,
      "grad_norm": 1.7272660732269287,
      "learning_rate": 0.0004993662647443846,
      "loss": 0.1934,
      "step": 696
    },
    {
      "epoch": 0.1561588512452322,
      "gripper_loss": 0.5,
      "loss": 0.333984375,
      "pos_loss": 1.9140625,
      "rot_loss": 0.482421875,
      "step": 696
    },
    {
      "epoch": 0.15638321741081446,
      "grad_norm": 2.554425001144409,
      "learning_rate": 0.0004993619481262207,
      "loss": 0.3036,
      "step": 697
    },
    {
      "epoch": 0.15638321741081446,
      "gripper_loss": 1.125,
      "loss": 0.28515625,
      "pos_loss": 1.125,
      "rot_loss": 0.60546875,
      "step": 697
    },
    {
      "epoch": 0.15660758357639668,
      "grad_norm": 1.5926003456115723,
      "learning_rate": 0.0004993576168756102,
      "loss": 0.2476,
      "step": 698
    },
    {
      "epoch": 0.15660758357639668,
      "gripper_loss": 0.5703125,
      "loss": 0.1435546875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.390625,
      "step": 698
    },
    {
      "epoch": 0.15683194974197892,
      "grad_norm": 1.9881515502929688,
      "learning_rate": 0.0004993532709928075,
      "loss": 0.2073,
      "step": 699
    },
    {
      "epoch": 0.15683194974197892,
      "gripper_loss": 1.734375,
      "loss": 0.474609375,
      "pos_loss": 0.49609375,
      "rot_loss": 0.58203125,
      "step": 699
    },
    {
      "epoch": 0.15705631590756114,
      "grad_norm": 2.4868125915527344,
      "learning_rate": 0.0004993489104780673,
      "loss": 0.4939,
      "step": 700
    },
    {
      "epoch": 0.15705631590756114,
      "gripper_loss": 1.03125,
      "loss": 0.12353515625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.2177734375,
      "step": 700
    },
    {
      "epoch": 0.15728068207314336,
      "grad_norm": 1.7081177234649658,
      "learning_rate": 0.0004993445353316459,
      "loss": 0.2348,
      "step": 701
    },
    {
      "epoch": 0.15728068207314336,
      "gripper_loss": 0.34765625,
      "loss": 0.2041015625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.380859375,
      "step": 701
    },
    {
      "epoch": 0.1575050482387256,
      "grad_norm": 1.758825421333313,
      "learning_rate": 0.0004993401455537995,
      "loss": 0.2576,
      "step": 702
    },
    {
      "epoch": 0.1575050482387256,
      "gripper_loss": 0.06689453125,
      "loss": 0.275390625,
      "pos_loss": 1.21875,
      "rot_loss": 1.1171875,
      "step": 702
    },
    {
      "epoch": 0.15772941440430782,
      "grad_norm": 1.567750334739685,
      "learning_rate": 0.0004993357411447861,
      "loss": 0.1977,
      "step": 703
    },
    {
      "epoch": 0.15772941440430782,
      "gripper_loss": 0.671875,
      "loss": 0.23828125,
      "pos_loss": 0.8125,
      "rot_loss": 0.8125,
      "step": 703
    },
    {
      "epoch": 0.15795378056989007,
      "grad_norm": 1.6470825672149658,
      "learning_rate": 0.0004993313221048639,
      "loss": 0.2655,
      "step": 704
    },
    {
      "epoch": 0.15795378056989007,
      "gripper_loss": 1.21875,
      "loss": 0.228515625,
      "pos_loss": 0.71484375,
      "rot_loss": 0.86328125,
      "step": 704
    },
    {
      "epoch": 0.15817814673547229,
      "grad_norm": 1.3404432535171509,
      "learning_rate": 0.0004993268884342925,
      "loss": 0.174,
      "step": 705
    },
    {
      "epoch": 0.15817814673547229,
      "gripper_loss": 0.4609375,
      "loss": 0.21484375,
      "pos_loss": 0.765625,
      "rot_loss": 0.875,
      "step": 705
    },
    {
      "epoch": 0.15840251290105453,
      "grad_norm": 1.9142528772354126,
      "learning_rate": 0.0004993224401333319,
      "loss": 0.197,
      "step": 706
    },
    {
      "epoch": 0.15840251290105453,
      "gripper_loss": 0.6171875,
      "loss": 0.439453125,
      "pos_loss": 0.8359375,
      "rot_loss": 0.7421875,
      "step": 706
    },
    {
      "epoch": 0.15862687906663675,
      "grad_norm": 1.9080346822738647,
      "learning_rate": 0.0004993179772022429,
      "loss": 0.4453,
      "step": 707
    },
    {
      "epoch": 0.15862687906663675,
      "gripper_loss": 0.53515625,
      "loss": 0.07861328125,
      "pos_loss": 0.11669921875,
      "rot_loss": 0.1220703125,
      "step": 707
    },
    {
      "epoch": 0.15885124523221897,
      "grad_norm": 1.7023131847381592,
      "learning_rate": 0.0004993134996412877,
      "loss": 0.1685,
      "step": 708
    },
    {
      "epoch": 0.15885124523221897,
      "gripper_loss": 0.55859375,
      "loss": 0.205078125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.185546875,
      "step": 708
    },
    {
      "epoch": 0.15907561139780121,
      "grad_norm": 1.9229649305343628,
      "learning_rate": 0.0004993090074507289,
      "loss": 0.26,
      "step": 709
    },
    {
      "epoch": 0.15907561139780121,
      "gripper_loss": 0.076171875,
      "loss": 0.083984375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.12255859375,
      "step": 709
    },
    {
      "epoch": 0.15929997756338343,
      "grad_norm": 1.5441173315048218,
      "learning_rate": 0.0004993045006308302,
      "loss": 0.1333,
      "step": 710
    },
    {
      "epoch": 0.15929997756338343,
      "gripper_loss": 0.349609375,
      "loss": 0.609375,
      "pos_loss": 2.21875,
      "rot_loss": 3.75,
      "step": 710
    },
    {
      "epoch": 0.15952434372896568,
      "grad_norm": 1.7899630069732666,
      "learning_rate": 0.000499299979181856,
      "loss": 0.3191,
      "step": 711
    },
    {
      "epoch": 0.15952434372896568,
      "gripper_loss": 0.125,
      "loss": 0.28515625,
      "pos_loss": 2.046875,
      "rot_loss": 0.671875,
      "step": 711
    },
    {
      "epoch": 0.1597487098945479,
      "grad_norm": 1.4212239980697632,
      "learning_rate": 0.0004992954431040715,
      "loss": 0.1636,
      "step": 712
    },
    {
      "epoch": 0.1597487098945479,
      "gripper_loss": 0.294921875,
      "loss": 0.2578125,
      "pos_loss": 1.453125,
      "rot_loss": 0.9296875,
      "step": 712
    },
    {
      "epoch": 0.15997307606013014,
      "grad_norm": 1.087156057357788,
      "learning_rate": 0.000499290892397743,
      "loss": 0.1824,
      "step": 713
    },
    {
      "epoch": 0.15997307606013014,
      "gripper_loss": 0.7578125,
      "loss": 0.10546875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.333984375,
      "step": 713
    },
    {
      "epoch": 0.16019744222571236,
      "grad_norm": 1.1199109554290771,
      "learning_rate": 0.0004992863270631377,
      "loss": 0.2416,
      "step": 714
    },
    {
      "epoch": 0.16019744222571236,
      "gripper_loss": 0.953125,
      "loss": 0.123046875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.08837890625,
      "step": 714
    },
    {
      "epoch": 0.16042180839129458,
      "grad_norm": 1.403216004371643,
      "learning_rate": 0.0004992817471005231,
      "loss": 0.1664,
      "step": 715
    },
    {
      "epoch": 0.16042180839129458,
      "gripper_loss": 0.09716796875,
      "loss": 0.1591796875,
      "pos_loss": 1.109375,
      "rot_loss": 0.25390625,
      "step": 715
    },
    {
      "epoch": 0.16064617455687683,
      "grad_norm": 1.4155464172363281,
      "learning_rate": 0.0004992771525101682,
      "loss": 0.1628,
      "step": 716
    },
    {
      "epoch": 0.16064617455687683,
      "gripper_loss": 0.74609375,
      "loss": 0.734375,
      "pos_loss": 1.28125,
      "rot_loss": 1.859375,
      "step": 716
    },
    {
      "epoch": 0.16087054072245904,
      "grad_norm": 3.1246800422668457,
      "learning_rate": 0.0004992725432923426,
      "loss": 0.4725,
      "step": 717
    },
    {
      "epoch": 0.16087054072245904,
      "gripper_loss": 1.1015625,
      "loss": 0.09912109375,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.07275390625,
      "step": 717
    },
    {
      "epoch": 0.1610949068880413,
      "grad_norm": 1.6727216243743896,
      "learning_rate": 0.0004992679194473167,
      "loss": 0.2957,
      "step": 718
    },
    {
      "epoch": 0.1610949068880413,
      "gripper_loss": 1.375,
      "loss": 0.125,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.2392578125,
      "step": 718
    },
    {
      "epoch": 0.1613192730536235,
      "grad_norm": 1.6609054803848267,
      "learning_rate": 0.000499263280975362,
      "loss": 0.2939,
      "step": 719
    },
    {
      "epoch": 0.1613192730536235,
      "gripper_loss": 0.408203125,
      "loss": 0.18359375,
      "pos_loss": 0.9609375,
      "rot_loss": 0.50390625,
      "step": 719
    },
    {
      "epoch": 0.16154363921920575,
      "grad_norm": 1.4309256076812744,
      "learning_rate": 0.0004992586278767504,
      "loss": 0.1686,
      "step": 720
    },
    {
      "epoch": 0.16154363921920575,
      "gripper_loss": 0.20703125,
      "loss": 0.10986328125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.3203125,
      "step": 720
    },
    {
      "epoch": 0.16176800538478797,
      "grad_norm": 1.2167484760284424,
      "learning_rate": 0.0004992539601517552,
      "loss": 0.1885,
      "step": 721
    },
    {
      "epoch": 0.16176800538478797,
      "gripper_loss": 0.58984375,
      "loss": 0.119140625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.498046875,
      "step": 721
    },
    {
      "epoch": 0.16199237155037022,
      "grad_norm": 1.4509333372116089,
      "learning_rate": 0.00049924927780065,
      "loss": 0.2531,
      "step": 722
    },
    {
      "epoch": 0.16199237155037022,
      "gripper_loss": 0.1591796875,
      "loss": 0.326171875,
      "pos_loss": 1.0,
      "rot_loss": 2.15625,
      "step": 722
    },
    {
      "epoch": 0.16221673771595244,
      "grad_norm": 1.0107253789901733,
      "learning_rate": 0.0004992445808237099,
      "loss": 0.238,
      "step": 723
    },
    {
      "epoch": 0.16221673771595244,
      "gripper_loss": 0.294921875,
      "loss": 0.318359375,
      "pos_loss": 1.6796875,
      "rot_loss": 1.3046875,
      "step": 723
    },
    {
      "epoch": 0.16244110388153465,
      "grad_norm": 1.5604846477508545,
      "learning_rate": 0.0004992398692212103,
      "loss": 0.2034,
      "step": 724
    },
    {
      "epoch": 0.16244110388153465,
      "gripper_loss": 1.375,
      "loss": 0.134765625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.12451171875,
      "step": 724
    },
    {
      "epoch": 0.1626654700471169,
      "grad_norm": 1.6451294422149658,
      "learning_rate": 0.0004992351429934278,
      "loss": 0.2123,
      "step": 725
    },
    {
      "epoch": 0.1626654700471169,
      "gripper_loss": 0.466796875,
      "loss": 0.419921875,
      "pos_loss": 0.97265625,
      "rot_loss": 0.64453125,
      "step": 725
    },
    {
      "epoch": 0.16288983621269912,
      "grad_norm": 2.5904922485351562,
      "learning_rate": 0.0004992304021406395,
      "loss": 0.4746,
      "step": 726
    },
    {
      "epoch": 0.16288983621269912,
      "gripper_loss": 0.06689453125,
      "loss": 0.181640625,
      "pos_loss": 0.34375,
      "rot_loss": 1.265625,
      "step": 726
    },
    {
      "epoch": 0.16311420237828136,
      "grad_norm": 1.5168483257293701,
      "learning_rate": 0.0004992256466631238,
      "loss": 0.2225,
      "step": 727
    },
    {
      "epoch": 0.16311420237828136,
      "gripper_loss": 0.283203125,
      "loss": 0.1337890625,
      "pos_loss": 0.74609375,
      "rot_loss": 0.1376953125,
      "step": 727
    },
    {
      "epoch": 0.16333856854386358,
      "grad_norm": 1.168247103691101,
      "learning_rate": 0.0004992208765611599,
      "loss": 0.2113,
      "step": 728
    },
    {
      "epoch": 0.16333856854386358,
      "gripper_loss": 1.2265625,
      "loss": 0.259765625,
      "pos_loss": 1.75,
      "rot_loss": 0.1767578125,
      "step": 728
    },
    {
      "epoch": 0.16356293470944583,
      "grad_norm": 1.3054834604263306,
      "learning_rate": 0.0004992160918350273,
      "loss": 0.1865,
      "step": 729
    },
    {
      "epoch": 0.16356293470944583,
      "gripper_loss": 0.3671875,
      "loss": 0.25390625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.53515625,
      "step": 729
    },
    {
      "epoch": 0.16378730087502805,
      "grad_norm": 2.4317874908447266,
      "learning_rate": 0.0004992112924850071,
      "loss": 0.2716,
      "step": 730
    },
    {
      "epoch": 0.16378730087502805,
      "gripper_loss": 0.96484375,
      "loss": 0.26171875,
      "pos_loss": 1.3515625,
      "rot_loss": 0.416015625,
      "step": 730
    },
    {
      "epoch": 0.16401166704061027,
      "grad_norm": 1.8864814043045044,
      "learning_rate": 0.0004992064785113808,
      "loss": 0.3005,
      "step": 731
    },
    {
      "epoch": 0.16401166704061027,
      "gripper_loss": 1.1171875,
      "loss": 0.32421875,
      "pos_loss": 2.046875,
      "rot_loss": 0.5234375,
      "step": 731
    },
    {
      "epoch": 0.1642360332061925,
      "grad_norm": 1.4901535511016846,
      "learning_rate": 0.0004992016499144309,
      "loss": 0.2234,
      "step": 732
    },
    {
      "epoch": 0.1642360332061925,
      "gripper_loss": 0.671875,
      "loss": 0.2421875,
      "pos_loss": 1.578125,
      "rot_loss": 0.265625,
      "step": 732
    },
    {
      "epoch": 0.16446039937177473,
      "grad_norm": 2.188389539718628,
      "learning_rate": 0.0004991968066944406,
      "loss": 0.276,
      "step": 733
    },
    {
      "epoch": 0.16446039937177473,
      "gripper_loss": 0.7265625,
      "loss": 0.2109375,
      "pos_loss": 1.28125,
      "rot_loss": 0.2314453125,
      "step": 733
    },
    {
      "epoch": 0.16468476553735698,
      "grad_norm": 2.249633312225342,
      "learning_rate": 0.0004991919488516943,
      "loss": 0.2673,
      "step": 734
    },
    {
      "epoch": 0.16468476553735698,
      "gripper_loss": 0.87890625,
      "loss": 0.1865234375,
      "pos_loss": 1.09375,
      "rot_loss": 0.212890625,
      "step": 734
    },
    {
      "epoch": 0.1649091317029392,
      "grad_norm": 2.2155916690826416,
      "learning_rate": 0.000499187076386477,
      "loss": 0.261,
      "step": 735
    },
    {
      "epoch": 0.1649091317029392,
      "gripper_loss": 0.76171875,
      "loss": 0.0791015625,
      "pos_loss": 0.171875,
      "rot_loss": 0.162109375,
      "step": 735
    },
    {
      "epoch": 0.16513349786852144,
      "grad_norm": 1.1483056545257568,
      "learning_rate": 0.0004991821892990746,
      "loss": 0.1611,
      "step": 736
    },
    {
      "epoch": 0.16513349786852144,
      "gripper_loss": 1.3671875,
      "loss": 0.2734375,
      "pos_loss": 0.51171875,
      "rot_loss": 0.408203125,
      "step": 736
    },
    {
      "epoch": 0.16535786403410366,
      "grad_norm": 2.3584485054016113,
      "learning_rate": 0.0004991772875897738,
      "loss": 0.3762,
      "step": 737
    },
    {
      "epoch": 0.16535786403410366,
      "gripper_loss": 1.4765625,
      "loss": 0.345703125,
      "pos_loss": 0.7265625,
      "rot_loss": 1.375,
      "step": 737
    },
    {
      "epoch": 0.16558223019968588,
      "grad_norm": 1.7063236236572266,
      "learning_rate": 0.0004991723712588623,
      "loss": 0.2875,
      "step": 738
    },
    {
      "epoch": 0.16558223019968588,
      "gripper_loss": 0.345703125,
      "loss": 0.40234375,
      "pos_loss": 1.203125,
      "rot_loss": 0.68359375,
      "step": 738
    },
    {
      "epoch": 0.16580659636526812,
      "grad_norm": 2.3920347690582275,
      "learning_rate": 0.0004991674403066286,
      "loss": 0.4275,
      "step": 739
    },
    {
      "epoch": 0.16580659636526812,
      "gripper_loss": 1.140625,
      "loss": 0.322265625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.61328125,
      "step": 739
    },
    {
      "epoch": 0.16603096253085034,
      "grad_norm": 2.51639986038208,
      "learning_rate": 0.0004991624947333621,
      "loss": 0.3073,
      "step": 740
    },
    {
      "epoch": 0.16603096253085034,
      "gripper_loss": 0.6796875,
      "loss": 0.1953125,
      "pos_loss": 0.87109375,
      "rot_loss": 0.193359375,
      "step": 740
    },
    {
      "epoch": 0.16625532869643259,
      "grad_norm": 2.1504883766174316,
      "learning_rate": 0.0004991575345393528,
      "loss": 0.3608,
      "step": 741
    },
    {
      "epoch": 0.16625532869643259,
      "gripper_loss": 0.7421875,
      "loss": 0.515625,
      "pos_loss": 1.25,
      "rot_loss": 0.64453125,
      "step": 741
    },
    {
      "epoch": 0.1664796948620148,
      "grad_norm": 2.733022928237915,
      "learning_rate": 0.0004991525597248921,
      "loss": 0.5291,
      "step": 742
    },
    {
      "epoch": 0.1664796948620148,
      "gripper_loss": 0.9609375,
      "loss": 0.154296875,
      "pos_loss": 0.26953125,
      "rot_loss": 0.396484375,
      "step": 742
    },
    {
      "epoch": 0.16670406102759705,
      "grad_norm": 2.5132391452789307,
      "learning_rate": 0.0004991475702902715,
      "loss": 0.2615,
      "step": 743
    },
    {
      "epoch": 0.16670406102759705,
      "gripper_loss": 0.470703125,
      "loss": 0.2109375,
      "pos_loss": 0.4921875,
      "rot_loss": 0.5078125,
      "step": 743
    },
    {
      "epoch": 0.16692842719317927,
      "grad_norm": 1.9963432550430298,
      "learning_rate": 0.0004991425662357841,
      "loss": 0.3113,
      "step": 744
    },
    {
      "epoch": 0.16692842719317927,
      "gripper_loss": 0.46875,
      "loss": 0.421875,
      "pos_loss": 1.8828125,
      "rot_loss": 1.640625,
      "step": 744
    },
    {
      "epoch": 0.1671527933587615,
      "grad_norm": 1.7348483800888062,
      "learning_rate": 0.0004991375475617234,
      "loss": 0.2457,
      "step": 745
    },
    {
      "epoch": 0.1671527933587615,
      "gripper_loss": 0.1865234375,
      "loss": 0.375,
      "pos_loss": 2.828125,
      "rot_loss": 0.61328125,
      "step": 745
    },
    {
      "epoch": 0.16737715952434373,
      "grad_norm": 1.718775749206543,
      "learning_rate": 0.000499132514268384,
      "loss": 0.2167,
      "step": 746
    },
    {
      "epoch": 0.16737715952434373,
      "gripper_loss": 0.49609375,
      "loss": 0.1259765625,
      "pos_loss": 0.162109375,
      "rot_loss": 0.4453125,
      "step": 746
    },
    {
      "epoch": 0.16760152568992595,
      "grad_norm": 1.8859400749206543,
      "learning_rate": 0.000499127466356061,
      "loss": 0.2223,
      "step": 747
    },
    {
      "epoch": 0.16760152568992595,
      "gripper_loss": 1.265625,
      "loss": 0.298828125,
      "pos_loss": 0.6640625,
      "rot_loss": 1.484375,
      "step": 747
    },
    {
      "epoch": 0.1678258918555082,
      "grad_norm": 1.6946829557418823,
      "learning_rate": 0.0004991224038250509,
      "loss": 0.3008,
      "step": 748
    },
    {
      "epoch": 0.1678258918555082,
      "gripper_loss": 0.94921875,
      "loss": 0.09912109375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.12353515625,
      "step": 748
    },
    {
      "epoch": 0.16805025802109042,
      "grad_norm": 1.0188088417053223,
      "learning_rate": 0.0004991173266756507,
      "loss": 0.1618,
      "step": 749
    },
    {
      "epoch": 0.16805025802109042,
      "gripper_loss": 0.69921875,
      "loss": 0.1240234375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.203125,
      "step": 749
    },
    {
      "epoch": 0.16827462418667266,
      "grad_norm": 1.4639970064163208,
      "learning_rate": 0.0004991122349081582,
      "loss": 0.1636,
      "step": 750
    },
    {
      "epoch": 0.16827462418667266,
      "gripper_loss": 0.41796875,
      "loss": 0.54296875,
      "pos_loss": 2.515625,
      "rot_loss": 2.171875,
      "step": 750
    },
    {
      "epoch": 0.16849899035225488,
      "grad_norm": 2.122361898422241,
      "learning_rate": 0.0004991071285228723,
      "loss": 0.2889,
      "step": 751
    },
    {
      "epoch": 0.16849899035225488,
      "gripper_loss": 1.8359375,
      "loss": 0.1298828125,
      "pos_loss": 0.212890625,
      "rot_loss": 0.1669921875,
      "step": 751
    },
    {
      "epoch": 0.1687233565178371,
      "grad_norm": 1.481911301612854,
      "learning_rate": 0.0004991020075200925,
      "loss": 0.2017,
      "step": 752
    },
    {
      "epoch": 0.1687233565178371,
      "gripper_loss": 0.95703125,
      "loss": 0.1416015625,
      "pos_loss": 0.3125,
      "rot_loss": 0.474609375,
      "step": 752
    },
    {
      "epoch": 0.16894772268341934,
      "grad_norm": 1.4092549085617065,
      "learning_rate": 0.0004990968719001195,
      "loss": 0.1982,
      "step": 753
    },
    {
      "epoch": 0.16894772268341934,
      "gripper_loss": 0.70703125,
      "loss": 0.314453125,
      "pos_loss": 0.9453125,
      "rot_loss": 1.71875,
      "step": 753
    },
    {
      "epoch": 0.16917208884900156,
      "grad_norm": 1.3388018608093262,
      "learning_rate": 0.0004990917216632546,
      "loss": 0.2894,
      "step": 754
    },
    {
      "epoch": 0.16917208884900156,
      "gripper_loss": 1.671875,
      "loss": 0.10107421875,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.06982421875,
      "step": 754
    },
    {
      "epoch": 0.1693964550145838,
      "grad_norm": 1.3020679950714111,
      "learning_rate": 0.0004990865568097998,
      "loss": 0.1849,
      "step": 755
    },
    {
      "epoch": 0.1693964550145838,
      "gripper_loss": 1.4609375,
      "loss": 0.27734375,
      "pos_loss": 1.515625,
      "rot_loss": 0.58203125,
      "step": 755
    },
    {
      "epoch": 0.16962082118016603,
      "grad_norm": 1.196236491203308,
      "learning_rate": 0.0004990813773400585,
      "loss": 0.2336,
      "step": 756
    },
    {
      "epoch": 0.16962082118016603,
      "gripper_loss": 1.4453125,
      "loss": 0.578125,
      "pos_loss": 0.640625,
      "rot_loss": 0.859375,
      "step": 756
    },
    {
      "epoch": 0.16984518734574827,
      "grad_norm": 3.4669017791748047,
      "learning_rate": 0.0004990761832543343,
      "loss": 0.6509,
      "step": 757
    },
    {
      "epoch": 0.16984518734574827,
      "gripper_loss": 0.41015625,
      "loss": 0.8203125,
      "pos_loss": 1.3515625,
      "rot_loss": 1.7265625,
      "step": 757
    },
    {
      "epoch": 0.1700695535113305,
      "grad_norm": 2.828542709350586,
      "learning_rate": 0.0004990709745529323,
      "loss": 0.7397,
      "step": 758
    },
    {
      "epoch": 0.1700695535113305,
      "gripper_loss": 0.890625,
      "loss": 0.234375,
      "pos_loss": 1.125,
      "rot_loss": 0.64453125,
      "step": 758
    },
    {
      "epoch": 0.1702939196769127,
      "grad_norm": 1.6631351709365845,
      "learning_rate": 0.0004990657512361578,
      "loss": 0.2195,
      "step": 759
    },
    {
      "epoch": 0.1702939196769127,
      "gripper_loss": 0.83203125,
      "loss": 0.2099609375,
      "pos_loss": 1.03125,
      "rot_loss": 0.314453125,
      "step": 759
    },
    {
      "epoch": 0.17051828584249495,
      "grad_norm": 1.7920714616775513,
      "learning_rate": 0.0004990605133043176,
      "loss": 0.2424,
      "step": 760
    },
    {
      "epoch": 0.17051828584249495,
      "gripper_loss": 0.6875,
      "loss": 0.44140625,
      "pos_loss": 1.25,
      "rot_loss": 0.65625,
      "step": 760
    },
    {
      "epoch": 0.17074265200807717,
      "grad_norm": 2.6308465003967285,
      "learning_rate": 0.0004990552607577191,
      "loss": 0.4807,
      "step": 761
    },
    {
      "epoch": 0.17074265200807717,
      "gripper_loss": 1.90625,
      "loss": 0.296875,
      "pos_loss": 1.375,
      "rot_loss": 0.32421875,
      "step": 761
    },
    {
      "epoch": 0.17096701817365942,
      "grad_norm": 2.0669455528259277,
      "learning_rate": 0.0004990499935966702,
      "loss": 0.2573,
      "step": 762
    },
    {
      "epoch": 0.17096701817365942,
      "gripper_loss": 0.482421875,
      "loss": 0.52734375,
      "pos_loss": 1.0859375,
      "rot_loss": 1.1640625,
      "step": 762
    },
    {
      "epoch": 0.17119138433924164,
      "grad_norm": 2.3325533866882324,
      "learning_rate": 0.0004990447118214803,
      "loss": 0.5713,
      "step": 763
    },
    {
      "epoch": 0.17119138433924164,
      "gripper_loss": 2.46875,
      "loss": 0.1748046875,
      "pos_loss": 0.201171875,
      "rot_loss": 0.451171875,
      "step": 763
    },
    {
      "epoch": 0.17141575050482388,
      "grad_norm": 1.8392785787582397,
      "learning_rate": 0.0004990394154324591,
      "loss": 0.1815,
      "step": 764
    },
    {
      "epoch": 0.17141575050482388,
      "gripper_loss": 0.96484375,
      "loss": 0.0927734375,
      "pos_loss": 0.23046875,
      "rot_loss": 0.0869140625,
      "step": 764
    },
    {
      "epoch": 0.1716401166704061,
      "grad_norm": 1.6374021768569946,
      "learning_rate": 0.0004990341044299174,
      "loss": 0.1563,
      "step": 765
    },
    {
      "epoch": 0.1716401166704061,
      "gripper_loss": 0.328125,
      "loss": 0.52734375,
      "pos_loss": 1.7421875,
      "rot_loss": 3.265625,
      "step": 765
    },
    {
      "epoch": 0.17186448283598832,
      "grad_norm": 1.7846665382385254,
      "learning_rate": 0.000499028778814167,
      "loss": 0.2392,
      "step": 766
    },
    {
      "epoch": 0.17186448283598832,
      "gripper_loss": 1.0546875,
      "loss": 0.251953125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.8984375,
      "step": 766
    },
    {
      "epoch": 0.17208884900157057,
      "grad_norm": 1.8763728141784668,
      "learning_rate": 0.0004990234385855204,
      "loss": 0.309,
      "step": 767
    },
    {
      "epoch": 0.17208884900157057,
      "gripper_loss": 0.1142578125,
      "loss": 0.30859375,
      "pos_loss": 2.640625,
      "rot_loss": 0.2890625,
      "step": 767
    },
    {
      "epoch": 0.17231321516715278,
      "grad_norm": 1.442208170890808,
      "learning_rate": 0.0004990180837442907,
      "loss": 0.2089,
      "step": 768
    },
    {
      "epoch": 0.17231321516715278,
      "gripper_loss": 0.91015625,
      "loss": 0.2041015625,
      "pos_loss": 0.71875,
      "rot_loss": 0.75,
      "step": 768
    },
    {
      "epoch": 0.17253758133273503,
      "grad_norm": 1.9407284259796143,
      "learning_rate": 0.0004990127142907924,
      "loss": 0.2336,
      "step": 769
    },
    {
      "epoch": 0.17253758133273503,
      "gripper_loss": 0.181640625,
      "loss": 0.4140625,
      "pos_loss": 0.23828125,
      "rot_loss": 3.6875,
      "step": 769
    },
    {
      "epoch": 0.17276194749831725,
      "grad_norm": 1.7856545448303223,
      "learning_rate": 0.0004990073302253405,
      "loss": 0.2352,
      "step": 770
    },
    {
      "epoch": 0.17276194749831725,
      "gripper_loss": 0.49609375,
      "loss": 0.232421875,
      "pos_loss": 1.125,
      "rot_loss": 0.703125,
      "step": 770
    },
    {
      "epoch": 0.1729863136638995,
      "grad_norm": 1.459627628326416,
      "learning_rate": 0.0004990019315482509,
      "loss": 0.1995,
      "step": 771
    },
    {
      "epoch": 0.1729863136638995,
      "gripper_loss": 0.2275390625,
      "loss": 0.267578125,
      "pos_loss": 1.109375,
      "rot_loss": 0.91796875,
      "step": 771
    },
    {
      "epoch": 0.1732106798294817,
      "grad_norm": 1.188088059425354,
      "learning_rate": 0.0004989965182598403,
      "loss": 0.2388,
      "step": 772
    },
    {
      "epoch": 0.1732106798294817,
      "gripper_loss": 0.11572265625,
      "loss": 0.333984375,
      "pos_loss": 2.765625,
      "rot_loss": 0.337890625,
      "step": 772
    },
    {
      "epoch": 0.17343504599506396,
      "grad_norm": 1.6593669652938843,
      "learning_rate": 0.0004989910903604267,
      "loss": 0.2127,
      "step": 773
    },
    {
      "epoch": 0.17343504599506396,
      "gripper_loss": 0.5859375,
      "loss": 0.427734375,
      "pos_loss": 2.5625,
      "rot_loss": 0.58203125,
      "step": 773
    },
    {
      "epoch": 0.17365941216064618,
      "grad_norm": 1.62371826171875,
      "learning_rate": 0.0004989856478503281,
      "loss": 0.2577,
      "step": 774
    },
    {
      "epoch": 0.17365941216064618,
      "gripper_loss": 0.388671875,
      "loss": 0.380859375,
      "pos_loss": 2.546875,
      "rot_loss": 0.95703125,
      "step": 774
    },
    {
      "epoch": 0.1738837783262284,
      "grad_norm": 1.6479777097702026,
      "learning_rate": 0.0004989801907298643,
      "loss": 0.2662,
      "step": 775
    },
    {
      "epoch": 0.1738837783262284,
      "gripper_loss": 0.2099609375,
      "loss": 0.314453125,
      "pos_loss": 1.6953125,
      "rot_loss": 0.8125,
      "step": 775
    },
    {
      "epoch": 0.17410814449181064,
      "grad_norm": 1.4939545392990112,
      "learning_rate": 0.0004989747189993553,
      "loss": 0.2808,
      "step": 776
    },
    {
      "epoch": 0.17410814449181064,
      "gripper_loss": 1.0234375,
      "loss": 0.23046875,
      "pos_loss": 0.953125,
      "rot_loss": 0.74609375,
      "step": 776
    },
    {
      "epoch": 0.17433251065739286,
      "grad_norm": 1.8780173063278198,
      "learning_rate": 0.0004989692326591223,
      "loss": 0.2748,
      "step": 777
    },
    {
      "epoch": 0.17433251065739286,
      "gripper_loss": 0.4453125,
      "loss": 0.09912109375,
      "pos_loss": 0.384765625,
      "rot_loss": 0.2109375,
      "step": 777
    },
    {
      "epoch": 0.1745568768229751,
      "grad_norm": 1.555027723312378,
      "learning_rate": 0.0004989637317094871,
      "loss": 0.2012,
      "step": 778
    },
    {
      "epoch": 0.1745568768229751,
      "gripper_loss": 0.1259765625,
      "loss": 0.328125,
      "pos_loss": 0.45703125,
      "rot_loss": 2.59375,
      "step": 778
    },
    {
      "epoch": 0.17478124298855732,
      "grad_norm": 1.5563023090362549,
      "learning_rate": 0.0004989582161507725,
      "loss": 0.2415,
      "step": 779
    },
    {
      "epoch": 0.17478124298855732,
      "gripper_loss": 0.0732421875,
      "loss": 0.298828125,
      "pos_loss": 1.484375,
      "rot_loss": 1.4296875,
      "step": 779
    },
    {
      "epoch": 0.17500560915413957,
      "grad_norm": 1.3513832092285156,
      "learning_rate": 0.0004989526859833024,
      "loss": 0.1925,
      "step": 780
    },
    {
      "epoch": 0.17500560915413957,
      "gripper_loss": 1.1953125,
      "loss": 0.1611328125,
      "pos_loss": 0.72265625,
      "rot_loss": 0.1875,
      "step": 780
    },
    {
      "epoch": 0.1752299753197218,
      "grad_norm": 1.5223877429962158,
      "learning_rate": 0.0004989471412074009,
      "loss": 0.2086,
      "step": 781
    },
    {
      "epoch": 0.1752299753197218,
      "gripper_loss": 0.71875,
      "loss": 0.2080078125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.96484375,
      "step": 781
    },
    {
      "epoch": 0.175454341485304,
      "grad_norm": 2.037984609603882,
      "learning_rate": 0.0004989415818233936,
      "loss": 0.2552,
      "step": 782
    },
    {
      "epoch": 0.175454341485304,
      "gripper_loss": 0.14453125,
      "loss": 0.2353515625,
      "pos_loss": 1.25,
      "rot_loss": 0.71875,
      "step": 782
    },
    {
      "epoch": 0.17567870765088625,
      "grad_norm": 1.330475926399231,
      "learning_rate": 0.0004989360078316068,
      "loss": 0.218,
      "step": 783
    },
    {
      "epoch": 0.17567870765088625,
      "gripper_loss": 0.16015625,
      "loss": 0.341796875,
      "pos_loss": 1.421875,
      "rot_loss": 1.7265625,
      "step": 783
    },
    {
      "epoch": 0.17590307381646847,
      "grad_norm": 1.0473182201385498,
      "learning_rate": 0.0004989304192323674,
      "loss": 0.2124,
      "step": 784
    },
    {
      "epoch": 0.17590307381646847,
      "gripper_loss": 1.140625,
      "loss": 0.0986328125,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.146484375,
      "step": 784
    },
    {
      "epoch": 0.17612743998205072,
      "grad_norm": 1.2812941074371338,
      "learning_rate": 0.0004989248160260036,
      "loss": 0.1315,
      "step": 785
    },
    {
      "epoch": 0.17612743998205072,
      "gripper_loss": 0.443359375,
      "loss": 0.15234375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.1923828125,
      "step": 785
    },
    {
      "epoch": 0.17635180614763293,
      "grad_norm": 1.260400652885437,
      "learning_rate": 0.0004989191982128438,
      "loss": 0.2075,
      "step": 786
    },
    {
      "epoch": 0.17635180614763293,
      "gripper_loss": 0.421875,
      "loss": 0.2421875,
      "pos_loss": 1.8125,
      "rot_loss": 0.392578125,
      "step": 786
    },
    {
      "epoch": 0.17657617231321518,
      "grad_norm": 0.8837310075759888,
      "learning_rate": 0.000498913565793218,
      "loss": 0.1677,
      "step": 787
    },
    {
      "epoch": 0.17657617231321518,
      "gripper_loss": 0.859375,
      "loss": 0.2294921875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.20703125,
      "step": 787
    },
    {
      "epoch": 0.1768005384787974,
      "grad_norm": 1.9892452955245972,
      "learning_rate": 0.0004989079187674565,
      "loss": 0.3523,
      "step": 788
    },
    {
      "epoch": 0.1768005384787974,
      "gripper_loss": 0.29296875,
      "loss": 0.26171875,
      "pos_loss": 1.171875,
      "rot_loss": 1.125,
      "step": 788
    },
    {
      "epoch": 0.17702490464437962,
      "grad_norm": 1.6804949045181274,
      "learning_rate": 0.0004989022571358908,
      "loss": 0.2396,
      "step": 789
    },
    {
      "epoch": 0.17702490464437962,
      "gripper_loss": 0.48828125,
      "loss": 0.40234375,
      "pos_loss": 2.265625,
      "rot_loss": 0.9765625,
      "step": 789
    },
    {
      "epoch": 0.17724927080996186,
      "grad_norm": 1.763685703277588,
      "learning_rate": 0.000498896580898853,
      "loss": 0.3158,
      "step": 790
    },
    {
      "epoch": 0.17724927080996186,
      "gripper_loss": 0.419921875,
      "loss": 0.134765625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.267578125,
      "step": 790
    },
    {
      "epoch": 0.17747363697554408,
      "grad_norm": 1.4276634454727173,
      "learning_rate": 0.0004988908900566762,
      "loss": 0.1697,
      "step": 791
    },
    {
      "epoch": 0.17747363697554408,
      "gripper_loss": 0.283203125,
      "loss": 0.330078125,
      "pos_loss": 1.15625,
      "rot_loss": 1.015625,
      "step": 791
    },
    {
      "epoch": 0.17769800314112633,
      "grad_norm": 1.7096889019012451,
      "learning_rate": 0.0004988851846096944,
      "loss": 0.1996,
      "step": 792
    },
    {
      "epoch": 0.17769800314112633,
      "gripper_loss": 0.220703125,
      "loss": 0.30859375,
      "pos_loss": 2.125,
      "rot_loss": 0.515625,
      "step": 792
    },
    {
      "epoch": 0.17792236930670854,
      "grad_norm": 1.3495535850524902,
      "learning_rate": 0.0004988794645582424,
      "loss": 0.2339,
      "step": 793
    },
    {
      "epoch": 0.17792236930670854,
      "gripper_loss": 1.203125,
      "loss": 0.09716796875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.1953125,
      "step": 793
    },
    {
      "epoch": 0.1781467354722908,
      "grad_norm": 1.3950986862182617,
      "learning_rate": 0.0004988737299026558,
      "loss": 0.154,
      "step": 794
    },
    {
      "epoch": 0.1781467354722908,
      "gripper_loss": 0.490234375,
      "loss": 0.2412109375,
      "pos_loss": 0.546875,
      "rot_loss": 0.5625,
      "step": 794
    },
    {
      "epoch": 0.178371101637873,
      "grad_norm": 1.8839057683944702,
      "learning_rate": 0.0004988679806432712,
      "loss": 0.2885,
      "step": 795
    },
    {
      "epoch": 0.178371101637873,
      "gripper_loss": 2.28125,
      "loss": 0.31640625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.384765625,
      "step": 795
    },
    {
      "epoch": 0.17859546780345523,
      "grad_norm": 2.2293779850006104,
      "learning_rate": 0.0004988622167804257,
      "loss": 0.3406,
      "step": 796
    },
    {
      "epoch": 0.17859546780345523,
      "gripper_loss": 0.40234375,
      "loss": 0.671875,
      "pos_loss": 2.34375,
      "rot_loss": 0.828125,
      "step": 796
    },
    {
      "epoch": 0.17881983396903747,
      "grad_norm": 2.055248737335205,
      "learning_rate": 0.000498856438314458,
      "loss": 0.6001,
      "step": 797
    },
    {
      "epoch": 0.17881983396903747,
      "gripper_loss": 0.2578125,
      "loss": 0.19921875,
      "pos_loss": 0.95703125,
      "rot_loss": 0.423828125,
      "step": 797
    },
    {
      "epoch": 0.1790442001346197,
      "grad_norm": 1.7910282611846924,
      "learning_rate": 0.0004988506452457066,
      "loss": 0.1721,
      "step": 798
    },
    {
      "epoch": 0.1790442001346197,
      "gripper_loss": 0.033447265625,
      "loss": 0.2158203125,
      "pos_loss": 0.8515625,
      "rot_loss": 1.0703125,
      "step": 798
    },
    {
      "epoch": 0.17926856630020194,
      "grad_norm": 1.4977483749389648,
      "learning_rate": 0.0004988448375745118,
      "loss": 0.2066,
      "step": 799
    },
    {
      "epoch": 0.17926856630020194,
      "gripper_loss": 1.9296875,
      "loss": 0.1337890625,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.2578125,
      "step": 799
    },
    {
      "epoch": 0.17949293246578416,
      "grad_norm": 1.2183399200439453,
      "learning_rate": 0.0004988390153012143,
      "loss": 0.1726,
      "step": 800
    },
    {
      "epoch": 0.17949293246578416,
      "gripper_loss": 1.28125,
      "loss": 0.1474609375,
      "pos_loss": 0.53125,
      "rot_loss": 0.2236328125,
      "step": 800
    },
    {
      "epoch": 0.1797172986313664,
      "grad_norm": 1.3899539709091187,
      "learning_rate": 0.0004988331784261559,
      "loss": 0.2412,
      "step": 801
    },
    {
      "epoch": 0.1797172986313664,
      "gripper_loss": 0.5234375,
      "loss": 0.5625,
      "pos_loss": 1.53125,
      "rot_loss": 0.5859375,
      "step": 801
    },
    {
      "epoch": 0.17994166479694862,
      "grad_norm": 2.0206480026245117,
      "learning_rate": 0.0004988273269496789,
      "loss": 0.5615,
      "step": 802
    },
    {
      "epoch": 0.17994166479694862,
      "gripper_loss": 0.23828125,
      "loss": 0.357421875,
      "pos_loss": 1.5625,
      "rot_loss": 1.40625,
      "step": 802
    },
    {
      "epoch": 0.18016603096253084,
      "grad_norm": 1.5674339532852173,
      "learning_rate": 0.0004988214608721267,
      "loss": 0.2179,
      "step": 803
    },
    {
      "epoch": 0.18016603096253084,
      "gripper_loss": 0.73828125,
      "loss": 0.1630859375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.224609375,
      "step": 803
    },
    {
      "epoch": 0.18039039712811308,
      "grad_norm": 1.7148325443267822,
      "learning_rate": 0.0004988155801938435,
      "loss": 0.2099,
      "step": 804
    },
    {
      "epoch": 0.18039039712811308,
      "gripper_loss": 0.796875,
      "loss": 0.16796875,
      "pos_loss": 0.65625,
      "rot_loss": 0.16796875,
      "step": 804
    },
    {
      "epoch": 0.1806147632936953,
      "grad_norm": 2.207577705383301,
      "learning_rate": 0.0004988096849151744,
      "loss": 0.2006,
      "step": 805
    },
    {
      "epoch": 0.1806147632936953,
      "gripper_loss": 0.30078125,
      "loss": 0.28515625,
      "pos_loss": 1.2109375,
      "rot_loss": 0.9765625,
      "step": 805
    },
    {
      "epoch": 0.18083912945927755,
      "grad_norm": 1.7484915256500244,
      "learning_rate": 0.0004988037750364655,
      "loss": 0.2301,
      "step": 806
    },
    {
      "epoch": 0.18083912945927755,
      "gripper_loss": 0.6875,
      "loss": 0.10693359375,
      "pos_loss": 0.3125,
      "rot_loss": 0.2119140625,
      "step": 806
    },
    {
      "epoch": 0.18106349562485977,
      "grad_norm": 1.5086486339569092,
      "learning_rate": 0.0004987978505580634,
      "loss": 0.205,
      "step": 807
    },
    {
      "epoch": 0.18106349562485977,
      "gripper_loss": 0.038330078125,
      "loss": 0.361328125,
      "pos_loss": 2.25,
      "rot_loss": 1.328125,
      "step": 807
    },
    {
      "epoch": 0.181287861790442,
      "grad_norm": 1.5629433393478394,
      "learning_rate": 0.0004987919114803157,
      "loss": 0.2266,
      "step": 808
    },
    {
      "epoch": 0.181287861790442,
      "gripper_loss": 0.75390625,
      "loss": 0.08251953125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.20703125,
      "step": 808
    },
    {
      "epoch": 0.18151222795602423,
      "grad_norm": 1.3410964012145996,
      "learning_rate": 0.000498785957803571,
      "loss": 0.1721,
      "step": 809
    },
    {
      "epoch": 0.18151222795602423,
      "gripper_loss": 0.8984375,
      "loss": 0.09716796875,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.1806640625,
      "step": 809
    },
    {
      "epoch": 0.18173659412160645,
      "grad_norm": 1.567552924156189,
      "learning_rate": 0.0004987799895281787,
      "loss": 0.175,
      "step": 810
    },
    {
      "epoch": 0.18173659412160645,
      "gripper_loss": 0.423828125,
      "loss": 0.12109375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.1611328125,
      "step": 810
    },
    {
      "epoch": 0.1819609602871887,
      "grad_norm": 2.215663194656372,
      "learning_rate": 0.000498774006654489,
      "loss": 0.2797,
      "step": 811
    },
    {
      "epoch": 0.1819609602871887,
      "gripper_loss": 0.06884765625,
      "loss": 0.171875,
      "pos_loss": 0.59375,
      "rot_loss": 0.828125,
      "step": 811
    },
    {
      "epoch": 0.1821853264527709,
      "grad_norm": 1.9086241722106934,
      "learning_rate": 0.000498768009182853,
      "loss": 0.2664,
      "step": 812
    },
    {
      "epoch": 0.1821853264527709,
      "gripper_loss": 0.07177734375,
      "loss": 0.251953125,
      "pos_loss": 1.25,
      "rot_loss": 0.89453125,
      "step": 812
    },
    {
      "epoch": 0.18240969261835316,
      "grad_norm": 1.8605527877807617,
      "learning_rate": 0.0004987619971136224,
      "loss": 0.2072,
      "step": 813
    },
    {
      "epoch": 0.18240969261835316,
      "gripper_loss": 0.318359375,
      "loss": 0.103515625,
      "pos_loss": 0.259765625,
      "rot_loss": 0.4765625,
      "step": 813
    },
    {
      "epoch": 0.18263405878393538,
      "grad_norm": 1.1625194549560547,
      "learning_rate": 0.0004987559704471502,
      "loss": 0.1536,
      "step": 814
    },
    {
      "epoch": 0.18263405878393538,
      "gripper_loss": 0.234375,
      "loss": 0.076171875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.087890625,
      "step": 814
    },
    {
      "epoch": 0.18285842494951762,
      "grad_norm": 1.0469722747802734,
      "learning_rate": 0.0004987499291837901,
      "loss": 0.2125,
      "step": 815
    },
    {
      "epoch": 0.18285842494951762,
      "gripper_loss": 0.4765625,
      "loss": 0.2578125,
      "pos_loss": 1.1796875,
      "rot_loss": 0.28515625,
      "step": 815
    },
    {
      "epoch": 0.18308279111509984,
      "grad_norm": 2.1561293601989746,
      "learning_rate": 0.0004987438733238962,
      "loss": 0.3229,
      "step": 816
    },
    {
      "epoch": 0.18308279111509984,
      "gripper_loss": 1.1796875,
      "loss": 0.09326171875,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.0810546875,
      "step": 816
    },
    {
      "epoch": 0.18330715728068206,
      "grad_norm": 1.2820082902908325,
      "learning_rate": 0.0004987378028678245,
      "loss": 0.1967,
      "step": 817
    },
    {
      "epoch": 0.18330715728068206,
      "gripper_loss": 1.0859375,
      "loss": 0.1376953125,
      "pos_loss": 0.328125,
      "rot_loss": 0.4296875,
      "step": 817
    },
    {
      "epoch": 0.1835315234462643,
      "grad_norm": 1.4401166439056396,
      "learning_rate": 0.0004987317178159306,
      "loss": 0.1765,
      "step": 818
    },
    {
      "epoch": 0.1835315234462643,
      "gripper_loss": 0.72265625,
      "loss": 0.2119140625,
      "pos_loss": 1.21875,
      "rot_loss": 0.302734375,
      "step": 818
    },
    {
      "epoch": 0.18375588961184652,
      "grad_norm": 1.2352534532546997,
      "learning_rate": 0.000498725618168572,
      "loss": 0.1793,
      "step": 819
    },
    {
      "epoch": 0.18375588961184652,
      "gripper_loss": 0.26171875,
      "loss": 0.11279296875,
      "pos_loss": 0.34375,
      "rot_loss": 0.3671875,
      "step": 819
    },
    {
      "epoch": 0.18398025577742877,
      "grad_norm": 1.171286702156067,
      "learning_rate": 0.0004987195039261065,
      "loss": 0.1762,
      "step": 820
    },
    {
      "epoch": 0.18398025577742877,
      "gripper_loss": 0.3984375,
      "loss": 0.1171875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.1630859375,
      "step": 820
    },
    {
      "epoch": 0.184204621943011,
      "grad_norm": 1.2810192108154297,
      "learning_rate": 0.0004987133750888927,
      "loss": 0.2357,
      "step": 821
    },
    {
      "epoch": 0.184204621943011,
      "gripper_loss": 0.25390625,
      "loss": 0.1884765625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.78515625,
      "step": 821
    },
    {
      "epoch": 0.18442898810859323,
      "grad_norm": 1.238339900970459,
      "learning_rate": 0.0004987072316572904,
      "loss": 0.1872,
      "step": 822
    },
    {
      "epoch": 0.18442898810859323,
      "gripper_loss": 0.5546875,
      "loss": 0.1572265625,
      "pos_loss": 1.09375,
      "rot_loss": 0.15234375,
      "step": 822
    },
    {
      "epoch": 0.18465335427417545,
      "grad_norm": 1.0109103918075562,
      "learning_rate": 0.00049870107363166,
      "loss": 0.1327,
      "step": 823
    },
    {
      "epoch": 0.18465335427417545,
      "gripper_loss": 1.421875,
      "loss": 0.1298828125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.208984375,
      "step": 823
    },
    {
      "epoch": 0.1848777204397577,
      "grad_norm": 1.4648839235305786,
      "learning_rate": 0.0004986949010123631,
      "loss": 0.2208,
      "step": 824
    },
    {
      "epoch": 0.1848777204397577,
      "gripper_loss": 0.5859375,
      "loss": 0.2060546875,
      "pos_loss": 1.3828125,
      "rot_loss": 0.302734375,
      "step": 824
    },
    {
      "epoch": 0.18510208660533992,
      "grad_norm": 1.276405692100525,
      "learning_rate": 0.0004986887137997615,
      "loss": 0.2506,
      "step": 825
    },
    {
      "epoch": 0.18510208660533992,
      "gripper_loss": 0.86328125,
      "loss": 0.431640625,
      "pos_loss": 0.8125,
      "rot_loss": 1.0390625,
      "step": 825
    },
    {
      "epoch": 0.18532645277092213,
      "grad_norm": 2.3835484981536865,
      "learning_rate": 0.0004986825119942186,
      "loss": 0.4238,
      "step": 826
    },
    {
      "epoch": 0.18532645277092213,
      "gripper_loss": 0.08154296875,
      "loss": 0.458984375,
      "pos_loss": 2.671875,
      "rot_loss": 1.921875,
      "step": 826
    },
    {
      "epoch": 0.18555081893650438,
      "grad_norm": 2.173006772994995,
      "learning_rate": 0.0004986762955960981,
      "loss": 0.277,
      "step": 827
    },
    {
      "epoch": 0.18555081893650438,
      "gripper_loss": 1.8203125,
      "loss": 0.1279296875,
      "pos_loss": 0.154296875,
      "rot_loss": 0.287109375,
      "step": 827
    },
    {
      "epoch": 0.1857751851020866,
      "grad_norm": 1.253072738647461,
      "learning_rate": 0.0004986700646057651,
      "loss": 0.1821,
      "step": 828
    },
    {
      "epoch": 0.1857751851020866,
      "gripper_loss": 0.39453125,
      "loss": 0.2236328125,
      "pos_loss": 1.3515625,
      "rot_loss": 0.53515625,
      "step": 828
    },
    {
      "epoch": 0.18599955126766884,
      "grad_norm": 1.6319478750228882,
      "learning_rate": 0.0004986638190235848,
      "loss": 0.2028,
      "step": 829
    },
    {
      "epoch": 0.18599955126766884,
      "gripper_loss": 0.1708984375,
      "loss": 0.1953125,
      "pos_loss": 1.140625,
      "rot_loss": 0.46875,
      "step": 829
    },
    {
      "epoch": 0.18622391743325106,
      "grad_norm": 1.0349429845809937,
      "learning_rate": 0.000498657558849924,
      "loss": 0.1732,
      "step": 830
    },
    {
      "epoch": 0.18622391743325106,
      "gripper_loss": 0.042236328125,
      "loss": 0.55078125,
      "pos_loss": 1.734375,
      "rot_loss": 3.90625,
      "step": 830
    },
    {
      "epoch": 0.1864482835988333,
      "grad_norm": 1.309287190437317,
      "learning_rate": 0.00049865128408515,
      "loss": 0.2401,
      "step": 831
    },
    {
      "epoch": 0.1864482835988333,
      "gripper_loss": 0.61328125,
      "loss": 0.11474609375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.1787109375,
      "step": 831
    },
    {
      "epoch": 0.18667264976441553,
      "grad_norm": 1.3991117477416992,
      "learning_rate": 0.0004986449947296308,
      "loss": 0.207,
      "step": 832
    },
    {
      "epoch": 0.18667264976441553,
      "gripper_loss": 0.359375,
      "loss": 0.138671875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.38671875,
      "step": 832
    },
    {
      "epoch": 0.18689701592999775,
      "grad_norm": 1.661575198173523,
      "learning_rate": 0.0004986386907837357,
      "loss": 0.2594,
      "step": 833
    },
    {
      "epoch": 0.18689701592999775,
      "gripper_loss": 0.73046875,
      "loss": 0.24609375,
      "pos_loss": 1.234375,
      "rot_loss": 0.62109375,
      "step": 833
    },
    {
      "epoch": 0.18712138209558,
      "grad_norm": 1.6245296001434326,
      "learning_rate": 0.0004986323722478345,
      "loss": 0.2291,
      "step": 834
    },
    {
      "epoch": 0.18712138209558,
      "gripper_loss": 0.31640625,
      "loss": 0.36328125,
      "pos_loss": 1.6484375,
      "rot_loss": 1.7890625,
      "step": 834
    },
    {
      "epoch": 0.1873457482611622,
      "grad_norm": 1.6153740882873535,
      "learning_rate": 0.000498626039122298,
      "loss": 0.2734,
      "step": 835
    },
    {
      "epoch": 0.1873457482611622,
      "gripper_loss": 1.5390625,
      "loss": 0.140625,
      "pos_loss": 0.20703125,
      "rot_loss": 0.357421875,
      "step": 835
    },
    {
      "epoch": 0.18757011442674446,
      "grad_norm": 1.426707148551941,
      "learning_rate": 0.0004986196914074977,
      "loss": 0.2518,
      "step": 836
    },
    {
      "epoch": 0.18757011442674446,
      "gripper_loss": 0.62890625,
      "loss": 0.255859375,
      "pos_loss": 1.15625,
      "rot_loss": 0.80078125,
      "step": 836
    },
    {
      "epoch": 0.18779448059232667,
      "grad_norm": 1.5925090312957764,
      "learning_rate": 0.0004986133291038063,
      "loss": 0.2502,
      "step": 837
    },
    {
      "epoch": 0.18779448059232667,
      "gripper_loss": 0.330078125,
      "loss": 0.08154296875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.1533203125,
      "step": 837
    },
    {
      "epoch": 0.18801884675790892,
      "grad_norm": 1.2016345262527466,
      "learning_rate": 0.000498606952211597,
      "loss": 0.2159,
      "step": 838
    },
    {
      "epoch": 0.18801884675790892,
      "gripper_loss": 0.8671875,
      "loss": 0.490234375,
      "pos_loss": 0.578125,
      "rot_loss": 1.8359375,
      "step": 838
    },
    {
      "epoch": 0.18824321292349114,
      "grad_norm": 2.9756057262420654,
      "learning_rate": 0.000498600560731244,
      "loss": 0.5061,
      "step": 839
    },
    {
      "epoch": 0.18824321292349114,
      "gripper_loss": 0.11376953125,
      "loss": 0.419921875,
      "pos_loss": 1.1328125,
      "rot_loss": 2.890625,
      "step": 839
    },
    {
      "epoch": 0.18846757908907336,
      "grad_norm": 1.5485188961029053,
      "learning_rate": 0.0004985941546631223,
      "loss": 0.2314,
      "step": 840
    },
    {
      "epoch": 0.18846757908907336,
      "gripper_loss": 0.11962890625,
      "loss": 0.30859375,
      "pos_loss": 2.03125,
      "rot_loss": 0.7265625,
      "step": 840
    },
    {
      "epoch": 0.1886919452546556,
      "grad_norm": 1.230033278465271,
      "learning_rate": 0.0004985877340076079,
      "loss": 0.224,
      "step": 841
    },
    {
      "epoch": 0.1886919452546556,
      "gripper_loss": 0.53125,
      "loss": 0.2216796875,
      "pos_loss": 1.6640625,
      "rot_loss": 0.294921875,
      "step": 841
    },
    {
      "epoch": 0.18891631142023782,
      "grad_norm": 1.3093782663345337,
      "learning_rate": 0.0004985812987650777,
      "loss": 0.1848,
      "step": 842
    },
    {
      "epoch": 0.18891631142023782,
      "gripper_loss": 0.353515625,
      "loss": 0.2236328125,
      "pos_loss": 1.28125,
      "rot_loss": 0.546875,
      "step": 842
    },
    {
      "epoch": 0.18914067758582007,
      "grad_norm": 1.0256584882736206,
      "learning_rate": 0.000498574848935909,
      "loss": 0.2084,
      "step": 843
    },
    {
      "epoch": 0.18914067758582007,
      "gripper_loss": 1.0625,
      "loss": 0.09375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.1396484375,
      "step": 843
    },
    {
      "epoch": 0.18936504375140228,
      "grad_norm": 1.2053470611572266,
      "learning_rate": 0.0004985683845204805,
      "loss": 0.1902,
      "step": 844
    },
    {
      "epoch": 0.18936504375140228,
      "gripper_loss": 0.0703125,
      "loss": 0.421875,
      "pos_loss": 2.53125,
      "rot_loss": 1.625,
      "step": 844
    },
    {
      "epoch": 0.18958940991698453,
      "grad_norm": 1.682759404182434,
      "learning_rate": 0.0004985619055191714,
      "loss": 0.2575,
      "step": 845
    },
    {
      "epoch": 0.18958940991698453,
      "gripper_loss": 1.109375,
      "loss": 0.59765625,
      "pos_loss": 1.8671875,
      "rot_loss": 0.87109375,
      "step": 845
    },
    {
      "epoch": 0.18981377608256675,
      "grad_norm": 2.5685908794403076,
      "learning_rate": 0.0004985554119323618,
      "loss": 0.4963,
      "step": 846
    },
    {
      "epoch": 0.18981377608256675,
      "gripper_loss": 0.28125,
      "loss": 0.2373046875,
      "pos_loss": 0.89453125,
      "rot_loss": 1.3359375,
      "step": 846
    },
    {
      "epoch": 0.19003814224814897,
      "grad_norm": 1.291789174079895,
      "learning_rate": 0.000498548903760433,
      "loss": 0.2398,
      "step": 847
    },
    {
      "epoch": 0.19003814224814897,
      "gripper_loss": 0.51953125,
      "loss": 0.154296875,
      "pos_loss": 0.78125,
      "rot_loss": 0.4375,
      "step": 847
    },
    {
      "epoch": 0.1902625084137312,
      "grad_norm": 1.133325219154358,
      "learning_rate": 0.0004985423810037669,
      "loss": 0.2795,
      "step": 848
    },
    {
      "epoch": 0.1902625084137312,
      "gripper_loss": 0.447265625,
      "loss": 0.404296875,
      "pos_loss": 0.98828125,
      "rot_loss": 1.4296875,
      "step": 848
    },
    {
      "epoch": 0.19048687457931343,
      "grad_norm": 1.9274276494979858,
      "learning_rate": 0.0004985358436627459,
      "loss": 0.4097,
      "step": 849
    },
    {
      "epoch": 0.19048687457931343,
      "gripper_loss": 0.6484375,
      "loss": 0.224609375,
      "pos_loss": 1.546875,
      "rot_loss": 0.326171875,
      "step": 849
    },
    {
      "epoch": 0.19071124074489568,
      "grad_norm": 1.1397725343704224,
      "learning_rate": 0.0004985292917377541,
      "loss": 0.225,
      "step": 850
    },
    {
      "epoch": 0.19071124074489568,
      "gripper_loss": 0.396484375,
      "loss": 0.228515625,
      "pos_loss": 0.43359375,
      "rot_loss": 0.64453125,
      "step": 850
    },
    {
      "epoch": 0.1909356069104779,
      "grad_norm": 1.683274269104004,
      "learning_rate": 0.0004985227252291755,
      "loss": 0.3625,
      "step": 851
    },
    {
      "epoch": 0.1909356069104779,
      "gripper_loss": 0.1494140625,
      "loss": 0.255859375,
      "pos_loss": 1.4140625,
      "rot_loss": 0.984375,
      "step": 851
    },
    {
      "epoch": 0.19115997307606014,
      "grad_norm": 1.3399438858032227,
      "learning_rate": 0.0004985161441373957,
      "loss": 0.2569,
      "step": 852
    },
    {
      "epoch": 0.19115997307606014,
      "gripper_loss": 0.302734375,
      "loss": 0.1611328125,
      "pos_loss": 0.734375,
      "rot_loss": 0.2734375,
      "step": 852
    },
    {
      "epoch": 0.19138433924164236,
      "grad_norm": 1.6587318181991577,
      "learning_rate": 0.0004985095484628007,
      "loss": 0.1751,
      "step": 853
    },
    {
      "epoch": 0.19138433924164236,
      "gripper_loss": 0.50390625,
      "loss": 0.2216796875,
      "pos_loss": 0.95703125,
      "rot_loss": 1.0,
      "step": 853
    },
    {
      "epoch": 0.19160870540722458,
      "grad_norm": 1.4578725099563599,
      "learning_rate": 0.0004985029382057778,
      "loss": 0.2887,
      "step": 854
    },
    {
      "epoch": 0.19160870540722458,
      "gripper_loss": 0.51953125,
      "loss": 0.337890625,
      "pos_loss": 0.5859375,
      "rot_loss": 2.0625,
      "step": 854
    },
    {
      "epoch": 0.19183307157280682,
      "grad_norm": 1.804276704788208,
      "learning_rate": 0.0004984963133667145,
      "loss": 0.271,
      "step": 855
    },
    {
      "epoch": 0.19183307157280682,
      "gripper_loss": 0.58984375,
      "loss": 0.1259765625,
      "pos_loss": 0.443359375,
      "rot_loss": 0.408203125,
      "step": 855
    },
    {
      "epoch": 0.19205743773838904,
      "grad_norm": 1.0780764818191528,
      "learning_rate": 0.0004984896739459999,
      "loss": 0.1731,
      "step": 856
    },
    {
      "epoch": 0.19205743773838904,
      "gripper_loss": 0.1611328125,
      "loss": 0.185546875,
      "pos_loss": 1.203125,
      "rot_loss": 0.474609375,
      "step": 856
    },
    {
      "epoch": 0.1922818039039713,
      "grad_norm": 1.37605881690979,
      "learning_rate": 0.0004984830199440234,
      "loss": 0.2012,
      "step": 857
    },
    {
      "epoch": 0.1922818039039713,
      "gripper_loss": 1.09375,
      "loss": 0.3515625,
      "pos_loss": 1.484375,
      "rot_loss": 0.53125,
      "step": 857
    },
    {
      "epoch": 0.1925061700695535,
      "grad_norm": 1.9881632328033447,
      "learning_rate": 0.0004984763513611755,
      "loss": 0.3018,
      "step": 858
    },
    {
      "epoch": 0.1925061700695535,
      "gripper_loss": 0.2001953125,
      "loss": 0.279296875,
      "pos_loss": 2.03125,
      "rot_loss": 0.375,
      "step": 858
    },
    {
      "epoch": 0.19273053623513575,
      "grad_norm": 1.4496687650680542,
      "learning_rate": 0.0004984696681978476,
      "loss": 0.1969,
      "step": 859
    },
    {
      "epoch": 0.19273053623513575,
      "gripper_loss": 0.296875,
      "loss": 0.318359375,
      "pos_loss": 1.0625,
      "rot_loss": 1.9140625,
      "step": 859
    },
    {
      "epoch": 0.19295490240071797,
      "grad_norm": 1.3632326126098633,
      "learning_rate": 0.0004984629704544316,
      "loss": 0.2054,
      "step": 860
    },
    {
      "epoch": 0.19295490240071797,
      "gripper_loss": 0.37109375,
      "loss": 0.416015625,
      "pos_loss": 2.046875,
      "rot_loss": 2.015625,
      "step": 860
    },
    {
      "epoch": 0.1931792685663002,
      "grad_norm": 1.6291216611862183,
      "learning_rate": 0.0004984562581313209,
      "loss": 0.181,
      "step": 861
    },
    {
      "epoch": 0.1931792685663002,
      "gripper_loss": 0.474609375,
      "loss": 0.4140625,
      "pos_loss": 1.34375,
      "rot_loss": 2.5625,
      "step": 861
    },
    {
      "epoch": 0.19340363473188243,
      "grad_norm": 1.2646806240081787,
      "learning_rate": 0.0004984495312289092,
      "loss": 0.2379,
      "step": 862
    },
    {
      "epoch": 0.19340363473188243,
      "gripper_loss": 0.88671875,
      "loss": 0.0849609375,
      "pos_loss": 0.23046875,
      "rot_loss": 0.1513671875,
      "step": 862
    },
    {
      "epoch": 0.19362800089746465,
      "grad_norm": 1.0736976861953735,
      "learning_rate": 0.000498442789747591,
      "loss": 0.1992,
      "step": 863
    },
    {
      "epoch": 0.19362800089746465,
      "gripper_loss": 0.84375,
      "loss": 0.34375,
      "pos_loss": 0.625,
      "rot_loss": 0.76953125,
      "step": 863
    },
    {
      "epoch": 0.1938523670630469,
      "grad_norm": 2.469356060028076,
      "learning_rate": 0.0004984360336877622,
      "loss": 0.4336,
      "step": 864
    },
    {
      "epoch": 0.1938523670630469,
      "gripper_loss": 0.65625,
      "loss": 0.29296875,
      "pos_loss": 0.75390625,
      "rot_loss": 0.80078125,
      "step": 864
    },
    {
      "epoch": 0.19407673322862912,
      "grad_norm": 1.9381511211395264,
      "learning_rate": 0.0004984292630498191,
      "loss": 0.3027,
      "step": 865
    },
    {
      "epoch": 0.19407673322862912,
      "gripper_loss": 0.408203125,
      "loss": 0.1962890625,
      "pos_loss": 1.0859375,
      "rot_loss": 0.4140625,
      "step": 865
    },
    {
      "epoch": 0.19430109939421136,
      "grad_norm": 1.738598108291626,
      "learning_rate": 0.0004984224778341592,
      "loss": 0.2061,
      "step": 866
    },
    {
      "epoch": 0.19430109939421136,
      "gripper_loss": 0.11474609375,
      "loss": 0.255859375,
      "pos_loss": 1.390625,
      "rot_loss": 0.86328125,
      "step": 866
    },
    {
      "epoch": 0.19452546555979358,
      "grad_norm": 1.375166416168213,
      "learning_rate": 0.0004984156780411803,
      "loss": 0.2302,
      "step": 867
    },
    {
      "epoch": 0.19452546555979358,
      "gripper_loss": 0.4765625,
      "loss": 0.2216796875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.263671875,
      "step": 867
    },
    {
      "epoch": 0.19474983172537583,
      "grad_norm": 2.0546791553497314,
      "learning_rate": 0.0004984088636712817,
      "loss": 0.3235,
      "step": 868
    },
    {
      "epoch": 0.19474983172537583,
      "gripper_loss": 0.2021484375,
      "loss": 0.1845703125,
      "pos_loss": 0.67578125,
      "rot_loss": 0.95703125,
      "step": 868
    },
    {
      "epoch": 0.19497419789095805,
      "grad_norm": 1.2595107555389404,
      "learning_rate": 0.0004984020347248631,
      "loss": 0.2131,
      "step": 869
    },
    {
      "epoch": 0.19497419789095805,
      "gripper_loss": 1.8671875,
      "loss": 0.40234375,
      "pos_loss": 1.4140625,
      "rot_loss": 1.90625,
      "step": 869
    },
    {
      "epoch": 0.19519856405654026,
      "grad_norm": 1.6507668495178223,
      "learning_rate": 0.0004983951912023253,
      "loss": 0.243,
      "step": 870
    },
    {
      "epoch": 0.19519856405654026,
      "gripper_loss": 0.70703125,
      "loss": 0.171875,
      "pos_loss": 0.353515625,
      "rot_loss": 0.369140625,
      "step": 870
    },
    {
      "epoch": 0.1954229302221225,
      "grad_norm": 1.8257442712783813,
      "learning_rate": 0.0004983883331040699,
      "loss": 0.2058,
      "step": 871
    },
    {
      "epoch": 0.1954229302221225,
      "gripper_loss": 0.734375,
      "loss": 0.59375,
      "pos_loss": 1.0546875,
      "rot_loss": 0.6640625,
      "step": 871
    },
    {
      "epoch": 0.19564729638770473,
      "grad_norm": 2.420741558074951,
      "learning_rate": 0.0004983814604304993,
      "loss": 0.5356,
      "step": 872
    },
    {
      "epoch": 0.19564729638770473,
      "gripper_loss": 0.31640625,
      "loss": 0.173828125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.8046875,
      "step": 872
    },
    {
      "epoch": 0.19587166255328697,
      "grad_norm": 1.5484566688537598,
      "learning_rate": 0.0004983745731820167,
      "loss": 0.219,
      "step": 873
    },
    {
      "epoch": 0.19587166255328697,
      "gripper_loss": 0.89453125,
      "loss": 0.27734375,
      "pos_loss": 1.078125,
      "rot_loss": 1.0625,
      "step": 873
    },
    {
      "epoch": 0.1960960287188692,
      "grad_norm": 1.5681467056274414,
      "learning_rate": 0.0004983676713590264,
      "loss": 0.1795,
      "step": 874
    },
    {
      "epoch": 0.1960960287188692,
      "gripper_loss": 0.039794921875,
      "loss": 0.47265625,
      "pos_loss": 3.453125,
      "rot_loss": 1.234375,
      "step": 874
    },
    {
      "epoch": 0.19632039488445144,
      "grad_norm": 1.7978917360305786,
      "learning_rate": 0.0004983607549619332,
      "loss": 0.3275,
      "step": 875
    },
    {
      "epoch": 0.19632039488445144,
      "gripper_loss": 0.65234375,
      "loss": 0.208984375,
      "pos_loss": 0.189453125,
      "rot_loss": 1.265625,
      "step": 875
    },
    {
      "epoch": 0.19654476105003366,
      "grad_norm": 1.4078272581100464,
      "learning_rate": 0.0004983538239911431,
      "loss": 0.2837,
      "step": 876
    },
    {
      "epoch": 0.19654476105003366,
      "gripper_loss": 1.1015625,
      "loss": 0.2373046875,
      "pos_loss": 1.46875,
      "rot_loss": 0.30859375,
      "step": 876
    },
    {
      "epoch": 0.19676912721561587,
      "grad_norm": 1.3387807607650757,
      "learning_rate": 0.0004983468784470629,
      "loss": 0.1906,
      "step": 877
    },
    {
      "epoch": 0.19676912721561587,
      "gripper_loss": 0.2392578125,
      "loss": 0.17578125,
      "pos_loss": 0.6640625,
      "rot_loss": 0.77734375,
      "step": 877
    },
    {
      "epoch": 0.19699349338119812,
      "grad_norm": 1.1266785860061646,
      "learning_rate": 0.0004983399183300999,
      "loss": 0.1773,
      "step": 878
    },
    {
      "epoch": 0.19699349338119812,
      "gripper_loss": 0.1767578125,
      "loss": 0.416015625,
      "pos_loss": 2.84375,
      "rot_loss": 1.28125,
      "step": 878
    },
    {
      "epoch": 0.19721785954678034,
      "grad_norm": 1.1687977313995361,
      "learning_rate": 0.0004983329436406627,
      "loss": 0.1841,
      "step": 879
    },
    {
      "epoch": 0.19721785954678034,
      "gripper_loss": 0.498046875,
      "loss": 0.14453125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.2412109375,
      "step": 879
    },
    {
      "epoch": 0.19744222571236258,
      "grad_norm": 1.7293989658355713,
      "learning_rate": 0.0004983259543791604,
      "loss": 0.2789,
      "step": 880
    },
    {
      "epoch": 0.19744222571236258,
      "gripper_loss": 0.380859375,
      "loss": 0.1279296875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.337890625,
      "step": 880
    },
    {
      "epoch": 0.1976665918779448,
      "grad_norm": 1.1419905424118042,
      "learning_rate": 0.0004983189505460034,
      "loss": 0.1907,
      "step": 881
    },
    {
      "epoch": 0.1976665918779448,
      "gripper_loss": 1.1796875,
      "loss": 0.197265625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.466796875,
      "step": 881
    },
    {
      "epoch": 0.19789095804352705,
      "grad_norm": 1.2901006937026978,
      "learning_rate": 0.0004983119321416024,
      "loss": 0.2129,
      "step": 882
    },
    {
      "epoch": 0.19789095804352705,
      "gripper_loss": 0.2099609375,
      "loss": 0.2255859375,
      "pos_loss": 1.6171875,
      "rot_loss": 0.328125,
      "step": 882
    },
    {
      "epoch": 0.19811532420910927,
      "grad_norm": 1.308946132659912,
      "learning_rate": 0.0004983048991663695,
      "loss": 0.1614,
      "step": 883
    },
    {
      "epoch": 0.19811532420910927,
      "gripper_loss": 0.5625,
      "loss": 0.2451171875,
      "pos_loss": 1.25,
      "rot_loss": 0.83984375,
      "step": 883
    },
    {
      "epoch": 0.19833969037469149,
      "grad_norm": 1.2783881425857544,
      "learning_rate": 0.0004982978516207172,
      "loss": 0.181,
      "step": 884
    },
    {
      "epoch": 0.19833969037469149,
      "gripper_loss": 1.296875,
      "loss": 0.20703125,
      "pos_loss": 0.79296875,
      "rot_loss": 0.478515625,
      "step": 884
    },
    {
      "epoch": 0.19856405654027373,
      "grad_norm": 1.6680618524551392,
      "learning_rate": 0.0004982907895050591,
      "loss": 0.2169,
      "step": 885
    },
    {
      "epoch": 0.19856405654027373,
      "gripper_loss": 0.42578125,
      "loss": 0.1494140625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.50390625,
      "step": 885
    },
    {
      "epoch": 0.19878842270585595,
      "grad_norm": 2.046785354614258,
      "learning_rate": 0.0004982837128198094,
      "loss": 0.2417,
      "step": 886
    },
    {
      "epoch": 0.19878842270585595,
      "gripper_loss": 0.89453125,
      "loss": 0.458984375,
      "pos_loss": 0.75390625,
      "rot_loss": 0.4375,
      "step": 886
    },
    {
      "epoch": 0.1990127888714382,
      "grad_norm": 2.44992995262146,
      "learning_rate": 0.0004982766215653838,
      "loss": 0.5173,
      "step": 887
    },
    {
      "epoch": 0.1990127888714382,
      "gripper_loss": 0.130859375,
      "loss": 0.10546875,
      "pos_loss": 0.47265625,
      "rot_loss": 0.1123046875,
      "step": 887
    },
    {
      "epoch": 0.1992371550370204,
      "grad_norm": 1.517579436302185,
      "learning_rate": 0.0004982695157421982,
      "loss": 0.2008,
      "step": 888
    },
    {
      "epoch": 0.1992371550370204,
      "gripper_loss": 0.2119140625,
      "loss": 0.25390625,
      "pos_loss": 0.828125,
      "rot_loss": 1.265625,
      "step": 888
    },
    {
      "epoch": 0.19946152120260266,
      "grad_norm": 1.275780439376831,
      "learning_rate": 0.0004982623953506694,
      "loss": 0.2053,
      "step": 889
    },
    {
      "epoch": 0.19946152120260266,
      "gripper_loss": 1.5859375,
      "loss": 0.11767578125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.154296875,
      "step": 889
    },
    {
      "epoch": 0.19968588736818488,
      "grad_norm": 1.342456340789795,
      "learning_rate": 0.0004982552603912154,
      "loss": 0.2363,
      "step": 890
    },
    {
      "epoch": 0.19968588736818488,
      "gripper_loss": 0.73828125,
      "loss": 0.087890625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.171875,
      "step": 890
    },
    {
      "epoch": 0.1999102535337671,
      "grad_norm": 0.9781007170677185,
      "learning_rate": 0.0004982481108642548,
      "loss": 0.1577,
      "step": 891
    },
    {
      "epoch": 0.1999102535337671,
      "gripper_loss": 0.59765625,
      "loss": 0.37109375,
      "pos_loss": 1.265625,
      "rot_loss": 0.75390625,
      "step": 891
    },
    {
      "epoch": 0.20013461969934934,
      "grad_norm": 1.9523934125900269,
      "learning_rate": 0.0004982409467702072,
      "loss": 0.4238,
      "step": 892
    },
    {
      "epoch": 0.20013461969934934,
      "gripper_loss": 0.6796875,
      "loss": 0.2177734375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.53515625,
      "step": 892
    },
    {
      "epoch": 0.20035898586493156,
      "grad_norm": 1.7215620279312134,
      "learning_rate": 0.000498233768109493,
      "loss": 0.3019,
      "step": 893
    },
    {
      "epoch": 0.20035898586493156,
      "gripper_loss": 0.56640625,
      "loss": 0.423828125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.384765625,
      "step": 893
    },
    {
      "epoch": 0.2005833520305138,
      "grad_norm": 1.9451560974121094,
      "learning_rate": 0.0004982265748825333,
      "loss": 0.5032,
      "step": 894
    },
    {
      "epoch": 0.2005833520305138,
      "gripper_loss": 0.111328125,
      "loss": 0.23828125,
      "pos_loss": 1.75,
      "rot_loss": 0.2392578125,
      "step": 894
    },
    {
      "epoch": 0.20080771819609602,
      "grad_norm": 1.680505633354187,
      "learning_rate": 0.0004982193670897504,
      "loss": 0.224,
      "step": 895
    },
    {
      "epoch": 0.20080771819609602,
      "gripper_loss": 1.46875,
      "loss": 0.423828125,
      "pos_loss": 0.421875,
      "rot_loss": 0.9921875,
      "step": 895
    },
    {
      "epoch": 0.20103208436167827,
      "grad_norm": 3.146857738494873,
      "learning_rate": 0.0004982121447315671,
      "loss": 0.4551,
      "step": 896
    },
    {
      "epoch": 0.20103208436167827,
      "gripper_loss": 0.7421875,
      "loss": 0.1533203125,
      "pos_loss": 0.625,
      "rot_loss": 0.298828125,
      "step": 896
    },
    {
      "epoch": 0.2012564505272605,
      "grad_norm": 1.8374122381210327,
      "learning_rate": 0.0004982049078084071,
      "loss": 0.2252,
      "step": 897
    },
    {
      "epoch": 0.2012564505272605,
      "gripper_loss": 0.498046875,
      "loss": 0.337890625,
      "pos_loss": 1.6875,
      "rot_loss": 0.578125,
      "step": 897
    },
    {
      "epoch": 0.2014808166928427,
      "grad_norm": 2.0763473510742188,
      "learning_rate": 0.0004981976563206954,
      "loss": 0.256,
      "step": 898
    },
    {
      "epoch": 0.2014808166928427,
      "gripper_loss": 0.2353515625,
      "loss": 0.18359375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.25390625,
      "step": 898
    },
    {
      "epoch": 0.20170518285842495,
      "grad_norm": 1.4493918418884277,
      "learning_rate": 0.0004981903902688572,
      "loss": 0.21,
      "step": 899
    },
    {
      "epoch": 0.20170518285842495,
      "gripper_loss": 0.05859375,
      "loss": 0.265625,
      "pos_loss": 0.64453125,
      "rot_loss": 1.1015625,
      "step": 899
    },
    {
      "epoch": 0.20192954902400717,
      "grad_norm": 1.6962907314300537,
      "learning_rate": 0.000498183109653319,
      "loss": 0.2428,
      "step": 900
    },
    {
      "epoch": 0.20192954902400717,
      "gripper_loss": 0.890625,
      "loss": 0.212890625,
      "pos_loss": 1.078125,
      "rot_loss": 0.349609375,
      "step": 900
    },
    {
      "epoch": 0.20215391518958942,
      "grad_norm": 1.676698923110962,
      "learning_rate": 0.000498175814474508,
      "loss": 0.1848,
      "step": 901
    },
    {
      "epoch": 0.20215391518958942,
      "gripper_loss": 0.75,
      "loss": 0.57421875,
      "pos_loss": 0.9140625,
      "rot_loss": 1.7421875,
      "step": 901
    },
    {
      "epoch": 0.20237828135517164,
      "grad_norm": 2.8060779571533203,
      "learning_rate": 0.0004981685047328523,
      "loss": 0.5107,
      "step": 902
    },
    {
      "epoch": 0.20237828135517164,
      "gripper_loss": 0.326171875,
      "loss": 0.39453125,
      "pos_loss": 3.03125,
      "rot_loss": 0.228515625,
      "step": 902
    },
    {
      "epoch": 0.20260264752075388,
      "grad_norm": 2.511402130126953,
      "learning_rate": 0.0004981611804287809,
      "loss": 0.2687,
      "step": 903
    },
    {
      "epoch": 0.20260264752075388,
      "gripper_loss": 0.52734375,
      "loss": 0.267578125,
      "pos_loss": 1.84375,
      "rot_loss": 0.21484375,
      "step": 903
    },
    {
      "epoch": 0.2028270136863361,
      "grad_norm": 1.91046941280365,
      "learning_rate": 0.0004981538415627234,
      "loss": 0.2264,
      "step": 904
    },
    {
      "epoch": 0.2028270136863361,
      "gripper_loss": 0.3203125,
      "loss": 0.193359375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.365234375,
      "step": 904
    },
    {
      "epoch": 0.20305137985191832,
      "grad_norm": 1.9679853916168213,
      "learning_rate": 0.0004981464881351105,
      "loss": 0.2336,
      "step": 905
    },
    {
      "epoch": 0.20305137985191832,
      "gripper_loss": 0.3515625,
      "loss": 0.2431640625,
      "pos_loss": 1.140625,
      "rot_loss": 0.93359375,
      "step": 905
    },
    {
      "epoch": 0.20327574601750056,
      "grad_norm": 1.4318716526031494,
      "learning_rate": 0.0004981391201463738,
      "loss": 0.1986,
      "step": 906
    },
    {
      "epoch": 0.20327574601750056,
      "gripper_loss": 1.5234375,
      "loss": 0.1728515625,
      "pos_loss": 0.240234375,
      "rot_loss": 0.328125,
      "step": 906
    },
    {
      "epoch": 0.20350011218308278,
      "grad_norm": 1.6891756057739258,
      "learning_rate": 0.0004981317375969457,
      "loss": 0.2031,
      "step": 907
    },
    {
      "epoch": 0.20350011218308278,
      "gripper_loss": 1.8515625,
      "loss": 0.25,
      "pos_loss": 0.94140625,
      "rot_loss": 0.69921875,
      "step": 907
    },
    {
      "epoch": 0.20372447834866503,
      "grad_norm": 1.0173122882843018,
      "learning_rate": 0.0004981243404872592,
      "loss": 0.1509,
      "step": 908
    },
    {
      "epoch": 0.20372447834866503,
      "gripper_loss": 0.439453125,
      "loss": 0.3828125,
      "pos_loss": 0.828125,
      "rot_loss": 0.451171875,
      "step": 908
    },
    {
      "epoch": 0.20394884451424725,
      "grad_norm": 2.3255693912506104,
      "learning_rate": 0.0004981169288177485,
      "loss": 0.439,
      "step": 909
    },
    {
      "epoch": 0.20394884451424725,
      "gripper_loss": 0.470703125,
      "loss": 0.08837890625,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.177734375,
      "step": 909
    },
    {
      "epoch": 0.2041732106798295,
      "grad_norm": 1.510347843170166,
      "learning_rate": 0.0004981095025888484,
      "loss": 0.1768,
      "step": 910
    },
    {
      "epoch": 0.2041732106798295,
      "gripper_loss": 0.482421875,
      "loss": 0.12255859375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.43359375,
      "step": 910
    },
    {
      "epoch": 0.2043975768454117,
      "grad_norm": 1.4124605655670166,
      "learning_rate": 0.0004981020618009948,
      "loss": 0.2161,
      "step": 911
    },
    {
      "epoch": 0.2043975768454117,
      "gripper_loss": 0.439453125,
      "loss": 0.1767578125,
      "pos_loss": 0.8203125,
      "rot_loss": 0.640625,
      "step": 911
    },
    {
      "epoch": 0.20462194301099393,
      "grad_norm": 1.2304821014404297,
      "learning_rate": 0.0004980946064546242,
      "loss": 0.1643,
      "step": 912
    },
    {
      "epoch": 0.20462194301099393,
      "gripper_loss": 0.1953125,
      "loss": 0.1845703125,
      "pos_loss": 0.8515625,
      "rot_loss": 0.69921875,
      "step": 912
    },
    {
      "epoch": 0.20484630917657617,
      "grad_norm": 1.4770201444625854,
      "learning_rate": 0.0004980871365501742,
      "loss": 0.2363,
      "step": 913
    },
    {
      "epoch": 0.20484630917657617,
      "gripper_loss": 0.390625,
      "loss": 0.130859375,
      "pos_loss": 0.2890625,
      "rot_loss": 0.42578125,
      "step": 913
    },
    {
      "epoch": 0.2050706753421584,
      "grad_norm": 1.6827309131622314,
      "learning_rate": 0.0004980796520880831,
      "loss": 0.1652,
      "step": 914
    },
    {
      "epoch": 0.2050706753421584,
      "gripper_loss": 1.03125,
      "loss": 0.1572265625,
      "pos_loss": 0.83203125,
      "rot_loss": 0.2275390625,
      "step": 914
    },
    {
      "epoch": 0.20529504150774064,
      "grad_norm": 1.4947848320007324,
      "learning_rate": 0.0004980721530687899,
      "loss": 0.257,
      "step": 915
    },
    {
      "epoch": 0.20529504150774064,
      "gripper_loss": 0.150390625,
      "loss": 0.1669921875,
      "pos_loss": 0.498046875,
      "rot_loss": 0.69140625,
      "step": 915
    },
    {
      "epoch": 0.20551940767332286,
      "grad_norm": 1.5359121561050415,
      "learning_rate": 0.0004980646394927348,
      "loss": 0.1844,
      "step": 916
    },
    {
      "epoch": 0.20551940767332286,
      "gripper_loss": 0.2275390625,
      "loss": 0.1513671875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.259765625,
      "step": 916
    },
    {
      "epoch": 0.2057437738389051,
      "grad_norm": 1.9620773792266846,
      "learning_rate": 0.0004980571113603588,
      "loss": 0.2278,
      "step": 917
    },
    {
      "epoch": 0.2057437738389051,
      "gripper_loss": 0.64453125,
      "loss": 0.2177734375,
      "pos_loss": 0.93359375,
      "rot_loss": 0.5078125,
      "step": 917
    },
    {
      "epoch": 0.20596814000448732,
      "grad_norm": 1.2578462362289429,
      "learning_rate": 0.0004980495686721035,
      "loss": 0.1857,
      "step": 918
    },
    {
      "epoch": 0.20596814000448732,
      "gripper_loss": 0.310546875,
      "loss": 0.322265625,
      "pos_loss": 1.8125,
      "rot_loss": 0.76171875,
      "step": 918
    },
    {
      "epoch": 0.20619250617006957,
      "grad_norm": 1.4063383340835571,
      "learning_rate": 0.0004980420114284116,
      "loss": 0.225,
      "step": 919
    },
    {
      "epoch": 0.20619250617006957,
      "gripper_loss": 0.4453125,
      "loss": 0.419921875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.515625,
      "step": 919
    },
    {
      "epoch": 0.20641687233565179,
      "grad_norm": 2.0822227001190186,
      "learning_rate": 0.0004980344396297263,
      "loss": 0.4282,
      "step": 920
    },
    {
      "epoch": 0.20641687233565179,
      "gripper_loss": 1.046875,
      "loss": 0.16796875,
      "pos_loss": 0.59375,
      "rot_loss": 0.47265625,
      "step": 920
    },
    {
      "epoch": 0.206641238501234,
      "grad_norm": 1.3365494012832642,
      "learning_rate": 0.0004980268532764923,
      "loss": 0.2382,
      "step": 921
    },
    {
      "epoch": 0.206641238501234,
      "gripper_loss": 0.11083984375,
      "loss": 0.240234375,
      "pos_loss": 1.34375,
      "rot_loss": 0.7265625,
      "step": 921
    },
    {
      "epoch": 0.20686560466681625,
      "grad_norm": 1.4975839853286743,
      "learning_rate": 0.0004980192523691544,
      "loss": 0.2104,
      "step": 922
    },
    {
      "epoch": 0.20686560466681625,
      "gripper_loss": 0.07373046875,
      "loss": 0.375,
      "pos_loss": 1.1875,
      "rot_loss": 2.4375,
      "step": 922
    },
    {
      "epoch": 0.20708997083239847,
      "grad_norm": 1.1772717237472534,
      "learning_rate": 0.0004980116369081588,
      "loss": 0.2571,
      "step": 923
    },
    {
      "epoch": 0.20708997083239847,
      "gripper_loss": 0.2197265625,
      "loss": 0.1845703125,
      "pos_loss": 0.8125,
      "rot_loss": 0.515625,
      "step": 923
    },
    {
      "epoch": 0.2073143369979807,
      "grad_norm": 1.4182322025299072,
      "learning_rate": 0.0004980040068939524,
      "loss": 0.2571,
      "step": 924
    },
    {
      "epoch": 0.2073143369979807,
      "gripper_loss": 1.2265625,
      "loss": 0.306640625,
      "pos_loss": 0.984375,
      "rot_loss": 1.609375,
      "step": 924
    },
    {
      "epoch": 0.20753870316356293,
      "grad_norm": 1.0017937421798706,
      "learning_rate": 0.0004979963623269829,
      "loss": 0.198,
      "step": 925
    },
    {
      "epoch": 0.20753870316356293,
      "gripper_loss": 1.1640625,
      "loss": 0.2041015625,
      "pos_loss": 0.890625,
      "rot_loss": 0.55078125,
      "step": 925
    },
    {
      "epoch": 0.20776306932914518,
      "grad_norm": 1.16819429397583,
      "learning_rate": 0.0004979887032076989,
      "loss": 0.1923,
      "step": 926
    },
    {
      "epoch": 0.20776306932914518,
      "gripper_loss": 0.2138671875,
      "loss": 0.09033203125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.1904296875,
      "step": 926
    },
    {
      "epoch": 0.2079874354947274,
      "grad_norm": 0.9870095252990723,
      "learning_rate": 0.0004979810295365496,
      "loss": 0.1196,
      "step": 927
    },
    {
      "epoch": 0.2079874354947274,
      "gripper_loss": 0.470703125,
      "loss": 0.203125,
      "pos_loss": 1.09375,
      "rot_loss": 0.31640625,
      "step": 927
    },
    {
      "epoch": 0.20821180166030961,
      "grad_norm": 1.0602294206619263,
      "learning_rate": 0.0004979733413139856,
      "loss": 0.1798,
      "step": 928
    },
    {
      "epoch": 0.20821180166030961,
      "gripper_loss": 0.2021484375,
      "loss": 0.1708984375,
      "pos_loss": 0.4296875,
      "rot_loss": 0.99609375,
      "step": 928
    },
    {
      "epoch": 0.20843616782589186,
      "grad_norm": 1.0089077949523926,
      "learning_rate": 0.000497965638540458,
      "loss": 0.1622,
      "step": 929
    },
    {
      "epoch": 0.20843616782589186,
      "gripper_loss": 0.28515625,
      "loss": 0.1650390625,
      "pos_loss": 0.75,
      "rot_loss": 0.53125,
      "step": 929
    },
    {
      "epoch": 0.20866053399147408,
      "grad_norm": 1.4364644289016724,
      "learning_rate": 0.0004979579212164186,
      "loss": 0.1719,
      "step": 930
    },
    {
      "epoch": 0.20866053399147408,
      "gripper_loss": 0.2734375,
      "loss": 0.2431640625,
      "pos_loss": 1.4609375,
      "rot_loss": 0.5546875,
      "step": 930
    },
    {
      "epoch": 0.20888490015705632,
      "grad_norm": 1.8321870565414429,
      "learning_rate": 0.0004979501893423204,
      "loss": 0.2572,
      "step": 931
    },
    {
      "epoch": 0.20888490015705632,
      "gripper_loss": 1.5078125,
      "loss": 0.10205078125,
      "pos_loss": 0.158203125,
      "rot_loss": 0.1123046875,
      "step": 931
    },
    {
      "epoch": 0.20910926632263854,
      "grad_norm": 1.310740351676941,
      "learning_rate": 0.0004979424429186171,
      "loss": 0.1801,
      "step": 932
    },
    {
      "epoch": 0.20910926632263854,
      "gripper_loss": 1.1875,
      "loss": 0.2021484375,
      "pos_loss": 0.490234375,
      "rot_loss": 0.5625,
      "step": 932
    },
    {
      "epoch": 0.2093336324882208,
      "grad_norm": 1.313874363899231,
      "learning_rate": 0.0004979346819457631,
      "loss": 0.209,
      "step": 933
    },
    {
      "epoch": 0.2093336324882208,
      "gripper_loss": 0.1923828125,
      "loss": 0.30078125,
      "pos_loss": 1.4140625,
      "rot_loss": 1.421875,
      "step": 933
    },
    {
      "epoch": 0.209557998653803,
      "grad_norm": 1.2830688953399658,
      "learning_rate": 0.000497926906424214,
      "loss": 0.1901,
      "step": 934
    },
    {
      "epoch": 0.209557998653803,
      "gripper_loss": 0.77734375,
      "loss": 0.1416015625,
      "pos_loss": 0.291015625,
      "rot_loss": 0.50390625,
      "step": 934
    },
    {
      "epoch": 0.20978236481938523,
      "grad_norm": 0.9674497246742249,
      "learning_rate": 0.0004979191163544261,
      "loss": 0.1885,
      "step": 935
    },
    {
      "epoch": 0.20978236481938523,
      "gripper_loss": 0.2021484375,
      "loss": 0.2314453125,
      "pos_loss": 0.86328125,
      "rot_loss": 1.1640625,
      "step": 935
    },
    {
      "epoch": 0.21000673098496747,
      "grad_norm": 1.2962620258331299,
      "learning_rate": 0.0004979113117368564,
      "loss": 0.1882,
      "step": 936
    },
    {
      "epoch": 0.21000673098496747,
      "gripper_loss": 0.40625,
      "loss": 0.154296875,
      "pos_loss": 0.97265625,
      "rot_loss": 0.296875,
      "step": 936
    },
    {
      "epoch": 0.2102310971505497,
      "grad_norm": 1.3319039344787598,
      "learning_rate": 0.0004979034925719627,
      "loss": 0.1905,
      "step": 937
    },
    {
      "epoch": 0.2102310971505497,
      "gripper_loss": 0.57421875,
      "loss": 0.158203125,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.263671875,
      "step": 937
    },
    {
      "epoch": 0.21045546331613194,
      "grad_norm": 1.256545066833496,
      "learning_rate": 0.0004978956588602042,
      "loss": 0.2262,
      "step": 938
    },
    {
      "epoch": 0.21045546331613194,
      "gripper_loss": 1.2109375,
      "loss": 0.333984375,
      "pos_loss": 1.1796875,
      "rot_loss": 0.8125,
      "step": 938
    },
    {
      "epoch": 0.21067982948171415,
      "grad_norm": 1.4178459644317627,
      "learning_rate": 0.0004978878106020403,
      "loss": 0.2555,
      "step": 939
    },
    {
      "epoch": 0.21067982948171415,
      "gripper_loss": 0.111328125,
      "loss": 0.2255859375,
      "pos_loss": 1.5078125,
      "rot_loss": 0.40234375,
      "step": 939
    },
    {
      "epoch": 0.2109041956472964,
      "grad_norm": 1.538765549659729,
      "learning_rate": 0.0004978799477979315,
      "loss": 0.1918,
      "step": 940
    },
    {
      "epoch": 0.2109041956472964,
      "gripper_loss": 0.56640625,
      "loss": 0.498046875,
      "pos_loss": 0.447265625,
      "rot_loss": 0.384765625,
      "step": 940
    },
    {
      "epoch": 0.21112856181287862,
      "grad_norm": 2.2842438220977783,
      "learning_rate": 0.0004978720704483396,
      "loss": 0.522,
      "step": 941
    },
    {
      "epoch": 0.21112856181287862,
      "gripper_loss": 1.453125,
      "loss": 0.1435546875,
      "pos_loss": 0.6875,
      "rot_loss": 0.1064453125,
      "step": 941
    },
    {
      "epoch": 0.21135292797846084,
      "grad_norm": 1.4396312236785889,
      "learning_rate": 0.0004978641785537264,
      "loss": 0.1628,
      "step": 942
    },
    {
      "epoch": 0.21135292797846084,
      "gripper_loss": 0.6328125,
      "loss": 0.369140625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.6328125,
      "step": 942
    },
    {
      "epoch": 0.21157729414404308,
      "grad_norm": 2.2197465896606445,
      "learning_rate": 0.000497856272114555,
      "loss": 0.4062,
      "step": 943
    },
    {
      "epoch": 0.21157729414404308,
      "gripper_loss": 0.416015625,
      "loss": 0.185546875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.9609375,
      "step": 943
    },
    {
      "epoch": 0.2118016603096253,
      "grad_norm": 1.2371717691421509,
      "learning_rate": 0.0004978483511312897,
      "loss": 0.1947,
      "step": 944
    },
    {
      "epoch": 0.2118016603096253,
      "gripper_loss": 0.408203125,
      "loss": 0.384765625,
      "pos_loss": 1.140625,
      "rot_loss": 0.2392578125,
      "step": 944
    },
    {
      "epoch": 0.21202602647520755,
      "grad_norm": 2.8208091259002686,
      "learning_rate": 0.000497840415604395,
      "loss": 0.4148,
      "step": 945
    },
    {
      "epoch": 0.21202602647520755,
      "gripper_loss": 0.5625,
      "loss": 0.388671875,
      "pos_loss": 0.52734375,
      "rot_loss": 2.09375,
      "step": 945
    },
    {
      "epoch": 0.21225039264078976,
      "grad_norm": 2.1620330810546875,
      "learning_rate": 0.0004978324655343367,
      "loss": 0.3047,
      "step": 946
    },
    {
      "epoch": 0.21225039264078976,
      "gripper_loss": 1.0390625,
      "loss": 0.1318359375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.328125,
      "step": 946
    },
    {
      "epoch": 0.212474758806372,
      "grad_norm": 1.5007827281951904,
      "learning_rate": 0.0004978245009215811,
      "loss": 0.1787,
      "step": 947
    },
    {
      "epoch": 0.212474758806372,
      "gripper_loss": 0.107421875,
      "loss": 0.2451171875,
      "pos_loss": 1.65625,
      "rot_loss": 0.6328125,
      "step": 947
    },
    {
      "epoch": 0.21269912497195423,
      "grad_norm": 1.4043055772781372,
      "learning_rate": 0.0004978165217665958,
      "loss": 0.1608,
      "step": 948
    },
    {
      "epoch": 0.21269912497195423,
      "gripper_loss": 0.33203125,
      "loss": 0.15234375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.27734375,
      "step": 948
    },
    {
      "epoch": 0.21292349113753645,
      "grad_norm": 1.8735781908035278,
      "learning_rate": 0.000497808528069849,
      "loss": 0.2677,
      "step": 949
    },
    {
      "epoch": 0.21292349113753645,
      "gripper_loss": 1.265625,
      "loss": 0.396484375,
      "pos_loss": 0.890625,
      "rot_loss": 1.46875,
      "step": 949
    },
    {
      "epoch": 0.2131478573031187,
      "grad_norm": 2.009547472000122,
      "learning_rate": 0.0004978005198318096,
      "loss": 0.3101,
      "step": 950
    },
    {
      "epoch": 0.2131478573031187,
      "gripper_loss": 0.154296875,
      "loss": 0.267578125,
      "pos_loss": 0.5234375,
      "rot_loss": 1.9609375,
      "step": 950
    },
    {
      "epoch": 0.2133722234687009,
      "grad_norm": 1.4766831398010254,
      "learning_rate": 0.0004977924970529476,
      "loss": 0.1686,
      "step": 951
    },
    {
      "epoch": 0.2133722234687009,
      "gripper_loss": 1.3203125,
      "loss": 0.53125,
      "pos_loss": 0.734375,
      "rot_loss": 0.56640625,
      "step": 951
    },
    {
      "epoch": 0.21359658963428316,
      "grad_norm": 2.149880886077881,
      "learning_rate": 0.0004977844597337338,
      "loss": 0.564,
      "step": 952
    },
    {
      "epoch": 0.21359658963428316,
      "gripper_loss": 0.69921875,
      "loss": 0.216796875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.48046875,
      "step": 952
    },
    {
      "epoch": 0.21382095579986538,
      "grad_norm": 1.9339696168899536,
      "learning_rate": 0.0004977764078746398,
      "loss": 0.2822,
      "step": 953
    },
    {
      "epoch": 0.21382095579986538,
      "gripper_loss": 0.5390625,
      "loss": 0.134765625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.341796875,
      "step": 953
    },
    {
      "epoch": 0.21404532196544762,
      "grad_norm": 1.7990916967391968,
      "learning_rate": 0.000497768341476138,
      "loss": 0.2042,
      "step": 954
    },
    {
      "epoch": 0.21404532196544762,
      "gripper_loss": 0.08837890625,
      "loss": 0.173828125,
      "pos_loss": 1.1875,
      "rot_loss": 0.28125,
      "step": 954
    },
    {
      "epoch": 0.21426968813102984,
      "grad_norm": 1.6655564308166504,
      "learning_rate": 0.0004977602605387019,
      "loss": 0.1908,
      "step": 955
    },
    {
      "epoch": 0.21426968813102984,
      "gripper_loss": 2.546875,
      "loss": 0.412109375,
      "pos_loss": 0.9921875,
      "rot_loss": 0.515625,
      "step": 955
    },
    {
      "epoch": 0.21449405429661206,
      "grad_norm": 2.401515007019043,
      "learning_rate": 0.0004977521650628057,
      "loss": 0.4351,
      "step": 956
    },
    {
      "epoch": 0.21449405429661206,
      "gripper_loss": 0.240234375,
      "loss": 0.1484375,
      "pos_loss": 0.54296875,
      "rot_loss": 0.6171875,
      "step": 956
    },
    {
      "epoch": 0.2147184204621943,
      "grad_norm": 1.5123614072799683,
      "learning_rate": 0.0004977440550489242,
      "loss": 0.1817,
      "step": 957
    },
    {
      "epoch": 0.2147184204621943,
      "gripper_loss": 0.51171875,
      "loss": 0.419921875,
      "pos_loss": 0.890625,
      "rot_loss": 0.53125,
      "step": 957
    },
    {
      "epoch": 0.21494278662777652,
      "grad_norm": 2.2363295555114746,
      "learning_rate": 0.0004977359304975335,
      "loss": 0.5046,
      "step": 958
    },
    {
      "epoch": 0.21494278662777652,
      "gripper_loss": 0.54296875,
      "loss": 0.1875,
      "pos_loss": 0.404296875,
      "rot_loss": 1.09375,
      "step": 958
    },
    {
      "epoch": 0.21516715279335877,
      "grad_norm": 1.764955997467041,
      "learning_rate": 0.0004977277914091103,
      "loss": 0.1791,
      "step": 959
    },
    {
      "epoch": 0.21516715279335877,
      "gripper_loss": 0.353515625,
      "loss": 0.21875,
      "pos_loss": 1.1640625,
      "rot_loss": 0.462890625,
      "step": 959
    },
    {
      "epoch": 0.215391518958941,
      "grad_norm": 1.3343982696533203,
      "learning_rate": 0.0004977196377841321,
      "loss": 0.1765,
      "step": 960
    },
    {
      "epoch": 0.215391518958941,
      "gripper_loss": 0.1787109375,
      "loss": 0.484375,
      "pos_loss": 1.5234375,
      "rot_loss": 3.078125,
      "step": 960
    },
    {
      "epoch": 0.21561588512452323,
      "grad_norm": 1.5057233572006226,
      "learning_rate": 0.0004977114696230775,
      "loss": 0.2549,
      "step": 961
    },
    {
      "epoch": 0.21561588512452323,
      "gripper_loss": 0.609375,
      "loss": 0.0693359375,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.06103515625,
      "step": 961
    },
    {
      "epoch": 0.21584025129010545,
      "grad_norm": 0.9588912129402161,
      "learning_rate": 0.0004977032869264256,
      "loss": 0.1362,
      "step": 962
    },
    {
      "epoch": 0.21584025129010545,
      "gripper_loss": 0.345703125,
      "loss": 0.1904296875,
      "pos_loss": 1.5,
      "rot_loss": 0.16796875,
      "step": 962
    },
    {
      "epoch": 0.21606461745568767,
      "grad_norm": 0.9577294588088989,
      "learning_rate": 0.0004976950896946568,
      "loss": 0.1974,
      "step": 963
    },
    {
      "epoch": 0.21606461745568767,
      "gripper_loss": 0.33984375,
      "loss": 0.1806640625,
      "pos_loss": 0.484375,
      "rot_loss": 0.279296875,
      "step": 963
    },
    {
      "epoch": 0.21628898362126991,
      "grad_norm": 1.6173443794250488,
      "learning_rate": 0.0004976868779282519,
      "loss": 0.2566,
      "step": 964
    },
    {
      "epoch": 0.21628898362126991,
      "gripper_loss": 0.4140625,
      "loss": 0.28125,
      "pos_loss": 0.74609375,
      "rot_loss": 0.48828125,
      "step": 964
    },
    {
      "epoch": 0.21651334978685213,
      "grad_norm": 2.0497853755950928,
      "learning_rate": 0.0004976786516276931,
      "loss": 0.2922,
      "step": 965
    },
    {
      "epoch": 0.21651334978685213,
      "gripper_loss": 0.28125,
      "loss": 0.271484375,
      "pos_loss": 1.5078125,
      "rot_loss": 0.82421875,
      "step": 965
    },
    {
      "epoch": 0.21673771595243438,
      "grad_norm": 1.5558464527130127,
      "learning_rate": 0.0004976704107934627,
      "loss": 0.2233,
      "step": 966
    },
    {
      "epoch": 0.21673771595243438,
      "gripper_loss": 1.3125,
      "loss": 0.11328125,
      "pos_loss": 0.09765625,
      "rot_loss": 0.142578125,
      "step": 966
    },
    {
      "epoch": 0.2169620821180166,
      "grad_norm": 1.709699034690857,
      "learning_rate": 0.0004976621554260444,
      "loss": 0.1847,
      "step": 967
    },
    {
      "epoch": 0.2169620821180166,
      "gripper_loss": 0.130859375,
      "loss": 0.201171875,
      "pos_loss": 1.5234375,
      "rot_loss": 0.1259765625,
      "step": 967
    },
    {
      "epoch": 0.21718644828359884,
      "grad_norm": 1.7973663806915283,
      "learning_rate": 0.0004976538855259227,
      "loss": 0.272,
      "step": 968
    },
    {
      "epoch": 0.21718644828359884,
      "gripper_loss": 0.10986328125,
      "loss": 0.125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.37109375,
      "step": 968
    },
    {
      "epoch": 0.21741081444918106,
      "grad_norm": 1.1515822410583496,
      "learning_rate": 0.0004976456010935829,
      "loss": 0.192,
      "step": 969
    },
    {
      "epoch": 0.21741081444918106,
      "gripper_loss": 0.1318359375,
      "loss": 0.18359375,
      "pos_loss": 1.28125,
      "rot_loss": 0.419921875,
      "step": 969
    },
    {
      "epoch": 0.2176351806147633,
      "grad_norm": 1.1093016862869263,
      "learning_rate": 0.0004976373021295111,
      "loss": 0.2091,
      "step": 970
    },
    {
      "epoch": 0.2176351806147633,
      "gripper_loss": 0.23828125,
      "loss": 0.392578125,
      "pos_loss": 0.84375,
      "rot_loss": 1.2109375,
      "step": 970
    },
    {
      "epoch": 0.21785954678034553,
      "grad_norm": 2.3902738094329834,
      "learning_rate": 0.0004976289886341941,
      "loss": 0.3574,
      "step": 971
    },
    {
      "epoch": 0.21785954678034553,
      "gripper_loss": 0.18359375,
      "loss": 0.2431640625,
      "pos_loss": 1.421875,
      "rot_loss": 0.265625,
      "step": 971
    },
    {
      "epoch": 0.21808391294592774,
      "grad_norm": 1.2189068794250488,
      "learning_rate": 0.00049762066060812,
      "loss": 0.1638,
      "step": 972
    },
    {
      "epoch": 0.21808391294592774,
      "gripper_loss": 1.7265625,
      "loss": 0.220703125,
      "pos_loss": 0.69140625,
      "rot_loss": 0.6796875,
      "step": 972
    },
    {
      "epoch": 0.21830827911151,
      "grad_norm": 1.6553075313568115,
      "learning_rate": 0.0004976123180517773,
      "loss": 0.2598,
      "step": 973
    },
    {
      "epoch": 0.21830827911151,
      "gripper_loss": 1.609375,
      "loss": 0.12060546875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.177734375,
      "step": 973
    },
    {
      "epoch": 0.2185326452770922,
      "grad_norm": 2.0664594173431396,
      "learning_rate": 0.0004976039609656557,
      "loss": 0.2375,
      "step": 974
    },
    {
      "epoch": 0.2185326452770922,
      "gripper_loss": 0.10986328125,
      "loss": 0.203125,
      "pos_loss": 1.453125,
      "rot_loss": 0.267578125,
      "step": 974
    },
    {
      "epoch": 0.21875701144267445,
      "grad_norm": 1.5748001337051392,
      "learning_rate": 0.0004975955893502455,
      "loss": 0.2557,
      "step": 975
    },
    {
      "epoch": 0.21875701144267445,
      "gripper_loss": 0.5703125,
      "loss": 0.0849609375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.0908203125,
      "step": 975
    },
    {
      "epoch": 0.21898137760825667,
      "grad_norm": 1.6572397947311401,
      "learning_rate": 0.0004975872032060377,
      "loss": 0.2277,
      "step": 976
    },
    {
      "epoch": 0.21898137760825667,
      "gripper_loss": 0.890625,
      "loss": 0.07421875,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.06884765625,
      "step": 976
    },
    {
      "epoch": 0.21920574377383892,
      "grad_norm": 1.199472188949585,
      "learning_rate": 0.0004975788025335248,
      "loss": 0.168,
      "step": 977
    },
    {
      "epoch": 0.21920574377383892,
      "gripper_loss": 0.26953125,
      "loss": 0.322265625,
      "pos_loss": 1.953125,
      "rot_loss": 0.984375,
      "step": 977
    },
    {
      "epoch": 0.21943010993942114,
      "grad_norm": 1.3881723880767822,
      "learning_rate": 0.0004975703873331996,
      "loss": 0.2344,
      "step": 978
    },
    {
      "epoch": 0.21943010993942114,
      "gripper_loss": 0.5234375,
      "loss": 0.07373046875,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.126953125,
      "step": 978
    },
    {
      "epoch": 0.21965447610500335,
      "grad_norm": 1.087005376815796,
      "learning_rate": 0.0004975619576055558,
      "loss": 0.1429,
      "step": 979
    },
    {
      "epoch": 0.21965447610500335,
      "gripper_loss": 0.1240234375,
      "loss": 0.2060546875,
      "pos_loss": 1.6328125,
      "rot_loss": 0.302734375,
      "step": 979
    },
    {
      "epoch": 0.2198788422705856,
      "grad_norm": 0.979834258556366,
      "learning_rate": 0.0004975535133510881,
      "loss": 0.2046,
      "step": 980
    },
    {
      "epoch": 0.2198788422705856,
      "gripper_loss": 0.79296875,
      "loss": 0.053955078125,
      "pos_loss": 0.083984375,
      "rot_loss": 0.04541015625,
      "step": 980
    },
    {
      "epoch": 0.22010320843616782,
      "grad_norm": 1.0097261667251587,
      "learning_rate": 0.0004975450545702921,
      "loss": 0.1358,
      "step": 981
    },
    {
      "epoch": 0.22010320843616782,
      "gripper_loss": 0.306640625,
      "loss": 0.35546875,
      "pos_loss": 1.8203125,
      "rot_loss": 1.4921875,
      "step": 981
    },
    {
      "epoch": 0.22032757460175006,
      "grad_norm": 1.0975650548934937,
      "learning_rate": 0.0004975365812636642,
      "loss": 0.2023,
      "step": 982
    },
    {
      "epoch": 0.22032757460175006,
      "gripper_loss": 0.19921875,
      "loss": 0.3359375,
      "pos_loss": 1.1171875,
      "rot_loss": 1.5390625,
      "step": 982
    },
    {
      "epoch": 0.22055194076733228,
      "grad_norm": 2.0602684020996094,
      "learning_rate": 0.0004975280934317014,
      "loss": 0.2457,
      "step": 983
    },
    {
      "epoch": 0.22055194076733228,
      "gripper_loss": 1.1328125,
      "loss": 0.1552734375,
      "pos_loss": 0.427734375,
      "rot_loss": 0.486328125,
      "step": 983
    },
    {
      "epoch": 0.22077630693291453,
      "grad_norm": 1.7802622318267822,
      "learning_rate": 0.0004975195910749018,
      "loss": 0.2633,
      "step": 984
    },
    {
      "epoch": 0.22077630693291453,
      "gripper_loss": 1.5,
      "loss": 0.10498046875,
      "pos_loss": 0.275390625,
      "rot_loss": 0.09912109375,
      "step": 984
    },
    {
      "epoch": 0.22100067309849675,
      "grad_norm": 1.0557340383529663,
      "learning_rate": 0.0004975110741937644,
      "loss": 0.1664,
      "step": 985
    },
    {
      "epoch": 0.22100067309849675,
      "gripper_loss": 0.177734375,
      "loss": 0.33984375,
      "pos_loss": 1.0625,
      "rot_loss": 1.96875,
      "step": 985
    },
    {
      "epoch": 0.22122503926407897,
      "grad_norm": 1.6188929080963135,
      "learning_rate": 0.000497502542788789,
      "loss": 0.2311,
      "step": 986
    },
    {
      "epoch": 0.22122503926407897,
      "gripper_loss": 0.23046875,
      "loss": 0.11572265625,
      "pos_loss": 0.48046875,
      "rot_loss": 0.302734375,
      "step": 986
    },
    {
      "epoch": 0.2214494054296612,
      "grad_norm": 1.3356071710586548,
      "learning_rate": 0.0004974939968604761,
      "loss": 0.1887,
      "step": 987
    },
    {
      "epoch": 0.2214494054296612,
      "gripper_loss": 1.2578125,
      "loss": 0.150390625,
      "pos_loss": 0.80859375,
      "rot_loss": 0.1240234375,
      "step": 987
    },
    {
      "epoch": 0.22167377159524343,
      "grad_norm": 1.8083966970443726,
      "learning_rate": 0.0004974854364093273,
      "loss": 0.2592,
      "step": 988
    },
    {
      "epoch": 0.22167377159524343,
      "gripper_loss": 1.3046875,
      "loss": 0.125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.15625,
      "step": 988
    },
    {
      "epoch": 0.22189813776082568,
      "grad_norm": 1.218183159828186,
      "learning_rate": 0.0004974768614358448,
      "loss": 0.1614,
      "step": 989
    },
    {
      "epoch": 0.22189813776082568,
      "gripper_loss": 0.875,
      "loss": 0.2734375,
      "pos_loss": 1.625,
      "rot_loss": 0.32421875,
      "step": 989
    },
    {
      "epoch": 0.2221225039264079,
      "grad_norm": 1.468867301940918,
      "learning_rate": 0.0004974682719405319,
      "loss": 0.2059,
      "step": 990
    },
    {
      "epoch": 0.2221225039264079,
      "gripper_loss": 0.6953125,
      "loss": 0.09521484375,
      "pos_loss": 0.28125,
      "rot_loss": 0.1650390625,
      "step": 990
    },
    {
      "epoch": 0.22234687009199014,
      "grad_norm": 1.6436916589736938,
      "learning_rate": 0.0004974596679238925,
      "loss": 0.2055,
      "step": 991
    },
    {
      "epoch": 0.22234687009199014,
      "gripper_loss": 0.10400390625,
      "loss": 0.236328125,
      "pos_loss": 0.3515625,
      "rot_loss": 1.9453125,
      "step": 991
    },
    {
      "epoch": 0.22257123625757236,
      "grad_norm": 1.7375887632369995,
      "learning_rate": 0.0004974510493864316,
      "loss": 0.2396,
      "step": 992
    },
    {
      "epoch": 0.22257123625757236,
      "gripper_loss": 0.390625,
      "loss": 0.4921875,
      "pos_loss": 1.8125,
      "rot_loss": 3.140625,
      "step": 992
    },
    {
      "epoch": 0.22279560242315458,
      "grad_norm": 0.9608945250511169,
      "learning_rate": 0.0004974424163286549,
      "loss": 0.1533,
      "step": 993
    },
    {
      "epoch": 0.22279560242315458,
      "gripper_loss": 0.255859375,
      "loss": 0.1005859375,
      "pos_loss": 0.63671875,
      "rot_loss": 0.078125,
      "step": 993
    },
    {
      "epoch": 0.22301996858873682,
      "grad_norm": 1.1386972665786743,
      "learning_rate": 0.0004974337687510689,
      "loss": 0.1151,
      "step": 994
    },
    {
      "epoch": 0.22301996858873682,
      "gripper_loss": 0.8125,
      "loss": 0.2490234375,
      "pos_loss": 2.078125,
      "rot_loss": 0.0712890625,
      "step": 994
    },
    {
      "epoch": 0.22324433475431904,
      "grad_norm": 1.023869276046753,
      "learning_rate": 0.000497425106654181,
      "loss": 0.2307,
      "step": 995
    },
    {
      "epoch": 0.22324433475431904,
      "gripper_loss": 0.28125,
      "loss": 0.2119140625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.78515625,
      "step": 995
    },
    {
      "epoch": 0.2234687009199013,
      "grad_norm": 1.2620350122451782,
      "learning_rate": 0.0004974164300384998,
      "loss": 0.2246,
      "step": 996
    },
    {
      "epoch": 0.2234687009199013,
      "gripper_loss": 1.140625,
      "loss": 0.08056640625,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.0966796875,
      "step": 996
    },
    {
      "epoch": 0.2236930670854835,
      "grad_norm": 0.954500138759613,
      "learning_rate": 0.0004974077389045341,
      "loss": 0.1286,
      "step": 997
    },
    {
      "epoch": 0.2236930670854835,
      "gripper_loss": 0.83203125,
      "loss": 0.08447265625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.1650390625,
      "step": 997
    },
    {
      "epoch": 0.22391743325106575,
      "grad_norm": 1.2054706811904907,
      "learning_rate": 0.000497399033252794,
      "loss": 0.1188,
      "step": 998
    },
    {
      "epoch": 0.22391743325106575,
      "gripper_loss": 3.03125,
      "loss": 0.1953125,
      "pos_loss": 0.703125,
      "rot_loss": 0.1416015625,
      "step": 998
    },
    {
      "epoch": 0.22414179941664797,
      "grad_norm": 0.9163367748260498,
      "learning_rate": 0.0004973903130837903,
      "loss": 0.222,
      "step": 999
    },
    {
      "epoch": 0.22414179941664797,
      "gripper_loss": 0.1767578125,
      "loss": 0.298828125,
      "pos_loss": 0.9921875,
      "rot_loss": 1.9765625,
      "step": 999
    },
    {
      "epoch": 0.2243661655822302,
      "grad_norm": 0.9202404618263245,
      "learning_rate": 0.0004973815783980348,
      "loss": 0.1582,
      "step": 1000
    },
    {
      "epoch": 0.2243661655822302,
      "gripper_loss": 0.064453125,
      "loss": 0.20703125,
      "pos_loss": 1.5703125,
      "rot_loss": 0.42578125,
      "step": 1000
    },
    {
      "epoch": 0.22459053174781243,
      "grad_norm": 1.1097239255905151,
      "learning_rate": 0.0004973728291960401,
      "loss": 0.2001,
      "step": 1001
    },
    {
      "epoch": 0.22459053174781243,
      "gripper_loss": 0.443359375,
      "loss": 0.294921875,
      "pos_loss": 1.6484375,
      "rot_loss": 1.1328125,
      "step": 1001
    },
    {
      "epoch": 0.22481489791339465,
      "grad_norm": 1.1309159994125366,
      "learning_rate": 0.0004973640654783194,
      "loss": 0.248,
      "step": 1002
    },
    {
      "epoch": 0.22481489791339465,
      "gripper_loss": 1.2109375,
      "loss": 0.1806640625,
      "pos_loss": 1.015625,
      "rot_loss": 0.232421875,
      "step": 1002
    },
    {
      "epoch": 0.2250392640789769,
      "grad_norm": 1.2655091285705566,
      "learning_rate": 0.0004973552872453871,
      "loss": 0.1735,
      "step": 1003
    },
    {
      "epoch": 0.2250392640789769,
      "gripper_loss": 1.390625,
      "loss": 0.1083984375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.1796875,
      "step": 1003
    },
    {
      "epoch": 0.22526363024455912,
      "grad_norm": 1.3623543977737427,
      "learning_rate": 0.0004973464944977582,
      "loss": 0.1501,
      "step": 1004
    },
    {
      "epoch": 0.22526363024455912,
      "gripper_loss": 0.1591796875,
      "loss": 0.287109375,
      "pos_loss": 1.28125,
      "rot_loss": 0.9609375,
      "step": 1004
    },
    {
      "epoch": 0.22548799641014136,
      "grad_norm": 1.8214858770370483,
      "learning_rate": 0.0004973376872359487,
      "loss": 0.2717,
      "step": 1005
    },
    {
      "epoch": 0.22548799641014136,
      "gripper_loss": 0.2734375,
      "loss": 0.1494140625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.38671875,
      "step": 1005
    },
    {
      "epoch": 0.22571236257572358,
      "grad_norm": 1.4445446729660034,
      "learning_rate": 0.0004973288654604755,
      "loss": 0.2244,
      "step": 1006
    },
    {
      "epoch": 0.22571236257572358,
      "gripper_loss": 1.203125,
      "loss": 0.17578125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.796875,
      "step": 1006
    },
    {
      "epoch": 0.2259367287413058,
      "grad_norm": 1.6491566896438599,
      "learning_rate": 0.0004973200291718561,
      "loss": 0.1784,
      "step": 1007
    },
    {
      "epoch": 0.2259367287413058,
      "gripper_loss": 1.1484375,
      "loss": 0.2021484375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.75,
      "step": 1007
    },
    {
      "epoch": 0.22616109490688804,
      "grad_norm": 1.6287541389465332,
      "learning_rate": 0.000497311178370609,
      "loss": 0.1815,
      "step": 1008
    },
    {
      "epoch": 0.22616109490688804,
      "gripper_loss": 1.1015625,
      "loss": 0.25390625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.353515625,
      "step": 1008
    },
    {
      "epoch": 0.22638546107247026,
      "grad_norm": 1.637066125869751,
      "learning_rate": 0.0004973023130572539,
      "loss": 0.2744,
      "step": 1009
    },
    {
      "epoch": 0.22638546107247026,
      "gripper_loss": 0.53125,
      "loss": 0.3515625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.86328125,
      "step": 1009
    },
    {
      "epoch": 0.2266098272380525,
      "grad_norm": 2.216352701187134,
      "learning_rate": 0.0004972934332323105,
      "loss": 0.2795,
      "step": 1010
    },
    {
      "epoch": 0.2266098272380525,
      "gripper_loss": 0.1083984375,
      "loss": 0.14453125,
      "pos_loss": 1.09375,
      "rot_loss": 0.146484375,
      "step": 1010
    },
    {
      "epoch": 0.22683419340363473,
      "grad_norm": 1.2554951906204224,
      "learning_rate": 0.0004972845388963002,
      "loss": 0.1542,
      "step": 1011
    },
    {
      "epoch": 0.22683419340363473,
      "gripper_loss": 0.40234375,
      "loss": 0.41015625,
      "pos_loss": 1.265625,
      "rot_loss": 2.75,
      "step": 1011
    },
    {
      "epoch": 0.22705855956921697,
      "grad_norm": 1.2582579851150513,
      "learning_rate": 0.0004972756300497448,
      "loss": 0.2535,
      "step": 1012
    },
    {
      "epoch": 0.22705855956921697,
      "gripper_loss": 0.21484375,
      "loss": 0.185546875,
      "pos_loss": 0.5703125,
      "rot_loss": 0.61328125,
      "step": 1012
    },
    {
      "epoch": 0.2272829257347992,
      "grad_norm": 1.706428050994873,
      "learning_rate": 0.0004972667066931672,
      "loss": 0.2346,
      "step": 1013
    },
    {
      "epoch": 0.2272829257347992,
      "gripper_loss": 1.78125,
      "loss": 0.15625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.1787109375,
      "step": 1013
    },
    {
      "epoch": 0.2275072919003814,
      "grad_norm": 1.7459361553192139,
      "learning_rate": 0.0004972577688270909,
      "loss": 0.2066,
      "step": 1014
    },
    {
      "epoch": 0.2275072919003814,
      "gripper_loss": 0.08447265625,
      "loss": 0.326171875,
      "pos_loss": 2.125,
      "rot_loss": 1.0703125,
      "step": 1014
    },
    {
      "epoch": 0.22773165806596365,
      "grad_norm": 1.1766512393951416,
      "learning_rate": 0.0004972488164520404,
      "loss": 0.2151,
      "step": 1015
    },
    {
      "epoch": 0.22773165806596365,
      "gripper_loss": 0.18359375,
      "loss": 0.1787109375,
      "pos_loss": 1.109375,
      "rot_loss": 0.37890625,
      "step": 1015
    },
    {
      "epoch": 0.22795602423154587,
      "grad_norm": 1.2874492406845093,
      "learning_rate": 0.0004972398495685409,
      "loss": 0.2064,
      "step": 1016
    },
    {
      "epoch": 0.22795602423154587,
      "gripper_loss": 0.154296875,
      "loss": 0.1611328125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.50390625,
      "step": 1016
    },
    {
      "epoch": 0.22818039039712812,
      "grad_norm": 1.346985936164856,
      "learning_rate": 0.0004972308681771187,
      "loss": 0.1628,
      "step": 1017
    },
    {
      "epoch": 0.22818039039712812,
      "gripper_loss": 1.046875,
      "loss": 0.1630859375,
      "pos_loss": 0.890625,
      "rot_loss": 0.1669921875,
      "step": 1017
    },
    {
      "epoch": 0.22840475656271034,
      "grad_norm": 1.3679490089416504,
      "learning_rate": 0.0004972218722783009,
      "loss": 0.155,
      "step": 1018
    },
    {
      "epoch": 0.22840475656271034,
      "gripper_loss": 0.69140625,
      "loss": 0.07763671875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.08544921875,
      "step": 1018
    },
    {
      "epoch": 0.22862912272829258,
      "grad_norm": 1.4072285890579224,
      "learning_rate": 0.0004972128618726153,
      "loss": 0.1951,
      "step": 1019
    },
    {
      "epoch": 0.22862912272829258,
      "gripper_loss": 1.0546875,
      "loss": 0.2041015625,
      "pos_loss": 1.2578125,
      "rot_loss": 0.244140625,
      "step": 1019
    },
    {
      "epoch": 0.2288534888938748,
      "grad_norm": 1.1768707036972046,
      "learning_rate": 0.0004972038369605904,
      "loss": 0.1754,
      "step": 1020
    },
    {
      "epoch": 0.2288534888938748,
      "gripper_loss": 0.5859375,
      "loss": 0.421875,
      "pos_loss": 0.76171875,
      "rot_loss": 3.34375,
      "step": 1020
    },
    {
      "epoch": 0.22907785505945705,
      "grad_norm": 1.1124367713928223,
      "learning_rate": 0.0004971947975427562,
      "loss": 0.1793,
      "step": 1021
    },
    {
      "epoch": 0.22907785505945705,
      "gripper_loss": 0.4765625,
      "loss": 0.10546875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.53515625,
      "step": 1021
    },
    {
      "epoch": 0.22930222122503927,
      "grad_norm": 1.2476540803909302,
      "learning_rate": 0.0004971857436196429,
      "loss": 0.1605,
      "step": 1022
    },
    {
      "epoch": 0.22930222122503927,
      "gripper_loss": 1.9609375,
      "loss": 0.1796875,
      "pos_loss": 0.92578125,
      "rot_loss": 0.13671875,
      "step": 1022
    },
    {
      "epoch": 0.22952658739062148,
      "grad_norm": 1.1933740377426147,
      "learning_rate": 0.0004971766751917817,
      "loss": 0.1794,
      "step": 1023
    },
    {
      "epoch": 0.22952658739062148,
      "gripper_loss": 1.375,
      "loss": 0.1318359375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.16796875,
      "step": 1023
    },
    {
      "epoch": 0.22975095355620373,
      "grad_norm": 1.343169927597046,
      "learning_rate": 0.0004971675922597049,
      "loss": 0.2118,
      "step": 1024
    },
    {
      "epoch": 0.22975095355620373,
      "gripper_loss": 1.2578125,
      "loss": 0.1435546875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.1787109375,
      "step": 1024
    },
    {
      "epoch": 0.22997531972178595,
      "grad_norm": 1.6302015781402588,
      "learning_rate": 0.0004971584948239454,
      "loss": 0.2531,
      "step": 1025
    },
    {
      "epoch": 0.22997531972178595,
      "gripper_loss": 0.86328125,
      "loss": 0.08203125,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.1767578125,
      "step": 1025
    },
    {
      "epoch": 0.2301996858873682,
      "grad_norm": 1.4116182327270508,
      "learning_rate": 0.000497149382885037,
      "loss": 0.1628,
      "step": 1026
    },
    {
      "epoch": 0.2301996858873682,
      "gripper_loss": 0.11083984375,
      "loss": 0.2265625,
      "pos_loss": 0.87109375,
      "rot_loss": 1.234375,
      "step": 1026
    },
    {
      "epoch": 0.2304240520529504,
      "grad_norm": 1.192061424255371,
      "learning_rate": 0.0004971402564435145,
      "loss": 0.1782,
      "step": 1027
    },
    {
      "epoch": 0.2304240520529504,
      "gripper_loss": 0.1650390625,
      "loss": 0.3515625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.671875,
      "step": 1027
    },
    {
      "epoch": 0.23064841821853266,
      "grad_norm": 2.6024270057678223,
      "learning_rate": 0.0004971311154999133,
      "loss": 0.4473,
      "step": 1028
    },
    {
      "epoch": 0.23064841821853266,
      "gripper_loss": 0.05908203125,
      "loss": 0.216796875,
      "pos_loss": 0.6484375,
      "rot_loss": 1.4609375,
      "step": 1028
    },
    {
      "epoch": 0.23087278438411488,
      "grad_norm": 1.049720287322998,
      "learning_rate": 0.0004971219600547698,
      "loss": 0.1829,
      "step": 1029
    },
    {
      "epoch": 0.23087278438411488,
      "gripper_loss": 0.95703125,
      "loss": 0.2314453125,
      "pos_loss": 0.96875,
      "rot_loss": 0.30078125,
      "step": 1029
    },
    {
      "epoch": 0.2310971505496971,
      "grad_norm": 1.479699730873108,
      "learning_rate": 0.0004971127901086214,
      "loss": 0.2156,
      "step": 1030
    },
    {
      "epoch": 0.2310971505496971,
      "gripper_loss": 0.91796875,
      "loss": 0.1376953125,
      "pos_loss": 0.8515625,
      "rot_loss": 0.11474609375,
      "step": 1030
    },
    {
      "epoch": 0.23132151671527934,
      "grad_norm": 1.6220932006835938,
      "learning_rate": 0.000497103605662006,
      "loss": 0.1897,
      "step": 1031
    },
    {
      "epoch": 0.23132151671527934,
      "gripper_loss": 0.1611328125,
      "loss": 0.07568359375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.1142578125,
      "step": 1031
    },
    {
      "epoch": 0.23154588288086156,
      "grad_norm": 1.5954763889312744,
      "learning_rate": 0.0004970944067154626,
      "loss": 0.2481,
      "step": 1032
    },
    {
      "epoch": 0.23154588288086156,
      "gripper_loss": 1.0078125,
      "loss": 0.16796875,
      "pos_loss": 0.73828125,
      "rot_loss": 0.392578125,
      "step": 1032
    },
    {
      "epoch": 0.2317702490464438,
      "grad_norm": 1.1240564584732056,
      "learning_rate": 0.0004970851932695312,
      "loss": 0.2401,
      "step": 1033
    },
    {
      "epoch": 0.2317702490464438,
      "gripper_loss": 1.171875,
      "loss": 0.462890625,
      "pos_loss": 2.71875,
      "rot_loss": 1.6171875,
      "step": 1033
    },
    {
      "epoch": 0.23199461521202602,
      "grad_norm": 1.1087579727172852,
      "learning_rate": 0.000497075965324752,
      "loss": 0.2236,
      "step": 1034
    },
    {
      "epoch": 0.23199461521202602,
      "gripper_loss": 0.205078125,
      "loss": 0.26953125,
      "pos_loss": 0.859375,
      "rot_loss": 1.6875,
      "step": 1034
    },
    {
      "epoch": 0.23221898137760827,
      "grad_norm": 0.865878164768219,
      "learning_rate": 0.0004970667228816669,
      "loss": 0.1404,
      "step": 1035
    },
    {
      "epoch": 0.23221898137760827,
      "gripper_loss": 0.72265625,
      "loss": 0.232421875,
      "pos_loss": 1.8828125,
      "rot_loss": 0.2216796875,
      "step": 1035
    },
    {
      "epoch": 0.2324433475431905,
      "grad_norm": 1.1653774976730347,
      "learning_rate": 0.000497057465940818,
      "loss": 0.2361,
      "step": 1036
    },
    {
      "epoch": 0.2324433475431905,
      "gripper_loss": 0.578125,
      "loss": 0.162109375,
      "pos_loss": 1.2109375,
      "rot_loss": 0.12353515625,
      "step": 1036
    },
    {
      "epoch": 0.2326677137087727,
      "grad_norm": 1.3452779054641724,
      "learning_rate": 0.0004970481945027485,
      "loss": 0.1639,
      "step": 1037
    },
    {
      "epoch": 0.2326677137087727,
      "gripper_loss": 0.05126953125,
      "loss": 0.359375,
      "pos_loss": 2.984375,
      "rot_loss": 0.60546875,
      "step": 1037
    },
    {
      "epoch": 0.23289207987435495,
      "grad_norm": 1.1532413959503174,
      "learning_rate": 0.0004970389085680026,
      "loss": 0.2126,
      "step": 1038
    },
    {
      "epoch": 0.23289207987435495,
      "gripper_loss": 1.4609375,
      "loss": 0.1884765625,
      "pos_loss": 1.1796875,
      "rot_loss": 0.1630859375,
      "step": 1038
    },
    {
      "epoch": 0.23311644603993717,
      "grad_norm": 1.0207685232162476,
      "learning_rate": 0.0004970296081371251,
      "loss": 0.1608,
      "step": 1039
    },
    {
      "epoch": 0.23311644603993717,
      "gripper_loss": 0.2333984375,
      "loss": 0.2197265625,
      "pos_loss": 1.390625,
      "rot_loss": 0.466796875,
      "step": 1039
    },
    {
      "epoch": 0.23334081220551942,
      "grad_norm": 1.4029560089111328,
      "learning_rate": 0.0004970202932106618,
      "loss": 0.2101,
      "step": 1040
    },
    {
      "epoch": 0.23334081220551942,
      "gripper_loss": 0.36328125,
      "loss": 0.3046875,
      "pos_loss": 1.9140625,
      "rot_loss": 1.078125,
      "step": 1040
    },
    {
      "epoch": 0.23356517837110163,
      "grad_norm": 1.1760631799697876,
      "learning_rate": 0.0004970109637891593,
      "loss": 0.1981,
      "step": 1041
    },
    {
      "epoch": 0.23356517837110163,
      "gripper_loss": 0.53515625,
      "loss": 0.32421875,
      "pos_loss": 0.9453125,
      "rot_loss": 0.58984375,
      "step": 1041
    },
    {
      "epoch": 0.23378954453668388,
      "grad_norm": 1.8409518003463745,
      "learning_rate": 0.0004970016198731648,
      "loss": 0.2894,
      "step": 1042
    },
    {
      "epoch": 0.23378954453668388,
      "gripper_loss": 0.5546875,
      "loss": 0.09912109375,
      "pos_loss": 0.46875,
      "rot_loss": 0.2099609375,
      "step": 1042
    },
    {
      "epoch": 0.2340139107022661,
      "grad_norm": 1.1024680137634277,
      "learning_rate": 0.000496992261463227,
      "loss": 0.1582,
      "step": 1043
    },
    {
      "epoch": 0.2340139107022661,
      "gripper_loss": 0.275390625,
      "loss": 0.34765625,
      "pos_loss": 1.71875,
      "rot_loss": 1.7109375,
      "step": 1043
    },
    {
      "epoch": 0.23423827686784832,
      "grad_norm": 1.3152753114700317,
      "learning_rate": 0.0004969828885598947,
      "loss": 0.227,
      "step": 1044
    },
    {
      "epoch": 0.23423827686784832,
      "gripper_loss": 0.1689453125,
      "loss": 0.16015625,
      "pos_loss": 0.60546875,
      "rot_loss": 0.62109375,
      "step": 1044
    },
    {
      "epoch": 0.23446264303343056,
      "grad_norm": 1.326119065284729,
      "learning_rate": 0.0004969735011637181,
      "loss": 0.1763,
      "step": 1045
    },
    {
      "epoch": 0.23446264303343056,
      "gripper_loss": 0.51953125,
      "loss": 0.1875,
      "pos_loss": 0.69921875,
      "rot_loss": 1.0078125,
      "step": 1045
    },
    {
      "epoch": 0.23468700919901278,
      "grad_norm": 0.924752950668335,
      "learning_rate": 0.000496964099275248,
      "loss": 0.2075,
      "step": 1046
    },
    {
      "epoch": 0.23468700919901278,
      "gripper_loss": 0.1611328125,
      "loss": 0.126953125,
      "pos_loss": 0.458984375,
      "rot_loss": 0.671875,
      "step": 1046
    },
    {
      "epoch": 0.23491137536459503,
      "grad_norm": 0.9713274240493774,
      "learning_rate": 0.0004969546828950361,
      "loss": 0.2113,
      "step": 1047
    },
    {
      "epoch": 0.23491137536459503,
      "gripper_loss": 1.0390625,
      "loss": 0.06689453125,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.09765625,
      "step": 1047
    },
    {
      "epoch": 0.23513574153017724,
      "grad_norm": 1.0965683460235596,
      "learning_rate": 0.0004969452520236349,
      "loss": 0.1587,
      "step": 1048
    },
    {
      "epoch": 0.23513574153017724,
      "gripper_loss": 2.15625,
      "loss": 0.1259765625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.177734375,
      "step": 1048
    },
    {
      "epoch": 0.2353601076957595,
      "grad_norm": 1.793726921081543,
      "learning_rate": 0.0004969358066615978,
      "loss": 0.2537,
      "step": 1049
    },
    {
      "epoch": 0.2353601076957595,
      "gripper_loss": 0.6875,
      "loss": 0.0732421875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.107421875,
      "step": 1049
    },
    {
      "epoch": 0.2355844738613417,
      "grad_norm": 1.1328158378601074,
      "learning_rate": 0.0004969263468094791,
      "loss": 0.1309,
      "step": 1050
    },
    {
      "epoch": 0.2355844738613417,
      "gripper_loss": 1.0859375,
      "loss": 0.283203125,
      "pos_loss": 2.0625,
      "rot_loss": 0.3515625,
      "step": 1050
    },
    {
      "epoch": 0.23580884002692393,
      "grad_norm": 1.3864952325820923,
      "learning_rate": 0.0004969168724678339,
      "loss": 0.2673,
      "step": 1051
    },
    {
      "epoch": 0.23580884002692393,
      "gripper_loss": 0.98828125,
      "loss": 0.33984375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.474609375,
      "step": 1051
    },
    {
      "epoch": 0.23603320619250617,
      "grad_norm": 2.135615587234497,
      "learning_rate": 0.0004969073836372181,
      "loss": 0.394,
      "step": 1052
    },
    {
      "epoch": 0.23603320619250617,
      "gripper_loss": 0.921875,
      "loss": 0.1865234375,
      "pos_loss": 0.96484375,
      "rot_loss": 0.5078125,
      "step": 1052
    },
    {
      "epoch": 0.2362575723580884,
      "grad_norm": 1.1000436544418335,
      "learning_rate": 0.0004968978803181886,
      "loss": 0.1656,
      "step": 1053
    },
    {
      "epoch": 0.2362575723580884,
      "gripper_loss": 0.7734375,
      "loss": 0.08203125,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.173828125,
      "step": 1053
    },
    {
      "epoch": 0.23648193852367064,
      "grad_norm": 1.193623423576355,
      "learning_rate": 0.000496888362511303,
      "loss": 0.1525,
      "step": 1054
    },
    {
      "epoch": 0.23648193852367064,
      "gripper_loss": 0.1943359375,
      "loss": 0.2421875,
      "pos_loss": 1.1484375,
      "rot_loss": 0.7109375,
      "step": 1054
    },
    {
      "epoch": 0.23670630468925286,
      "grad_norm": 1.2274986505508423,
      "learning_rate": 0.0004968788302171197,
      "loss": 0.2019,
      "step": 1055
    },
    {
      "epoch": 0.23670630468925286,
      "gripper_loss": 0.6796875,
      "loss": 0.10546875,
      "pos_loss": 0.318359375,
      "rot_loss": 0.423828125,
      "step": 1055
    },
    {
      "epoch": 0.2369306708548351,
      "grad_norm": 1.1837842464447021,
      "learning_rate": 0.0004968692834361982,
      "loss": 0.1082,
      "step": 1056
    },
    {
      "epoch": 0.2369306708548351,
      "gripper_loss": 0.8125,
      "loss": 0.09326171875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.22265625,
      "step": 1056
    },
    {
      "epoch": 0.23715503702041732,
      "grad_norm": 0.9139662981033325,
      "learning_rate": 0.0004968597221690986,
      "loss": 0.1607,
      "step": 1057
    },
    {
      "epoch": 0.23715503702041732,
      "gripper_loss": 1.40625,
      "loss": 0.25390625,
      "pos_loss": 1.1171875,
      "rot_loss": 0.93359375,
      "step": 1057
    },
    {
      "epoch": 0.23737940318599954,
      "grad_norm": 0.9828757047653198,
      "learning_rate": 0.000496850146416382,
      "loss": 0.1978,
      "step": 1058
    },
    {
      "epoch": 0.23737940318599954,
      "gripper_loss": 0.5546875,
      "loss": 0.1240234375,
      "pos_loss": 0.67578125,
      "rot_loss": 0.11865234375,
      "step": 1058
    },
    {
      "epoch": 0.23760376935158178,
      "grad_norm": 1.0523165464401245,
      "learning_rate": 0.0004968405561786102,
      "loss": 0.1699,
      "step": 1059
    },
    {
      "epoch": 0.23760376935158178,
      "gripper_loss": 2.4375,
      "loss": 0.203125,
      "pos_loss": 1.078125,
      "rot_loss": 0.10302734375,
      "step": 1059
    },
    {
      "epoch": 0.237828135517164,
      "grad_norm": 1.1833751201629639,
      "learning_rate": 0.0004968309514563462,
      "loss": 0.1682,
      "step": 1060
    },
    {
      "epoch": 0.237828135517164,
      "gripper_loss": 0.07275390625,
      "loss": 0.57421875,
      "pos_loss": 1.9609375,
      "rot_loss": 3.921875,
      "step": 1060
    },
    {
      "epoch": 0.23805250168274625,
      "grad_norm": 1.4000067710876465,
      "learning_rate": 0.0004968213322501533,
      "loss": 0.2223,
      "step": 1061
    },
    {
      "epoch": 0.23805250168274625,
      "gripper_loss": 0.36328125,
      "loss": 0.267578125,
      "pos_loss": 1.109375,
      "rot_loss": 1.1484375,
      "step": 1061
    },
    {
      "epoch": 0.23827686784832847,
      "grad_norm": 1.5367869138717651,
      "learning_rate": 0.0004968116985605963,
      "loss": 0.2181,
      "step": 1062
    },
    {
      "epoch": 0.23827686784832847,
      "gripper_loss": 0.451171875,
      "loss": 0.1865234375,
      "pos_loss": 0.65234375,
      "rot_loss": 0.33984375,
      "step": 1062
    },
    {
      "epoch": 0.2385012340139107,
      "grad_norm": 1.6236189603805542,
      "learning_rate": 0.0004968020503882401,
      "loss": 0.2188,
      "step": 1063
    },
    {
      "epoch": 0.2385012340139107,
      "gripper_loss": 0.5,
      "loss": 0.173828125,
      "pos_loss": 0.84765625,
      "rot_loss": 0.6171875,
      "step": 1063
    },
    {
      "epoch": 0.23872560017949293,
      "grad_norm": 1.4893887042999268,
      "learning_rate": 0.0004967923877336511,
      "loss": 0.1797,
      "step": 1064
    },
    {
      "epoch": 0.23872560017949293,
      "gripper_loss": 0.1259765625,
      "loss": 0.1640625,
      "pos_loss": 1.265625,
      "rot_loss": 0.2216796875,
      "step": 1064
    },
    {
      "epoch": 0.23894996634507518,
      "grad_norm": 0.9181459546089172,
      "learning_rate": 0.0004967827105973962,
      "loss": 0.1753,
      "step": 1065
    },
    {
      "epoch": 0.23894996634507518,
      "gripper_loss": 0.482421875,
      "loss": 0.22265625,
      "pos_loss": 1.203125,
      "rot_loss": 0.2294921875,
      "step": 1065
    },
    {
      "epoch": 0.2391743325106574,
      "grad_norm": 1.7845134735107422,
      "learning_rate": 0.0004967730189800434,
      "loss": 0.2673,
      "step": 1066
    },
    {
      "epoch": 0.2391743325106574,
      "gripper_loss": 2.34375,
      "loss": 0.1923828125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.37890625,
      "step": 1066
    },
    {
      "epoch": 0.2393986986762396,
      "grad_norm": 1.4380913972854614,
      "learning_rate": 0.0004967633128821612,
      "loss": 0.1826,
      "step": 1067
    },
    {
      "epoch": 0.2393986986762396,
      "gripper_loss": 0.1337890625,
      "loss": 0.162109375,
      "pos_loss": 0.828125,
      "rot_loss": 0.65234375,
      "step": 1067
    },
    {
      "epoch": 0.23962306484182186,
      "grad_norm": 1.655213475227356,
      "learning_rate": 0.0004967535923043193,
      "loss": 0.2346,
      "step": 1068
    },
    {
      "epoch": 0.23962306484182186,
      "gripper_loss": 0.349609375,
      "loss": 0.3671875,
      "pos_loss": 0.62890625,
      "rot_loss": 1.625,
      "step": 1068
    },
    {
      "epoch": 0.23984743100740408,
      "grad_norm": 1.7359678745269775,
      "learning_rate": 0.0004967438572470879,
      "loss": 0.2936,
      "step": 1069
    },
    {
      "epoch": 0.23984743100740408,
      "gripper_loss": 0.86328125,
      "loss": 0.0703125,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.08203125,
      "step": 1069
    },
    {
      "epoch": 0.24007179717298632,
      "grad_norm": 0.9894367456436157,
      "learning_rate": 0.0004967341077110385,
      "loss": 0.1359,
      "step": 1070
    },
    {
      "epoch": 0.24007179717298632,
      "gripper_loss": 0.197265625,
      "loss": 0.3046875,
      "pos_loss": 1.59375,
      "rot_loss": 0.7734375,
      "step": 1070
    },
    {
      "epoch": 0.24029616333856854,
      "grad_norm": 1.8236092329025269,
      "learning_rate": 0.0004967243436967431,
      "loss": 0.1647,
      "step": 1071
    },
    {
      "epoch": 0.24029616333856854,
      "gripper_loss": 0.1103515625,
      "loss": 0.212890625,
      "pos_loss": 1.0859375,
      "rot_loss": 0.99609375,
      "step": 1071
    },
    {
      "epoch": 0.2405205295041508,
      "grad_norm": 1.2118629217147827,
      "learning_rate": 0.0004967145652047746,
      "loss": 0.2006,
      "step": 1072
    },
    {
      "epoch": 0.2405205295041508,
      "gripper_loss": 0.1923828125,
      "loss": 0.2255859375,
      "pos_loss": 0.921875,
      "rot_loss": 0.71484375,
      "step": 1072
    },
    {
      "epoch": 0.240744895669733,
      "grad_norm": 1.6154265403747559,
      "learning_rate": 0.0004967047722357069,
      "loss": 0.2159,
      "step": 1073
    },
    {
      "epoch": 0.240744895669733,
      "gripper_loss": 0.201171875,
      "loss": 0.328125,
      "pos_loss": 1.5,
      "rot_loss": 1.6484375,
      "step": 1073
    },
    {
      "epoch": 0.24096926183531522,
      "grad_norm": 1.388683795928955,
      "learning_rate": 0.0004966949647901144,
      "loss": 0.2416,
      "step": 1074
    },
    {
      "epoch": 0.24096926183531522,
      "gripper_loss": 0.82421875,
      "loss": 0.2734375,
      "pos_loss": 2.234375,
      "rot_loss": 0.07373046875,
      "step": 1074
    },
    {
      "epoch": 0.24119362800089747,
      "grad_norm": 1.2740552425384521,
      "learning_rate": 0.000496685142868573,
      "loss": 0.2025,
      "step": 1075
    },
    {
      "epoch": 0.24119362800089747,
      "gripper_loss": 0.2392578125,
      "loss": 0.150390625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.69140625,
      "step": 1075
    },
    {
      "epoch": 0.2414179941664797,
      "grad_norm": 1.141141414642334,
      "learning_rate": 0.0004966753064716586,
      "loss": 0.1577,
      "step": 1076
    },
    {
      "epoch": 0.2414179941664797,
      "gripper_loss": 1.2734375,
      "loss": 0.09033203125,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.1142578125,
      "step": 1076
    },
    {
      "epoch": 0.24164236033206193,
      "grad_norm": 1.1194453239440918,
      "learning_rate": 0.0004966654555999488,
      "loss": 0.1675,
      "step": 1077
    },
    {
      "epoch": 0.24164236033206193,
      "gripper_loss": 0.4375,
      "loss": 0.251953125,
      "pos_loss": 1.296875,
      "rot_loss": 1.0703125,
      "step": 1077
    },
    {
      "epoch": 0.24186672649764415,
      "grad_norm": 1.243458867073059,
      "learning_rate": 0.0004966555902540214,
      "loss": 0.2849,
      "step": 1078
    },
    {
      "epoch": 0.24186672649764415,
      "gripper_loss": 1.0546875,
      "loss": 0.333984375,
      "pos_loss": 1.2265625,
      "rot_loss": 1.4453125,
      "step": 1078
    },
    {
      "epoch": 0.2420910926632264,
      "grad_norm": 1.486686110496521,
      "learning_rate": 0.0004966457104344554,
      "loss": 0.2092,
      "step": 1079
    },
    {
      "epoch": 0.2420910926632264,
      "gripper_loss": 0.49609375,
      "loss": 0.17578125,
      "pos_loss": 0.75,
      "rot_loss": 0.322265625,
      "step": 1079
    },
    {
      "epoch": 0.24231545882880862,
      "grad_norm": 1.407178282737732,
      "learning_rate": 0.0004966358161418304,
      "loss": 0.1719,
      "step": 1080
    },
    {
      "epoch": 0.24231545882880862,
      "gripper_loss": 0.40234375,
      "loss": 0.1640625,
      "pos_loss": 0.73046875,
      "rot_loss": 0.416015625,
      "step": 1080
    },
    {
      "epoch": 0.24253982499439083,
      "grad_norm": 1.5539058446884155,
      "learning_rate": 0.0004966259073767272,
      "loss": 0.2075,
      "step": 1081
    },
    {
      "epoch": 0.24253982499439083,
      "gripper_loss": 1.7734375,
      "loss": 0.1962890625,
      "pos_loss": 0.765625,
      "rot_loss": 0.380859375,
      "step": 1081
    },
    {
      "epoch": 0.24276419115997308,
      "grad_norm": 1.3684258460998535,
      "learning_rate": 0.000496615984139727,
      "loss": 0.1696,
      "step": 1082
    },
    {
      "epoch": 0.24276419115997308,
      "gripper_loss": 1.7734375,
      "loss": 0.2099609375,
      "pos_loss": 0.71875,
      "rot_loss": 0.65625,
      "step": 1082
    },
    {
      "epoch": 0.2429885573255553,
      "grad_norm": 1.188736081123352,
      "learning_rate": 0.0004966060464314123,
      "loss": 0.1824,
      "step": 1083
    },
    {
      "epoch": 0.2429885573255553,
      "gripper_loss": 0.4609375,
      "loss": 0.12353515625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.1748046875,
      "step": 1083
    },
    {
      "epoch": 0.24321292349113754,
      "grad_norm": 1.0843682289123535,
      "learning_rate": 0.0004965960942523662,
      "loss": 0.1433,
      "step": 1084
    },
    {
      "epoch": 0.24321292349113754,
      "gripper_loss": 1.234375,
      "loss": 0.07861328125,
      "pos_loss": 0.1875,
      "rot_loss": 0.09326171875,
      "step": 1084
    },
    {
      "epoch": 0.24343728965671976,
      "grad_norm": 0.9617534279823303,
      "learning_rate": 0.0004965861276031726,
      "loss": 0.1756,
      "step": 1085
    },
    {
      "epoch": 0.24343728965671976,
      "gripper_loss": 1.0078125,
      "loss": 0.458984375,
      "pos_loss": 2.125,
      "rot_loss": 0.408203125,
      "step": 1085
    },
    {
      "epoch": 0.243661655822302,
      "grad_norm": 2.6106042861938477,
      "learning_rate": 0.0004965761464844165,
      "loss": 0.3821,
      "step": 1086
    },
    {
      "epoch": 0.243661655822302,
      "gripper_loss": 1.15625,
      "loss": 0.1396484375,
      "pos_loss": 0.369140625,
      "rot_loss": 0.53515625,
      "step": 1086
    },
    {
      "epoch": 0.24388602198788423,
      "grad_norm": 1.432612419128418,
      "learning_rate": 0.0004965661508966833,
      "loss": 0.1601,
      "step": 1087
    },
    {
      "epoch": 0.24388602198788423,
      "gripper_loss": 0.08251953125,
      "loss": 0.1494140625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.65625,
      "step": 1087
    },
    {
      "epoch": 0.24411038815346645,
      "grad_norm": 1.0369824171066284,
      "learning_rate": 0.0004965561408405599,
      "loss": 0.1672,
      "step": 1088
    },
    {
      "epoch": 0.24411038815346645,
      "gripper_loss": 0.451171875,
      "loss": 0.09716796875,
      "pos_loss": 0.3671875,
      "rot_loss": 0.12890625,
      "step": 1088
    },
    {
      "epoch": 0.2443347543190487,
      "grad_norm": 1.3245817422866821,
      "learning_rate": 0.0004965461163166334,
      "loss": 0.1971,
      "step": 1089
    },
    {
      "epoch": 0.2443347543190487,
      "gripper_loss": 0.1640625,
      "loss": 0.1572265625,
      "pos_loss": 0.625,
      "rot_loss": 0.7421875,
      "step": 1089
    },
    {
      "epoch": 0.2445591204846309,
      "grad_norm": 1.3854783773422241,
      "learning_rate": 0.0004965360773254922,
      "loss": 0.1797,
      "step": 1090
    },
    {
      "epoch": 0.2445591204846309,
      "gripper_loss": 0.353515625,
      "loss": 0.2001953125,
      "pos_loss": 1.6171875,
      "rot_loss": 0.13671875,
      "step": 1090
    },
    {
      "epoch": 0.24478348665021316,
      "grad_norm": 0.9584118723869324,
      "learning_rate": 0.0004965260238677252,
      "loss": 0.1663,
      "step": 1091
    },
    {
      "epoch": 0.24478348665021316,
      "gripper_loss": 0.64453125,
      "loss": 0.11865234375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.2099609375,
      "step": 1091
    },
    {
      "epoch": 0.24500785281579537,
      "grad_norm": 1.0254075527191162,
      "learning_rate": 0.0004965159559439225,
      "loss": 0.1817,
      "step": 1092
    },
    {
      "epoch": 0.24500785281579537,
      "gripper_loss": 1.3359375,
      "loss": 0.1923828125,
      "pos_loss": 1.2109375,
      "rot_loss": 0.19921875,
      "step": 1092
    },
    {
      "epoch": 0.24523221898137762,
      "grad_norm": 1.6249028444290161,
      "learning_rate": 0.0004965058735546749,
      "loss": 0.2027,
      "step": 1093
    },
    {
      "epoch": 0.24523221898137762,
      "gripper_loss": 0.267578125,
      "loss": 0.353515625,
      "pos_loss": 1.7265625,
      "rot_loss": 1.515625,
      "step": 1093
    },
    {
      "epoch": 0.24545658514695984,
      "grad_norm": 1.20386803150177,
      "learning_rate": 0.000496495776700574,
      "loss": 0.1855,
      "step": 1094
    },
    {
      "epoch": 0.24545658514695984,
      "gripper_loss": 0.828125,
      "loss": 0.224609375,
      "pos_loss": 1.703125,
      "rot_loss": 0.15234375,
      "step": 1094
    },
    {
      "epoch": 0.24568095131254206,
      "grad_norm": 1.2882720232009888,
      "learning_rate": 0.0004964856653822122,
      "loss": 0.1567,
      "step": 1095
    },
    {
      "epoch": 0.24568095131254206,
      "gripper_loss": 0.84375,
      "loss": 0.11962890625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.236328125,
      "step": 1095
    },
    {
      "epoch": 0.2459053174781243,
      "grad_norm": 1.4370607137680054,
      "learning_rate": 0.0004964755396001828,
      "loss": 0.201,
      "step": 1096
    },
    {
      "epoch": 0.2459053174781243,
      "gripper_loss": 0.08056640625,
      "loss": 0.185546875,
      "pos_loss": 1.46875,
      "rot_loss": 0.2060546875,
      "step": 1096
    },
    {
      "epoch": 0.24612968364370652,
      "grad_norm": 1.1025077104568481,
      "learning_rate": 0.00049646539935508,
      "loss": 0.1609,
      "step": 1097
    },
    {
      "epoch": 0.24612968364370652,
      "gripper_loss": 0.341796875,
      "loss": 0.0791015625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.1162109375,
      "step": 1097
    },
    {
      "epoch": 0.24635404980928877,
      "grad_norm": 0.849768877029419,
      "learning_rate": 0.000496455244647499,
      "loss": 0.157,
      "step": 1098
    },
    {
      "epoch": 0.24635404980928877,
      "gripper_loss": 1.59375,
      "loss": 0.25390625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.96875,
      "step": 1098
    },
    {
      "epoch": 0.24657841597487098,
      "grad_norm": 1.4133683443069458,
      "learning_rate": 0.0004964450754780355,
      "loss": 0.2571,
      "step": 1099
    },
    {
      "epoch": 0.24657841597487098,
      "gripper_loss": 0.12451171875,
      "loss": 0.181640625,
      "pos_loss": 0.984375,
      "rot_loss": 0.76953125,
      "step": 1099
    },
    {
      "epoch": 0.24680278214045323,
      "grad_norm": 1.1305289268493652,
      "learning_rate": 0.0004964348918472864,
      "loss": 0.2392,
      "step": 1100
    },
    {
      "epoch": 0.24680278214045323,
      "gripper_loss": 0.6015625,
      "loss": 0.1923828125,
      "pos_loss": 1.203125,
      "rot_loss": 0.40625,
      "step": 1100
    },
    {
      "epoch": 0.24702714830603545,
      "grad_norm": 1.4571014642715454,
      "learning_rate": 0.000496424693755849,
      "loss": 0.1865,
      "step": 1101
    },
    {
      "epoch": 0.24702714830603545,
      "gripper_loss": 0.7734375,
      "loss": 0.15234375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.38671875,
      "step": 1101
    },
    {
      "epoch": 0.24725151447161767,
      "grad_norm": 1.0838881731033325,
      "learning_rate": 0.0004964144812043219,
      "loss": 0.1062,
      "step": 1102
    },
    {
      "epoch": 0.24725151447161767,
      "gripper_loss": 0.2119140625,
      "loss": 0.1474609375,
      "pos_loss": 0.90234375,
      "rot_loss": 0.279296875,
      "step": 1102
    },
    {
      "epoch": 0.2474758806371999,
      "grad_norm": 0.8986145853996277,
      "learning_rate": 0.0004964042541933043,
      "loss": 0.2024,
      "step": 1103
    },
    {
      "epoch": 0.2474758806371999,
      "gripper_loss": 1.5,
      "loss": 0.1123046875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.056640625,
      "step": 1103
    },
    {
      "epoch": 0.24770024680278213,
      "grad_norm": 0.915071427822113,
      "learning_rate": 0.0004963940127233963,
      "loss": 0.1656,
      "step": 1104
    },
    {
      "epoch": 0.24770024680278213,
      "gripper_loss": 0.546875,
      "loss": 0.1962890625,
      "pos_loss": 0.1015625,
      "rot_loss": 1.65625,
      "step": 1104
    },
    {
      "epoch": 0.24792461296836438,
      "grad_norm": 0.747143030166626,
      "learning_rate": 0.000496383756795199,
      "loss": 0.1758,
      "step": 1105
    },
    {
      "epoch": 0.24792461296836438,
      "gripper_loss": 0.4921875,
      "loss": 0.05810546875,
      "pos_loss": 0.19921875,
      "rot_loss": 0.12451171875,
      "step": 1105
    },
    {
      "epoch": 0.2481489791339466,
      "grad_norm": 0.8101688027381897,
      "learning_rate": 0.000496373486409314,
      "loss": 0.1243,
      "step": 1106
    },
    {
      "epoch": 0.2481489791339466,
      "gripper_loss": 0.5390625,
      "loss": 0.2197265625,
      "pos_loss": 0.4921875,
      "rot_loss": 0.330078125,
      "step": 1106
    },
    {
      "epoch": 0.24837334529952884,
      "grad_norm": 1.9391299486160278,
      "learning_rate": 0.0004963632015663442,
      "loss": 0.2574,
      "step": 1107
    },
    {
      "epoch": 0.24837334529952884,
      "gripper_loss": 0.52734375,
      "loss": 0.11279296875,
      "pos_loss": 0.74609375,
      "rot_loss": 0.0888671875,
      "step": 1107
    },
    {
      "epoch": 0.24859771146511106,
      "grad_norm": 1.1283245086669922,
      "learning_rate": 0.0004963529022668929,
      "loss": 0.1613,
      "step": 1108
    },
    {
      "epoch": 0.24859771146511106,
      "gripper_loss": 0.421875,
      "loss": 0.2041015625,
      "pos_loss": 1.5625,
      "rot_loss": 0.326171875,
      "step": 1108
    },
    {
      "epoch": 0.24882207763069328,
      "grad_norm": 0.9672899842262268,
      "learning_rate": 0.0004963425885115647,
      "loss": 0.1756,
      "step": 1109
    },
    {
      "epoch": 0.24882207763069328,
      "gripper_loss": 1.4296875,
      "loss": 0.39453125,
      "pos_loss": 0.9296875,
      "rot_loss": 2.609375,
      "step": 1109
    },
    {
      "epoch": 0.24904644379627552,
      "grad_norm": 1.0865232944488525,
      "learning_rate": 0.0004963322603009644,
      "loss": 0.1511,
      "step": 1110
    },
    {
      "epoch": 0.24904644379627552,
      "gripper_loss": 0.6796875,
      "loss": 0.267578125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.60546875,
      "step": 1110
    },
    {
      "epoch": 0.24927080996185774,
      "grad_norm": 2.205993890762329,
      "learning_rate": 0.0004963219176356985,
      "loss": 0.3257,
      "step": 1111
    },
    {
      "epoch": 0.24927080996185774,
      "gripper_loss": 1.0078125,
      "loss": 0.158203125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.09716796875,
      "step": 1111
    },
    {
      "epoch": 0.24949517612744,
      "grad_norm": 1.0901387929916382,
      "learning_rate": 0.0004963115605163737,
      "loss": 0.1936,
      "step": 1112
    },
    {
      "epoch": 0.24949517612744,
      "gripper_loss": 0.73046875,
      "loss": 0.21484375,
      "pos_loss": 0.75,
      "rot_loss": 0.447265625,
      "step": 1112
    },
    {
      "epoch": 0.2497195422930222,
      "grad_norm": 1.8282902240753174,
      "learning_rate": 0.0004963011889435977,
      "loss": 0.2819,
      "step": 1113
    },
    {
      "epoch": 0.2497195422930222,
      "gripper_loss": 0.70703125,
      "loss": 0.1630859375,
      "pos_loss": 0.640625,
      "rot_loss": 0.65234375,
      "step": 1113
    },
    {
      "epoch": 0.24994390845860445,
      "grad_norm": 1.2258117198944092,
      "learning_rate": 0.0004962908029179793,
      "loss": 0.1826,
      "step": 1114
    },
    {
      "epoch": 0.24994390845860445,
      "gripper_loss": 2.109375,
      "loss": 0.1162109375,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.138671875,
      "step": 1114
    },
    {
      "epoch": 0.25016827462418667,
      "grad_norm": 1.0549863576889038,
      "learning_rate": 0.0004962804024401278,
      "loss": 0.1334,
      "step": 1115
    },
    {
      "epoch": 0.25016827462418667,
      "gripper_loss": 1.921875,
      "loss": 0.109375,
      "pos_loss": 0.25,
      "rot_loss": 0.1162109375,
      "step": 1115
    },
    {
      "epoch": 0.2503926407897689,
      "grad_norm": 1.5462079048156738,
      "learning_rate": 0.0004962699875106534,
      "loss": 0.2404,
      "step": 1116
    },
    {
      "epoch": 0.2503926407897689,
      "gripper_loss": 0.283203125,
      "loss": 0.043212890625,
      "pos_loss": 0.14453125,
      "rot_loss": 0.0732421875,
      "step": 1116
    },
    {
      "epoch": 0.2506170069553511,
      "grad_norm": 1.542396903038025,
      "learning_rate": 0.0004962595581301673,
      "loss": 0.1548,
      "step": 1117
    },
    {
      "epoch": 0.2506170069553511,
      "gripper_loss": 0.46484375,
      "loss": 0.2470703125,
      "pos_loss": 1.296875,
      "rot_loss": 0.443359375,
      "step": 1117
    },
    {
      "epoch": 0.25084137312093335,
      "grad_norm": 1.7619643211364746,
      "learning_rate": 0.0004962491142992817,
      "loss": 0.2705,
      "step": 1118
    },
    {
      "epoch": 0.25084137312093335,
      "gripper_loss": 0.5234375,
      "loss": 0.2119140625,
      "pos_loss": 1.0859375,
      "rot_loss": 0.65625,
      "step": 1118
    },
    {
      "epoch": 0.2510657392865156,
      "grad_norm": 1.2115775346755981,
      "learning_rate": 0.0004962386560186092,
      "loss": 0.1903,
      "step": 1119
    },
    {
      "epoch": 0.2510657392865156,
      "gripper_loss": 0.828125,
      "loss": 0.111328125,
      "pos_loss": 0.4765625,
      "rot_loss": 0.19921875,
      "step": 1119
    },
    {
      "epoch": 0.25129010545209784,
      "grad_norm": 1.0424472093582153,
      "learning_rate": 0.0004962281832887635,
      "loss": 0.212,
      "step": 1120
    },
    {
      "epoch": 0.25129010545209784,
      "gripper_loss": 0.34375,
      "loss": 0.140625,
      "pos_loss": 0.486328125,
      "rot_loss": 0.474609375,
      "step": 1120
    },
    {
      "epoch": 0.25151447161768004,
      "grad_norm": 1.2311407327651978,
      "learning_rate": 0.0004962176961103593,
      "loss": 0.1567,
      "step": 1121
    },
    {
      "epoch": 0.25151447161768004,
      "gripper_loss": 0.60546875,
      "loss": 0.10693359375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.3359375,
      "step": 1121
    },
    {
      "epoch": 0.2517388377832623,
      "grad_norm": 1.5429702997207642,
      "learning_rate": 0.0004962071944840119,
      "loss": 0.1684,
      "step": 1122
    },
    {
      "epoch": 0.2517388377832623,
      "gripper_loss": 0.0810546875,
      "loss": 0.2578125,
      "pos_loss": 1.4375,
      "rot_loss": 1.0546875,
      "step": 1122
    },
    {
      "epoch": 0.2519632039488445,
      "grad_norm": 1.3724427223205566,
      "learning_rate": 0.0004961966784103375,
      "loss": 0.1667,
      "step": 1123
    },
    {
      "epoch": 0.2519632039488445,
      "gripper_loss": 0.51171875,
      "loss": 0.177734375,
      "pos_loss": 0.6796875,
      "rot_loss": 0.53515625,
      "step": 1123
    },
    {
      "epoch": 0.2521875701144267,
      "grad_norm": 1.3781354427337646,
      "learning_rate": 0.0004961861478899532,
      "loss": 0.197,
      "step": 1124
    },
    {
      "epoch": 0.2521875701144267,
      "gripper_loss": 0.77734375,
      "loss": 0.310546875,
      "pos_loss": 1.828125,
      "rot_loss": 1.0546875,
      "step": 1124
    },
    {
      "epoch": 0.25241193628000896,
      "grad_norm": 0.823157787322998,
      "learning_rate": 0.0004961756029234768,
      "loss": 0.143,
      "step": 1125
    },
    {
      "epoch": 0.25241193628000896,
      "gripper_loss": 1.078125,
      "loss": 0.10205078125,
      "pos_loss": 0.474609375,
      "rot_loss": 0.1220703125,
      "step": 1125
    },
    {
      "epoch": 0.2526363024455912,
      "grad_norm": 0.8958981037139893,
      "learning_rate": 0.0004961650435115274,
      "loss": 0.2178,
      "step": 1126
    },
    {
      "epoch": 0.2526363024455912,
      "gripper_loss": 0.0810546875,
      "loss": 0.28125,
      "pos_loss": 2.65625,
      "rot_loss": 0.10888671875,
      "step": 1126
    },
    {
      "epoch": 0.25286066861117346,
      "grad_norm": 1.4205615520477295,
      "learning_rate": 0.0004961544696547244,
      "loss": 0.2221,
      "step": 1127
    },
    {
      "epoch": 0.25286066861117346,
      "gripper_loss": 0.392578125,
      "loss": 0.3515625,
      "pos_loss": 0.859375,
      "rot_loss": 0.439453125,
      "step": 1127
    },
    {
      "epoch": 0.25308503477675565,
      "grad_norm": 2.2262775897979736,
      "learning_rate": 0.000496143881353688,
      "loss": 0.3706,
      "step": 1128
    },
    {
      "epoch": 0.25308503477675565,
      "gripper_loss": 0.8671875,
      "loss": 0.142578125,
      "pos_loss": 0.80078125,
      "rot_loss": 0.1455078125,
      "step": 1128
    },
    {
      "epoch": 0.2533094009423379,
      "grad_norm": 1.354607105255127,
      "learning_rate": 0.0004961332786090401,
      "loss": 0.1672,
      "step": 1129
    },
    {
      "epoch": 0.2533094009423379,
      "gripper_loss": 0.1142578125,
      "loss": 0.349609375,
      "pos_loss": 1.609375,
      "rot_loss": 1.859375,
      "step": 1129
    },
    {
      "epoch": 0.25353376710792014,
      "grad_norm": 1.3334307670593262,
      "learning_rate": 0.0004961226614214024,
      "loss": 0.2042,
      "step": 1130
    },
    {
      "epoch": 0.25353376710792014,
      "gripper_loss": 0.1240234375,
      "loss": 0.1943359375,
      "pos_loss": 0.68359375,
      "rot_loss": 0.88671875,
      "step": 1130
    },
    {
      "epoch": 0.25375813327350233,
      "grad_norm": 1.342267394065857,
      "learning_rate": 0.0004961120297913982,
      "loss": 0.1913,
      "step": 1131
    },
    {
      "epoch": 0.25375813327350233,
      "gripper_loss": 0.08642578125,
      "loss": 0.236328125,
      "pos_loss": 1.296875,
      "rot_loss": 0.99609375,
      "step": 1131
    },
    {
      "epoch": 0.2539824994390846,
      "grad_norm": 0.9788139462471008,
      "learning_rate": 0.0004961013837196512,
      "loss": 0.1555,
      "step": 1132
    },
    {
      "epoch": 0.2539824994390846,
      "gripper_loss": 0.703125,
      "loss": 0.091796875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.11669921875,
      "step": 1132
    },
    {
      "epoch": 0.2542068656046668,
      "grad_norm": 1.038461685180664,
      "learning_rate": 0.0004960907232067862,
      "loss": 0.1743,
      "step": 1133
    },
    {
      "epoch": 0.2542068656046668,
      "gripper_loss": 0.263671875,
      "loss": 0.0927734375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.236328125,
      "step": 1133
    },
    {
      "epoch": 0.25443123177024907,
      "grad_norm": 1.252469778060913,
      "learning_rate": 0.0004960800482534286,
      "loss": 0.1371,
      "step": 1134
    },
    {
      "epoch": 0.25443123177024907,
      "gripper_loss": 0.248046875,
      "loss": 0.15625,
      "pos_loss": 1.2734375,
      "rot_loss": 0.1162109375,
      "step": 1134
    },
    {
      "epoch": 0.25465559793583126,
      "grad_norm": 1.000827431678772,
      "learning_rate": 0.000496069358860205,
      "loss": 0.1584,
      "step": 1135
    },
    {
      "epoch": 0.25465559793583126,
      "gripper_loss": 0.74609375,
      "loss": 0.07958984375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.19140625,
      "step": 1135
    },
    {
      "epoch": 0.2548799641014135,
      "grad_norm": 1.1825097799301147,
      "learning_rate": 0.0004960586550277424,
      "loss": 0.1585,
      "step": 1136
    },
    {
      "epoch": 0.2548799641014135,
      "gripper_loss": 1.765625,
      "loss": 0.10107421875,
      "pos_loss": 0.171875,
      "rot_loss": 0.1015625,
      "step": 1136
    },
    {
      "epoch": 0.25510433026699575,
      "grad_norm": 1.1233488321304321,
      "learning_rate": 0.0004960479367566692,
      "loss": 0.1987,
      "step": 1137
    },
    {
      "epoch": 0.25510433026699575,
      "gripper_loss": 0.365234375,
      "loss": 0.0927734375,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.408203125,
      "step": 1137
    },
    {
      "epoch": 0.25532869643257794,
      "grad_norm": 0.9846956133842468,
      "learning_rate": 0.000496037204047614,
      "loss": 0.1533,
      "step": 1138
    },
    {
      "epoch": 0.25532869643257794,
      "gripper_loss": 0.25390625,
      "loss": 0.314453125,
      "pos_loss": 1.1796875,
      "rot_loss": 1.8046875,
      "step": 1138
    },
    {
      "epoch": 0.2555530625981602,
      "grad_norm": 1.2328641414642334,
      "learning_rate": 0.000496026456901207,
      "loss": 0.2298,
      "step": 1139
    },
    {
      "epoch": 0.2555530625981602,
      "gripper_loss": 0.482421875,
      "loss": 0.2314453125,
      "pos_loss": 0.63671875,
      "rot_loss": 0.70703125,
      "step": 1139
    },
    {
      "epoch": 0.25577742876374243,
      "grad_norm": 1.546711802482605,
      "learning_rate": 0.0004960156953180785,
      "loss": 0.2026,
      "step": 1140
    },
    {
      "epoch": 0.25577742876374243,
      "gripper_loss": 0.26171875,
      "loss": 0.373046875,
      "pos_loss": 1.109375,
      "rot_loss": 0.5859375,
      "step": 1140
    },
    {
      "epoch": 0.2560017949293247,
      "grad_norm": 1.8973755836486816,
      "learning_rate": 0.0004960049192988602,
      "loss": 0.3079,
      "step": 1141
    },
    {
      "epoch": 0.2560017949293247,
      "gripper_loss": 0.365234375,
      "loss": 0.2001953125,
      "pos_loss": 1.65625,
      "rot_loss": 0.115234375,
      "step": 1141
    },
    {
      "epoch": 0.25622616109490687,
      "grad_norm": 1.346960186958313,
      "learning_rate": 0.0004959941288441842,
      "loss": 0.233,
      "step": 1142
    },
    {
      "epoch": 0.25622616109490687,
      "gripper_loss": 0.09814453125,
      "loss": 0.12158203125,
      "pos_loss": 0.546875,
      "rot_loss": 0.26953125,
      "step": 1142
    },
    {
      "epoch": 0.2564505272604891,
      "grad_norm": 1.352413535118103,
      "learning_rate": 0.0004959833239546839,
      "loss": 0.1325,
      "step": 1143
    },
    {
      "epoch": 0.2564505272604891,
      "gripper_loss": 0.5703125,
      "loss": 0.08056640625,
      "pos_loss": 0.390625,
      "rot_loss": 0.0859375,
      "step": 1143
    },
    {
      "epoch": 0.25667489342607136,
      "grad_norm": 1.4555903673171997,
      "learning_rate": 0.0004959725046309931,
      "loss": 0.2287,
      "step": 1144
    },
    {
      "epoch": 0.25667489342607136,
      "gripper_loss": 0.6171875,
      "loss": 0.12158203125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.609375,
      "step": 1144
    },
    {
      "epoch": 0.2568992595916536,
      "grad_norm": 0.9661937952041626,
      "learning_rate": 0.000495961670873747,
      "loss": 0.1677,
      "step": 1145
    },
    {
      "epoch": 0.2568992595916536,
      "gripper_loss": 0.27734375,
      "loss": 0.1484375,
      "pos_loss": 0.267578125,
      "rot_loss": 1.0,
      "step": 1145
    },
    {
      "epoch": 0.2571236257572358,
      "grad_norm": 0.9311688542366028,
      "learning_rate": 0.0004959508226835811,
      "loss": 0.1489,
      "step": 1146
    },
    {
      "epoch": 0.2571236257572358,
      "gripper_loss": 1.6015625,
      "loss": 0.08349609375,
      "pos_loss": 0.142578125,
      "rot_loss": 0.054443359375,
      "step": 1146
    },
    {
      "epoch": 0.25734799192281804,
      "grad_norm": 1.1374647617340088,
      "learning_rate": 0.000495939960061132,
      "loss": 0.1972,
      "step": 1147
    },
    {
      "epoch": 0.25734799192281804,
      "gripper_loss": 0.5,
      "loss": 0.07666015625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.10546875,
      "step": 1147
    },
    {
      "epoch": 0.2575723580884003,
      "grad_norm": 1.1284120082855225,
      "learning_rate": 0.000495929083007037,
      "loss": 0.1662,
      "step": 1148
    },
    {
      "epoch": 0.2575723580884003,
      "gripper_loss": 0.7578125,
      "loss": 0.06982421875,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.1611328125,
      "step": 1148
    },
    {
      "epoch": 0.2577967242539825,
      "grad_norm": 1.106488823890686,
      "learning_rate": 0.0004959181915219345,
      "loss": 0.1539,
      "step": 1149
    },
    {
      "epoch": 0.2577967242539825,
      "gripper_loss": 0.470703125,
      "loss": 0.5546875,
      "pos_loss": 1.1171875,
      "rot_loss": 0.58984375,
      "step": 1149
    },
    {
      "epoch": 0.2580210904195647,
      "grad_norm": 2.1565377712249756,
      "learning_rate": 0.0004959072856064637,
      "loss": 0.6296,
      "step": 1150
    },
    {
      "epoch": 0.2580210904195647,
      "gripper_loss": 0.041748046875,
      "loss": 0.181640625,
      "pos_loss": 1.5703125,
      "rot_loss": 0.1396484375,
      "step": 1150
    },
    {
      "epoch": 0.25824545658514697,
      "grad_norm": 1.1119844913482666,
      "learning_rate": 0.0004958963652612643,
      "loss": 0.1736,
      "step": 1151
    },
    {
      "epoch": 0.25824545658514697,
      "gripper_loss": 0.283203125,
      "loss": 0.212890625,
      "pos_loss": 1.6875,
      "rot_loss": 0.22265625,
      "step": 1151
    },
    {
      "epoch": 0.2584698227507292,
      "grad_norm": 0.9483317136764526,
      "learning_rate": 0.0004958854304869773,
      "loss": 0.1888,
      "step": 1152
    },
    {
      "epoch": 0.2584698227507292,
      "gripper_loss": 0.2138671875,
      "loss": 0.171875,
      "pos_loss": 0.6015625,
      "rot_loss": 0.359375,
      "step": 1152
    },
    {
      "epoch": 0.2586941889163114,
      "grad_norm": 1.3128108978271484,
      "learning_rate": 0.0004958744812842443,
      "loss": 0.205,
      "step": 1153
    },
    {
      "epoch": 0.2586941889163114,
      "gripper_loss": 0.10400390625,
      "loss": 0.296875,
      "pos_loss": 2.8125,
      "rot_loss": 0.1318359375,
      "step": 1153
    },
    {
      "epoch": 0.25891855508189365,
      "grad_norm": 1.3014116287231445,
      "learning_rate": 0.0004958635176537077,
      "loss": 0.2238,
      "step": 1154
    },
    {
      "epoch": 0.25891855508189365,
      "gripper_loss": 0.1396484375,
      "loss": 0.1044921875,
      "pos_loss": 0.375,
      "rot_loss": 0.46484375,
      "step": 1154
    },
    {
      "epoch": 0.2591429212474759,
      "grad_norm": 1.1557003259658813,
      "learning_rate": 0.000495852539596011,
      "loss": 0.1688,
      "step": 1155
    },
    {
      "epoch": 0.2591429212474759,
      "gripper_loss": 0.1484375,
      "loss": 0.10498046875,
      "pos_loss": 0.330078125,
      "rot_loss": 0.578125,
      "step": 1155
    },
    {
      "epoch": 0.2593672874130581,
      "grad_norm": 1.026029109954834,
      "learning_rate": 0.0004958415471117983,
      "loss": 0.1666,
      "step": 1156
    },
    {
      "epoch": 0.2593672874130581,
      "gripper_loss": 1.0625,
      "loss": 0.6875,
      "pos_loss": 0.76171875,
      "rot_loss": 0.96484375,
      "step": 1156
    },
    {
      "epoch": 0.25959165357864034,
      "grad_norm": 3.5920093059539795,
      "learning_rate": 0.0004958305402017146,
      "loss": 0.6426,
      "step": 1157
    },
    {
      "epoch": 0.25959165357864034,
      "gripper_loss": 0.1875,
      "loss": 0.380859375,
      "pos_loss": 1.6171875,
      "rot_loss": 1.03125,
      "step": 1157
    },
    {
      "epoch": 0.2598160197442226,
      "grad_norm": 1.6844193935394287,
      "learning_rate": 0.0004958195188664058,
      "loss": 0.2937,
      "step": 1158
    },
    {
      "epoch": 0.2598160197442226,
      "gripper_loss": 1.078125,
      "loss": 0.1611328125,
      "pos_loss": 0.478515625,
      "rot_loss": 0.1865234375,
      "step": 1158
    },
    {
      "epoch": 0.2600403859098048,
      "grad_norm": 1.837670087814331,
      "learning_rate": 0.0004958084831065187,
      "loss": 0.2327,
      "step": 1159
    },
    {
      "epoch": 0.2600403859098048,
      "gripper_loss": 0.38671875,
      "loss": 0.1865234375,
      "pos_loss": 1.390625,
      "rot_loss": 0.1455078125,
      "step": 1159
    },
    {
      "epoch": 0.260264752075387,
      "grad_norm": 1.262078046798706,
      "learning_rate": 0.0004957974329227008,
      "loss": 0.1896,
      "step": 1160
    },
    {
      "epoch": 0.260264752075387,
      "gripper_loss": 0.1611328125,
      "loss": 0.337890625,
      "pos_loss": 2.171875,
      "rot_loss": 0.546875,
      "step": 1160
    },
    {
      "epoch": 0.26048911824096926,
      "grad_norm": 1.6373138427734375,
      "learning_rate": 0.0004957863683156006,
      "loss": 0.2249,
      "step": 1161
    },
    {
      "epoch": 0.26048911824096926,
      "gripper_loss": 0.087890625,
      "loss": 0.16015625,
      "pos_loss": 1.0390625,
      "rot_loss": 0.28125,
      "step": 1161
    },
    {
      "epoch": 0.2607134844065515,
      "grad_norm": 1.3275797367095947,
      "learning_rate": 0.0004957752892858671,
      "loss": 0.1657,
      "step": 1162
    },
    {
      "epoch": 0.2607134844065515,
      "gripper_loss": 0.26953125,
      "loss": 0.421875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.71484375,
      "step": 1162
    },
    {
      "epoch": 0.2609378505721337,
      "grad_norm": 2.3840651512145996,
      "learning_rate": 0.0004957641958341509,
      "loss": 0.4668,
      "step": 1163
    },
    {
      "epoch": 0.2609378505721337,
      "gripper_loss": 0.2158203125,
      "loss": 0.142578125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.6875,
      "step": 1163
    },
    {
      "epoch": 0.26116221673771595,
      "grad_norm": 1.3339837789535522,
      "learning_rate": 0.0004957530879611025,
      "loss": 0.1564,
      "step": 1164
    },
    {
      "epoch": 0.26116221673771595,
      "gripper_loss": 0.515625,
      "loss": 0.0966796875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.0791015625,
      "step": 1164
    },
    {
      "epoch": 0.2613865829032982,
      "grad_norm": 1.2308961153030396,
      "learning_rate": 0.0004957419656673739,
      "loss": 0.1707,
      "step": 1165
    },
    {
      "epoch": 0.2613865829032982,
      "gripper_loss": 0.234375,
      "loss": 0.423828125,
      "pos_loss": 1.5703125,
      "rot_loss": 0.5234375,
      "step": 1165
    },
    {
      "epoch": 0.26161094906888044,
      "grad_norm": 1.8192447423934937,
      "learning_rate": 0.0004957308289536178,
      "loss": 0.3197,
      "step": 1166
    },
    {
      "epoch": 0.26161094906888044,
      "gripper_loss": 0.57421875,
      "loss": 0.11572265625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.058349609375,
      "step": 1166
    },
    {
      "epoch": 0.26183531523446263,
      "grad_norm": 1.162753701210022,
      "learning_rate": 0.0004957196778204876,
      "loss": 0.2457,
      "step": 1167
    },
    {
      "epoch": 0.26183531523446263,
      "gripper_loss": 0.60546875,
      "loss": 0.2119140625,
      "pos_loss": 0.578125,
      "rot_loss": 0.3046875,
      "step": 1167
    },
    {
      "epoch": 0.2620596814000449,
      "grad_norm": 2.401251792907715,
      "learning_rate": 0.0004957085122686376,
      "loss": 0.3158,
      "step": 1168
    },
    {
      "epoch": 0.2620596814000449,
      "gripper_loss": 0.1162109375,
      "loss": 0.375,
      "pos_loss": 1.2734375,
      "rot_loss": 2.421875,
      "step": 1168
    },
    {
      "epoch": 0.2622840475656271,
      "grad_norm": 1.8885918855667114,
      "learning_rate": 0.0004956973322987233,
      "loss": 0.2301,
      "step": 1169
    },
    {
      "epoch": 0.2622840475656271,
      "gripper_loss": 0.2099609375,
      "loss": 0.232421875,
      "pos_loss": 1.4609375,
      "rot_loss": 0.65234375,
      "step": 1169
    },
    {
      "epoch": 0.2625084137312093,
      "grad_norm": 1.447967290878296,
      "learning_rate": 0.0004956861379114002,
      "loss": 0.1981,
      "step": 1170
    },
    {
      "epoch": 0.2625084137312093,
      "gripper_loss": 0.609375,
      "loss": 0.287109375,
      "pos_loss": 1.15625,
      "rot_loss": 1.3984375,
      "step": 1170
    },
    {
      "epoch": 0.26273277989679156,
      "grad_norm": 1.5404558181762695,
      "learning_rate": 0.0004956749291073257,
      "loss": 0.1719,
      "step": 1171
    },
    {
      "epoch": 0.26273277989679156,
      "gripper_loss": 0.2734375,
      "loss": 0.259765625,
      "pos_loss": 0.75390625,
      "rot_loss": 0.61328125,
      "step": 1171
    },
    {
      "epoch": 0.2629571460623738,
      "grad_norm": 1.9443988800048828,
      "learning_rate": 0.0004956637058871572,
      "loss": 0.2509,
      "step": 1172
    },
    {
      "epoch": 0.2629571460623738,
      "gripper_loss": 0.419921875,
      "loss": 0.2333984375,
      "pos_loss": 0.78125,
      "rot_loss": 1.1484375,
      "step": 1172
    },
    {
      "epoch": 0.26318151222795605,
      "grad_norm": 1.4567718505859375,
      "learning_rate": 0.0004956524682515534,
      "loss": 0.2012,
      "step": 1173
    },
    {
      "epoch": 0.26318151222795605,
      "gripper_loss": 0.023193359375,
      "loss": 0.146484375,
      "pos_loss": 0.6640625,
      "rot_loss": 0.6953125,
      "step": 1173
    },
    {
      "epoch": 0.26340587839353824,
      "grad_norm": 1.285990595817566,
      "learning_rate": 0.0004956412162011737,
      "loss": 0.1251,
      "step": 1174
    },
    {
      "epoch": 0.26340587839353824,
      "gripper_loss": 1.4609375,
      "loss": 0.47265625,
      "pos_loss": 0.52734375,
      "rot_loss": 0.578125,
      "step": 1174
    },
    {
      "epoch": 0.2636302445591205,
      "grad_norm": 2.365940809249878,
      "learning_rate": 0.0004956299497366784,
      "loss": 0.5679,
      "step": 1175
    },
    {
      "epoch": 0.2636302445591205,
      "gripper_loss": 0.30078125,
      "loss": 0.2412109375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.64453125,
      "step": 1175
    },
    {
      "epoch": 0.26385461072470273,
      "grad_norm": 2.268454074859619,
      "learning_rate": 0.0004956186688587287,
      "loss": 0.3077,
      "step": 1176
    },
    {
      "epoch": 0.26385461072470273,
      "gripper_loss": 0.1357421875,
      "loss": 0.1865234375,
      "pos_loss": 1.21875,
      "rot_loss": 0.43359375,
      "step": 1176
    },
    {
      "epoch": 0.2640789768902849,
      "grad_norm": 1.6917686462402344,
      "learning_rate": 0.0004956073735679862,
      "loss": 0.1996,
      "step": 1177
    },
    {
      "epoch": 0.2640789768902849,
      "gripper_loss": 0.1416015625,
      "loss": 0.2001953125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.98828125,
      "step": 1177
    },
    {
      "epoch": 0.26430334305586717,
      "grad_norm": 1.4608525037765503,
      "learning_rate": 0.000495596063865114,
      "loss": 0.1879,
      "step": 1178
    },
    {
      "epoch": 0.26430334305586717,
      "gripper_loss": 0.12255859375,
      "loss": 0.1865234375,
      "pos_loss": 1.0625,
      "rot_loss": 0.373046875,
      "step": 1178
    },
    {
      "epoch": 0.2645277092214494,
      "grad_norm": 1.3878329992294312,
      "learning_rate": 0.0004955847397507758,
      "loss": 0.1646,
      "step": 1179
    },
    {
      "epoch": 0.2645277092214494,
      "gripper_loss": 0.271484375,
      "loss": 0.2158203125,
      "pos_loss": 1.40625,
      "rot_loss": 0.474609375,
      "step": 1179
    },
    {
      "epoch": 0.26475207538703166,
      "grad_norm": 1.373311996459961,
      "learning_rate": 0.0004955734012256359,
      "loss": 0.1995,
      "step": 1180
    },
    {
      "epoch": 0.26475207538703166,
      "gripper_loss": 1.0546875,
      "loss": 0.126953125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.28125,
      "step": 1180
    },
    {
      "epoch": 0.26497644155261385,
      "grad_norm": 1.3449429273605347,
      "learning_rate": 0.0004955620482903596,
      "loss": 0.1901,
      "step": 1181
    },
    {
      "epoch": 0.26497644155261385,
      "gripper_loss": 0.408203125,
      "loss": 0.16796875,
      "pos_loss": 1.2734375,
      "rot_loss": 0.15625,
      "step": 1181
    },
    {
      "epoch": 0.2652008077181961,
      "grad_norm": 1.0100430250167847,
      "learning_rate": 0.0004955506809456134,
      "loss": 0.145,
      "step": 1182
    },
    {
      "epoch": 0.2652008077181961,
      "gripper_loss": 0.5078125,
      "loss": 0.1357421875,
      "pos_loss": 0.302734375,
      "rot_loss": 0.7890625,
      "step": 1182
    },
    {
      "epoch": 0.26542517388377834,
      "grad_norm": 1.1294561624526978,
      "learning_rate": 0.0004955392991920641,
      "loss": 0.2005,
      "step": 1183
    },
    {
      "epoch": 0.26542517388377834,
      "gripper_loss": 0.298828125,
      "loss": 0.2041015625,
      "pos_loss": 0.96484375,
      "rot_loss": 0.89453125,
      "step": 1183
    },
    {
      "epoch": 0.26564954004936053,
      "grad_norm": 1.110994577407837,
      "learning_rate": 0.0004955279030303796,
      "loss": 0.1624,
      "step": 1184
    },
    {
      "epoch": 0.26564954004936053,
      "gripper_loss": 1.34375,
      "loss": 0.1201171875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.130859375,
      "step": 1184
    },
    {
      "epoch": 0.2658739062149428,
      "grad_norm": 1.0487638711929321,
      "learning_rate": 0.0004955164924612286,
      "loss": 0.172,
      "step": 1185
    },
    {
      "epoch": 0.2658739062149428,
      "gripper_loss": 0.251953125,
      "loss": 0.16015625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.2421875,
      "step": 1185
    },
    {
      "epoch": 0.266098272380525,
      "grad_norm": 1.5847582817077637,
      "learning_rate": 0.0004955050674852806,
      "loss": 0.1925,
      "step": 1186
    },
    {
      "epoch": 0.266098272380525,
      "gripper_loss": 0.1044921875,
      "loss": 0.26953125,
      "pos_loss": 1.203125,
      "rot_loss": 1.2265625,
      "step": 1186
    },
    {
      "epoch": 0.26632263854610727,
      "grad_norm": 1.363523244857788,
      "learning_rate": 0.0004954936281032063,
      "loss": 0.2269,
      "step": 1187
    },
    {
      "epoch": 0.26632263854610727,
      "gripper_loss": 0.302734375,
      "loss": 0.1298828125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.30078125,
      "step": 1187
    },
    {
      "epoch": 0.26654700471168946,
      "grad_norm": 1.3436895608901978,
      "learning_rate": 0.0004954821743156767,
      "loss": 0.1404,
      "step": 1188
    },
    {
      "epoch": 0.26654700471168946,
      "gripper_loss": 0.2109375,
      "loss": 0.07177734375,
      "pos_loss": 0.265625,
      "rot_loss": 0.08837890625,
      "step": 1188
    },
    {
      "epoch": 0.2667713708772717,
      "grad_norm": 1.5271631479263306,
      "learning_rate": 0.000495470706123364,
      "loss": 0.1527,
      "step": 1189
    },
    {
      "epoch": 0.2667713708772717,
      "gripper_loss": 0.361328125,
      "loss": 0.302734375,
      "pos_loss": 1.6875,
      "rot_loss": 1.1953125,
      "step": 1189
    },
    {
      "epoch": 0.26699573704285395,
      "grad_norm": 1.1915596723556519,
      "learning_rate": 0.0004954592235269411,
      "loss": 0.1935,
      "step": 1190
    },
    {
      "epoch": 0.26699573704285395,
      "gripper_loss": 0.037109375,
      "loss": 0.35546875,
      "pos_loss": 1.6875,
      "rot_loss": 1.8671875,
      "step": 1190
    },
    {
      "epoch": 0.26722010320843614,
      "grad_norm": 1.4310896396636963,
      "learning_rate": 0.0004954477265270816,
      "loss": 0.2072,
      "step": 1191
    },
    {
      "epoch": 0.26722010320843614,
      "gripper_loss": 0.90625,
      "loss": 0.11181640625,
      "pos_loss": 0.58203125,
      "rot_loss": 0.1259765625,
      "step": 1191
    },
    {
      "epoch": 0.2674444693740184,
      "grad_norm": 0.8933790922164917,
      "learning_rate": 0.0004954362151244607,
      "loss": 0.1672,
      "step": 1192
    },
    {
      "epoch": 0.2674444693740184,
      "gripper_loss": 0.5625,
      "loss": 0.58984375,
      "pos_loss": 1.875,
      "rot_loss": 1.2421875,
      "step": 1192
    },
    {
      "epoch": 0.26766883553960064,
      "grad_norm": 1.630286693572998,
      "learning_rate": 0.0004954246893197534,
      "loss": 0.47,
      "step": 1193
    },
    {
      "epoch": 0.26766883553960064,
      "gripper_loss": 1.296875,
      "loss": 0.208984375,
      "pos_loss": 1.0859375,
      "rot_loss": 0.369140625,
      "step": 1193
    },
    {
      "epoch": 0.2678932017051829,
      "grad_norm": 1.324294090270996,
      "learning_rate": 0.0004954131491136361,
      "loss": 0.1656,
      "step": 1194
    },
    {
      "epoch": 0.2678932017051829,
      "gripper_loss": 0.0361328125,
      "loss": 0.20703125,
      "pos_loss": 1.65625,
      "rot_loss": 0.1533203125,
      "step": 1194
    },
    {
      "epoch": 0.2681175678707651,
      "grad_norm": 1.4930919408798218,
      "learning_rate": 0.0004954015945067862,
      "loss": 0.1694,
      "step": 1195
    },
    {
      "epoch": 0.2681175678707651,
      "gripper_loss": 0.765625,
      "loss": 0.173828125,
      "pos_loss": 1.0625,
      "rot_loss": 0.12353515625,
      "step": 1195
    },
    {
      "epoch": 0.2683419340363473,
      "grad_norm": 1.3547513484954834,
      "learning_rate": 0.0004953900254998815,
      "loss": 0.1685,
      "step": 1196
    },
    {
      "epoch": 0.2683419340363473,
      "gripper_loss": 1.2890625,
      "loss": 0.5078125,
      "pos_loss": 3.78125,
      "rot_loss": 0.92578125,
      "step": 1196
    },
    {
      "epoch": 0.26856630020192956,
      "grad_norm": 1.4651875495910645,
      "learning_rate": 0.0004953784420936009,
      "loss": 0.2093,
      "step": 1197
    },
    {
      "epoch": 0.26856630020192956,
      "gripper_loss": 0.2578125,
      "loss": 0.34765625,
      "pos_loss": 1.2265625,
      "rot_loss": 2.1875,
      "step": 1197
    },
    {
      "epoch": 0.26879066636751175,
      "grad_norm": 1.168328881263733,
      "learning_rate": 0.0004953668442886239,
      "loss": 0.194,
      "step": 1198
    },
    {
      "epoch": 0.26879066636751175,
      "gripper_loss": 0.83203125,
      "loss": 0.208984375,
      "pos_loss": 0.796875,
      "rot_loss": 0.390625,
      "step": 1198
    },
    {
      "epoch": 0.269015032533094,
      "grad_norm": 1.5248981714248657,
      "learning_rate": 0.0004953552320856316,
      "loss": 0.2333,
      "step": 1199
    },
    {
      "epoch": 0.269015032533094,
      "gripper_loss": 1.765625,
      "loss": 0.11962890625,
      "pos_loss": 0.3515625,
      "rot_loss": 0.052001953125,
      "step": 1199
    },
    {
      "epoch": 0.26923939869867625,
      "grad_norm": 1.111177682876587,
      "learning_rate": 0.000495343605485305,
      "loss": 0.2006,
      "step": 1200
    },
    {
      "epoch": 0.26923939869867625,
      "gripper_loss": 0.435546875,
      "loss": 0.053955078125,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.09423828125,
      "step": 1200
    },
    {
      "epoch": 0.2694637648642585,
      "grad_norm": 1.0577149391174316,
      "learning_rate": 0.0004953319644883264,
      "loss": 0.1414,
      "step": 1201
    },
    {
      "epoch": 0.2694637648642585,
      "gripper_loss": 1.2265625,
      "loss": 0.2294921875,
      "pos_loss": 0.765625,
      "rot_loss": 0.458984375,
      "step": 1201
    },
    {
      "epoch": 0.2696881310298407,
      "grad_norm": 1.101664423942566,
      "learning_rate": 0.000495320309095379,
      "loss": 0.2001,
      "step": 1202
    },
    {
      "epoch": 0.2696881310298407,
      "gripper_loss": 1.3671875,
      "loss": 0.287109375,
      "pos_loss": 0.66015625,
      "rot_loss": 1.71875,
      "step": 1202
    },
    {
      "epoch": 0.26991249719542293,
      "grad_norm": 1.2435100078582764,
      "learning_rate": 0.0004953086393071466,
      "loss": 0.1807,
      "step": 1203
    },
    {
      "epoch": 0.26991249719542293,
      "gripper_loss": 0.0908203125,
      "loss": 0.236328125,
      "pos_loss": 1.5546875,
      "rot_loss": 0.70703125,
      "step": 1203
    },
    {
      "epoch": 0.2701368633610052,
      "grad_norm": 1.701865315437317,
      "learning_rate": 0.000495296955124314,
      "loss": 0.1818,
      "step": 1204
    },
    {
      "epoch": 0.2701368633610052,
      "gripper_loss": 0.5,
      "loss": 0.423828125,
      "pos_loss": 0.6328125,
      "rot_loss": 0.953125,
      "step": 1204
    },
    {
      "epoch": 0.27036122952658737,
      "grad_norm": 2.3408074378967285,
      "learning_rate": 0.0004952852565475669,
      "loss": 0.4333,
      "step": 1205
    },
    {
      "epoch": 0.27036122952658737,
      "gripper_loss": 0.0888671875,
      "loss": 0.41015625,
      "pos_loss": 3.09375,
      "rot_loss": 1.0859375,
      "step": 1205
    },
    {
      "epoch": 0.2705855956921696,
      "grad_norm": 0.8694916367530823,
      "learning_rate": 0.0004952735435775916,
      "loss": 0.1762,
      "step": 1206
    },
    {
      "epoch": 0.2705855956921696,
      "gripper_loss": 0.05859375,
      "loss": 0.1650390625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.8984375,
      "step": 1206
    },
    {
      "epoch": 0.27080996185775186,
      "grad_norm": 1.071502685546875,
      "learning_rate": 0.0004952618162150757,
      "loss": 0.156,
      "step": 1207
    },
    {
      "epoch": 0.27080996185775186,
      "gripper_loss": 0.63671875,
      "loss": 0.53515625,
      "pos_loss": 1.203125,
      "rot_loss": 0.80859375,
      "step": 1207
    },
    {
      "epoch": 0.2710343280233341,
      "grad_norm": 1.9614578485488892,
      "learning_rate": 0.0004952500744607072,
      "loss": 0.4758,
      "step": 1208
    },
    {
      "epoch": 0.2710343280233341,
      "gripper_loss": 0.08154296875,
      "loss": 0.318359375,
      "pos_loss": 2.34375,
      "rot_loss": 0.318359375,
      "step": 1208
    },
    {
      "epoch": 0.2712586941889163,
      "grad_norm": 1.764766812324524,
      "learning_rate": 0.000495238318315175,
      "loss": 0.1984,
      "step": 1209
    },
    {
      "epoch": 0.2712586941889163,
      "gripper_loss": 0.8515625,
      "loss": 0.236328125,
      "pos_loss": 1.7734375,
      "rot_loss": 0.279296875,
      "step": 1209
    },
    {
      "epoch": 0.27148306035449854,
      "grad_norm": 1.305309772491455,
      "learning_rate": 0.000495226547779169,
      "loss": 0.1874,
      "step": 1210
    },
    {
      "epoch": 0.27148306035449854,
      "gripper_loss": 0.287109375,
      "loss": 0.134765625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.443359375,
      "step": 1210
    },
    {
      "epoch": 0.2717074265200808,
      "grad_norm": 1.282320261001587,
      "learning_rate": 0.0004952147628533799,
      "loss": 0.1497,
      "step": 1211
    },
    {
      "epoch": 0.2717074265200808,
      "gripper_loss": 0.390625,
      "loss": 0.484375,
      "pos_loss": 0.54296875,
      "rot_loss": 0.85546875,
      "step": 1211
    },
    {
      "epoch": 0.271931792685663,
      "grad_norm": 1.631889820098877,
      "learning_rate": 0.0004952029635384993,
      "loss": 0.5054,
      "step": 1212
    },
    {
      "epoch": 0.271931792685663,
      "gripper_loss": 0.77734375,
      "loss": 0.06787109375,
      "pos_loss": 0.1015625,
      "rot_loss": 0.140625,
      "step": 1212
    },
    {
      "epoch": 0.2721561588512452,
      "grad_norm": 1.3512439727783203,
      "learning_rate": 0.0004951911498352196,
      "loss": 0.1559,
      "step": 1213
    },
    {
      "epoch": 0.2721561588512452,
      "gripper_loss": 0.2734375,
      "loss": 0.59375,
      "pos_loss": 2.078125,
      "rot_loss": 1.296875,
      "step": 1213
    },
    {
      "epoch": 0.27238052501682747,
      "grad_norm": 1.9446160793304443,
      "learning_rate": 0.0004951793217442339,
      "loss": 0.4431,
      "step": 1214
    },
    {
      "epoch": 0.27238052501682747,
      "gripper_loss": 0.2265625,
      "loss": 0.2451171875,
      "pos_loss": 0.84765625,
      "rot_loss": 0.94921875,
      "step": 1214
    },
    {
      "epoch": 0.2726048911824097,
      "grad_norm": 1.5603893995285034,
      "learning_rate": 0.0004951674792662363,
      "loss": 0.1718,
      "step": 1215
    },
    {
      "epoch": 0.2726048911824097,
      "gripper_loss": 0.6328125,
      "loss": 0.263671875,
      "pos_loss": 1.578125,
      "rot_loss": 0.78125,
      "step": 1215
    },
    {
      "epoch": 0.2728292573479919,
      "grad_norm": 1.2753007411956787,
      "learning_rate": 0.0004951556224019218,
      "loss": 0.185,
      "step": 1216
    },
    {
      "epoch": 0.2728292573479919,
      "gripper_loss": 2.078125,
      "loss": 0.173828125,
      "pos_loss": 0.640625,
      "rot_loss": 0.2578125,
      "step": 1216
    },
    {
      "epoch": 0.27305362351357415,
      "grad_norm": 1.3056238889694214,
      "learning_rate": 0.0004951437511519861,
      "loss": 0.1569,
      "step": 1217
    },
    {
      "epoch": 0.27305362351357415,
      "gripper_loss": 0.1845703125,
      "loss": 0.11865234375,
      "pos_loss": 0.84375,
      "rot_loss": 0.1826171875,
      "step": 1217
    },
    {
      "epoch": 0.2732779896791564,
      "grad_norm": 0.7255398631095886,
      "learning_rate": 0.0004951318655171257,
      "loss": 0.1555,
      "step": 1218
    },
    {
      "epoch": 0.2732779896791564,
      "gripper_loss": 1.7578125,
      "loss": 0.17578125,
      "pos_loss": 0.8359375,
      "rot_loss": 0.294921875,
      "step": 1218
    },
    {
      "epoch": 0.2735023558447386,
      "grad_norm": 1.1038768291473389,
      "learning_rate": 0.0004951199654980382,
      "loss": 0.147,
      "step": 1219
    },
    {
      "epoch": 0.2735023558447386,
      "gripper_loss": 0.3359375,
      "loss": 0.287109375,
      "pos_loss": 1.5546875,
      "rot_loss": 0.625,
      "step": 1219
    },
    {
      "epoch": 0.27372672201032083,
      "grad_norm": 1.300286889076233,
      "learning_rate": 0.0004951080510954218,
      "loss": 0.1753,
      "step": 1220
    },
    {
      "epoch": 0.27372672201032083,
      "gripper_loss": 0.4921875,
      "loss": 0.1513671875,
      "pos_loss": 0.462890625,
      "rot_loss": 0.76953125,
      "step": 1220
    },
    {
      "epoch": 0.2739510881759031,
      "grad_norm": 0.8744356632232666,
      "learning_rate": 0.0004950961223099757,
      "loss": 0.1773,
      "step": 1221
    },
    {
      "epoch": 0.2739510881759031,
      "gripper_loss": 0.64453125,
      "loss": 0.2734375,
      "pos_loss": 0.482421875,
      "rot_loss": 0.240234375,
      "step": 1221
    },
    {
      "epoch": 0.2741754543414853,
      "grad_norm": 2.3691928386688232,
      "learning_rate": 0.0004950841791423998,
      "loss": 0.3494,
      "step": 1222
    },
    {
      "epoch": 0.2741754543414853,
      "gripper_loss": 0.034912109375,
      "loss": 0.1962890625,
      "pos_loss": 1.0234375,
      "rot_loss": 0.8671875,
      "step": 1222
    },
    {
      "epoch": 0.2743998205070675,
      "grad_norm": 1.1742664575576782,
      "learning_rate": 0.0004950722215933949,
      "loss": 0.1646,
      "step": 1223
    },
    {
      "epoch": 0.2743998205070675,
      "gripper_loss": 0.283203125,
      "loss": 0.375,
      "pos_loss": 1.5546875,
      "rot_loss": 0.74609375,
      "step": 1223
    },
    {
      "epoch": 0.27462418667264976,
      "grad_norm": 1.7286121845245361,
      "learning_rate": 0.0004950602496636628,
      "loss": 0.2571,
      "step": 1224
    },
    {
      "epoch": 0.27462418667264976,
      "gripper_loss": 0.640625,
      "loss": 0.150390625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.375,
      "step": 1224
    },
    {
      "epoch": 0.274848552838232,
      "grad_norm": 1.154478669166565,
      "learning_rate": 0.000495048263353906,
      "loss": 0.2093,
      "step": 1225
    },
    {
      "epoch": 0.274848552838232,
      "gripper_loss": 2.53125,
      "loss": 0.1962890625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.333984375,
      "step": 1225
    },
    {
      "epoch": 0.2750729190038142,
      "grad_norm": 1.3628631830215454,
      "learning_rate": 0.0004950362626648276,
      "loss": 0.2156,
      "step": 1226
    },
    {
      "epoch": 0.2750729190038142,
      "gripper_loss": 0.1376953125,
      "loss": 0.259765625,
      "pos_loss": 1.8671875,
      "rot_loss": 0.6796875,
      "step": 1226
    },
    {
      "epoch": 0.27529728516939644,
      "grad_norm": 0.9174502491950989,
      "learning_rate": 0.0004950242475971321,
      "loss": 0.154,
      "step": 1227
    },
    {
      "epoch": 0.27529728516939644,
      "gripper_loss": 0.8515625,
      "loss": 0.150390625,
      "pos_loss": 0.65234375,
      "rot_loss": 0.396484375,
      "step": 1227
    },
    {
      "epoch": 0.2755216513349787,
      "grad_norm": 1.006111741065979,
      "learning_rate": 0.0004950122181515243,
      "loss": 0.141,
      "step": 1228
    },
    {
      "epoch": 0.2755216513349787,
      "gripper_loss": 0.042236328125,
      "loss": 0.33203125,
      "pos_loss": 3.078125,
      "rot_loss": 0.271484375,
      "step": 1228
    },
    {
      "epoch": 0.27574601750056094,
      "grad_norm": 1.1316028833389282,
      "learning_rate": 0.0004950001743287101,
      "loss": 0.1572,
      "step": 1229
    },
    {
      "epoch": 0.27574601750056094,
      "gripper_loss": 1.3203125,
      "loss": 0.203125,
      "pos_loss": 0.68359375,
      "rot_loss": 0.8203125,
      "step": 1229
    },
    {
      "epoch": 0.2759703836661431,
      "grad_norm": 0.9093595147132874,
      "learning_rate": 0.0004949881161293965,
      "loss": 0.1721,
      "step": 1230
    },
    {
      "epoch": 0.2759703836661431,
      "gripper_loss": 1.6796875,
      "loss": 0.16796875,
      "pos_loss": 0.3203125,
      "rot_loss": 0.4453125,
      "step": 1230
    },
    {
      "epoch": 0.2761947498317254,
      "grad_norm": 1.0980088710784912,
      "learning_rate": 0.0004949760435542909,
      "loss": 0.1539,
      "step": 1231
    },
    {
      "epoch": 0.2761947498317254,
      "gripper_loss": 0.111328125,
      "loss": 0.171875,
      "pos_loss": 0.7890625,
      "rot_loss": 0.34765625,
      "step": 1231
    },
    {
      "epoch": 0.2764191159973076,
      "grad_norm": 1.2205687761306763,
      "learning_rate": 0.0004949639566041016,
      "loss": 0.2417,
      "step": 1232
    },
    {
      "epoch": 0.2764191159973076,
      "gripper_loss": 0.466796875,
      "loss": 0.07568359375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.1162109375,
      "step": 1232
    },
    {
      "epoch": 0.2766434821628898,
      "grad_norm": 1.1468449831008911,
      "learning_rate": 0.0004949518552795379,
      "loss": 0.1688,
      "step": 1233
    },
    {
      "epoch": 0.2766434821628898,
      "gripper_loss": 0.06298828125,
      "loss": 0.224609375,
      "pos_loss": 1.1796875,
      "rot_loss": 0.99609375,
      "step": 1233
    },
    {
      "epoch": 0.27686784832847205,
      "grad_norm": 1.202812671661377,
      "learning_rate": 0.0004949397395813102,
      "loss": 0.1685,
      "step": 1234
    },
    {
      "epoch": 0.27686784832847205,
      "gripper_loss": 0.248046875,
      "loss": 0.279296875,
      "pos_loss": 1.234375,
      "rot_loss": 0.765625,
      "step": 1234
    },
    {
      "epoch": 0.2770922144940543,
      "grad_norm": 1.849755883216858,
      "learning_rate": 0.0004949276095101289,
      "loss": 0.2302,
      "step": 1235
    },
    {
      "epoch": 0.2770922144940543,
      "gripper_loss": 0.53515625,
      "loss": 0.1376953125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.345703125,
      "step": 1235
    },
    {
      "epoch": 0.27731658065963655,
      "grad_norm": 1.2230480909347534,
      "learning_rate": 0.0004949154650667062,
      "loss": 0.2094,
      "step": 1236
    },
    {
      "epoch": 0.27731658065963655,
      "gripper_loss": 0.34765625,
      "loss": 0.1201171875,
      "pos_loss": 0.61328125,
      "rot_loss": 0.375,
      "step": 1236
    },
    {
      "epoch": 0.27754094682521874,
      "grad_norm": 0.9281153082847595,
      "learning_rate": 0.0004949033062517546,
      "loss": 0.1709,
      "step": 1237
    },
    {
      "epoch": 0.27754094682521874,
      "gripper_loss": 2.46875,
      "loss": 0.2001953125,
      "pos_loss": 0.78515625,
      "rot_loss": 0.244140625,
      "step": 1237
    },
    {
      "epoch": 0.277765312990801,
      "grad_norm": 1.0229147672653198,
      "learning_rate": 0.0004948911330659876,
      "loss": 0.1871,
      "step": 1238
    },
    {
      "epoch": 0.277765312990801,
      "gripper_loss": 0.15625,
      "loss": 0.171875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.328125,
      "step": 1238
    },
    {
      "epoch": 0.27798967915638323,
      "grad_norm": 1.1672228574752808,
      "learning_rate": 0.0004948789455101196,
      "loss": 0.1635,
      "step": 1239
    },
    {
      "epoch": 0.27798967915638323,
      "gripper_loss": 0.6328125,
      "loss": 0.1298828125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.58984375,
      "step": 1239
    },
    {
      "epoch": 0.2782140453219655,
      "grad_norm": 0.6233348250389099,
      "learning_rate": 0.0004948667435848656,
      "loss": 0.1204,
      "step": 1240
    },
    {
      "epoch": 0.2782140453219655,
      "gripper_loss": 0.150390625,
      "loss": 0.1865234375,
      "pos_loss": 1.125,
      "rot_loss": 0.5625,
      "step": 1240
    },
    {
      "epoch": 0.27843841148754767,
      "grad_norm": 1.0015873908996582,
      "learning_rate": 0.0004948545272909417,
      "loss": 0.1714,
      "step": 1241
    },
    {
      "epoch": 0.27843841148754767,
      "gripper_loss": 0.345703125,
      "loss": 0.12890625,
      "pos_loss": 1.0078125,
      "rot_loss": 0.06982421875,
      "step": 1241
    },
    {
      "epoch": 0.2786627776531299,
      "grad_norm": 1.2489973306655884,
      "learning_rate": 0.0004948422966290646,
      "loss": 0.1668,
      "step": 1242
    },
    {
      "epoch": 0.2786627776531299,
      "gripper_loss": 0.6640625,
      "loss": 0.0654296875,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.146484375,
      "step": 1242
    },
    {
      "epoch": 0.27888714381871216,
      "grad_norm": 1.0662453174591064,
      "learning_rate": 0.0004948300515999522,
      "loss": 0.1422,
      "step": 1243
    },
    {
      "epoch": 0.27888714381871216,
      "gripper_loss": 0.7109375,
      "loss": 0.189453125,
      "pos_loss": 0.41796875,
      "rot_loss": 0.34765625,
      "step": 1243
    },
    {
      "epoch": 0.27911150998429435,
      "grad_norm": 1.5052920579910278,
      "learning_rate": 0.000494817792204323,
      "loss": 0.1876,
      "step": 1244
    },
    {
      "epoch": 0.27911150998429435,
      "gripper_loss": 0.375,
      "loss": 0.251953125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.9609375,
      "step": 1244
    },
    {
      "epoch": 0.2793358761498766,
      "grad_norm": 1.1132631301879883,
      "learning_rate": 0.0004948055184428962,
      "loss": 0.1539,
      "step": 1245
    },
    {
      "epoch": 0.2793358761498766,
      "gripper_loss": 0.0615234375,
      "loss": 0.19140625,
      "pos_loss": 1.6640625,
      "rot_loss": 0.16015625,
      "step": 1245
    },
    {
      "epoch": 0.27956024231545884,
      "grad_norm": 0.9706941843032837,
      "learning_rate": 0.0004947932303163923,
      "loss": 0.1526,
      "step": 1246
    },
    {
      "epoch": 0.27956024231545884,
      "gripper_loss": 0.37890625,
      "loss": 0.5546875,
      "pos_loss": 1.2890625,
      "rot_loss": 0.97265625,
      "step": 1246
    },
    {
      "epoch": 0.2797846084810411,
      "grad_norm": 2.312326431274414,
      "learning_rate": 0.000494780927825532,
      "loss": 0.5435,
      "step": 1247
    },
    {
      "epoch": 0.2797846084810411,
      "gripper_loss": 0.053955078125,
      "loss": 0.197265625,
      "pos_loss": 1.8203125,
      "rot_loss": 0.10595703125,
      "step": 1247
    },
    {
      "epoch": 0.2800089746466233,
      "grad_norm": 0.9312878251075745,
      "learning_rate": 0.0004947686109710375,
      "loss": 0.1782,
      "step": 1248
    },
    {
      "epoch": 0.2800089746466233,
      "gripper_loss": 0.384765625,
      "loss": 0.15234375,
      "pos_loss": 1.15625,
      "rot_loss": 0.1337890625,
      "step": 1248
    },
    {
      "epoch": 0.2802333408122055,
      "grad_norm": 0.9083300828933716,
      "learning_rate": 0.0004947562797536315,
      "loss": 0.1658,
      "step": 1249
    },
    {
      "epoch": 0.2802333408122055,
      "gripper_loss": 0.1064453125,
      "loss": 0.099609375,
      "pos_loss": 0.283203125,
      "rot_loss": 0.5078125,
      "step": 1249
    },
    {
      "epoch": 0.28045770697778777,
      "grad_norm": 0.9706524610519409,
      "learning_rate": 0.0004947439341740374,
      "loss": 0.1496,
      "step": 1250
    },
    {
      "epoch": 0.28045770697778777,
      "gripper_loss": 1.3203125,
      "loss": 0.1533203125,
      "pos_loss": 0.9375,
      "rot_loss": 0.1328125,
      "step": 1250
    },
    {
      "epoch": 0.28068207314336996,
      "grad_norm": 0.9808512330055237,
      "learning_rate": 0.0004947315742329798,
      "loss": 0.1295,
      "step": 1251
    },
    {
      "epoch": 0.28068207314336996,
      "gripper_loss": 1.375,
      "loss": 0.0771484375,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.0595703125,
      "step": 1251
    },
    {
      "epoch": 0.2809064393089522,
      "grad_norm": 0.9319692850112915,
      "learning_rate": 0.000494719199931184,
      "loss": 0.1385,
      "step": 1252
    },
    {
      "epoch": 0.2809064393089522,
      "gripper_loss": 0.08935546875,
      "loss": 0.197265625,
      "pos_loss": 0.98046875,
      "rot_loss": 0.8125,
      "step": 1252
    },
    {
      "epoch": 0.28113080547453445,
      "grad_norm": 1.185379147529602,
      "learning_rate": 0.0004947068112693761,
      "loss": 0.1513,
      "step": 1253
    },
    {
      "epoch": 0.28113080547453445,
      "gripper_loss": 0.6953125,
      "loss": 0.1630859375,
      "pos_loss": 0.81640625,
      "rot_loss": 0.384765625,
      "step": 1253
    },
    {
      "epoch": 0.2813551716401167,
      "grad_norm": 1.3201700448989868,
      "learning_rate": 0.0004946944082482829,
      "loss": 0.1876,
      "step": 1254
    },
    {
      "epoch": 0.2813551716401167,
      "gripper_loss": 0.38671875,
      "loss": 0.201171875,
      "pos_loss": 0.85546875,
      "rot_loss": 0.828125,
      "step": 1254
    },
    {
      "epoch": 0.2815795378056989,
      "grad_norm": 1.5076943635940552,
      "learning_rate": 0.0004946819908686324,
      "loss": 0.2185,
      "step": 1255
    },
    {
      "epoch": 0.2815795378056989,
      "gripper_loss": 0.76171875,
      "loss": 0.2197265625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.208984375,
      "step": 1255
    },
    {
      "epoch": 0.28180390397128113,
      "grad_norm": 1.323014497756958,
      "learning_rate": 0.0004946695591311533,
      "loss": 0.1615,
      "step": 1256
    },
    {
      "epoch": 0.28180390397128113,
      "gripper_loss": 0.14453125,
      "loss": 0.119140625,
      "pos_loss": 0.7734375,
      "rot_loss": 0.08251953125,
      "step": 1256
    },
    {
      "epoch": 0.2820282701368634,
      "grad_norm": 1.0741617679595947,
      "learning_rate": 0.0004946571130365748,
      "loss": 0.1645,
      "step": 1257
    },
    {
      "epoch": 0.2820282701368634,
      "gripper_loss": 0.6015625,
      "loss": 0.06494140625,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.11181640625,
      "step": 1257
    },
    {
      "epoch": 0.28225263630244557,
      "grad_norm": 1.1049762964248657,
      "learning_rate": 0.0004946446525856275,
      "loss": 0.1463,
      "step": 1258
    },
    {
      "epoch": 0.28225263630244557,
      "gripper_loss": 1.3359375,
      "loss": 0.14453125,
      "pos_loss": 0.53125,
      "rot_loss": 0.310546875,
      "step": 1258
    },
    {
      "epoch": 0.2824770024680278,
      "grad_norm": 1.1190788745880127,
      "learning_rate": 0.0004946321777790423,
      "loss": 0.1707,
      "step": 1259
    },
    {
      "epoch": 0.2824770024680278,
      "gripper_loss": 0.66796875,
      "loss": 0.0966796875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.10498046875,
      "step": 1259
    },
    {
      "epoch": 0.28270136863361006,
      "grad_norm": 1.162945032119751,
      "learning_rate": 0.0004946196886175516,
      "loss": 0.1351,
      "step": 1260
    },
    {
      "epoch": 0.28270136863361006,
      "gripper_loss": 0.62890625,
      "loss": 0.330078125,
      "pos_loss": 0.51953125,
      "rot_loss": 2.6875,
      "step": 1260
    },
    {
      "epoch": 0.2829257347991923,
      "grad_norm": 0.6469109654426575,
      "learning_rate": 0.0004946071851018879,
      "loss": 0.1458,
      "step": 1261
    },
    {
      "epoch": 0.2829257347991923,
      "gripper_loss": 0.2275390625,
      "loss": 0.306640625,
      "pos_loss": 1.6015625,
      "rot_loss": 1.1640625,
      "step": 1261
    },
    {
      "epoch": 0.2831501009647745,
      "grad_norm": 1.00099515914917,
      "learning_rate": 0.0004945946672327851,
      "loss": 0.1179,
      "step": 1262
    },
    {
      "epoch": 0.2831501009647745,
      "gripper_loss": 1.2265625,
      "loss": 0.0634765625,
      "pos_loss": 0.068359375,
      "rot_loss": 0.0556640625,
      "step": 1262
    },
    {
      "epoch": 0.28337446713035674,
      "grad_norm": 0.742660641670227,
      "learning_rate": 0.0004945821350109777,
      "loss": 0.1257,
      "step": 1263
    },
    {
      "epoch": 0.28337446713035674,
      "gripper_loss": 0.61328125,
      "loss": 0.349609375,
      "pos_loss": 0.67578125,
      "rot_loss": 0.6484375,
      "step": 1263
    },
    {
      "epoch": 0.283598833295939,
      "grad_norm": 2.484941005706787,
      "learning_rate": 0.000494569588437201,
      "loss": 0.3882,
      "step": 1264
    },
    {
      "epoch": 0.283598833295939,
      "gripper_loss": 0.46484375,
      "loss": 0.109375,
      "pos_loss": 0.68359375,
      "rot_loss": 0.10498046875,
      "step": 1264
    },
    {
      "epoch": 0.2838231994615212,
      "grad_norm": 1.1112698316574097,
      "learning_rate": 0.0004945570275121915,
      "loss": 0.1537,
      "step": 1265
    },
    {
      "epoch": 0.2838231994615212,
      "gripper_loss": 0.1796875,
      "loss": 0.1875,
      "pos_loss": 1.1015625,
      "rot_loss": 0.244140625,
      "step": 1265
    },
    {
      "epoch": 0.2840475656271034,
      "grad_norm": 1.3775041103363037,
      "learning_rate": 0.0004945444522366859,
      "loss": 0.1965,
      "step": 1266
    },
    {
      "epoch": 0.2840475656271034,
      "gripper_loss": 0.0576171875,
      "loss": 0.337890625,
      "pos_loss": 2.234375,
      "rot_loss": 1.09375,
      "step": 1266
    },
    {
      "epoch": 0.2842719317926857,
      "grad_norm": 1.1557685136795044,
      "learning_rate": 0.0004945318626114223,
      "loss": 0.1698,
      "step": 1267
    },
    {
      "epoch": 0.2842719317926857,
      "gripper_loss": 0.0732421875,
      "loss": 0.236328125,
      "pos_loss": 1.8515625,
      "rot_loss": 0.447265625,
      "step": 1267
    },
    {
      "epoch": 0.2844962979582679,
      "grad_norm": 1.0415443181991577,
      "learning_rate": 0.0004945192586371394,
      "loss": 0.153,
      "step": 1268
    },
    {
      "epoch": 0.2844962979582679,
      "gripper_loss": 1.453125,
      "loss": 0.2109375,
      "pos_loss": 0.455078125,
      "rot_loss": 1.09375,
      "step": 1268
    },
    {
      "epoch": 0.2847206641238501,
      "grad_norm": 1.2589643001556396,
      "learning_rate": 0.0004945066403145769,
      "loss": 0.2064,
      "step": 1269
    },
    {
      "epoch": 0.2847206641238501,
      "gripper_loss": 1.234375,
      "loss": 0.203125,
      "pos_loss": 1.53125,
      "rot_loss": 0.061767578125,
      "step": 1269
    },
    {
      "epoch": 0.28494503028943236,
      "grad_norm": 1.2012125253677368,
      "learning_rate": 0.0004944940076444752,
      "loss": 0.2181,
      "step": 1270
    },
    {
      "epoch": 0.28494503028943236,
      "gripper_loss": 0.66796875,
      "loss": 0.15234375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.46875,
      "step": 1270
    },
    {
      "epoch": 0.2851693964550146,
      "grad_norm": 1.0401264429092407,
      "learning_rate": 0.0004944813606275754,
      "loss": 0.135,
      "step": 1271
    },
    {
      "epoch": 0.2851693964550146,
      "gripper_loss": 1.4921875,
      "loss": 0.1982421875,
      "pos_loss": 1.171875,
      "rot_loss": 0.171875,
      "step": 1271
    },
    {
      "epoch": 0.2853937626205968,
      "grad_norm": 0.9945939183235168,
      "learning_rate": 0.0004944686992646199,
      "loss": 0.1738,
      "step": 1272
    },
    {
      "epoch": 0.2853937626205968,
      "gripper_loss": 0.08544921875,
      "loss": 0.1416015625,
      "pos_loss": 0.8203125,
      "rot_loss": 0.341796875,
      "step": 1272
    },
    {
      "epoch": 0.28561812878617904,
      "grad_norm": 0.9267278909683228,
      "learning_rate": 0.0004944560235563515,
      "loss": 0.152,
      "step": 1273
    },
    {
      "epoch": 0.28561812878617904,
      "gripper_loss": 0.55078125,
      "loss": 0.162109375,
      "pos_loss": 1.0,
      "rot_loss": 0.33203125,
      "step": 1273
    },
    {
      "epoch": 0.2858424949517613,
      "grad_norm": 1.0239064693450928,
      "learning_rate": 0.000494443333503514,
      "loss": 0.1585,
      "step": 1274
    },
    {
      "epoch": 0.2858424949517613,
      "gripper_loss": 0.062255859375,
      "loss": 0.1298828125,
      "pos_loss": 0.578125,
      "rot_loss": 0.58984375,
      "step": 1274
    },
    {
      "epoch": 0.28606686111734353,
      "grad_norm": 0.9480931162834167,
      "learning_rate": 0.0004944306291068521,
      "loss": 0.1169,
      "step": 1275
    },
    {
      "epoch": 0.28606686111734353,
      "gripper_loss": 0.208984375,
      "loss": 0.3046875,
      "pos_loss": 1.0390625,
      "rot_loss": 1.9375,
      "step": 1275
    },
    {
      "epoch": 0.2862912272829257,
      "grad_norm": 1.0949627161026,
      "learning_rate": 0.0004944179103671114,
      "loss": 0.1802,
      "step": 1276
    },
    {
      "epoch": 0.2862912272829257,
      "gripper_loss": 0.83984375,
      "loss": 0.138671875,
      "pos_loss": 0.78515625,
      "rot_loss": 0.234375,
      "step": 1276
    },
    {
      "epoch": 0.28651559344850797,
      "grad_norm": 1.2583180665969849,
      "learning_rate": 0.000494405177285038,
      "loss": 0.1333,
      "step": 1277
    },
    {
      "epoch": 0.28651559344850797,
      "gripper_loss": 0.05859375,
      "loss": 0.1240234375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.640625,
      "step": 1277
    },
    {
      "epoch": 0.2867399596140902,
      "grad_norm": 0.7757724523544312,
      "learning_rate": 0.0004943924298613791,
      "loss": 0.1195,
      "step": 1278
    },
    {
      "epoch": 0.2867399596140902,
      "gripper_loss": 0.058349609375,
      "loss": 0.2158203125,
      "pos_loss": 1.03125,
      "rot_loss": 1.0546875,
      "step": 1278
    },
    {
      "epoch": 0.2869643257796724,
      "grad_norm": 1.0960828065872192,
      "learning_rate": 0.0004943796680968828,
      "loss": 0.1645,
      "step": 1279
    },
    {
      "epoch": 0.2869643257796724,
      "gripper_loss": 0.5546875,
      "loss": 0.08447265625,
      "pos_loss": 0.36328125,
      "rot_loss": 0.216796875,
      "step": 1279
    },
    {
      "epoch": 0.28718869194525465,
      "grad_norm": 1.8279387950897217,
      "learning_rate": 0.000494366891992298,
      "loss": 0.1777,
      "step": 1280
    },
    {
      "epoch": 0.28718869194525465,
      "gripper_loss": 0.498046875,
      "loss": 0.169921875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.76171875,
      "step": 1280
    },
    {
      "epoch": 0.2874130581108369,
      "grad_norm": 1.4565012454986572,
      "learning_rate": 0.0004943541015483743,
      "loss": 0.1844,
      "step": 1281
    },
    {
      "epoch": 0.2874130581108369,
      "gripper_loss": 0.34765625,
      "loss": 0.2021484375,
      "pos_loss": 1.34375,
      "rot_loss": 0.435546875,
      "step": 1281
    },
    {
      "epoch": 0.28763742427641914,
      "grad_norm": 1.0232601165771484,
      "learning_rate": 0.0004943412967658623,
      "loss": 0.1541,
      "step": 1282
    },
    {
      "epoch": 0.28763742427641914,
      "gripper_loss": 0.2294921875,
      "loss": 0.10595703125,
      "pos_loss": 0.515625,
      "rot_loss": 0.30078125,
      "step": 1282
    },
    {
      "epoch": 0.28786179044200133,
      "grad_norm": 0.8425596952438354,
      "learning_rate": 0.0004943284776455134,
      "loss": 0.1425,
      "step": 1283
    },
    {
      "epoch": 0.28786179044200133,
      "gripper_loss": 0.357421875,
      "loss": 0.06298828125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.1064453125,
      "step": 1283
    },
    {
      "epoch": 0.2880861566075836,
      "grad_norm": 1.058726191520691,
      "learning_rate": 0.0004943156441880798,
      "loss": 0.16,
      "step": 1284
    },
    {
      "epoch": 0.2880861566075836,
      "gripper_loss": 0.0732421875,
      "loss": 0.2451171875,
      "pos_loss": 1.6328125,
      "rot_loss": 0.7578125,
      "step": 1284
    },
    {
      "epoch": 0.2883105227731658,
      "grad_norm": 1.3413976430892944,
      "learning_rate": 0.0004943027963943144,
      "loss": 0.1635,
      "step": 1285
    },
    {
      "epoch": 0.2883105227731658,
      "gripper_loss": 0.5390625,
      "loss": 0.1435546875,
      "pos_loss": 0.73828125,
      "rot_loss": 0.3671875,
      "step": 1285
    },
    {
      "epoch": 0.288534888938748,
      "grad_norm": 1.5608569383621216,
      "learning_rate": 0.0004942899342649712,
      "loss": 0.1619,
      "step": 1286
    },
    {
      "epoch": 0.288534888938748,
      "gripper_loss": 0.330078125,
      "loss": 0.1494140625,
      "pos_loss": 0.431640625,
      "rot_loss": 0.703125,
      "step": 1286
    },
    {
      "epoch": 0.28875925510433026,
      "grad_norm": 1.214734435081482,
      "learning_rate": 0.0004942770578008052,
      "loss": 0.1715,
      "step": 1287
    },
    {
      "epoch": 0.28875925510433026,
      "gripper_loss": 0.4375,
      "loss": 0.455078125,
      "pos_loss": 0.53125,
      "rot_loss": 0.55859375,
      "step": 1287
    },
    {
      "epoch": 0.2889836212699125,
      "grad_norm": 2.466978073120117,
      "learning_rate": 0.0004942641670025716,
      "loss": 0.512,
      "step": 1288
    },
    {
      "epoch": 0.2889836212699125,
      "gripper_loss": 0.1865234375,
      "loss": 0.2734375,
      "pos_loss": 1.2734375,
      "rot_loss": 1.1875,
      "step": 1288
    },
    {
      "epoch": 0.28920798743549475,
      "grad_norm": 1.579649567604065,
      "learning_rate": 0.000494251261871027,
      "loss": 0.1963,
      "step": 1289
    },
    {
      "epoch": 0.28920798743549475,
      "gripper_loss": 1.0,
      "loss": 0.1552734375,
      "pos_loss": 1.0,
      "rot_loss": 0.11474609375,
      "step": 1289
    },
    {
      "epoch": 0.28943235360107694,
      "grad_norm": 1.226977825164795,
      "learning_rate": 0.0004942383424069287,
      "loss": 0.1396,
      "step": 1290
    },
    {
      "epoch": 0.28943235360107694,
      "gripper_loss": 0.72265625,
      "loss": 0.140625,
      "pos_loss": 0.671875,
      "rot_loss": 0.1962890625,
      "step": 1290
    },
    {
      "epoch": 0.2896567197666592,
      "grad_norm": 1.1269526481628418,
      "learning_rate": 0.0004942254086110348,
      "loss": 0.2084,
      "step": 1291
    },
    {
      "epoch": 0.2896567197666592,
      "gripper_loss": 0.283203125,
      "loss": 0.228515625,
      "pos_loss": 1.1484375,
      "rot_loss": 0.94921875,
      "step": 1291
    },
    {
      "epoch": 0.28988108593224143,
      "grad_norm": 1.062975525856018,
      "learning_rate": 0.0004942124604841041,
      "loss": 0.1354,
      "step": 1292
    },
    {
      "epoch": 0.28988108593224143,
      "gripper_loss": 0.6875,
      "loss": 0.103515625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.1318359375,
      "step": 1292
    },
    {
      "epoch": 0.2901054520978236,
      "grad_norm": 1.1398500204086304,
      "learning_rate": 0.0004941994980268967,
      "loss": 0.1955,
      "step": 1293
    },
    {
      "epoch": 0.2901054520978236,
      "gripper_loss": 0.28125,
      "loss": 0.435546875,
      "pos_loss": 1.375,
      "rot_loss": 3.015625,
      "step": 1293
    },
    {
      "epoch": 0.29032981826340587,
      "grad_norm": 0.8733767867088318,
      "learning_rate": 0.0004941865212401729,
      "loss": 0.169,
      "step": 1294
    },
    {
      "epoch": 0.29032981826340587,
      "gripper_loss": 0.458984375,
      "loss": 0.14453125,
      "pos_loss": 1.0859375,
      "rot_loss": 0.11083984375,
      "step": 1294
    },
    {
      "epoch": 0.2905541844289881,
      "grad_norm": 0.736611545085907,
      "learning_rate": 0.0004941735301246943,
      "loss": 0.1175,
      "step": 1295
    },
    {
      "epoch": 0.2905541844289881,
      "gripper_loss": 0.7109375,
      "loss": 0.2041015625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.2490234375,
      "step": 1295
    },
    {
      "epoch": 0.29077855059457036,
      "grad_norm": 1.1844186782836914,
      "learning_rate": 0.0004941605246812233,
      "loss": 0.1711,
      "step": 1296
    },
    {
      "epoch": 0.29077855059457036,
      "gripper_loss": 0.5078125,
      "loss": 0.19140625,
      "pos_loss": 0.2236328125,
      "rot_loss": 1.3828125,
      "step": 1296
    },
    {
      "epoch": 0.29100291676015255,
      "grad_norm": 1.4242335557937622,
      "learning_rate": 0.0004941475049105229,
      "loss": 0.213,
      "step": 1297
    },
    {
      "epoch": 0.29100291676015255,
      "gripper_loss": 0.56640625,
      "loss": 0.11083984375,
      "pos_loss": 0.67578125,
      "rot_loss": 0.115234375,
      "step": 1297
    },
    {
      "epoch": 0.2912272829257348,
      "grad_norm": 1.243622064590454,
      "learning_rate": 0.0004941344708133572,
      "loss": 0.1264,
      "step": 1298
    },
    {
      "epoch": 0.2912272829257348,
      "gripper_loss": 0.09326171875,
      "loss": 0.1279296875,
      "pos_loss": 1.0625,
      "rot_loss": 0.0595703125,
      "step": 1298
    },
    {
      "epoch": 0.29145164909131704,
      "grad_norm": 2.37528133392334,
      "learning_rate": 0.0004941214223904911,
      "loss": 0.1921,
      "step": 1299
    },
    {
      "epoch": 0.29145164909131704,
      "gripper_loss": 1.1640625,
      "loss": 0.07861328125,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.072265625,
      "step": 1299
    },
    {
      "epoch": 0.29167601525689923,
      "grad_norm": 0.945071280002594,
      "learning_rate": 0.00049410835964269,
      "loss": 0.1238,
      "step": 1300
    },
    {
      "epoch": 0.29167601525689923,
      "gripper_loss": 0.15625,
      "loss": 0.201171875,
      "pos_loss": 0.88671875,
      "rot_loss": 0.470703125,
      "step": 1300
    },
    {
      "epoch": 0.2919003814224815,
      "grad_norm": 1.4385802745819092,
      "learning_rate": 0.0004940952825707208,
      "loss": 0.2618,
      "step": 1301
    },
    {
      "epoch": 0.2919003814224815,
      "gripper_loss": 0.1923828125,
      "loss": 0.12451171875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.546875,
      "step": 1301
    },
    {
      "epoch": 0.2921247475880637,
      "grad_norm": 1.2009968757629395,
      "learning_rate": 0.0004940821911753505,
      "loss": 0.1885,
      "step": 1302
    },
    {
      "epoch": 0.2921247475880637,
      "gripper_loss": 0.921875,
      "loss": 0.138671875,
      "pos_loss": 0.34765625,
      "rot_loss": 0.56640625,
      "step": 1302
    },
    {
      "epoch": 0.292349113753646,
      "grad_norm": 1.0576192140579224,
      "learning_rate": 0.0004940690854573476,
      "loss": 0.2076,
      "step": 1303
    },
    {
      "epoch": 0.292349113753646,
      "gripper_loss": 0.10205078125,
      "loss": 0.294921875,
      "pos_loss": 2.046875,
      "rot_loss": 0.79296875,
      "step": 1303
    },
    {
      "epoch": 0.29257347991922816,
      "grad_norm": 1.089895486831665,
      "learning_rate": 0.0004940559654174807,
      "loss": 0.1329,
      "step": 1304
    },
    {
      "epoch": 0.29257347991922816,
      "gripper_loss": 0.66796875,
      "loss": 0.05908203125,
      "pos_loss": 0.208984375,
      "rot_loss": 0.06591796875,
      "step": 1304
    },
    {
      "epoch": 0.2927978460848104,
      "grad_norm": 1.0343265533447266,
      "learning_rate": 0.0004940428310565202,
      "loss": 0.1895,
      "step": 1305
    },
    {
      "epoch": 0.2927978460848104,
      "gripper_loss": 0.92578125,
      "loss": 0.08984375,
      "pos_loss": 0.400390625,
      "rot_loss": 0.04833984375,
      "step": 1305
    },
    {
      "epoch": 0.29302221225039266,
      "grad_norm": 1.0089502334594727,
      "learning_rate": 0.0004940296823752366,
      "loss": 0.2066,
      "step": 1306
    },
    {
      "epoch": 0.29302221225039266,
      "gripper_loss": 1.0546875,
      "loss": 0.158203125,
      "pos_loss": 0.65625,
      "rot_loss": 0.5234375,
      "step": 1306
    },
    {
      "epoch": 0.29324657841597485,
      "grad_norm": 0.910915732383728,
      "learning_rate": 0.0004940165193744014,
      "loss": 0.1601,
      "step": 1307
    },
    {
      "epoch": 0.29324657841597485,
      "gripper_loss": 0.796875,
      "loss": 0.212890625,
      "pos_loss": 1.015625,
      "rot_loss": 0.71484375,
      "step": 1307
    },
    {
      "epoch": 0.2934709445815571,
      "grad_norm": 0.6504327058792114,
      "learning_rate": 0.0004940033420547871,
      "loss": 0.1097,
      "step": 1308
    },
    {
      "epoch": 0.2934709445815571,
      "gripper_loss": 0.546875,
      "loss": 0.275390625,
      "pos_loss": 1.375,
      "rot_loss": 0.546875,
      "step": 1308
    },
    {
      "epoch": 0.29369531074713934,
      "grad_norm": 1.7938951253890991,
      "learning_rate": 0.0004939901504171668,
      "loss": 0.2616,
      "step": 1309
    },
    {
      "epoch": 0.29369531074713934,
      "gripper_loss": 0.1728515625,
      "loss": 0.10791015625,
      "pos_loss": 0.7734375,
      "rot_loss": 0.126953125,
      "step": 1309
    },
    {
      "epoch": 0.2939196769127216,
      "grad_norm": 1.2769967317581177,
      "learning_rate": 0.0004939769444623147,
      "loss": 0.1641,
      "step": 1310
    },
    {
      "epoch": 0.2939196769127216,
      "gripper_loss": 0.5390625,
      "loss": 0.1015625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.07421875,
      "step": 1310
    },
    {
      "epoch": 0.2941440430783038,
      "grad_norm": 1.0160630941390991,
      "learning_rate": 0.0004939637241910056,
      "loss": 0.1765,
      "step": 1311
    },
    {
      "epoch": 0.2941440430783038,
      "gripper_loss": 0.216796875,
      "loss": 0.1826171875,
      "pos_loss": 1.40625,
      "rot_loss": 0.1630859375,
      "step": 1311
    },
    {
      "epoch": 0.294368409243886,
      "grad_norm": 1.0400875806808472,
      "learning_rate": 0.0004939504896040154,
      "loss": 0.1772,
      "step": 1312
    },
    {
      "epoch": 0.294368409243886,
      "gripper_loss": 0.84765625,
      "loss": 0.0947265625,
      "pos_loss": 0.287109375,
      "rot_loss": 0.158203125,
      "step": 1312
    },
    {
      "epoch": 0.29459277540946827,
      "grad_norm": 0.9391006231307983,
      "learning_rate": 0.0004939372407021206,
      "loss": 0.1531,
      "step": 1313
    },
    {
      "epoch": 0.29459277540946827,
      "gripper_loss": 1.0703125,
      "loss": 0.4375,
      "pos_loss": 0.75390625,
      "rot_loss": 0.55859375,
      "step": 1313
    },
    {
      "epoch": 0.29481714157505046,
      "grad_norm": 2.3645341396331787,
      "learning_rate": 0.0004939239774860987,
      "loss": 0.4917,
      "step": 1314
    },
    {
      "epoch": 0.29481714157505046,
      "gripper_loss": 1.1328125,
      "loss": 0.1552734375,
      "pos_loss": 0.416015625,
      "rot_loss": 0.72265625,
      "step": 1314
    },
    {
      "epoch": 0.2950415077406327,
      "grad_norm": 0.8674564957618713,
      "learning_rate": 0.0004939106999567281,
      "loss": 0.1847,
      "step": 1315
    },
    {
      "epoch": 0.2950415077406327,
      "gripper_loss": 0.150390625,
      "loss": 0.09716796875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.1484375,
      "step": 1315
    },
    {
      "epoch": 0.29526587390621495,
      "grad_norm": 1.162247896194458,
      "learning_rate": 0.0004938974081147876,
      "loss": 0.1548,
      "step": 1316
    },
    {
      "epoch": 0.29526587390621495,
      "gripper_loss": 0.365234375,
      "loss": 0.201171875,
      "pos_loss": 1.0703125,
      "rot_loss": 0.734375,
      "step": 1316
    },
    {
      "epoch": 0.2954902400717972,
      "grad_norm": 1.1827070713043213,
      "learning_rate": 0.0004938841019610574,
      "loss": 0.1934,
      "step": 1317
    },
    {
      "epoch": 0.2954902400717972,
      "gripper_loss": 0.2021484375,
      "loss": 0.2392578125,
      "pos_loss": 1.375,
      "rot_loss": 0.33203125,
      "step": 1317
    },
    {
      "epoch": 0.2957146062373794,
      "grad_norm": 1.8028596639633179,
      "learning_rate": 0.0004938707814963183,
      "loss": 0.2916,
      "step": 1318
    },
    {
      "epoch": 0.2957146062373794,
      "gripper_loss": 0.546875,
      "loss": 0.12890625,
      "pos_loss": 0.265625,
      "rot_loss": 0.61328125,
      "step": 1318
    },
    {
      "epoch": 0.29593897240296163,
      "grad_norm": 1.2606008052825928,
      "learning_rate": 0.0004938574467213517,
      "loss": 0.1541,
      "step": 1319
    },
    {
      "epoch": 0.29593897240296163,
      "gripper_loss": 0.7890625,
      "loss": 0.3359375,
      "pos_loss": 0.9765625,
      "rot_loss": 0.54296875,
      "step": 1319
    },
    {
      "epoch": 0.2961633385685439,
      "grad_norm": 1.7260832786560059,
      "learning_rate": 0.0004938440976369404,
      "loss": 0.2935,
      "step": 1320
    },
    {
      "epoch": 0.2961633385685439,
      "gripper_loss": 0.078125,
      "loss": 0.1669921875,
      "pos_loss": 0.83203125,
      "rot_loss": 0.5859375,
      "step": 1320
    },
    {
      "epoch": 0.29638770473412607,
      "grad_norm": 1.1138790845870972,
      "learning_rate": 0.0004938307342438676,
      "loss": 0.1313,
      "step": 1321
    },
    {
      "epoch": 0.29638770473412607,
      "gripper_loss": 0.27734375,
      "loss": 0.1259765625,
      "pos_loss": 0.46875,
      "rot_loss": 0.384765625,
      "step": 1321
    },
    {
      "epoch": 0.2966120708997083,
      "grad_norm": 1.305624008178711,
      "learning_rate": 0.0004938173565429174,
      "loss": 0.1854,
      "step": 1322
    },
    {
      "epoch": 0.2966120708997083,
      "gripper_loss": 0.25390625,
      "loss": 0.0771484375,
      "pos_loss": 0.134765625,
      "rot_loss": 0.2373046875,
      "step": 1322
    },
    {
      "epoch": 0.29683643706529056,
      "grad_norm": 1.2236734628677368,
      "learning_rate": 0.0004938039645348747,
      "loss": 0.128,
      "step": 1323
    },
    {
      "epoch": 0.29683643706529056,
      "gripper_loss": 1.0546875,
      "loss": 0.283203125,
      "pos_loss": 2.140625,
      "rot_loss": 0.26171875,
      "step": 1323
    },
    {
      "epoch": 0.2970608032308728,
      "grad_norm": 1.2877240180969238,
      "learning_rate": 0.0004937905582205256,
      "loss": 0.1961,
      "step": 1324
    },
    {
      "epoch": 0.2970608032308728,
      "gripper_loss": 0.79296875,
      "loss": 0.359375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.7421875,
      "step": 1324
    },
    {
      "epoch": 0.297285169396455,
      "grad_norm": 2.11590838432312,
      "learning_rate": 0.0004937771376006567,
      "loss": 0.405,
      "step": 1325
    },
    {
      "epoch": 0.297285169396455,
      "gripper_loss": 0.15234375,
      "loss": 0.333984375,
      "pos_loss": 2.0,
      "rot_loss": 1.15625,
      "step": 1325
    },
    {
      "epoch": 0.29750953556203724,
      "grad_norm": 1.1775202751159668,
      "learning_rate": 0.0004937637026760553,
      "loss": 0.1373,
      "step": 1326
    },
    {
      "epoch": 0.29750953556203724,
      "gripper_loss": 0.306640625,
      "loss": 0.076171875,
      "pos_loss": 0.15234375,
      "rot_loss": 0.208984375,
      "step": 1326
    },
    {
      "epoch": 0.2977339017276195,
      "grad_norm": 1.3564642667770386,
      "learning_rate": 0.00049375025344751,
      "loss": 0.1584,
      "step": 1327
    },
    {
      "epoch": 0.2977339017276195,
      "gripper_loss": 0.03955078125,
      "loss": 0.109375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.447265625,
      "step": 1327
    },
    {
      "epoch": 0.2979582678932017,
      "grad_norm": 1.3034005165100098,
      "learning_rate": 0.0004937367899158099,
      "loss": 0.2078,
      "step": 1328
    },
    {
      "epoch": 0.2979582678932017,
      "gripper_loss": 0.25390625,
      "loss": 0.076171875,
      "pos_loss": 0.18359375,
      "rot_loss": 0.1630859375,
      "step": 1328
    },
    {
      "epoch": 0.2981826340587839,
      "grad_norm": 0.9657807350158691,
      "learning_rate": 0.000493723312081745,
      "loss": 0.1417,
      "step": 1329
    },
    {
      "epoch": 0.2981826340587839,
      "gripper_loss": 0.6640625,
      "loss": 0.07763671875,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.1533203125,
      "step": 1329
    },
    {
      "epoch": 0.29840700022436617,
      "grad_norm": 1.0051000118255615,
      "learning_rate": 0.0004937098199461063,
      "loss": 0.1219,
      "step": 1330
    },
    {
      "epoch": 0.29840700022436617,
      "gripper_loss": 0.5625,
      "loss": 0.162109375,
      "pos_loss": 1.1015625,
      "rot_loss": 0.28125,
      "step": 1330
    },
    {
      "epoch": 0.2986313663899484,
      "grad_norm": 0.9819360971450806,
      "learning_rate": 0.0004936963135096854,
      "loss": 0.1959,
      "step": 1331
    },
    {
      "epoch": 0.2986313663899484,
      "gripper_loss": 0.21875,
      "loss": 0.373046875,
      "pos_loss": 1.828125,
      "rot_loss": 1.9296875,
      "step": 1331
    },
    {
      "epoch": 0.2988557325555306,
      "grad_norm": 1.022516131401062,
      "learning_rate": 0.0004936827927732748,
      "loss": 0.1601,
      "step": 1332
    },
    {
      "epoch": 0.2988557325555306,
      "gripper_loss": 0.12890625,
      "loss": 0.06640625,
      "pos_loss": 0.34375,
      "rot_loss": 0.130859375,
      "step": 1332
    },
    {
      "epoch": 0.29908009872111285,
      "grad_norm": 1.1393595933914185,
      "learning_rate": 0.000493669257737668,
      "loss": 0.1921,
      "step": 1333
    },
    {
      "epoch": 0.29908009872111285,
      "gripper_loss": 0.609375,
      "loss": 0.142578125,
      "pos_loss": 0.765625,
      "rot_loss": 0.31640625,
      "step": 1333
    },
    {
      "epoch": 0.2993044648866951,
      "grad_norm": 1.0231901407241821,
      "learning_rate": 0.0004936557084036593,
      "loss": 0.1561,
      "step": 1334
    },
    {
      "epoch": 0.2993044648866951,
      "gripper_loss": 0.734375,
      "loss": 0.16796875,
      "pos_loss": 0.87109375,
      "rot_loss": 0.51953125,
      "step": 1334
    },
    {
      "epoch": 0.2995288310522773,
      "grad_norm": 0.9844553470611572,
      "learning_rate": 0.0004936421447720435,
      "loss": 0.1655,
      "step": 1335
    },
    {
      "epoch": 0.2995288310522773,
      "gripper_loss": 0.061767578125,
      "loss": 0.302734375,
      "pos_loss": 2.015625,
      "rot_loss": 0.97265625,
      "step": 1335
    },
    {
      "epoch": 0.29975319721785953,
      "grad_norm": 1.1001346111297607,
      "learning_rate": 0.0004936285668436168,
      "loss": 0.1623,
      "step": 1336
    },
    {
      "epoch": 0.29975319721785953,
      "gripper_loss": 0.22265625,
      "loss": 0.248046875,
      "pos_loss": 1.265625,
      "rot_loss": 0.96875,
      "step": 1336
    },
    {
      "epoch": 0.2999775633834418,
      "grad_norm": 0.8973910212516785,
      "learning_rate": 0.0004936149746191758,
      "loss": 0.1477,
      "step": 1337
    },
    {
      "epoch": 0.2999775633834418,
      "gripper_loss": 0.2021484375,
      "loss": 0.1318359375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.400390625,
      "step": 1337
    },
    {
      "epoch": 0.300201929549024,
      "grad_norm": 0.8405463099479675,
      "learning_rate": 0.0004936013680995181,
      "loss": 0.101,
      "step": 1338
    },
    {
      "epoch": 0.300201929549024,
      "gripper_loss": 1.453125,
      "loss": 0.11083984375,
      "pos_loss": 0.115234375,
      "rot_loss": 0.33203125,
      "step": 1338
    },
    {
      "epoch": 0.3004262957146062,
      "grad_norm": 0.8606253266334534,
      "learning_rate": 0.0004935877472854422,
      "loss": 0.1167,
      "step": 1339
    },
    {
      "epoch": 0.3004262957146062,
      "gripper_loss": 0.7578125,
      "loss": 0.10498046875,
      "pos_loss": 0.61328125,
      "rot_loss": 0.03369140625,
      "step": 1339
    },
    {
      "epoch": 0.30065066188018846,
      "grad_norm": 1.235727310180664,
      "learning_rate": 0.0004935741121777472,
      "loss": 0.0962,
      "step": 1340
    },
    {
      "epoch": 0.30065066188018846,
      "gripper_loss": 0.2470703125,
      "loss": 0.408203125,
      "pos_loss": 2.5,
      "rot_loss": 0.35546875,
      "step": 1340
    },
    {
      "epoch": 0.3008750280457707,
      "grad_norm": 2.1135919094085693,
      "learning_rate": 0.0004935604627772333,
      "loss": 0.2739,
      "step": 1341
    },
    {
      "epoch": 0.3008750280457707,
      "gripper_loss": 0.46484375,
      "loss": 0.255859375,
      "pos_loss": 1.9921875,
      "rot_loss": 0.19140625,
      "step": 1341
    },
    {
      "epoch": 0.30109939421135296,
      "grad_norm": 1.2369498014450073,
      "learning_rate": 0.0004935467990847015,
      "loss": 0.1674,
      "step": 1342
    },
    {
      "epoch": 0.30109939421135296,
      "gripper_loss": 0.58984375,
      "loss": 0.060302734375,
      "pos_loss": 0.216796875,
      "rot_loss": 0.046875,
      "step": 1342
    },
    {
      "epoch": 0.30132376037693515,
      "grad_norm": 0.9824133515357971,
      "learning_rate": 0.0004935331211009535,
      "loss": 0.0987,
      "step": 1343
    },
    {
      "epoch": 0.30132376037693515,
      "gripper_loss": 0.10791015625,
      "loss": 0.1298828125,
      "pos_loss": 0.71484375,
      "rot_loss": 0.384765625,
      "step": 1343
    },
    {
      "epoch": 0.3015481265425174,
      "grad_norm": 1.0009044408798218,
      "learning_rate": 0.0004935194288267919,
      "loss": 0.1341,
      "step": 1344
    },
    {
      "epoch": 0.3015481265425174,
      "gripper_loss": 0.61328125,
      "loss": 0.41796875,
      "pos_loss": 0.91015625,
      "rot_loss": 3.203125,
      "step": 1344
    },
    {
      "epoch": 0.30177249270809964,
      "grad_norm": 0.9105958342552185,
      "learning_rate": 0.0004935057222630201,
      "loss": 0.1313,
      "step": 1345
    },
    {
      "epoch": 0.30177249270809964,
      "gripper_loss": 0.193359375,
      "loss": 0.1728515625,
      "pos_loss": 0.83984375,
      "rot_loss": 0.80859375,
      "step": 1345
    },
    {
      "epoch": 0.30199685887368183,
      "grad_norm": 0.7778908610343933,
      "learning_rate": 0.0004934920014104427,
      "loss": 0.1473,
      "step": 1346
    },
    {
      "epoch": 0.30199685887368183,
      "gripper_loss": 0.39453125,
      "loss": 0.255859375,
      "pos_loss": 1.203125,
      "rot_loss": 1.0078125,
      "step": 1346
    },
    {
      "epoch": 0.3022212250392641,
      "grad_norm": 1.299159049987793,
      "learning_rate": 0.0004934782662698644,
      "loss": 0.1792,
      "step": 1347
    },
    {
      "epoch": 0.3022212250392641,
      "gripper_loss": 1.96875,
      "loss": 0.322265625,
      "pos_loss": 1.3828125,
      "rot_loss": 1.2578125,
      "step": 1347
    },
    {
      "epoch": 0.3024455912048463,
      "grad_norm": 0.9093999862670898,
      "learning_rate": 0.0004934645168420916,
      "loss": 0.1993,
      "step": 1348
    },
    {
      "epoch": 0.3024455912048463,
      "gripper_loss": 0.283203125,
      "loss": 0.072265625,
      "pos_loss": 0.25,
      "rot_loss": 0.111328125,
      "step": 1348
    },
    {
      "epoch": 0.30266995737042857,
      "grad_norm": 1.09505295753479,
      "learning_rate": 0.0004934507531279309,
      "loss": 0.1516,
      "step": 1349
    },
    {
      "epoch": 0.30266995737042857,
      "gripper_loss": 0.60546875,
      "loss": 0.421875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.5,
      "step": 1349
    },
    {
      "epoch": 0.30289432353601076,
      "grad_norm": 2.1487672328948975,
      "learning_rate": 0.0004934369751281898,
      "loss": 0.5234,
      "step": 1350
    },
    {
      "epoch": 0.30289432353601076,
      "gripper_loss": 0.11181640625,
      "loss": 0.19140625,
      "pos_loss": 1.3046875,
      "rot_loss": 0.361328125,
      "step": 1350
    },
    {
      "epoch": 0.303118689701593,
      "grad_norm": 1.0901544094085693,
      "learning_rate": 0.0004934231828436769,
      "loss": 0.1508,
      "step": 1351
    },
    {
      "epoch": 0.303118689701593,
      "gripper_loss": 0.6328125,
      "loss": 0.23828125,
      "pos_loss": 1.2734375,
      "rot_loss": 0.69921875,
      "step": 1351
    },
    {
      "epoch": 0.30334305586717525,
      "grad_norm": 1.1944869756698608,
      "learning_rate": 0.0004934093762752017,
      "loss": 0.1848,
      "step": 1352
    },
    {
      "epoch": 0.30334305586717525,
      "gripper_loss": 1.109375,
      "loss": 0.3515625,
      "pos_loss": 1.09375,
      "rot_loss": 2.09375,
      "step": 1352
    },
    {
      "epoch": 0.30356742203275744,
      "grad_norm": 0.9924716353416443,
      "learning_rate": 0.0004933955554235743,
      "loss": 0.1719,
      "step": 1353
    },
    {
      "epoch": 0.30356742203275744,
      "gripper_loss": 1.4609375,
      "loss": 0.314453125,
      "pos_loss": 1.0390625,
      "rot_loss": 1.6640625,
      "step": 1353
    },
    {
      "epoch": 0.3037917881983397,
      "grad_norm": 0.9580243825912476,
      "learning_rate": 0.0004933817202896055,
      "loss": 0.1957,
      "step": 1354
    },
    {
      "epoch": 0.3037917881983397,
      "gripper_loss": 0.275390625,
      "loss": 0.25390625,
      "pos_loss": 2.03125,
      "rot_loss": 0.451171875,
      "step": 1354
    },
    {
      "epoch": 0.30401615436392193,
      "grad_norm": 0.8119587302207947,
      "learning_rate": 0.0004933678708741073,
      "loss": 0.1732,
      "step": 1355
    },
    {
      "epoch": 0.30401615436392193,
      "gripper_loss": 1.671875,
      "loss": 0.1533203125,
      "pos_loss": 0.60546875,
      "rot_loss": 0.328125,
      "step": 1355
    },
    {
      "epoch": 0.3042405205295042,
      "grad_norm": 0.951035737991333,
      "learning_rate": 0.0004933540071778923,
      "loss": 0.1735,
      "step": 1356
    },
    {
      "epoch": 0.3042405205295042,
      "gripper_loss": 0.11328125,
      "loss": 0.1259765625,
      "pos_loss": 0.90625,
      "rot_loss": 0.1826171875,
      "step": 1356
    },
    {
      "epoch": 0.30446488669508637,
      "grad_norm": 1.143707036972046,
      "learning_rate": 0.0004933401292017742,
      "loss": 0.1575,
      "step": 1357
    },
    {
      "epoch": 0.30446488669508637,
      "gripper_loss": 0.23046875,
      "loss": 0.2314453125,
      "pos_loss": 1.1640625,
      "rot_loss": 1.03125,
      "step": 1357
    },
    {
      "epoch": 0.3046892528606686,
      "grad_norm": 1.5509973764419556,
      "learning_rate": 0.0004933262369465671,
      "loss": 0.1846,
      "step": 1358
    },
    {
      "epoch": 0.3046892528606686,
      "gripper_loss": 1.3125,
      "loss": 0.0908203125,
      "pos_loss": 0.236328125,
      "rot_loss": 0.09765625,
      "step": 1358
    },
    {
      "epoch": 0.30491361902625086,
      "grad_norm": 0.9934507608413696,
      "learning_rate": 0.0004933123304130862,
      "loss": 0.1739,
      "step": 1359
    },
    {
      "epoch": 0.30491361902625086,
      "gripper_loss": 0.337890625,
      "loss": 0.365234375,
      "pos_loss": 0.9765625,
      "rot_loss": 0.52734375,
      "step": 1359
    },
    {
      "epoch": 0.30513798519183305,
      "grad_norm": 2.1392784118652344,
      "learning_rate": 0.0004932984096021478,
      "loss": 0.3875,
      "step": 1360
    },
    {
      "epoch": 0.30513798519183305,
      "gripper_loss": 0.2734375,
      "loss": 0.12255859375,
      "pos_loss": 0.341796875,
      "rot_loss": 0.640625,
      "step": 1360
    },
    {
      "epoch": 0.3053623513574153,
      "grad_norm": 1.1186025142669678,
      "learning_rate": 0.0004932844745145686,
      "loss": 0.1345,
      "step": 1361
    },
    {
      "epoch": 0.3053623513574153,
      "gripper_loss": 0.169921875,
      "loss": 0.126953125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.3671875,
      "step": 1361
    },
    {
      "epoch": 0.30558671752299754,
      "grad_norm": 1.9382377862930298,
      "learning_rate": 0.0004932705251511662,
      "loss": 0.2031,
      "step": 1362
    },
    {
      "epoch": 0.30558671752299754,
      "gripper_loss": 0.51171875,
      "loss": 0.1376953125,
      "pos_loss": 0.43359375,
      "rot_loss": 0.470703125,
      "step": 1362
    },
    {
      "epoch": 0.3058110836885798,
      "grad_norm": 1.2679939270019531,
      "learning_rate": 0.0004932565615127593,
      "loss": 0.1551,
      "step": 1363
    },
    {
      "epoch": 0.3058110836885798,
      "gripper_loss": 0.51953125,
      "loss": 0.1552734375,
      "pos_loss": 1.0625,
      "rot_loss": 0.29296875,
      "step": 1363
    },
    {
      "epoch": 0.306035449854162,
      "grad_norm": 0.9962291717529297,
      "learning_rate": 0.0004932425836001672,
      "loss": 0.1634,
      "step": 1364
    },
    {
      "epoch": 0.306035449854162,
      "gripper_loss": 0.11474609375,
      "loss": 0.1826171875,
      "pos_loss": 1.6171875,
      "rot_loss": 0.140625,
      "step": 1364
    },
    {
      "epoch": 0.3062598160197442,
      "grad_norm": 0.8864802122116089,
      "learning_rate": 0.0004932285914142102,
      "loss": 0.1837,
      "step": 1365
    },
    {
      "epoch": 0.3062598160197442,
      "gripper_loss": 0.51171875,
      "loss": 0.0908203125,
      "pos_loss": 0.263671875,
      "rot_loss": 0.16796875,
      "step": 1365
    },
    {
      "epoch": 0.30648418218532647,
      "grad_norm": 1.220603108406067,
      "learning_rate": 0.0004932145849557093,
      "loss": 0.2478,
      "step": 1366
    },
    {
      "epoch": 0.30648418218532647,
      "gripper_loss": 0.375,
      "loss": 0.1328125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.53515625,
      "step": 1366
    },
    {
      "epoch": 0.30670854835090866,
      "grad_norm": 1.0530588626861572,
      "learning_rate": 0.0004932005642254863,
      "loss": 0.1606,
      "step": 1367
    },
    {
      "epoch": 0.30670854835090866,
      "gripper_loss": 0.06689453125,
      "loss": 0.1015625,
      "pos_loss": 0.67578125,
      "rot_loss": 0.1884765625,
      "step": 1367
    },
    {
      "epoch": 0.3069329145164909,
      "grad_norm": 1.0327016115188599,
      "learning_rate": 0.0004931865292243642,
      "loss": 0.1203,
      "step": 1368
    },
    {
      "epoch": 0.3069329145164909,
      "gripper_loss": 1.7734375,
      "loss": 0.296875,
      "pos_loss": 1.515625,
      "rot_loss": 0.25390625,
      "step": 1368
    },
    {
      "epoch": 0.30715728068207315,
      "grad_norm": 1.4027103185653687,
      "learning_rate": 0.0004931724799531661,
      "loss": 0.2257,
      "step": 1369
    },
    {
      "epoch": 0.30715728068207315,
      "gripper_loss": 0.07861328125,
      "loss": 0.28515625,
      "pos_loss": 0.9921875,
      "rot_loss": 1.8203125,
      "step": 1369
    },
    {
      "epoch": 0.3073816468476554,
      "grad_norm": 1.3940644264221191,
      "learning_rate": 0.000493158416412717,
      "loss": 0.2369,
      "step": 1370
    },
    {
      "epoch": 0.3073816468476554,
      "gripper_loss": 0.10107421875,
      "loss": 0.1572265625,
      "pos_loss": 1.1953125,
      "rot_loss": 0.1943359375,
      "step": 1370
    },
    {
      "epoch": 0.3076060130132376,
      "grad_norm": 1.275377631187439,
      "learning_rate": 0.0004931443386038416,
      "loss": 0.1437,
      "step": 1371
    },
    {
      "epoch": 0.3076060130132376,
      "gripper_loss": 0.84765625,
      "loss": 0.154296875,
      "pos_loss": 0.328125,
      "rot_loss": 0.38671875,
      "step": 1371
    },
    {
      "epoch": 0.30783037917881984,
      "grad_norm": 1.6359118223190308,
      "learning_rate": 0.0004931302465273664,
      "loss": 0.2147,
      "step": 1372
    },
    {
      "epoch": 0.30783037917881984,
      "gripper_loss": 0.0625,
      "loss": 0.142578125,
      "pos_loss": 1.1015625,
      "rot_loss": 0.1611328125,
      "step": 1372
    },
    {
      "epoch": 0.3080547453444021,
      "grad_norm": 0.9911542534828186,
      "learning_rate": 0.0004931161401841182,
      "loss": 0.0946,
      "step": 1373
    },
    {
      "epoch": 0.3080547453444021,
      "gripper_loss": 0.09521484375,
      "loss": 0.2216796875,
      "pos_loss": 1.765625,
      "rot_loss": 0.294921875,
      "step": 1373
    },
    {
      "epoch": 0.30827911150998427,
      "grad_norm": 1.1882961988449097,
      "learning_rate": 0.0004931020195749244,
      "loss": 0.1884,
      "step": 1374
    },
    {
      "epoch": 0.30827911150998427,
      "gripper_loss": 0.859375,
      "loss": 0.07958984375,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.1669921875,
      "step": 1374
    },
    {
      "epoch": 0.3085034776755665,
      "grad_norm": 1.3770477771759033,
      "learning_rate": 0.000493087884700614,
      "loss": 0.1776,
      "step": 1375
    },
    {
      "epoch": 0.3085034776755665,
      "gripper_loss": 0.021484375,
      "loss": 0.119140625,
      "pos_loss": 0.7109375,
      "rot_loss": 0.3203125,
      "step": 1375
    },
    {
      "epoch": 0.30872784384114876,
      "grad_norm": 1.3948947191238403,
      "learning_rate": 0.0004930737355620164,
      "loss": 0.1329,
      "step": 1376
    },
    {
      "epoch": 0.30872784384114876,
      "gripper_loss": 0.7421875,
      "loss": 0.142578125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.26953125,
      "step": 1376
    },
    {
      "epoch": 0.308952210006731,
      "grad_norm": 1.5007624626159668,
      "learning_rate": 0.0004930595721599617,
      "loss": 0.1598,
      "step": 1377
    },
    {
      "epoch": 0.308952210006731,
      "gripper_loss": 0.373046875,
      "loss": 0.083984375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.047119140625,
      "step": 1377
    },
    {
      "epoch": 0.3091765761723132,
      "grad_norm": 0.8898677825927734,
      "learning_rate": 0.0004930453944952812,
      "loss": 0.1545,
      "step": 1378
    },
    {
      "epoch": 0.3091765761723132,
      "gripper_loss": 0.1728515625,
      "loss": 0.298828125,
      "pos_loss": 1.15625,
      "rot_loss": 1.84375,
      "step": 1378
    },
    {
      "epoch": 0.30940094233789545,
      "grad_norm": 0.8380093574523926,
      "learning_rate": 0.0004930312025688066,
      "loss": 0.1686,
      "step": 1379
    },
    {
      "epoch": 0.30940094233789545,
      "gripper_loss": 0.318359375,
      "loss": 0.12109375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.34765625,
      "step": 1379
    },
    {
      "epoch": 0.3096253085034777,
      "grad_norm": 1.1821632385253906,
      "learning_rate": 0.0004930169963813707,
      "loss": 0.2189,
      "step": 1380
    },
    {
      "epoch": 0.3096253085034777,
      "gripper_loss": 0.443359375,
      "loss": 0.125,
      "pos_loss": 0.59765625,
      "rot_loss": 0.37109375,
      "step": 1380
    },
    {
      "epoch": 0.3098496746690599,
      "grad_norm": 1.2586740255355835,
      "learning_rate": 0.0004930027759338073,
      "loss": 0.1554,
      "step": 1381
    },
    {
      "epoch": 0.3098496746690599,
      "gripper_loss": 0.34765625,
      "loss": 0.1611328125,
      "pos_loss": 1.078125,
      "rot_loss": 0.296875,
      "step": 1381
    },
    {
      "epoch": 0.31007404083464213,
      "grad_norm": 1.34420907497406,
      "learning_rate": 0.0004929885412269507,
      "loss": 0.2051,
      "step": 1382
    },
    {
      "epoch": 0.31007404083464213,
      "gripper_loss": 0.82421875,
      "loss": 0.2578125,
      "pos_loss": 0.734375,
      "rot_loss": 0.2578125,
      "step": 1382
    },
    {
      "epoch": 0.3102984070002244,
      "grad_norm": 1.6921619176864624,
      "learning_rate": 0.0004929742922616363,
      "loss": 0.3196,
      "step": 1383
    },
    {
      "epoch": 0.3102984070002244,
      "gripper_loss": 0.6953125,
      "loss": 0.0791015625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1015625,
      "step": 1383
    },
    {
      "epoch": 0.3105227731658066,
      "grad_norm": 0.8674189448356628,
      "learning_rate": 0.0004929600290387002,
      "loss": 0.1714,
      "step": 1384
    },
    {
      "epoch": 0.3105227731658066,
      "gripper_loss": 1.5390625,
      "loss": 0.11279296875,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.185546875,
      "step": 1384
    },
    {
      "epoch": 0.3107471393313888,
      "grad_norm": 1.0802546739578247,
      "learning_rate": 0.0004929457515589792,
      "loss": 0.1372,
      "step": 1385
    },
    {
      "epoch": 0.3107471393313888,
      "gripper_loss": 1.5390625,
      "loss": 0.1748046875,
      "pos_loss": 0.84375,
      "rot_loss": 0.3515625,
      "step": 1385
    },
    {
      "epoch": 0.31097150549697106,
      "grad_norm": 0.876954197883606,
      "learning_rate": 0.0004929314598233113,
      "loss": 0.1594,
      "step": 1386
    },
    {
      "epoch": 0.31097150549697106,
      "gripper_loss": 0.515625,
      "loss": 0.059814453125,
      "pos_loss": 0.154296875,
      "rot_loss": 0.06103515625,
      "step": 1386
    },
    {
      "epoch": 0.3111958716625533,
      "grad_norm": 1.1819785833358765,
      "learning_rate": 0.000492917153832535,
      "loss": 0.1442,
      "step": 1387
    },
    {
      "epoch": 0.3111958716625533,
      "gripper_loss": 0.6015625,
      "loss": 0.08837890625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.35546875,
      "step": 1387
    },
    {
      "epoch": 0.3114202378281355,
      "grad_norm": 1.1214666366577148,
      "learning_rate": 0.0004929028335874899,
      "loss": 0.1632,
      "step": 1388
    },
    {
      "epoch": 0.3114202378281355,
      "gripper_loss": 0.142578125,
      "loss": 0.099609375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.23828125,
      "step": 1388
    },
    {
      "epoch": 0.31164460399371774,
      "grad_norm": 0.9708452820777893,
      "learning_rate": 0.0004928884990890161,
      "loss": 0.1176,
      "step": 1389
    },
    {
      "epoch": 0.31164460399371774,
      "gripper_loss": 0.0830078125,
      "loss": 0.208984375,
      "pos_loss": 1.5625,
      "rot_loss": 0.3828125,
      "step": 1389
    },
    {
      "epoch": 0.3118689701593,
      "grad_norm": 1.0974406003952026,
      "learning_rate": 0.0004928741503379549,
      "loss": 0.178,
      "step": 1390
    },
    {
      "epoch": 0.3118689701593,
      "gripper_loss": 0.07958984375,
      "loss": 0.279296875,
      "pos_loss": 1.515625,
      "rot_loss": 1.203125,
      "step": 1390
    },
    {
      "epoch": 0.31209333632488223,
      "grad_norm": 1.1153829097747803,
      "learning_rate": 0.0004928597873351483,
      "loss": 0.2286,
      "step": 1391
    },
    {
      "epoch": 0.31209333632488223,
      "gripper_loss": 0.19140625,
      "loss": 0.294921875,
      "pos_loss": 1.8515625,
      "rot_loss": 0.33203125,
      "step": 1391
    },
    {
      "epoch": 0.3123177024904644,
      "grad_norm": 1.3850526809692383,
      "learning_rate": 0.000492845410081439,
      "loss": 0.2952,
      "step": 1392
    },
    {
      "epoch": 0.3123177024904644,
      "gripper_loss": 0.177734375,
      "loss": 0.12353515625,
      "pos_loss": 0.953125,
      "rot_loss": 0.0888671875,
      "step": 1392
    },
    {
      "epoch": 0.31254206865604667,
      "grad_norm": 0.9083852767944336,
      "learning_rate": 0.0004928310185776708,
      "loss": 0.1316,
      "step": 1393
    },
    {
      "epoch": 0.31254206865604667,
      "gripper_loss": 0.349609375,
      "loss": 0.12109375,
      "pos_loss": 0.296875,
      "rot_loss": 0.41796875,
      "step": 1393
    },
    {
      "epoch": 0.3127664348216289,
      "grad_norm": 1.162380337715149,
      "learning_rate": 0.000492816612824688,
      "loss": 0.1675,
      "step": 1394
    },
    {
      "epoch": 0.3127664348216289,
      "gripper_loss": 1.046875,
      "loss": 0.1630859375,
      "pos_loss": 0.90625,
      "rot_loss": 0.294921875,
      "step": 1394
    },
    {
      "epoch": 0.3129908009872111,
      "grad_norm": 0.8690224885940552,
      "learning_rate": 0.000492802192823336,
      "loss": 0.1164,
      "step": 1395
    },
    {
      "epoch": 0.3129908009872111,
      "gripper_loss": 1.3515625,
      "loss": 0.0712890625,
      "pos_loss": 0.150390625,
      "rot_loss": 0.031494140625,
      "step": 1395
    },
    {
      "epoch": 0.31321516715279335,
      "grad_norm": 0.9449127316474915,
      "learning_rate": 0.000492787758574461,
      "loss": 0.1466,
      "step": 1396
    },
    {
      "epoch": 0.31321516715279335,
      "gripper_loss": 0.078125,
      "loss": 0.17578125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.447265625,
      "step": 1396
    },
    {
      "epoch": 0.3134395333183756,
      "grad_norm": 1.6861227750778198,
      "learning_rate": 0.00049277331007891,
      "loss": 0.2242,
      "step": 1397
    },
    {
      "epoch": 0.3134395333183756,
      "gripper_loss": 0.431640625,
      "loss": 0.2109375,
      "pos_loss": 1.015625,
      "rot_loss": 0.33984375,
      "step": 1397
    },
    {
      "epoch": 0.31366389948395784,
      "grad_norm": 1.4200000762939453,
      "learning_rate": 0.0004927588473375308,
      "loss": 0.2477,
      "step": 1398
    },
    {
      "epoch": 0.31366389948395784,
      "gripper_loss": 0.109375,
      "loss": 0.1376953125,
      "pos_loss": 0.828125,
      "rot_loss": 0.361328125,
      "step": 1398
    },
    {
      "epoch": 0.31388826564954003,
      "grad_norm": 1.0459926128387451,
      "learning_rate": 0.0004927443703511721,
      "loss": 0.1157,
      "step": 1399
    },
    {
      "epoch": 0.31388826564954003,
      "gripper_loss": 1.1015625,
      "loss": 0.1259765625,
      "pos_loss": 0.431640625,
      "rot_loss": 0.3359375,
      "step": 1399
    },
    {
      "epoch": 0.3141126318151223,
      "grad_norm": 1.1657829284667969,
      "learning_rate": 0.0004927298791206834,
      "loss": 0.149,
      "step": 1400
    },
    {
      "epoch": 0.3141126318151223,
      "gripper_loss": 0.3046875,
      "loss": 0.255859375,
      "pos_loss": 1.8515625,
      "rot_loss": 0.46875,
      "step": 1400
    },
    {
      "epoch": 0.3143369979807045,
      "grad_norm": 1.200029969215393,
      "learning_rate": 0.0004927153736469149,
      "loss": 0.1467,
      "step": 1401
    },
    {
      "epoch": 0.3143369979807045,
      "gripper_loss": 0.0849609375,
      "loss": 0.2578125,
      "pos_loss": 2.0,
      "rot_loss": 0.484375,
      "step": 1401
    },
    {
      "epoch": 0.3145613641462867,
      "grad_norm": 1.4712580442428589,
      "learning_rate": 0.0004927008539307179,
      "loss": 0.2208,
      "step": 1402
    },
    {
      "epoch": 0.3145613641462867,
      "gripper_loss": 0.06005859375,
      "loss": 0.1865234375,
      "pos_loss": 1.46875,
      "rot_loss": 0.3046875,
      "step": 1402
    },
    {
      "epoch": 0.31478573031186896,
      "grad_norm": 1.4416987895965576,
      "learning_rate": 0.0004926863199729444,
      "loss": 0.1669,
      "step": 1403
    },
    {
      "epoch": 0.31478573031186896,
      "gripper_loss": 0.30078125,
      "loss": 0.1923828125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.61328125,
      "step": 1403
    },
    {
      "epoch": 0.3150100964774512,
      "grad_norm": 1.0878444910049438,
      "learning_rate": 0.0004926717717744474,
      "loss": 0.1357,
      "step": 1404
    },
    {
      "epoch": 0.3150100964774512,
      "gripper_loss": 1.03125,
      "loss": 0.240234375,
      "pos_loss": 1.2265625,
      "rot_loss": 0.6171875,
      "step": 1404
    },
    {
      "epoch": 0.31523446264303345,
      "grad_norm": 1.1151182651519775,
      "learning_rate": 0.0004926572093360802,
      "loss": 0.2136,
      "step": 1405
    },
    {
      "epoch": 0.31523446264303345,
      "gripper_loss": 0.19921875,
      "loss": 0.0986328125,
      "pos_loss": 0.158203125,
      "rot_loss": 0.14453125,
      "step": 1405
    },
    {
      "epoch": 0.31545882880861564,
      "grad_norm": 1.5513012409210205,
      "learning_rate": 0.0004926426326586977,
      "loss": 0.1844,
      "step": 1406
    },
    {
      "epoch": 0.31545882880861564,
      "gripper_loss": 0.033935546875,
      "loss": 0.330078125,
      "pos_loss": 1.109375,
      "rot_loss": 2.21875,
      "step": 1406
    },
    {
      "epoch": 0.3156831949741979,
      "grad_norm": 0.9582212567329407,
      "learning_rate": 0.0004926280417431551,
      "loss": 0.2102,
      "step": 1407
    },
    {
      "epoch": 0.3156831949741979,
      "gripper_loss": 0.058349609375,
      "loss": 0.1318359375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.86328125,
      "step": 1407
    },
    {
      "epoch": 0.31590756113978014,
      "grad_norm": 0.9089105129241943,
      "learning_rate": 0.0004926134365903085,
      "loss": 0.124,
      "step": 1408
    },
    {
      "epoch": 0.31590756113978014,
      "gripper_loss": 0.96875,
      "loss": 0.1787109375,
      "pos_loss": 0.88671875,
      "rot_loss": 0.376953125,
      "step": 1408
    },
    {
      "epoch": 0.3161319273053623,
      "grad_norm": 1.0395667552947998,
      "learning_rate": 0.0004925988172010151,
      "loss": 0.2011,
      "step": 1409
    },
    {
      "epoch": 0.3161319273053623,
      "gripper_loss": 0.224609375,
      "loss": 0.2021484375,
      "pos_loss": 0.8203125,
      "rot_loss": 0.455078125,
      "step": 1409
    },
    {
      "epoch": 0.31635629347094457,
      "grad_norm": 1.5628395080566406,
      "learning_rate": 0.0004925841835761325,
      "loss": 0.2377,
      "step": 1410
    },
    {
      "epoch": 0.31635629347094457,
      "gripper_loss": 1.109375,
      "loss": 0.06982421875,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.0732421875,
      "step": 1410
    },
    {
      "epoch": 0.3165806596365268,
      "grad_norm": 1.1299543380737305,
      "learning_rate": 0.0004925695357165197,
      "loss": 0.1705,
      "step": 1411
    },
    {
      "epoch": 0.3165806596365268,
      "gripper_loss": 0.08251953125,
      "loss": 0.10009765625,
      "pos_loss": 0.8203125,
      "rot_loss": 0.05517578125,
      "step": 1411
    },
    {
      "epoch": 0.31680502580210906,
      "grad_norm": 1.1463600397109985,
      "learning_rate": 0.0004925548736230361,
      "loss": 0.1193,
      "step": 1412
    },
    {
      "epoch": 0.31680502580210906,
      "gripper_loss": 0.171875,
      "loss": 0.3984375,
      "pos_loss": 1.5703125,
      "rot_loss": 1.1953125,
      "step": 1412
    },
    {
      "epoch": 0.31702939196769125,
      "grad_norm": 2.1365180015563965,
      "learning_rate": 0.000492540197296542,
      "loss": 0.321,
      "step": 1413
    },
    {
      "epoch": 0.31702939196769125,
      "gripper_loss": 0.11279296875,
      "loss": 0.142578125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.37890625,
      "step": 1413
    },
    {
      "epoch": 0.3172537581332735,
      "grad_norm": 1.3828139305114746,
      "learning_rate": 0.0004925255067378987,
      "loss": 0.1613,
      "step": 1414
    },
    {
      "epoch": 0.3172537581332735,
      "gripper_loss": 0.181640625,
      "loss": 0.07421875,
      "pos_loss": 0.349609375,
      "rot_loss": 0.1904296875,
      "step": 1414
    },
    {
      "epoch": 0.31747812429885575,
      "grad_norm": 0.9987908005714417,
      "learning_rate": 0.0004925108019479681,
      "loss": 0.1569,
      "step": 1415
    },
    {
      "epoch": 0.31747812429885575,
      "gripper_loss": 0.1171875,
      "loss": 0.050048828125,
      "pos_loss": 0.154296875,
      "rot_loss": 0.059814453125,
      "step": 1415
    },
    {
      "epoch": 0.31770249046443794,
      "grad_norm": 0.9575783014297485,
      "learning_rate": 0.0004924960829276133,
      "loss": 0.0951,
      "step": 1416
    },
    {
      "epoch": 0.31770249046443794,
      "gripper_loss": 1.046875,
      "loss": 0.0966796875,
      "pos_loss": 0.375,
      "rot_loss": 0.1220703125,
      "step": 1416
    },
    {
      "epoch": 0.3179268566300202,
      "grad_norm": 0.9173389673233032,
      "learning_rate": 0.0004924813496776977,
      "loss": 0.1616,
      "step": 1417
    },
    {
      "epoch": 0.3179268566300202,
      "gripper_loss": 0.3046875,
      "loss": 0.10205078125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.259765625,
      "step": 1417
    },
    {
      "epoch": 0.31815122279560243,
      "grad_norm": 0.8186229467391968,
      "learning_rate": 0.0004924666021990862,
      "loss": 0.1511,
      "step": 1418
    },
    {
      "epoch": 0.31815122279560243,
      "gripper_loss": 0.2216796875,
      "loss": 0.154296875,
      "pos_loss": 0.75,
      "rot_loss": 0.65234375,
      "step": 1418
    },
    {
      "epoch": 0.3183755889611847,
      "grad_norm": 0.8341878652572632,
      "learning_rate": 0.0004924518404926438,
      "loss": 0.094,
      "step": 1419
    },
    {
      "epoch": 0.3183755889611847,
      "gripper_loss": 0.216796875,
      "loss": 0.09228515625,
      "pos_loss": 0.625,
      "rot_loss": 0.1064453125,
      "step": 1419
    },
    {
      "epoch": 0.31859995512676687,
      "grad_norm": 0.9569183588027954,
      "learning_rate": 0.0004924370645592369,
      "loss": 0.1254,
      "step": 1420
    },
    {
      "epoch": 0.31859995512676687,
      "gripper_loss": 0.3046875,
      "loss": 0.1484375,
      "pos_loss": 1.15625,
      "rot_loss": 0.14453125,
      "step": 1420
    },
    {
      "epoch": 0.3188243212923491,
      "grad_norm": 1.3688552379608154,
      "learning_rate": 0.0004924222743997327,
      "loss": 0.1574,
      "step": 1421
    },
    {
      "epoch": 0.3188243212923491,
      "gripper_loss": 0.181640625,
      "loss": 0.259765625,
      "pos_loss": 0.76171875,
      "rot_loss": 1.7265625,
      "step": 1421
    },
    {
      "epoch": 0.31904868745793136,
      "grad_norm": 0.9450780153274536,
      "learning_rate": 0.0004924074700149989,
      "loss": 0.1461,
      "step": 1422
    },
    {
      "epoch": 0.31904868745793136,
      "gripper_loss": 0.062255859375,
      "loss": 0.1455078125,
      "pos_loss": 0.81640625,
      "rot_loss": 0.56640625,
      "step": 1422
    },
    {
      "epoch": 0.31927305362351355,
      "grad_norm": 0.8457439541816711,
      "learning_rate": 0.0004923926514059042,
      "loss": 0.1175,
      "step": 1423
    },
    {
      "epoch": 0.31927305362351355,
      "gripper_loss": 0.62109375,
      "loss": 0.12890625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.34375,
      "step": 1423
    },
    {
      "epoch": 0.3194974197890958,
      "grad_norm": 1.010898232460022,
      "learning_rate": 0.0004923778185733181,
      "loss": 0.1772,
      "step": 1424
    },
    {
      "epoch": 0.3194974197890958,
      "gripper_loss": 0.4609375,
      "loss": 0.1572265625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.84375,
      "step": 1424
    },
    {
      "epoch": 0.31972178595467804,
      "grad_norm": 1.0127652883529663,
      "learning_rate": 0.0004923629715181111,
      "loss": 0.1766,
      "step": 1425
    },
    {
      "epoch": 0.31972178595467804,
      "gripper_loss": 0.6171875,
      "loss": 0.060546875,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.08349609375,
      "step": 1425
    },
    {
      "epoch": 0.3199461521202603,
      "grad_norm": 1.166338562965393,
      "learning_rate": 0.0004923481102411544,
      "loss": 0.1203,
      "step": 1426
    },
    {
      "epoch": 0.3199461521202603,
      "gripper_loss": 0.69921875,
      "loss": 0.0625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.14453125,
      "step": 1426
    },
    {
      "epoch": 0.3201705182858425,
      "grad_norm": 1.4466274976730347,
      "learning_rate": 0.00049233323474332,
      "loss": 0.2187,
      "step": 1427
    },
    {
      "epoch": 0.3201705182858425,
      "gripper_loss": 0.97265625,
      "loss": 0.10107421875,
      "pos_loss": 0.52734375,
      "rot_loss": 0.103515625,
      "step": 1427
    },
    {
      "epoch": 0.3203948844514247,
      "grad_norm": 0.8717374801635742,
      "learning_rate": 0.0004923183450254809,
      "loss": 0.1422,
      "step": 1428
    },
    {
      "epoch": 0.3203948844514247,
      "gripper_loss": 0.25,
      "loss": 0.279296875,
      "pos_loss": 1.4765625,
      "rot_loss": 1.2265625,
      "step": 1428
    },
    {
      "epoch": 0.32061925061700697,
      "grad_norm": 0.9345453381538391,
      "learning_rate": 0.0004923034410885108,
      "loss": 0.1832,
      "step": 1429
    },
    {
      "epoch": 0.32061925061700697,
      "gripper_loss": 0.21875,
      "loss": 0.1748046875,
      "pos_loss": 0.578125,
      "rot_loss": 0.25390625,
      "step": 1429
    },
    {
      "epoch": 0.32084361678258916,
      "grad_norm": 2.1589343547821045,
      "learning_rate": 0.000492288522933284,
      "loss": 0.2998,
      "step": 1430
    },
    {
      "epoch": 0.32084361678258916,
      "gripper_loss": 0.2158203125,
      "loss": 0.57421875,
      "pos_loss": 1.703125,
      "rot_loss": 2.140625,
      "step": 1430
    },
    {
      "epoch": 0.3210679829481714,
      "grad_norm": 1.9722323417663574,
      "learning_rate": 0.0004922735905606763,
      "loss": 0.3795,
      "step": 1431
    },
    {
      "epoch": 0.3210679829481714,
      "gripper_loss": 0.26953125,
      "loss": 0.232421875,
      "pos_loss": 1.3125,
      "rot_loss": 0.3515625,
      "step": 1431
    },
    {
      "epoch": 0.32129234911375365,
      "grad_norm": 1.4480478763580322,
      "learning_rate": 0.0004922586439715637,
      "loss": 0.1812,
      "step": 1432
    },
    {
      "epoch": 0.32129234911375365,
      "gripper_loss": 0.302734375,
      "loss": 0.0966796875,
      "pos_loss": 0.35546875,
      "rot_loss": 0.18359375,
      "step": 1432
    },
    {
      "epoch": 0.3215167152793359,
      "grad_norm": 1.6324849128723145,
      "learning_rate": 0.0004922436831668231,
      "loss": 0.1145,
      "step": 1433
    },
    {
      "epoch": 0.3215167152793359,
      "gripper_loss": 0.37890625,
      "loss": 0.17578125,
      "pos_loss": 1.1484375,
      "rot_loss": 0.09716796875,
      "step": 1433
    },
    {
      "epoch": 0.3217410814449181,
      "grad_norm": 1.7199126482009888,
      "learning_rate": 0.0004922287081473327,
      "loss": 0.1465,
      "step": 1434
    },
    {
      "epoch": 0.3217410814449181,
      "gripper_loss": 1.28125,
      "loss": 0.10009765625,
      "pos_loss": 0.0859375,
      "rot_loss": 0.1220703125,
      "step": 1434
    },
    {
      "epoch": 0.32196544761050033,
      "grad_norm": 1.484994649887085,
      "learning_rate": 0.000492213718913971,
      "loss": 0.1595,
      "step": 1435
    },
    {
      "epoch": 0.32196544761050033,
      "gripper_loss": 0.87109375,
      "loss": 0.146484375,
      "pos_loss": 0.80078125,
      "rot_loss": 0.138671875,
      "step": 1435
    },
    {
      "epoch": 0.3221898137760826,
      "grad_norm": 1.4963127374649048,
      "learning_rate": 0.0004921987154676178,
      "loss": 0.2485,
      "step": 1436
    },
    {
      "epoch": 0.3221898137760826,
      "gripper_loss": 0.11376953125,
      "loss": 0.2431640625,
      "pos_loss": 1.53125,
      "rot_loss": 0.81640625,
      "step": 1436
    },
    {
      "epoch": 0.3224141799416648,
      "grad_norm": 1.4650567770004272,
      "learning_rate": 0.0004921836978091533,
      "loss": 0.2485,
      "step": 1437
    },
    {
      "epoch": 0.3224141799416648,
      "gripper_loss": 0.040771484375,
      "loss": 0.1279296875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.546875,
      "step": 1437
    },
    {
      "epoch": 0.322638546107247,
      "grad_norm": 0.9470860958099365,
      "learning_rate": 0.0004921686659394588,
      "loss": 0.2223,
      "step": 1438
    },
    {
      "epoch": 0.322638546107247,
      "gripper_loss": 0.63671875,
      "loss": 0.06298828125,
      "pos_loss": 0.265625,
      "rot_loss": 0.05517578125,
      "step": 1438
    },
    {
      "epoch": 0.32286291227282926,
      "grad_norm": 0.9705793857574463,
      "learning_rate": 0.0004921536198594163,
      "loss": 0.1549,
      "step": 1439
    },
    {
      "epoch": 0.32286291227282926,
      "gripper_loss": 1.28125,
      "loss": 0.21875,
      "pos_loss": 0.984375,
      "rot_loss": 0.416015625,
      "step": 1439
    },
    {
      "epoch": 0.3230872784384115,
      "grad_norm": 1.5661468505859375,
      "learning_rate": 0.0004921385595699088,
      "loss": 0.2852,
      "step": 1440
    },
    {
      "epoch": 0.3230872784384115,
      "gripper_loss": 0.061767578125,
      "loss": 0.337890625,
      "pos_loss": 1.484375,
      "rot_loss": 1.8203125,
      "step": 1440
    },
    {
      "epoch": 0.3233116446039937,
      "grad_norm": 0.994753897190094,
      "learning_rate": 0.00049212348507182,
      "loss": 0.205,
      "step": 1441
    },
    {
      "epoch": 0.3233116446039937,
      "gripper_loss": 0.265625,
      "loss": 0.2119140625,
      "pos_loss": 1.1328125,
      "rot_loss": 0.55078125,
      "step": 1441
    },
    {
      "epoch": 0.32353601076957594,
      "grad_norm": 1.875083327293396,
      "learning_rate": 0.0004921083963660343,
      "loss": 0.2191,
      "step": 1442
    },
    {
      "epoch": 0.32353601076957594,
      "gripper_loss": 0.208984375,
      "loss": 0.265625,
      "pos_loss": 1.046875,
      "rot_loss": 1.3046875,
      "step": 1442
    },
    {
      "epoch": 0.3237603769351582,
      "grad_norm": 1.5123366117477417,
      "learning_rate": 0.0004920932934534374,
      "loss": 0.1628,
      "step": 1443
    },
    {
      "epoch": 0.3237603769351582,
      "gripper_loss": 0.287109375,
      "loss": 0.296875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.8125,
      "step": 1443
    },
    {
      "epoch": 0.32398474310074044,
      "grad_norm": 1.754146695137024,
      "learning_rate": 0.0004920781763349153,
      "loss": 0.2772,
      "step": 1444
    },
    {
      "epoch": 0.32398474310074044,
      "gripper_loss": 0.5,
      "loss": 0.185546875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.64453125,
      "step": 1444
    },
    {
      "epoch": 0.3242091092663226,
      "grad_norm": 1.9523364305496216,
      "learning_rate": 0.0004920630450113552,
      "loss": 0.196,
      "step": 1445
    },
    {
      "epoch": 0.3242091092663226,
      "gripper_loss": 1.109375,
      "loss": 0.1259765625,
      "pos_loss": 0.375,
      "rot_loss": 0.1806640625,
      "step": 1445
    },
    {
      "epoch": 0.32443347543190487,
      "grad_norm": 1.5270642042160034,
      "learning_rate": 0.0004920478994836448,
      "loss": 0.1896,
      "step": 1446
    },
    {
      "epoch": 0.32443347543190487,
      "gripper_loss": 0.259765625,
      "loss": 0.0947265625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.1455078125,
      "step": 1446
    },
    {
      "epoch": 0.3246578415974871,
      "grad_norm": 1.380911946296692,
      "learning_rate": 0.0004920327397526731,
      "loss": 0.1269,
      "step": 1447
    },
    {
      "epoch": 0.3246578415974871,
      "gripper_loss": 0.8125,
      "loss": 0.173828125,
      "pos_loss": 0.48046875,
      "rot_loss": 0.2451171875,
      "step": 1447
    },
    {
      "epoch": 0.3248822077630693,
      "grad_norm": 1.8000959157943726,
      "learning_rate": 0.0004920175658193294,
      "loss": 0.324,
      "step": 1448
    },
    {
      "epoch": 0.3248822077630693,
      "gripper_loss": 0.2080078125,
      "loss": 0.298828125,
      "pos_loss": 1.8828125,
      "rot_loss": 0.9296875,
      "step": 1448
    },
    {
      "epoch": 0.32510657392865155,
      "grad_norm": 1.4886113405227661,
      "learning_rate": 0.0004920023776845044,
      "loss": 0.2557,
      "step": 1449
    },
    {
      "epoch": 0.32510657392865155,
      "gripper_loss": 0.208984375,
      "loss": 0.1044921875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.2060546875,
      "step": 1449
    },
    {
      "epoch": 0.3253309400942338,
      "grad_norm": 1.2413586378097534,
      "learning_rate": 0.0004919871753490891,
      "loss": 0.1964,
      "step": 1450
    },
    {
      "epoch": 0.3253309400942338,
      "gripper_loss": 0.0966796875,
      "loss": 0.23046875,
      "pos_loss": 1.265625,
      "rot_loss": 0.5859375,
      "step": 1450
    },
    {
      "epoch": 0.32555530625981605,
      "grad_norm": 1.361734390258789,
      "learning_rate": 0.0004919719588139756,
      "loss": 0.1674,
      "step": 1451
    },
    {
      "epoch": 0.32555530625981605,
      "gripper_loss": 0.671875,
      "loss": 0.0859375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.1318359375,
      "step": 1451
    },
    {
      "epoch": 0.32577967242539824,
      "grad_norm": 1.0882431268692017,
      "learning_rate": 0.0004919567280800568,
      "loss": 0.139,
      "step": 1452
    },
    {
      "epoch": 0.32577967242539824,
      "gripper_loss": 0.056884765625,
      "loss": 0.291015625,
      "pos_loss": 1.84375,
      "rot_loss": 0.9375,
      "step": 1452
    },
    {
      "epoch": 0.3260040385909805,
      "grad_norm": 0.9921513199806213,
      "learning_rate": 0.0004919414831482266,
      "loss": 0.138,
      "step": 1453
    },
    {
      "epoch": 0.3260040385909805,
      "gripper_loss": 0.337890625,
      "loss": 0.1728515625,
      "pos_loss": 0.50390625,
      "rot_loss": 0.412109375,
      "step": 1453
    },
    {
      "epoch": 0.32622840475656273,
      "grad_norm": 2.000369071960449,
      "learning_rate": 0.0004919262240193794,
      "loss": 0.2603,
      "step": 1454
    },
    {
      "epoch": 0.32622840475656273,
      "gripper_loss": 0.13671875,
      "loss": 0.224609375,
      "pos_loss": 0.828125,
      "rot_loss": 1.3359375,
      "step": 1454
    },
    {
      "epoch": 0.3264527709221449,
      "grad_norm": 1.1098005771636963,
      "learning_rate": 0.0004919109506944106,
      "loss": 0.1343,
      "step": 1455
    },
    {
      "epoch": 0.3264527709221449,
      "gripper_loss": 0.1513671875,
      "loss": 0.07763671875,
      "pos_loss": 0.2265625,
      "rot_loss": 0.3046875,
      "step": 1455
    },
    {
      "epoch": 0.32667713708772717,
      "grad_norm": 1.3756903409957886,
      "learning_rate": 0.0004918956631742164,
      "loss": 0.2016,
      "step": 1456
    },
    {
      "epoch": 0.32667713708772717,
      "gripper_loss": 0.83203125,
      "loss": 0.25390625,
      "pos_loss": 0.94921875,
      "rot_loss": 0.65234375,
      "step": 1456
    },
    {
      "epoch": 0.3269015032533094,
      "grad_norm": 1.6628416776657104,
      "learning_rate": 0.000491880361459694,
      "loss": 0.2307,
      "step": 1457
    },
    {
      "epoch": 0.3269015032533094,
      "gripper_loss": 0.93359375,
      "loss": 0.1796875,
      "pos_loss": 0.828125,
      "rot_loss": 0.546875,
      "step": 1457
    },
    {
      "epoch": 0.32712586941889166,
      "grad_norm": 1.0753742456436157,
      "learning_rate": 0.0004918650455517412,
      "loss": 0.1509,
      "step": 1458
    },
    {
      "epoch": 0.32712586941889166,
      "gripper_loss": 0.2431640625,
      "loss": 0.53125,
      "pos_loss": 1.8828125,
      "rot_loss": 0.48046875,
      "step": 1458
    },
    {
      "epoch": 0.32735023558447385,
      "grad_norm": 2.221416711807251,
      "learning_rate": 0.0004918497154512568,
      "loss": 0.489,
      "step": 1459
    },
    {
      "epoch": 0.32735023558447385,
      "gripper_loss": 0.1337890625,
      "loss": 0.314453125,
      "pos_loss": 1.96875,
      "rot_loss": 1.15625,
      "step": 1459
    },
    {
      "epoch": 0.3275746017500561,
      "grad_norm": 1.4474838972091675,
      "learning_rate": 0.0004918343711591402,
      "loss": 0.2655,
      "step": 1460
    },
    {
      "epoch": 0.3275746017500561,
      "gripper_loss": 0.578125,
      "loss": 0.1171875,
      "pos_loss": 0.30859375,
      "rot_loss": 0.55859375,
      "step": 1460
    },
    {
      "epoch": 0.32779896791563834,
      "grad_norm": 0.8315384984016418,
      "learning_rate": 0.000491819012676292,
      "loss": 0.1851,
      "step": 1461
    },
    {
      "epoch": 0.32779896791563834,
      "gripper_loss": 0.62109375,
      "loss": 0.28125,
      "pos_loss": 1.390625,
      "rot_loss": 0.69921875,
      "step": 1461
    },
    {
      "epoch": 0.32802333408122053,
      "grad_norm": 1.8365885019302368,
      "learning_rate": 0.0004918036400036133,
      "loss": 0.2318,
      "step": 1462
    },
    {
      "epoch": 0.32802333408122053,
      "gripper_loss": 1.1171875,
      "loss": 0.0859375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.049560546875,
      "step": 1462
    },
    {
      "epoch": 0.3282477002468028,
      "grad_norm": 1.4633877277374268,
      "learning_rate": 0.0004917882531420063,
      "loss": 0.183,
      "step": 1463
    },
    {
      "epoch": 0.3282477002468028,
      "gripper_loss": 0.099609375,
      "loss": 0.0947265625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.1748046875,
      "step": 1463
    },
    {
      "epoch": 0.328472066412385,
      "grad_norm": 1.101745843887329,
      "learning_rate": 0.0004917728520923738,
      "loss": 0.1492,
      "step": 1464
    },
    {
      "epoch": 0.328472066412385,
      "gripper_loss": 0.087890625,
      "loss": 0.21484375,
      "pos_loss": 1.109375,
      "rot_loss": 0.95703125,
      "step": 1464
    },
    {
      "epoch": 0.32869643257796727,
      "grad_norm": 0.9271240234375,
      "learning_rate": 0.0004917574368556195,
      "loss": 0.1877,
      "step": 1465
    },
    {
      "epoch": 0.32869643257796727,
      "gripper_loss": 0.640625,
      "loss": 0.146484375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.2255859375,
      "step": 1465
    },
    {
      "epoch": 0.32892079874354946,
      "grad_norm": 1.0641603469848633,
      "learning_rate": 0.0004917420074326479,
      "loss": 0.1652,
      "step": 1466
    },
    {
      "epoch": 0.32892079874354946,
      "gripper_loss": 0.37109375,
      "loss": 0.08447265625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.318359375,
      "step": 1466
    },
    {
      "epoch": 0.3291451649091317,
      "grad_norm": 1.603967547416687,
      "learning_rate": 0.0004917265638243645,
      "loss": 0.1682,
      "step": 1467
    },
    {
      "epoch": 0.3291451649091317,
      "gripper_loss": 1.203125,
      "loss": 0.2333984375,
      "pos_loss": 0.7265625,
      "rot_loss": 0.87109375,
      "step": 1467
    },
    {
      "epoch": 0.32936953107471395,
      "grad_norm": 1.3253659009933472,
      "learning_rate": 0.0004917111060316756,
      "loss": 0.2042,
      "step": 1468
    },
    {
      "epoch": 0.32936953107471395,
      "gripper_loss": 0.65234375,
      "loss": 0.21484375,
      "pos_loss": 0.71484375,
      "rot_loss": 1.1640625,
      "step": 1468
    },
    {
      "epoch": 0.32959389724029614,
      "grad_norm": 1.1458821296691895,
      "learning_rate": 0.000491695634055488,
      "loss": 0.1565,
      "step": 1469
    },
    {
      "epoch": 0.32959389724029614,
      "gripper_loss": 0.330078125,
      "loss": 0.193359375,
      "pos_loss": 0.4609375,
      "rot_loss": 0.86328125,
      "step": 1469
    },
    {
      "epoch": 0.3298182634058784,
      "grad_norm": 1.7470881938934326,
      "learning_rate": 0.0004916801478967099,
      "loss": 0.2172,
      "step": 1470
    },
    {
      "epoch": 0.3298182634058784,
      "gripper_loss": 0.404296875,
      "loss": 0.1328125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.55078125,
      "step": 1470
    },
    {
      "epoch": 0.33004262957146063,
      "grad_norm": 1.2103466987609863,
      "learning_rate": 0.0004916646475562498,
      "loss": 0.1569,
      "step": 1471
    },
    {
      "epoch": 0.33004262957146063,
      "gripper_loss": 1.28125,
      "loss": 0.494140625,
      "pos_loss": 1.515625,
      "rot_loss": 1.5234375,
      "step": 1471
    },
    {
      "epoch": 0.3302669957370429,
      "grad_norm": 2.1687686443328857,
      "learning_rate": 0.0004916491330350174,
      "loss": 0.3699,
      "step": 1472
    },
    {
      "epoch": 0.3302669957370429,
      "gripper_loss": 1.4609375,
      "loss": 0.0927734375,
      "pos_loss": 0.15625,
      "rot_loss": 0.10595703125,
      "step": 1472
    },
    {
      "epoch": 0.33049136190262507,
      "grad_norm": 1.185388207435608,
      "learning_rate": 0.0004916336043339229,
      "loss": 0.1532,
      "step": 1473
    },
    {
      "epoch": 0.33049136190262507,
      "gripper_loss": 0.1025390625,
      "loss": 0.27734375,
      "pos_loss": 2.1875,
      "rot_loss": 0.57421875,
      "step": 1473
    },
    {
      "epoch": 0.3307157280682073,
      "grad_norm": 1.2886533737182617,
      "learning_rate": 0.0004916180614538776,
      "loss": 0.2191,
      "step": 1474
    },
    {
      "epoch": 0.3307157280682073,
      "gripper_loss": 0.318359375,
      "loss": 0.103515625,
      "pos_loss": 0.373046875,
      "rot_loss": 0.40625,
      "step": 1474
    },
    {
      "epoch": 0.33094009423378956,
      "grad_norm": 1.1136860847473145,
      "learning_rate": 0.0004916025043957936,
      "loss": 0.177,
      "step": 1475
    },
    {
      "epoch": 0.33094009423378956,
      "gripper_loss": 0.201171875,
      "loss": 0.11962890625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.296875,
      "step": 1475
    },
    {
      "epoch": 0.33116446039937175,
      "grad_norm": 1.1460846662521362,
      "learning_rate": 0.0004915869331605838,
      "loss": 0.1303,
      "step": 1476
    },
    {
      "epoch": 0.33116446039937175,
      "gripper_loss": 0.28515625,
      "loss": 0.185546875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.32421875,
      "step": 1476
    },
    {
      "epoch": 0.331388826564954,
      "grad_norm": 2.0790722370147705,
      "learning_rate": 0.0004915713477491618,
      "loss": 0.2766,
      "step": 1477
    },
    {
      "epoch": 0.331388826564954,
      "gripper_loss": 1.7734375,
      "loss": 0.10888671875,
      "pos_loss": 0.322265625,
      "rot_loss": 0.09716796875,
      "step": 1477
    },
    {
      "epoch": 0.33161319273053624,
      "grad_norm": 1.0377751588821411,
      "learning_rate": 0.0004915557481624423,
      "loss": 0.1636,
      "step": 1478
    },
    {
      "epoch": 0.33161319273053624,
      "gripper_loss": 0.0390625,
      "loss": 0.1416015625,
      "pos_loss": 1.171875,
      "rot_loss": 0.2060546875,
      "step": 1478
    },
    {
      "epoch": 0.3318375588961185,
      "grad_norm": 1.0815316438674927,
      "learning_rate": 0.0004915401344013406,
      "loss": 0.1576,
      "step": 1479
    },
    {
      "epoch": 0.3318375588961185,
      "gripper_loss": 0.1171875,
      "loss": 0.2177734375,
      "pos_loss": 0.85546875,
      "rot_loss": 0.8046875,
      "step": 1479
    },
    {
      "epoch": 0.3320619250617007,
      "grad_norm": 1.5492372512817383,
      "learning_rate": 0.0004915245064667727,
      "loss": 0.1815,
      "step": 1480
    },
    {
      "epoch": 0.3320619250617007,
      "gripper_loss": 0.50390625,
      "loss": 0.1240234375,
      "pos_loss": 0.72265625,
      "rot_loss": 0.1572265625,
      "step": 1480
    },
    {
      "epoch": 0.3322862912272829,
      "grad_norm": 1.2684876918792725,
      "learning_rate": 0.000491508864359656,
      "loss": 0.1467,
      "step": 1481
    },
    {
      "epoch": 0.3322862912272829,
      "gripper_loss": 0.21484375,
      "loss": 0.337890625,
      "pos_loss": 0.58203125,
      "rot_loss": 0.53125,
      "step": 1481
    },
    {
      "epoch": 0.33251065739286517,
      "grad_norm": 2.139301061630249,
      "learning_rate": 0.0004914932080809083,
      "loss": 0.4172,
      "step": 1482
    },
    {
      "epoch": 0.33251065739286517,
      "gripper_loss": 0.07763671875,
      "loss": 0.1962890625,
      "pos_loss": 1.296875,
      "rot_loss": 0.474609375,
      "step": 1482
    },
    {
      "epoch": 0.33273502355844736,
      "grad_norm": 1.2120976448059082,
      "learning_rate": 0.000491477537631448,
      "loss": 0.1821,
      "step": 1483
    },
    {
      "epoch": 0.33273502355844736,
      "gripper_loss": 0.71875,
      "loss": 0.1669921875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.92578125,
      "step": 1483
    },
    {
      "epoch": 0.3329593897240296,
      "grad_norm": 1.3119192123413086,
      "learning_rate": 0.000491461853012195,
      "loss": 0.1678,
      "step": 1484
    },
    {
      "epoch": 0.3329593897240296,
      "gripper_loss": 0.11572265625,
      "loss": 0.1611328125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.55078125,
      "step": 1484
    },
    {
      "epoch": 0.33318375588961185,
      "grad_norm": 1.1727724075317383,
      "learning_rate": 0.0004914461542240694,
      "loss": 0.2125,
      "step": 1485
    },
    {
      "epoch": 0.33318375588961185,
      "gripper_loss": 0.9296875,
      "loss": 0.09716796875,
      "pos_loss": 0.349609375,
      "rot_loss": 0.1279296875,
      "step": 1485
    },
    {
      "epoch": 0.3334081220551941,
      "grad_norm": 1.1540061235427856,
      "learning_rate": 0.0004914304412679925,
      "loss": 0.139,
      "step": 1486
    },
    {
      "epoch": 0.3334081220551941,
      "gripper_loss": 0.33984375,
      "loss": 0.1474609375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.3203125,
      "step": 1486
    },
    {
      "epoch": 0.3336324882207763,
      "grad_norm": 1.3548040390014648,
      "learning_rate": 0.0004914147141448865,
      "loss": 0.1578,
      "step": 1487
    },
    {
      "epoch": 0.3336324882207763,
      "gripper_loss": 0.18359375,
      "loss": 0.09912109375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.373046875,
      "step": 1487
    },
    {
      "epoch": 0.33385685438635854,
      "grad_norm": 0.8467329144477844,
      "learning_rate": 0.0004913989728556739,
      "loss": 0.1334,
      "step": 1488
    },
    {
      "epoch": 0.33385685438635854,
      "gripper_loss": 0.06201171875,
      "loss": 0.119140625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.52734375,
      "step": 1488
    },
    {
      "epoch": 0.3340812205519408,
      "grad_norm": 1.2901617288589478,
      "learning_rate": 0.0004913832174012787,
      "loss": 0.1351,
      "step": 1489
    },
    {
      "epoch": 0.3340812205519408,
      "gripper_loss": 0.061279296875,
      "loss": 0.201171875,
      "pos_loss": 1.09375,
      "rot_loss": 0.30859375,
      "step": 1489
    },
    {
      "epoch": 0.334305586717523,
      "grad_norm": 1.6194096803665161,
      "learning_rate": 0.0004913674477826254,
      "loss": 0.2446,
      "step": 1490
    },
    {
      "epoch": 0.334305586717523,
      "gripper_loss": 0.578125,
      "loss": 0.1552734375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.4140625,
      "step": 1490
    },
    {
      "epoch": 0.3345299528831052,
      "grad_norm": 1.5640782117843628,
      "learning_rate": 0.0004913516640006391,
      "loss": 0.2055,
      "step": 1491
    },
    {
      "epoch": 0.3345299528831052,
      "gripper_loss": 0.265625,
      "loss": 0.2373046875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.81640625,
      "step": 1491
    },
    {
      "epoch": 0.33475431904868747,
      "grad_norm": 1.470681071281433,
      "learning_rate": 0.0004913358660562462,
      "loss": 0.2433,
      "step": 1492
    },
    {
      "epoch": 0.33475431904868747,
      "gripper_loss": 0.7421875,
      "loss": 0.087890625,
      "pos_loss": 0.220703125,
      "rot_loss": 0.197265625,
      "step": 1492
    },
    {
      "epoch": 0.3349786852142697,
      "grad_norm": 1.512032389640808,
      "learning_rate": 0.0004913200539503737,
      "loss": 0.1862,
      "step": 1493
    },
    {
      "epoch": 0.3349786852142697,
      "gripper_loss": 0.515625,
      "loss": 0.33203125,
      "pos_loss": 0.69921875,
      "rot_loss": 0.337890625,
      "step": 1493
    },
    {
      "epoch": 0.3352030513798519,
      "grad_norm": 1.8991057872772217,
      "learning_rate": 0.0004913042276839494,
      "loss": 0.3892,
      "step": 1494
    },
    {
      "epoch": 0.3352030513798519,
      "gripper_loss": 0.71484375,
      "loss": 0.291015625,
      "pos_loss": 0.66796875,
      "rot_loss": 1.953125,
      "step": 1494
    },
    {
      "epoch": 0.33542741754543415,
      "grad_norm": 1.3866647481918335,
      "learning_rate": 0.0004912883872579021,
      "loss": 0.2,
      "step": 1495
    },
    {
      "epoch": 0.33542741754543415,
      "gripper_loss": 0.048828125,
      "loss": 0.07763671875,
      "pos_loss": 0.3359375,
      "rot_loss": 0.177734375,
      "step": 1495
    },
    {
      "epoch": 0.3356517837110164,
      "grad_norm": 1.3153719902038574,
      "learning_rate": 0.0004912725326731611,
      "loss": 0.144,
      "step": 1496
    },
    {
      "epoch": 0.3356517837110164,
      "gripper_loss": 0.5546875,
      "loss": 0.134765625,
      "pos_loss": 0.67578125,
      "rot_loss": 0.1865234375,
      "step": 1496
    },
    {
      "epoch": 0.3358761498765986,
      "grad_norm": 1.223284125328064,
      "learning_rate": 0.0004912566639306568,
      "loss": 0.1678,
      "step": 1497
    },
    {
      "epoch": 0.3358761498765986,
      "gripper_loss": 0.98828125,
      "loss": 0.1640625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.27734375,
      "step": 1497
    },
    {
      "epoch": 0.33610051604218083,
      "grad_norm": 1.1900748014450073,
      "learning_rate": 0.0004912407810313204,
      "loss": 0.1017,
      "step": 1498
    },
    {
      "epoch": 0.33610051604218083,
      "gripper_loss": 2.390625,
      "loss": 0.1259765625,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.1044921875,
      "step": 1498
    },
    {
      "epoch": 0.3363248822077631,
      "grad_norm": 2.0221402645111084,
      "learning_rate": 0.000491224883976084,
      "loss": 0.1992,
      "step": 1499
    },
    {
      "epoch": 0.3363248822077631,
      "gripper_loss": 0.294921875,
      "loss": 0.04736328125,
      "pos_loss": 0.16015625,
      "rot_loss": 0.08642578125,
      "step": 1499
    },
    {
      "epoch": 0.3365492483733453,
      "grad_norm": 1.0521130561828613,
      "learning_rate": 0.0004912089727658804,
      "loss": 0.1349,
      "step": 1500
    },
    {
      "epoch": 0.3365492483733453,
      "gripper_loss": 0.337890625,
      "loss": 0.15234375,
      "pos_loss": 0.90234375,
      "rot_loss": 0.302734375,
      "step": 1500
    },
    {
      "epoch": 0.3367736145389275,
      "grad_norm": 1.2602543830871582,
      "learning_rate": 0.0004911930474016431,
      "loss": 0.1585,
      "step": 1501
    },
    {
      "epoch": 0.3367736145389275,
      "gripper_loss": 0.154296875,
      "loss": 0.16796875,
      "pos_loss": 0.765625,
      "rot_loss": 0.2333984375,
      "step": 1501
    },
    {
      "epoch": 0.33699798070450976,
      "grad_norm": 1.3655647039413452,
      "learning_rate": 0.0004911771078843067,
      "loss": 0.1335,
      "step": 1502
    },
    {
      "epoch": 0.33699798070450976,
      "gripper_loss": 0.12353515625,
      "loss": 0.0625,
      "pos_loss": 0.279296875,
      "rot_loss": 0.1083984375,
      "step": 1502
    },
    {
      "epoch": 0.337222346870092,
      "grad_norm": 0.864074170589447,
      "learning_rate": 0.0004911611542148067,
      "loss": 0.1133,
      "step": 1503
    },
    {
      "epoch": 0.337222346870092,
      "gripper_loss": 0.251953125,
      "loss": 0.10986328125,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.51953125,
      "step": 1503
    },
    {
      "epoch": 0.3374467130356742,
      "grad_norm": 1.3069841861724854,
      "learning_rate": 0.0004911451863940789,
      "loss": 0.1664,
      "step": 1504
    },
    {
      "epoch": 0.3374467130356742,
      "gripper_loss": 0.41015625,
      "loss": 0.11376953125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.25390625,
      "step": 1504
    },
    {
      "epoch": 0.33767107920125644,
      "grad_norm": 1.019486427307129,
      "learning_rate": 0.0004911292044230605,
      "loss": 0.1449,
      "step": 1505
    },
    {
      "epoch": 0.33767107920125644,
      "gripper_loss": 0.146484375,
      "loss": 0.08203125,
      "pos_loss": 0.361328125,
      "rot_loss": 0.2490234375,
      "step": 1505
    },
    {
      "epoch": 0.3378954453668387,
      "grad_norm": 1.1310077905654907,
      "learning_rate": 0.0004911132083026893,
      "loss": 0.1443,
      "step": 1506
    },
    {
      "epoch": 0.3378954453668387,
      "gripper_loss": 0.03369140625,
      "loss": 0.255859375,
      "pos_loss": 1.3828125,
      "rot_loss": 1.1796875,
      "step": 1506
    },
    {
      "epoch": 0.33811981153242093,
      "grad_norm": 1.083780288696289,
      "learning_rate": 0.000491097198033904,
      "loss": 0.2155,
      "step": 1507
    },
    {
      "epoch": 0.33811981153242093,
      "gripper_loss": 0.859375,
      "loss": 0.1513671875,
      "pos_loss": 0.90625,
      "rot_loss": 0.1962890625,
      "step": 1507
    },
    {
      "epoch": 0.3383441776980031,
      "grad_norm": 0.8854737281799316,
      "learning_rate": 0.0004910811736176438,
      "loss": 0.1308,
      "step": 1508
    },
    {
      "epoch": 0.3383441776980031,
      "gripper_loss": 0.65625,
      "loss": 0.3203125,
      "pos_loss": 0.671875,
      "rot_loss": 2.390625,
      "step": 1508
    },
    {
      "epoch": 0.33856854386358537,
      "grad_norm": 1.050055742263794,
      "learning_rate": 0.0004910651350548494,
      "loss": 0.2436,
      "step": 1509
    },
    {
      "epoch": 0.33856854386358537,
      "gripper_loss": 0.26953125,
      "loss": 0.035888671875,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.0595703125,
      "step": 1509
    },
    {
      "epoch": 0.3387929100291676,
      "grad_norm": 1.0546419620513916,
      "learning_rate": 0.0004910490823464616,
      "loss": 0.1402,
      "step": 1510
    },
    {
      "epoch": 0.3387929100291676,
      "gripper_loss": 0.47265625,
      "loss": 0.396484375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.6171875,
      "step": 1510
    },
    {
      "epoch": 0.3390172761947498,
      "grad_norm": 2.456246852874756,
      "learning_rate": 0.0004910330154934226,
      "loss": 0.4133,
      "step": 1511
    },
    {
      "epoch": 0.3390172761947498,
      "gripper_loss": 0.8359375,
      "loss": 0.1376953125,
      "pos_loss": 0.796875,
      "rot_loss": 0.228515625,
      "step": 1511
    },
    {
      "epoch": 0.33924164236033205,
      "grad_norm": 0.8401109576225281,
      "learning_rate": 0.0004910169344966752,
      "loss": 0.1336,
      "step": 1512
    },
    {
      "epoch": 0.33924164236033205,
      "gripper_loss": 0.6796875,
      "loss": 0.2490234375,
      "pos_loss": 1.5234375,
      "rot_loss": 0.72265625,
      "step": 1512
    },
    {
      "epoch": 0.3394660085259143,
      "grad_norm": 1.0046687126159668,
      "learning_rate": 0.0004910008393571628,
      "loss": 0.1432,
      "step": 1513
    },
    {
      "epoch": 0.3394660085259143,
      "gripper_loss": 1.3984375,
      "loss": 0.162109375,
      "pos_loss": 0.67578125,
      "rot_loss": 0.1650390625,
      "step": 1513
    },
    {
      "epoch": 0.33969037469149654,
      "grad_norm": 1.134839415550232,
      "learning_rate": 0.00049098473007583,
      "loss": 0.2085,
      "step": 1514
    },
    {
      "epoch": 0.33969037469149654,
      "gripper_loss": 0.033935546875,
      "loss": 0.45703125,
      "pos_loss": 0.9453125,
      "rot_loss": 3.78125,
      "step": 1514
    },
    {
      "epoch": 0.33991474085707873,
      "grad_norm": 0.9348959922790527,
      "learning_rate": 0.000490968606653622,
      "loss": 0.1838,
      "step": 1515
    },
    {
      "epoch": 0.33991474085707873,
      "gripper_loss": 0.287109375,
      "loss": 0.140625,
      "pos_loss": 0.90625,
      "rot_loss": 0.318359375,
      "step": 1515
    },
    {
      "epoch": 0.340139107022661,
      "grad_norm": 1.3411600589752197,
      "learning_rate": 0.0004909524690914851,
      "loss": 0.1336,
      "step": 1516
    },
    {
      "epoch": 0.340139107022661,
      "gripper_loss": 0.0625,
      "loss": 0.298828125,
      "pos_loss": 1.9765625,
      "rot_loss": 1.0859375,
      "step": 1516
    },
    {
      "epoch": 0.3403634731882432,
      "grad_norm": 1.250673770904541,
      "learning_rate": 0.0004909363173903661,
      "loss": 0.2166,
      "step": 1517
    },
    {
      "epoch": 0.3403634731882432,
      "gripper_loss": 0.27734375,
      "loss": 0.130859375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.1982421875,
      "step": 1517
    },
    {
      "epoch": 0.3405878393538254,
      "grad_norm": 1.0516738891601562,
      "learning_rate": 0.0004909201515512128,
      "loss": 0.1266,
      "step": 1518
    },
    {
      "epoch": 0.3405878393538254,
      "gripper_loss": 0.6953125,
      "loss": 0.12158203125,
      "pos_loss": 0.828125,
      "rot_loss": 0.062255859375,
      "step": 1518
    },
    {
      "epoch": 0.34081220551940766,
      "grad_norm": 1.1539759635925293,
      "learning_rate": 0.0004909039715749738,
      "loss": 0.1768,
      "step": 1519
    },
    {
      "epoch": 0.34081220551940766,
      "gripper_loss": 0.21484375,
      "loss": 0.25,
      "pos_loss": 1.3359375,
      "rot_loss": 1.1015625,
      "step": 1519
    },
    {
      "epoch": 0.3410365716849899,
      "grad_norm": 0.9745741486549377,
      "learning_rate": 0.0004908877774625986,
      "loss": 0.1885,
      "step": 1520
    },
    {
      "epoch": 0.3410365716849899,
      "gripper_loss": 0.2099609375,
      "loss": 0.349609375,
      "pos_loss": 1.90625,
      "rot_loss": 1.0390625,
      "step": 1520
    },
    {
      "epoch": 0.34126093785057215,
      "grad_norm": 1.4062602519989014,
      "learning_rate": 0.0004908715692150372,
      "loss": 0.2247,
      "step": 1521
    },
    {
      "epoch": 0.34126093785057215,
      "gripper_loss": 0.0791015625,
      "loss": 0.279296875,
      "pos_loss": 1.53125,
      "rot_loss": 1.1796875,
      "step": 1521
    },
    {
      "epoch": 0.34148530401615435,
      "grad_norm": 1.3728045225143433,
      "learning_rate": 0.0004908553468332412,
      "loss": 0.1605,
      "step": 1522
    },
    {
      "epoch": 0.34148530401615435,
      "gripper_loss": 0.1611328125,
      "loss": 0.2177734375,
      "pos_loss": 1.9296875,
      "rot_loss": 0.11083984375,
      "step": 1522
    },
    {
      "epoch": 0.3417096701817366,
      "grad_norm": 0.9613355994224548,
      "learning_rate": 0.000490839110318162,
      "loss": 0.175,
      "step": 1523
    },
    {
      "epoch": 0.3417096701817366,
      "gripper_loss": 0.220703125,
      "loss": 0.216796875,
      "pos_loss": 1.1875,
      "rot_loss": 0.6796875,
      "step": 1523
    },
    {
      "epoch": 0.34193403634731884,
      "grad_norm": 1.0963342189788818,
      "learning_rate": 0.0004908228596707527,
      "loss": 0.1687,
      "step": 1524
    },
    {
      "epoch": 0.34193403634731884,
      "gripper_loss": 0.064453125,
      "loss": 0.2392578125,
      "pos_loss": 0.86328125,
      "rot_loss": 1.546875,
      "step": 1524
    },
    {
      "epoch": 0.342158402512901,
      "grad_norm": 0.8782680034637451,
      "learning_rate": 0.0004908065948919666,
      "loss": 0.2236,
      "step": 1525
    },
    {
      "epoch": 0.342158402512901,
      "gripper_loss": 0.0830078125,
      "loss": 0.08203125,
      "pos_loss": 0.248046875,
      "rot_loss": 0.404296875,
      "step": 1525
    },
    {
      "epoch": 0.3423827686784833,
      "grad_norm": 0.8113246560096741,
      "learning_rate": 0.0004907903159827585,
      "loss": 0.1436,
      "step": 1526
    },
    {
      "epoch": 0.3423827686784833,
      "gripper_loss": 0.44921875,
      "loss": 0.31640625,
      "pos_loss": 1.3359375,
      "rot_loss": 0.498046875,
      "step": 1526
    },
    {
      "epoch": 0.3426071348440655,
      "grad_norm": 2.054816961288452,
      "learning_rate": 0.0004907740229440832,
      "loss": 0.2966,
      "step": 1527
    },
    {
      "epoch": 0.3426071348440655,
      "gripper_loss": 0.07470703125,
      "loss": 0.1318359375,
      "pos_loss": 0.8203125,
      "rot_loss": 0.2353515625,
      "step": 1527
    },
    {
      "epoch": 0.34283150100964777,
      "grad_norm": 1.0473949909210205,
      "learning_rate": 0.0004907577157768969,
      "loss": 0.129,
      "step": 1528
    },
    {
      "epoch": 0.34283150100964777,
      "gripper_loss": 0.279296875,
      "loss": 0.2373046875,
      "pos_loss": 0.67578125,
      "rot_loss": 0.8828125,
      "step": 1528
    },
    {
      "epoch": 0.34305586717522996,
      "grad_norm": 1.4377102851867676,
      "learning_rate": 0.0004907413944821568,
      "loss": 0.2387,
      "step": 1529
    },
    {
      "epoch": 0.34305586717522996,
      "gripper_loss": 0.197265625,
      "loss": 0.1533203125,
      "pos_loss": 0.90234375,
      "rot_loss": 0.1318359375,
      "step": 1529
    },
    {
      "epoch": 0.3432802333408122,
      "grad_norm": 1.1960561275482178,
      "learning_rate": 0.0004907250590608203,
      "loss": 0.1925,
      "step": 1530
    },
    {
      "epoch": 0.3432802333408122,
      "gripper_loss": 0.1552734375,
      "loss": 0.169921875,
      "pos_loss": 1.1875,
      "rot_loss": 0.337890625,
      "step": 1530
    },
    {
      "epoch": 0.34350459950639445,
      "grad_norm": 1.3597322702407837,
      "learning_rate": 0.0004907087095138461,
      "loss": 0.1511,
      "step": 1531
    },
    {
      "epoch": 0.34350459950639445,
      "gripper_loss": 0.310546875,
      "loss": 0.1337890625,
      "pos_loss": 0.76953125,
      "rot_loss": 0.2041015625,
      "step": 1531
    },
    {
      "epoch": 0.34372896567197664,
      "grad_norm": 1.3286999464035034,
      "learning_rate": 0.0004906923458421935,
      "loss": 0.1484,
      "step": 1532
    },
    {
      "epoch": 0.34372896567197664,
      "gripper_loss": 0.10986328125,
      "loss": 0.177734375,
      "pos_loss": 0.65625,
      "rot_loss": 0.78515625,
      "step": 1532
    },
    {
      "epoch": 0.3439533318375589,
      "grad_norm": 1.429000735282898,
      "learning_rate": 0.0004906759680468227,
      "loss": 0.1591,
      "step": 1533
    },
    {
      "epoch": 0.3439533318375589,
      "gripper_loss": 0.478515625,
      "loss": 0.09228515625,
      "pos_loss": 0.494140625,
      "rot_loss": 0.078125,
      "step": 1533
    },
    {
      "epoch": 0.34417769800314113,
      "grad_norm": 1.0832266807556152,
      "learning_rate": 0.0004906595761286947,
      "loss": 0.0982,
      "step": 1534
    },
    {
      "epoch": 0.34417769800314113,
      "gripper_loss": 0.042236328125,
      "loss": 0.26953125,
      "pos_loss": 1.75,
      "rot_loss": 0.89453125,
      "step": 1534
    },
    {
      "epoch": 0.3444020641687234,
      "grad_norm": 0.8880124688148499,
      "learning_rate": 0.0004906431700887715,
      "loss": 0.1889,
      "step": 1535
    },
    {
      "epoch": 0.3444020641687234,
      "gripper_loss": 1.0078125,
      "loss": 0.2216796875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.40625,
      "step": 1535
    },
    {
      "epoch": 0.34462643033430557,
      "grad_norm": 1.6015230417251587,
      "learning_rate": 0.0004906267499280159,
      "loss": 0.2709,
      "step": 1536
    },
    {
      "epoch": 0.34462643033430557,
      "gripper_loss": 0.26171875,
      "loss": 0.12060546875,
      "pos_loss": 0.65234375,
      "rot_loss": 0.298828125,
      "step": 1536
    },
    {
      "epoch": 0.3448507964998878,
      "grad_norm": 1.1863725185394287,
      "learning_rate": 0.0004906103156473912,
      "loss": 0.1093,
      "step": 1537
    },
    {
      "epoch": 0.3448507964998878,
      "gripper_loss": 0.52734375,
      "loss": 0.07080078125,
      "pos_loss": 0.205078125,
      "rot_loss": 0.12890625,
      "step": 1537
    },
    {
      "epoch": 0.34507516266547006,
      "grad_norm": 0.9898027181625366,
      "learning_rate": 0.0004905938672478618,
      "loss": 0.1431,
      "step": 1538
    },
    {
      "epoch": 0.34507516266547006,
      "gripper_loss": 0.1181640625,
      "loss": 0.12109375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.455078125,
      "step": 1538
    },
    {
      "epoch": 0.3452995288310523,
      "grad_norm": 1.1754215955734253,
      "learning_rate": 0.000490577404730393,
      "loss": 0.1606,
      "step": 1539
    },
    {
      "epoch": 0.3452995288310523,
      "gripper_loss": 1.3359375,
      "loss": 0.27734375,
      "pos_loss": 2.265625,
      "rot_loss": 0.07861328125,
      "step": 1539
    },
    {
      "epoch": 0.3455238949966345,
      "grad_norm": 1.039031744003296,
      "learning_rate": 0.0004905609280959508,
      "loss": 0.1893,
      "step": 1540
    },
    {
      "epoch": 0.3455238949966345,
      "gripper_loss": 0.458984375,
      "loss": 0.486328125,
      "pos_loss": 0.70703125,
      "rot_loss": 0.8203125,
      "step": 1540
    },
    {
      "epoch": 0.34574826116221674,
      "grad_norm": 2.364955425262451,
      "learning_rate": 0.0004905444373455018,
      "loss": 0.5085,
      "step": 1541
    },
    {
      "epoch": 0.34574826116221674,
      "gripper_loss": 0.1494140625,
      "loss": 0.162109375,
      "pos_loss": 0.9921875,
      "rot_loss": 0.5078125,
      "step": 1541
    },
    {
      "epoch": 0.345972627327799,
      "grad_norm": 0.785672664642334,
      "learning_rate": 0.0004905279324800139,
      "loss": 0.1273,
      "step": 1542
    },
    {
      "epoch": 0.345972627327799,
      "gripper_loss": 0.1591796875,
      "loss": 0.0869140625,
      "pos_loss": 0.49609375,
      "rot_loss": 0.12890625,
      "step": 1542
    },
    {
      "epoch": 0.3461969934933812,
      "grad_norm": 1.0216691493988037,
      "learning_rate": 0.0004905114135004557,
      "loss": 0.1469,
      "step": 1543
    },
    {
      "epoch": 0.3461969934933812,
      "gripper_loss": 0.1376953125,
      "loss": 0.1611328125,
      "pos_loss": 0.8515625,
      "rot_loss": 0.55078125,
      "step": 1543
    },
    {
      "epoch": 0.3464213596589634,
      "grad_norm": 1.0691231489181519,
      "learning_rate": 0.0004904948804077962,
      "loss": 0.1449,
      "step": 1544
    },
    {
      "epoch": 0.3464213596589634,
      "gripper_loss": 2.375,
      "loss": 0.14453125,
      "pos_loss": 0.46875,
      "rot_loss": 0.1455078125,
      "step": 1544
    },
    {
      "epoch": 0.34664572582454567,
      "grad_norm": 0.8190637230873108,
      "learning_rate": 0.0004904783332030058,
      "loss": 0.1809,
      "step": 1545
    },
    {
      "epoch": 0.34664572582454567,
      "gripper_loss": 0.1572265625,
      "loss": 0.2119140625,
      "pos_loss": 1.1171875,
      "rot_loss": 0.94140625,
      "step": 1545
    },
    {
      "epoch": 0.3468700919901279,
      "grad_norm": 0.833559513092041,
      "learning_rate": 0.0004904617718870553,
      "loss": 0.146,
      "step": 1546
    },
    {
      "epoch": 0.3468700919901279,
      "gripper_loss": 0.2109375,
      "loss": 0.30078125,
      "pos_loss": 1.9375,
      "rot_loss": 0.8125,
      "step": 1546
    },
    {
      "epoch": 0.3470944581557101,
      "grad_norm": 1.270897626876831,
      "learning_rate": 0.0004904451964609168,
      "loss": 0.1746,
      "step": 1547
    },
    {
      "epoch": 0.3470944581557101,
      "gripper_loss": 0.65625,
      "loss": 0.494140625,
      "pos_loss": 0.88671875,
      "rot_loss": 0.44140625,
      "step": 1547
    },
    {
      "epoch": 0.34731882432129235,
      "grad_norm": 2.3568034172058105,
      "learning_rate": 0.0004904286069255627,
      "loss": 0.5525,
      "step": 1548
    },
    {
      "epoch": 0.34731882432129235,
      "gripper_loss": 0.0732421875,
      "loss": 0.125,
      "pos_loss": 0.5859375,
      "rot_loss": 0.515625,
      "step": 1548
    },
    {
      "epoch": 0.3475431904868746,
      "grad_norm": 0.9179568290710449,
      "learning_rate": 0.0004904120032819665,
      "loss": 0.1425,
      "step": 1549
    },
    {
      "epoch": 0.3475431904868746,
      "gripper_loss": 1.171875,
      "loss": 0.09716796875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.154296875,
      "step": 1549
    },
    {
      "epoch": 0.3477675566524568,
      "grad_norm": 1.0229747295379639,
      "learning_rate": 0.0004903953855311025,
      "loss": 0.1449,
      "step": 1550
    },
    {
      "epoch": 0.3477675566524568,
      "gripper_loss": 0.447265625,
      "loss": 0.1455078125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.13671875,
      "step": 1550
    },
    {
      "epoch": 0.34799192281803903,
      "grad_norm": 0.8617044687271118,
      "learning_rate": 0.0004903787536739458,
      "loss": 0.1237,
      "step": 1551
    },
    {
      "epoch": 0.34799192281803903,
      "gripper_loss": 1.578125,
      "loss": 0.333984375,
      "pos_loss": 1.71875,
      "rot_loss": 1.1171875,
      "step": 1551
    },
    {
      "epoch": 0.3482162889836213,
      "grad_norm": 1.4940431118011475,
      "learning_rate": 0.0004903621077114725,
      "loss": 0.2338,
      "step": 1552
    },
    {
      "epoch": 0.3482162889836213,
      "gripper_loss": 0.056396484375,
      "loss": 0.2431640625,
      "pos_loss": 0.60546875,
      "rot_loss": 1.8125,
      "step": 1552
    },
    {
      "epoch": 0.3484406551492035,
      "grad_norm": 0.9975266456604004,
      "learning_rate": 0.0004903454476446592,
      "loss": 0.1225,
      "step": 1553
    },
    {
      "epoch": 0.3484406551492035,
      "gripper_loss": 0.26171875,
      "loss": 0.1279296875,
      "pos_loss": 0.59375,
      "rot_loss": 0.40234375,
      "step": 1553
    },
    {
      "epoch": 0.3486650213147857,
      "grad_norm": 0.9586256742477417,
      "learning_rate": 0.0004903287734744835,
      "loss": 0.1608,
      "step": 1554
    },
    {
      "epoch": 0.3486650213147857,
      "gripper_loss": 0.419921875,
      "loss": 0.08349609375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.1181640625,
      "step": 1554
    },
    {
      "epoch": 0.34888938748036796,
      "grad_norm": 1.1316355466842651,
      "learning_rate": 0.0004903120852019241,
      "loss": 0.1426,
      "step": 1555
    },
    {
      "epoch": 0.34888938748036796,
      "gripper_loss": 0.69140625,
      "loss": 0.1787109375,
      "pos_loss": 0.734375,
      "rot_loss": 0.40234375,
      "step": 1555
    },
    {
      "epoch": 0.3491137536459502,
      "grad_norm": 1.4863011837005615,
      "learning_rate": 0.00049029538282796,
      "loss": 0.1463,
      "step": 1556
    },
    {
      "epoch": 0.3491137536459502,
      "gripper_loss": 0.341796875,
      "loss": 0.055419921875,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.060791015625,
      "step": 1556
    },
    {
      "epoch": 0.3493381198115324,
      "grad_norm": 0.8860728144645691,
      "learning_rate": 0.0004902786663535713,
      "loss": 0.1184,
      "step": 1557
    },
    {
      "epoch": 0.3493381198115324,
      "gripper_loss": 0.056396484375,
      "loss": 0.296875,
      "pos_loss": 1.6796875,
      "rot_loss": 1.2421875,
      "step": 1557
    },
    {
      "epoch": 0.34956248597711465,
      "grad_norm": 1.0732662677764893,
      "learning_rate": 0.0004902619357797389,
      "loss": 0.1783,
      "step": 1558
    },
    {
      "epoch": 0.34956248597711465,
      "gripper_loss": 0.06640625,
      "loss": 0.1474609375,
      "pos_loss": 0.9609375,
      "rot_loss": 0.37890625,
      "step": 1558
    },
    {
      "epoch": 0.3497868521426969,
      "grad_norm": 1.0044242143630981,
      "learning_rate": 0.0004902451911074448,
      "loss": 0.1646,
      "step": 1559
    },
    {
      "epoch": 0.3497868521426969,
      "gripper_loss": 0.06787109375,
      "loss": 0.166015625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.6015625,
      "step": 1559
    },
    {
      "epoch": 0.35001121830827914,
      "grad_norm": 1.027445673942566,
      "learning_rate": 0.0004902284323376713,
      "loss": 0.1512,
      "step": 1560
    },
    {
      "epoch": 0.35001121830827914,
      "gripper_loss": 0.84375,
      "loss": 0.0986328125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.1767578125,
      "step": 1560
    },
    {
      "epoch": 0.3502355844738613,
      "grad_norm": 0.8126575946807861,
      "learning_rate": 0.0004902116594714019,
      "loss": 0.1269,
      "step": 1561
    },
    {
      "epoch": 0.3502355844738613,
      "gripper_loss": 0.8515625,
      "loss": 0.0712890625,
      "pos_loss": 0.22265625,
      "rot_loss": 0.1474609375,
      "step": 1561
    },
    {
      "epoch": 0.3504599506394436,
      "grad_norm": 0.6528675556182861,
      "learning_rate": 0.0004901948725096208,
      "loss": 0.1457,
      "step": 1562
    },
    {
      "epoch": 0.3504599506394436,
      "gripper_loss": 0.1513671875,
      "loss": 0.1865234375,
      "pos_loss": 1.0,
      "rot_loss": 0.80859375,
      "step": 1562
    },
    {
      "epoch": 0.3506843168050258,
      "grad_norm": 1.379843831062317,
      "learning_rate": 0.000490178071453313,
      "loss": 0.1704,
      "step": 1563
    },
    {
      "epoch": 0.3506843168050258,
      "gripper_loss": 0.419921875,
      "loss": 0.11083984375,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.75,
      "step": 1563
    },
    {
      "epoch": 0.350908682970608,
      "grad_norm": 1.1631207466125488,
      "learning_rate": 0.0004901612563034645,
      "loss": 0.1849,
      "step": 1564
    },
    {
      "epoch": 0.350908682970608,
      "gripper_loss": 0.095703125,
      "loss": 0.1650390625,
      "pos_loss": 1.078125,
      "rot_loss": 0.5625,
      "step": 1564
    },
    {
      "epoch": 0.35113304913619026,
      "grad_norm": 0.6444008350372314,
      "learning_rate": 0.0004901444270610618,
      "loss": 0.1651,
      "step": 1565
    },
    {
      "epoch": 0.35113304913619026,
      "gripper_loss": 0.3828125,
      "loss": 0.12255859375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.40625,
      "step": 1565
    },
    {
      "epoch": 0.3513574153017725,
      "grad_norm": 0.8974241614341736,
      "learning_rate": 0.0004901275837270927,
      "loss": 0.1763,
      "step": 1566
    },
    {
      "epoch": 0.3513574153017725,
      "gripper_loss": 0.84375,
      "loss": 0.212890625,
      "pos_loss": 1.1328125,
      "rot_loss": 0.67578125,
      "step": 1566
    },
    {
      "epoch": 0.35158178146735475,
      "grad_norm": 0.9191511869430542,
      "learning_rate": 0.0004901107263025455,
      "loss": 0.1438,
      "step": 1567
    },
    {
      "epoch": 0.35158178146735475,
      "gripper_loss": 0.07177734375,
      "loss": 0.1826171875,
      "pos_loss": 1.234375,
      "rot_loss": 0.53515625,
      "step": 1567
    },
    {
      "epoch": 0.35180614763293694,
      "grad_norm": 0.8890538811683655,
      "learning_rate": 0.0004900938547884091,
      "loss": 0.1572,
      "step": 1568
    },
    {
      "epoch": 0.35180614763293694,
      "gripper_loss": 0.318359375,
      "loss": 0.177734375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.267578125,
      "step": 1568
    },
    {
      "epoch": 0.3520305137985192,
      "grad_norm": 1.5089147090911865,
      "learning_rate": 0.000490076969185674,
      "loss": 0.2466,
      "step": 1569
    },
    {
      "epoch": 0.3520305137985192,
      "gripper_loss": 0.0693359375,
      "loss": 0.158203125,
      "pos_loss": 1.1015625,
      "rot_loss": 0.388671875,
      "step": 1569
    },
    {
      "epoch": 0.35225487996410143,
      "grad_norm": 0.9178120493888855,
      "learning_rate": 0.0004900600694953306,
      "loss": 0.1638,
      "step": 1570
    },
    {
      "epoch": 0.35225487996410143,
      "gripper_loss": 0.310546875,
      "loss": 0.09814453125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.1064453125,
      "step": 1570
    },
    {
      "epoch": 0.3524792461296836,
      "grad_norm": 1.1741435527801514,
      "learning_rate": 0.0004900431557183707,
      "loss": 0.1483,
      "step": 1571
    },
    {
      "epoch": 0.3524792461296836,
      "gripper_loss": 0.4296875,
      "loss": 0.115234375,
      "pos_loss": 0.21875,
      "rot_loss": 0.458984375,
      "step": 1571
    },
    {
      "epoch": 0.35270361229526587,
      "grad_norm": 1.180181860923767,
      "learning_rate": 0.0004900262278557869,
      "loss": 0.1746,
      "step": 1572
    },
    {
      "epoch": 0.35270361229526587,
      "gripper_loss": 0.205078125,
      "loss": 0.1728515625,
      "pos_loss": 1.1875,
      "rot_loss": 0.28515625,
      "step": 1572
    },
    {
      "epoch": 0.3529279784608481,
      "grad_norm": 1.0817346572875977,
      "learning_rate": 0.0004900092859085726,
      "loss": 0.1412,
      "step": 1573
    },
    {
      "epoch": 0.3529279784608481,
      "gripper_loss": 0.038330078125,
      "loss": 0.20703125,
      "pos_loss": 1.6171875,
      "rot_loss": 0.4375,
      "step": 1573
    },
    {
      "epoch": 0.35315234462643036,
      "grad_norm": 1.4232598543167114,
      "learning_rate": 0.0004899923298777216,
      "loss": 0.1576,
      "step": 1574
    },
    {
      "epoch": 0.35315234462643036,
      "gripper_loss": 0.76171875,
      "loss": 0.1943359375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.486328125,
      "step": 1574
    },
    {
      "epoch": 0.35337671079201255,
      "grad_norm": 0.9706721305847168,
      "learning_rate": 0.0004899753597642291,
      "loss": 0.1453,
      "step": 1575
    },
    {
      "epoch": 0.35337671079201255,
      "gripper_loss": 1.0078125,
      "loss": 0.09423828125,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.3515625,
      "step": 1575
    },
    {
      "epoch": 0.3536010769575948,
      "grad_norm": 1.2084940671920776,
      "learning_rate": 0.0004899583755690908,
      "loss": 0.1137,
      "step": 1576
    },
    {
      "epoch": 0.3536010769575948,
      "gripper_loss": 0.69921875,
      "loss": 0.06884765625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.05908203125,
      "step": 1576
    },
    {
      "epoch": 0.35382544312317704,
      "grad_norm": 0.9931755065917969,
      "learning_rate": 0.0004899413772933035,
      "loss": 0.1389,
      "step": 1577
    },
    {
      "epoch": 0.35382544312317704,
      "gripper_loss": 0.12255859375,
      "loss": 0.169921875,
      "pos_loss": 1.234375,
      "rot_loss": 0.333984375,
      "step": 1577
    },
    {
      "epoch": 0.35404980928875923,
      "grad_norm": 1.0868250131607056,
      "learning_rate": 0.0004899243649378644,
      "loss": 0.2145,
      "step": 1578
    },
    {
      "epoch": 0.35404980928875923,
      "gripper_loss": 0.58984375,
      "loss": 0.203125,
      "pos_loss": 0.84375,
      "rot_loss": 0.5078125,
      "step": 1578
    },
    {
      "epoch": 0.3542741754543415,
      "grad_norm": 1.4886902570724487,
      "learning_rate": 0.000489907338503772,
      "loss": 0.1929,
      "step": 1579
    },
    {
      "epoch": 0.3542741754543415,
      "gripper_loss": 0.29296875,
      "loss": 0.158203125,
      "pos_loss": 1.1015625,
      "rot_loss": 0.294921875,
      "step": 1579
    },
    {
      "epoch": 0.3544985416199237,
      "grad_norm": 1.0152225494384766,
      "learning_rate": 0.0004898902979920254,
      "loss": 0.1383,
      "step": 1580
    },
    {
      "epoch": 0.3544985416199237,
      "gripper_loss": 0.1748046875,
      "loss": 0.1142578125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.361328125,
      "step": 1580
    },
    {
      "epoch": 0.35472290778550597,
      "grad_norm": 0.9392711520195007,
      "learning_rate": 0.0004898732434036243,
      "loss": 0.1349,
      "step": 1581
    },
    {
      "epoch": 0.35472290778550597,
      "gripper_loss": 1.65625,
      "loss": 0.09716796875,
      "pos_loss": 0.3046875,
      "rot_loss": 0.0478515625,
      "step": 1581
    },
    {
      "epoch": 0.35494727395108816,
      "grad_norm": 0.8656069040298462,
      "learning_rate": 0.0004898561747395698,
      "loss": 0.1125,
      "step": 1582
    },
    {
      "epoch": 0.35494727395108816,
      "gripper_loss": 0.50390625,
      "loss": 0.1455078125,
      "pos_loss": 0.97265625,
      "rot_loss": 0.29296875,
      "step": 1582
    },
    {
      "epoch": 0.3551716401166704,
      "grad_norm": 1.1030608415603638,
      "learning_rate": 0.0004898390920008631,
      "loss": 0.1113,
      "step": 1583
    },
    {
      "epoch": 0.3551716401166704,
      "gripper_loss": 0.44921875,
      "loss": 0.21484375,
      "pos_loss": 0.96484375,
      "rot_loss": 1.0703125,
      "step": 1583
    },
    {
      "epoch": 0.35539600628225265,
      "grad_norm": 0.9432613253593445,
      "learning_rate": 0.0004898219951885069,
      "loss": 0.1492,
      "step": 1584
    },
    {
      "epoch": 0.35539600628225265,
      "gripper_loss": 0.208984375,
      "loss": 0.130859375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.2890625,
      "step": 1584
    },
    {
      "epoch": 0.35562037244783484,
      "grad_norm": 1.4431352615356445,
      "learning_rate": 0.0004898048843035044,
      "loss": 0.1593,
      "step": 1585
    },
    {
      "epoch": 0.35562037244783484,
      "gripper_loss": 0.486328125,
      "loss": 0.1630859375,
      "pos_loss": 0.8515625,
      "rot_loss": 0.478515625,
      "step": 1585
    },
    {
      "epoch": 0.3558447386134171,
      "grad_norm": 0.8324457406997681,
      "learning_rate": 0.0004897877593468594,
      "loss": 0.155,
      "step": 1586
    },
    {
      "epoch": 0.3558447386134171,
      "gripper_loss": 0.17578125,
      "loss": 0.2412109375,
      "pos_loss": 2.109375,
      "rot_loss": 0.25390625,
      "step": 1586
    },
    {
      "epoch": 0.35606910477899933,
      "grad_norm": 0.8335145711898804,
      "learning_rate": 0.0004897706203195771,
      "loss": 0.1561,
      "step": 1587
    },
    {
      "epoch": 0.35606910477899933,
      "gripper_loss": 0.09814453125,
      "loss": 0.3671875,
      "pos_loss": 2.0625,
      "rot_loss": 1.6171875,
      "step": 1587
    },
    {
      "epoch": 0.3562934709445816,
      "grad_norm": 0.8514271974563599,
      "learning_rate": 0.000489753467222663,
      "loss": 0.1849,
      "step": 1588
    },
    {
      "epoch": 0.3562934709445816,
      "gripper_loss": 0.201171875,
      "loss": 0.09130859375,
      "pos_loss": 0.322265625,
      "rot_loss": 0.2578125,
      "step": 1588
    },
    {
      "epoch": 0.35651783711016377,
      "grad_norm": 1.0410876274108887,
      "learning_rate": 0.0004897363000571237,
      "loss": 0.1552,
      "step": 1589
    },
    {
      "epoch": 0.35651783711016377,
      "gripper_loss": 1.2578125,
      "loss": 0.263671875,
      "pos_loss": 1.109375,
      "rot_loss": 1.1328125,
      "step": 1589
    },
    {
      "epoch": 0.356742203275746,
      "grad_norm": 1.0622351169586182,
      "learning_rate": 0.0004897191188239667,
      "loss": 0.1483,
      "step": 1590
    },
    {
      "epoch": 0.356742203275746,
      "gripper_loss": 0.412109375,
      "loss": 0.48046875,
      "pos_loss": 1.0703125,
      "rot_loss": 0.64453125,
      "step": 1590
    },
    {
      "epoch": 0.35696656944132826,
      "grad_norm": 2.884026050567627,
      "learning_rate": 0.0004897019235242,
      "loss": 0.4626,
      "step": 1591
    },
    {
      "epoch": 0.35696656944132826,
      "gripper_loss": 0.234375,
      "loss": 0.140625,
      "pos_loss": 0.296875,
      "rot_loss": 0.392578125,
      "step": 1591
    },
    {
      "epoch": 0.35719093560691045,
      "grad_norm": 1.2052738666534424,
      "learning_rate": 0.0004896847141588327,
      "loss": 0.3123,
      "step": 1592
    },
    {
      "epoch": 0.35719093560691045,
      "gripper_loss": 0.05810546875,
      "loss": 0.162109375,
      "pos_loss": 0.5625,
      "rot_loss": 0.94140625,
      "step": 1592
    },
    {
      "epoch": 0.3574153017724927,
      "grad_norm": 1.0158876180648804,
      "learning_rate": 0.0004896674907288746,
      "loss": 0.1006,
      "step": 1593
    },
    {
      "epoch": 0.3574153017724927,
      "gripper_loss": 0.33984375,
      "loss": 0.25,
      "pos_loss": 0.7734375,
      "rot_loss": 0.462890625,
      "step": 1593
    },
    {
      "epoch": 0.35763966793807495,
      "grad_norm": 2.034360647201538,
      "learning_rate": 0.0004896502532353365,
      "loss": 0.3311,
      "step": 1594
    },
    {
      "epoch": 0.35763966793807495,
      "gripper_loss": 0.0400390625,
      "loss": 0.3046875,
      "pos_loss": 1.5078125,
      "rot_loss": 1.4921875,
      "step": 1594
    },
    {
      "epoch": 0.3578640341036572,
      "grad_norm": 1.2891939878463745,
      "learning_rate": 0.0004896330016792295,
      "loss": 0.2022,
      "step": 1595
    },
    {
      "epoch": 0.3578640341036572,
      "gripper_loss": 0.337890625,
      "loss": 0.1865234375,
      "pos_loss": 1.15625,
      "rot_loss": 0.337890625,
      "step": 1595
    },
    {
      "epoch": 0.3580884002692394,
      "grad_norm": 1.5396814346313477,
      "learning_rate": 0.0004896157360615664,
      "loss": 0.1715,
      "step": 1596
    },
    {
      "epoch": 0.3580884002692394,
      "gripper_loss": 0.466796875,
      "loss": 0.396484375,
      "pos_loss": 1.1171875,
      "rot_loss": 1.0546875,
      "step": 1596
    },
    {
      "epoch": 0.35831276643482163,
      "grad_norm": 2.0381011962890625,
      "learning_rate": 0.0004895984563833601,
      "loss": 0.3348,
      "step": 1597
    },
    {
      "epoch": 0.35831276643482163,
      "gripper_loss": 0.53125,
      "loss": 0.408203125,
      "pos_loss": 0.76171875,
      "rot_loss": 2.390625,
      "step": 1597
    },
    {
      "epoch": 0.3585371326004039,
      "grad_norm": 1.7370916604995728,
      "learning_rate": 0.0004895811626456245,
      "loss": 0.2509,
      "step": 1598
    },
    {
      "epoch": 0.3585371326004039,
      "gripper_loss": 0.130859375,
      "loss": 0.2275390625,
      "pos_loss": 1.453125,
      "rot_loss": 0.224609375,
      "step": 1598
    },
    {
      "epoch": 0.35876149876598606,
      "grad_norm": 1.2097382545471191,
      "learning_rate": 0.0004895638548493745,
      "loss": 0.1986,
      "step": 1599
    },
    {
      "epoch": 0.35876149876598606,
      "gripper_loss": 0.1328125,
      "loss": 0.1689453125,
      "pos_loss": 1.1484375,
      "rot_loss": 0.17578125,
      "step": 1599
    },
    {
      "epoch": 0.3589858649315683,
      "grad_norm": 1.3895845413208008,
      "learning_rate": 0.0004895465329956257,
      "loss": 0.1937,
      "step": 1600
    },
    {
      "epoch": 0.3589858649315683,
      "gripper_loss": 0.30859375,
      "loss": 0.08056640625,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.11572265625,
      "step": 1600
    },
    {
      "epoch": 0.35921023109715056,
      "grad_norm": 1.6541184186935425,
      "learning_rate": 0.0004895291970853946,
      "loss": 0.2062,
      "step": 1601
    },
    {
      "epoch": 0.35921023109715056,
      "gripper_loss": 0.9609375,
      "loss": 0.318359375,
      "pos_loss": 0.859375,
      "rot_loss": 1.765625,
      "step": 1601
    },
    {
      "epoch": 0.3594345972627328,
      "grad_norm": 1.9066816568374634,
      "learning_rate": 0.0004895118471196983,
      "loss": 0.2021,
      "step": 1602
    },
    {
      "epoch": 0.3594345972627328,
      "gripper_loss": 0.125,
      "loss": 0.2373046875,
      "pos_loss": 1.984375,
      "rot_loss": 0.1181640625,
      "step": 1602
    },
    {
      "epoch": 0.359658963428315,
      "grad_norm": 1.6632765531539917,
      "learning_rate": 0.000489494483099555,
      "loss": 0.1848,
      "step": 1603
    },
    {
      "epoch": 0.359658963428315,
      "gripper_loss": 0.208984375,
      "loss": 0.287109375,
      "pos_loss": 1.6875,
      "rot_loss": 1.0078125,
      "step": 1603
    },
    {
      "epoch": 0.35988332959389724,
      "grad_norm": 1.2305833101272583,
      "learning_rate": 0.0004894771050259836,
      "loss": 0.1697,
      "step": 1604
    },
    {
      "epoch": 0.35988332959389724,
      "gripper_loss": 1.171875,
      "loss": 0.25390625,
      "pos_loss": 0.2431640625,
      "rot_loss": 1.8125,
      "step": 1604
    },
    {
      "epoch": 0.3601076957594795,
      "grad_norm": 1.109765887260437,
      "learning_rate": 0.0004894597129000038,
      "loss": 0.1243,
      "step": 1605
    },
    {
      "epoch": 0.3601076957594795,
      "gripper_loss": 0.79296875,
      "loss": 0.07470703125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.09130859375,
      "step": 1605
    },
    {
      "epoch": 0.3603320619250617,
      "grad_norm": 0.6300751566886902,
      "learning_rate": 0.0004894423067226362,
      "loss": 0.1076,
      "step": 1606
    },
    {
      "epoch": 0.3603320619250617,
      "gripper_loss": 0.50390625,
      "loss": 0.1552734375,
      "pos_loss": 0.173828125,
      "rot_loss": 1.1875,
      "step": 1606
    },
    {
      "epoch": 0.3605564280906439,
      "grad_norm": 1.105827808380127,
      "learning_rate": 0.0004894248864949021,
      "loss": 0.118,
      "step": 1607
    },
    {
      "epoch": 0.3605564280906439,
      "gripper_loss": 0.12158203125,
      "loss": 0.2197265625,
      "pos_loss": 1.5390625,
      "rot_loss": 0.330078125,
      "step": 1607
    },
    {
      "epoch": 0.36078079425622617,
      "grad_norm": 1.5410734415054321,
      "learning_rate": 0.0004894074522178239,
      "loss": 0.1616,
      "step": 1608
    },
    {
      "epoch": 0.36078079425622617,
      "gripper_loss": 0.75,
      "loss": 0.4921875,
      "pos_loss": 1.09375,
      "rot_loss": 1.0546875,
      "step": 1608
    },
    {
      "epoch": 0.3610051604218084,
      "grad_norm": 2.5841739177703857,
      "learning_rate": 0.0004893900038924245,
      "loss": 0.4438,
      "step": 1609
    },
    {
      "epoch": 0.3610051604218084,
      "gripper_loss": 1.2890625,
      "loss": 0.1708984375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.1708984375,
      "step": 1609
    },
    {
      "epoch": 0.3612295265873906,
      "grad_norm": 1.0711758136749268,
      "learning_rate": 0.0004893725415197278,
      "loss": 0.1856,
      "step": 1610
    },
    {
      "epoch": 0.3612295265873906,
      "gripper_loss": 0.25390625,
      "loss": 0.10107421875,
      "pos_loss": 0.322265625,
      "rot_loss": 0.337890625,
      "step": 1610
    },
    {
      "epoch": 0.36145389275297285,
      "grad_norm": 1.260571002960205,
      "learning_rate": 0.0004893550651007585,
      "loss": 0.2072,
      "step": 1611
    },
    {
      "epoch": 0.36145389275297285,
      "gripper_loss": 0.40234375,
      "loss": 0.298828125,
      "pos_loss": 0.70703125,
      "rot_loss": 0.474609375,
      "step": 1611
    },
    {
      "epoch": 0.3616782589185551,
      "grad_norm": 2.1333038806915283,
      "learning_rate": 0.000489337574636542,
      "loss": 0.3733,
      "step": 1612
    },
    {
      "epoch": 0.3616782589185551,
      "gripper_loss": 1.2265625,
      "loss": 0.0986328125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.25,
      "step": 1612
    },
    {
      "epoch": 0.3619026250841373,
      "grad_norm": 1.1137186288833618,
      "learning_rate": 0.0004893200701281046,
      "loss": 0.1354,
      "step": 1613
    },
    {
      "epoch": 0.3619026250841373,
      "gripper_loss": 0.1357421875,
      "loss": 0.1640625,
      "pos_loss": 0.5078125,
      "rot_loss": 0.80859375,
      "step": 1613
    },
    {
      "epoch": 0.36212699124971953,
      "grad_norm": 1.4524565935134888,
      "learning_rate": 0.0004893025515764738,
      "loss": 0.135,
      "step": 1614
    },
    {
      "epoch": 0.36212699124971953,
      "gripper_loss": 0.2138671875,
      "loss": 0.1533203125,
      "pos_loss": 1.0859375,
      "rot_loss": 0.1875,
      "step": 1614
    },
    {
      "epoch": 0.3623513574153018,
      "grad_norm": 1.2619763612747192,
      "learning_rate": 0.0004892850189826772,
      "loss": 0.1525,
      "step": 1615
    },
    {
      "epoch": 0.3623513574153018,
      "gripper_loss": 0.41015625,
      "loss": 0.1279296875,
      "pos_loss": 0.80859375,
      "rot_loss": 0.189453125,
      "step": 1615
    },
    {
      "epoch": 0.362575723580884,
      "grad_norm": 1.067249059677124,
      "learning_rate": 0.0004892674723477438,
      "loss": 0.1296,
      "step": 1616
    },
    {
      "epoch": 0.362575723580884,
      "gripper_loss": 0.43359375,
      "loss": 0.169921875,
      "pos_loss": 0.90234375,
      "rot_loss": 0.5078125,
      "step": 1616
    },
    {
      "epoch": 0.3628000897464662,
      "grad_norm": 0.8434064984321594,
      "learning_rate": 0.0004892499116727031,
      "loss": 0.1493,
      "step": 1617
    },
    {
      "epoch": 0.3628000897464662,
      "gripper_loss": 0.142578125,
      "loss": 0.1552734375,
      "pos_loss": 0.80859375,
      "rot_loss": 0.5703125,
      "step": 1617
    },
    {
      "epoch": 0.36302445591204846,
      "grad_norm": 1.0219366550445557,
      "learning_rate": 0.0004892323369585857,
      "loss": 0.1405,
      "step": 1618
    },
    {
      "epoch": 0.36302445591204846,
      "gripper_loss": 0.326171875,
      "loss": 0.494140625,
      "pos_loss": 1.21875,
      "rot_loss": 0.46484375,
      "step": 1618
    },
    {
      "epoch": 0.3632488220776307,
      "grad_norm": 1.7187626361846924,
      "learning_rate": 0.0004892147482064229,
      "loss": 0.5681,
      "step": 1619
    },
    {
      "epoch": 0.3632488220776307,
      "gripper_loss": 0.345703125,
      "loss": 0.057861328125,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.142578125,
      "step": 1619
    },
    {
      "epoch": 0.3634731882432129,
      "grad_norm": 1.0013961791992188,
      "learning_rate": 0.0004891971454172465,
      "loss": 0.1701,
      "step": 1620
    },
    {
      "epoch": 0.3634731882432129,
      "gripper_loss": 0.26953125,
      "loss": 0.1357421875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.306640625,
      "step": 1620
    },
    {
      "epoch": 0.36369755440879514,
      "grad_norm": 1.392026662826538,
      "learning_rate": 0.0004891795285920898,
      "loss": 0.2192,
      "step": 1621
    },
    {
      "epoch": 0.36369755440879514,
      "gripper_loss": 0.234375,
      "loss": 0.1611328125,
      "pos_loss": 0.66796875,
      "rot_loss": 0.7734375,
      "step": 1621
    },
    {
      "epoch": 0.3639219205743774,
      "grad_norm": 1.0759916305541992,
      "learning_rate": 0.0004891618977319863,
      "loss": 0.1821,
      "step": 1622
    },
    {
      "epoch": 0.3639219205743774,
      "gripper_loss": 0.404296875,
      "loss": 0.31640625,
      "pos_loss": 0.4375,
      "rot_loss": 0.5546875,
      "step": 1622
    },
    {
      "epoch": 0.36414628673995963,
      "grad_norm": 1.8679677248001099,
      "learning_rate": 0.0004891442528379707,
      "loss": 0.2904,
      "step": 1623
    },
    {
      "epoch": 0.36414628673995963,
      "gripper_loss": 0.048095703125,
      "loss": 0.055419921875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.052734375,
      "step": 1623
    },
    {
      "epoch": 0.3643706529055418,
      "grad_norm": 0.8126791715621948,
      "learning_rate": 0.0004891265939110783,
      "loss": 0.1573,
      "step": 1624
    },
    {
      "epoch": 0.3643706529055418,
      "gripper_loss": 0.0654296875,
      "loss": 0.07666015625,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.154296875,
      "step": 1624
    },
    {
      "epoch": 0.36459501907112407,
      "grad_norm": 1.0820133686065674,
      "learning_rate": 0.0004891089209523453,
      "loss": 0.1446,
      "step": 1625
    },
    {
      "epoch": 0.36459501907112407,
      "gripper_loss": 0.2890625,
      "loss": 0.29296875,
      "pos_loss": 1.3046875,
      "rot_loss": 1.2578125,
      "step": 1625
    },
    {
      "epoch": 0.3648193852367063,
      "grad_norm": 1.151885986328125,
      "learning_rate": 0.000489091233962809,
      "loss": 0.1998,
      "step": 1626
    },
    {
      "epoch": 0.3648193852367063,
      "gripper_loss": 0.6640625,
      "loss": 0.05908203125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.08251953125,
      "step": 1626
    },
    {
      "epoch": 0.3650437514022885,
      "grad_norm": 0.8844199776649475,
      "learning_rate": 0.0004890735329435068,
      "loss": 0.1197,
      "step": 1627
    },
    {
      "epoch": 0.3650437514022885,
      "gripper_loss": 0.11083984375,
      "loss": 0.10791015625,
      "pos_loss": 0.73046875,
      "rot_loss": 0.12890625,
      "step": 1627
    },
    {
      "epoch": 0.36526811756787075,
      "grad_norm": 1.0281776189804077,
      "learning_rate": 0.0004890558178954779,
      "loss": 0.1754,
      "step": 1628
    },
    {
      "epoch": 0.36526811756787075,
      "gripper_loss": 0.51953125,
      "loss": 0.1728515625,
      "pos_loss": 0.8671875,
      "rot_loss": 0.384765625,
      "step": 1628
    },
    {
      "epoch": 0.365492483733453,
      "grad_norm": 1.0412606000900269,
      "learning_rate": 0.0004890380888197615,
      "loss": 0.1552,
      "step": 1629
    },
    {
      "epoch": 0.365492483733453,
      "gripper_loss": 0.244140625,
      "loss": 0.046142578125,
      "pos_loss": 0.119140625,
      "rot_loss": 0.07666015625,
      "step": 1629
    },
    {
      "epoch": 0.36571684989903525,
      "grad_norm": 1.1132311820983887,
      "learning_rate": 0.0004890203457173978,
      "loss": 0.1869,
      "step": 1630
    },
    {
      "epoch": 0.36571684989903525,
      "gripper_loss": 1.3671875,
      "loss": 0.1767578125,
      "pos_loss": 0.84765625,
      "rot_loss": 0.2001953125,
      "step": 1630
    },
    {
      "epoch": 0.36594121606461744,
      "grad_norm": 1.1297011375427246,
      "learning_rate": 0.0004890025885894284,
      "loss": 0.1512,
      "step": 1631
    },
    {
      "epoch": 0.36594121606461744,
      "gripper_loss": 0.1142578125,
      "loss": 0.04052734375,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.1005859375,
      "step": 1631
    },
    {
      "epoch": 0.3661655822301997,
      "grad_norm": 0.8337110877037048,
      "learning_rate": 0.0004889848174368949,
      "loss": 0.106,
      "step": 1632
    },
    {
      "epoch": 0.3661655822301997,
      "gripper_loss": 0.166015625,
      "loss": 0.09423828125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.10107421875,
      "step": 1632
    },
    {
      "epoch": 0.36638994839578193,
      "grad_norm": 0.8962588310241699,
      "learning_rate": 0.0004889670322608404,
      "loss": 0.1357,
      "step": 1633
    },
    {
      "epoch": 0.36638994839578193,
      "gripper_loss": 0.043701171875,
      "loss": 0.40234375,
      "pos_loss": 2.34375,
      "rot_loss": 1.6953125,
      "step": 1633
    },
    {
      "epoch": 0.3666143145613641,
      "grad_norm": 1.1321959495544434,
      "learning_rate": 0.0004889492330623082,
      "loss": 0.1995,
      "step": 1634
    },
    {
      "epoch": 0.3666143145613641,
      "gripper_loss": 0.53515625,
      "loss": 0.053955078125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.04052734375,
      "step": 1634
    },
    {
      "epoch": 0.36683868072694636,
      "grad_norm": 0.7783592939376831,
      "learning_rate": 0.0004889314198423429,
      "loss": 0.1006,
      "step": 1635
    },
    {
      "epoch": 0.36683868072694636,
      "gripper_loss": 0.65234375,
      "loss": 0.419921875,
      "pos_loss": 1.484375,
      "rot_loss": 0.6875,
      "step": 1635
    },
    {
      "epoch": 0.3670630468925286,
      "grad_norm": 2.1229970455169678,
      "learning_rate": 0.0004889135926019899,
      "loss": 0.4045,
      "step": 1636
    },
    {
      "epoch": 0.3670630468925286,
      "gripper_loss": 0.384765625,
      "loss": 0.0791015625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.28125,
      "step": 1636
    },
    {
      "epoch": 0.36728741305811086,
      "grad_norm": 0.8502050638198853,
      "learning_rate": 0.0004888957513422952,
      "loss": 0.1726,
      "step": 1637
    },
    {
      "epoch": 0.36728741305811086,
      "gripper_loss": 0.490234375,
      "loss": 0.054931640625,
      "pos_loss": 0.142578125,
      "rot_loss": 0.1650390625,
      "step": 1637
    },
    {
      "epoch": 0.36751177922369305,
      "grad_norm": 0.7551197409629822,
      "learning_rate": 0.0004888778960643056,
      "loss": 0.1086,
      "step": 1638
    },
    {
      "epoch": 0.36751177922369305,
      "gripper_loss": 0.66796875,
      "loss": 0.154296875,
      "pos_loss": 0.90234375,
      "rot_loss": 0.3515625,
      "step": 1638
    },
    {
      "epoch": 0.3677361453892753,
      "grad_norm": 0.8236773610115051,
      "learning_rate": 0.0004888600267690691,
      "loss": 0.1312,
      "step": 1639
    },
    {
      "epoch": 0.3677361453892753,
      "gripper_loss": 0.055908203125,
      "loss": 0.125,
      "pos_loss": 0.96875,
      "rot_loss": 0.125,
      "step": 1639
    },
    {
      "epoch": 0.36796051155485754,
      "grad_norm": 1.1218640804290771,
      "learning_rate": 0.0004888421434576339,
      "loss": 0.1618,
      "step": 1640
    },
    {
      "epoch": 0.36796051155485754,
      "gripper_loss": 0.2060546875,
      "loss": 0.080078125,
      "pos_loss": 0.296875,
      "rot_loss": 0.328125,
      "step": 1640
    },
    {
      "epoch": 0.3681848777204398,
      "grad_norm": 0.9026663899421692,
      "learning_rate": 0.0004888242461310497,
      "loss": 0.1598,
      "step": 1641
    },
    {
      "epoch": 0.3681848777204398,
      "gripper_loss": 0.025634765625,
      "loss": 0.26171875,
      "pos_loss": 1.4609375,
      "rot_loss": 1.203125,
      "step": 1641
    },
    {
      "epoch": 0.368409243886022,
      "grad_norm": 0.8656578660011292,
      "learning_rate": 0.0004888063347903665,
      "loss": 0.1595,
      "step": 1642
    },
    {
      "epoch": 0.368409243886022,
      "gripper_loss": 1.359375,
      "loss": 0.07470703125,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.0537109375,
      "step": 1642
    },
    {
      "epoch": 0.3686336100516042,
      "grad_norm": 0.9057314395904541,
      "learning_rate": 0.0004887884094366355,
      "loss": 0.0917,
      "step": 1643
    },
    {
      "epoch": 0.3686336100516042,
      "gripper_loss": 1.859375,
      "loss": 0.11962890625,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.2060546875,
      "step": 1643
    },
    {
      "epoch": 0.36885797621718647,
      "grad_norm": 1.096045732498169,
      "learning_rate": 0.0004887704700709084,
      "loss": 0.1441,
      "step": 1644
    },
    {
      "epoch": 0.36885797621718647,
      "gripper_loss": 0.07373046875,
      "loss": 0.1826171875,
      "pos_loss": 1.1484375,
      "rot_loss": 0.58203125,
      "step": 1644
    },
    {
      "epoch": 0.36908234238276866,
      "grad_norm": 0.9993424415588379,
      "learning_rate": 0.0004887525166942381,
      "loss": 0.1398,
      "step": 1645
    },
    {
      "epoch": 0.36908234238276866,
      "gripper_loss": 0.341796875,
      "loss": 0.10546875,
      "pos_loss": 0.4453125,
      "rot_loss": 0.298828125,
      "step": 1645
    },
    {
      "epoch": 0.3693067085483509,
      "grad_norm": 0.9110291004180908,
      "learning_rate": 0.0004887345493076779,
      "loss": 0.1159,
      "step": 1646
    },
    {
      "epoch": 0.3693067085483509,
      "gripper_loss": 0.0264892578125,
      "loss": 0.1328125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.1298828125,
      "step": 1646
    },
    {
      "epoch": 0.36953107471393315,
      "grad_norm": 0.849013090133667,
      "learning_rate": 0.0004887165679122821,
      "loss": 0.1184,
      "step": 1647
    },
    {
      "epoch": 0.36953107471393315,
      "gripper_loss": 1.0859375,
      "loss": 0.263671875,
      "pos_loss": 1.34375,
      "rot_loss": 0.984375,
      "step": 1647
    },
    {
      "epoch": 0.3697554408795154,
      "grad_norm": 0.907839834690094,
      "learning_rate": 0.0004886985725091059,
      "loss": 0.139,
      "step": 1648
    },
    {
      "epoch": 0.3697554408795154,
      "gripper_loss": 0.2109375,
      "loss": 0.2333984375,
      "pos_loss": 1.1875,
      "rot_loss": 1.0703125,
      "step": 1648
    },
    {
      "epoch": 0.3699798070450976,
      "grad_norm": 0.916285514831543,
      "learning_rate": 0.0004886805630992053,
      "loss": 0.1627,
      "step": 1649
    },
    {
      "epoch": 0.3699798070450976,
      "gripper_loss": 0.1337890625,
      "loss": 0.125,
      "pos_loss": 0.54296875,
      "rot_loss": 0.361328125,
      "step": 1649
    },
    {
      "epoch": 0.37020417321067983,
      "grad_norm": 1.1028674840927124,
      "learning_rate": 0.000488662539683637,
      "loss": 0.1425,
      "step": 1650
    },
    {
      "epoch": 0.37020417321067983,
      "gripper_loss": 0.1220703125,
      "loss": 0.09326171875,
      "pos_loss": 0.625,
      "rot_loss": 0.162109375,
      "step": 1650
    },
    {
      "epoch": 0.3704285393762621,
      "grad_norm": 0.9955134987831116,
      "learning_rate": 0.0004886445022634587,
      "loss": 0.2252,
      "step": 1651
    },
    {
      "epoch": 0.3704285393762621,
      "gripper_loss": 0.2392578125,
      "loss": 0.07421875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.1982421875,
      "step": 1651
    },
    {
      "epoch": 0.37065290554184427,
      "grad_norm": 0.793239176273346,
      "learning_rate": 0.0004886264508397288,
      "loss": 0.1248,
      "step": 1652
    },
    {
      "epoch": 0.37065290554184427,
      "gripper_loss": 0.46484375,
      "loss": 0.068359375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.1279296875,
      "step": 1652
    },
    {
      "epoch": 0.3708772717074265,
      "grad_norm": 0.8313314318656921,
      "learning_rate": 0.0004886083854135064,
      "loss": 0.1185,
      "step": 1653
    },
    {
      "epoch": 0.3708772717074265,
      "gripper_loss": 0.2734375,
      "loss": 0.12890625,
      "pos_loss": 0.482421875,
      "rot_loss": 0.482421875,
      "step": 1653
    },
    {
      "epoch": 0.37110163787300876,
      "grad_norm": 1.1816744804382324,
      "learning_rate": 0.0004885903059858519,
      "loss": 0.165,
      "step": 1654
    },
    {
      "epoch": 0.37110163787300876,
      "gripper_loss": 0.15625,
      "loss": 0.25,
      "pos_loss": 2.34375,
      "rot_loss": 0.11328125,
      "step": 1654
    },
    {
      "epoch": 0.371326004038591,
      "grad_norm": 1.109954595565796,
      "learning_rate": 0.0004885722125578258,
      "loss": 0.1917,
      "step": 1655
    },
    {
      "epoch": 0.371326004038591,
      "gripper_loss": 0.267578125,
      "loss": 0.1826171875,
      "pos_loss": 1.4296875,
      "rot_loss": 0.25390625,
      "step": 1655
    },
    {
      "epoch": 0.3715503702041732,
      "grad_norm": 1.1566874980926514,
      "learning_rate": 0.0004885541051304901,
      "loss": 0.2132,
      "step": 1656
    },
    {
      "epoch": 0.3715503702041732,
      "gripper_loss": 0.1494140625,
      "loss": 0.10986328125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.1923828125,
      "step": 1656
    },
    {
      "epoch": 0.37177473636975544,
      "grad_norm": 1.250659465789795,
      "learning_rate": 0.0004885359837049073,
      "loss": 0.1693,
      "step": 1657
    },
    {
      "epoch": 0.37177473636975544,
      "gripper_loss": 0.314453125,
      "loss": 0.29296875,
      "pos_loss": 0.408203125,
      "rot_loss": 2.421875,
      "step": 1657
    },
    {
      "epoch": 0.3719991025353377,
      "grad_norm": 1.1214549541473389,
      "learning_rate": 0.0004885178482821407,
      "loss": 0.201,
      "step": 1658
    },
    {
      "epoch": 0.3719991025353377,
      "gripper_loss": 0.322265625,
      "loss": 0.07861328125,
      "pos_loss": 0.201171875,
      "rot_loss": 0.2119140625,
      "step": 1658
    },
    {
      "epoch": 0.3722234687009199,
      "grad_norm": 1.0826646089553833,
      "learning_rate": 0.0004884996988632544,
      "loss": 0.1461,
      "step": 1659
    },
    {
      "epoch": 0.3722234687009199,
      "gripper_loss": 0.044921875,
      "loss": 0.173828125,
      "pos_loss": 1.3515625,
      "rot_loss": 0.263671875,
      "step": 1659
    },
    {
      "epoch": 0.3724478348665021,
      "grad_norm": 1.0599439144134521,
      "learning_rate": 0.0004884815354493135,
      "loss": 0.1411,
      "step": 1660
    },
    {
      "epoch": 0.3724478348665021,
      "gripper_loss": 0.03857421875,
      "loss": 0.07080078125,
      "pos_loss": 0.462890625,
      "rot_loss": 0.12890625,
      "step": 1660
    },
    {
      "epoch": 0.37267220103208437,
      "grad_norm": 0.9307944178581238,
      "learning_rate": 0.0004884633580413837,
      "loss": 0.1846,
      "step": 1661
    },
    {
      "epoch": 0.37267220103208437,
      "gripper_loss": 0.49609375,
      "loss": 0.140625,
      "pos_loss": 0.34765625,
      "rot_loss": 0.8828125,
      "step": 1661
    },
    {
      "epoch": 0.3728965671976666,
      "grad_norm": 0.7976160049438477,
      "learning_rate": 0.000488445166640532,
      "loss": 0.1436,
      "step": 1662
    },
    {
      "epoch": 0.3728965671976666,
      "gripper_loss": 1.40625,
      "loss": 0.26171875,
      "pos_loss": 1.1328125,
      "rot_loss": 0.474609375,
      "step": 1662
    },
    {
      "epoch": 0.3731209333632488,
      "grad_norm": 1.7101452350616455,
      "learning_rate": 0.0004884269612478254,
      "loss": 0.2213,
      "step": 1663
    },
    {
      "epoch": 0.3731209333632488,
      "gripper_loss": 0.8515625,
      "loss": 0.1123046875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.1728515625,
      "step": 1663
    },
    {
      "epoch": 0.37334529952883105,
      "grad_norm": 0.9972801804542542,
      "learning_rate": 0.0004884087418643324,
      "loss": 0.1231,
      "step": 1664
    },
    {
      "epoch": 0.37334529952883105,
      "gripper_loss": 0.296875,
      "loss": 0.296875,
      "pos_loss": 1.640625,
      "rot_loss": 0.265625,
      "step": 1664
    },
    {
      "epoch": 0.3735696656944133,
      "grad_norm": 1.8774691820144653,
      "learning_rate": 0.0004883905084911222,
      "loss": 0.2727,
      "step": 1665
    },
    {
      "epoch": 0.3735696656944133,
      "gripper_loss": 0.263671875,
      "loss": 0.1298828125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.3046875,
      "step": 1665
    },
    {
      "epoch": 0.3737940318599955,
      "grad_norm": 1.2251501083374023,
      "learning_rate": 0.0004883722611292645,
      "loss": 0.1669,
      "step": 1666
    },
    {
      "epoch": 0.3737940318599955,
      "gripper_loss": 0.244140625,
      "loss": 0.1240234375,
      "pos_loss": 0.546875,
      "rot_loss": 0.439453125,
      "step": 1666
    },
    {
      "epoch": 0.37401839802557774,
      "grad_norm": 1.262354850769043,
      "learning_rate": 0.0004883539997798303,
      "loss": 0.2001,
      "step": 1667
    },
    {
      "epoch": 0.37401839802557774,
      "gripper_loss": 1.578125,
      "loss": 0.130859375,
      "pos_loss": 0.3828125,
      "rot_loss": 0.1064453125,
      "step": 1667
    },
    {
      "epoch": 0.37424276419116,
      "grad_norm": 1.1984492540359497,
      "learning_rate": 0.000488335724443891,
      "loss": 0.1417,
      "step": 1668
    },
    {
      "epoch": 0.37424276419116,
      "gripper_loss": 0.1748046875,
      "loss": 0.1005859375,
      "pos_loss": 0.490234375,
      "rot_loss": 0.310546875,
      "step": 1668
    },
    {
      "epoch": 0.37446713035674223,
      "grad_norm": 0.918834388256073,
      "learning_rate": 0.0004883174351225189,
      "loss": 0.1397,
      "step": 1669
    },
    {
      "epoch": 0.37446713035674223,
      "gripper_loss": 0.1640625,
      "loss": 0.19921875,
      "pos_loss": 1.09375,
      "rot_loss": 0.453125,
      "step": 1669
    },
    {
      "epoch": 0.3746914965223244,
      "grad_norm": 1.6556341648101807,
      "learning_rate": 0.0004882991318167874,
      "loss": 0.1705,
      "step": 1670
    },
    {
      "epoch": 0.3746914965223244,
      "gripper_loss": 0.6640625,
      "loss": 0.08837890625,
      "pos_loss": 0.296875,
      "rot_loss": 0.29296875,
      "step": 1670
    },
    {
      "epoch": 0.37491586268790666,
      "grad_norm": 0.9631431698799133,
      "learning_rate": 0.0004882808145277705,
      "loss": 0.1512,
      "step": 1671
    },
    {
      "epoch": 0.37491586268790666,
      "gripper_loss": 0.0478515625,
      "loss": 0.177734375,
      "pos_loss": 1.2421875,
      "rot_loss": 0.4140625,
      "step": 1671
    },
    {
      "epoch": 0.3751402288534889,
      "grad_norm": 0.8533989191055298,
      "learning_rate": 0.00048826248325654307,
      "loss": 0.1301,
      "step": 1672
    },
    {
      "epoch": 0.3751402288534889,
      "gripper_loss": 0.03955078125,
      "loss": 0.162109375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.71875,
      "step": 1672
    },
    {
      "epoch": 0.3753645950190711,
      "grad_norm": 0.8755062222480774,
      "learning_rate": 0.00048824413800418066,
      "loss": 0.1548,
      "step": 1673
    },
    {
      "epoch": 0.3753645950190711,
      "gripper_loss": 0.384765625,
      "loss": 0.35546875,
      "pos_loss": 1.84375,
      "rot_loss": 0.4765625,
      "step": 1673
    },
    {
      "epoch": 0.37558896118465335,
      "grad_norm": 1.5855411291122437,
      "learning_rate": 0.00048822577877175976,
      "loss": 0.3109,
      "step": 1674
    },
    {
      "epoch": 0.37558896118465335,
      "gripper_loss": 0.08056640625,
      "loss": 0.06982421875,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.44921875,
      "step": 1674
    },
    {
      "epoch": 0.3758133273502356,
      "grad_norm": 0.9133577346801758,
      "learning_rate": 0.0004882074055603578,
      "loss": 0.1085,
      "step": 1675
    },
    {
      "epoch": 0.3758133273502356,
      "gripper_loss": 0.265625,
      "loss": 0.1513671875,
      "pos_loss": 0.498046875,
      "rot_loss": 0.453125,
      "step": 1675
    },
    {
      "epoch": 0.37603769351581784,
      "grad_norm": 1.7896500825881958,
      "learning_rate": 0.00048818901837105287,
      "loss": 0.1594,
      "step": 1676
    },
    {
      "epoch": 0.37603769351581784,
      "gripper_loss": 0.83984375,
      "loss": 0.08349609375,
      "pos_loss": 0.26953125,
      "rot_loss": 0.1357421875,
      "step": 1676
    },
    {
      "epoch": 0.37626205968140003,
      "grad_norm": 1.1923222541809082,
      "learning_rate": 0.00048817061720492395,
      "loss": 0.114,
      "step": 1677
    },
    {
      "epoch": 0.37626205968140003,
      "gripper_loss": 0.490234375,
      "loss": 0.062255859375,
      "pos_loss": 0.119140625,
      "rot_loss": 0.232421875,
      "step": 1677
    },
    {
      "epoch": 0.3764864258469823,
      "grad_norm": 0.8928508162498474,
      "learning_rate": 0.0004881522020630507,
      "loss": 0.1505,
      "step": 1678
    },
    {
      "epoch": 0.3764864258469823,
      "gripper_loss": 0.1142578125,
      "loss": 0.29296875,
      "pos_loss": 1.4140625,
      "rot_loss": 1.390625,
      "step": 1678
    },
    {
      "epoch": 0.3767107920125645,
      "grad_norm": 0.8702234029769897,
      "learning_rate": 0.00048813377294651384,
      "loss": 0.1553,
      "step": 1679
    },
    {
      "epoch": 0.3767107920125645,
      "gripper_loss": 0.73046875,
      "loss": 0.11376953125,
      "pos_loss": 0.5625,
      "rot_loss": 0.2060546875,
      "step": 1679
    },
    {
      "epoch": 0.3769351581781467,
      "grad_norm": 0.671222448348999,
      "learning_rate": 0.0004881153298563947,
      "loss": 0.124,
      "step": 1680
    },
    {
      "epoch": 0.3769351581781467,
      "gripper_loss": 0.98828125,
      "loss": 0.34765625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.7421875,
      "step": 1680
    },
    {
      "epoch": 0.37715952434372896,
      "grad_norm": 2.212164878845215,
      "learning_rate": 0.00048809687279377555,
      "loss": 0.3872,
      "step": 1681
    },
    {
      "epoch": 0.37715952434372896,
      "gripper_loss": 0.50390625,
      "loss": 0.25,
      "pos_loss": 0.578125,
      "rot_loss": 0.75,
      "step": 1681
    },
    {
      "epoch": 0.3773838905093112,
      "grad_norm": 1.995225191116333,
      "learning_rate": 0.00048807840175973943,
      "loss": 0.2157,
      "step": 1682
    },
    {
      "epoch": 0.3773838905093112,
      "gripper_loss": 0.046142578125,
      "loss": 0.126953125,
      "pos_loss": 0.73828125,
      "rot_loss": 0.375,
      "step": 1682
    },
    {
      "epoch": 0.37760825667489345,
      "grad_norm": 1.3201524019241333,
      "learning_rate": 0.0004880599167553702,
      "loss": 0.1776,
      "step": 1683
    },
    {
      "epoch": 0.37760825667489345,
      "gripper_loss": 0.26953125,
      "loss": 0.2255859375,
      "pos_loss": 1.0,
      "rot_loss": 0.61328125,
      "step": 1683
    },
    {
      "epoch": 0.37783262284047564,
      "grad_norm": 1.56690514087677,
      "learning_rate": 0.0004880414177817526,
      "loss": 0.1678,
      "step": 1684
    },
    {
      "epoch": 0.37783262284047564,
      "gripper_loss": 1.1796875,
      "loss": 0.3984375,
      "pos_loss": 1.15625,
      "rot_loss": 0.55859375,
      "step": 1684
    },
    {
      "epoch": 0.3780569890060579,
      "grad_norm": 2.180306911468506,
      "learning_rate": 0.000488022904839972,
      "loss": 0.2961,
      "step": 1685
    },
    {
      "epoch": 0.3780569890060579,
      "gripper_loss": 0.466796875,
      "loss": 0.0947265625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.1533203125,
      "step": 1685
    },
    {
      "epoch": 0.37828135517164013,
      "grad_norm": 0.9679666757583618,
      "learning_rate": 0.00048800437793111495,
      "loss": 0.1668,
      "step": 1686
    },
    {
      "epoch": 0.37828135517164013,
      "gripper_loss": 0.2314453125,
      "loss": 0.1806640625,
      "pos_loss": 0.72265625,
      "rot_loss": 0.5859375,
      "step": 1686
    },
    {
      "epoch": 0.3785057213372223,
      "grad_norm": 1.6134227514266968,
      "learning_rate": 0.0004879858370562685,
      "loss": 0.1946,
      "step": 1687
    },
    {
      "epoch": 0.3785057213372223,
      "gripper_loss": 0.201171875,
      "loss": 0.1767578125,
      "pos_loss": 0.671875,
      "rot_loss": 0.3828125,
      "step": 1687
    },
    {
      "epoch": 0.37873008750280457,
      "grad_norm": 1.4274271726608276,
      "learning_rate": 0.0004879672822165205,
      "loss": 0.1833,
      "step": 1688
    },
    {
      "epoch": 0.37873008750280457,
      "gripper_loss": 0.337890625,
      "loss": 0.1845703125,
      "pos_loss": 0.8125,
      "rot_loss": 0.828125,
      "step": 1688
    },
    {
      "epoch": 0.3789544536683868,
      "grad_norm": 1.0529980659484863,
      "learning_rate": 0.00048794871341296,
      "loss": 0.1976,
      "step": 1689
    },
    {
      "epoch": 0.3789544536683868,
      "gripper_loss": 0.0517578125,
      "loss": 0.06689453125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.19921875,
      "step": 1689
    },
    {
      "epoch": 0.37917881983396906,
      "grad_norm": 1.1094342470169067,
      "learning_rate": 0.00048793013064667634,
      "loss": 0.1603,
      "step": 1690
    },
    {
      "epoch": 0.37917881983396906,
      "gripper_loss": 0.90234375,
      "loss": 0.16015625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.25,
      "step": 1690
    },
    {
      "epoch": 0.37940318599955125,
      "grad_norm": 0.9155102968215942,
      "learning_rate": 0.0004879115339187601,
      "loss": 0.1383,
      "step": 1691
    },
    {
      "epoch": 0.37940318599955125,
      "gripper_loss": 0.5,
      "loss": 0.08935546875,
      "pos_loss": 0.4296875,
      "rot_loss": 0.2138671875,
      "step": 1691
    },
    {
      "epoch": 0.3796275521651335,
      "grad_norm": 0.9212620258331299,
      "learning_rate": 0.0004878929232303025,
      "loss": 0.1251,
      "step": 1692
    },
    {
      "epoch": 0.3796275521651335,
      "gripper_loss": 0.1220703125,
      "loss": 0.1044921875,
      "pos_loss": 0.349609375,
      "rot_loss": 0.29296875,
      "step": 1692
    },
    {
      "epoch": 0.37985191833071574,
      "grad_norm": 1.3848549127578735,
      "learning_rate": 0.0004878742985823956,
      "loss": 0.1537,
      "step": 1693
    },
    {
      "epoch": 0.37985191833071574,
      "gripper_loss": 0.051513671875,
      "loss": 0.298828125,
      "pos_loss": 2.125,
      "rot_loss": 0.92578125,
      "step": 1693
    },
    {
      "epoch": 0.38007628449629793,
      "grad_norm": 0.9242629408836365,
      "learning_rate": 0.0004878556599761322,
      "loss": 0.1262,
      "step": 1694
    },
    {
      "epoch": 0.38007628449629793,
      "gripper_loss": 1.1171875,
      "loss": 0.07080078125,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.158203125,
      "step": 1694
    },
    {
      "epoch": 0.3803006506618802,
      "grad_norm": 0.7750484347343445,
      "learning_rate": 0.00048783700741260625,
      "loss": 0.1654,
      "step": 1695
    },
    {
      "epoch": 0.3803006506618802,
      "gripper_loss": 0.08349609375,
      "loss": 0.11865234375,
      "pos_loss": 0.875,
      "rot_loss": 0.1826171875,
      "step": 1695
    },
    {
      "epoch": 0.3805250168274624,
      "grad_norm": 1.1025266647338867,
      "learning_rate": 0.000487818340892912,
      "loss": 0.1785,
      "step": 1696
    },
    {
      "epoch": 0.3805250168274624,
      "gripper_loss": 0.10205078125,
      "loss": 0.11767578125,
      "pos_loss": 0.63671875,
      "rot_loss": 0.451171875,
      "step": 1696
    },
    {
      "epoch": 0.38074938299304467,
      "grad_norm": 0.8255274295806885,
      "learning_rate": 0.00048779966041814494,
      "loss": 0.1096,
      "step": 1697
    },
    {
      "epoch": 0.38074938299304467,
      "gripper_loss": 0.75,
      "loss": 0.455078125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.609375,
      "step": 1697
    },
    {
      "epoch": 0.38097374915862686,
      "grad_norm": 2.4149675369262695,
      "learning_rate": 0.0004877809659894012,
      "loss": 0.5183,
      "step": 1698
    },
    {
      "epoch": 0.38097374915862686,
      "gripper_loss": 0.037109375,
      "loss": 0.2041015625,
      "pos_loss": 1.8203125,
      "rot_loss": 0.1923828125,
      "step": 1698
    },
    {
      "epoch": 0.3811981153242091,
      "grad_norm": 0.7541994452476501,
      "learning_rate": 0.00048776225760777776,
      "loss": 0.1189,
      "step": 1699
    },
    {
      "epoch": 0.3811981153242091,
      "gripper_loss": 0.1064453125,
      "loss": 0.1826171875,
      "pos_loss": 1.34375,
      "rot_loss": 0.1357421875,
      "step": 1699
    },
    {
      "epoch": 0.38142248148979135,
      "grad_norm": 1.2835501432418823,
      "learning_rate": 0.0004877435352743724,
      "loss": 0.2257,
      "step": 1700
    },
    {
      "epoch": 0.38142248148979135,
      "gripper_loss": 0.27734375,
      "loss": 0.099609375,
      "pos_loss": 0.23046875,
      "rot_loss": 0.423828125,
      "step": 1700
    },
    {
      "epoch": 0.38164684765537354,
      "grad_norm": 1.118571400642395,
      "learning_rate": 0.00048772479899028375,
      "loss": 0.1862,
      "step": 1701
    },
    {
      "epoch": 0.38164684765537354,
      "gripper_loss": 0.095703125,
      "loss": 0.357421875,
      "pos_loss": 3.359375,
      "rot_loss": 0.255859375,
      "step": 1701
    },
    {
      "epoch": 0.3818712138209558,
      "grad_norm": 1.10805344581604,
      "learning_rate": 0.0004877060487566113,
      "loss": 0.248,
      "step": 1702
    },
    {
      "epoch": 0.3818712138209558,
      "gripper_loss": 0.2490234375,
      "loss": 0.1630859375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.83203125,
      "step": 1702
    },
    {
      "epoch": 0.38209557998653804,
      "grad_norm": 1.0899381637573242,
      "learning_rate": 0.0004876872845744552,
      "loss": 0.1556,
      "step": 1703
    },
    {
      "epoch": 0.38209557998653804,
      "gripper_loss": 0.337890625,
      "loss": 0.322265625,
      "pos_loss": 1.6484375,
      "rot_loss": 0.44921875,
      "step": 1703
    },
    {
      "epoch": 0.3823199461521203,
      "grad_norm": 1.7763817310333252,
      "learning_rate": 0.0004876685064449167,
      "loss": 0.2809,
      "step": 1704
    },
    {
      "epoch": 0.3823199461521203,
      "gripper_loss": 0.58203125,
      "loss": 0.09423828125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.07861328125,
      "step": 1704
    },
    {
      "epoch": 0.3825443123177025,
      "grad_norm": 1.06806218624115,
      "learning_rate": 0.00048764971436909745,
      "loss": 0.1846,
      "step": 1705
    },
    {
      "epoch": 0.3825443123177025,
      "gripper_loss": 0.330078125,
      "loss": 0.173828125,
      "pos_loss": 0.91015625,
      "rot_loss": 0.345703125,
      "step": 1705
    },
    {
      "epoch": 0.3827686784832847,
      "grad_norm": 1.3942118883132935,
      "learning_rate": 0.00048763090834810037,
      "loss": 0.1644,
      "step": 1706
    },
    {
      "epoch": 0.3827686784832847,
      "gripper_loss": 0.6953125,
      "loss": 0.2890625,
      "pos_loss": 1.2578125,
      "rot_loss": 1.34375,
      "step": 1706
    },
    {
      "epoch": 0.38299304464886696,
      "grad_norm": 1.1094342470169067,
      "learning_rate": 0.0004876120883830288,
      "loss": 0.201,
      "step": 1707
    },
    {
      "epoch": 0.38299304464886696,
      "gripper_loss": 0.1923828125,
      "loss": 0.275390625,
      "pos_loss": 1.5546875,
      "rot_loss": 1.03125,
      "step": 1707
    },
    {
      "epoch": 0.38321741081444916,
      "grad_norm": 1.0904203653335571,
      "learning_rate": 0.00048759325447498734,
      "loss": 0.1569,
      "step": 1708
    },
    {
      "epoch": 0.38321741081444916,
      "gripper_loss": 0.291015625,
      "loss": 0.2275390625,
      "pos_loss": 1.3671875,
      "rot_loss": 0.5,
      "step": 1708
    },
    {
      "epoch": 0.3834417769800314,
      "grad_norm": 1.2096912860870361,
      "learning_rate": 0.0004875744066250809,
      "loss": 0.1946,
      "step": 1709
    },
    {
      "epoch": 0.3834417769800314,
      "gripper_loss": 0.376953125,
      "loss": 0.05322265625,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.1220703125,
      "step": 1709
    },
    {
      "epoch": 0.38366614314561365,
      "grad_norm": 1.1101372241973877,
      "learning_rate": 0.0004875555448344156,
      "loss": 0.1454,
      "step": 1710
    },
    {
      "epoch": 0.38366614314561365,
      "gripper_loss": 0.0966796875,
      "loss": 0.11181640625,
      "pos_loss": 0.3828125,
      "rot_loss": 0.55078125,
      "step": 1710
    },
    {
      "epoch": 0.3838905093111959,
      "grad_norm": 1.0042142868041992,
      "learning_rate": 0.0004875366691040982,
      "loss": 0.1342,
      "step": 1711
    },
    {
      "epoch": 0.3838905093111959,
      "gripper_loss": 0.7109375,
      "loss": 0.10107421875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.08837890625,
      "step": 1711
    },
    {
      "epoch": 0.3841148754767781,
      "grad_norm": 1.0616214275360107,
      "learning_rate": 0.0004875177794352363,
      "loss": 0.1536,
      "step": 1712
    },
    {
      "epoch": 0.3841148754767781,
      "gripper_loss": 0.228515625,
      "loss": 0.1796875,
      "pos_loss": 1.0,
      "rot_loss": 0.6796875,
      "step": 1712
    },
    {
      "epoch": 0.38433924164236033,
      "grad_norm": 0.9485352039337158,
      "learning_rate": 0.0004874988758289385,
      "loss": 0.1682,
      "step": 1713
    },
    {
      "epoch": 0.38433924164236033,
      "gripper_loss": 0.1572265625,
      "loss": 0.1669921875,
      "pos_loss": 0.361328125,
      "rot_loss": 1.0,
      "step": 1713
    },
    {
      "epoch": 0.3845636078079426,
      "grad_norm": 1.423290729522705,
      "learning_rate": 0.0004874799582863138,
      "loss": 0.1824,
      "step": 1714
    },
    {
      "epoch": 0.3845636078079426,
      "gripper_loss": 0.34765625,
      "loss": 0.2333984375,
      "pos_loss": 1.7734375,
      "rot_loss": 0.298828125,
      "step": 1714
    },
    {
      "epoch": 0.38478797397352477,
      "grad_norm": 1.0420362949371338,
      "learning_rate": 0.00048746102680847245,
      "loss": 0.186,
      "step": 1715
    },
    {
      "epoch": 0.38478797397352477,
      "gripper_loss": 0.08349609375,
      "loss": 0.197265625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.484375,
      "step": 1715
    },
    {
      "epoch": 0.385012340139107,
      "grad_norm": 1.9287916421890259,
      "learning_rate": 0.00048744208139652525,
      "loss": 0.2677,
      "step": 1716
    },
    {
      "epoch": 0.385012340139107,
      "gripper_loss": 0.98046875,
      "loss": 0.11669921875,
      "pos_loss": 0.59375,
      "rot_loss": 0.05078125,
      "step": 1716
    },
    {
      "epoch": 0.38523670630468926,
      "grad_norm": 1.1030148267745972,
      "learning_rate": 0.00048742312205158397,
      "loss": 0.1426,
      "step": 1717
    },
    {
      "epoch": 0.38523670630468926,
      "gripper_loss": 0.177734375,
      "loss": 0.0478515625,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.2109375,
      "step": 1717
    },
    {
      "epoch": 0.3854610724702715,
      "grad_norm": 0.9093645215034485,
      "learning_rate": 0.0004874041487747611,
      "loss": 0.1219,
      "step": 1718
    },
    {
      "epoch": 0.3854610724702715,
      "gripper_loss": 0.3984375,
      "loss": 0.052734375,
      "pos_loss": 0.205078125,
      "rot_loss": 0.080078125,
      "step": 1718
    },
    {
      "epoch": 0.3856854386358537,
      "grad_norm": 0.7056323885917664,
      "learning_rate": 0.0004873851615671699,
      "loss": 0.136,
      "step": 1719
    },
    {
      "epoch": 0.3856854386358537,
      "gripper_loss": 0.1845703125,
      "loss": 0.259765625,
      "pos_loss": 1.4140625,
      "rot_loss": 0.94921875,
      "step": 1719
    },
    {
      "epoch": 0.38590980480143594,
      "grad_norm": 1.1413943767547607,
      "learning_rate": 0.00048736616042992475,
      "loss": 0.2039,
      "step": 1720
    },
    {
      "epoch": 0.38590980480143594,
      "gripper_loss": 0.109375,
      "loss": 0.21484375,
      "pos_loss": 1.3046875,
      "rot_loss": 0.5859375,
      "step": 1720
    },
    {
      "epoch": 0.3861341709670182,
      "grad_norm": 1.1102348566055298,
      "learning_rate": 0.0004873471453641405,
      "loss": 0.1787,
      "step": 1721
    },
    {
      "epoch": 0.3861341709670182,
      "gripper_loss": 0.038330078125,
      "loss": 0.1748046875,
      "pos_loss": 1.375,
      "rot_loss": 0.3203125,
      "step": 1721
    },
    {
      "epoch": 0.3863585371326004,
      "grad_norm": 0.8635488152503967,
      "learning_rate": 0.00048732811637093294,
      "loss": 0.1716,
      "step": 1722
    },
    {
      "epoch": 0.3863585371326004,
      "gripper_loss": 0.5078125,
      "loss": 0.0751953125,
      "pos_loss": 0.185546875,
      "rot_loss": 0.119140625,
      "step": 1722
    },
    {
      "epoch": 0.3865829032981826,
      "grad_norm": 1.0246706008911133,
      "learning_rate": 0.0004873090734514187,
      "loss": 0.151,
      "step": 1723
    },
    {
      "epoch": 0.3865829032981826,
      "gripper_loss": 0.05029296875,
      "loss": 0.1416015625,
      "pos_loss": 1.1015625,
      "rot_loss": 0.2001953125,
      "step": 1723
    },
    {
      "epoch": 0.38680726946376487,
      "grad_norm": 1.3654046058654785,
      "learning_rate": 0.0004872900166067151,
      "loss": 0.1772,
      "step": 1724
    },
    {
      "epoch": 0.38680726946376487,
      "gripper_loss": 0.076171875,
      "loss": 0.1865234375,
      "pos_loss": 0.52734375,
      "rot_loss": 1.171875,
      "step": 1724
    },
    {
      "epoch": 0.3870316356293471,
      "grad_norm": 0.9468522071838379,
      "learning_rate": 0.0004872709458379406,
      "loss": 0.1537,
      "step": 1725
    },
    {
      "epoch": 0.3870316356293471,
      "gripper_loss": 0.484375,
      "loss": 0.515625,
      "pos_loss": 0.61328125,
      "rot_loss": 1.140625,
      "step": 1725
    },
    {
      "epoch": 0.3872560017949293,
      "grad_norm": 2.1627063751220703,
      "learning_rate": 0.00048725186114621414,
      "loss": 0.5378,
      "step": 1726
    },
    {
      "epoch": 0.3872560017949293,
      "gripper_loss": 0.0252685546875,
      "loss": 0.21875,
      "pos_loss": 1.1796875,
      "rot_loss": 0.98828125,
      "step": 1726
    },
    {
      "epoch": 0.38748036796051155,
      "grad_norm": 0.8690005540847778,
      "learning_rate": 0.0004872327625326556,
      "loss": 0.2293,
      "step": 1727
    },
    {
      "epoch": 0.38748036796051155,
      "gripper_loss": 0.349609375,
      "loss": 0.1796875,
      "pos_loss": 1.140625,
      "rot_loss": 0.435546875,
      "step": 1727
    },
    {
      "epoch": 0.3877047341260938,
      "grad_norm": 1.257930040359497,
      "learning_rate": 0.0004872136499983857,
      "loss": 0.1526,
      "step": 1728
    },
    {
      "epoch": 0.3877047341260938,
      "gripper_loss": 0.1904296875,
      "loss": 0.1875,
      "pos_loss": 1.5234375,
      "rot_loss": 0.13671875,
      "step": 1728
    },
    {
      "epoch": 0.387929100291676,
      "grad_norm": 0.979303240776062,
      "learning_rate": 0.00048719452354452586,
      "loss": 0.1683,
      "step": 1729
    },
    {
      "epoch": 0.387929100291676,
      "gripper_loss": 0.051513671875,
      "loss": 0.1650390625,
      "pos_loss": 0.8359375,
      "rot_loss": 0.65234375,
      "step": 1729
    },
    {
      "epoch": 0.38815346645725823,
      "grad_norm": 1.2808061838150024,
      "learning_rate": 0.00048717538317219857,
      "loss": 0.1987,
      "step": 1730
    },
    {
      "epoch": 0.38815346645725823,
      "gripper_loss": 0.8984375,
      "loss": 0.60546875,
      "pos_loss": 1.578125,
      "rot_loss": 0.85546875,
      "step": 1730
    },
    {
      "epoch": 0.3883778326228405,
      "grad_norm": 1.6452487707138062,
      "learning_rate": 0.0004871562288825269,
      "loss": 0.5312,
      "step": 1731
    },
    {
      "epoch": 0.3883778326228405,
      "gripper_loss": 0.65234375,
      "loss": 0.08984375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.28515625,
      "step": 1731
    },
    {
      "epoch": 0.3886021987884227,
      "grad_norm": 0.9162739515304565,
      "learning_rate": 0.0004871370606766349,
      "loss": 0.1412,
      "step": 1732
    },
    {
      "epoch": 0.3886021987884227,
      "gripper_loss": 0.4375,
      "loss": 0.3515625,
      "pos_loss": 0.796875,
      "rot_loss": 0.609375,
      "step": 1732
    },
    {
      "epoch": 0.3888265649540049,
      "grad_norm": 2.4894556999206543,
      "learning_rate": 0.00048711787855564714,
      "loss": 0.3828,
      "step": 1733
    },
    {
      "epoch": 0.3888265649540049,
      "gripper_loss": 0.12353515625,
      "loss": 0.1552734375,
      "pos_loss": 0.90234375,
      "rot_loss": 0.30078125,
      "step": 1733
    },
    {
      "epoch": 0.38905093111958716,
      "grad_norm": 1.5809099674224854,
      "learning_rate": 0.0004870986825206894,
      "loss": 0.2177,
      "step": 1734
    },
    {
      "epoch": 0.38905093111958716,
      "gripper_loss": 1.1328125,
      "loss": 0.140625,
      "pos_loss": 0.74609375,
      "rot_loss": 0.08642578125,
      "step": 1734
    },
    {
      "epoch": 0.3892752972851694,
      "grad_norm": 1.6807821989059448,
      "learning_rate": 0.0004870794725728881,
      "loss": 0.1672,
      "step": 1735
    },
    {
      "epoch": 0.3892752972851694,
      "gripper_loss": 0.2890625,
      "loss": 0.2158203125,
      "pos_loss": 1.515625,
      "rot_loss": 0.439453125,
      "step": 1735
    },
    {
      "epoch": 0.38949966345075165,
      "grad_norm": 1.1346487998962402,
      "learning_rate": 0.00048706024871337036,
      "loss": 0.1568,
      "step": 1736
    },
    {
      "epoch": 0.38949966345075165,
      "gripper_loss": 0.8671875,
      "loss": 0.080078125,
      "pos_loss": 0.1640625,
      "rot_loss": 0.1845703125,
      "step": 1736
    },
    {
      "epoch": 0.38972402961633384,
      "grad_norm": 0.9508162140846252,
      "learning_rate": 0.00048704101094326427,
      "loss": 0.1716,
      "step": 1737
    },
    {
      "epoch": 0.38972402961633384,
      "gripper_loss": 0.216796875,
      "loss": 0.103515625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.240234375,
      "step": 1737
    },
    {
      "epoch": 0.3899483957819161,
      "grad_norm": 0.940566897392273,
      "learning_rate": 0.00048702175926369876,
      "loss": 0.1381,
      "step": 1738
    },
    {
      "epoch": 0.3899483957819161,
      "gripper_loss": 0.078125,
      "loss": 0.2490234375,
      "pos_loss": 2.375,
      "rot_loss": 0.138671875,
      "step": 1738
    },
    {
      "epoch": 0.39017276194749834,
      "grad_norm": 0.9792038798332214,
      "learning_rate": 0.0004870024936758034,
      "loss": 0.1603,
      "step": 1739
    },
    {
      "epoch": 0.39017276194749834,
      "gripper_loss": 0.359375,
      "loss": 0.058349609375,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.205078125,
      "step": 1739
    },
    {
      "epoch": 0.3903971281130805,
      "grad_norm": 1.0434266328811646,
      "learning_rate": 0.0004869832141807088,
      "loss": 0.138,
      "step": 1740
    },
    {
      "epoch": 0.3903971281130805,
      "gripper_loss": 0.09033203125,
      "loss": 0.1748046875,
      "pos_loss": 1.0625,
      "rot_loss": 0.6171875,
      "step": 1740
    },
    {
      "epoch": 0.3906214942786628,
      "grad_norm": 0.9334695935249329,
      "learning_rate": 0.0004869639207795462,
      "loss": 0.1545,
      "step": 1741
    },
    {
      "epoch": 0.3906214942786628,
      "gripper_loss": 0.93359375,
      "loss": 0.10791015625,
      "pos_loss": 0.39453125,
      "rot_loss": 0.2275390625,
      "step": 1741
    },
    {
      "epoch": 0.390845860444245,
      "grad_norm": 1.0636796951293945,
      "learning_rate": 0.0004869446134734477,
      "loss": 0.1359,
      "step": 1742
    },
    {
      "epoch": 0.390845860444245,
      "gripper_loss": 1.1640625,
      "loss": 0.15234375,
      "pos_loss": 0.8671875,
      "rot_loss": 0.1767578125,
      "step": 1742
    },
    {
      "epoch": 0.39107022660982727,
      "grad_norm": 1.1020616292953491,
      "learning_rate": 0.0004869252922635463,
      "loss": 0.1357,
      "step": 1743
    },
    {
      "epoch": 0.39107022660982727,
      "gripper_loss": 0.404296875,
      "loss": 0.07275390625,
      "pos_loss": 0.375,
      "rot_loss": 0.12890625,
      "step": 1743
    },
    {
      "epoch": 0.39129459277540946,
      "grad_norm": 1.0430852174758911,
      "learning_rate": 0.0004869059571509758,
      "loss": 0.1577,
      "step": 1744
    },
    {
      "epoch": 0.39129459277540946,
      "gripper_loss": 0.65625,
      "loss": 0.4296875,
      "pos_loss": 0.7265625,
      "rot_loss": 3.4375,
      "step": 1744
    },
    {
      "epoch": 0.3915189589409917,
      "grad_norm": 2.7727198600769043,
      "learning_rate": 0.0004868866081368707,
      "loss": 0.2811,
      "step": 1745
    },
    {
      "epoch": 0.3915189589409917,
      "gripper_loss": 0.23828125,
      "loss": 0.337890625,
      "pos_loss": 1.2421875,
      "rot_loss": 1.453125,
      "step": 1745
    },
    {
      "epoch": 0.39174332510657395,
      "grad_norm": 1.4277945756912231,
      "learning_rate": 0.0004868672452223664,
      "loss": 0.1868,
      "step": 1746
    },
    {
      "epoch": 0.39174332510657395,
      "gripper_loss": 0.10302734375,
      "loss": 0.279296875,
      "pos_loss": 1.5859375,
      "rot_loss": 1.1328125,
      "step": 1746
    },
    {
      "epoch": 0.39196769127215614,
      "grad_norm": 1.5347133874893188,
      "learning_rate": 0.00048684786840859915,
      "loss": 0.2477,
      "step": 1747
    },
    {
      "epoch": 0.39196769127215614,
      "gripper_loss": 1.96875,
      "loss": 0.1181640625,
      "pos_loss": 0.234375,
      "rot_loss": 0.05419921875,
      "step": 1747
    },
    {
      "epoch": 0.3921920574377384,
      "grad_norm": 1.3518823385238647,
      "learning_rate": 0.0004868284776967059,
      "loss": 0.1608,
      "step": 1748
    },
    {
      "epoch": 0.3921920574377384,
      "gripper_loss": 1.0859375,
      "loss": 0.115234375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.169921875,
      "step": 1748
    },
    {
      "epoch": 0.39241642360332063,
      "grad_norm": 1.0892294645309448,
      "learning_rate": 0.0004868090730878246,
      "loss": 0.1281,
      "step": 1749
    },
    {
      "epoch": 0.39241642360332063,
      "gripper_loss": 0.58984375,
      "loss": 0.0859375,
      "pos_loss": 0.251953125,
      "rot_loss": 0.1845703125,
      "step": 1749
    },
    {
      "epoch": 0.3926407897689029,
      "grad_norm": 1.0180519819259644,
      "learning_rate": 0.0004867896545830938,
      "loss": 0.1606,
      "step": 1750
    },
    {
      "epoch": 0.3926407897689029,
      "gripper_loss": 1.3828125,
      "loss": 0.1953125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.69921875,
      "step": 1750
    },
    {
      "epoch": 0.39286515593448507,
      "grad_norm": 1.2380096912384033,
      "learning_rate": 0.00048677022218365296,
      "loss": 0.16,
      "step": 1751
    },
    {
      "epoch": 0.39286515593448507,
      "gripper_loss": 0.2060546875,
      "loss": 0.216796875,
      "pos_loss": 1.0859375,
      "rot_loss": 0.734375,
      "step": 1751
    },
    {
      "epoch": 0.3930895221000673,
      "grad_norm": 0.9984578490257263,
      "learning_rate": 0.0004867507758906424,
      "loss": 0.1418,
      "step": 1752
    },
    {
      "epoch": 0.3930895221000673,
      "gripper_loss": 0.380859375,
      "loss": 0.1845703125,
      "pos_loss": 1.203125,
      "rot_loss": 0.263671875,
      "step": 1752
    },
    {
      "epoch": 0.39331388826564956,
      "grad_norm": 1.4399431943893433,
      "learning_rate": 0.00048673131570520337,
      "loss": 0.1483,
      "step": 1753
    },
    {
      "epoch": 0.39331388826564956,
      "gripper_loss": 0.96484375,
      "loss": 0.126953125,
      "pos_loss": 0.447265625,
      "rot_loss": 0.400390625,
      "step": 1753
    },
    {
      "epoch": 0.39353825443123175,
      "grad_norm": 0.6898468732833862,
      "learning_rate": 0.00048671184162847755,
      "loss": 0.0887,
      "step": 1754
    },
    {
      "epoch": 0.39353825443123175,
      "gripper_loss": 0.7109375,
      "loss": 0.185546875,
      "pos_loss": 0.345703125,
      "rot_loss": 1.2265625,
      "step": 1754
    },
    {
      "epoch": 0.393762620596814,
      "grad_norm": 0.9014443159103394,
      "learning_rate": 0.00048669235366160775,
      "loss": 0.1359,
      "step": 1755
    },
    {
      "epoch": 0.393762620596814,
      "gripper_loss": 0.099609375,
      "loss": 0.359375,
      "pos_loss": 0.6328125,
      "rot_loss": 2.875,
      "step": 1755
    },
    {
      "epoch": 0.39398698676239624,
      "grad_norm": 1.0716556310653687,
      "learning_rate": 0.00048667285180573755,
      "loss": 0.1598,
      "step": 1756
    },
    {
      "epoch": 0.39398698676239624,
      "gripper_loss": 0.0281982421875,
      "loss": 0.158203125,
      "pos_loss": 1.3515625,
      "rot_loss": 0.177734375,
      "step": 1756
    },
    {
      "epoch": 0.3942113529279785,
      "grad_norm": 0.8542199730873108,
      "learning_rate": 0.0004866533360620113,
      "loss": 0.1411,
      "step": 1757
    },
    {
      "epoch": 0.3942113529279785,
      "gripper_loss": 0.498046875,
      "loss": 0.12060546875,
      "pos_loss": 0.609375,
      "rot_loss": 0.404296875,
      "step": 1757
    },
    {
      "epoch": 0.3944357190935607,
      "grad_norm": 0.7211410403251648,
      "learning_rate": 0.0004866338064315742,
      "loss": 0.1697,
      "step": 1758
    },
    {
      "epoch": 0.3944357190935607,
      "gripper_loss": 0.1103515625,
      "loss": 0.1953125,
      "pos_loss": 1.3203125,
      "rot_loss": 0.328125,
      "step": 1758
    },
    {
      "epoch": 0.3946600852591429,
      "grad_norm": 1.2229893207550049,
      "learning_rate": 0.0004866142629155721,
      "loss": 0.1691,
      "step": 1759
    },
    {
      "epoch": 0.3946600852591429,
      "gripper_loss": 0.06396484375,
      "loss": 0.234375,
      "pos_loss": 1.5859375,
      "rot_loss": 0.7578125,
      "step": 1759
    },
    {
      "epoch": 0.39488445142472517,
      "grad_norm": 0.7490922212600708,
      "learning_rate": 0.00048659470551515197,
      "loss": 0.1897,
      "step": 1760
    },
    {
      "epoch": 0.39488445142472517,
      "gripper_loss": 0.0595703125,
      "loss": 0.28515625,
      "pos_loss": 1.203125,
      "rot_loss": 1.6875,
      "step": 1760
    },
    {
      "epoch": 0.39510881759030736,
      "grad_norm": 0.9850525259971619,
      "learning_rate": 0.0004865751342314614,
      "loss": 0.1852,
      "step": 1761
    },
    {
      "epoch": 0.39510881759030736,
      "gripper_loss": 0.23828125,
      "loss": 0.087890625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.43359375,
      "step": 1761
    },
    {
      "epoch": 0.3953331837558896,
      "grad_norm": 0.914031982421875,
      "learning_rate": 0.00048655554906564875,
      "loss": 0.137,
      "step": 1762
    },
    {
      "epoch": 0.3953331837558896,
      "gripper_loss": 0.0546875,
      "loss": 0.10107421875,
      "pos_loss": 0.67578125,
      "rot_loss": 0.21484375,
      "step": 1762
    },
    {
      "epoch": 0.39555754992147185,
      "grad_norm": 0.9756796360015869,
      "learning_rate": 0.0004865359500188633,
      "loss": 0.1598,
      "step": 1763
    },
    {
      "epoch": 0.39555754992147185,
      "gripper_loss": 0.640625,
      "loss": 0.10693359375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.310546875,
      "step": 1763
    },
    {
      "epoch": 0.3957819160870541,
      "grad_norm": 1.0397124290466309,
      "learning_rate": 0.0004865163370922552,
      "loss": 0.1989,
      "step": 1764
    },
    {
      "epoch": 0.3957819160870541,
      "gripper_loss": 0.0220947265625,
      "loss": 0.1162109375,
      "pos_loss": 0.474609375,
      "rot_loss": 0.63671875,
      "step": 1764
    },
    {
      "epoch": 0.3960062822526363,
      "grad_norm": 0.7804343700408936,
      "learning_rate": 0.0004864967102869752,
      "loss": 0.1532,
      "step": 1765
    },
    {
      "epoch": 0.3960062822526363,
      "gripper_loss": 1.25,
      "loss": 0.2890625,
      "pos_loss": 2.015625,
      "rot_loss": 0.43359375,
      "step": 1765
    },
    {
      "epoch": 0.39623064841821853,
      "grad_norm": 0.7303752899169922,
      "learning_rate": 0.00048647706960417504,
      "loss": 0.1628,
      "step": 1766
    },
    {
      "epoch": 0.39623064841821853,
      "gripper_loss": 0.263671875,
      "loss": 0.263671875,
      "pos_loss": 1.5625,
      "rot_loss": 0.85546875,
      "step": 1766
    },
    {
      "epoch": 0.3964550145838008,
      "grad_norm": 0.7927380204200745,
      "learning_rate": 0.00048645741504500724,
      "loss": 0.1669,
      "step": 1767
    },
    {
      "epoch": 0.3964550145838008,
      "gripper_loss": 0.3359375,
      "loss": 0.19921875,
      "pos_loss": 0.7265625,
      "rot_loss": 0.578125,
      "step": 1767
    },
    {
      "epoch": 0.39667938074938297,
      "grad_norm": 1.214133620262146,
      "learning_rate": 0.0004864377466106251,
      "loss": 0.2033,
      "step": 1768
    },
    {
      "epoch": 0.39667938074938297,
      "gripper_loss": 0.150390625,
      "loss": 0.3046875,
      "pos_loss": 1.734375,
      "rot_loss": 1.234375,
      "step": 1768
    },
    {
      "epoch": 0.3969037469149652,
      "grad_norm": 1.0214544534683228,
      "learning_rate": 0.0004864180643021828,
      "loss": 0.1553,
      "step": 1769
    },
    {
      "epoch": 0.3969037469149652,
      "gripper_loss": 0.4296875,
      "loss": 0.115234375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.287109375,
      "step": 1769
    },
    {
      "epoch": 0.39712811308054746,
      "grad_norm": 1.2654677629470825,
      "learning_rate": 0.0004863983681208352,
      "loss": 0.1345,
      "step": 1770
    },
    {
      "epoch": 0.39712811308054746,
      "gripper_loss": 2.03125,
      "loss": 0.1708984375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.1865234375,
      "step": 1770
    },
    {
      "epoch": 0.3973524792461297,
      "grad_norm": 1.37656569480896,
      "learning_rate": 0.0004863786580677382,
      "loss": 0.1879,
      "step": 1771
    },
    {
      "epoch": 0.3973524792461297,
      "gripper_loss": 0.08544921875,
      "loss": 0.294921875,
      "pos_loss": 1.375,
      "rot_loss": 1.53125,
      "step": 1771
    },
    {
      "epoch": 0.3975768454117119,
      "grad_norm": 1.0995471477508545,
      "learning_rate": 0.0004863589341440482,
      "loss": 0.2031,
      "step": 1772
    },
    {
      "epoch": 0.3975768454117119,
      "gripper_loss": 0.035888671875,
      "loss": 0.1376953125,
      "pos_loss": 1.140625,
      "rot_loss": 0.1630859375,
      "step": 1772
    },
    {
      "epoch": 0.39780121157729414,
      "grad_norm": 0.7484662532806396,
      "learning_rate": 0.00048633919635092274,
      "loss": 0.1434,
      "step": 1773
    },
    {
      "epoch": 0.39780121157729414,
      "gripper_loss": 0.2119140625,
      "loss": 0.11083984375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.427734375,
      "step": 1773
    },
    {
      "epoch": 0.3980255777428764,
      "grad_norm": 0.936526894569397,
      "learning_rate": 0.00048631944468951994,
      "loss": 0.131,
      "step": 1774
    },
    {
      "epoch": 0.3980255777428764,
      "gripper_loss": 1.1484375,
      "loss": 0.09521484375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1376953125,
      "step": 1774
    },
    {
      "epoch": 0.3982499439084586,
      "grad_norm": 0.9552991986274719,
      "learning_rate": 0.0004862996791609989,
      "loss": 0.1444,
      "step": 1775
    },
    {
      "epoch": 0.3982499439084586,
      "gripper_loss": 0.1552734375,
      "loss": 0.2197265625,
      "pos_loss": 0.95703125,
      "rot_loss": 0.46484375,
      "step": 1775
    },
    {
      "epoch": 0.3984743100740408,
      "grad_norm": 1.2392152547836304,
      "learning_rate": 0.00048627989976651937,
      "loss": 0.184,
      "step": 1776
    },
    {
      "epoch": 0.3984743100740408,
      "gripper_loss": 0.1796875,
      "loss": 0.169921875,
      "pos_loss": 1.09375,
      "rot_loss": 0.28125,
      "step": 1776
    },
    {
      "epoch": 0.3986986762396231,
      "grad_norm": 1.3705729246139526,
      "learning_rate": 0.00048626010650724207,
      "loss": 0.1476,
      "step": 1777
    },
    {
      "epoch": 0.3986986762396231,
      "gripper_loss": 0.053955078125,
      "loss": 0.1513671875,
      "pos_loss": 0.98828125,
      "rot_loss": 0.3046875,
      "step": 1777
    },
    {
      "epoch": 0.3989230424052053,
      "grad_norm": 1.2199205160140991,
      "learning_rate": 0.00048624029938432834,
      "loss": 0.1327,
      "step": 1778
    },
    {
      "epoch": 0.3989230424052053,
      "gripper_loss": 0.1015625,
      "loss": 0.15625,
      "pos_loss": 0.5078125,
      "rot_loss": 0.7109375,
      "step": 1778
    },
    {
      "epoch": 0.3991474085707875,
      "grad_norm": 1.5500503778457642,
      "learning_rate": 0.00048622047839894057,
      "loss": 0.1772,
      "step": 1779
    },
    {
      "epoch": 0.3991474085707875,
      "gripper_loss": 1.515625,
      "loss": 0.189453125,
      "pos_loss": 1.0859375,
      "rot_loss": 0.123046875,
      "step": 1779
    },
    {
      "epoch": 0.39937177473636976,
      "grad_norm": 1.329695224761963,
      "learning_rate": 0.0004862006435522418,
      "loss": 0.1758,
      "step": 1780
    },
    {
      "epoch": 0.39937177473636976,
      "gripper_loss": 0.036865234375,
      "loss": 0.07421875,
      "pos_loss": 0.4375,
      "rot_loss": 0.16796875,
      "step": 1780
    },
    {
      "epoch": 0.399596140901952,
      "grad_norm": 1.0588380098342896,
      "learning_rate": 0.000486180794845396,
      "loss": 0.1272,
      "step": 1781
    },
    {
      "epoch": 0.399596140901952,
      "gripper_loss": 0.052978515625,
      "loss": 0.1875,
      "pos_loss": 0.8828125,
      "rot_loss": 0.8203125,
      "step": 1781
    },
    {
      "epoch": 0.3998205070675342,
      "grad_norm": 0.9942654371261597,
      "learning_rate": 0.00048616093227956775,
      "loss": 0.1572,
      "step": 1782
    },
    {
      "epoch": 0.3998205070675342,
      "gripper_loss": 0.7109375,
      "loss": 0.052001953125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.0693359375,
      "step": 1782
    },
    {
      "epoch": 0.40004487323311644,
      "grad_norm": 0.6494622826576233,
      "learning_rate": 0.00048614105585592274,
      "loss": 0.1242,
      "step": 1783
    },
    {
      "epoch": 0.40004487323311644,
      "gripper_loss": 0.734375,
      "loss": 0.341796875,
      "pos_loss": 0.9765625,
      "rot_loss": 0.4609375,
      "step": 1783
    },
    {
      "epoch": 0.4002692393986987,
      "grad_norm": 1.988936424255371,
      "learning_rate": 0.00048612116557562705,
      "loss": 0.323,
      "step": 1784
    },
    {
      "epoch": 0.4002692393986987,
      "gripper_loss": 0.427734375,
      "loss": 0.06591796875,
      "pos_loss": 0.2265625,
      "rot_loss": 0.1015625,
      "step": 1784
    },
    {
      "epoch": 0.40049360556428093,
      "grad_norm": 0.978821873664856,
      "learning_rate": 0.00048610126143984814,
      "loss": 0.1503,
      "step": 1785
    },
    {
      "epoch": 0.40049360556428093,
      "gripper_loss": 0.2392578125,
      "loss": 0.2333984375,
      "pos_loss": 1.5,
      "rot_loss": 0.7421875,
      "step": 1785
    },
    {
      "epoch": 0.4007179717298631,
      "grad_norm": 1.2168664932250977,
      "learning_rate": 0.00048608134344975374,
      "loss": 0.134,
      "step": 1786
    },
    {
      "epoch": 0.4007179717298631,
      "gripper_loss": 0.0228271484375,
      "loss": 0.263671875,
      "pos_loss": 1.5234375,
      "rot_loss": 1.1328125,
      "step": 1786
    },
    {
      "epoch": 0.40094233789544537,
      "grad_norm": 0.9028071165084839,
      "learning_rate": 0.0004860614116065128,
      "loss": 0.1582,
      "step": 1787
    },
    {
      "epoch": 0.40094233789544537,
      "gripper_loss": 0.12890625,
      "loss": 0.10498046875,
      "pos_loss": 0.68359375,
      "rot_loss": 0.220703125,
      "step": 1787
    },
    {
      "epoch": 0.4011667040610276,
      "grad_norm": 1.0563881397247314,
      "learning_rate": 0.00048604146591129483,
      "loss": 0.1539,
      "step": 1788
    },
    {
      "epoch": 0.4011667040610276,
      "gripper_loss": 0.60546875,
      "loss": 0.41015625,
      "pos_loss": 0.7109375,
      "rot_loss": 1.046875,
      "step": 1788
    },
    {
      "epoch": 0.4013910702266098,
      "grad_norm": 2.10408616065979,
      "learning_rate": 0.0004860215063652702,
      "loss": 0.3367,
      "step": 1789
    },
    {
      "epoch": 0.4013910702266098,
      "gripper_loss": 0.365234375,
      "loss": 0.091796875,
      "pos_loss": 0.5703125,
      "rot_loss": 0.1728515625,
      "step": 1789
    },
    {
      "epoch": 0.40161543639219205,
      "grad_norm": 0.8763332962989807,
      "learning_rate": 0.00048600153296961013,
      "loss": 0.1344,
      "step": 1790
    },
    {
      "epoch": 0.40161543639219205,
      "gripper_loss": 0.0201416015625,
      "loss": 0.298828125,
      "pos_loss": 1.6796875,
      "rot_loss": 1.3671875,
      "step": 1790
    },
    {
      "epoch": 0.4018398025577743,
      "grad_norm": 1.3892217874526978,
      "learning_rate": 0.0004859815457254868,
      "loss": 0.171,
      "step": 1791
    },
    {
      "epoch": 0.4018398025577743,
      "gripper_loss": 0.27734375,
      "loss": 0.2470703125,
      "pos_loss": 2.21875,
      "rot_loss": 0.1826171875,
      "step": 1791
    },
    {
      "epoch": 0.40206416872335654,
      "grad_norm": 0.9940564632415771,
      "learning_rate": 0.00048596154463407284,
      "loss": 0.1442,
      "step": 1792
    },
    {
      "epoch": 0.40206416872335654,
      "gripper_loss": 0.0732421875,
      "loss": 0.045166015625,
      "pos_loss": 0.115234375,
      "rot_loss": 0.083984375,
      "step": 1792
    },
    {
      "epoch": 0.40228853488893873,
      "grad_norm": 1.0025297403335571,
      "learning_rate": 0.00048594152969654204,
      "loss": 0.123,
      "step": 1793
    },
    {
      "epoch": 0.40228853488893873,
      "gripper_loss": 0.3671875,
      "loss": 0.1689453125,
      "pos_loss": 1.09375,
      "rot_loss": 0.4453125,
      "step": 1793
    },
    {
      "epoch": 0.402512901054521,
      "grad_norm": 0.9128226041793823,
      "learning_rate": 0.00048592150091406885,
      "loss": 0.1648,
      "step": 1794
    },
    {
      "epoch": 0.402512901054521,
      "gripper_loss": 0.140625,
      "loss": 0.193359375,
      "pos_loss": 0.81640625,
      "rot_loss": 0.7734375,
      "step": 1794
    },
    {
      "epoch": 0.4027372672201032,
      "grad_norm": 0.8379263281822205,
      "learning_rate": 0.0004859014582878285,
      "loss": 0.1187,
      "step": 1795
    },
    {
      "epoch": 0.4027372672201032,
      "gripper_loss": 1.90625,
      "loss": 0.162109375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.2451171875,
      "step": 1795
    },
    {
      "epoch": 0.4029616333856854,
      "grad_norm": 1.0433683395385742,
      "learning_rate": 0.0004858814018189971,
      "loss": 0.1623,
      "step": 1796
    },
    {
      "epoch": 0.4029616333856854,
      "gripper_loss": 1.390625,
      "loss": 0.28515625,
      "pos_loss": 0.8203125,
      "rot_loss": 1.625,
      "step": 1796
    },
    {
      "epoch": 0.40318599955126766,
      "grad_norm": 1.254303216934204,
      "learning_rate": 0.00048586133150875163,
      "loss": 0.1884,
      "step": 1797
    },
    {
      "epoch": 0.40318599955126766,
      "gripper_loss": 0.046142578125,
      "loss": 0.1083984375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.41015625,
      "step": 1797
    },
    {
      "epoch": 0.4034103657168499,
      "grad_norm": 1.13386070728302,
      "learning_rate": 0.00048584124735826976,
      "loss": 0.1528,
      "step": 1798
    },
    {
      "epoch": 0.4034103657168499,
      "gripper_loss": 0.10595703125,
      "loss": 0.09130859375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.12255859375,
      "step": 1798
    },
    {
      "epoch": 0.40363473188243215,
      "grad_norm": 1.2608637809753418,
      "learning_rate": 0.0004858211493687299,
      "loss": 0.165,
      "step": 1799
    },
    {
      "epoch": 0.40363473188243215,
      "gripper_loss": 0.111328125,
      "loss": 0.185546875,
      "pos_loss": 0.95703125,
      "rot_loss": 0.734375,
      "step": 1799
    },
    {
      "epoch": 0.40385909804801434,
      "grad_norm": 1.133474349975586,
      "learning_rate": 0.00048580103754131154,
      "loss": 0.1673,
      "step": 1800
    },
    {
      "epoch": 0.40385909804801434,
      "gripper_loss": 0.455078125,
      "loss": 0.09033203125,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.5078125,
      "step": 1800
    },
    {
      "epoch": 0.4040834642135966,
      "grad_norm": 0.44711533188819885,
      "learning_rate": 0.00048578091187719474,
      "loss": 0.1011,
      "step": 1801
    },
    {
      "epoch": 0.4040834642135966,
      "gripper_loss": 0.373046875,
      "loss": 0.15234375,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.34765625,
      "step": 1801
    },
    {
      "epoch": 0.40430783037917883,
      "grad_norm": 1.6754884719848633,
      "learning_rate": 0.00048576077237756063,
      "loss": 0.2745,
      "step": 1802
    },
    {
      "epoch": 0.40430783037917883,
      "gripper_loss": 0.3671875,
      "loss": 0.12890625,
      "pos_loss": 1.078125,
      "rot_loss": 0.059326171875,
      "step": 1802
    },
    {
      "epoch": 0.404532196544761,
      "grad_norm": 0.944115400314331,
      "learning_rate": 0.00048574061904359077,
      "loss": 0.2289,
      "step": 1803
    },
    {
      "epoch": 0.404532196544761,
      "gripper_loss": 0.6484375,
      "loss": 0.087890625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.11279296875,
      "step": 1803
    },
    {
      "epoch": 0.40475656271034327,
      "grad_norm": 0.916956901550293,
      "learning_rate": 0.0004857204518764679,
      "loss": 0.1425,
      "step": 1804
    },
    {
      "epoch": 0.40475656271034327,
      "gripper_loss": 0.059326171875,
      "loss": 0.111328125,
      "pos_loss": 0.828125,
      "rot_loss": 0.20703125,
      "step": 1804
    },
    {
      "epoch": 0.4049809288759255,
      "grad_norm": 0.7425607442855835,
      "learning_rate": 0.0004857002708773753,
      "loss": 0.1261,
      "step": 1805
    },
    {
      "epoch": 0.4049809288759255,
      "gripper_loss": 0.7734375,
      "loss": 0.17578125,
      "pos_loss": 0.6796875,
      "rot_loss": 0.333984375,
      "step": 1805
    },
    {
      "epoch": 0.40520529504150776,
      "grad_norm": 1.6729834079742432,
      "learning_rate": 0.0004856800760474973,
      "loss": 0.1898,
      "step": 1806
    },
    {
      "epoch": 0.40520529504150776,
      "gripper_loss": 0.46875,
      "loss": 0.060791015625,
      "pos_loss": 0.123046875,
      "rot_loss": 0.2255859375,
      "step": 1806
    },
    {
      "epoch": 0.40542966120708995,
      "grad_norm": 0.6757656335830688,
      "learning_rate": 0.00048565986738801893,
      "loss": 0.115,
      "step": 1807
    },
    {
      "epoch": 0.40542966120708995,
      "gripper_loss": 0.0303955078125,
      "loss": 0.5078125,
      "pos_loss": 3.0625,
      "rot_loss": 2.1875,
      "step": 1807
    },
    {
      "epoch": 0.4056540273726722,
      "grad_norm": 1.2911121845245361,
      "learning_rate": 0.0004856396449001259,
      "loss": 0.2188,
      "step": 1808
    },
    {
      "epoch": 0.4056540273726722,
      "gripper_loss": 0.6875,
      "loss": 0.23828125,
      "pos_loss": 1.359375,
      "rot_loss": 0.6640625,
      "step": 1808
    },
    {
      "epoch": 0.40587839353825444,
      "grad_norm": 0.9547070860862732,
      "learning_rate": 0.00048561940858500493,
      "loss": 0.1832,
      "step": 1809
    },
    {
      "epoch": 0.40587839353825444,
      "gripper_loss": 0.09033203125,
      "loss": 0.2421875,
      "pos_loss": 1.28125,
      "rot_loss": 1.1171875,
      "step": 1809
    },
    {
      "epoch": 0.40610275970383664,
      "grad_norm": 0.9554797410964966,
      "learning_rate": 0.0004855991584438435,
      "loss": 0.1338,
      "step": 1810
    },
    {
      "epoch": 0.40610275970383664,
      "gripper_loss": 0.2412109375,
      "loss": 0.28125,
      "pos_loss": 1.5859375,
      "rot_loss": 0.80859375,
      "step": 1810
    },
    {
      "epoch": 0.4063271258694189,
      "grad_norm": 1.1443748474121094,
      "learning_rate": 0.00048557889447782977,
      "loss": 0.1778,
      "step": 1811
    },
    {
      "epoch": 0.4063271258694189,
      "gripper_loss": 0.1484375,
      "loss": 0.1591796875,
      "pos_loss": 1.296875,
      "rot_loss": 0.2255859375,
      "step": 1811
    },
    {
      "epoch": 0.4065514920350011,
      "grad_norm": 0.8128964900970459,
      "learning_rate": 0.000485558616688153,
      "loss": 0.1715,
      "step": 1812
    },
    {
      "epoch": 0.4065514920350011,
      "gripper_loss": 0.1337890625,
      "loss": 0.134765625,
      "pos_loss": 0.310546875,
      "rot_loss": 0.9140625,
      "step": 1812
    },
    {
      "epoch": 0.4067758582005834,
      "grad_norm": 0.8531855940818787,
      "learning_rate": 0.00048553832507600294,
      "loss": 0.1439,
      "step": 1813
    },
    {
      "epoch": 0.4067758582005834,
      "gripper_loss": 0.29296875,
      "loss": 0.2890625,
      "pos_loss": 0.625,
      "rot_loss": 0.9296875,
      "step": 1813
    },
    {
      "epoch": 0.40700022436616556,
      "grad_norm": 1.6311438083648682,
      "learning_rate": 0.0004855180196425704,
      "loss": 0.2335,
      "step": 1814
    },
    {
      "epoch": 0.40700022436616556,
      "gripper_loss": 0.0986328125,
      "loss": 0.3359375,
      "pos_loss": 2.46875,
      "rot_loss": 0.91796875,
      "step": 1814
    },
    {
      "epoch": 0.4072245905317478,
      "grad_norm": 0.9544918537139893,
      "learning_rate": 0.0004854977003890467,
      "loss": 0.1664,
      "step": 1815
    },
    {
      "epoch": 0.4072245905317478,
      "gripper_loss": 1.890625,
      "loss": 0.181640625,
      "pos_loss": 0.53125,
      "rot_loss": 0.47265625,
      "step": 1815
    },
    {
      "epoch": 0.40744895669733006,
      "grad_norm": 1.165228247642517,
      "learning_rate": 0.0004854773673166244,
      "loss": 0.1442,
      "step": 1816
    },
    {
      "epoch": 0.40744895669733006,
      "gripper_loss": 0.1591796875,
      "loss": 0.1845703125,
      "pos_loss": 1.5625,
      "rot_loss": 0.1728515625,
      "step": 1816
    },
    {
      "epoch": 0.40767332286291225,
      "grad_norm": 1.1025512218475342,
      "learning_rate": 0.00048545702042649644,
      "loss": 0.1361,
      "step": 1817
    },
    {
      "epoch": 0.40767332286291225,
      "gripper_loss": 0.326171875,
      "loss": 0.09228515625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.0712890625,
      "step": 1817
    },
    {
      "epoch": 0.4078976890284945,
      "grad_norm": 1.0135539770126343,
      "learning_rate": 0.00048543665971985693,
      "loss": 0.1206,
      "step": 1818
    },
    {
      "epoch": 0.4078976890284945,
      "gripper_loss": 0.25390625,
      "loss": 0.1357421875,
      "pos_loss": 0.74609375,
      "rot_loss": 0.41015625,
      "step": 1818
    },
    {
      "epoch": 0.40812205519407674,
      "grad_norm": 0.979825496673584,
      "learning_rate": 0.0004854162851979005,
      "loss": 0.1153,
      "step": 1819
    },
    {
      "epoch": 0.40812205519407674,
      "gripper_loss": 0.369140625,
      "loss": 0.06298828125,
      "pos_loss": 0.34375,
      "rot_loss": 0.0673828125,
      "step": 1819
    },
    {
      "epoch": 0.408346421359659,
      "grad_norm": 0.7264601588249207,
      "learning_rate": 0.00048539589686182283,
      "loss": 0.1641,
      "step": 1820
    },
    {
      "epoch": 0.408346421359659,
      "gripper_loss": 0.263671875,
      "loss": 0.37890625,
      "pos_loss": 1.609375,
      "rot_loss": 2.21875,
      "step": 1820
    },
    {
      "epoch": 0.4085707875252412,
      "grad_norm": 0.9690874218940735,
      "learning_rate": 0.0004853754947128202,
      "loss": 0.1482,
      "step": 1821
    },
    {
      "epoch": 0.4085707875252412,
      "gripper_loss": 0.67578125,
      "loss": 0.5234375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.58203125,
      "step": 1821
    },
    {
      "epoch": 0.4087951536908234,
      "grad_norm": 1.8475918769836426,
      "learning_rate": 0.00048535507875208984,
      "loss": 0.5703,
      "step": 1822
    },
    {
      "epoch": 0.4087951536908234,
      "gripper_loss": 2.234375,
      "loss": 0.119140625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.1337890625,
      "step": 1822
    },
    {
      "epoch": 0.40901951985640567,
      "grad_norm": 0.9637810587882996,
      "learning_rate": 0.0004853346489808298,
      "loss": 0.1976,
      "step": 1823
    },
    {
      "epoch": 0.40901951985640567,
      "gripper_loss": 0.1953125,
      "loss": 0.2060546875,
      "pos_loss": 0.8828125,
      "rot_loss": 0.79296875,
      "step": 1823
    },
    {
      "epoch": 0.40924388602198786,
      "grad_norm": 1.4269626140594482,
      "learning_rate": 0.0004853142054002388,
      "loss": 0.1973,
      "step": 1824
    },
    {
      "epoch": 0.40924388602198786,
      "gripper_loss": 0.06640625,
      "loss": 0.1689453125,
      "pos_loss": 1.046875,
      "rot_loss": 0.54296875,
      "step": 1824
    },
    {
      "epoch": 0.4094682521875701,
      "grad_norm": 1.0011779069900513,
      "learning_rate": 0.0004852937480115165,
      "loss": 0.1819,
      "step": 1825
    },
    {
      "epoch": 0.4094682521875701,
      "gripper_loss": 0.6015625,
      "loss": 0.173828125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.98828125,
      "step": 1825
    },
    {
      "epoch": 0.40969261835315235,
      "grad_norm": 1.0197830200195312,
      "learning_rate": 0.0004852732768158633,
      "loss": 0.2454,
      "step": 1826
    },
    {
      "epoch": 0.40969261835315235,
      "gripper_loss": 0.0791015625,
      "loss": 0.2158203125,
      "pos_loss": 1.6484375,
      "rot_loss": 0.50390625,
      "step": 1826
    },
    {
      "epoch": 0.4099169845187346,
      "grad_norm": 0.8306683897972107,
      "learning_rate": 0.0004852527918144805,
      "loss": 0.14,
      "step": 1827
    },
    {
      "epoch": 0.4099169845187346,
      "gripper_loss": 0.1767578125,
      "loss": 0.06591796875,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.205078125,
      "step": 1827
    },
    {
      "epoch": 0.4101413506843168,
      "grad_norm": 0.9508060216903687,
      "learning_rate": 0.0004852322930085701,
      "loss": 0.1151,
      "step": 1828
    },
    {
      "epoch": 0.4101413506843168,
      "gripper_loss": 0.1416015625,
      "loss": 0.185546875,
      "pos_loss": 1.140625,
      "rot_loss": 0.6875,
      "step": 1828
    },
    {
      "epoch": 0.41036571684989903,
      "grad_norm": 0.6460499167442322,
      "learning_rate": 0.000485211780399335,
      "loss": 0.1567,
      "step": 1829
    },
    {
      "epoch": 0.41036571684989903,
      "gripper_loss": 0.3046875,
      "loss": 0.244140625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.72265625,
      "step": 1829
    },
    {
      "epoch": 0.4105900830154813,
      "grad_norm": 2.08113694190979,
      "learning_rate": 0.0004851912539879788,
      "loss": 0.3252,
      "step": 1830
    },
    {
      "epoch": 0.4105900830154813,
      "gripper_loss": 0.60546875,
      "loss": 0.06884765625,
      "pos_loss": 0.26953125,
      "rot_loss": 0.10498046875,
      "step": 1830
    },
    {
      "epoch": 0.41081444918106347,
      "grad_norm": 0.9305675625801086,
      "learning_rate": 0.0004851707137757061,
      "loss": 0.1223,
      "step": 1831
    },
    {
      "epoch": 0.41081444918106347,
      "gripper_loss": 0.1748046875,
      "loss": 0.08642578125,
      "pos_loss": 0.359375,
      "rot_loss": 0.1474609375,
      "step": 1831
    },
    {
      "epoch": 0.4110388153466457,
      "grad_norm": 1.2021464109420776,
      "learning_rate": 0.0004851501597637221,
      "loss": 0.1383,
      "step": 1832
    },
    {
      "epoch": 0.4110388153466457,
      "gripper_loss": 0.0810546875,
      "loss": 0.1591796875,
      "pos_loss": 1.28125,
      "rot_loss": 0.12255859375,
      "step": 1832
    },
    {
      "epoch": 0.41126318151222796,
      "grad_norm": 1.0776376724243164,
      "learning_rate": 0.0004851295919532329,
      "loss": 0.184,
      "step": 1833
    },
    {
      "epoch": 0.41126318151222796,
      "gripper_loss": 0.1708984375,
      "loss": 0.1611328125,
      "pos_loss": 0.9296875,
      "rot_loss": 0.55859375,
      "step": 1833
    },
    {
      "epoch": 0.4114875476778102,
      "grad_norm": 0.9525827169418335,
      "learning_rate": 0.0004851090103454455,
      "loss": 0.1459,
      "step": 1834
    },
    {
      "epoch": 0.4114875476778102,
      "gripper_loss": 0.09326171875,
      "loss": 0.1796875,
      "pos_loss": 0.546875,
      "rot_loss": 1.1796875,
      "step": 1834
    },
    {
      "epoch": 0.4117119138433924,
      "grad_norm": 0.9630731344223022,
      "learning_rate": 0.0004850884149415675,
      "loss": 0.1221,
      "step": 1835
    },
    {
      "epoch": 0.4117119138433924,
      "gripper_loss": 0.8046875,
      "loss": 0.05712890625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.045166015625,
      "step": 1835
    },
    {
      "epoch": 0.41193628000897464,
      "grad_norm": 0.847365140914917,
      "learning_rate": 0.0004850678057428074,
      "loss": 0.1106,
      "step": 1836
    },
    {
      "epoch": 0.41193628000897464,
      "gripper_loss": 0.6328125,
      "loss": 0.25390625,
      "pos_loss": 1.109375,
      "rot_loss": 0.62109375,
      "step": 1836
    },
    {
      "epoch": 0.4121606461745569,
      "grad_norm": 1.365389108657837,
      "learning_rate": 0.00048504718275037474,
      "loss": 0.1324,
      "step": 1837
    },
    {
      "epoch": 0.4121606461745569,
      "gripper_loss": 0.51171875,
      "loss": 0.04443359375,
      "pos_loss": 0.05419921875,
      "rot_loss": 0.1201171875,
      "step": 1837
    },
    {
      "epoch": 0.41238501234013913,
      "grad_norm": 0.9452123045921326,
      "learning_rate": 0.0004850265459654795,
      "loss": 0.1301,
      "step": 1838
    },
    {
      "epoch": 0.41238501234013913,
      "gripper_loss": 0.1767578125,
      "loss": 0.054931640625,
      "pos_loss": 0.193359375,
      "rot_loss": 0.1123046875,
      "step": 1838
    },
    {
      "epoch": 0.4126093785057213,
      "grad_norm": 1.0175604820251465,
      "learning_rate": 0.0004850058953893327,
      "loss": 0.1407,
      "step": 1839
    },
    {
      "epoch": 0.4126093785057213,
      "gripper_loss": 0.369140625,
      "loss": 0.220703125,
      "pos_loss": 1.515625,
      "rot_loss": 0.5546875,
      "step": 1839
    },
    {
      "epoch": 0.41283374467130357,
      "grad_norm": 0.6890614032745361,
      "learning_rate": 0.00048498523102314604,
      "loss": 0.1635,
      "step": 1840
    },
    {
      "epoch": 0.41283374467130357,
      "gripper_loss": 0.6328125,
      "loss": 0.07421875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.0458984375,
      "step": 1840
    },
    {
      "epoch": 0.4130581108368858,
      "grad_norm": 0.9186326861381531,
      "learning_rate": 0.0004849645528681322,
      "loss": 0.1079,
      "step": 1841
    },
    {
      "epoch": 0.4130581108368858,
      "gripper_loss": 0.244140625,
      "loss": 0.3515625,
      "pos_loss": 1.34375,
      "rot_loss": 0.62890625,
      "step": 1841
    },
    {
      "epoch": 0.413282477002468,
      "grad_norm": 1.9089006185531616,
      "learning_rate": 0.00048494386092550444,
      "loss": 0.4009,
      "step": 1842
    },
    {
      "epoch": 0.413282477002468,
      "gripper_loss": 0.2275390625,
      "loss": 0.2197265625,
      "pos_loss": 0.98828125,
      "rot_loss": 1.0859375,
      "step": 1842
    },
    {
      "epoch": 0.41350684316805025,
      "grad_norm": 1.1178830862045288,
      "learning_rate": 0.0004849231551964771,
      "loss": 0.1576,
      "step": 1843
    },
    {
      "epoch": 0.41350684316805025,
      "gripper_loss": 0.09130859375,
      "loss": 0.1103515625,
      "pos_loss": 0.33984375,
      "rot_loss": 0.41015625,
      "step": 1843
    },
    {
      "epoch": 0.4137312093336325,
      "grad_norm": 1.3693456649780273,
      "learning_rate": 0.0004849024356822651,
      "loss": 0.1556,
      "step": 1844
    },
    {
      "epoch": 0.4137312093336325,
      "gripper_loss": 0.32421875,
      "loss": 0.1611328125,
      "pos_loss": 0.462890625,
      "rot_loss": 0.5703125,
      "step": 1844
    },
    {
      "epoch": 0.41395557549921475,
      "grad_norm": 1.4461395740509033,
      "learning_rate": 0.00048488170238408427,
      "loss": 0.1791,
      "step": 1845
    },
    {
      "epoch": 0.41395557549921475,
      "gripper_loss": 0.58203125,
      "loss": 0.1123046875,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.64453125,
      "step": 1845
    },
    {
      "epoch": 0.41417994166479694,
      "grad_norm": 0.9471763372421265,
      "learning_rate": 0.0004848609553031511,
      "loss": 0.1455,
      "step": 1846
    },
    {
      "epoch": 0.41417994166479694,
      "gripper_loss": 1.0078125,
      "loss": 0.10009765625,
      "pos_loss": 0.52734375,
      "rot_loss": 0.0712890625,
      "step": 1846
    },
    {
      "epoch": 0.4144043078303792,
      "grad_norm": 0.7984687685966492,
      "learning_rate": 0.0004848401944406833,
      "loss": 0.1144,
      "step": 1847
    },
    {
      "epoch": 0.4144043078303792,
      "gripper_loss": 0.7109375,
      "loss": 0.083984375,
      "pos_loss": 0.3125,
      "rot_loss": 0.1328125,
      "step": 1847
    },
    {
      "epoch": 0.4146286739959614,
      "grad_norm": 0.8900827169418335,
      "learning_rate": 0.00048481941979789886,
      "loss": 0.138,
      "step": 1848
    },
    {
      "epoch": 0.4146286739959614,
      "gripper_loss": 0.107421875,
      "loss": 0.0810546875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.0869140625,
      "step": 1848
    },
    {
      "epoch": 0.4148530401615436,
      "grad_norm": 1.2193679809570312,
      "learning_rate": 0.0004847986313760169,
      "loss": 0.1216,
      "step": 1849
    },
    {
      "epoch": 0.4148530401615436,
      "gripper_loss": 0.447265625,
      "loss": 0.1728515625,
      "pos_loss": 0.671875,
      "rot_loss": 0.3828125,
      "step": 1849
    },
    {
      "epoch": 0.41507740632712586,
      "grad_norm": 1.4102379083633423,
      "learning_rate": 0.00048477782917625737,
      "loss": 0.152,
      "step": 1850
    },
    {
      "epoch": 0.41507740632712586,
      "gripper_loss": 0.1064453125,
      "loss": 0.08837890625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.31640625,
      "step": 1850
    },
    {
      "epoch": 0.4153017724927081,
      "grad_norm": 0.9428908824920654,
      "learning_rate": 0.0004847570131998408,
      "loss": 0.1159,
      "step": 1851
    },
    {
      "epoch": 0.4153017724927081,
      "gripper_loss": 0.73046875,
      "loss": 0.0712890625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.042724609375,
      "step": 1851
    },
    {
      "epoch": 0.41552613865829036,
      "grad_norm": 0.8304334282875061,
      "learning_rate": 0.00048473618344798867,
      "loss": 0.1263,
      "step": 1852
    },
    {
      "epoch": 0.41552613865829036,
      "gripper_loss": 0.146484375,
      "loss": 0.21484375,
      "pos_loss": 0.390625,
      "rot_loss": 0.7109375,
      "step": 1852
    },
    {
      "epoch": 0.41575050482387255,
      "grad_norm": 1.185235857963562,
      "learning_rate": 0.0004847153399219233,
      "loss": 0.2437,
      "step": 1853
    },
    {
      "epoch": 0.41575050482387255,
      "gripper_loss": 0.09619140625,
      "loss": 0.07763671875,
      "pos_loss": 0.4296875,
      "rot_loss": 0.2119140625,
      "step": 1853
    },
    {
      "epoch": 0.4159748709894548,
      "grad_norm": 0.8010954260826111,
      "learning_rate": 0.00048469448262286786,
      "loss": 0.115,
      "step": 1854
    },
    {
      "epoch": 0.4159748709894548,
      "gripper_loss": 0.0303955078125,
      "loss": 0.287109375,
      "pos_loss": 1.7890625,
      "rot_loss": 1.125,
      "step": 1854
    },
    {
      "epoch": 0.41619923715503704,
      "grad_norm": 0.986114501953125,
      "learning_rate": 0.00048467361155204617,
      "loss": 0.1271,
      "step": 1855
    },
    {
      "epoch": 0.41619923715503704,
      "gripper_loss": 0.7265625,
      "loss": 0.17578125,
      "pos_loss": 0.609375,
      "rot_loss": 0.455078125,
      "step": 1855
    },
    {
      "epoch": 0.41642360332061923,
      "grad_norm": 1.457993745803833,
      "learning_rate": 0.0004846527267106828,
      "loss": 0.1465,
      "step": 1856
    },
    {
      "epoch": 0.41642360332061923,
      "gripper_loss": 3.53125,
      "loss": 0.1884765625,
      "pos_loss": 0.515625,
      "rot_loss": 0.173828125,
      "step": 1856
    },
    {
      "epoch": 0.4166479694862015,
      "grad_norm": 1.0019607543945312,
      "learning_rate": 0.0004846318281000036,
      "loss": 0.1904,
      "step": 1857
    },
    {
      "epoch": 0.4166479694862015,
      "gripper_loss": 0.078125,
      "loss": 0.2080078125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.78125,
      "step": 1857
    },
    {
      "epoch": 0.4168723356517837,
      "grad_norm": 1.0270073413848877,
      "learning_rate": 0.0004846109157212346,
      "loss": 0.1423,
      "step": 1858
    },
    {
      "epoch": 0.4168723356517837,
      "gripper_loss": 1.6171875,
      "loss": 0.07861328125,
      "pos_loss": 0.058349609375,
      "rot_loss": 0.138671875,
      "step": 1858
    },
    {
      "epoch": 0.41709670181736597,
      "grad_norm": 1.1150521039962769,
      "learning_rate": 0.00048458998957560294,
      "loss": 0.1469,
      "step": 1859
    },
    {
      "epoch": 0.41709670181736597,
      "gripper_loss": 0.0947265625,
      "loss": 0.205078125,
      "pos_loss": 1.296875,
      "rot_loss": 0.578125,
      "step": 1859
    },
    {
      "epoch": 0.41732106798294816,
      "grad_norm": 0.7756265997886658,
      "learning_rate": 0.00048456904966433673,
      "loss": 0.1481,
      "step": 1860
    },
    {
      "epoch": 0.41732106798294816,
      "gripper_loss": 0.443359375,
      "loss": 0.1806640625,
      "pos_loss": 0.6875,
      "rot_loss": 0.294921875,
      "step": 1860
    },
    {
      "epoch": 0.4175454341485304,
      "grad_norm": 1.1547863483428955,
      "learning_rate": 0.0004845480959886646,
      "loss": 0.1695,
      "step": 1861
    },
    {
      "epoch": 0.4175454341485304,
      "gripper_loss": 0.07177734375,
      "loss": 0.375,
      "pos_loss": 1.6171875,
      "rot_loss": 2.203125,
      "step": 1861
    },
    {
      "epoch": 0.41776980031411265,
      "grad_norm": 1.237542986869812,
      "learning_rate": 0.00048452712854981614,
      "loss": 0.161,
      "step": 1862
    },
    {
      "epoch": 0.41776980031411265,
      "gripper_loss": 0.76171875,
      "loss": 0.1357421875,
      "pos_loss": 0.9296875,
      "rot_loss": 0.038330078125,
      "step": 1862
    },
    {
      "epoch": 0.41799416647969484,
      "grad_norm": 1.0831204652786255,
      "learning_rate": 0.00048450614734902166,
      "loss": 0.1756,
      "step": 1863
    },
    {
      "epoch": 0.41799416647969484,
      "gripper_loss": 0.1015625,
      "loss": 0.1396484375,
      "pos_loss": 0.5,
      "rot_loss": 0.6640625,
      "step": 1863
    },
    {
      "epoch": 0.4182185326452771,
      "grad_norm": 1.0798473358154297,
      "learning_rate": 0.0004844851523875123,
      "loss": 0.122,
      "step": 1864
    },
    {
      "epoch": 0.4182185326452771,
      "gripper_loss": 1.3046875,
      "loss": 0.1494140625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.2353515625,
      "step": 1864
    },
    {
      "epoch": 0.41844289881085933,
      "grad_norm": 0.9341481924057007,
      "learning_rate": 0.00048446414366652024,
      "loss": 0.1286,
      "step": 1865
    },
    {
      "epoch": 0.41844289881085933,
      "gripper_loss": 0.33203125,
      "loss": 0.05224609375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.0576171875,
      "step": 1865
    },
    {
      "epoch": 0.4186672649764416,
      "grad_norm": 0.8789697289466858,
      "learning_rate": 0.000484443121187278,
      "loss": 0.1559,
      "step": 1866
    },
    {
      "epoch": 0.4186672649764416,
      "gripper_loss": 0.359375,
      "loss": 0.31640625,
      "pos_loss": 1.2734375,
      "rot_loss": 0.296875,
      "step": 1866
    },
    {
      "epoch": 0.41889163114202377,
      "grad_norm": 1.941105842590332,
      "learning_rate": 0.00048442208495101934,
      "loss": 0.2694,
      "step": 1867
    },
    {
      "epoch": 0.41889163114202377,
      "gripper_loss": 0.5703125,
      "loss": 0.038330078125,
      "pos_loss": 0.05224609375,
      "rot_loss": 0.0439453125,
      "step": 1867
    },
    {
      "epoch": 0.419115997307606,
      "grad_norm": 0.6897767782211304,
      "learning_rate": 0.00048440103495897856,
      "loss": 0.1176,
      "step": 1868
    },
    {
      "epoch": 0.419115997307606,
      "gripper_loss": 0.09814453125,
      "loss": 0.193359375,
      "pos_loss": 1.375,
      "rot_loss": 0.5078125,
      "step": 1868
    },
    {
      "epoch": 0.41934036347318826,
      "grad_norm": 1.0175526142120361,
      "learning_rate": 0.00048437997121239095,
      "loss": 0.1239,
      "step": 1869
    },
    {
      "epoch": 0.41934036347318826,
      "gripper_loss": 0.97265625,
      "loss": 0.061767578125,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.06982421875,
      "step": 1869
    },
    {
      "epoch": 0.41956472963877045,
      "grad_norm": 0.9815285205841064,
      "learning_rate": 0.00048435889371249247,
      "loss": 0.1242,
      "step": 1870
    },
    {
      "epoch": 0.41956472963877045,
      "gripper_loss": 0.337890625,
      "loss": 0.039306640625,
      "pos_loss": 0.142578125,
      "rot_loss": 0.055419921875,
      "step": 1870
    },
    {
      "epoch": 0.4197890958043527,
      "grad_norm": 0.7801519632339478,
      "learning_rate": 0.00048433780246051996,
      "loss": 0.1153,
      "step": 1871
    },
    {
      "epoch": 0.4197890958043527,
      "gripper_loss": 0.66015625,
      "loss": 0.1572265625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.255859375,
      "step": 1871
    },
    {
      "epoch": 0.42001346196993494,
      "grad_norm": 1.287019968032837,
      "learning_rate": 0.000484316697457711,
      "loss": 0.1333,
      "step": 1872
    },
    {
      "epoch": 0.42001346196993494,
      "gripper_loss": 0.353515625,
      "loss": 0.1484375,
      "pos_loss": 1.2265625,
      "rot_loss": 0.059814453125,
      "step": 1872
    },
    {
      "epoch": 0.4202378281355172,
      "grad_norm": 0.8886544108390808,
      "learning_rate": 0.00048429557870530404,
      "loss": 0.1116,
      "step": 1873
    },
    {
      "epoch": 0.4202378281355172,
      "gripper_loss": 0.65625,
      "loss": 0.10888671875,
      "pos_loss": 0.53125,
      "rot_loss": 0.271484375,
      "step": 1873
    },
    {
      "epoch": 0.4204621943010994,
      "grad_norm": 0.7778722047805786,
      "learning_rate": 0.00048427444620453836,
      "loss": 0.1518,
      "step": 1874
    },
    {
      "epoch": 0.4204621943010994,
      "gripper_loss": 1.0546875,
      "loss": 0.1298828125,
      "pos_loss": 0.59375,
      "rot_loss": 0.283203125,
      "step": 1874
    },
    {
      "epoch": 0.4206865604666816,
      "grad_norm": 1.3495573997497559,
      "learning_rate": 0.00048425329995665394,
      "loss": 0.1776,
      "step": 1875
    },
    {
      "epoch": 0.4206865604666816,
      "gripper_loss": 1.78125,
      "loss": 0.255859375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.3359375,
      "step": 1875
    },
    {
      "epoch": 0.42091092663226387,
      "grad_norm": 1.4779294729232788,
      "learning_rate": 0.0004842321399628917,
      "loss": 0.252,
      "step": 1876
    },
    {
      "epoch": 0.42091092663226387,
      "gripper_loss": 1.359375,
      "loss": 0.212890625,
      "pos_loss": 0.94140625,
      "rot_loss": 0.65234375,
      "step": 1876
    },
    {
      "epoch": 0.42113529279784606,
      "grad_norm": 1.317578911781311,
      "learning_rate": 0.00048421096622449327,
      "loss": 0.1722,
      "step": 1877
    },
    {
      "epoch": 0.42113529279784606,
      "gripper_loss": 0.89453125,
      "loss": 0.06689453125,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.042724609375,
      "step": 1877
    },
    {
      "epoch": 0.4213596589634283,
      "grad_norm": 1.0159918069839478,
      "learning_rate": 0.0004841897787427011,
      "loss": 0.1089,
      "step": 1878
    },
    {
      "epoch": 0.4213596589634283,
      "gripper_loss": 0.21875,
      "loss": 0.263671875,
      "pos_loss": 1.5390625,
      "rot_loss": 0.51953125,
      "step": 1878
    },
    {
      "epoch": 0.42158402512901055,
      "grad_norm": 1.899672508239746,
      "learning_rate": 0.00048416857751875855,
      "loss": 0.1962,
      "step": 1879
    },
    {
      "epoch": 0.42158402512901055,
      "gripper_loss": 0.447265625,
      "loss": 0.062255859375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.0810546875,
      "step": 1879
    },
    {
      "epoch": 0.4218083912945928,
      "grad_norm": 1.0760523080825806,
      "learning_rate": 0.00048414736255390957,
      "loss": 0.1479,
      "step": 1880
    },
    {
      "epoch": 0.4218083912945928,
      "gripper_loss": 0.70703125,
      "loss": 0.11572265625,
      "pos_loss": 0.2734375,
      "rot_loss": 0.1787109375,
      "step": 1880
    },
    {
      "epoch": 0.422032757460175,
      "grad_norm": 1.199411153793335,
      "learning_rate": 0.0004841261338493991,
      "loss": 0.2144,
      "step": 1881
    },
    {
      "epoch": 0.422032757460175,
      "gripper_loss": 0.51953125,
      "loss": 0.044189453125,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.043212890625,
      "step": 1881
    },
    {
      "epoch": 0.42225712362575724,
      "grad_norm": 0.9899276494979858,
      "learning_rate": 0.0004841048914064728,
      "loss": 0.1349,
      "step": 1882
    },
    {
      "epoch": 0.42225712362575724,
      "gripper_loss": 0.040283203125,
      "loss": 0.1982421875,
      "pos_loss": 1.3125,
      "rot_loss": 0.46484375,
      "step": 1882
    },
    {
      "epoch": 0.4224814897913395,
      "grad_norm": 1.0383033752441406,
      "learning_rate": 0.0004840836352263772,
      "loss": 0.1903,
      "step": 1883
    },
    {
      "epoch": 0.4224814897913395,
      "gripper_loss": 0.08447265625,
      "loss": 0.09912109375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.53125,
      "step": 1883
    },
    {
      "epoch": 0.4227058559569217,
      "grad_norm": 0.9767063856124878,
      "learning_rate": 0.00048406236531035965,
      "loss": 0.1445,
      "step": 1884
    },
    {
      "epoch": 0.4227058559569217,
      "gripper_loss": 0.322265625,
      "loss": 0.2392578125,
      "pos_loss": 2.03125,
      "rot_loss": 0.107421875,
      "step": 1884
    },
    {
      "epoch": 0.4229302221225039,
      "grad_norm": 1.1431833505630493,
      "learning_rate": 0.00048404108165966817,
      "loss": 0.148,
      "step": 1885
    },
    {
      "epoch": 0.4229302221225039,
      "gripper_loss": 0.455078125,
      "loss": 0.1337890625,
      "pos_loss": 0.466796875,
      "rot_loss": 0.62109375,
      "step": 1885
    },
    {
      "epoch": 0.42315458828808616,
      "grad_norm": 0.9693042039871216,
      "learning_rate": 0.0004840197842755517,
      "loss": 0.1618,
      "step": 1886
    },
    {
      "epoch": 0.42315458828808616,
      "gripper_loss": 0.279296875,
      "loss": 0.115234375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.306640625,
      "step": 1886
    },
    {
      "epoch": 0.4233789544536684,
      "grad_norm": 1.1713098287582397,
      "learning_rate": 0.00048399847315926,
      "loss": 0.1528,
      "step": 1887
    },
    {
      "epoch": 0.4233789544536684,
      "gripper_loss": 0.041015625,
      "loss": 0.10888671875,
      "pos_loss": 0.484375,
      "rot_loss": 0.34375,
      "step": 1887
    },
    {
      "epoch": 0.4236033206192506,
      "grad_norm": 1.012848138809204,
      "learning_rate": 0.00048397714831204355,
      "loss": 0.0901,
      "step": 1888
    },
    {
      "epoch": 0.4236033206192506,
      "gripper_loss": 0.484375,
      "loss": 0.28125,
      "pos_loss": 0.875,
      "rot_loss": 0.498046875,
      "step": 1888
    },
    {
      "epoch": 0.42382768678483285,
      "grad_norm": 1.8095828294754028,
      "learning_rate": 0.00048395580973515376,
      "loss": 0.2548,
      "step": 1889
    },
    {
      "epoch": 0.42382768678483285,
      "gripper_loss": 0.051513671875,
      "loss": 0.12060546875,
      "pos_loss": 0.7734375,
      "rot_loss": 0.263671875,
      "step": 1889
    },
    {
      "epoch": 0.4240520529504151,
      "grad_norm": 1.2201018333435059,
      "learning_rate": 0.00048393445742984264,
      "loss": 0.1434,
      "step": 1890
    },
    {
      "epoch": 0.4240520529504151,
      "gripper_loss": 0.08544921875,
      "loss": 0.07568359375,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.345703125,
      "step": 1890
    },
    {
      "epoch": 0.4242764191159973,
      "grad_norm": 1.2137763500213623,
      "learning_rate": 0.00048391309139736324,
      "loss": 0.1348,
      "step": 1891
    },
    {
      "epoch": 0.4242764191159973,
      "gripper_loss": 0.05029296875,
      "loss": 0.2109375,
      "pos_loss": 0.62890625,
      "rot_loss": 1.359375,
      "step": 1891
    },
    {
      "epoch": 0.42450078528157953,
      "grad_norm": 1.314203143119812,
      "learning_rate": 0.0004838917116389693,
      "loss": 0.1672,
      "step": 1892
    },
    {
      "epoch": 0.42450078528157953,
      "gripper_loss": 0.08447265625,
      "loss": 0.201171875,
      "pos_loss": 1.046875,
      "rot_loss": 0.625,
      "step": 1892
    },
    {
      "epoch": 0.4247251514471618,
      "grad_norm": 1.4703446626663208,
      "learning_rate": 0.0004838703181559153,
      "loss": 0.1747,
      "step": 1893
    },
    {
      "epoch": 0.4247251514471618,
      "gripper_loss": 0.306640625,
      "loss": 0.0810546875,
      "pos_loss": 0.53125,
      "rot_loss": 0.052734375,
      "step": 1893
    },
    {
      "epoch": 0.424949517612744,
      "grad_norm": 0.839423656463623,
      "learning_rate": 0.00048384891094945665,
      "loss": 0.1205,
      "step": 1894
    },
    {
      "epoch": 0.424949517612744,
      "gripper_loss": 0.3515625,
      "loss": 0.158203125,
      "pos_loss": 0.484375,
      "rot_loss": 0.73046875,
      "step": 1894
    },
    {
      "epoch": 0.4251738837783262,
      "grad_norm": 1.1357083320617676,
      "learning_rate": 0.0004838274900208495,
      "loss": 0.1735,
      "step": 1895
    },
    {
      "epoch": 0.4251738837783262,
      "gripper_loss": 0.07568359375,
      "loss": 0.068359375,
      "pos_loss": 0.306640625,
      "rot_loss": 0.271484375,
      "step": 1895
    },
    {
      "epoch": 0.42539824994390846,
      "grad_norm": 0.6360622644424438,
      "learning_rate": 0.00048380605537135093,
      "loss": 0.0992,
      "step": 1896
    },
    {
      "epoch": 0.42539824994390846,
      "gripper_loss": 0.32421875,
      "loss": 0.154296875,
      "pos_loss": 0.67578125,
      "rot_loss": 0.68359375,
      "step": 1896
    },
    {
      "epoch": 0.4256226161094907,
      "grad_norm": 0.8768540024757385,
      "learning_rate": 0.00048378460700221847,
      "loss": 0.1578,
      "step": 1897
    },
    {
      "epoch": 0.4256226161094907,
      "gripper_loss": 0.734375,
      "loss": 0.279296875,
      "pos_loss": 0.490234375,
      "rot_loss": 2.0625,
      "step": 1897
    },
    {
      "epoch": 0.4258469822750729,
      "grad_norm": 1.1439796686172485,
      "learning_rate": 0.00048376314491471094,
      "loss": 0.1506,
      "step": 1898
    },
    {
      "epoch": 0.4258469822750729,
      "gripper_loss": 0.25,
      "loss": 0.11962890625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.439453125,
      "step": 1898
    },
    {
      "epoch": 0.42607134844065514,
      "grad_norm": 1.027599811553955,
      "learning_rate": 0.00048374166911008764,
      "loss": 0.1365,
      "step": 1899
    },
    {
      "epoch": 0.42607134844065514,
      "gripper_loss": 0.2412109375,
      "loss": 0.33984375,
      "pos_loss": 0.9609375,
      "rot_loss": 0.49609375,
      "step": 1899
    },
    {
      "epoch": 0.4262957146062374,
      "grad_norm": 2.188775062561035,
      "learning_rate": 0.0004837201795896088,
      "loss": 0.3457,
      "step": 1900
    },
    {
      "epoch": 0.4262957146062374,
      "gripper_loss": 0.3046875,
      "loss": 0.2021484375,
      "pos_loss": 1.6796875,
      "rot_loss": 0.212890625,
      "step": 1900
    },
    {
      "epoch": 0.42652008077181963,
      "grad_norm": 1.116258978843689,
      "learning_rate": 0.00048369867635453533,
      "loss": 0.1538,
      "step": 1901
    },
    {
      "epoch": 0.42652008077181963,
      "gripper_loss": 0.62109375,
      "loss": 0.12255859375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.58203125,
      "step": 1901
    },
    {
      "epoch": 0.4267444469374018,
      "grad_norm": 0.7554612755775452,
      "learning_rate": 0.00048367715940612904,
      "loss": 0.1102,
      "step": 1902
    },
    {
      "epoch": 0.4267444469374018,
      "gripper_loss": 1.1328125,
      "loss": 0.314453125,
      "pos_loss": 0.408203125,
      "rot_loss": 0.255859375,
      "step": 1902
    },
    {
      "epoch": 0.42696881310298407,
      "grad_norm": 1.8095793724060059,
      "learning_rate": 0.0004836556287456526,
      "loss": 0.4158,
      "step": 1903
    },
    {
      "epoch": 0.42696881310298407,
      "gripper_loss": 0.08544921875,
      "loss": 0.1865234375,
      "pos_loss": 1.671875,
      "rot_loss": 0.15234375,
      "step": 1903
    },
    {
      "epoch": 0.4271931792685663,
      "grad_norm": 0.742626428604126,
      "learning_rate": 0.0004836340843743694,
      "loss": 0.1247,
      "step": 1904
    },
    {
      "epoch": 0.4271931792685663,
      "gripper_loss": 0.875,
      "loss": 0.1572265625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.2109375,
      "step": 1904
    },
    {
      "epoch": 0.4274175454341485,
      "grad_norm": 1.3914052248001099,
      "learning_rate": 0.0004836125262935436,
      "loss": 0.1429,
      "step": 1905
    },
    {
      "epoch": 0.4274175454341485,
      "gripper_loss": 0.470703125,
      "loss": 0.072265625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.205078125,
      "step": 1905
    },
    {
      "epoch": 0.42764191159973075,
      "grad_norm": 0.9623658061027527,
      "learning_rate": 0.0004835909545044403,
      "loss": 0.1425,
      "step": 1906
    },
    {
      "epoch": 0.42764191159973075,
      "gripper_loss": 0.4765625,
      "loss": 0.1298828125,
      "pos_loss": 0.234375,
      "rot_loss": 0.41015625,
      "step": 1906
    },
    {
      "epoch": 0.427866277765313,
      "grad_norm": 1.5698153972625732,
      "learning_rate": 0.00048356936900832524,
      "loss": 0.1691,
      "step": 1907
    },
    {
      "epoch": 0.427866277765313,
      "gripper_loss": 1.8125,
      "loss": 0.69140625,
      "pos_loss": 0.62890625,
      "rot_loss": 5.96875,
      "step": 1907
    },
    {
      "epoch": 0.42809064393089524,
      "grad_norm": 1.2931216955184937,
      "learning_rate": 0.00048354776980646507,
      "loss": 0.2405,
      "step": 1908
    },
    {
      "epoch": 0.42809064393089524,
      "gripper_loss": 1.0234375,
      "loss": 0.0771484375,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.16796875,
      "step": 1908
    },
    {
      "epoch": 0.42831501009647743,
      "grad_norm": 1.0105247497558594,
      "learning_rate": 0.00048352615690012735,
      "loss": 0.1294,
      "step": 1909
    },
    {
      "epoch": 0.42831501009647743,
      "gripper_loss": 0.1904296875,
      "loss": 0.2353515625,
      "pos_loss": 0.8359375,
      "rot_loss": 1.28125,
      "step": 1909
    },
    {
      "epoch": 0.4285393762620597,
      "grad_norm": 0.908925473690033,
      "learning_rate": 0.0004835045302905801,
      "loss": 0.195,
      "step": 1910
    },
    {
      "epoch": 0.4285393762620597,
      "gripper_loss": 0.1015625,
      "loss": 0.0810546875,
      "pos_loss": 0.4765625,
      "rot_loss": 0.158203125,
      "step": 1910
    },
    {
      "epoch": 0.4287637424276419,
      "grad_norm": 1.134056568145752,
      "learning_rate": 0.0004834828899790925,
      "loss": 0.1209,
      "step": 1911
    },
    {
      "epoch": 0.4287637424276419,
      "gripper_loss": 0.109375,
      "loss": 0.1435546875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.68359375,
      "step": 1911
    },
    {
      "epoch": 0.4289881085932241,
      "grad_norm": 1.0334585905075073,
      "learning_rate": 0.0004834612359669344,
      "loss": 0.1341,
      "step": 1912
    },
    {
      "epoch": 0.4289881085932241,
      "gripper_loss": 0.054443359375,
      "loss": 0.298828125,
      "pos_loss": 1.1015625,
      "rot_loss": 1.8359375,
      "step": 1912
    },
    {
      "epoch": 0.42921247475880636,
      "grad_norm": 1.07662034034729,
      "learning_rate": 0.0004834395682553764,
      "loss": 0.1555,
      "step": 1913
    },
    {
      "epoch": 0.42921247475880636,
      "gripper_loss": 0.625,
      "loss": 0.390625,
      "pos_loss": 1.1484375,
      "rot_loss": 0.328125,
      "step": 1913
    },
    {
      "epoch": 0.4294368409243886,
      "grad_norm": 2.290958881378174,
      "learning_rate": 0.00048341788684568986,
      "loss": 0.3867,
      "step": 1914
    },
    {
      "epoch": 0.4294368409243886,
      "gripper_loss": 1.0390625,
      "loss": 0.10546875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.06884765625,
      "step": 1914
    },
    {
      "epoch": 0.42966120708997085,
      "grad_norm": 0.7714043855667114,
      "learning_rate": 0.0004833961917391472,
      "loss": 0.1211,
      "step": 1915
    },
    {
      "epoch": 0.42966120708997085,
      "gripper_loss": 0.2216796875,
      "loss": 0.1484375,
      "pos_loss": 0.75,
      "rot_loss": 0.51171875,
      "step": 1915
    },
    {
      "epoch": 0.42988557325555304,
      "grad_norm": 1.1061023473739624,
      "learning_rate": 0.00048337448293702144,
      "loss": 0.1539,
      "step": 1916
    },
    {
      "epoch": 0.42988557325555304,
      "gripper_loss": 1.2734375,
      "loss": 0.0927734375,
      "pos_loss": 0.216796875,
      "rot_loss": 0.154296875,
      "step": 1916
    },
    {
      "epoch": 0.4301099394211353,
      "grad_norm": 0.8207724094390869,
      "learning_rate": 0.0004833527604405864,
      "loss": 0.1063,
      "step": 1917
    },
    {
      "epoch": 0.4301099394211353,
      "gripper_loss": 0.1005859375,
      "loss": 0.05029296875,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.059326171875,
      "step": 1917
    },
    {
      "epoch": 0.43033430558671754,
      "grad_norm": 0.8820346593856812,
      "learning_rate": 0.0004833310242511167,
      "loss": 0.1483,
      "step": 1918
    },
    {
      "epoch": 0.43033430558671754,
      "gripper_loss": 0.205078125,
      "loss": 0.09375,
      "pos_loss": 0.443359375,
      "rot_loss": 0.162109375,
      "step": 1918
    },
    {
      "epoch": 0.4305586717522997,
      "grad_norm": 0.9306527972221375,
      "learning_rate": 0.000483309274369888,
      "loss": 0.1235,
      "step": 1919
    },
    {
      "epoch": 0.4305586717522997,
      "gripper_loss": 0.041015625,
      "loss": 0.291015625,
      "pos_loss": 1.640625,
      "rot_loss": 1.3046875,
      "step": 1919
    },
    {
      "epoch": 0.430783037917882,
      "grad_norm": 0.9017245769500732,
      "learning_rate": 0.0004832875107981763,
      "loss": 0.1519,
      "step": 1920
    },
    {
      "epoch": 0.430783037917882,
      "gripper_loss": 0.6796875,
      "loss": 0.06982421875,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.203125,
      "step": 1920
    },
    {
      "epoch": 0.4310074040834642,
      "grad_norm": 0.8088430762290955,
      "learning_rate": 0.0004832657335372589,
      "loss": 0.1469,
      "step": 1921
    },
    {
      "epoch": 0.4310074040834642,
      "gripper_loss": 0.1123046875,
      "loss": 0.1669921875,
      "pos_loss": 1.1640625,
      "rot_loss": 0.365234375,
      "step": 1921
    },
    {
      "epoch": 0.43123177024904646,
      "grad_norm": 0.8593346476554871,
      "learning_rate": 0.00048324394258841363,
      "loss": 0.1894,
      "step": 1922
    },
    {
      "epoch": 0.43123177024904646,
      "gripper_loss": 0.51171875,
      "loss": 0.263671875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.359375,
      "step": 1922
    },
    {
      "epoch": 0.43145613641462865,
      "grad_norm": 1.8079067468643188,
      "learning_rate": 0.00048322213795291906,
      "loss": 0.3694,
      "step": 1923
    },
    {
      "epoch": 0.43145613641462865,
      "gripper_loss": 0.251953125,
      "loss": 0.251953125,
      "pos_loss": 0.48828125,
      "rot_loss": 0.376953125,
      "step": 1923
    },
    {
      "epoch": 0.4316805025802109,
      "grad_norm": 1.7530670166015625,
      "learning_rate": 0.0004832003196320548,
      "loss": 0.3301,
      "step": 1924
    },
    {
      "epoch": 0.4316805025802109,
      "gripper_loss": 0.90625,
      "loss": 0.2060546875,
      "pos_loss": 0.6640625,
      "rot_loss": 1.015625,
      "step": 1924
    },
    {
      "epoch": 0.43190486874579315,
      "grad_norm": 1.1605547666549683,
      "learning_rate": 0.00048317848762710115,
      "loss": 0.1314,
      "step": 1925
    },
    {
      "epoch": 0.43190486874579315,
      "gripper_loss": 0.1884765625,
      "loss": 0.07763671875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.162109375,
      "step": 1925
    },
    {
      "epoch": 0.43212923491137534,
      "grad_norm": 1.0858434438705444,
      "learning_rate": 0.00048315664193933914,
      "loss": 0.1469,
      "step": 1926
    },
    {
      "epoch": 0.43212923491137534,
      "gripper_loss": 0.04150390625,
      "loss": 0.0625,
      "pos_loss": 0.265625,
      "rot_loss": 0.09423828125,
      "step": 1926
    },
    {
      "epoch": 0.4323536010769576,
      "grad_norm": 0.9926414489746094,
      "learning_rate": 0.0004831347825700506,
      "loss": 0.1146,
      "step": 1927
    },
    {
      "epoch": 0.4323536010769576,
      "gripper_loss": 0.0281982421875,
      "loss": 0.2021484375,
      "pos_loss": 1.34375,
      "rot_loss": 0.6015625,
      "step": 1927
    },
    {
      "epoch": 0.43257796724253983,
      "grad_norm": 1.0384806394577026,
      "learning_rate": 0.00048311290952051837,
      "loss": 0.1605,
      "step": 1928
    },
    {
      "epoch": 0.43257796724253983,
      "gripper_loss": 0.3046875,
      "loss": 0.10400390625,
      "pos_loss": 0.13671875,
      "rot_loss": 0.2470703125,
      "step": 1928
    },
    {
      "epoch": 0.4328023334081221,
      "grad_norm": 1.3318681716918945,
      "learning_rate": 0.00048309102279202586,
      "loss": 0.178,
      "step": 1929
    },
    {
      "epoch": 0.4328023334081221,
      "gripper_loss": 0.318359375,
      "loss": 0.2001953125,
      "pos_loss": 1.7265625,
      "rot_loss": 0.169921875,
      "step": 1929
    },
    {
      "epoch": 0.43302669957370427,
      "grad_norm": 0.6028978228569031,
      "learning_rate": 0.00048306912238585745,
      "loss": 0.1479,
      "step": 1930
    },
    {
      "epoch": 0.43302669957370427,
      "gripper_loss": 1.7578125,
      "loss": 0.220703125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.412109375,
      "step": 1930
    },
    {
      "epoch": 0.4332510657392865,
      "grad_norm": 1.0285693407058716,
      "learning_rate": 0.00048304720830329807,
      "loss": 0.1837,
      "step": 1931
    },
    {
      "epoch": 0.4332510657392865,
      "gripper_loss": 0.55859375,
      "loss": 0.1484375,
      "pos_loss": 0.470703125,
      "rot_loss": 0.67578125,
      "step": 1931
    },
    {
      "epoch": 0.43347543190486876,
      "grad_norm": 1.164618730545044,
      "learning_rate": 0.00048302528054563386,
      "loss": 0.1193,
      "step": 1932
    },
    {
      "epoch": 0.43347543190486876,
      "gripper_loss": 0.8125,
      "loss": 0.1484375,
      "pos_loss": 0.4296875,
      "rot_loss": 0.64453125,
      "step": 1932
    },
    {
      "epoch": 0.433699798070451,
      "grad_norm": 1.2486227750778198,
      "learning_rate": 0.0004830033391141514,
      "loss": 0.1452,
      "step": 1933
    },
    {
      "epoch": 0.433699798070451,
      "gripper_loss": 0.94921875,
      "loss": 0.5234375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.50390625,
      "step": 1933
    },
    {
      "epoch": 0.4339241642360332,
      "grad_norm": 2.0180797576904297,
      "learning_rate": 0.00048298138401013825,
      "loss": 0.5688,
      "step": 1934
    },
    {
      "epoch": 0.4339241642360332,
      "gripper_loss": 1.265625,
      "loss": 0.2197265625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.96484375,
      "step": 1934
    },
    {
      "epoch": 0.43414853040161544,
      "grad_norm": 0.9751152396202087,
      "learning_rate": 0.00048295941523488265,
      "loss": 0.1191,
      "step": 1935
    },
    {
      "epoch": 0.43414853040161544,
      "gripper_loss": 0.2255859375,
      "loss": 0.1025390625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.5078125,
      "step": 1935
    },
    {
      "epoch": 0.4343728965671977,
      "grad_norm": 0.7538423538208008,
      "learning_rate": 0.00048293743278967385,
      "loss": 0.1349,
      "step": 1936
    },
    {
      "epoch": 0.4343728965671977,
      "gripper_loss": 0.2412109375,
      "loss": 0.259765625,
      "pos_loss": 0.96875,
      "rot_loss": 0.490234375,
      "step": 1936
    },
    {
      "epoch": 0.4345972627327799,
      "grad_norm": 1.5102877616882324,
      "learning_rate": 0.00048291543667580163,
      "loss": 0.2405,
      "step": 1937
    },
    {
      "epoch": 0.4345972627327799,
      "gripper_loss": 0.5234375,
      "loss": 0.06640625,
      "pos_loss": 0.1328125,
      "rot_loss": 0.193359375,
      "step": 1937
    },
    {
      "epoch": 0.4348216288983621,
      "grad_norm": 0.8257958889007568,
      "learning_rate": 0.00048289342689455673,
      "loss": 0.144,
      "step": 1938
    },
    {
      "epoch": 0.4348216288983621,
      "gripper_loss": 1.03125,
      "loss": 0.119140625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.25390625,
      "step": 1938
    },
    {
      "epoch": 0.43504599506394437,
      "grad_norm": 0.80652916431427,
      "learning_rate": 0.0004828714034472308,
      "loss": 0.1518,
      "step": 1939
    },
    {
      "epoch": 0.43504599506394437,
      "gripper_loss": 1.140625,
      "loss": 0.271484375,
      "pos_loss": 1.8203125,
      "rot_loss": 0.5390625,
      "step": 1939
    },
    {
      "epoch": 0.4352703612295266,
      "grad_norm": 1.308237910270691,
      "learning_rate": 0.000482849366335116,
      "loss": 0.1813,
      "step": 1940
    },
    {
      "epoch": 0.4352703612295266,
      "gripper_loss": 0.045166015625,
      "loss": 0.2470703125,
      "pos_loss": 2.234375,
      "rot_loss": 0.1923828125,
      "step": 1940
    },
    {
      "epoch": 0.4354947273951088,
      "grad_norm": 1.240214467048645,
      "learning_rate": 0.0004828273155595056,
      "loss": 0.1777,
      "step": 1941
    },
    {
      "epoch": 0.4354947273951088,
      "gripper_loss": 0.9765625,
      "loss": 0.2275390625,
      "pos_loss": 0.58984375,
      "rot_loss": 0.58984375,
      "step": 1941
    },
    {
      "epoch": 0.43571909356069105,
      "grad_norm": 1.2225515842437744,
      "learning_rate": 0.0004828052511216935,
      "loss": 0.1599,
      "step": 1942
    },
    {
      "epoch": 0.43571909356069105,
      "gripper_loss": 0.7421875,
      "loss": 0.09765625,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.30078125,
      "step": 1942
    },
    {
      "epoch": 0.4359434597262733,
      "grad_norm": 1.078330397605896,
      "learning_rate": 0.00048278317302297434,
      "loss": 0.167,
      "step": 1943
    },
    {
      "epoch": 0.4359434597262733,
      "gripper_loss": 1.484375,
      "loss": 0.10595703125,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.2138671875,
      "step": 1943
    },
    {
      "epoch": 0.4361678258918555,
      "grad_norm": 1.266344428062439,
      "learning_rate": 0.0004827610812646438,
      "loss": 0.1572,
      "step": 1944
    },
    {
      "epoch": 0.4361678258918555,
      "gripper_loss": 0.09375,
      "loss": 0.11572265625,
      "pos_loss": 0.90234375,
      "rot_loss": 0.05224609375,
      "step": 1944
    },
    {
      "epoch": 0.43639219205743773,
      "grad_norm": 1.2033089399337769,
      "learning_rate": 0.00048273897584799803,
      "loss": 0.1335,
      "step": 1945
    },
    {
      "epoch": 0.43639219205743773,
      "gripper_loss": 0.412109375,
      "loss": 0.1435546875,
      "pos_loss": 0.765625,
      "rot_loss": 0.388671875,
      "step": 1945
    },
    {
      "epoch": 0.43661655822302,
      "grad_norm": 0.9820249080657959,
      "learning_rate": 0.0004827168567743343,
      "loss": 0.175,
      "step": 1946
    },
    {
      "epoch": 0.43661655822302,
      "gripper_loss": 0.162109375,
      "loss": 0.228515625,
      "pos_loss": 1.2109375,
      "rot_loss": 0.53515625,
      "step": 1946
    },
    {
      "epoch": 0.4368409243886022,
      "grad_norm": 1.2754716873168945,
      "learning_rate": 0.0004826947240449505,
      "loss": 0.1428,
      "step": 1947
    },
    {
      "epoch": 0.4368409243886022,
      "gripper_loss": 0.06494140625,
      "loss": 0.05859375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.08447265625,
      "step": 1947
    },
    {
      "epoch": 0.4370652905541844,
      "grad_norm": 0.8538416624069214,
      "learning_rate": 0.00048267257766114544,
      "loss": 0.1435,
      "step": 1948
    },
    {
      "epoch": 0.4370652905541844,
      "gripper_loss": 0.040283203125,
      "loss": 0.1435546875,
      "pos_loss": 1.1640625,
      "rot_loss": 0.1572265625,
      "step": 1948
    },
    {
      "epoch": 0.43728965671976666,
      "grad_norm": 1.0981028079986572,
      "learning_rate": 0.00048265041762421857,
      "loss": 0.1145,
      "step": 1949
    },
    {
      "epoch": 0.43728965671976666,
      "gripper_loss": 0.029541015625,
      "loss": 0.166015625,
      "pos_loss": 0.78515625,
      "rot_loss": 0.75,
      "step": 1949
    },
    {
      "epoch": 0.4375140228853489,
      "grad_norm": 0.9366850852966309,
      "learning_rate": 0.0004826282439354702,
      "loss": 0.1534,
      "step": 1950
    },
    {
      "epoch": 0.4375140228853489,
      "gripper_loss": 1.21875,
      "loss": 0.07470703125,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.021728515625,
      "step": 1950
    },
    {
      "epoch": 0.4377383890509311,
      "grad_norm": 1.4466278553009033,
      "learning_rate": 0.0004826060565962016,
      "loss": 0.1479,
      "step": 1951
    },
    {
      "epoch": 0.4377383890509311,
      "gripper_loss": 0.224609375,
      "loss": 0.2158203125,
      "pos_loss": 1.0625,
      "rot_loss": 0.94140625,
      "step": 1951
    },
    {
      "epoch": 0.43796275521651334,
      "grad_norm": 1.1919106245040894,
      "learning_rate": 0.00048258385560771464,
      "loss": 0.1768,
      "step": 1952
    },
    {
      "epoch": 0.43796275521651334,
      "gripper_loss": 0.357421875,
      "loss": 0.1123046875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.26171875,
      "step": 1952
    },
    {
      "epoch": 0.4381871213820956,
      "grad_norm": 1.0016366243362427,
      "learning_rate": 0.00048256164097131205,
      "loss": 0.1123,
      "step": 1953
    },
    {
      "epoch": 0.4381871213820956,
      "gripper_loss": 0.5,
      "loss": 0.5859375,
      "pos_loss": 0.88671875,
      "rot_loss": 0.8125,
      "step": 1953
    },
    {
      "epoch": 0.43841148754767784,
      "grad_norm": 2.222623586654663,
      "learning_rate": 0.00048253941268829736,
      "loss": 0.6528,
      "step": 1954
    },
    {
      "epoch": 0.43841148754767784,
      "gripper_loss": 0.80859375,
      "loss": 0.0791015625,
      "pos_loss": 0.27734375,
      "rot_loss": 0.134765625,
      "step": 1954
    },
    {
      "epoch": 0.43863585371326,
      "grad_norm": 1.0034375190734863,
      "learning_rate": 0.000482517170759975,
      "loss": 0.1569,
      "step": 1955
    },
    {
      "epoch": 0.43863585371326,
      "gripper_loss": 0.2373046875,
      "loss": 0.10107421875,
      "pos_loss": 0.404296875,
      "rot_loss": 0.419921875,
      "step": 1955
    },
    {
      "epoch": 0.4388602198788423,
      "grad_norm": 1.4027961492538452,
      "learning_rate": 0.0004824949151876501,
      "loss": 0.1922,
      "step": 1956
    },
    {
      "epoch": 0.4388602198788423,
      "gripper_loss": 0.54296875,
      "loss": 0.08740234375,
      "pos_loss": 0.38671875,
      "rot_loss": 0.21875,
      "step": 1956
    },
    {
      "epoch": 0.4390845860444245,
      "grad_norm": 1.131393313407898,
      "learning_rate": 0.00048247264597262854,
      "loss": 0.1132,
      "step": 1957
    },
    {
      "epoch": 0.4390845860444245,
      "gripper_loss": 0.416015625,
      "loss": 0.1591796875,
      "pos_loss": 0.74609375,
      "rot_loss": 0.65234375,
      "step": 1957
    },
    {
      "epoch": 0.4393089522100067,
      "grad_norm": 0.9325606822967529,
      "learning_rate": 0.00048245036311621704,
      "loss": 0.1284,
      "step": 1958
    },
    {
      "epoch": 0.4393089522100067,
      "gripper_loss": 0.1005859375,
      "loss": 0.263671875,
      "pos_loss": 1.046875,
      "rot_loss": 1.2421875,
      "step": 1958
    },
    {
      "epoch": 0.43953331837558896,
      "grad_norm": 1.3695706129074097,
      "learning_rate": 0.00048242806661972327,
      "loss": 0.2029,
      "step": 1959
    },
    {
      "epoch": 0.43953331837558896,
      "gripper_loss": 0.94921875,
      "loss": 0.06201171875,
      "pos_loss": 0.11279296875,
      "rot_loss": 0.0849609375,
      "step": 1959
    },
    {
      "epoch": 0.4397576845411712,
      "grad_norm": 0.8448000550270081,
      "learning_rate": 0.0004824057564844555,
      "loss": 0.1227,
      "step": 1960
    },
    {
      "epoch": 0.4397576845411712,
      "gripper_loss": 0.54296875,
      "loss": 0.1474609375,
      "pos_loss": 0.466796875,
      "rot_loss": 0.73046875,
      "step": 1960
    },
    {
      "epoch": 0.43998205070675345,
      "grad_norm": 0.9147980213165283,
      "learning_rate": 0.0004823834327117229,
      "loss": 0.1046,
      "step": 1961
    },
    {
      "epoch": 0.43998205070675345,
      "gripper_loss": 0.07080078125,
      "loss": 0.1962890625,
      "pos_loss": 1.84375,
      "rot_loss": 0.0537109375,
      "step": 1961
    },
    {
      "epoch": 0.44020641687233564,
      "grad_norm": 0.6708463430404663,
      "learning_rate": 0.00048236109530283545,
      "loss": 0.1267,
      "step": 1962
    },
    {
      "epoch": 0.44020641687233564,
      "gripper_loss": 1.15625,
      "loss": 0.255859375,
      "pos_loss": 0.6796875,
      "rot_loss": 1.4921875,
      "step": 1962
    },
    {
      "epoch": 0.4404307830379179,
      "grad_norm": 0.7635917067527771,
      "learning_rate": 0.00048233874425910385,
      "loss": 0.1761,
      "step": 1963
    },
    {
      "epoch": 0.4404307830379179,
      "gripper_loss": 0.041259765625,
      "loss": 0.1884765625,
      "pos_loss": 1.640625,
      "rot_loss": 0.2021484375,
      "step": 1963
    },
    {
      "epoch": 0.44065514920350013,
      "grad_norm": 0.9521295428276062,
      "learning_rate": 0.0004823163795818397,
      "loss": 0.1375,
      "step": 1964
    },
    {
      "epoch": 0.44065514920350013,
      "gripper_loss": 0.060546875,
      "loss": 0.234375,
      "pos_loss": 1.6015625,
      "rot_loss": 0.54296875,
      "step": 1964
    },
    {
      "epoch": 0.4408795153690823,
      "grad_norm": 0.9550297856330872,
      "learning_rate": 0.00048229400127235524,
      "loss": 0.1228,
      "step": 1965
    },
    {
      "epoch": 0.4408795153690823,
      "gripper_loss": 0.057373046875,
      "loss": 0.08935546875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1728515625,
      "step": 1965
    },
    {
      "epoch": 0.44110388153466457,
      "grad_norm": 0.9714342951774597,
      "learning_rate": 0.0004822716093319637,
      "loss": 0.1453,
      "step": 1966
    },
    {
      "epoch": 0.44110388153466457,
      "gripper_loss": 0.255859375,
      "loss": 0.050537109375,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.08837890625,
      "step": 1966
    },
    {
      "epoch": 0.4413282477002468,
      "grad_norm": 0.8405373692512512,
      "learning_rate": 0.00048224920376197905,
      "loss": 0.1103,
      "step": 1967
    },
    {
      "epoch": 0.4413282477002468,
      "gripper_loss": 0.57421875,
      "loss": 0.1552734375,
      "pos_loss": 0.6484375,
      "rot_loss": 0.67578125,
      "step": 1967
    },
    {
      "epoch": 0.44155261386582906,
      "grad_norm": 0.8393728733062744,
      "learning_rate": 0.000482226784563716,
      "loss": 0.1746,
      "step": 1968
    },
    {
      "epoch": 0.44155261386582906,
      "gripper_loss": 0.296875,
      "loss": 0.263671875,
      "pos_loss": 1.71875,
      "rot_loss": 0.67578125,
      "step": 1968
    },
    {
      "epoch": 0.44177698003141125,
      "grad_norm": 1.022091269493103,
      "learning_rate": 0.0004822043517384901,
      "loss": 0.1417,
      "step": 1969
    },
    {
      "epoch": 0.44177698003141125,
      "gripper_loss": 0.181640625,
      "loss": 0.07421875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.1396484375,
      "step": 1969
    },
    {
      "epoch": 0.4420013461969935,
      "grad_norm": 0.7586469650268555,
      "learning_rate": 0.00048218190528761775,
      "loss": 0.1138,
      "step": 1970
    },
    {
      "epoch": 0.4420013461969935,
      "gripper_loss": 0.169921875,
      "loss": 0.28515625,
      "pos_loss": 1.1328125,
      "rot_loss": 1.71875,
      "step": 1970
    },
    {
      "epoch": 0.44222571236257574,
      "grad_norm": 0.7237207293510437,
      "learning_rate": 0.00048215944521241594,
      "loss": 0.1165,
      "step": 1971
    },
    {
      "epoch": 0.44222571236257574,
      "gripper_loss": 0.4765625,
      "loss": 0.10693359375,
      "pos_loss": 0.251953125,
      "rot_loss": 0.51953125,
      "step": 1971
    },
    {
      "epoch": 0.44245007852815793,
      "grad_norm": 1.1922516822814941,
      "learning_rate": 0.0004821369715142029,
      "loss": 0.158,
      "step": 1972
    },
    {
      "epoch": 0.44245007852815793,
      "gripper_loss": 0.380859375,
      "loss": 0.134765625,
      "pos_loss": 0.486328125,
      "rot_loss": 0.72265625,
      "step": 1972
    },
    {
      "epoch": 0.4426744446937402,
      "grad_norm": 0.8724871873855591,
      "learning_rate": 0.00048211448419429703,
      "loss": 0.1341,
      "step": 1973
    },
    {
      "epoch": 0.4426744446937402,
      "gripper_loss": 0.66796875,
      "loss": 0.2080078125,
      "pos_loss": 0.375,
      "rot_loss": 1.5,
      "step": 1973
    },
    {
      "epoch": 0.4428988108593224,
      "grad_norm": 0.7129747867584229,
      "learning_rate": 0.00048209198325401817,
      "loss": 0.1438,
      "step": 1974
    },
    {
      "epoch": 0.4428988108593224,
      "gripper_loss": 0.193359375,
      "loss": 0.0947265625,
      "pos_loss": 0.48046875,
      "rot_loss": 0.2216796875,
      "step": 1974
    },
    {
      "epoch": 0.44312317702490467,
      "grad_norm": 0.9951671361923218,
      "learning_rate": 0.0004820694686946865,
      "loss": 0.1199,
      "step": 1975
    },
    {
      "epoch": 0.44312317702490467,
      "gripper_loss": 0.58203125,
      "loss": 0.0966796875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.057373046875,
      "step": 1975
    },
    {
      "epoch": 0.44334754319048686,
      "grad_norm": 0.948127269744873,
      "learning_rate": 0.0004820469405176232,
      "loss": 0.1392,
      "step": 1976
    },
    {
      "epoch": 0.44334754319048686,
      "gripper_loss": 0.0654296875,
      "loss": 0.134765625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.76953125,
      "step": 1976
    },
    {
      "epoch": 0.4435719093560691,
      "grad_norm": 0.6508861184120178,
      "learning_rate": 0.0004820243987241503,
      "loss": 0.1357,
      "step": 1977
    },
    {
      "epoch": 0.4435719093560691,
      "gripper_loss": 0.400390625,
      "loss": 0.1337890625,
      "pos_loss": 0.3671875,
      "rot_loss": 0.2578125,
      "step": 1977
    },
    {
      "epoch": 0.44379627552165135,
      "grad_norm": 1.3928618431091309,
      "learning_rate": 0.0004820018433155904,
      "loss": 0.18,
      "step": 1978
    },
    {
      "epoch": 0.44379627552165135,
      "gripper_loss": 0.7265625,
      "loss": 0.380859375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.365234375,
      "step": 1978
    },
    {
      "epoch": 0.44402064168723354,
      "grad_norm": 2.01297926902771,
      "learning_rate": 0.00048197927429326714,
      "loss": 0.4255,
      "step": 1979
    },
    {
      "epoch": 0.44402064168723354,
      "gripper_loss": 0.123046875,
      "loss": 0.1884765625,
      "pos_loss": 0.953125,
      "rot_loss": 0.6328125,
      "step": 1979
    },
    {
      "epoch": 0.4442450078528158,
      "grad_norm": 1.1713873147964478,
      "learning_rate": 0.0004819566916585048,
      "loss": 0.1298,
      "step": 1980
    },
    {
      "epoch": 0.4442450078528158,
      "gripper_loss": 0.96484375,
      "loss": 0.0703125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.1005859375,
      "step": 1980
    },
    {
      "epoch": 0.44446937401839803,
      "grad_norm": 1.1530530452728271,
      "learning_rate": 0.00048193409541262853,
      "loss": 0.1541,
      "step": 1981
    },
    {
      "epoch": 0.44446937401839803,
      "gripper_loss": 0.443359375,
      "loss": 0.052490234375,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.035400390625,
      "step": 1981
    },
    {
      "epoch": 0.4446937401839803,
      "grad_norm": 0.931829571723938,
      "learning_rate": 0.00048191148555696433,
      "loss": 0.138,
      "step": 1982
    },
    {
      "epoch": 0.4446937401839803,
      "gripper_loss": 0.11669921875,
      "loss": 0.2392578125,
      "pos_loss": 1.8046875,
      "rot_loss": 0.515625,
      "step": 1982
    },
    {
      "epoch": 0.44491810634956247,
      "grad_norm": 1.2145445346832275,
      "learning_rate": 0.0004818888620928389,
      "loss": 0.1467,
      "step": 1983
    },
    {
      "epoch": 0.44491810634956247,
      "gripper_loss": 0.06689453125,
      "loss": 0.10302734375,
      "pos_loss": 0.412109375,
      "rot_loss": 0.5234375,
      "step": 1983
    },
    {
      "epoch": 0.4451424725151447,
      "grad_norm": 0.9703992009162903,
      "learning_rate": 0.0004818662250215797,
      "loss": 0.1133,
      "step": 1984
    },
    {
      "epoch": 0.4451424725151447,
      "gripper_loss": 0.0888671875,
      "loss": 0.2197265625,
      "pos_loss": 0.828125,
      "rot_loss": 1.28125,
      "step": 1984
    },
    {
      "epoch": 0.44536683868072696,
      "grad_norm": 0.9901465177536011,
      "learning_rate": 0.0004818435743445152,
      "loss": 0.1691,
      "step": 1985
    },
    {
      "epoch": 0.44536683868072696,
      "gripper_loss": 0.2236328125,
      "loss": 0.21484375,
      "pos_loss": 1.1875,
      "rot_loss": 0.85546875,
      "step": 1985
    },
    {
      "epoch": 0.44559120484630915,
      "grad_norm": 0.7577723264694214,
      "learning_rate": 0.00048182091006297446,
      "loss": 0.1085,
      "step": 1986
    },
    {
      "epoch": 0.44559120484630915,
      "gripper_loss": 0.0234375,
      "loss": 0.1796875,
      "pos_loss": 1.0234375,
      "rot_loss": 0.71484375,
      "step": 1986
    },
    {
      "epoch": 0.4458155710118914,
      "grad_norm": 0.9107313752174377,
      "learning_rate": 0.00048179823217828736,
      "loss": 0.1702,
      "step": 1987
    },
    {
      "epoch": 0.4458155710118914,
      "gripper_loss": 0.2294921875,
      "loss": 0.19140625,
      "pos_loss": 1.4921875,
      "rot_loss": 0.162109375,
      "step": 1987
    },
    {
      "epoch": 0.44603993717747364,
      "grad_norm": 1.1058462858200073,
      "learning_rate": 0.00048177554069178474,
      "loss": 0.1527,
      "step": 1988
    },
    {
      "epoch": 0.44603993717747364,
      "gripper_loss": 0.08984375,
      "loss": 0.16015625,
      "pos_loss": 1.109375,
      "rot_loss": 0.43359375,
      "step": 1988
    },
    {
      "epoch": 0.4462643033430559,
      "grad_norm": 1.0222206115722656,
      "learning_rate": 0.000481752835604798,
      "loss": 0.1182,
      "step": 1989
    },
    {
      "epoch": 0.4462643033430559,
      "gripper_loss": 0.031494140625,
      "loss": 0.07080078125,
      "pos_loss": 0.3203125,
      "rot_loss": 0.279296875,
      "step": 1989
    },
    {
      "epoch": 0.4464886695086381,
      "grad_norm": 0.9249017834663391,
      "learning_rate": 0.0004817301169186596,
      "loss": 0.112,
      "step": 1990
    },
    {
      "epoch": 0.4464886695086381,
      "gripper_loss": 0.8828125,
      "loss": 0.11865234375,
      "pos_loss": 0.458984375,
      "rot_loss": 0.1689453125,
      "step": 1990
    },
    {
      "epoch": 0.4467130356742203,
      "grad_norm": 0.9521347284317017,
      "learning_rate": 0.00048170738463470256,
      "loss": 0.1694,
      "step": 1991
    },
    {
      "epoch": 0.4467130356742203,
      "gripper_loss": 0.1875,
      "loss": 0.1572265625,
      "pos_loss": 1.4375,
      "rot_loss": 0.03955078125,
      "step": 1991
    },
    {
      "epoch": 0.4469374018398026,
      "grad_norm": 0.9500291347503662,
      "learning_rate": 0.0004816846387542608,
      "loss": 0.1151,
      "step": 1992
    },
    {
      "epoch": 0.4469374018398026,
      "gripper_loss": 0.546875,
      "loss": 0.050048828125,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.028076171875,
      "step": 1992
    },
    {
      "epoch": 0.44716176800538476,
      "grad_norm": 0.73618084192276,
      "learning_rate": 0.0004816618792786691,
      "loss": 0.1049,
      "step": 1993
    },
    {
      "epoch": 0.44716176800538476,
      "gripper_loss": 0.15234375,
      "loss": 0.169921875,
      "pos_loss": 0.8359375,
      "rot_loss": 0.79296875,
      "step": 1993
    },
    {
      "epoch": 0.447386134170967,
      "grad_norm": 0.8231402039527893,
      "learning_rate": 0.00048163910620926286,
      "loss": 0.1189,
      "step": 1994
    },
    {
      "epoch": 0.447386134170967,
      "gripper_loss": 0.36328125,
      "loss": 0.064453125,
      "pos_loss": 0.326171875,
      "rot_loss": 0.11572265625,
      "step": 1994
    },
    {
      "epoch": 0.44761050033654926,
      "grad_norm": 0.7849785685539246,
      "learning_rate": 0.0004816163195473786,
      "loss": 0.1071,
      "step": 1995
    },
    {
      "epoch": 0.44761050033654926,
      "gripper_loss": 1.7421875,
      "loss": 0.09228515625,
      "pos_loss": 0.140625,
      "rot_loss": 0.1669921875,
      "step": 1995
    },
    {
      "epoch": 0.4478348665021315,
      "grad_norm": 0.780478835105896,
      "learning_rate": 0.00048159351929435323,
      "loss": 0.1562,
      "step": 1996
    },
    {
      "epoch": 0.4478348665021315,
      "gripper_loss": 0.890625,
      "loss": 0.059326171875,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.0400390625,
      "step": 1996
    },
    {
      "epoch": 0.4480592326677137,
      "grad_norm": 0.8202134370803833,
      "learning_rate": 0.0004815707054515248,
      "loss": 0.1072,
      "step": 1997
    },
    {
      "epoch": 0.4480592326677137,
      "gripper_loss": 0.26171875,
      "loss": 0.10302734375,
      "pos_loss": 0.546875,
      "rot_loss": 0.216796875,
      "step": 1997
    },
    {
      "epoch": 0.44828359883329594,
      "grad_norm": 0.8724899888038635,
      "learning_rate": 0.0004815478780202319,
      "loss": 0.133,
      "step": 1998
    },
    {
      "epoch": 0.44828359883329594,
      "gripper_loss": 0.232421875,
      "loss": 0.2314453125,
      "pos_loss": 1.0546875,
      "rot_loss": 0.40625,
      "step": 1998
    },
    {
      "epoch": 0.4485079649988782,
      "grad_norm": 1.709940791130066,
      "learning_rate": 0.00048152503700181416,
      "loss": 0.1786,
      "step": 1999
    },
    {
      "epoch": 0.4485079649988782,
      "gripper_loss": 0.09619140625,
      "loss": 0.25,
      "pos_loss": 0.51171875,
      "rot_loss": 1.9609375,
      "step": 1999
    },
    {
      "epoch": 0.4487323311644604,
      "grad_norm": 0.927737832069397,
      "learning_rate": 0.00048150218239761174,
      "loss": 0.1696,
      "step": 2000
    },
    {
      "epoch": 0.4487323311644604,
      "gripper_loss": 0.169921875,
      "loss": 0.154296875,
      "pos_loss": 1.4140625,
      "rot_loss": 0.046875,
      "step": 2000
    },
    {
      "epoch": 0.4489566973300426,
      "grad_norm": 0.9209758043289185,
      "learning_rate": 0.00048147931420896586,
      "loss": 0.1178,
      "step": 2001
    },
    {
      "epoch": 0.4489566973300426,
      "gripper_loss": 1.15625,
      "loss": 0.306640625,
      "pos_loss": 0.62890625,
      "rot_loss": 0.275390625,
      "step": 2001
    },
    {
      "epoch": 0.44918106349562487,
      "grad_norm": 2.1606063842773438,
      "learning_rate": 0.00048145643243721826,
      "loss": 0.3499,
      "step": 2002
    },
    {
      "epoch": 0.44918106349562487,
      "gripper_loss": 0.267578125,
      "loss": 0.220703125,
      "pos_loss": 0.609375,
      "rot_loss": 1.390625,
      "step": 2002
    },
    {
      "epoch": 0.4494054296612071,
      "grad_norm": 0.9240608215332031,
      "learning_rate": 0.00048143353708371184,
      "loss": 0.1477,
      "step": 2003
    },
    {
      "epoch": 0.4494054296612071,
      "gripper_loss": 1.03125,
      "loss": 0.07421875,
      "pos_loss": 0.150390625,
      "rot_loss": 0.10693359375,
      "step": 2003
    },
    {
      "epoch": 0.4496297958267893,
      "grad_norm": 1.2267770767211914,
      "learning_rate": 0.00048141062814978993,
      "loss": 0.2159,
      "step": 2004
    },
    {
      "epoch": 0.4496297958267893,
      "gripper_loss": 0.55859375,
      "loss": 0.2216796875,
      "pos_loss": 1.921875,
      "rot_loss": 0.064453125,
      "step": 2004
    },
    {
      "epoch": 0.44985416199237155,
      "grad_norm": 0.9771009087562561,
      "learning_rate": 0.0004813877056367969,
      "loss": 0.1993,
      "step": 2005
    },
    {
      "epoch": 0.44985416199237155,
      "gripper_loss": 0.05908203125,
      "loss": 0.259765625,
      "pos_loss": 0.67578125,
      "rot_loss": 0.2158203125,
      "step": 2005
    },
    {
      "epoch": 0.4500785281579538,
      "grad_norm": 1.8478317260742188,
      "learning_rate": 0.00048136476954607776,
      "loss": 0.308,
      "step": 2006
    },
    {
      "epoch": 0.4500785281579538,
      "gripper_loss": 0.146484375,
      "loss": 0.14453125,
      "pos_loss": 1.296875,
      "rot_loss": 0.076171875,
      "step": 2006
    },
    {
      "epoch": 0.450302894323536,
      "grad_norm": 0.9621254205703735,
      "learning_rate": 0.0004813418198789784,
      "loss": 0.1625,
      "step": 2007
    },
    {
      "epoch": 0.450302894323536,
      "gripper_loss": 0.353515625,
      "loss": 0.314453125,
      "pos_loss": 0.64453125,
      "rot_loss": 2.46875,
      "step": 2007
    },
    {
      "epoch": 0.45052726048911823,
      "grad_norm": 1.1847296953201294,
      "learning_rate": 0.0004813188566368456,
      "loss": 0.1876,
      "step": 2008
    },
    {
      "epoch": 0.45052726048911823,
      "gripper_loss": 0.4453125,
      "loss": 0.119140625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.30078125,
      "step": 2008
    },
    {
      "epoch": 0.4507516266547005,
      "grad_norm": 1.0627086162567139,
      "learning_rate": 0.00048129587982102676,
      "loss": 0.1425,
      "step": 2009
    },
    {
      "epoch": 0.4507516266547005,
      "gripper_loss": 0.1279296875,
      "loss": 0.125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.51171875,
      "step": 2009
    },
    {
      "epoch": 0.4509759928202827,
      "grad_norm": 1.1831544637680054,
      "learning_rate": 0.00048127288943287006,
      "loss": 0.1436,
      "step": 2010
    },
    {
      "epoch": 0.4509759928202827,
      "gripper_loss": 0.361328125,
      "loss": 0.1171875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.1708984375,
      "step": 2010
    },
    {
      "epoch": 0.4512003589858649,
      "grad_norm": 0.8566498756408691,
      "learning_rate": 0.0004812498854737247,
      "loss": 0.1441,
      "step": 2011
    },
    {
      "epoch": 0.4512003589858649,
      "gripper_loss": 0.494140625,
      "loss": 0.2451171875,
      "pos_loss": 1.2578125,
      "rot_loss": 1.03125,
      "step": 2011
    },
    {
      "epoch": 0.45142472515144716,
      "grad_norm": 0.7635809183120728,
      "learning_rate": 0.00048122686794494055,
      "loss": 0.1361,
      "step": 2012
    },
    {
      "epoch": 0.45142472515144716,
      "gripper_loss": 0.08740234375,
      "loss": 0.1982421875,
      "pos_loss": 1.859375,
      "rot_loss": 0.08203125,
      "step": 2012
    },
    {
      "epoch": 0.4516490913170294,
      "grad_norm": 0.8393998146057129,
      "learning_rate": 0.00048120383684786816,
      "loss": 0.1642,
      "step": 2013
    },
    {
      "epoch": 0.4516490913170294,
      "gripper_loss": 0.09228515625,
      "loss": 0.1591796875,
      "pos_loss": 1.078125,
      "rot_loss": 0.421875,
      "step": 2013
    },
    {
      "epoch": 0.4518734574826116,
      "grad_norm": 0.7415492534637451,
      "learning_rate": 0.0004811807921838591,
      "loss": 0.1155,
      "step": 2014
    },
    {
      "epoch": 0.4518734574826116,
      "gripper_loss": 0.07275390625,
      "loss": 0.1748046875,
      "pos_loss": 0.65234375,
      "rot_loss": 1.0,
      "step": 2014
    },
    {
      "epoch": 0.45209782364819384,
      "grad_norm": 1.1427834033966064,
      "learning_rate": 0.0004811577339542655,
      "loss": 0.117,
      "step": 2015
    },
    {
      "epoch": 0.45209782364819384,
      "gripper_loss": 0.201171875,
      "loss": 0.2578125,
      "pos_loss": 2.171875,
      "rot_loss": 0.359375,
      "step": 2015
    },
    {
      "epoch": 0.4523221898137761,
      "grad_norm": 0.9958679676055908,
      "learning_rate": 0.00048113466216044044,
      "loss": 0.1276,
      "step": 2016
    },
    {
      "epoch": 0.4523221898137761,
      "gripper_loss": 0.515625,
      "loss": 0.55859375,
      "pos_loss": 0.73828125,
      "rot_loss": 0.703125,
      "step": 2016
    },
    {
      "epoch": 0.45254655597935833,
      "grad_norm": 2.1611714363098145,
      "learning_rate": 0.00048111157680373785,
      "loss": 0.521,
      "step": 2017
    },
    {
      "epoch": 0.45254655597935833,
      "gripper_loss": 0.0625,
      "loss": 0.2333984375,
      "pos_loss": 1.9609375,
      "rot_loss": 0.3984375,
      "step": 2017
    },
    {
      "epoch": 0.4527709221449405,
      "grad_norm": 1.1078344583511353,
      "learning_rate": 0.00048108847788551226,
      "loss": 0.1422,
      "step": 2018
    },
    {
      "epoch": 0.4527709221449405,
      "gripper_loss": 0.37109375,
      "loss": 0.048583984375,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.0830078125,
      "step": 2018
    },
    {
      "epoch": 0.45299528831052277,
      "grad_norm": 0.8185033798217773,
      "learning_rate": 0.0004810653654071192,
      "loss": 0.1043,
      "step": 2019
    },
    {
      "epoch": 0.45299528831052277,
      "gripper_loss": 0.91796875,
      "loss": 0.0927734375,
      "pos_loss": 0.462890625,
      "rot_loss": 0.125,
      "step": 2019
    },
    {
      "epoch": 0.453219654476105,
      "grad_norm": 0.916700005531311,
      "learning_rate": 0.0004810422393699148,
      "loss": 0.1371,
      "step": 2020
    },
    {
      "epoch": 0.453219654476105,
      "gripper_loss": 0.353515625,
      "loss": 0.3125,
      "pos_loss": 0.890625,
      "rot_loss": 0.423828125,
      "step": 2020
    },
    {
      "epoch": 0.4534440206416872,
      "grad_norm": 1.9395989179611206,
      "learning_rate": 0.00048101909977525616,
      "loss": 0.2761,
      "step": 2021
    },
    {
      "epoch": 0.4534440206416872,
      "gripper_loss": 0.65234375,
      "loss": 0.09423828125,
      "pos_loss": 0.298828125,
      "rot_loss": 0.09716796875,
      "step": 2021
    },
    {
      "epoch": 0.45366838680726945,
      "grad_norm": 1.0877639055252075,
      "learning_rate": 0.0004809959466245011,
      "loss": 0.1524,
      "step": 2022
    },
    {
      "epoch": 0.45366838680726945,
      "gripper_loss": 0.197265625,
      "loss": 0.1640625,
      "pos_loss": 1.234375,
      "rot_loss": 0.240234375,
      "step": 2022
    },
    {
      "epoch": 0.4538927529728517,
      "grad_norm": 1.0838658809661865,
      "learning_rate": 0.0004809727799190081,
      "loss": 0.1732,
      "step": 2023
    },
    {
      "epoch": 0.4538927529728517,
      "gripper_loss": 0.1220703125,
      "loss": 0.216796875,
      "pos_loss": 1.015625,
      "rot_loss": 1.1328125,
      "step": 2023
    },
    {
      "epoch": 0.45411711913843394,
      "grad_norm": 0.7309985160827637,
      "learning_rate": 0.0004809495996601368,
      "loss": 0.1344,
      "step": 2024
    },
    {
      "epoch": 0.45411711913843394,
      "gripper_loss": 0.1435546875,
      "loss": 0.1552734375,
      "pos_loss": 0.408203125,
      "rot_loss": 0.51171875,
      "step": 2024
    },
    {
      "epoch": 0.45434148530401613,
      "grad_norm": 1.4643406867980957,
      "learning_rate": 0.00048092640584924723,
      "loss": 0.171,
      "step": 2025
    },
    {
      "epoch": 0.45434148530401613,
      "gripper_loss": 0.1162109375,
      "loss": 0.0888671875,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.58984375,
      "step": 2025
    },
    {
      "epoch": 0.4545658514695984,
      "grad_norm": 0.9327940940856934,
      "learning_rate": 0.0004809031984877005,
      "loss": 0.1092,
      "step": 2026
    },
    {
      "epoch": 0.4545658514695984,
      "gripper_loss": 1.015625,
      "loss": 0.0849609375,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.0927734375,
      "step": 2026
    },
    {
      "epoch": 0.4547902176351806,
      "grad_norm": 0.8354306817054749,
      "learning_rate": 0.0004808799775768583,
      "loss": 0.1285,
      "step": 2027
    },
    {
      "epoch": 0.4547902176351806,
      "gripper_loss": 0.041259765625,
      "loss": 0.248046875,
      "pos_loss": 1.984375,
      "rot_loss": 0.40625,
      "step": 2027
    },
    {
      "epoch": 0.4550145838007628,
      "grad_norm": 0.9586894512176514,
      "learning_rate": 0.00048085674311808334,
      "loss": 0.1716,
      "step": 2028
    },
    {
      "epoch": 0.4550145838007628,
      "gripper_loss": 0.171875,
      "loss": 0.16796875,
      "pos_loss": 1.28125,
      "rot_loss": 0.29296875,
      "step": 2028
    },
    {
      "epoch": 0.45523894996634506,
      "grad_norm": 0.882599413394928,
      "learning_rate": 0.00048083349511273896,
      "loss": 0.1569,
      "step": 2029
    },
    {
      "epoch": 0.45523894996634506,
      "gripper_loss": 0.8359375,
      "loss": 0.10205078125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.34765625,
      "step": 2029
    },
    {
      "epoch": 0.4554633161319273,
      "grad_norm": 0.9302831292152405,
      "learning_rate": 0.00048081023356218926,
      "loss": 0.1271,
      "step": 2030
    },
    {
      "epoch": 0.4554633161319273,
      "gripper_loss": 0.46484375,
      "loss": 0.2275390625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.609375,
      "step": 2030
    },
    {
      "epoch": 0.45568768229750956,
      "grad_norm": 1.351861834526062,
      "learning_rate": 0.0004807869584677994,
      "loss": 0.2754,
      "step": 2031
    },
    {
      "epoch": 0.45568768229750956,
      "gripper_loss": 0.298828125,
      "loss": 0.130859375,
      "pos_loss": 0.396484375,
      "rot_loss": 0.451171875,
      "step": 2031
    },
    {
      "epoch": 0.45591204846309175,
      "grad_norm": 1.0272694826126099,
      "learning_rate": 0.00048076366983093496,
      "loss": 0.1198,
      "step": 2032
    },
    {
      "epoch": 0.45591204846309175,
      "gripper_loss": 0.059326171875,
      "loss": 0.283203125,
      "pos_loss": 1.640625,
      "rot_loss": 1.1484375,
      "step": 2032
    },
    {
      "epoch": 0.456136414628674,
      "grad_norm": 0.9821983575820923,
      "learning_rate": 0.0004807403676529626,
      "loss": 0.1795,
      "step": 2033
    },
    {
      "epoch": 0.456136414628674,
      "gripper_loss": 0.0966796875,
      "loss": 0.10986328125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.11572265625,
      "step": 2033
    },
    {
      "epoch": 0.45636078079425624,
      "grad_norm": 1.064271330833435,
      "learning_rate": 0.0004807170519352497,
      "loss": 0.1484,
      "step": 2034
    },
    {
      "epoch": 0.45636078079425624,
      "gripper_loss": 0.302734375,
      "loss": 0.1904296875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.4296875,
      "step": 2034
    },
    {
      "epoch": 0.4565851469598385,
      "grad_norm": 1.9603056907653809,
      "learning_rate": 0.0004806937226791643,
      "loss": 0.225,
      "step": 2035
    },
    {
      "epoch": 0.4565851469598385,
      "gripper_loss": 0.5859375,
      "loss": 0.11279296875,
      "pos_loss": 0.68359375,
      "rot_loss": 0.1962890625,
      "step": 2035
    },
    {
      "epoch": 0.4568095131254207,
      "grad_norm": 0.7502539753913879,
      "learning_rate": 0.00048067037988607555,
      "loss": 0.1233,
      "step": 2036
    },
    {
      "epoch": 0.4568095131254207,
      "gripper_loss": 1.2578125,
      "loss": 0.1005859375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.10302734375,
      "step": 2036
    },
    {
      "epoch": 0.4570338792910029,
      "grad_norm": 0.8589548468589783,
      "learning_rate": 0.000480647023557353,
      "loss": 0.1155,
      "step": 2037
    },
    {
      "epoch": 0.4570338792910029,
      "gripper_loss": 0.7109375,
      "loss": 0.044677734375,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.060302734375,
      "step": 2037
    },
    {
      "epoch": 0.45725824545658517,
      "grad_norm": 1.0064151287078857,
      "learning_rate": 0.0004806236536943673,
      "loss": 0.2016,
      "step": 2038
    },
    {
      "epoch": 0.45725824545658517,
      "gripper_loss": 0.451171875,
      "loss": 0.25,
      "pos_loss": 1.6875,
      "rot_loss": 0.400390625,
      "step": 2038
    },
    {
      "epoch": 0.45748261162216736,
      "grad_norm": 1.1939798593521118,
      "learning_rate": 0.00048060027029848983,
      "loss": 0.194,
      "step": 2039
    },
    {
      "epoch": 0.45748261162216736,
      "gripper_loss": 0.36328125,
      "loss": 0.07080078125,
      "pos_loss": 0.439453125,
      "rot_loss": 0.05615234375,
      "step": 2039
    },
    {
      "epoch": 0.4577069777877496,
      "grad_norm": 0.8993677496910095,
      "learning_rate": 0.0004805768733710926,
      "loss": 0.1287,
      "step": 2040
    },
    {
      "epoch": 0.4577069777877496,
      "gripper_loss": 0.380859375,
      "loss": 0.275390625,
      "pos_loss": 0.310546875,
      "rot_loss": 0.3046875,
      "step": 2040
    },
    {
      "epoch": 0.45793134395333185,
      "grad_norm": 1.8057255744934082,
      "learning_rate": 0.0004805534629135485,
      "loss": 0.3584,
      "step": 2041
    },
    {
      "epoch": 0.45793134395333185,
      "gripper_loss": 0.369140625,
      "loss": 0.09765625,
      "pos_loss": 0.384765625,
      "rot_loss": 0.2734375,
      "step": 2041
    },
    {
      "epoch": 0.4581557101189141,
      "grad_norm": 0.7947058081626892,
      "learning_rate": 0.00048053003892723135,
      "loss": 0.1235,
      "step": 2042
    },
    {
      "epoch": 0.4581557101189141,
      "gripper_loss": 0.052978515625,
      "loss": 0.251953125,
      "pos_loss": 1.21875,
      "rot_loss": 1.3046875,
      "step": 2042
    },
    {
      "epoch": 0.4583800762844963,
      "grad_norm": 1.2273379564285278,
      "learning_rate": 0.0004805066014135157,
      "loss": 0.1445,
      "step": 2043
    },
    {
      "epoch": 0.4583800762844963,
      "gripper_loss": 0.388671875,
      "loss": 0.06396484375,
      "pos_loss": 0.287109375,
      "rot_loss": 0.08642578125,
      "step": 2043
    },
    {
      "epoch": 0.45860444245007853,
      "grad_norm": 1.228273630142212,
      "learning_rate": 0.00048048315037377666,
      "loss": 0.1888,
      "step": 2044
    },
    {
      "epoch": 0.45860444245007853,
      "gripper_loss": 0.51171875,
      "loss": 0.1298828125,
      "pos_loss": 0.203125,
      "rot_loss": 0.83984375,
      "step": 2044
    },
    {
      "epoch": 0.4588288086156608,
      "grad_norm": 0.939287543296814,
      "learning_rate": 0.0004804596858093905,
      "loss": 0.1434,
      "step": 2045
    },
    {
      "epoch": 0.4588288086156608,
      "gripper_loss": 0.046142578125,
      "loss": 0.255859375,
      "pos_loss": 1.6484375,
      "rot_loss": 0.92578125,
      "step": 2045
    },
    {
      "epoch": 0.45905317478124297,
      "grad_norm": 0.8055646419525146,
      "learning_rate": 0.000480436207721734,
      "loss": 0.1203,
      "step": 2046
    },
    {
      "epoch": 0.45905317478124297,
      "gripper_loss": 0.373046875,
      "loss": 0.19921875,
      "pos_loss": 0.69921875,
      "rot_loss": 0.5546875,
      "step": 2046
    },
    {
      "epoch": 0.4592775409468252,
      "grad_norm": 1.4341607093811035,
      "learning_rate": 0.00048041271611218495,
      "loss": 0.1624,
      "step": 2047
    },
    {
      "epoch": 0.4592775409468252,
      "gripper_loss": 0.5,
      "loss": 0.0673828125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.0546875,
      "step": 2047
    },
    {
      "epoch": 0.45950190711240746,
      "grad_norm": 0.6371386647224426,
      "learning_rate": 0.00048038921098212187,
      "loss": 0.1422,
      "step": 2048
    },
    {
      "epoch": 0.45950190711240746,
      "gripper_loss": 0.138671875,
      "loss": 0.216796875,
      "pos_loss": 0.65234375,
      "rot_loss": 0.384765625,
      "step": 2048
    },
    {
      "epoch": 0.4597262732779897,
      "grad_norm": 1.0861393213272095,
      "learning_rate": 0.0004803656923329238,
      "loss": 0.1614,
      "step": 2049
    },
    {
      "epoch": 0.4597262732779897,
      "gripper_loss": 0.2451171875,
      "loss": 0.19921875,
      "pos_loss": 0.98046875,
      "rot_loss": 0.5625,
      "step": 2049
    },
    {
      "epoch": 0.4599506394435719,
      "grad_norm": 1.1167998313903809,
      "learning_rate": 0.000480342160165971,
      "loss": 0.1339,
      "step": 2050
    },
    {
      "epoch": 0.4599506394435719,
      "gripper_loss": 0.37109375,
      "loss": 0.166015625,
      "pos_loss": 0.9609375,
      "rot_loss": 0.357421875,
      "step": 2050
    },
    {
      "epoch": 0.46017500560915414,
      "grad_norm": 0.9390402436256409,
      "learning_rate": 0.00048031861448264427,
      "loss": 0.0948,
      "step": 2051
    },
    {
      "epoch": 0.46017500560915414,
      "gripper_loss": 0.287109375,
      "loss": 0.1123046875,
      "pos_loss": 0.462890625,
      "rot_loss": 0.353515625,
      "step": 2051
    },
    {
      "epoch": 0.4603993717747364,
      "grad_norm": 1.145172357559204,
      "learning_rate": 0.0004802950552843252,
      "loss": 0.1804,
      "step": 2052
    },
    {
      "epoch": 0.4603993717747364,
      "gripper_loss": 0.12451171875,
      "loss": 0.275390625,
      "pos_loss": 1.578125,
      "rot_loss": 1.1328125,
      "step": 2052
    },
    {
      "epoch": 0.4606237379403186,
      "grad_norm": 1.0733578205108643,
      "learning_rate": 0.00048027148257239626,
      "loss": 0.1484,
      "step": 2053
    },
    {
      "epoch": 0.4606237379403186,
      "gripper_loss": 0.58984375,
      "loss": 0.1103515625,
      "pos_loss": 0.62109375,
      "rot_loss": 0.138671875,
      "step": 2053
    },
    {
      "epoch": 0.4608481041059008,
      "grad_norm": 0.6955440640449524,
      "learning_rate": 0.00048024789634824085,
      "loss": 0.089,
      "step": 2054
    },
    {
      "epoch": 0.4608481041059008,
      "gripper_loss": 0.2177734375,
      "loss": 0.2490234375,
      "pos_loss": 1.1484375,
      "rot_loss": 0.5234375,
      "step": 2054
    },
    {
      "epoch": 0.46107247027148307,
      "grad_norm": 1.8286062479019165,
      "learning_rate": 0.00048022429661324277,
      "loss": 0.2438,
      "step": 2055
    },
    {
      "epoch": 0.46107247027148307,
      "gripper_loss": 0.462890625,
      "loss": 0.11181640625,
      "pos_loss": 0.87890625,
      "rot_loss": 0.061279296875,
      "step": 2055
    },
    {
      "epoch": 0.4612968364370653,
      "grad_norm": 0.6063554286956787,
      "learning_rate": 0.000480200683368787,
      "loss": 0.137,
      "step": 2056
    },
    {
      "epoch": 0.4612968364370653,
      "gripper_loss": 0.2158203125,
      "loss": 0.1630859375,
      "pos_loss": 0.41796875,
      "rot_loss": 0.498046875,
      "step": 2056
    },
    {
      "epoch": 0.4615212026026475,
      "grad_norm": 1.6603763103485107,
      "learning_rate": 0.000480177056616259,
      "loss": 0.2284,
      "step": 2057
    },
    {
      "epoch": 0.4615212026026475,
      "gripper_loss": 0.2451171875,
      "loss": 0.1396484375,
      "pos_loss": 1.1015625,
      "rot_loss": 0.14453125,
      "step": 2057
    },
    {
      "epoch": 0.46174556876822975,
      "grad_norm": 0.7615851163864136,
      "learning_rate": 0.00048015341635704534,
      "loss": 0.1296,
      "step": 2058
    },
    {
      "epoch": 0.46174556876822975,
      "gripper_loss": 0.27734375,
      "loss": 0.1376953125,
      "pos_loss": 0.640625,
      "rot_loss": 0.38671875,
      "step": 2058
    },
    {
      "epoch": 0.461969934933812,
      "grad_norm": 1.0885285139083862,
      "learning_rate": 0.00048012976259253316,
      "loss": 0.1378,
      "step": 2059
    },
    {
      "epoch": 0.461969934933812,
      "gripper_loss": 0.0888671875,
      "loss": 0.045166015625,
      "pos_loss": 0.15625,
      "rot_loss": 0.0712890625,
      "step": 2059
    },
    {
      "epoch": 0.4621943010993942,
      "grad_norm": 0.7869241833686829,
      "learning_rate": 0.00048010609532411037,
      "loss": 0.1271,
      "step": 2060
    },
    {
      "epoch": 0.4621943010993942,
      "gripper_loss": 0.1220703125,
      "loss": 0.2294921875,
      "pos_loss": 1.15625,
      "rot_loss": 1.09375,
      "step": 2060
    },
    {
      "epoch": 0.46241866726497644,
      "grad_norm": 1.160061001777649,
      "learning_rate": 0.0004800824145531659,
      "loss": 0.1852,
      "step": 2061
    },
    {
      "epoch": 0.46241866726497644,
      "gripper_loss": 1.09375,
      "loss": 0.0732421875,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.042236328125,
      "step": 2061
    },
    {
      "epoch": 0.4626430334305587,
      "grad_norm": 0.8652185797691345,
      "learning_rate": 0.0004800587202810892,
      "loss": 0.1151,
      "step": 2062
    },
    {
      "epoch": 0.4626430334305587,
      "gripper_loss": 1.4296875,
      "loss": 0.267578125,
      "pos_loss": 0.51953125,
      "rot_loss": 1.7109375,
      "step": 2062
    },
    {
      "epoch": 0.4628673995961409,
      "grad_norm": 1.052066683769226,
      "learning_rate": 0.0004800350125092707,
      "loss": 0.1545,
      "step": 2063
    },
    {
      "epoch": 0.4628673995961409,
      "gripper_loss": 0.5625,
      "loss": 0.0869140625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.26953125,
      "step": 2063
    },
    {
      "epoch": 0.4630917657617231,
      "grad_norm": 1.0938875675201416,
      "learning_rate": 0.0004800112912391016,
      "loss": 0.1259,
      "step": 2064
    },
    {
      "epoch": 0.4630917657617231,
      "gripper_loss": 0.07275390625,
      "loss": 0.203125,
      "pos_loss": 1.1484375,
      "rot_loss": 0.765625,
      "step": 2064
    },
    {
      "epoch": 0.46331613192730536,
      "grad_norm": 1.1063859462738037,
      "learning_rate": 0.0004799875564719737,
      "loss": 0.1238,
      "step": 2065
    },
    {
      "epoch": 0.46331613192730536,
      "gripper_loss": 0.134765625,
      "loss": 0.1826171875,
      "pos_loss": 1.1015625,
      "rot_loss": 0.466796875,
      "step": 2065
    },
    {
      "epoch": 0.4635404980928876,
      "grad_norm": 0.9135550856590271,
      "learning_rate": 0.0004799638082092799,
      "loss": 0.1663,
      "step": 2066
    },
    {
      "epoch": 0.4635404980928876,
      "gripper_loss": 2.5625,
      "loss": 0.1298828125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1220703125,
      "step": 2066
    },
    {
      "epoch": 0.4637648642584698,
      "grad_norm": 1.3526630401611328,
      "learning_rate": 0.00047994004645241374,
      "loss": 0.1296,
      "step": 2067
    },
    {
      "epoch": 0.4637648642584698,
      "gripper_loss": 1.3125,
      "loss": 0.06494140625,
      "pos_loss": 0.03125,
      "rot_loss": 0.044921875,
      "step": 2067
    },
    {
      "epoch": 0.46398923042405205,
      "grad_norm": 0.9611107707023621,
      "learning_rate": 0.0004799162712027695,
      "loss": 0.1236,
      "step": 2068
    },
    {
      "epoch": 0.46398923042405205,
      "gripper_loss": 0.50390625,
      "loss": 0.11767578125,
      "pos_loss": 0.78515625,
      "rot_loss": 0.119140625,
      "step": 2068
    },
    {
      "epoch": 0.4642135965896343,
      "grad_norm": 0.9731561541557312,
      "learning_rate": 0.0004798924824617422,
      "loss": 0.1139,
      "step": 2069
    },
    {
      "epoch": 0.4642135965896343,
      "gripper_loss": 0.58203125,
      "loss": 0.13671875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.4765625,
      "step": 2069
    },
    {
      "epoch": 0.46443796275521654,
      "grad_norm": 0.9399339556694031,
      "learning_rate": 0.0004798686802307279,
      "loss": 0.1643,
      "step": 2070
    },
    {
      "epoch": 0.46443796275521654,
      "gripper_loss": 0.458984375,
      "loss": 0.21875,
      "pos_loss": 0.412109375,
      "rot_loss": 0.5234375,
      "step": 2070
    },
    {
      "epoch": 0.46466232892079873,
      "grad_norm": 1.3378722667694092,
      "learning_rate": 0.00047984486451112333,
      "loss": 0.2455,
      "step": 2071
    },
    {
      "epoch": 0.46466232892079873,
      "gripper_loss": 0.0751953125,
      "loss": 0.09716796875,
      "pos_loss": 0.80859375,
      "rot_loss": 0.11279296875,
      "step": 2071
    },
    {
      "epoch": 0.464886695086381,
      "grad_norm": 0.8523640036582947,
      "learning_rate": 0.0004798210353043259,
      "loss": 0.1071,
      "step": 2072
    },
    {
      "epoch": 0.464886695086381,
      "gripper_loss": 0.75,
      "loss": 0.22265625,
      "pos_loss": 1.4453125,
      "rot_loss": 0.51953125,
      "step": 2072
    },
    {
      "epoch": 0.4651110612519632,
      "grad_norm": 1.164510726928711,
      "learning_rate": 0.00047979719261173376,
      "loss": 0.163,
      "step": 2073
    },
    {
      "epoch": 0.4651110612519632,
      "gripper_loss": 0.421875,
      "loss": 0.369140625,
      "pos_loss": 0.462890625,
      "rot_loss": 0.6484375,
      "step": 2073
    },
    {
      "epoch": 0.4653354274175454,
      "grad_norm": 1.7626150846481323,
      "learning_rate": 0.00047977333643474623,
      "loss": 0.4309,
      "step": 2074
    },
    {
      "epoch": 0.4653354274175454,
      "gripper_loss": 0.91796875,
      "loss": 0.173828125,
      "pos_loss": 0.384765625,
      "rot_loss": 1.046875,
      "step": 2074
    },
    {
      "epoch": 0.46555979358312766,
      "grad_norm": 0.8850884437561035,
      "learning_rate": 0.0004797494667747631,
      "loss": 0.1229,
      "step": 2075
    },
    {
      "epoch": 0.46555979358312766,
      "gripper_loss": 0.053955078125,
      "loss": 0.0927734375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.060791015625,
      "step": 2075
    },
    {
      "epoch": 0.4657841597487099,
      "grad_norm": 0.8566953539848328,
      "learning_rate": 0.000479725583633185,
      "loss": 0.0912,
      "step": 2076
    },
    {
      "epoch": 0.4657841597487099,
      "gripper_loss": 0.1181640625,
      "loss": 0.11083984375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.1845703125,
      "step": 2076
    },
    {
      "epoch": 0.46600852591429215,
      "grad_norm": 1.0104743242263794,
      "learning_rate": 0.00047970168701141344,
      "loss": 0.1789,
      "step": 2077
    },
    {
      "epoch": 0.46600852591429215,
      "gripper_loss": 0.49609375,
      "loss": 0.12109375,
      "pos_loss": 0.53125,
      "rot_loss": 0.447265625,
      "step": 2077
    },
    {
      "epoch": 0.46623289207987434,
      "grad_norm": 0.8872294425964355,
      "learning_rate": 0.00047967777691085056,
      "loss": 0.101,
      "step": 2078
    },
    {
      "epoch": 0.46623289207987434,
      "gripper_loss": 1.484375,
      "loss": 0.474609375,
      "pos_loss": 0.90234375,
      "rot_loss": 0.427734375,
      "step": 2078
    },
    {
      "epoch": 0.4664572582454566,
      "grad_norm": 1.8188713788986206,
      "learning_rate": 0.0004796538533328995,
      "loss": 0.5322,
      "step": 2079
    },
    {
      "epoch": 0.4664572582454566,
      "gripper_loss": 0.25390625,
      "loss": 0.11279296875,
      "pos_loss": 0.94140625,
      "rot_loss": 0.06591796875,
      "step": 2079
    },
    {
      "epoch": 0.46668162441103883,
      "grad_norm": 0.9448592662811279,
      "learning_rate": 0.000479629916278964,
      "loss": 0.1748,
      "step": 2080
    },
    {
      "epoch": 0.46668162441103883,
      "gripper_loss": 0.53515625,
      "loss": 0.0673828125,
      "pos_loss": 0.197265625,
      "rot_loss": 0.189453125,
      "step": 2080
    },
    {
      "epoch": 0.466905990576621,
      "grad_norm": 1.0524137020111084,
      "learning_rate": 0.0004796059657504487,
      "loss": 0.1752,
      "step": 2081
    },
    {
      "epoch": 0.466905990576621,
      "gripper_loss": 0.2109375,
      "loss": 0.09716796875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.2275390625,
      "step": 2081
    },
    {
      "epoch": 0.46713035674220327,
      "grad_norm": 1.352362036705017,
      "learning_rate": 0.0004795820017487591,
      "loss": 0.165,
      "step": 2082
    },
    {
      "epoch": 0.46713035674220327,
      "gripper_loss": 0.349609375,
      "loss": 0.2158203125,
      "pos_loss": 0.71875,
      "rot_loss": 0.51953125,
      "step": 2082
    },
    {
      "epoch": 0.4673547229077855,
      "grad_norm": 1.5449539422988892,
      "learning_rate": 0.00047955802427530127,
      "loss": 0.2816,
      "step": 2083
    },
    {
      "epoch": 0.4673547229077855,
      "gripper_loss": 0.404296875,
      "loss": 0.12109375,
      "pos_loss": 0.6875,
      "rot_loss": 0.29296875,
      "step": 2083
    },
    {
      "epoch": 0.46757908907336776,
      "grad_norm": 0.9819692373275757,
      "learning_rate": 0.00047953403333148226,
      "loss": 0.1019,
      "step": 2084
    },
    {
      "epoch": 0.46757908907336776,
      "gripper_loss": 0.4609375,
      "loss": 0.047607421875,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.09033203125,
      "step": 2084
    },
    {
      "epoch": 0.46780345523894995,
      "grad_norm": 0.9095669388771057,
      "learning_rate": 0.00047951002891870987,
      "loss": 0.1048,
      "step": 2085
    },
    {
      "epoch": 0.46780345523894995,
      "gripper_loss": 0.58984375,
      "loss": 0.1669921875,
      "pos_loss": 1.3671875,
      "rot_loss": 0.08935546875,
      "step": 2085
    },
    {
      "epoch": 0.4680278214045322,
      "grad_norm": 1.1538236141204834,
      "learning_rate": 0.0004794860110383926,
      "loss": 0.1261,
      "step": 2086
    },
    {
      "epoch": 0.4680278214045322,
      "gripper_loss": 1.734375,
      "loss": 0.10498046875,
      "pos_loss": 0.359375,
      "rot_loss": 0.056640625,
      "step": 2086
    },
    {
      "epoch": 0.46825218757011444,
      "grad_norm": 0.933131992816925,
      "learning_rate": 0.00047946197969193975,
      "loss": 0.1793,
      "step": 2087
    },
    {
      "epoch": 0.46825218757011444,
      "gripper_loss": 0.2236328125,
      "loss": 0.162109375,
      "pos_loss": 1.1640625,
      "rot_loss": 0.298828125,
      "step": 2087
    },
    {
      "epoch": 0.46847655373569663,
      "grad_norm": 0.7291873097419739,
      "learning_rate": 0.0004794379348807617,
      "loss": 0.1414,
      "step": 2088
    },
    {
      "epoch": 0.46847655373569663,
      "gripper_loss": 0.59375,
      "loss": 0.142578125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.1806640625,
      "step": 2088
    },
    {
      "epoch": 0.4687009199012789,
      "grad_norm": 0.8973822593688965,
      "learning_rate": 0.00047941387660626917,
      "loss": 0.1512,
      "step": 2089
    },
    {
      "epoch": 0.4687009199012789,
      "gripper_loss": 0.134765625,
      "loss": 0.283203125,
      "pos_loss": 0.70703125,
      "rot_loss": 2.125,
      "step": 2089
    },
    {
      "epoch": 0.4689252860668611,
      "grad_norm": 1.0543752908706665,
      "learning_rate": 0.00047938980486987397,
      "loss": 0.1521,
      "step": 2090
    },
    {
      "epoch": 0.4689252860668611,
      "gripper_loss": 2.125,
      "loss": 0.1962890625,
      "pos_loss": 0.287109375,
      "rot_loss": 0.91796875,
      "step": 2090
    },
    {
      "epoch": 0.46914965223244337,
      "grad_norm": 1.0501151084899902,
      "learning_rate": 0.0004793657196729886,
      "loss": 0.1502,
      "step": 2091
    },
    {
      "epoch": 0.46914965223244337,
      "gripper_loss": 0.0284423828125,
      "loss": 0.279296875,
      "pos_loss": 0.99609375,
      "rot_loss": 1.8828125,
      "step": 2091
    },
    {
      "epoch": 0.46937401839802556,
      "grad_norm": 1.013672113418579,
      "learning_rate": 0.0004793416210170265,
      "loss": 0.1271,
      "step": 2092
    },
    {
      "epoch": 0.46937401839802556,
      "gripper_loss": 0.3671875,
      "loss": 0.205078125,
      "pos_loss": 0.40234375,
      "rot_loss": 0.39453125,
      "step": 2092
    },
    {
      "epoch": 0.4695983845636078,
      "grad_norm": 1.817440152168274,
      "learning_rate": 0.0004793175089034015,
      "loss": 0.311,
      "step": 2093
    },
    {
      "epoch": 0.4695983845636078,
      "gripper_loss": 0.169921875,
      "loss": 0.1279296875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.2578125,
      "step": 2093
    },
    {
      "epoch": 0.46982275072919005,
      "grad_norm": 1.1117699146270752,
      "learning_rate": 0.00047929338333352876,
      "loss": 0.1836,
      "step": 2094
    },
    {
      "epoch": 0.46982275072919005,
      "gripper_loss": 0.69140625,
      "loss": 0.056396484375,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.1533203125,
      "step": 2094
    },
    {
      "epoch": 0.47004711689477224,
      "grad_norm": 0.8133010864257812,
      "learning_rate": 0.0004792692443088238,
      "loss": 0.1859,
      "step": 2095
    },
    {
      "epoch": 0.47004711689477224,
      "gripper_loss": 0.23046875,
      "loss": 0.279296875,
      "pos_loss": 1.0390625,
      "rot_loss": 1.703125,
      "step": 2095
    },
    {
      "epoch": 0.4702714830603545,
      "grad_norm": 0.947555661201477,
      "learning_rate": 0.0004792450918307031,
      "loss": 0.1667,
      "step": 2096
    },
    {
      "epoch": 0.4702714830603545,
      "gripper_loss": 0.328125,
      "loss": 0.051025390625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.1083984375,
      "step": 2096
    },
    {
      "epoch": 0.47049584922593674,
      "grad_norm": 0.8852853178977966,
      "learning_rate": 0.00047922092590058394,
      "loss": 0.1295,
      "step": 2097
    },
    {
      "epoch": 0.47049584922593674,
      "gripper_loss": 0.1240234375,
      "loss": 0.07470703125,
      "pos_loss": 0.447265625,
      "rot_loss": 0.09521484375,
      "step": 2097
    },
    {
      "epoch": 0.470720215391519,
      "grad_norm": 0.8735457062721252,
      "learning_rate": 0.0004791967465198843,
      "loss": 0.1366,
      "step": 2098
    },
    {
      "epoch": 0.470720215391519,
      "gripper_loss": 0.62890625,
      "loss": 0.921875,
      "pos_loss": 1.140625,
      "rot_loss": 0.76171875,
      "step": 2098
    },
    {
      "epoch": 0.47094458155710117,
      "grad_norm": 3.5004310607910156,
      "learning_rate": 0.00047917255369002323,
      "loss": 1.0049,
      "step": 2099
    },
    {
      "epoch": 0.47094458155710117,
      "gripper_loss": 0.796875,
      "loss": 0.1708984375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.373046875,
      "step": 2099
    },
    {
      "epoch": 0.4711689477226834,
      "grad_norm": 1.7439651489257812,
      "learning_rate": 0.0004791483474124201,
      "loss": 0.2284,
      "step": 2100
    },
    {
      "epoch": 0.4711689477226834,
      "gripper_loss": 0.271484375,
      "loss": 0.154296875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.88671875,
      "step": 2100
    },
    {
      "epoch": 0.47139331388826566,
      "grad_norm": 1.0610686540603638,
      "learning_rate": 0.00047912412768849545,
      "loss": 0.1209,
      "step": 2101
    },
    {
      "epoch": 0.47139331388826566,
      "gripper_loss": 0.15234375,
      "loss": 0.1728515625,
      "pos_loss": 0.8125,
      "rot_loss": 0.74609375,
      "step": 2101
    },
    {
      "epoch": 0.47161768005384785,
      "grad_norm": 1.0441246032714844,
      "learning_rate": 0.0004790998945196705,
      "loss": 0.1296,
      "step": 2102
    },
    {
      "epoch": 0.47161768005384785,
      "gripper_loss": 0.1474609375,
      "loss": 0.09326171875,
      "pos_loss": 0.578125,
      "rot_loss": 0.1279296875,
      "step": 2102
    },
    {
      "epoch": 0.4718420462194301,
      "grad_norm": 1.0064793825149536,
      "learning_rate": 0.00047907564790736716,
      "loss": 0.1156,
      "step": 2103
    },
    {
      "epoch": 0.4718420462194301,
      "gripper_loss": 0.142578125,
      "loss": 0.1416015625,
      "pos_loss": 0.494140625,
      "rot_loss": 0.40625,
      "step": 2103
    },
    {
      "epoch": 0.47206641238501235,
      "grad_norm": 1.3430556058883667,
      "learning_rate": 0.00047905138785300826,
      "loss": 0.1609,
      "step": 2104
    },
    {
      "epoch": 0.47206641238501235,
      "gripper_loss": 0.24609375,
      "loss": 0.12255859375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.34375,
      "step": 2104
    },
    {
      "epoch": 0.4722907785505946,
      "grad_norm": 0.820477306842804,
      "learning_rate": 0.0004790271143580174,
      "loss": 0.1562,
      "step": 2105
    },
    {
      "epoch": 0.4722907785505946,
      "gripper_loss": 0.07958984375,
      "loss": 0.25390625,
      "pos_loss": 2.1875,
      "rot_loss": 0.34765625,
      "step": 2105
    },
    {
      "epoch": 0.4725151447161768,
      "grad_norm": 0.7779972553253174,
      "learning_rate": 0.0004790028274238189,
      "loss": 0.1429,
      "step": 2106
    },
    {
      "epoch": 0.4725151447161768,
      "gripper_loss": 0.1455078125,
      "loss": 0.0712890625,
      "pos_loss": 0.265625,
      "rot_loss": 0.1953125,
      "step": 2106
    },
    {
      "epoch": 0.47273951088175903,
      "grad_norm": 1.11599600315094,
      "learning_rate": 0.00047897852705183785,
      "loss": 0.1434,
      "step": 2107
    },
    {
      "epoch": 0.47273951088175903,
      "gripper_loss": 0.28515625,
      "loss": 0.16796875,
      "pos_loss": 1.3359375,
      "rot_loss": 0.1259765625,
      "step": 2107
    },
    {
      "epoch": 0.4729638770473413,
      "grad_norm": 1.338343620300293,
      "learning_rate": 0.0004789542132435003,
      "loss": 0.1582,
      "step": 2108
    },
    {
      "epoch": 0.4729638770473413,
      "gripper_loss": 0.36328125,
      "loss": 0.1455078125,
      "pos_loss": 0.88671875,
      "rot_loss": 0.310546875,
      "step": 2108
    },
    {
      "epoch": 0.47318824321292347,
      "grad_norm": 1.0148030519485474,
      "learning_rate": 0.00047892988600023293,
      "loss": 0.1198,
      "step": 2109
    },
    {
      "epoch": 0.47318824321292347,
      "gripper_loss": 1.171875,
      "loss": 0.142578125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.47265625,
      "step": 2109
    },
    {
      "epoch": 0.4734126093785057,
      "grad_norm": 1.152075171470642,
      "learning_rate": 0.00047890554532346315,
      "loss": 0.1849,
      "step": 2110
    },
    {
      "epoch": 0.4734126093785057,
      "gripper_loss": 0.10986328125,
      "loss": 0.07177734375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.22265625,
      "step": 2110
    },
    {
      "epoch": 0.47363697554408796,
      "grad_norm": 0.952339231967926,
      "learning_rate": 0.00047888119121461935,
      "loss": 0.1264,
      "step": 2111
    },
    {
      "epoch": 0.47363697554408796,
      "gripper_loss": 1.234375,
      "loss": 0.181640625,
      "pos_loss": 1.1875,
      "rot_loss": 0.1640625,
      "step": 2111
    },
    {
      "epoch": 0.4738613417096702,
      "grad_norm": 1.175787329673767,
      "learning_rate": 0.0004788568236751307,
      "loss": 0.1255,
      "step": 2112
    },
    {
      "epoch": 0.4738613417096702,
      "gripper_loss": 0.365234375,
      "loss": 0.150390625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.1748046875,
      "step": 2112
    },
    {
      "epoch": 0.4740857078752524,
      "grad_norm": 1.375260591506958,
      "learning_rate": 0.00047883244270642696,
      "loss": 0.2426,
      "step": 2113
    },
    {
      "epoch": 0.4740857078752524,
      "gripper_loss": 0.26953125,
      "loss": 0.08349609375,
      "pos_loss": 0.41015625,
      "rot_loss": 0.2080078125,
      "step": 2113
    },
    {
      "epoch": 0.47431007404083464,
      "grad_norm": 0.9852789640426636,
      "learning_rate": 0.00047880804830993884,
      "loss": 0.1211,
      "step": 2114
    },
    {
      "epoch": 0.47431007404083464,
      "gripper_loss": 0.1953125,
      "loss": 0.095703125,
      "pos_loss": 0.625,
      "rot_loss": 0.1962890625,
      "step": 2114
    },
    {
      "epoch": 0.4745344402064169,
      "grad_norm": 0.8749624490737915,
      "learning_rate": 0.0004787836404870977,
      "loss": 0.1045,
      "step": 2115
    },
    {
      "epoch": 0.4745344402064169,
      "gripper_loss": 0.12353515625,
      "loss": 0.11376953125,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.8515625,
      "step": 2115
    },
    {
      "epoch": 0.4747588063719991,
      "grad_norm": 1.1709095239639282,
      "learning_rate": 0.000478759219239336,
      "loss": 0.1764,
      "step": 2116
    },
    {
      "epoch": 0.4747588063719991,
      "gripper_loss": 0.5078125,
      "loss": 0.07568359375,
      "pos_loss": 0.25,
      "rot_loss": 0.251953125,
      "step": 2116
    },
    {
      "epoch": 0.4749831725375813,
      "grad_norm": 1.3751459121704102,
      "learning_rate": 0.0004787347845680865,
      "loss": 0.1834,
      "step": 2117
    },
    {
      "epoch": 0.4749831725375813,
      "gripper_loss": 0.93359375,
      "loss": 0.162109375,
      "pos_loss": 0.6875,
      "rot_loss": 0.220703125,
      "step": 2117
    },
    {
      "epoch": 0.47520753870316357,
      "grad_norm": 1.1615748405456543,
      "learning_rate": 0.0004787103364747831,
      "loss": 0.1587,
      "step": 2118
    },
    {
      "epoch": 0.47520753870316357,
      "gripper_loss": 0.89453125,
      "loss": 0.12353515625,
      "pos_loss": 0.4375,
      "rot_loss": 0.146484375,
      "step": 2118
    },
    {
      "epoch": 0.4754319048687458,
      "grad_norm": 1.7318308353424072,
      "learning_rate": 0.00047868587496086056,
      "loss": 0.2169,
      "step": 2119
    },
    {
      "epoch": 0.4754319048687458,
      "gripper_loss": 2.078125,
      "loss": 0.1630859375,
      "pos_loss": 0.65625,
      "rot_loss": 0.2041015625,
      "step": 2119
    },
    {
      "epoch": 0.475656271034328,
      "grad_norm": 1.1897302865982056,
      "learning_rate": 0.0004786614000277541,
      "loss": 0.1575,
      "step": 2120
    },
    {
      "epoch": 0.475656271034328,
      "gripper_loss": 0.060546875,
      "loss": 0.36328125,
      "pos_loss": 2.234375,
      "rot_loss": 1.421875,
      "step": 2120
    },
    {
      "epoch": 0.47588063719991025,
      "grad_norm": 0.7025987505912781,
      "learning_rate": 0.0004786369116769,
      "loss": 0.163,
      "step": 2121
    },
    {
      "epoch": 0.47588063719991025,
      "gripper_loss": 0.380859375,
      "loss": 0.036376953125,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.0283203125,
      "step": 2121
    },
    {
      "epoch": 0.4761050033654925,
      "grad_norm": 0.7223451733589172,
      "learning_rate": 0.00047861240990973507,
      "loss": 0.0886,
      "step": 2122
    },
    {
      "epoch": 0.4761050033654925,
      "gripper_loss": 2.6875,
      "loss": 0.4921875,
      "pos_loss": 2.140625,
      "rot_loss": 2.078125,
      "step": 2122
    },
    {
      "epoch": 0.4763293695310747,
      "grad_norm": 1.3670011758804321,
      "learning_rate": 0.00047858789472769725,
      "loss": 0.2293,
      "step": 2123
    },
    {
      "epoch": 0.4763293695310747,
      "gripper_loss": 0.8828125,
      "loss": 0.126953125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.0771484375,
      "step": 2123
    },
    {
      "epoch": 0.47655373569665693,
      "grad_norm": 1.0465458631515503,
      "learning_rate": 0.00047856336613222506,
      "loss": 0.1273,
      "step": 2124
    },
    {
      "epoch": 0.47655373569665693,
      "gripper_loss": 1.2421875,
      "loss": 0.1884765625,
      "pos_loss": 0.45703125,
      "rot_loss": 1.03125,
      "step": 2124
    },
    {
      "epoch": 0.4767781018622392,
      "grad_norm": 1.1829591989517212,
      "learning_rate": 0.00047853882412475767,
      "loss": 0.181,
      "step": 2125
    },
    {
      "epoch": 0.4767781018622392,
      "gripper_loss": 0.455078125,
      "loss": 0.3359375,
      "pos_loss": 0.765625,
      "rot_loss": 0.6328125,
      "step": 2125
    },
    {
      "epoch": 0.4770024680278214,
      "grad_norm": 2.2225871086120605,
      "learning_rate": 0.00047851426870673534,
      "loss": 0.3206,
      "step": 2126
    },
    {
      "epoch": 0.4770024680278214,
      "gripper_loss": 1.328125,
      "loss": 0.10498046875,
      "pos_loss": 0.263671875,
      "rot_loss": 0.234375,
      "step": 2126
    },
    {
      "epoch": 0.4772268341934036,
      "grad_norm": 0.8085561990737915,
      "learning_rate": 0.0004784896998795989,
      "loss": 0.1334,
      "step": 2127
    },
    {
      "epoch": 0.4772268341934036,
      "gripper_loss": 0.94140625,
      "loss": 0.091796875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.2236328125,
      "step": 2127
    },
    {
      "epoch": 0.47745120035898586,
      "grad_norm": 0.8486033082008362,
      "learning_rate": 0.00047846511764479004,
      "loss": 0.1273,
      "step": 2128
    },
    {
      "epoch": 0.47745120035898586,
      "gripper_loss": 0.1875,
      "loss": 0.205078125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.84375,
      "step": 2128
    },
    {
      "epoch": 0.4776755665245681,
      "grad_norm": 1.4453595876693726,
      "learning_rate": 0.0004784405220037513,
      "loss": 0.1873,
      "step": 2129
    },
    {
      "epoch": 0.4776755665245681,
      "gripper_loss": 0.1533203125,
      "loss": 0.2138671875,
      "pos_loss": 1.2890625,
      "rot_loss": 0.77734375,
      "step": 2129
    },
    {
      "epoch": 0.47789993269015035,
      "grad_norm": 0.7833510637283325,
      "learning_rate": 0.0004784159129579259,
      "loss": 0.1349,
      "step": 2130
    },
    {
      "epoch": 0.47789993269015035,
      "gripper_loss": 0.07666015625,
      "loss": 0.283203125,
      "pos_loss": 2.484375,
      "rot_loss": 0.32421875,
      "step": 2130
    },
    {
      "epoch": 0.47812429885573254,
      "grad_norm": 1.1770015954971313,
      "learning_rate": 0.00047839129050875783,
      "loss": 0.1697,
      "step": 2131
    },
    {
      "epoch": 0.47812429885573254,
      "gripper_loss": 0.87109375,
      "loss": 0.08935546875,
      "pos_loss": 0.373046875,
      "rot_loss": 0.1630859375,
      "step": 2131
    },
    {
      "epoch": 0.4783486650213148,
      "grad_norm": 0.8859258890151978,
      "learning_rate": 0.000478366654657692,
      "loss": 0.1489,
      "step": 2132
    },
    {
      "epoch": 0.4783486650213148,
      "gripper_loss": 0.3203125,
      "loss": 0.1171875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.51171875,
      "step": 2132
    },
    {
      "epoch": 0.47857303118689704,
      "grad_norm": 0.972848117351532,
      "learning_rate": 0.000478342005406174,
      "loss": 0.2125,
      "step": 2133
    },
    {
      "epoch": 0.47857303118689704,
      "gripper_loss": 0.6640625,
      "loss": 0.208984375,
      "pos_loss": 0.69921875,
      "rot_loss": 0.7421875,
      "step": 2133
    },
    {
      "epoch": 0.4787973973524792,
      "grad_norm": 0.9129578471183777,
      "learning_rate": 0.00047831734275565027,
      "loss": 0.1214,
      "step": 2134
    },
    {
      "epoch": 0.4787973973524792,
      "gripper_loss": 0.11083984375,
      "loss": 0.201171875,
      "pos_loss": 1.4375,
      "rot_loss": 0.515625,
      "step": 2134
    },
    {
      "epoch": 0.47902176351806147,
      "grad_norm": 0.8046200275421143,
      "learning_rate": 0.00047829266670756796,
      "loss": 0.1703,
      "step": 2135
    },
    {
      "epoch": 0.47902176351806147,
      "gripper_loss": 0.6484375,
      "loss": 0.232421875,
      "pos_loss": 1.375,
      "rot_loss": 0.400390625,
      "step": 2135
    },
    {
      "epoch": 0.4792461296836437,
      "grad_norm": 1.3032714128494263,
      "learning_rate": 0.0004782679772633751,
      "loss": 0.1688,
      "step": 2136
    },
    {
      "epoch": 0.4792461296836437,
      "gripper_loss": 0.3828125,
      "loss": 0.12890625,
      "pos_loss": 0.8515625,
      "rot_loss": 0.2578125,
      "step": 2136
    },
    {
      "epoch": 0.47947049584922596,
      "grad_norm": 0.7942485809326172,
      "learning_rate": 0.0004782432744245203,
      "loss": 0.115,
      "step": 2137
    },
    {
      "epoch": 0.47947049584922596,
      "gripper_loss": 1.0390625,
      "loss": 0.07568359375,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.173828125,
      "step": 2137
    },
    {
      "epoch": 0.47969486201480815,
      "grad_norm": 0.7574682235717773,
      "learning_rate": 0.0004782185581924534,
      "loss": 0.1542,
      "step": 2138
    },
    {
      "epoch": 0.47969486201480815,
      "gripper_loss": 0.298828125,
      "loss": 0.33984375,
      "pos_loss": 1.09375,
      "rot_loss": 0.326171875,
      "step": 2138
    },
    {
      "epoch": 0.4799192281803904,
      "grad_norm": 1.4269758462905884,
      "learning_rate": 0.0004781938285686245,
      "loss": 0.2793,
      "step": 2139
    },
    {
      "epoch": 0.4799192281803904,
      "gripper_loss": 0.54296875,
      "loss": 0.0654296875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.1396484375,
      "step": 2139
    },
    {
      "epoch": 0.48014359434597265,
      "grad_norm": 0.9180099368095398,
      "learning_rate": 0.0004781690855544848,
      "loss": 0.1111,
      "step": 2140
    },
    {
      "epoch": 0.48014359434597265,
      "gripper_loss": 0.265625,
      "loss": 0.08740234375,
      "pos_loss": 0.62109375,
      "rot_loss": 0.061279296875,
      "step": 2140
    },
    {
      "epoch": 0.48036796051155484,
      "grad_norm": 1.2040886878967285,
      "learning_rate": 0.00047814432915148613,
      "loss": 0.1641,
      "step": 2141
    },
    {
      "epoch": 0.48036796051155484,
      "gripper_loss": 1.125,
      "loss": 0.06640625,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.0966796875,
      "step": 2141
    },
    {
      "epoch": 0.4805923266771371,
      "grad_norm": 0.8048811554908752,
      "learning_rate": 0.0004781195593610813,
      "loss": 0.1512,
      "step": 2142
    },
    {
      "epoch": 0.4805923266771371,
      "gripper_loss": 0.126953125,
      "loss": 0.27734375,
      "pos_loss": 1.3125,
      "rot_loss": 1.4609375,
      "step": 2142
    },
    {
      "epoch": 0.48081669284271933,
      "grad_norm": 0.6828915476799011,
      "learning_rate": 0.00047809477618472384,
      "loss": 0.1602,
      "step": 2143
    },
    {
      "epoch": 0.48081669284271933,
      "gripper_loss": 0.0810546875,
      "loss": 0.51953125,
      "pos_loss": 3.859375,
      "rot_loss": 1.5625,
      "step": 2143
    },
    {
      "epoch": 0.4810410590083016,
      "grad_norm": 0.7259125113487244,
      "learning_rate": 0.00047806997962386783,
      "loss": 0.2218,
      "step": 2144
    },
    {
      "epoch": 0.4810410590083016,
      "gripper_loss": 0.404296875,
      "loss": 0.06787109375,
      "pos_loss": 0.1328125,
      "rot_loss": 0.3203125,
      "step": 2144
    },
    {
      "epoch": 0.48126542517388377,
      "grad_norm": 0.6813787817955017,
      "learning_rate": 0.00047804516967996845,
      "loss": 0.1096,
      "step": 2145
    },
    {
      "epoch": 0.48126542517388377,
      "gripper_loss": 1.4453125,
      "loss": 0.10107421875,
      "pos_loss": 0.40625,
      "rot_loss": 0.06591796875,
      "step": 2145
    },
    {
      "epoch": 0.481489791339466,
      "grad_norm": 0.7127806544303894,
      "learning_rate": 0.00047802034635448145,
      "loss": 0.1271,
      "step": 2146
    },
    {
      "epoch": 0.481489791339466,
      "gripper_loss": 0.91796875,
      "loss": 0.0791015625,
      "pos_loss": 0.26953125,
      "rot_loss": 0.1630859375,
      "step": 2146
    },
    {
      "epoch": 0.48171415750504826,
      "grad_norm": 0.8548953533172607,
      "learning_rate": 0.0004779955096488636,
      "loss": 0.1513,
      "step": 2147
    },
    {
      "epoch": 0.48171415750504826,
      "gripper_loss": 0.0294189453125,
      "loss": 0.2392578125,
      "pos_loss": 1.34375,
      "rot_loss": 1.0859375,
      "step": 2147
    },
    {
      "epoch": 0.48193852367063045,
      "grad_norm": 0.9237174987792969,
      "learning_rate": 0.0004779706595645721,
      "loss": 0.1718,
      "step": 2148
    },
    {
      "epoch": 0.48193852367063045,
      "gripper_loss": 0.29296875,
      "loss": 0.1826171875,
      "pos_loss": 0.42578125,
      "rot_loss": 1.265625,
      "step": 2148
    },
    {
      "epoch": 0.4821628898362127,
      "grad_norm": 1.0133553743362427,
      "learning_rate": 0.0004779457961030653,
      "loss": 0.1266,
      "step": 2149
    },
    {
      "epoch": 0.4821628898362127,
      "gripper_loss": 0.07861328125,
      "loss": 0.12109375,
      "pos_loss": 0.94140625,
      "rot_loss": 0.208984375,
      "step": 2149
    },
    {
      "epoch": 0.48238725600179494,
      "grad_norm": 0.575588047504425,
      "learning_rate": 0.00047792091926580216,
      "loss": 0.0959,
      "step": 2150
    },
    {
      "epoch": 0.48238725600179494,
      "gripper_loss": 0.130859375,
      "loss": 0.056884765625,
      "pos_loss": 0.330078125,
      "rot_loss": 0.111328125,
      "step": 2150
    },
    {
      "epoch": 0.4826116221673772,
      "grad_norm": 0.6503962278366089,
      "learning_rate": 0.00047789602905424236,
      "loss": 0.1193,
      "step": 2151
    },
    {
      "epoch": 0.4826116221673772,
      "gripper_loss": 1.3125,
      "loss": 0.11962890625,
      "pos_loss": 0.380859375,
      "rot_loss": 0.310546875,
      "step": 2151
    },
    {
      "epoch": 0.4828359883329594,
      "grad_norm": 0.6894458532333374,
      "learning_rate": 0.00047787112546984653,
      "loss": 0.1346,
      "step": 2152
    },
    {
      "epoch": 0.4828359883329594,
      "gripper_loss": 0.71484375,
      "loss": 0.1474609375,
      "pos_loss": 0.9765625,
      "rot_loss": 0.259765625,
      "step": 2152
    },
    {
      "epoch": 0.4830603544985416,
      "grad_norm": 0.6735097169876099,
      "learning_rate": 0.0004778462085140759,
      "loss": 0.1013,
      "step": 2153
    },
    {
      "epoch": 0.4830603544985416,
      "gripper_loss": 0.189453125,
      "loss": 0.10986328125,
      "pos_loss": 0.9140625,
      "rot_loss": 0.1259765625,
      "step": 2153
    },
    {
      "epoch": 0.48328472066412387,
      "grad_norm": 0.4372063875198364,
      "learning_rate": 0.0004778212781883927,
      "loss": 0.0862,
      "step": 2154
    },
    {
      "epoch": 0.48328472066412387,
      "gripper_loss": 1.171875,
      "loss": 0.11181640625,
      "pos_loss": 0.33203125,
      "rot_loss": 0.234375,
      "step": 2154
    },
    {
      "epoch": 0.48350908682970606,
      "grad_norm": 1.5515047311782837,
      "learning_rate": 0.0004777963344942598,
      "loss": 0.1976,
      "step": 2155
    },
    {
      "epoch": 0.48350908682970606,
      "gripper_loss": 0.7109375,
      "loss": 0.1298828125,
      "pos_loss": 1.046875,
      "rot_loss": 0.01806640625,
      "step": 2155
    },
    {
      "epoch": 0.4837334529952883,
      "grad_norm": 0.7428382635116577,
      "learning_rate": 0.0004777713774331409,
      "loss": 0.1208,
      "step": 2156
    },
    {
      "epoch": 0.4837334529952883,
      "gripper_loss": 2.34375,
      "loss": 0.23046875,
      "pos_loss": 1.3046875,
      "rot_loss": 0.21484375,
      "step": 2156
    },
    {
      "epoch": 0.48395781916087055,
      "grad_norm": 0.9329365491867065,
      "learning_rate": 0.00047774640700650036,
      "loss": 0.1839,
      "step": 2157
    },
    {
      "epoch": 0.48395781916087055,
      "gripper_loss": 0.056884765625,
      "loss": 0.1708984375,
      "pos_loss": 1.1796875,
      "rot_loss": 0.53125,
      "step": 2157
    },
    {
      "epoch": 0.4841821853264528,
      "grad_norm": 0.8331199288368225,
      "learning_rate": 0.0004777214232158035,
      "loss": 0.1054,
      "step": 2158
    },
    {
      "epoch": 0.4841821853264528,
      "gripper_loss": 0.73046875,
      "loss": 0.09423828125,
      "pos_loss": 0.06982421875,
      "rot_loss": 0.60546875,
      "step": 2158
    },
    {
      "epoch": 0.484406551492035,
      "grad_norm": 0.6772312521934509,
      "learning_rate": 0.0004776964260625164,
      "loss": 0.1092,
      "step": 2159
    },
    {
      "epoch": 0.484406551492035,
      "gripper_loss": 0.2138671875,
      "loss": 0.21875,
      "pos_loss": 0.78125,
      "rot_loss": 1.4140625,
      "step": 2159
    },
    {
      "epoch": 0.48463091765761723,
      "grad_norm": 0.4914630353450775,
      "learning_rate": 0.0004776714155481059,
      "loss": 0.1171,
      "step": 2160
    },
    {
      "epoch": 0.48463091765761723,
      "gripper_loss": 0.396484375,
      "loss": 0.0927734375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.48046875,
      "step": 2160
    },
    {
      "epoch": 0.4848552838231995,
      "grad_norm": 0.5352456569671631,
      "learning_rate": 0.00047764639167403953,
      "loss": 0.1061,
      "step": 2161
    },
    {
      "epoch": 0.4848552838231995,
      "gripper_loss": 4.09375,
      "loss": 0.2734375,
      "pos_loss": 1.078125,
      "rot_loss": 0.271484375,
      "step": 2161
    },
    {
      "epoch": 0.48507964998878167,
      "grad_norm": 0.8290468454360962,
      "learning_rate": 0.00047762135444178567,
      "loss": 0.1831,
      "step": 2162
    },
    {
      "epoch": 0.48507964998878167,
      "gripper_loss": 3.28125,
      "loss": 0.1328125,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.048095703125,
      "step": 2162
    },
    {
      "epoch": 0.4853040161543639,
      "grad_norm": 0.9582400321960449,
      "learning_rate": 0.0004775963038528135,
      "loss": 0.1493,
      "step": 2163
    },
    {
      "epoch": 0.4853040161543639,
      "gripper_loss": 0.6953125,
      "loss": 0.0859375,
      "pos_loss": 0.375,
      "rot_loss": 0.13671875,
      "step": 2163
    },
    {
      "epoch": 0.48552838231994616,
      "grad_norm": 1.138378620147705,
      "learning_rate": 0.0004775712399085931,
      "loss": 0.1395,
      "step": 2164
    },
    {
      "epoch": 0.48552838231994616,
      "gripper_loss": 0.82421875,
      "loss": 0.33984375,
      "pos_loss": 1.484375,
      "rot_loss": 0.453125,
      "step": 2164
    },
    {
      "epoch": 0.4857527484855284,
      "grad_norm": 1.8938040733337402,
      "learning_rate": 0.00047754616261059504,
      "loss": 0.3251,
      "step": 2165
    },
    {
      "epoch": 0.4857527484855284,
      "gripper_loss": 0.8203125,
      "loss": 0.1220703125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.2138671875,
      "step": 2165
    },
    {
      "epoch": 0.4859771146511106,
      "grad_norm": 1.1235049962997437,
      "learning_rate": 0.00047752107196029093,
      "loss": 0.1091,
      "step": 2166
    },
    {
      "epoch": 0.4859771146511106,
      "gripper_loss": 0.5390625,
      "loss": 0.138671875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.625,
      "step": 2166
    },
    {
      "epoch": 0.48620148081669284,
      "grad_norm": 0.8486390709877014,
      "learning_rate": 0.0004774959679591531,
      "loss": 0.1169,
      "step": 2167
    },
    {
      "epoch": 0.48620148081669284,
      "gripper_loss": 0.8125,
      "loss": 0.04736328125,
      "pos_loss": 0.07421875,
      "rot_loss": 0.03515625,
      "step": 2167
    },
    {
      "epoch": 0.4864258469822751,
      "grad_norm": 0.9964109063148499,
      "learning_rate": 0.0004774708506086546,
      "loss": 0.0894,
      "step": 2168
    },
    {
      "epoch": 0.4864258469822751,
      "gripper_loss": 0.322265625,
      "loss": 0.427734375,
      "pos_loss": 1.9296875,
      "rot_loss": 0.5703125,
      "step": 2168
    },
    {
      "epoch": 0.4866502131478573,
      "grad_norm": 1.8116785287857056,
      "learning_rate": 0.00047744571991026926,
      "loss": 0.354,
      "step": 2169
    },
    {
      "epoch": 0.4866502131478573,
      "gripper_loss": 0.384765625,
      "loss": 0.06005859375,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.1953125,
      "step": 2169
    },
    {
      "epoch": 0.4868745793134395,
      "grad_norm": 0.7741219401359558,
      "learning_rate": 0.00047742057586547184,
      "loss": 0.0919,
      "step": 2170
    },
    {
      "epoch": 0.4868745793134395,
      "gripper_loss": 0.76171875,
      "loss": 0.09912109375,
      "pos_loss": 0.474609375,
      "rot_loss": 0.2412109375,
      "step": 2170
    },
    {
      "epoch": 0.48709894547902177,
      "grad_norm": 0.85406893491745,
      "learning_rate": 0.0004773954184757377,
      "loss": 0.1584,
      "step": 2171
    },
    {
      "epoch": 0.48709894547902177,
      "gripper_loss": 0.189453125,
      "loss": 0.2734375,
      "pos_loss": 1.140625,
      "rot_loss": 0.75390625,
      "step": 2171
    },
    {
      "epoch": 0.487323311644604,
      "grad_norm": 1.9120246171951294,
      "learning_rate": 0.00047737024774254313,
      "loss": 0.1904,
      "step": 2172
    },
    {
      "epoch": 0.487323311644604,
      "gripper_loss": 2.234375,
      "loss": 0.1279296875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.134765625,
      "step": 2172
    },
    {
      "epoch": 0.4875476778101862,
      "grad_norm": 0.809966504573822,
      "learning_rate": 0.00047734506366736506,
      "loss": 0.117,
      "step": 2173
    },
    {
      "epoch": 0.4875476778101862,
      "gripper_loss": 2.15625,
      "loss": 0.134765625,
      "pos_loss": 0.15625,
      "rot_loss": 0.419921875,
      "step": 2173
    },
    {
      "epoch": 0.48777204397576845,
      "grad_norm": 0.6383031606674194,
      "learning_rate": 0.00047731986625168147,
      "loss": 0.1192,
      "step": 2174
    },
    {
      "epoch": 0.48777204397576845,
      "gripper_loss": 0.251953125,
      "loss": 0.1748046875,
      "pos_loss": 1.1484375,
      "rot_loss": 0.486328125,
      "step": 2174
    },
    {
      "epoch": 0.4879964101413507,
      "grad_norm": 0.916933000087738,
      "learning_rate": 0.0004772946554969706,
      "loss": 0.1798,
      "step": 2175
    },
    {
      "epoch": 0.4879964101413507,
      "gripper_loss": 0.61328125,
      "loss": 0.14453125,
      "pos_loss": 0.421875,
      "rot_loss": 0.33984375,
      "step": 2175
    },
    {
      "epoch": 0.4882207763069329,
      "grad_norm": 1.3996621370315552,
      "learning_rate": 0.00047726943140471214,
      "loss": 0.1808,
      "step": 2176
    },
    {
      "epoch": 0.4882207763069329,
      "gripper_loss": 0.0252685546875,
      "loss": 0.158203125,
      "pos_loss": 1.3046875,
      "rot_loss": 0.1435546875,
      "step": 2176
    },
    {
      "epoch": 0.48844514247251514,
      "grad_norm": 0.8200842142105103,
      "learning_rate": 0.00047724419397638594,
      "loss": 0.1219,
      "step": 2177
    },
    {
      "epoch": 0.48844514247251514,
      "gripper_loss": 0.5234375,
      "loss": 0.51171875,
      "pos_loss": 0.64453125,
      "rot_loss": 1.140625,
      "step": 2177
    },
    {
      "epoch": 0.4886695086380974,
      "grad_norm": 2.5997440814971924,
      "learning_rate": 0.0004772189432134732,
      "loss": 0.5361,
      "step": 2178
    },
    {
      "epoch": 0.4886695086380974,
      "gripper_loss": 0.91015625,
      "loss": 0.57421875,
      "pos_loss": 1.5546875,
      "rot_loss": 0.6953125,
      "step": 2178
    },
    {
      "epoch": 0.48889387480367963,
      "grad_norm": 2.289438247680664,
      "learning_rate": 0.0004771936791174554,
      "loss": 0.4897,
      "step": 2179
    },
    {
      "epoch": 0.48889387480367963,
      "gripper_loss": 0.1328125,
      "loss": 0.154296875,
      "pos_loss": 0.890625,
      "rot_loss": 0.427734375,
      "step": 2179
    },
    {
      "epoch": 0.4891182409692618,
      "grad_norm": 1.2167997360229492,
      "learning_rate": 0.0004771684016898152,
      "loss": 0.1329,
      "step": 2180
    },
    {
      "epoch": 0.4891182409692618,
      "gripper_loss": 1.5078125,
      "loss": 0.11865234375,
      "pos_loss": 0.369140625,
      "rot_loss": 0.130859375,
      "step": 2180
    },
    {
      "epoch": 0.48934260713484407,
      "grad_norm": 1.193619966506958,
      "learning_rate": 0.00047714311093203566,
      "loss": 0.1651,
      "step": 2181
    },
    {
      "epoch": 0.48934260713484407,
      "gripper_loss": 1.328125,
      "loss": 0.40625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.65625,
      "step": 2181
    },
    {
      "epoch": 0.4895669733004263,
      "grad_norm": 1.7957888841629028,
      "learning_rate": 0.000477117806845601,
      "loss": 0.3235,
      "step": 2182
    },
    {
      "epoch": 0.4895669733004263,
      "gripper_loss": 0.6796875,
      "loss": 0.27734375,
      "pos_loss": 0.92578125,
      "rot_loss": 0.25390625,
      "step": 2182
    },
    {
      "epoch": 0.4897913394660085,
      "grad_norm": 1.776488184928894,
      "learning_rate": 0.00047709248943199605,
      "loss": 0.2743,
      "step": 2183
    },
    {
      "epoch": 0.4897913394660085,
      "gripper_loss": 0.1298828125,
      "loss": 0.038330078125,
      "pos_loss": 0.0712890625,
      "rot_loss": 0.037841796875,
      "step": 2183
    },
    {
      "epoch": 0.49001570563159075,
      "grad_norm": 1.1745176315307617,
      "learning_rate": 0.00047706715869270635,
      "loss": 0.1492,
      "step": 2184
    },
    {
      "epoch": 0.49001570563159075,
      "gripper_loss": 0.8984375,
      "loss": 0.134765625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.05322265625,
      "step": 2184
    },
    {
      "epoch": 0.490240071797173,
      "grad_norm": 0.8197115063667297,
      "learning_rate": 0.00047704181462921835,
      "loss": 0.1752,
      "step": 2185
    },
    {
      "epoch": 0.490240071797173,
      "gripper_loss": 0.59375,
      "loss": 0.15234375,
      "pos_loss": 0.86328125,
      "rot_loss": 0.39453125,
      "step": 2185
    },
    {
      "epoch": 0.49046443796275524,
      "grad_norm": 0.9537376165390015,
      "learning_rate": 0.0004770164572430192,
      "loss": 0.1405,
      "step": 2186
    },
    {
      "epoch": 0.49046443796275524,
      "gripper_loss": 0.35546875,
      "loss": 0.040283203125,
      "pos_loss": 0.083984375,
      "rot_loss": 0.095703125,
      "step": 2186
    },
    {
      "epoch": 0.49068880412833743,
      "grad_norm": 0.7337184548377991,
      "learning_rate": 0.0004769910865355968,
      "loss": 0.1707,
      "step": 2187
    },
    {
      "epoch": 0.49068880412833743,
      "gripper_loss": 0.236328125,
      "loss": 0.109375,
      "pos_loss": 0.73046875,
      "rot_loss": 0.1572265625,
      "step": 2187
    },
    {
      "epoch": 0.4909131702939197,
      "grad_norm": 0.8827791810035706,
      "learning_rate": 0.00047696570250843997,
      "loss": 0.123,
      "step": 2188
    },
    {
      "epoch": 0.4909131702939197,
      "gripper_loss": 0.037841796875,
      "loss": 0.08203125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.1416015625,
      "step": 2188
    },
    {
      "epoch": 0.4911375364595019,
      "grad_norm": 0.9248510003089905,
      "learning_rate": 0.00047694030516303826,
      "loss": 0.1174,
      "step": 2189
    },
    {
      "epoch": 0.4911375364595019,
      "gripper_loss": 0.1376953125,
      "loss": 0.029052734375,
      "pos_loss": 0.046142578125,
      "rot_loss": 0.072265625,
      "step": 2189
    },
    {
      "epoch": 0.4913619026250841,
      "grad_norm": 0.8601112961769104,
      "learning_rate": 0.0004769148945008819,
      "loss": 0.1418,
      "step": 2190
    },
    {
      "epoch": 0.4913619026250841,
      "gripper_loss": 0.8984375,
      "loss": 0.0947265625,
      "pos_loss": 0.484375,
      "rot_loss": 0.09033203125,
      "step": 2190
    },
    {
      "epoch": 0.49158626879066636,
      "grad_norm": 0.8821629285812378,
      "learning_rate": 0.00047688947052346197,
      "loss": 0.1288,
      "step": 2191
    },
    {
      "epoch": 0.49158626879066636,
      "gripper_loss": 0.8203125,
      "loss": 0.201171875,
      "pos_loss": 1.546875,
      "rot_loss": 0.078125,
      "step": 2191
    },
    {
      "epoch": 0.4918106349562486,
      "grad_norm": 1.1327544450759888,
      "learning_rate": 0.00047686403323227047,
      "loss": 0.2172,
      "step": 2192
    },
    {
      "epoch": 0.4918106349562486,
      "gripper_loss": 1.421875,
      "loss": 0.11083984375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.271484375,
      "step": 2192
    },
    {
      "epoch": 0.49203500112183085,
      "grad_norm": 0.8510374426841736,
      "learning_rate": 0.0004768385826287999,
      "loss": 0.1593,
      "step": 2193
    },
    {
      "epoch": 0.49203500112183085,
      "gripper_loss": 0.13671875,
      "loss": 0.166015625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.28515625,
      "step": 2193
    },
    {
      "epoch": 0.49225936728741304,
      "grad_norm": 1.3770463466644287,
      "learning_rate": 0.00047681311871454376,
      "loss": 0.1771,
      "step": 2194
    },
    {
      "epoch": 0.49225936728741304,
      "gripper_loss": 0.28515625,
      "loss": 0.0625,
      "pos_loss": 0.404296875,
      "rot_loss": 0.037109375,
      "step": 2194
    },
    {
      "epoch": 0.4924837334529953,
      "grad_norm": 0.6961857676506042,
      "learning_rate": 0.00047678764149099623,
      "loss": 0.1274,
      "step": 2195
    },
    {
      "epoch": 0.4924837334529953,
      "gripper_loss": 0.0257568359375,
      "loss": 0.1015625,
      "pos_loss": 0.84765625,
      "rot_loss": 0.12890625,
      "step": 2195
    },
    {
      "epoch": 0.49270809961857753,
      "grad_norm": 0.7613006234169006,
      "learning_rate": 0.0004767621509596523,
      "loss": 0.1828,
      "step": 2196
    },
    {
      "epoch": 0.49270809961857753,
      "gripper_loss": 0.06787109375,
      "loss": 0.1142578125,
      "pos_loss": 0.640625,
      "rot_loss": 0.1591796875,
      "step": 2196
    },
    {
      "epoch": 0.4929324657841597,
      "grad_norm": 1.1850340366363525,
      "learning_rate": 0.0004767366471220078,
      "loss": 0.1207,
      "step": 2197
    },
    {
      "epoch": 0.4929324657841597,
      "gripper_loss": 0.15625,
      "loss": 0.046142578125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.10595703125,
      "step": 2197
    },
    {
      "epoch": 0.49315683194974197,
      "grad_norm": 0.8801334500312805,
      "learning_rate": 0.00047671112997955923,
      "loss": 0.1217,
      "step": 2198
    },
    {
      "epoch": 0.49315683194974197,
      "gripper_loss": 0.76171875,
      "loss": 0.150390625,
      "pos_loss": 0.71484375,
      "rot_loss": 0.50390625,
      "step": 2198
    },
    {
      "epoch": 0.4933811981153242,
      "grad_norm": 0.8006281852722168,
      "learning_rate": 0.0004766855995338039,
      "loss": 0.1124,
      "step": 2199
    },
    {
      "epoch": 0.4933811981153242,
      "gripper_loss": 0.080078125,
      "loss": 0.18359375,
      "pos_loss": 0.92578125,
      "rot_loss": 0.87890625,
      "step": 2199
    },
    {
      "epoch": 0.49360556428090646,
      "grad_norm": 0.6661874055862427,
      "learning_rate": 0.00047666005578624005,
      "loss": 0.1314,
      "step": 2200
    },
    {
      "epoch": 0.49360556428090646,
      "gripper_loss": 0.423828125,
      "loss": 0.2236328125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.59375,
      "step": 2200
    },
    {
      "epoch": 0.49382993044648865,
      "grad_norm": 1.2653050422668457,
      "learning_rate": 0.0004766344987383664,
      "loss": 0.1647,
      "step": 2201
    },
    {
      "epoch": 0.49382993044648865,
      "gripper_loss": 0.10888671875,
      "loss": 0.2294921875,
      "pos_loss": 0.8828125,
      "rot_loss": 1.3984375,
      "step": 2201
    },
    {
      "epoch": 0.4940542966120709,
      "grad_norm": 0.6202824711799622,
      "learning_rate": 0.0004766089283916828,
      "loss": 0.1093,
      "step": 2202
    },
    {
      "epoch": 0.4940542966120709,
      "gripper_loss": 1.7265625,
      "loss": 0.1279296875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.123046875,
      "step": 2202
    },
    {
      "epoch": 0.49427866277765314,
      "grad_norm": 0.7412126064300537,
      "learning_rate": 0.0004765833447476895,
      "loss": 0.1375,
      "step": 2203
    },
    {
      "epoch": 0.49427866277765314,
      "gripper_loss": 0.0830078125,
      "loss": 0.0849609375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.3828125,
      "step": 2203
    },
    {
      "epoch": 0.49450302894323533,
      "grad_norm": 0.7560338377952576,
      "learning_rate": 0.00047655774780788794,
      "loss": 0.094,
      "step": 2204
    },
    {
      "epoch": 0.49450302894323533,
      "gripper_loss": 0.026611328125,
      "loss": 0.07177734375,
      "pos_loss": 0.4921875,
      "rot_loss": 0.1328125,
      "step": 2204
    },
    {
      "epoch": 0.4947273951088176,
      "grad_norm": 0.8767608404159546,
      "learning_rate": 0.00047653213757378006,
      "loss": 0.0842,
      "step": 2205
    },
    {
      "epoch": 0.4947273951088176,
      "gripper_loss": 0.0908203125,
      "loss": 0.140625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.31640625,
      "step": 2205
    },
    {
      "epoch": 0.4949517612743998,
      "grad_norm": 1.4675006866455078,
      "learning_rate": 0.0004765065140468686,
      "loss": 0.21,
      "step": 2206
    },
    {
      "epoch": 0.4949517612743998,
      "gripper_loss": 0.57421875,
      "loss": 0.1708984375,
      "pos_loss": 1.28125,
      "rot_loss": 0.19921875,
      "step": 2206
    },
    {
      "epoch": 0.4951761274399821,
      "grad_norm": 0.8965390920639038,
      "learning_rate": 0.0004764808772286572,
      "loss": 0.1492,
      "step": 2207
    },
    {
      "epoch": 0.4951761274399821,
      "gripper_loss": 0.154296875,
      "loss": 0.236328125,
      "pos_loss": 1.25,
      "rot_loss": 1.078125,
      "step": 2207
    },
    {
      "epoch": 0.49540049360556426,
      "grad_norm": 1.0355305671691895,
      "learning_rate": 0.0004764552271206503,
      "loss": 0.1342,
      "step": 2208
    },
    {
      "epoch": 0.49540049360556426,
      "gripper_loss": 0.05859375,
      "loss": 0.1962890625,
      "pos_loss": 1.25,
      "rot_loss": 0.6796875,
      "step": 2208
    },
    {
      "epoch": 0.4956248597711465,
      "grad_norm": 0.8829385638237,
      "learning_rate": 0.00047642956372435284,
      "loss": 0.1306,
      "step": 2209
    },
    {
      "epoch": 0.4956248597711465,
      "gripper_loss": 0.205078125,
      "loss": 0.1318359375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.35546875,
      "step": 2209
    },
    {
      "epoch": 0.49584922593672875,
      "grad_norm": 1.3195914030075073,
      "learning_rate": 0.0004764038870412709,
      "loss": 0.1454,
      "step": 2210
    },
    {
      "epoch": 0.49584922593672875,
      "gripper_loss": 1.3046875,
      "loss": 0.10595703125,
      "pos_loss": 0.474609375,
      "rot_loss": 0.1201171875,
      "step": 2210
    },
    {
      "epoch": 0.49607359210231095,
      "grad_norm": 0.8923045992851257,
      "learning_rate": 0.00047637819707291106,
      "loss": 0.113,
      "step": 2211
    },
    {
      "epoch": 0.49607359210231095,
      "gripper_loss": 0.447265625,
      "loss": 0.06689453125,
      "pos_loss": 0.27734375,
      "rot_loss": 0.09326171875,
      "step": 2211
    },
    {
      "epoch": 0.4962979582678932,
      "grad_norm": 1.1231248378753662,
      "learning_rate": 0.00047635249382078085,
      "loss": 0.1438,
      "step": 2212
    },
    {
      "epoch": 0.4962979582678932,
      "gripper_loss": 0.44921875,
      "loss": 0.1337890625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.5234375,
      "step": 2212
    },
    {
      "epoch": 0.49652232443347544,
      "grad_norm": 0.6941894292831421,
      "learning_rate": 0.0004763267772863886,
      "loss": 0.1143,
      "step": 2213
    },
    {
      "epoch": 0.49652232443347544,
      "gripper_loss": 0.1318359375,
      "loss": 0.0908203125,
      "pos_loss": 0.65625,
      "rot_loss": 0.1455078125,
      "step": 2213
    },
    {
      "epoch": 0.4967466905990577,
      "grad_norm": 0.7316218614578247,
      "learning_rate": 0.0004763010474712432,
      "loss": 0.1443,
      "step": 2214
    },
    {
      "epoch": 0.4967466905990577,
      "gripper_loss": 0.83984375,
      "loss": 0.1943359375,
      "pos_loss": 0.470703125,
      "rot_loss": 0.34765625,
      "step": 2214
    },
    {
      "epoch": 0.4969710567646399,
      "grad_norm": 1.2027394771575928,
      "learning_rate": 0.0004762753043768545,
      "loss": 0.1857,
      "step": 2215
    },
    {
      "epoch": 0.4969710567646399,
      "gripper_loss": 0.035400390625,
      "loss": 0.193359375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.53515625,
      "step": 2215
    },
    {
      "epoch": 0.4971954229302221,
      "grad_norm": 1.0274254083633423,
      "learning_rate": 0.0004762495480047332,
      "loss": 0.1345,
      "step": 2216
    },
    {
      "epoch": 0.4971954229302221,
      "gripper_loss": 0.298828125,
      "loss": 0.416015625,
      "pos_loss": 0.921875,
      "rot_loss": 1.0390625,
      "step": 2216
    },
    {
      "epoch": 0.49741978909580437,
      "grad_norm": 1.8980642557144165,
      "learning_rate": 0.00047622377835639064,
      "loss": 0.4241,
      "step": 2217
    },
    {
      "epoch": 0.49741978909580437,
      "gripper_loss": 0.4609375,
      "loss": 0.08544921875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.24609375,
      "step": 2217
    },
    {
      "epoch": 0.49764415526138656,
      "grad_norm": 0.8319903016090393,
      "learning_rate": 0.0004761979954333389,
      "loss": 0.1025,
      "step": 2218
    },
    {
      "epoch": 0.49764415526138656,
      "gripper_loss": 0.48828125,
      "loss": 0.045654296875,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.05078125,
      "step": 2218
    },
    {
      "epoch": 0.4978685214269688,
      "grad_norm": 0.9580565094947815,
      "learning_rate": 0.0004761721992370909,
      "loss": 0.1201,
      "step": 2219
    },
    {
      "epoch": 0.4978685214269688,
      "gripper_loss": 0.068359375,
      "loss": 0.1083984375,
      "pos_loss": 0.5703125,
      "rot_loss": 0.419921875,
      "step": 2219
    },
    {
      "epoch": 0.49809288759255105,
      "grad_norm": 0.8261050581932068,
      "learning_rate": 0.00047614638976916035,
      "loss": 0.0993,
      "step": 2220
    },
    {
      "epoch": 0.49809288759255105,
      "gripper_loss": 0.33203125,
      "loss": 0.23828125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.462890625,
      "step": 2220
    },
    {
      "epoch": 0.4983172537581333,
      "grad_norm": 2.57796573638916,
      "learning_rate": 0.0004761205670310619,
      "loss": 0.2966,
      "step": 2221
    },
    {
      "epoch": 0.4983172537581333,
      "gripper_loss": 0.578125,
      "loss": 0.1611328125,
      "pos_loss": 0.201171875,
      "rot_loss": 0.26171875,
      "step": 2221
    },
    {
      "epoch": 0.4985416199237155,
      "grad_norm": 1.626235842704773,
      "learning_rate": 0.00047609473102431057,
      "loss": 0.256,
      "step": 2222
    },
    {
      "epoch": 0.4985416199237155,
      "gripper_loss": 0.35546875,
      "loss": 0.09228515625,
      "pos_loss": 0.251953125,
      "rot_loss": 0.43359375,
      "step": 2222
    },
    {
      "epoch": 0.49876598608929773,
      "grad_norm": 0.8138488531112671,
      "learning_rate": 0.00047606888175042263,
      "loss": 0.1247,
      "step": 2223
    },
    {
      "epoch": 0.49876598608929773,
      "gripper_loss": 0.6796875,
      "loss": 0.08154296875,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.115234375,
      "step": 2223
    },
    {
      "epoch": 0.49899035225488,
      "grad_norm": 1.3096727132797241,
      "learning_rate": 0.00047604301921091476,
      "loss": 0.0949,
      "step": 2224
    },
    {
      "epoch": 0.49899035225488,
      "gripper_loss": 0.040771484375,
      "loss": 0.2265625,
      "pos_loss": 1.7890625,
      "rot_loss": 0.33984375,
      "step": 2224
    },
    {
      "epoch": 0.49921471842046217,
      "grad_norm": 1.1988457441329956,
      "learning_rate": 0.00047601714340730455,
      "loss": 0.1483,
      "step": 2225
    },
    {
      "epoch": 0.49921471842046217,
      "gripper_loss": 0.060302734375,
      "loss": 0.171875,
      "pos_loss": 1.2734375,
      "rot_loss": 0.28125,
      "step": 2225
    },
    {
      "epoch": 0.4994390845860444,
      "grad_norm": 0.9412747025489807,
      "learning_rate": 0.0004759912543411105,
      "loss": 0.1172,
      "step": 2226
    },
    {
      "epoch": 0.4994390845860444,
      "gripper_loss": 1.359375,
      "loss": 0.109375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.416015625,
      "step": 2226
    },
    {
      "epoch": 0.49966345075162666,
      "grad_norm": 0.963832437992096,
      "learning_rate": 0.00047596535201385173,
      "loss": 0.1482,
      "step": 2227
    },
    {
      "epoch": 0.49966345075162666,
      "gripper_loss": 0.05810546875,
      "loss": 0.1328125,
      "pos_loss": 1.0,
      "rot_loss": 0.224609375,
      "step": 2227
    },
    {
      "epoch": 0.4998878169172089,
      "grad_norm": 0.7536354064941406,
      "learning_rate": 0.0004759394364270481,
      "loss": 0.1317,
      "step": 2228
    },
    {
      "epoch": 0.4998878169172089,
      "gripper_loss": 0.2333984375,
      "loss": 0.1416015625,
      "pos_loss": 0.7109375,
      "rot_loss": 0.48828125,
      "step": 2228
    },
    {
      "epoch": 0.5001121830827912,
      "grad_norm": 1.1049762964248657,
      "learning_rate": 0.0004759135075822204,
      "loss": 0.1498,
      "step": 2229
    },
    {
      "epoch": 0.5001121830827912,
      "gripper_loss": 0.8671875,
      "loss": 0.0869140625,
      "pos_loss": 0.36328125,
      "rot_loss": 0.1494140625,
      "step": 2229
    },
    {
      "epoch": 0.5003365492483733,
      "grad_norm": 0.9077776670455933,
      "learning_rate": 0.00047588756548089007,
      "loss": 0.1163,
      "step": 2230
    },
    {
      "epoch": 0.5003365492483733,
      "gripper_loss": 0.14453125,
      "loss": 0.04736328125,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.1171875,
      "step": 2230
    },
    {
      "epoch": 0.5005609154139555,
      "grad_norm": 1.1161425113677979,
      "learning_rate": 0.0004758616101245795,
      "loss": 0.1439,
      "step": 2231
    },
    {
      "epoch": 0.5005609154139555,
      "gripper_loss": 0.28515625,
      "loss": 0.09326171875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.1513671875,
      "step": 2231
    },
    {
      "epoch": 0.5007852815795378,
      "grad_norm": 0.8620504140853882,
      "learning_rate": 0.00047583564151481157,
      "loss": 0.1145,
      "step": 2232
    },
    {
      "epoch": 0.5007852815795378,
      "gripper_loss": 1.03125,
      "loss": 0.0869140625,
      "pos_loss": 0.20703125,
      "rot_loss": 0.21875,
      "step": 2232
    },
    {
      "epoch": 0.50100964774512,
      "grad_norm": 0.8231484293937683,
      "learning_rate": 0.0004758096596531102,
      "loss": 0.1168,
      "step": 2233
    },
    {
      "epoch": 0.50100964774512,
      "gripper_loss": 0.265625,
      "loss": 0.181640625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.2392578125,
      "step": 2233
    },
    {
      "epoch": 0.5012340139107022,
      "grad_norm": 1.335068941116333,
      "learning_rate": 0.000475783664541,
      "loss": 0.2194,
      "step": 2234
    },
    {
      "epoch": 0.5012340139107022,
      "gripper_loss": 0.1328125,
      "loss": 0.041259765625,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.10595703125,
      "step": 2234
    },
    {
      "epoch": 0.5014583800762845,
      "grad_norm": 0.761460542678833,
      "learning_rate": 0.0004757576561800063,
      "loss": 0.0952,
      "step": 2235
    },
    {
      "epoch": 0.5014583800762845,
      "gripper_loss": 1.953125,
      "loss": 0.2490234375,
      "pos_loss": 1.109375,
      "rot_loss": 0.765625,
      "step": 2235
    },
    {
      "epoch": 0.5016827462418667,
      "grad_norm": 0.8514019250869751,
      "learning_rate": 0.0004757316345716554,
      "loss": 0.1291,
      "step": 2236
    },
    {
      "epoch": 0.5016827462418667,
      "gripper_loss": 0.2099609375,
      "loss": 0.185546875,
      "pos_loss": 1.2421875,
      "rot_loss": 0.474609375,
      "step": 2236
    },
    {
      "epoch": 0.501907112407449,
      "grad_norm": 0.8522392511367798,
      "learning_rate": 0.00047570559971747396,
      "loss": 0.1399,
      "step": 2237
    },
    {
      "epoch": 0.501907112407449,
      "gripper_loss": 0.142578125,
      "loss": 0.12255859375,
      "pos_loss": 0.546875,
      "rot_loss": 0.197265625,
      "step": 2237
    },
    {
      "epoch": 0.5021314785730312,
      "grad_norm": 0.8266633152961731,
      "learning_rate": 0.0004756795516189899,
      "loss": 0.1078,
      "step": 2238
    },
    {
      "epoch": 0.5021314785730312,
      "gripper_loss": 0.21484375,
      "loss": 0.326171875,
      "pos_loss": 1.046875,
      "rot_loss": 0.765625,
      "step": 2238
    },
    {
      "epoch": 0.5023558447386134,
      "grad_norm": 1.6068990230560303,
      "learning_rate": 0.00047565349027773175,
      "loss": 0.2698,
      "step": 2239
    },
    {
      "epoch": 0.5023558447386134,
      "gripper_loss": 0.095703125,
      "loss": 0.09423828125,
      "pos_loss": 0.27734375,
      "rot_loss": 0.57421875,
      "step": 2239
    },
    {
      "epoch": 0.5025802109041957,
      "grad_norm": 0.9068191051483154,
      "learning_rate": 0.0004756274156952286,
      "loss": 0.1854,
      "step": 2240
    },
    {
      "epoch": 0.5025802109041957,
      "gripper_loss": 0.443359375,
      "loss": 0.08984375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.04296875,
      "step": 2240
    },
    {
      "epoch": 0.5028045770697779,
      "grad_norm": 0.8373993039131165,
      "learning_rate": 0.00047560132787301067,
      "loss": 0.1576,
      "step": 2241
    },
    {
      "epoch": 0.5028045770697779,
      "gripper_loss": 0.052490234375,
      "loss": 0.212890625,
      "pos_loss": 0.87890625,
      "rot_loss": 0.8828125,
      "step": 2241
    },
    {
      "epoch": 0.5030289432353601,
      "grad_norm": 1.0115877389907837,
      "learning_rate": 0.0004755752268126087,
      "loss": 0.1271,
      "step": 2242
    },
    {
      "epoch": 0.5030289432353601,
      "gripper_loss": 0.031494140625,
      "loss": 0.10595703125,
      "pos_loss": 0.203125,
      "rot_loss": 0.76171875,
      "step": 2242
    },
    {
      "epoch": 0.5032533094009424,
      "grad_norm": 0.7184853553771973,
      "learning_rate": 0.00047554911251555424,
      "loss": 0.1166,
      "step": 2243
    },
    {
      "epoch": 0.5032533094009424,
      "gripper_loss": 0.21484375,
      "loss": 0.0869140625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.08544921875,
      "step": 2243
    },
    {
      "epoch": 0.5034776755665246,
      "grad_norm": 0.796904444694519,
      "learning_rate": 0.0004755229849833798,
      "loss": 0.1148,
      "step": 2244
    },
    {
      "epoch": 0.5034776755665246,
      "gripper_loss": 0.77734375,
      "loss": 0.09033203125,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.208984375,
      "step": 2244
    },
    {
      "epoch": 0.5037020417321068,
      "grad_norm": 0.9870754480361938,
      "learning_rate": 0.00047549684421761834,
      "loss": 0.1644,
      "step": 2245
    },
    {
      "epoch": 0.5037020417321068,
      "gripper_loss": 0.1083984375,
      "loss": 0.0751953125,
      "pos_loss": 0.216796875,
      "rot_loss": 0.423828125,
      "step": 2245
    },
    {
      "epoch": 0.503926407897689,
      "grad_norm": 0.6360720992088318,
      "learning_rate": 0.0004754706902198039,
      "loss": 0.1014,
      "step": 2246
    },
    {
      "epoch": 0.503926407897689,
      "gripper_loss": 1.3359375,
      "loss": 0.0625,
      "pos_loss": 0.051513671875,
      "rot_loss": 0.030029296875,
      "step": 2246
    },
    {
      "epoch": 0.5041507740632712,
      "grad_norm": 0.9055868983268738,
      "learning_rate": 0.00047544452299147136,
      "loss": 0.1124,
      "step": 2247
    },
    {
      "epoch": 0.5041507740632712,
      "gripper_loss": 0.058837890625,
      "loss": 0.0712890625,
      "pos_loss": 0.3984375,
      "rot_loss": 0.1455078125,
      "step": 2247
    },
    {
      "epoch": 0.5043751402288534,
      "grad_norm": 1.0078932046890259,
      "learning_rate": 0.00047541834253415585,
      "loss": 0.1317,
      "step": 2248
    },
    {
      "epoch": 0.5043751402288534,
      "gripper_loss": 0.0947265625,
      "loss": 0.1376953125,
      "pos_loss": 0.142578125,
      "rot_loss": 1.1640625,
      "step": 2248
    },
    {
      "epoch": 0.5045995063944357,
      "grad_norm": 0.9355754852294922,
      "learning_rate": 0.00047539214884939385,
      "loss": 0.1292,
      "step": 2249
    },
    {
      "epoch": 0.5045995063944357,
      "gripper_loss": 0.06982421875,
      "loss": 0.3203125,
      "pos_loss": 1.3671875,
      "rot_loss": 1.8984375,
      "step": 2249
    },
    {
      "epoch": 0.5048238725600179,
      "grad_norm": 0.7245174646377563,
      "learning_rate": 0.00047536594193872233,
      "loss": 0.1352,
      "step": 2250
    },
    {
      "epoch": 0.5048238725600179,
      "gripper_loss": 0.53515625,
      "loss": 0.1591796875,
      "pos_loss": 0.875,
      "rot_loss": 0.494140625,
      "step": 2250
    },
    {
      "epoch": 0.5050482387256002,
      "grad_norm": 0.6913753151893616,
      "learning_rate": 0.00047533972180367913,
      "loss": 0.1116,
      "step": 2251
    },
    {
      "epoch": 0.5050482387256002,
      "gripper_loss": 0.0927734375,
      "loss": 0.1904296875,
      "pos_loss": 1.2265625,
      "rot_loss": 0.62109375,
      "step": 2251
    },
    {
      "epoch": 0.5052726048911824,
      "grad_norm": 0.7732998728752136,
      "learning_rate": 0.00047531348844580284,
      "loss": 0.1245,
      "step": 2252
    },
    {
      "epoch": 0.5052726048911824,
      "gripper_loss": 0.251953125,
      "loss": 0.427734375,
      "pos_loss": 1.15625,
      "rot_loss": 0.828125,
      "step": 2252
    },
    {
      "epoch": 0.5054969710567646,
      "grad_norm": 2.0845723152160645,
      "learning_rate": 0.0004752872418666328,
      "loss": 0.373,
      "step": 2253
    },
    {
      "epoch": 0.5054969710567646,
      "gripper_loss": 0.018310546875,
      "loss": 0.228515625,
      "pos_loss": 1.421875,
      "rot_loss": 0.86328125,
      "step": 2253
    },
    {
      "epoch": 0.5057213372223469,
      "grad_norm": 0.8021119236946106,
      "learning_rate": 0.0004752609820677092,
      "loss": 0.1177,
      "step": 2254
    },
    {
      "epoch": 0.5057213372223469,
      "gripper_loss": 0.48046875,
      "loss": 0.2001953125,
      "pos_loss": 0.90234375,
      "rot_loss": 0.396484375,
      "step": 2254
    },
    {
      "epoch": 0.5059457033879291,
      "grad_norm": 1.2969934940338135,
      "learning_rate": 0.00047523470905057276,
      "loss": 0.1554,
      "step": 2255
    },
    {
      "epoch": 0.5059457033879291,
      "gripper_loss": 0.1904296875,
      "loss": 0.11767578125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.5,
      "step": 2255
    },
    {
      "epoch": 0.5061700695535113,
      "grad_norm": 1.2750602960586548,
      "learning_rate": 0.0004752084228167654,
      "loss": 0.1642,
      "step": 2256
    },
    {
      "epoch": 0.5061700695535113,
      "gripper_loss": 0.0859375,
      "loss": 0.2119140625,
      "pos_loss": 1.1484375,
      "rot_loss": 0.419921875,
      "step": 2256
    },
    {
      "epoch": 0.5063944357190936,
      "grad_norm": 1.457990288734436,
      "learning_rate": 0.0004751821233678295,
      "loss": 0.1626,
      "step": 2257
    },
    {
      "epoch": 0.5063944357190936,
      "gripper_loss": 0.033447265625,
      "loss": 0.10205078125,
      "pos_loss": 0.83984375,
      "rot_loss": 0.11279296875,
      "step": 2257
    },
    {
      "epoch": 0.5066188018846758,
      "grad_norm": 0.7776065468788147,
      "learning_rate": 0.0004751558107053083,
      "loss": 0.1315,
      "step": 2258
    },
    {
      "epoch": 0.5066188018846758,
      "gripper_loss": 0.201171875,
      "loss": 0.3359375,
      "pos_loss": 0.98828125,
      "rot_loss": 2.390625,
      "step": 2258
    },
    {
      "epoch": 0.506843168050258,
      "grad_norm": 0.7964935302734375,
      "learning_rate": 0.00047512948483074583,
      "loss": 0.1385,
      "step": 2259
    },
    {
      "epoch": 0.506843168050258,
      "gripper_loss": 0.7578125,
      "loss": 0.05615234375,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.0211181640625,
      "step": 2259
    },
    {
      "epoch": 0.5070675342158403,
      "grad_norm": 0.644860029220581,
      "learning_rate": 0.0004751031457456868,
      "loss": 0.1077,
      "step": 2260
    },
    {
      "epoch": 0.5070675342158403,
      "gripper_loss": 0.302734375,
      "loss": 0.1396484375,
      "pos_loss": 0.77734375,
      "rot_loss": 0.19921875,
      "step": 2260
    },
    {
      "epoch": 0.5072919003814225,
      "grad_norm": 1.1606347560882568,
      "learning_rate": 0.0004750767934516768,
      "loss": 0.1443,
      "step": 2261
    },
    {
      "epoch": 0.5072919003814225,
      "gripper_loss": 0.43359375,
      "loss": 0.080078125,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.3828125,
      "step": 2261
    },
    {
      "epoch": 0.5075162665470047,
      "grad_norm": 0.6903253197669983,
      "learning_rate": 0.00047505042795026233,
      "loss": 0.0985,
      "step": 2262
    },
    {
      "epoch": 0.5075162665470047,
      "gripper_loss": 0.03369140625,
      "loss": 0.0673828125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.048828125,
      "step": 2262
    },
    {
      "epoch": 0.507740632712587,
      "grad_norm": 0.6531112194061279,
      "learning_rate": 0.00047502404924299027,
      "loss": 0.1135,
      "step": 2263
    },
    {
      "epoch": 0.507740632712587,
      "gripper_loss": 1.265625,
      "loss": 0.0927734375,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.255859375,
      "step": 2263
    },
    {
      "epoch": 0.5079649988781691,
      "grad_norm": 0.6287622451782227,
      "learning_rate": 0.00047499765733140866,
      "loss": 0.1197,
      "step": 2264
    },
    {
      "epoch": 0.5079649988781691,
      "gripper_loss": 0.07861328125,
      "loss": 0.1591796875,
      "pos_loss": 1.0234375,
      "rot_loss": 0.416015625,
      "step": 2264
    },
    {
      "epoch": 0.5081893650437515,
      "grad_norm": 0.8896222114562988,
      "learning_rate": 0.00047497125221706616,
      "loss": 0.1298,
      "step": 2265
    },
    {
      "epoch": 0.5081893650437515,
      "gripper_loss": 0.0281982421875,
      "loss": 0.1416015625,
      "pos_loss": 1.1328125,
      "rot_loss": 0.2060546875,
      "step": 2265
    },
    {
      "epoch": 0.5084137312093336,
      "grad_norm": 0.679421603679657,
      "learning_rate": 0.00047494483390151217,
      "loss": 0.1283,
      "step": 2266
    },
    {
      "epoch": 0.5084137312093336,
      "gripper_loss": 0.65234375,
      "loss": 0.052978515625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.05078125,
      "step": 2266
    },
    {
      "epoch": 0.5086380973749158,
      "grad_norm": 0.7859322428703308,
      "learning_rate": 0.0004749184023862969,
      "loss": 0.0797,
      "step": 2267
    },
    {
      "epoch": 0.5086380973749158,
      "gripper_loss": 0.1015625,
      "loss": 0.1259765625,
      "pos_loss": 0.373046875,
      "rot_loss": 0.81640625,
      "step": 2267
    },
    {
      "epoch": 0.5088624635404981,
      "grad_norm": 0.741206169128418,
      "learning_rate": 0.0004748919576729714,
      "loss": 0.1465,
      "step": 2268
    },
    {
      "epoch": 0.5088624635404981,
      "gripper_loss": 0.35546875,
      "loss": 0.1826171875,
      "pos_loss": 0.9921875,
      "rot_loss": 0.75390625,
      "step": 2268
    },
    {
      "epoch": 0.5090868297060803,
      "grad_norm": 0.7487249374389648,
      "learning_rate": 0.00047486549976308735,
      "loss": 0.146,
      "step": 2269
    },
    {
      "epoch": 0.5090868297060803,
      "gripper_loss": 0.04248046875,
      "loss": 0.0693359375,
      "pos_loss": 0.427734375,
      "rot_loss": 0.18359375,
      "step": 2269
    },
    {
      "epoch": 0.5093111958716625,
      "grad_norm": 0.653052806854248,
      "learning_rate": 0.0004748390286581973,
      "loss": 0.1096,
      "step": 2270
    },
    {
      "epoch": 0.5093111958716625,
      "gripper_loss": 0.0625,
      "loss": 0.111328125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.482421875,
      "step": 2270
    },
    {
      "epoch": 0.5095355620372448,
      "grad_norm": 0.6915615200996399,
      "learning_rate": 0.0004748125443598546,
      "loss": 0.1184,
      "step": 2271
    },
    {
      "epoch": 0.5095355620372448,
      "gripper_loss": 0.306640625,
      "loss": 0.048095703125,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.1171875,
      "step": 2271
    },
    {
      "epoch": 0.509759928202827,
      "grad_norm": 0.6268309950828552,
      "learning_rate": 0.0004747860468696134,
      "loss": 0.1002,
      "step": 2272
    },
    {
      "epoch": 0.509759928202827,
      "gripper_loss": 0.365234375,
      "loss": 0.0732421875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.059814453125,
      "step": 2272
    },
    {
      "epoch": 0.5099842943684092,
      "grad_norm": 0.9498945474624634,
      "learning_rate": 0.00047475953618902834,
      "loss": 0.0917,
      "step": 2273
    },
    {
      "epoch": 0.5099842943684092,
      "gripper_loss": 0.79296875,
      "loss": 0.1513671875,
      "pos_loss": 0.76171875,
      "rot_loss": 0.4921875,
      "step": 2273
    },
    {
      "epoch": 0.5102086605339915,
      "grad_norm": 0.8368915915489197,
      "learning_rate": 0.00047473301231965525,
      "loss": 0.0981,
      "step": 2274
    },
    {
      "epoch": 0.5102086605339915,
      "gripper_loss": 0.984375,
      "loss": 0.1279296875,
      "pos_loss": 0.859375,
      "rot_loss": 0.0693359375,
      "step": 2274
    },
    {
      "epoch": 0.5104330266995737,
      "grad_norm": 0.8753724098205566,
      "learning_rate": 0.00047470647526305057,
      "loss": 0.1337,
      "step": 2275
    },
    {
      "epoch": 0.5104330266995737,
      "gripper_loss": 0.5703125,
      "loss": 0.1953125,
      "pos_loss": 0.53515625,
      "rot_loss": 0.1357421875,
      "step": 2275
    },
    {
      "epoch": 0.5106573928651559,
      "grad_norm": 1.8591282367706299,
      "learning_rate": 0.00047467992502077134,
      "loss": 0.3438,
      "step": 2276
    },
    {
      "epoch": 0.5106573928651559,
      "gripper_loss": 0.053955078125,
      "loss": 0.107421875,
      "pos_loss": 0.82421875,
      "rot_loss": 0.1845703125,
      "step": 2276
    },
    {
      "epoch": 0.5108817590307382,
      "grad_norm": 0.7536343336105347,
      "learning_rate": 0.0004746533615943756,
      "loss": 0.1118,
      "step": 2277
    },
    {
      "epoch": 0.5108817590307382,
      "gripper_loss": 0.51953125,
      "loss": 0.1728515625,
      "pos_loss": 0.462890625,
      "rot_loss": 0.9609375,
      "step": 2277
    },
    {
      "epoch": 0.5111061251963204,
      "grad_norm": 0.8914573788642883,
      "learning_rate": 0.00047462678498542206,
      "loss": 0.1441,
      "step": 2278
    },
    {
      "epoch": 0.5111061251963204,
      "gripper_loss": 0.96875,
      "loss": 0.0771484375,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.2109375,
      "step": 2278
    },
    {
      "epoch": 0.5113304913619027,
      "grad_norm": 1.1463006734848022,
      "learning_rate": 0.0004746001951954702,
      "loss": 0.137,
      "step": 2279
    },
    {
      "epoch": 0.5113304913619027,
      "gripper_loss": 0.2314453125,
      "loss": 0.1103515625,
      "pos_loss": 0.546875,
      "rot_loss": 0.44921875,
      "step": 2279
    },
    {
      "epoch": 0.5115548575274849,
      "grad_norm": 0.8219262957572937,
      "learning_rate": 0.0004745735922260803,
      "loss": 0.1004,
      "step": 2280
    },
    {
      "epoch": 0.5115548575274849,
      "gripper_loss": 0.439453125,
      "loss": 0.07666015625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.1748046875,
      "step": 2280
    },
    {
      "epoch": 0.511779223693067,
      "grad_norm": 0.7904512882232666,
      "learning_rate": 0.0004745469760788135,
      "loss": 0.1367,
      "step": 2281
    },
    {
      "epoch": 0.511779223693067,
      "gripper_loss": 0.2451171875,
      "loss": 0.33984375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.9765625,
      "step": 2281
    },
    {
      "epoch": 0.5120035898586494,
      "grad_norm": 1.6234809160232544,
      "learning_rate": 0.0004745203467552315,
      "loss": 0.243,
      "step": 2282
    },
    {
      "epoch": 0.5120035898586494,
      "gripper_loss": 0.043701171875,
      "loss": 0.041748046875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.0302734375,
      "step": 2282
    },
    {
      "epoch": 0.5122279560242315,
      "grad_norm": 0.9417024254798889,
      "learning_rate": 0.000474493704256897,
      "loss": 0.1299,
      "step": 2283
    },
    {
      "epoch": 0.5122279560242315,
      "gripper_loss": 0.439453125,
      "loss": 0.333984375,
      "pos_loss": 1.046875,
      "rot_loss": 1.3828125,
      "step": 2283
    },
    {
      "epoch": 0.5124523221898137,
      "grad_norm": 1.7886195182800293,
      "learning_rate": 0.00047446704858537326,
      "loss": 0.2712,
      "step": 2284
    },
    {
      "epoch": 0.5124523221898137,
      "gripper_loss": 0.06982421875,
      "loss": 0.1513671875,
      "pos_loss": 0.87109375,
      "rot_loss": 0.189453125,
      "step": 2284
    },
    {
      "epoch": 0.512676688355396,
      "grad_norm": 1.1338242292404175,
      "learning_rate": 0.00047444037974222445,
      "loss": 0.1484,
      "step": 2285
    },
    {
      "epoch": 0.512676688355396,
      "gripper_loss": 0.46484375,
      "loss": 0.1787109375,
      "pos_loss": 0.796875,
      "rot_loss": 0.609375,
      "step": 2285
    },
    {
      "epoch": 0.5129010545209782,
      "grad_norm": 1.1424260139465332,
      "learning_rate": 0.00047441369772901554,
      "loss": 0.1251,
      "step": 2286
    },
    {
      "epoch": 0.5129010545209782,
      "gripper_loss": 0.09716796875,
      "loss": 0.10791015625,
      "pos_loss": 0.8671875,
      "rot_loss": 0.0732421875,
      "step": 2286
    },
    {
      "epoch": 0.5131254206865604,
      "grad_norm": 0.7953338027000427,
      "learning_rate": 0.00047438700254731224,
      "loss": 0.1027,
      "step": 2287
    },
    {
      "epoch": 0.5131254206865604,
      "gripper_loss": 0.04248046875,
      "loss": 0.255859375,
      "pos_loss": 1.8203125,
      "rot_loss": 0.6953125,
      "step": 2287
    },
    {
      "epoch": 0.5133497868521427,
      "grad_norm": 0.9605963230133057,
      "learning_rate": 0.00047436029419868094,
      "loss": 0.1463,
      "step": 2288
    },
    {
      "epoch": 0.5133497868521427,
      "gripper_loss": 0.11962890625,
      "loss": 0.279296875,
      "pos_loss": 2.6875,
      "rot_loss": 0.0361328125,
      "step": 2288
    },
    {
      "epoch": 0.5135741530177249,
      "grad_norm": 0.9151402711868286,
      "learning_rate": 0.0004743335726846889,
      "loss": 0.1776,
      "step": 2289
    },
    {
      "epoch": 0.5135741530177249,
      "gripper_loss": 0.06591796875,
      "loss": 0.1806640625,
      "pos_loss": 1.53125,
      "rot_loss": 0.203125,
      "step": 2289
    },
    {
      "epoch": 0.5137985191833072,
      "grad_norm": 1.0275825262069702,
      "learning_rate": 0.0004743068380069041,
      "loss": 0.1375,
      "step": 2290
    },
    {
      "epoch": 0.5137985191833072,
      "gripper_loss": 0.01531982421875,
      "loss": 0.2236328125,
      "pos_loss": 2.125,
      "rot_loss": 0.12451171875,
      "step": 2290
    },
    {
      "epoch": 0.5140228853488894,
      "grad_norm": 0.958101749420166,
      "learning_rate": 0.00047428009016689537,
      "loss": 0.1706,
      "step": 2291
    },
    {
      "epoch": 0.5140228853488894,
      "gripper_loss": 3.203125,
      "loss": 0.19921875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.337890625,
      "step": 2291
    },
    {
      "epoch": 0.5142472515144716,
      "grad_norm": 1.0393071174621582,
      "learning_rate": 0.00047425332916623225,
      "loss": 0.1652,
      "step": 2292
    },
    {
      "epoch": 0.5142472515144716,
      "gripper_loss": 0.04638671875,
      "loss": 0.2890625,
      "pos_loss": 1.3359375,
      "rot_loss": 1.5078125,
      "step": 2292
    },
    {
      "epoch": 0.5144716176800539,
      "grad_norm": 0.8242804408073425,
      "learning_rate": 0.00047422655500648506,
      "loss": 0.1297,
      "step": 2293
    },
    {
      "epoch": 0.5144716176800539,
      "gripper_loss": 0.08154296875,
      "loss": 0.11767578125,
      "pos_loss": 0.61328125,
      "rot_loss": 0.361328125,
      "step": 2293
    },
    {
      "epoch": 0.5146959838456361,
      "grad_norm": 0.8955131769180298,
      "learning_rate": 0.00047419976768922487,
      "loss": 0.1284,
      "step": 2294
    },
    {
      "epoch": 0.5146959838456361,
      "gripper_loss": 0.03369140625,
      "loss": 0.224609375,
      "pos_loss": 0.67578125,
      "rot_loss": 1.484375,
      "step": 2294
    },
    {
      "epoch": 0.5149203500112183,
      "grad_norm": 0.7700161933898926,
      "learning_rate": 0.00047417296721602355,
      "loss": 0.1075,
      "step": 2295
    },
    {
      "epoch": 0.5149203500112183,
      "gripper_loss": 0.81640625,
      "loss": 0.29296875,
      "pos_loss": 1.171875,
      "rot_loss": 1.53125,
      "step": 2295
    },
    {
      "epoch": 0.5151447161768006,
      "grad_norm": 0.963883638381958,
      "learning_rate": 0.00047414615358845375,
      "loss": 0.1344,
      "step": 2296
    },
    {
      "epoch": 0.5151447161768006,
      "gripper_loss": 1.2734375,
      "loss": 0.29296875,
      "pos_loss": 1.296875,
      "rot_loss": 1.28125,
      "step": 2296
    },
    {
      "epoch": 0.5153690823423828,
      "grad_norm": 0.8877516984939575,
      "learning_rate": 0.0004741193268080889,
      "loss": 0.1311,
      "step": 2297
    },
    {
      "epoch": 0.5153690823423828,
      "gripper_loss": 0.451171875,
      "loss": 0.1064453125,
      "pos_loss": 0.60546875,
      "rot_loss": 0.2578125,
      "step": 2297
    },
    {
      "epoch": 0.515593448507965,
      "grad_norm": 0.7848028540611267,
      "learning_rate": 0.00047409248687650316,
      "loss": 0.1593,
      "step": 2298
    },
    {
      "epoch": 0.515593448507965,
      "gripper_loss": 0.031005859375,
      "loss": 0.0810546875,
      "pos_loss": 0.232421875,
      "rot_loss": 0.49609375,
      "step": 2298
    },
    {
      "epoch": 0.5158178146735473,
      "grad_norm": 0.794018566608429,
      "learning_rate": 0.00047406563379527144,
      "loss": 0.088,
      "step": 2299
    },
    {
      "epoch": 0.5158178146735473,
      "gripper_loss": 0.416015625,
      "loss": 0.03173828125,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.04443359375,
      "step": 2299
    },
    {
      "epoch": 0.5160421808391294,
      "grad_norm": 0.8298866152763367,
      "learning_rate": 0.00047403876756596964,
      "loss": 0.117,
      "step": 2300
    },
    {
      "epoch": 0.5160421808391294,
      "gripper_loss": 0.03173828125,
      "loss": 0.228515625,
      "pos_loss": 1.890625,
      "rot_loss": 0.423828125,
      "step": 2300
    },
    {
      "epoch": 0.5162665470047116,
      "grad_norm": 0.7313169836997986,
      "learning_rate": 0.00047401188819017406,
      "loss": 0.12,
      "step": 2301
    },
    {
      "epoch": 0.5162665470047116,
      "gripper_loss": 0.0419921875,
      "loss": 0.2412109375,
      "pos_loss": 2.265625,
      "rot_loss": 0.1552734375,
      "step": 2301
    },
    {
      "epoch": 0.5164909131702939,
      "grad_norm": 1.0631800889968872,
      "learning_rate": 0.000473984995669462,
      "loss": 0.1712,
      "step": 2302
    },
    {
      "epoch": 0.5164909131702939,
      "gripper_loss": 0.0927734375,
      "loss": 0.1748046875,
      "pos_loss": 0.41796875,
      "rot_loss": 1.0078125,
      "step": 2302
    },
    {
      "epoch": 0.5167152793358761,
      "grad_norm": 1.0622421503067017,
      "learning_rate": 0.0004739580900054116,
      "loss": 0.1297,
      "step": 2303
    },
    {
      "epoch": 0.5167152793358761,
      "gripper_loss": 0.376953125,
      "loss": 0.050048828125,
      "pos_loss": 0.216796875,
      "rot_loss": 0.1181640625,
      "step": 2303
    },
    {
      "epoch": 0.5169396455014584,
      "grad_norm": 0.5565961003303528,
      "learning_rate": 0.00047393117119960167,
      "loss": 0.095,
      "step": 2304
    },
    {
      "epoch": 0.5169396455014584,
      "gripper_loss": 0.35546875,
      "loss": 0.08642578125,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.1982421875,
      "step": 2304
    },
    {
      "epoch": 0.5171640116670406,
      "grad_norm": 1.0952292680740356,
      "learning_rate": 0.0004739042392536117,
      "loss": 0.1628,
      "step": 2305
    },
    {
      "epoch": 0.5171640116670406,
      "gripper_loss": 0.173828125,
      "loss": 0.1650390625,
      "pos_loss": 0.90234375,
      "rot_loss": 0.4140625,
      "step": 2305
    },
    {
      "epoch": 0.5173883778326228,
      "grad_norm": 0.6498745083808899,
      "learning_rate": 0.0004738772941690221,
      "loss": 0.14,
      "step": 2306
    },
    {
      "epoch": 0.5173883778326228,
      "gripper_loss": 1.3125,
      "loss": 0.07958984375,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.142578125,
      "step": 2306
    },
    {
      "epoch": 0.5176127439982051,
      "grad_norm": 0.8978658318519592,
      "learning_rate": 0.00047385033594741393,
      "loss": 0.0926,
      "step": 2307
    },
    {
      "epoch": 0.5176127439982051,
      "gripper_loss": 0.51953125,
      "loss": 0.220703125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.2890625,
      "step": 2307
    },
    {
      "epoch": 0.5178371101637873,
      "grad_norm": 1.944599986076355,
      "learning_rate": 0.00047382336459036924,
      "loss": 0.2535,
      "step": 2308
    },
    {
      "epoch": 0.5178371101637873,
      "gripper_loss": 0.0791015625,
      "loss": 0.16015625,
      "pos_loss": 0.8046875,
      "rot_loss": 0.5859375,
      "step": 2308
    },
    {
      "epoch": 0.5180614763293695,
      "grad_norm": 1.234531044960022,
      "learning_rate": 0.0004737963800994705,
      "loss": 0.1464,
      "step": 2309
    },
    {
      "epoch": 0.5180614763293695,
      "gripper_loss": 0.1669921875,
      "loss": 0.1181640625,
      "pos_loss": 0.734375,
      "rot_loss": 0.220703125,
      "step": 2309
    },
    {
      "epoch": 0.5182858424949518,
      "grad_norm": 1.1744554042816162,
      "learning_rate": 0.0004737693824763013,
      "loss": 0.1125,
      "step": 2310
    },
    {
      "epoch": 0.5182858424949518,
      "gripper_loss": 0.1494140625,
      "loss": 0.15625,
      "pos_loss": 0.5078125,
      "rot_loss": 0.9296875,
      "step": 2310
    },
    {
      "epoch": 0.518510208660534,
      "grad_norm": 1.0493850708007812,
      "learning_rate": 0.0004737423717224457,
      "loss": 0.1422,
      "step": 2311
    },
    {
      "epoch": 0.518510208660534,
      "gripper_loss": 0.3046875,
      "loss": 0.072265625,
      "pos_loss": 0.302734375,
      "rot_loss": 0.1396484375,
      "step": 2311
    },
    {
      "epoch": 0.5187345748261162,
      "grad_norm": 1.134765863418579,
      "learning_rate": 0.00047371534783948886,
      "loss": 0.1366,
      "step": 2312
    },
    {
      "epoch": 0.5187345748261162,
      "gripper_loss": 0.2734375,
      "loss": 0.1337890625,
      "pos_loss": 0.8125,
      "rot_loss": 0.265625,
      "step": 2312
    },
    {
      "epoch": 0.5189589409916985,
      "grad_norm": 0.9232410788536072,
      "learning_rate": 0.0004736883108290165,
      "loss": 0.1286,
      "step": 2313
    },
    {
      "epoch": 0.5189589409916985,
      "gripper_loss": 0.03759765625,
      "loss": 0.1142578125,
      "pos_loss": 0.9765625,
      "rot_loss": 0.115234375,
      "step": 2313
    },
    {
      "epoch": 0.5191833071572807,
      "grad_norm": 0.8160619139671326,
      "learning_rate": 0.00047366126069261496,
      "loss": 0.1807,
      "step": 2314
    },
    {
      "epoch": 0.5191833071572807,
      "gripper_loss": 0.1640625,
      "loss": 0.06689453125,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1591796875,
      "step": 2314
    },
    {
      "epoch": 0.5194076733228629,
      "grad_norm": 0.9322046637535095,
      "learning_rate": 0.00047363419743187175,
      "loss": 0.1177,
      "step": 2315
    },
    {
      "epoch": 0.5194076733228629,
      "gripper_loss": 0.302734375,
      "loss": 0.1572265625,
      "pos_loss": 0.38671875,
      "rot_loss": 0.64453125,
      "step": 2315
    },
    {
      "epoch": 0.5196320394884452,
      "grad_norm": 1.4168167114257812,
      "learning_rate": 0.0004736071210483748,
      "loss": 0.2209,
      "step": 2316
    },
    {
      "epoch": 0.5196320394884452,
      "gripper_loss": 0.435546875,
      "loss": 0.13671875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.45703125,
      "step": 2316
    },
    {
      "epoch": 0.5198564056540274,
      "grad_norm": 1.0802315473556519,
      "learning_rate": 0.0004735800315437129,
      "loss": 0.1447,
      "step": 2317
    },
    {
      "epoch": 0.5198564056540274,
      "gripper_loss": 0.294921875,
      "loss": 0.06005859375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.0673828125,
      "step": 2317
    },
    {
      "epoch": 0.5200807718196097,
      "grad_norm": 0.9310117959976196,
      "learning_rate": 0.00047355292891947576,
      "loss": 0.1032,
      "step": 2318
    },
    {
      "epoch": 0.5200807718196097,
      "gripper_loss": 0.251953125,
      "loss": 0.11328125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.296875,
      "step": 2318
    },
    {
      "epoch": 0.5203051379851918,
      "grad_norm": 1.0466067790985107,
      "learning_rate": 0.00047352581317725375,
      "loss": 0.1197,
      "step": 2319
    },
    {
      "epoch": 0.5203051379851918,
      "gripper_loss": 0.5234375,
      "loss": 0.142578125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.18359375,
      "step": 2319
    },
    {
      "epoch": 0.520529504150774,
      "grad_norm": 1.131185531616211,
      "learning_rate": 0.00047349868431863793,
      "loss": 0.1272,
      "step": 2320
    },
    {
      "epoch": 0.520529504150774,
      "gripper_loss": 0.1435546875,
      "loss": 0.140625,
      "pos_loss": 0.271484375,
      "rot_loss": 1.0859375,
      "step": 2320
    },
    {
      "epoch": 0.5207538703163563,
      "grad_norm": 1.139273762702942,
      "learning_rate": 0.00047347154234522027,
      "loss": 0.1484,
      "step": 2321
    },
    {
      "epoch": 0.5207538703163563,
      "gripper_loss": 0.05712890625,
      "loss": 0.12353515625,
      "pos_loss": 1.140625,
      "rot_loss": 0.07763671875,
      "step": 2321
    },
    {
      "epoch": 0.5209782364819385,
      "grad_norm": 0.7065010070800781,
      "learning_rate": 0.0004734443872585934,
      "loss": 0.07,
      "step": 2322
    },
    {
      "epoch": 0.5209782364819385,
      "gripper_loss": 0.07861328125,
      "loss": 0.060302734375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.177734375,
      "step": 2322
    },
    {
      "epoch": 0.5212026026475207,
      "grad_norm": 0.8571961522102356,
      "learning_rate": 0.0004734172190603508,
      "loss": 0.1236,
      "step": 2323
    },
    {
      "epoch": 0.5212026026475207,
      "gripper_loss": 1.8828125,
      "loss": 0.134765625,
      "pos_loss": 0.37890625,
      "rot_loss": 0.328125,
      "step": 2323
    },
    {
      "epoch": 0.521426968813103,
      "grad_norm": 0.5899999737739563,
      "learning_rate": 0.0004733900377520867,
      "loss": 0.137,
      "step": 2324
    },
    {
      "epoch": 0.521426968813103,
      "gripper_loss": 0.1572265625,
      "loss": 0.384765625,
      "pos_loss": 2.296875,
      "rot_loss": 0.9921875,
      "step": 2324
    },
    {
      "epoch": 0.5216513349786852,
      "grad_norm": 1.501290202140808,
      "learning_rate": 0.00047336284333539605,
      "loss": 0.2316,
      "step": 2325
    },
    {
      "epoch": 0.5216513349786852,
      "gripper_loss": 0.28515625,
      "loss": 0.06298828125,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.103515625,
      "step": 2325
    },
    {
      "epoch": 0.5218757011442674,
      "grad_norm": 1.1088730096817017,
      "learning_rate": 0.0004733356358118747,
      "loss": 0.1363,
      "step": 2326
    },
    {
      "epoch": 0.5218757011442674,
      "gripper_loss": 0.05078125,
      "loss": 0.111328125,
      "pos_loss": 0.71875,
      "rot_loss": 0.279296875,
      "step": 2326
    },
    {
      "epoch": 0.5221000673098497,
      "grad_norm": 0.9924830794334412,
      "learning_rate": 0.000473308415183119,
      "loss": 0.1098,
      "step": 2327
    },
    {
      "epoch": 0.5221000673098497,
      "gripper_loss": 0.027587890625,
      "loss": 0.29296875,
      "pos_loss": 2.421875,
      "rot_loss": 0.4921875,
      "step": 2327
    },
    {
      "epoch": 0.5223244334754319,
      "grad_norm": 1.2222999334335327,
      "learning_rate": 0.0004732811814507264,
      "loss": 0.1489,
      "step": 2328
    },
    {
      "epoch": 0.5223244334754319,
      "gripper_loss": 0.083984375,
      "loss": 0.203125,
      "pos_loss": 1.3203125,
      "rot_loss": 0.431640625,
      "step": 2328
    },
    {
      "epoch": 0.5225487996410141,
      "grad_norm": 1.2071285247802734,
      "learning_rate": 0.00047325393461629487,
      "loss": 0.1925,
      "step": 2329
    },
    {
      "epoch": 0.5225487996410141,
      "gripper_loss": 0.13671875,
      "loss": 0.0498046875,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.0517578125,
      "step": 2329
    },
    {
      "epoch": 0.5227731658065964,
      "grad_norm": 0.8919268250465393,
      "learning_rate": 0.00047322667468142334,
      "loss": 0.0945,
      "step": 2330
    },
    {
      "epoch": 0.5227731658065964,
      "gripper_loss": 0.181640625,
      "loss": 0.1396484375,
      "pos_loss": 0.4375,
      "rot_loss": 0.7265625,
      "step": 2330
    },
    {
      "epoch": 0.5229975319721786,
      "grad_norm": 0.9675994515419006,
      "learning_rate": 0.00047319940164771123,
      "loss": 0.1293,
      "step": 2331
    },
    {
      "epoch": 0.5229975319721786,
      "gripper_loss": 0.11279296875,
      "loss": 0.2080078125,
      "pos_loss": 0.9453125,
      "rot_loss": 1.078125,
      "step": 2331
    },
    {
      "epoch": 0.5232218981377609,
      "grad_norm": 1.0197429656982422,
      "learning_rate": 0.0004731721155167592,
      "loss": 0.1453,
      "step": 2332
    },
    {
      "epoch": 0.5232218981377609,
      "gripper_loss": 0.029541015625,
      "loss": 0.0230712890625,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.042236328125,
      "step": 2332
    },
    {
      "epoch": 0.5234462643033431,
      "grad_norm": 0.8571373224258423,
      "learning_rate": 0.00047314481629016816,
      "loss": 0.1024,
      "step": 2333
    },
    {
      "epoch": 0.5234462643033431,
      "gripper_loss": 0.07763671875,
      "loss": 0.1259765625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.50390625,
      "step": 2333
    },
    {
      "epoch": 0.5236706304689253,
      "grad_norm": 1.1080282926559448,
      "learning_rate": 0.00047311750396954,
      "loss": 0.1317,
      "step": 2334
    },
    {
      "epoch": 0.5236706304689253,
      "gripper_loss": 0.01953125,
      "loss": 0.057373046875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.1162109375,
      "step": 2334
    },
    {
      "epoch": 0.5238949966345076,
      "grad_norm": 0.7980797290802002,
      "learning_rate": 0.0004730901785564775,
      "loss": 0.1112,
      "step": 2335
    },
    {
      "epoch": 0.5238949966345076,
      "gripper_loss": 0.1279296875,
      "loss": 0.1689453125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.38671875,
      "step": 2335
    },
    {
      "epoch": 0.5241193628000897,
      "grad_norm": 0.9055770635604858,
      "learning_rate": 0.0004730628400525841,
      "loss": 0.1102,
      "step": 2336
    },
    {
      "epoch": 0.5241193628000897,
      "gripper_loss": 0.062255859375,
      "loss": 0.1669921875,
      "pos_loss": 0.91015625,
      "rot_loss": 0.5390625,
      "step": 2336
    },
    {
      "epoch": 0.5243437289656719,
      "grad_norm": 0.7365239262580872,
      "learning_rate": 0.00047303548845946397,
      "loss": 0.1344,
      "step": 2337
    },
    {
      "epoch": 0.5243437289656719,
      "gripper_loss": 0.033447265625,
      "loss": 0.049560546875,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.1357421875,
      "step": 2337
    },
    {
      "epoch": 0.5245680951312542,
      "grad_norm": 0.9140732884407043,
      "learning_rate": 0.00047300812377872216,
      "loss": 0.1119,
      "step": 2338
    },
    {
      "epoch": 0.5245680951312542,
      "gripper_loss": 0.130859375,
      "loss": 0.400390625,
      "pos_loss": 2.3125,
      "rot_loss": 1.8046875,
      "step": 2338
    },
    {
      "epoch": 0.5247924612968364,
      "grad_norm": 0.8890367746353149,
      "learning_rate": 0.0004729807460119643,
      "loss": 0.164,
      "step": 2339
    },
    {
      "epoch": 0.5247924612968364,
      "gripper_loss": 0.0947265625,
      "loss": 0.22265625,
      "pos_loss": 1.53125,
      "rot_loss": 0.240234375,
      "step": 2339
    },
    {
      "epoch": 0.5250168274624186,
      "grad_norm": 1.1277740001678467,
      "learning_rate": 0.00047295335516079695,
      "loss": 0.1432,
      "step": 2340
    },
    {
      "epoch": 0.5250168274624186,
      "gripper_loss": 0.453125,
      "loss": 0.18359375,
      "pos_loss": 1.546875,
      "rot_loss": 0.134765625,
      "step": 2340
    },
    {
      "epoch": 0.5252411936280009,
      "grad_norm": 0.7033697962760925,
      "learning_rate": 0.0004729259512268274,
      "loss": 0.1434,
      "step": 2341
    },
    {
      "epoch": 0.5252411936280009,
      "gripper_loss": 0.1376953125,
      "loss": 0.0458984375,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.2138671875,
      "step": 2341
    },
    {
      "epoch": 0.5254655597935831,
      "grad_norm": 0.8908751606941223,
      "learning_rate": 0.00047289853421166375,
      "loss": 0.1088,
      "step": 2342
    },
    {
      "epoch": 0.5254655597935831,
      "gripper_loss": 0.138671875,
      "loss": 0.13671875,
      "pos_loss": 0.625,
      "rot_loss": 0.40234375,
      "step": 2342
    },
    {
      "epoch": 0.5256899259591653,
      "grad_norm": 1.2097954750061035,
      "learning_rate": 0.00047287110411691483,
      "loss": 0.1479,
      "step": 2343
    },
    {
      "epoch": 0.5256899259591653,
      "gripper_loss": 0.796875,
      "loss": 0.1826171875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.56640625,
      "step": 2343
    },
    {
      "epoch": 0.5259142921247476,
      "grad_norm": 1.367102026939392,
      "learning_rate": 0.0004728436609441901,
      "loss": 0.1866,
      "step": 2344
    },
    {
      "epoch": 0.5259142921247476,
      "gripper_loss": 1.8984375,
      "loss": 0.0947265625,
      "pos_loss": 0.216796875,
      "rot_loss": 0.03759765625,
      "step": 2344
    },
    {
      "epoch": 0.5261386582903298,
      "grad_norm": 0.9857334494590759,
      "learning_rate": 0.00047281620469509993,
      "loss": 0.1558,
      "step": 2345
    },
    {
      "epoch": 0.5261386582903298,
      "gripper_loss": 0.34375,
      "loss": 0.1201171875,
      "pos_loss": 0.66796875,
      "rot_loss": 0.34765625,
      "step": 2345
    },
    {
      "epoch": 0.5263630244559121,
      "grad_norm": 0.9035938382148743,
      "learning_rate": 0.00047278873537125556,
      "loss": 0.1151,
      "step": 2346
    },
    {
      "epoch": 0.5263630244559121,
      "gripper_loss": 0.11328125,
      "loss": 0.208984375,
      "pos_loss": 1.359375,
      "rot_loss": 0.51171875,
      "step": 2346
    },
    {
      "epoch": 0.5265873906214943,
      "grad_norm": 0.7190973162651062,
      "learning_rate": 0.0004727612529742688,
      "loss": 0.1115,
      "step": 2347
    },
    {
      "epoch": 0.5265873906214943,
      "gripper_loss": 0.546875,
      "loss": 0.08740234375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.111328125,
      "step": 2347
    },
    {
      "epoch": 0.5268117567870765,
      "grad_norm": 1.0349313020706177,
      "learning_rate": 0.0004727337575057523,
      "loss": 0.1384,
      "step": 2348
    },
    {
      "epoch": 0.5268117567870765,
      "gripper_loss": 0.2158203125,
      "loss": 0.30078125,
      "pos_loss": 0.671875,
      "rot_loss": 0.9609375,
      "step": 2348
    },
    {
      "epoch": 0.5270361229526588,
      "grad_norm": 1.9811897277832031,
      "learning_rate": 0.00047270624896731956,
      "loss": 0.312,
      "step": 2349
    },
    {
      "epoch": 0.5270361229526588,
      "gripper_loss": 0.1298828125,
      "loss": 0.20703125,
      "pos_loss": 0.90234375,
      "rot_loss": 0.70703125,
      "step": 2349
    },
    {
      "epoch": 0.527260489118241,
      "grad_norm": 1.067156195640564,
      "learning_rate": 0.00047267872736058466,
      "loss": 0.1464,
      "step": 2350
    },
    {
      "epoch": 0.527260489118241,
      "gripper_loss": 0.8359375,
      "loss": 0.044189453125,
      "pos_loss": 0.0546875,
      "rot_loss": 0.028076171875,
      "step": 2350
    },
    {
      "epoch": 0.5274848552838232,
      "grad_norm": 0.6099225282669067,
      "learning_rate": 0.0004726511926871626,
      "loss": 0.109,
      "step": 2351
    },
    {
      "epoch": 0.5274848552838232,
      "gripper_loss": 0.474609375,
      "loss": 0.0693359375,
      "pos_loss": 0.279296875,
      "rot_loss": 0.181640625,
      "step": 2351
    },
    {
      "epoch": 0.5277092214494055,
      "grad_norm": 0.863203763961792,
      "learning_rate": 0.00047262364494866916,
      "loss": 0.1521,
      "step": 2352
    },
    {
      "epoch": 0.5277092214494055,
      "gripper_loss": 0.0859375,
      "loss": 0.4140625,
      "pos_loss": 1.21875,
      "rot_loss": 3.09375,
      "step": 2352
    },
    {
      "epoch": 0.5279335876149877,
      "grad_norm": 1.3856669664382935,
      "learning_rate": 0.0004725960841467207,
      "loss": 0.2292,
      "step": 2353
    },
    {
      "epoch": 0.5279335876149877,
      "gripper_loss": 0.054931640625,
      "loss": 0.1181640625,
      "pos_loss": 0.9375,
      "rot_loss": 0.1513671875,
      "step": 2353
    },
    {
      "epoch": 0.5281579537805698,
      "grad_norm": 0.8278061747550964,
      "learning_rate": 0.0004725685102829346,
      "loss": 0.1317,
      "step": 2354
    },
    {
      "epoch": 0.5281579537805698,
      "gripper_loss": 0.25390625,
      "loss": 0.0966796875,
      "pos_loss": 0.404296875,
      "rot_loss": 0.32421875,
      "step": 2354
    },
    {
      "epoch": 0.5283823199461521,
      "grad_norm": 0.8239061832427979,
      "learning_rate": 0.0004725409233589288,
      "loss": 0.0764,
      "step": 2355
    },
    {
      "epoch": 0.5283823199461521,
      "gripper_loss": 0.435546875,
      "loss": 0.11767578125,
      "pos_loss": 0.56640625,
      "rot_loss": 0.267578125,
      "step": 2355
    },
    {
      "epoch": 0.5286066861117343,
      "grad_norm": 1.0731397867202759,
      "learning_rate": 0.0004725133233763221,
      "loss": 0.1192,
      "step": 2356
    },
    {
      "epoch": 0.5286066861117343,
      "gripper_loss": 0.027587890625,
      "loss": 0.1669921875,
      "pos_loss": 1.4921875,
      "rot_loss": 0.10986328125,
      "step": 2356
    },
    {
      "epoch": 0.5288310522773165,
      "grad_norm": 0.8187865614891052,
      "learning_rate": 0.0004724857103367342,
      "loss": 0.1093,
      "step": 2357
    },
    {
      "epoch": 0.5288310522773165,
      "gripper_loss": 0.1123046875,
      "loss": 0.10595703125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.431640625,
      "step": 2357
    },
    {
      "epoch": 0.5290554184428988,
      "grad_norm": 0.7831655144691467,
      "learning_rate": 0.0004724580842417851,
      "loss": 0.1255,
      "step": 2358
    },
    {
      "epoch": 0.5290554184428988,
      "gripper_loss": 0.3046875,
      "loss": 0.095703125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.412109375,
      "step": 2358
    },
    {
      "epoch": 0.529279784608481,
      "grad_norm": 1.2352466583251953,
      "learning_rate": 0.0004724304450930962,
      "loss": 0.1309,
      "step": 2359
    },
    {
      "epoch": 0.529279784608481,
      "gripper_loss": 0.65625,
      "loss": 0.043212890625,
      "pos_loss": 0.10400390625,
      "rot_loss": 0.046875,
      "step": 2359
    },
    {
      "epoch": 0.5295041507740633,
      "grad_norm": 0.8603983521461487,
      "learning_rate": 0.00047240279289228923,
      "loss": 0.1145,
      "step": 2360
    },
    {
      "epoch": 0.5295041507740633,
      "gripper_loss": 0.84375,
      "loss": 0.166015625,
      "pos_loss": 1.2109375,
      "rot_loss": 0.1953125,
      "step": 2360
    },
    {
      "epoch": 0.5297285169396455,
      "grad_norm": 0.6842025518417358,
      "learning_rate": 0.0004723751276409868,
      "loss": 0.0985,
      "step": 2361
    },
    {
      "epoch": 0.5297285169396455,
      "gripper_loss": 0.03759765625,
      "loss": 0.12890625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.224609375,
      "step": 2361
    },
    {
      "epoch": 0.5299528831052277,
      "grad_norm": 0.6720191240310669,
      "learning_rate": 0.00047234744934081225,
      "loss": 0.1357,
      "step": 2362
    },
    {
      "epoch": 0.5299528831052277,
      "gripper_loss": 0.80078125,
      "loss": 0.11328125,
      "pos_loss": 0.251953125,
      "rot_loss": 0.578125,
      "step": 2362
    },
    {
      "epoch": 0.53017724927081,
      "grad_norm": 0.48418372869491577,
      "learning_rate": 0.0004723197579933899,
      "loss": 0.1284,
      "step": 2363
    },
    {
      "epoch": 0.53017724927081,
      "gripper_loss": 0.361328125,
      "loss": 0.2470703125,
      "pos_loss": 0.546875,
      "rot_loss": 0.63671875,
      "step": 2363
    },
    {
      "epoch": 0.5304016154363922,
      "grad_norm": 1.8571038246154785,
      "learning_rate": 0.00047229205360034446,
      "loss": 0.3214,
      "step": 2364
    },
    {
      "epoch": 0.5304016154363922,
      "gripper_loss": 0.66796875,
      "loss": 0.060546875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.05712890625,
      "step": 2364
    },
    {
      "epoch": 0.5306259816019744,
      "grad_norm": 0.6075886487960815,
      "learning_rate": 0.00047226433616330175,
      "loss": 0.1369,
      "step": 2365
    },
    {
      "epoch": 0.5306259816019744,
      "gripper_loss": 0.0478515625,
      "loss": 0.10302734375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.326171875,
      "step": 2365
    },
    {
      "epoch": 0.5308503477675567,
      "grad_norm": 1.0686671733856201,
      "learning_rate": 0.00047223660568388815,
      "loss": 0.14,
      "step": 2366
    },
    {
      "epoch": 0.5308503477675567,
      "gripper_loss": 0.058837890625,
      "loss": 0.1767578125,
      "pos_loss": 0.65234375,
      "rot_loss": 0.4765625,
      "step": 2366
    },
    {
      "epoch": 0.5310747139331389,
      "grad_norm": 1.4104688167572021,
      "learning_rate": 0.0004722088621637309,
      "loss": 0.1666,
      "step": 2367
    },
    {
      "epoch": 0.5310747139331389,
      "gripper_loss": 0.052734375,
      "loss": 0.1376953125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.2392578125,
      "step": 2367
    },
    {
      "epoch": 0.5312990800987211,
      "grad_norm": 1.1028602123260498,
      "learning_rate": 0.0004721811056044579,
      "loss": 0.1891,
      "step": 2368
    },
    {
      "epoch": 0.5312990800987211,
      "gripper_loss": 0.1806640625,
      "loss": 0.080078125,
      "pos_loss": 0.28125,
      "rot_loss": 0.30078125,
      "step": 2368
    },
    {
      "epoch": 0.5315234462643034,
      "grad_norm": 0.882835328578949,
      "learning_rate": 0.00047215333600769807,
      "loss": 0.1319,
      "step": 2369
    },
    {
      "epoch": 0.5315234462643034,
      "gripper_loss": 0.02294921875,
      "loss": 0.142578125,
      "pos_loss": 1.2578125,
      "rot_loss": 0.11328125,
      "step": 2369
    },
    {
      "epoch": 0.5317478124298856,
      "grad_norm": 0.7314066290855408,
      "learning_rate": 0.0004721255533750808,
      "loss": 0.1447,
      "step": 2370
    },
    {
      "epoch": 0.5317478124298856,
      "gripper_loss": 0.1552734375,
      "loss": 0.130859375,
      "pos_loss": 0.98046875,
      "rot_loss": 0.201171875,
      "step": 2370
    },
    {
      "epoch": 0.5319721785954677,
      "grad_norm": 0.7469595074653625,
      "learning_rate": 0.0004720977577082363,
      "loss": 0.101,
      "step": 2371
    },
    {
      "epoch": 0.5319721785954677,
      "gripper_loss": 0.142578125,
      "loss": 0.095703125,
      "pos_loss": 0.48828125,
      "rot_loss": 0.32421875,
      "step": 2371
    },
    {
      "epoch": 0.53219654476105,
      "grad_norm": 0.8551480770111084,
      "learning_rate": 0.00047206994900879574,
      "loss": 0.0914,
      "step": 2372
    },
    {
      "epoch": 0.53219654476105,
      "gripper_loss": 0.1357421875,
      "loss": 0.1474609375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.62109375,
      "step": 2372
    },
    {
      "epoch": 0.5324209109266322,
      "grad_norm": 0.6954809427261353,
      "learning_rate": 0.00047204212727839083,
      "loss": 0.1348,
      "step": 2373
    },
    {
      "epoch": 0.5324209109266322,
      "gripper_loss": 0.43359375,
      "loss": 0.06884765625,
      "pos_loss": 0.40234375,
      "rot_loss": 0.0859375,
      "step": 2373
    },
    {
      "epoch": 0.5326452770922145,
      "grad_norm": 0.9368135929107666,
      "learning_rate": 0.00047201429251865425,
      "loss": 0.1273,
      "step": 2374
    },
    {
      "epoch": 0.5326452770922145,
      "gripper_loss": 0.2197265625,
      "loss": 0.12158203125,
      "pos_loss": 0.337890625,
      "rot_loss": 0.44921875,
      "step": 2374
    },
    {
      "epoch": 0.5328696432577967,
      "grad_norm": 1.0840446949005127,
      "learning_rate": 0.0004719864447312191,
      "loss": 0.1396,
      "step": 2375
    },
    {
      "epoch": 0.5328696432577967,
      "gripper_loss": 0.0849609375,
      "loss": 0.0947265625,
      "pos_loss": 0.4296875,
      "rot_loss": 0.322265625,
      "step": 2375
    },
    {
      "epoch": 0.5330940094233789,
      "grad_norm": 0.8036482334136963,
      "learning_rate": 0.00047195858391771976,
      "loss": 0.1573,
      "step": 2376
    },
    {
      "epoch": 0.5330940094233789,
      "gripper_loss": 0.765625,
      "loss": 0.1416015625,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.71875,
      "step": 2376
    },
    {
      "epoch": 0.5333183755889612,
      "grad_norm": 0.9397607445716858,
      "learning_rate": 0.0004719307100797909,
      "loss": 0.1191,
      "step": 2377
    },
    {
      "epoch": 0.5333183755889612,
      "gripper_loss": 0.361328125,
      "loss": 0.41796875,
      "pos_loss": 1.4140625,
      "rot_loss": 2.703125,
      "step": 2377
    },
    {
      "epoch": 0.5335427417545434,
      "grad_norm": 0.9115351438522339,
      "learning_rate": 0.00047190282321906817,
      "loss": 0.1826,
      "step": 2378
    },
    {
      "epoch": 0.5335427417545434,
      "gripper_loss": 1.4453125,
      "loss": 0.130859375,
      "pos_loss": 0.703125,
      "rot_loss": 0.0751953125,
      "step": 2378
    },
    {
      "epoch": 0.5337671079201256,
      "grad_norm": 0.8681476712226868,
      "learning_rate": 0.00047187492333718807,
      "loss": 0.1559,
      "step": 2379
    },
    {
      "epoch": 0.5337671079201256,
      "gripper_loss": 0.4296875,
      "loss": 0.07861328125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.2294921875,
      "step": 2379
    },
    {
      "epoch": 0.5339914740857079,
      "grad_norm": 0.9244641065597534,
      "learning_rate": 0.0004718470104357876,
      "loss": 0.1393,
      "step": 2380
    },
    {
      "epoch": 0.5339914740857079,
      "gripper_loss": 0.048828125,
      "loss": 0.1240234375,
      "pos_loss": 0.83984375,
      "rot_loss": 0.21484375,
      "step": 2380
    },
    {
      "epoch": 0.5342158402512901,
      "grad_norm": 1.09857177734375,
      "learning_rate": 0.00047181908451650475,
      "loss": 0.1382,
      "step": 2381
    },
    {
      "epoch": 0.5342158402512901,
      "gripper_loss": 1.5546875,
      "loss": 0.419921875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.6015625,
      "step": 2381
    },
    {
      "epoch": 0.5344402064168723,
      "grad_norm": 2.2003188133239746,
      "learning_rate": 0.0004717911455809782,
      "loss": 0.4421,
      "step": 2382
    },
    {
      "epoch": 0.5344402064168723,
      "gripper_loss": 0.51171875,
      "loss": 0.10791015625,
      "pos_loss": 0.43359375,
      "rot_loss": 0.421875,
      "step": 2382
    },
    {
      "epoch": 0.5346645725824546,
      "grad_norm": 0.947147786617279,
      "learning_rate": 0.0004717631936308474,
      "loss": 0.1437,
      "step": 2383
    },
    {
      "epoch": 0.5346645725824546,
      "gripper_loss": 0.1396484375,
      "loss": 0.04443359375,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.08154296875,
      "step": 2383
    },
    {
      "epoch": 0.5348889387480368,
      "grad_norm": 0.9092051386833191,
      "learning_rate": 0.0004717352286677525,
      "loss": 0.1552,
      "step": 2384
    },
    {
      "epoch": 0.5348889387480368,
      "gripper_loss": 0.62109375,
      "loss": 0.109375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.2421875,
      "step": 2384
    },
    {
      "epoch": 0.5351133049136191,
      "grad_norm": 1.088012456893921,
      "learning_rate": 0.00047170725069333466,
      "loss": 0.1199,
      "step": 2385
    },
    {
      "epoch": 0.5351133049136191,
      "gripper_loss": 0.0341796875,
      "loss": 0.142578125,
      "pos_loss": 1.25,
      "rot_loss": 0.119140625,
      "step": 2385
    },
    {
      "epoch": 0.5353376710792013,
      "grad_norm": 0.8326764702796936,
      "learning_rate": 0.0004716792597092353,
      "loss": 0.1065,
      "step": 2386
    },
    {
      "epoch": 0.5353376710792013,
      "gripper_loss": 0.51171875,
      "loss": 0.0712890625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.11572265625,
      "step": 2386
    },
    {
      "epoch": 0.5355620372447835,
      "grad_norm": 0.6990309357643127,
      "learning_rate": 0.0004716512557170972,
      "loss": 0.1438,
      "step": 2387
    },
    {
      "epoch": 0.5355620372447835,
      "gripper_loss": 0.8046875,
      "loss": 0.494140625,
      "pos_loss": 0.443359375,
      "rot_loss": 0.78515625,
      "step": 2387
    },
    {
      "epoch": 0.5357864034103658,
      "grad_norm": 1.6350845098495483,
      "learning_rate": 0.0004716232387185635,
      "loss": 0.5164,
      "step": 2388
    },
    {
      "epoch": 0.5357864034103658,
      "gripper_loss": 0.91796875,
      "loss": 0.109375,
      "pos_loss": 0.478515625,
      "rot_loss": 0.1845703125,
      "step": 2388
    },
    {
      "epoch": 0.536010769575948,
      "grad_norm": 0.8248558640480042,
      "learning_rate": 0.0004715952087152783,
      "loss": 0.1135,
      "step": 2389
    },
    {
      "epoch": 0.536010769575948,
      "gripper_loss": 0.035400390625,
      "loss": 0.08447265625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.1533203125,
      "step": 2389
    },
    {
      "epoch": 0.5362351357415301,
      "grad_norm": 0.8406186699867249,
      "learning_rate": 0.00047156716570888617,
      "loss": 0.1378,
      "step": 2390
    },
    {
      "epoch": 0.5362351357415301,
      "gripper_loss": 2.71875,
      "loss": 0.265625,
      "pos_loss": 0.439453125,
      "rot_loss": 1.359375,
      "step": 2390
    },
    {
      "epoch": 0.5364595019071124,
      "grad_norm": 0.7843331098556519,
      "learning_rate": 0.0004715391097010329,
      "loss": 0.1094,
      "step": 2391
    },
    {
      "epoch": 0.5364595019071124,
      "gripper_loss": 0.2138671875,
      "loss": 0.07470703125,
      "pos_loss": 0.263671875,
      "rot_loss": 0.294921875,
      "step": 2391
    },
    {
      "epoch": 0.5366838680726946,
      "grad_norm": 0.7659991383552551,
      "learning_rate": 0.0004715110406933648,
      "loss": 0.1283,
      "step": 2392
    },
    {
      "epoch": 0.5366838680726946,
      "gripper_loss": 0.0869140625,
      "loss": 0.267578125,
      "pos_loss": 2.0,
      "rot_loss": 0.6171875,
      "step": 2392
    },
    {
      "epoch": 0.5369082342382768,
      "grad_norm": 0.8442850112915039,
      "learning_rate": 0.0004714829586875288,
      "loss": 0.1527,
      "step": 2393
    },
    {
      "epoch": 0.5369082342382768,
      "gripper_loss": 0.10595703125,
      "loss": 0.12353515625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.375,
      "step": 2393
    },
    {
      "epoch": 0.5371326004038591,
      "grad_norm": 0.6695341467857361,
      "learning_rate": 0.00047145486368517275,
      "loss": 0.1247,
      "step": 2394
    },
    {
      "epoch": 0.5371326004038591,
      "gripper_loss": 0.205078125,
      "loss": 0.06689453125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.1015625,
      "step": 2394
    },
    {
      "epoch": 0.5373569665694413,
      "grad_norm": 0.6329374313354492,
      "learning_rate": 0.0004714267556879454,
      "loss": 0.1107,
      "step": 2395
    },
    {
      "epoch": 0.5373569665694413,
      "gripper_loss": 0.1787109375,
      "loss": 0.11376953125,
      "pos_loss": 0.609375,
      "rot_loss": 0.36328125,
      "step": 2395
    },
    {
      "epoch": 0.5375813327350235,
      "grad_norm": 1.14249587059021,
      "learning_rate": 0.000471398634697496,
      "loss": 0.2214,
      "step": 2396
    },
    {
      "epoch": 0.5375813327350235,
      "gripper_loss": 0.29296875,
      "loss": 0.0546875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.060791015625,
      "step": 2396
    },
    {
      "epoch": 0.5378056989006058,
      "grad_norm": 0.6149137020111084,
      "learning_rate": 0.00047137050071547465,
      "loss": 0.137,
      "step": 2397
    },
    {
      "epoch": 0.5378056989006058,
      "gripper_loss": 0.76171875,
      "loss": 0.09033203125,
      "pos_loss": 0.31640625,
      "rot_loss": 0.2265625,
      "step": 2397
    },
    {
      "epoch": 0.538030065066188,
      "grad_norm": 0.6302201747894287,
      "learning_rate": 0.0004713423537435323,
      "loss": 0.1155,
      "step": 2398
    },
    {
      "epoch": 0.538030065066188,
      "gripper_loss": 0.80859375,
      "loss": 0.091796875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.197265625,
      "step": 2398
    },
    {
      "epoch": 0.5382544312317703,
      "grad_norm": 0.7824680209159851,
      "learning_rate": 0.00047131419378332063,
      "loss": 0.1506,
      "step": 2399
    },
    {
      "epoch": 0.5382544312317703,
      "gripper_loss": 0.1376953125,
      "loss": 0.26953125,
      "pos_loss": 2.484375,
      "rot_loss": 0.1455078125,
      "step": 2399
    },
    {
      "epoch": 0.5384787973973525,
      "grad_norm": 0.696898341178894,
      "learning_rate": 0.0004712860208364921,
      "loss": 0.1736,
      "step": 2400
    },
    {
      "epoch": 0.5384787973973525,
      "gripper_loss": 0.76171875,
      "loss": 0.058837890625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.1533203125,
      "step": 2400
    },
    {
      "epoch": 0.5387031635629347,
      "grad_norm": 0.58707594871521,
      "learning_rate": 0.0004712578349046996,
      "loss": 0.1253,
      "step": 2401
    },
    {
      "epoch": 0.5387031635629347,
      "gripper_loss": 0.12890625,
      "loss": 0.064453125,
      "pos_loss": 0.283203125,
      "rot_loss": 0.19140625,
      "step": 2401
    },
    {
      "epoch": 0.538927529728517,
      "grad_norm": 0.6742161512374878,
      "learning_rate": 0.00047122963598959745,
      "loss": 0.1072,
      "step": 2402
    },
    {
      "epoch": 0.538927529728517,
      "gripper_loss": 0.04736328125,
      "loss": 0.24609375,
      "pos_loss": 1.3203125,
      "rot_loss": 0.8125,
      "step": 2402
    },
    {
      "epoch": 0.5391518958940992,
      "grad_norm": 1.1413774490356445,
      "learning_rate": 0.00047120142409284014,
      "loss": 0.1953,
      "step": 2403
    },
    {
      "epoch": 0.5391518958940992,
      "gripper_loss": 0.228515625,
      "loss": 0.201171875,
      "pos_loss": 1.3046875,
      "rot_loss": 0.609375,
      "step": 2403
    },
    {
      "epoch": 0.5393762620596814,
      "grad_norm": 0.9386269450187683,
      "learning_rate": 0.0004711731992160831,
      "loss": 0.1541,
      "step": 2404
    },
    {
      "epoch": 0.5393762620596814,
      "gripper_loss": 0.515625,
      "loss": 0.19140625,
      "pos_loss": 1.6953125,
      "rot_loss": 0.0732421875,
      "step": 2404
    },
    {
      "epoch": 0.5396006282252637,
      "grad_norm": 0.9342483878135681,
      "learning_rate": 0.00047114496136098263,
      "loss": 0.1465,
      "step": 2405
    },
    {
      "epoch": 0.5396006282252637,
      "gripper_loss": 0.1689453125,
      "loss": 0.09716796875,
      "pos_loss": 0.51171875,
      "rot_loss": 0.279296875,
      "step": 2405
    },
    {
      "epoch": 0.5398249943908459,
      "grad_norm": 0.9820119142532349,
      "learning_rate": 0.0004711167105291957,
      "loss": 0.1266,
      "step": 2406
    },
    {
      "epoch": 0.5398249943908459,
      "gripper_loss": 0.59375,
      "loss": 0.0625,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.1279296875,
      "step": 2406
    },
    {
      "epoch": 0.540049360556428,
      "grad_norm": 1.0384031534194946,
      "learning_rate": 0.00047108844672238005,
      "loss": 0.1745,
      "step": 2407
    },
    {
      "epoch": 0.540049360556428,
      "gripper_loss": 0.66796875,
      "loss": 0.263671875,
      "pos_loss": 0.486328125,
      "rot_loss": 0.953125,
      "step": 2407
    },
    {
      "epoch": 0.5402737267220104,
      "grad_norm": 1.3126684427261353,
      "learning_rate": 0.00047106016994219425,
      "loss": 0.1987,
      "step": 2408
    },
    {
      "epoch": 0.5402737267220104,
      "gripper_loss": 0.1943359375,
      "loss": 0.1201171875,
      "pos_loss": 0.609375,
      "rot_loss": 0.443359375,
      "step": 2408
    },
    {
      "epoch": 0.5404980928875925,
      "grad_norm": 0.8788025379180908,
      "learning_rate": 0.0004710318801902974,
      "loss": 0.1573,
      "step": 2409
    },
    {
      "epoch": 0.5404980928875925,
      "gripper_loss": 0.490234375,
      "loss": 0.1494140625,
      "pos_loss": 0.6875,
      "rot_loss": 0.4296875,
      "step": 2409
    },
    {
      "epoch": 0.5407224590531747,
      "grad_norm": 1.0170321464538574,
      "learning_rate": 0.0004710035774683498,
      "loss": 0.1238,
      "step": 2410
    },
    {
      "epoch": 0.5407224590531747,
      "gripper_loss": 0.97265625,
      "loss": 0.142578125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.244140625,
      "step": 2410
    },
    {
      "epoch": 0.540946825218757,
      "grad_norm": 1.1125118732452393,
      "learning_rate": 0.00047097526177801197,
      "loss": 0.1294,
      "step": 2411
    },
    {
      "epoch": 0.540946825218757,
      "gripper_loss": 0.1962890625,
      "loss": 0.1279296875,
      "pos_loss": 0.8984375,
      "rot_loss": 0.14453125,
      "step": 2411
    },
    {
      "epoch": 0.5411711913843392,
      "grad_norm": 0.9005833268165588,
      "learning_rate": 0.0004709469331209456,
      "loss": 0.168,
      "step": 2412
    },
    {
      "epoch": 0.5411711913843392,
      "gripper_loss": 0.0888671875,
      "loss": 0.2490234375,
      "pos_loss": 2.0625,
      "rot_loss": 0.365234375,
      "step": 2412
    },
    {
      "epoch": 0.5413955575499215,
      "grad_norm": 0.8228960037231445,
      "learning_rate": 0.00047091859149881295,
      "loss": 0.1594,
      "step": 2413
    },
    {
      "epoch": 0.5413955575499215,
      "gripper_loss": 0.0849609375,
      "loss": 0.2373046875,
      "pos_loss": 1.015625,
      "rot_loss": 1.265625,
      "step": 2413
    },
    {
      "epoch": 0.5416199237155037,
      "grad_norm": 0.8958960771560669,
      "learning_rate": 0.00047089023691327715,
      "loss": 0.1279,
      "step": 2414
    },
    {
      "epoch": 0.5416199237155037,
      "gripper_loss": 0.24609375,
      "loss": 0.0830078125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.283203125,
      "step": 2414
    },
    {
      "epoch": 0.5418442898810859,
      "grad_norm": 0.7701166272163391,
      "learning_rate": 0.000470861869366002,
      "loss": 0.1226,
      "step": 2415
    },
    {
      "epoch": 0.5418442898810859,
      "gripper_loss": 0.77734375,
      "loss": 0.06494140625,
      "pos_loss": 0.2734375,
      "rot_loss": 0.05029296875,
      "step": 2415
    },
    {
      "epoch": 0.5420686560466682,
      "grad_norm": 0.7044817209243774,
      "learning_rate": 0.00047083348885865206,
      "loss": 0.0978,
      "step": 2416
    },
    {
      "epoch": 0.5420686560466682,
      "gripper_loss": 0.06494140625,
      "loss": 0.06201171875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.11474609375,
      "step": 2416
    },
    {
      "epoch": 0.5422930222122504,
      "grad_norm": 0.6572594046592712,
      "learning_rate": 0.0004708050953928927,
      "loss": 0.0868,
      "step": 2417
    },
    {
      "epoch": 0.5422930222122504,
      "gripper_loss": 0.050537109375,
      "loss": 0.0703125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.1650390625,
      "step": 2417
    },
    {
      "epoch": 0.5425173883778326,
      "grad_norm": 0.589448094367981,
      "learning_rate": 0.0004707766889703902,
      "loss": 0.0934,
      "step": 2418
    },
    {
      "epoch": 0.5425173883778326,
      "gripper_loss": 0.890625,
      "loss": 0.083984375,
      "pos_loss": 0.341796875,
      "rot_loss": 0.1259765625,
      "step": 2418
    },
    {
      "epoch": 0.5427417545434149,
      "grad_norm": 0.6587250828742981,
      "learning_rate": 0.0004707482695928112,
      "loss": 0.108,
      "step": 2419
    },
    {
      "epoch": 0.5427417545434149,
      "gripper_loss": 0.3671875,
      "loss": 0.181640625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.87109375,
      "step": 2419
    },
    {
      "epoch": 0.5429661207089971,
      "grad_norm": 1.1235204935073853,
      "learning_rate": 0.00047071983726182343,
      "loss": 0.1656,
      "step": 2420
    },
    {
      "epoch": 0.5429661207089971,
      "gripper_loss": 0.11669921875,
      "loss": 0.08544921875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.12451171875,
      "step": 2420
    },
    {
      "epoch": 0.5431904868745793,
      "grad_norm": 0.7737292647361755,
      "learning_rate": 0.0004706913919790953,
      "loss": 0.1429,
      "step": 2421
    },
    {
      "epoch": 0.5431904868745793,
      "gripper_loss": 1.3125,
      "loss": 0.11328125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.130859375,
      "step": 2421
    },
    {
      "epoch": 0.5434148530401616,
      "grad_norm": 0.76036536693573,
      "learning_rate": 0.000470662933746296,
      "loss": 0.1063,
      "step": 2422
    },
    {
      "epoch": 0.5434148530401616,
      "gripper_loss": 1.3828125,
      "loss": 0.1318359375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.48046875,
      "step": 2422
    },
    {
      "epoch": 0.5436392192057438,
      "grad_norm": 0.7470366954803467,
      "learning_rate": 0.0004706344625650953,
      "loss": 0.1101,
      "step": 2423
    },
    {
      "epoch": 0.5436392192057438,
      "gripper_loss": 1.5234375,
      "loss": 0.08447265625,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.07763671875,
      "step": 2423
    },
    {
      "epoch": 0.543863585371326,
      "grad_norm": 0.835793673992157,
      "learning_rate": 0.0004706059784371641,
      "loss": 0.1388,
      "step": 2424
    },
    {
      "epoch": 0.543863585371326,
      "gripper_loss": 0.0771484375,
      "loss": 0.08203125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.203125,
      "step": 2424
    },
    {
      "epoch": 0.5440879515369083,
      "grad_norm": 0.7624407410621643,
      "learning_rate": 0.0004705774813641737,
      "loss": 0.1067,
      "step": 2425
    },
    {
      "epoch": 0.5440879515369083,
      "gripper_loss": 0.482421875,
      "loss": 0.1259765625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.3203125,
      "step": 2425
    },
    {
      "epoch": 0.5443123177024904,
      "grad_norm": 0.8034386038780212,
      "learning_rate": 0.0004705489713477962,
      "loss": 0.128,
      "step": 2426
    },
    {
      "epoch": 0.5443123177024904,
      "gripper_loss": 0.09521484375,
      "loss": 0.134765625,
      "pos_loss": 0.4375,
      "rot_loss": 0.484375,
      "step": 2426
    },
    {
      "epoch": 0.5445366838680727,
      "grad_norm": 1.2211565971374512,
      "learning_rate": 0.00047052044838970475,
      "loss": 0.1351,
      "step": 2427
    },
    {
      "epoch": 0.5445366838680727,
      "gripper_loss": 0.11865234375,
      "loss": 0.1328125,
      "pos_loss": 0.875,
      "rot_loss": 0.388671875,
      "step": 2427
    },
    {
      "epoch": 0.5447610500336549,
      "grad_norm": 0.6298538446426392,
      "learning_rate": 0.000470491912491573,
      "loss": 0.1467,
      "step": 2428
    },
    {
      "epoch": 0.5447610500336549,
      "gripper_loss": 0.435546875,
      "loss": 0.04736328125,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.203125,
      "step": 2428
    },
    {
      "epoch": 0.5449854161992371,
      "grad_norm": 0.6065149903297424,
      "learning_rate": 0.0004704633636550753,
      "loss": 0.135,
      "step": 2429
    },
    {
      "epoch": 0.5449854161992371,
      "gripper_loss": 0.70703125,
      "loss": 0.078125,
      "pos_loss": 0.38671875,
      "rot_loss": 0.0791015625,
      "step": 2429
    },
    {
      "epoch": 0.5452097823648194,
      "grad_norm": 0.6772764325141907,
      "learning_rate": 0.00047043480188188705,
      "loss": 0.1562,
      "step": 2430
    },
    {
      "epoch": 0.5452097823648194,
      "gripper_loss": 0.54296875,
      "loss": 0.046630859375,
      "pos_loss": 0.07275390625,
      "rot_loss": 0.140625,
      "step": 2430
    },
    {
      "epoch": 0.5454341485304016,
      "grad_norm": 0.7476697564125061,
      "learning_rate": 0.0004704062271736842,
      "loss": 0.0885,
      "step": 2431
    },
    {
      "epoch": 0.5454341485304016,
      "gripper_loss": 0.3125,
      "loss": 0.1640625,
      "pos_loss": 0.65625,
      "rot_loss": 0.322265625,
      "step": 2431
    },
    {
      "epoch": 0.5456585146959838,
      "grad_norm": 1.397687315940857,
      "learning_rate": 0.0004703776395321434,
      "loss": 0.1935,
      "step": 2432
    },
    {
      "epoch": 0.5456585146959838,
      "gripper_loss": 0.04931640625,
      "loss": 0.1728515625,
      "pos_loss": 1.625,
      "rot_loss": 0.08837890625,
      "step": 2432
    },
    {
      "epoch": 0.5458828808615661,
      "grad_norm": 0.5383538007736206,
      "learning_rate": 0.0004703490389589423,
      "loss": 0.1265,
      "step": 2433
    },
    {
      "epoch": 0.5458828808615661,
      "gripper_loss": 0.75,
      "loss": 0.1494140625,
      "pos_loss": 0.78125,
      "rot_loss": 0.37109375,
      "step": 2433
    },
    {
      "epoch": 0.5461072470271483,
      "grad_norm": 0.9912993907928467,
      "learning_rate": 0.0004703204254557591,
      "loss": 0.1517,
      "step": 2434
    },
    {
      "epoch": 0.5461072470271483,
      "gripper_loss": 4.0625,
      "loss": 0.1796875,
      "pos_loss": 0.373046875,
      "rot_loss": 0.03173828125,
      "step": 2434
    },
    {
      "epoch": 0.5463316131927305,
      "grad_norm": 0.9432046413421631,
      "learning_rate": 0.00047029179902427276,
      "loss": 0.1566,
      "step": 2435
    },
    {
      "epoch": 0.5463316131927305,
      "gripper_loss": 0.3203125,
      "loss": 0.0712890625,
      "pos_loss": 0.30859375,
      "rot_loss": 0.2041015625,
      "step": 2435
    },
    {
      "epoch": 0.5465559793583128,
      "grad_norm": 0.9031484127044678,
      "learning_rate": 0.0004702631596661632,
      "loss": 0.1246,
      "step": 2436
    },
    {
      "epoch": 0.5465559793583128,
      "gripper_loss": 0.458984375,
      "loss": 0.263671875,
      "pos_loss": 0.96875,
      "rot_loss": 1.1953125,
      "step": 2436
    },
    {
      "epoch": 0.546780345523895,
      "grad_norm": 0.8916297554969788,
      "learning_rate": 0.00047023450738311093,
      "loss": 0.1294,
      "step": 2437
    },
    {
      "epoch": 0.546780345523895,
      "gripper_loss": 0.33203125,
      "loss": 0.302734375,
      "pos_loss": 2.25,
      "rot_loss": 0.72265625,
      "step": 2437
    },
    {
      "epoch": 0.5470047116894772,
      "grad_norm": 0.8547972440719604,
      "learning_rate": 0.0004702058421767972,
      "loss": 0.1403,
      "step": 2438
    },
    {
      "epoch": 0.5470047116894772,
      "gripper_loss": 0.0693359375,
      "loss": 0.1240234375,
      "pos_loss": 0.9296875,
      "rot_loss": 0.2470703125,
      "step": 2438
    },
    {
      "epoch": 0.5472290778550595,
      "grad_norm": 0.7144433259963989,
      "learning_rate": 0.0004701771640489041,
      "loss": 0.1103,
      "step": 2439
    },
    {
      "epoch": 0.5472290778550595,
      "gripper_loss": 0.205078125,
      "loss": 0.1728515625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.341796875,
      "step": 2439
    },
    {
      "epoch": 0.5474534440206417,
      "grad_norm": 1.0918570756912231,
      "learning_rate": 0.00047014847300111444,
      "loss": 0.1681,
      "step": 2440
    },
    {
      "epoch": 0.5474534440206417,
      "gripper_loss": 0.208984375,
      "loss": 0.2314453125,
      "pos_loss": 0.953125,
      "rot_loss": 0.85546875,
      "step": 2440
    },
    {
      "epoch": 0.547677810186224,
      "grad_norm": 1.169070839881897,
      "learning_rate": 0.0004701197690351118,
      "loss": 0.1909,
      "step": 2441
    },
    {
      "epoch": 0.547677810186224,
      "gripper_loss": 0.97265625,
      "loss": 0.0830078125,
      "pos_loss": 0.263671875,
      "rot_loss": 0.1455078125,
      "step": 2441
    },
    {
      "epoch": 0.5479021763518062,
      "grad_norm": 0.9024785757064819,
      "learning_rate": 0.00047009105215258055,
      "loss": 0.1546,
      "step": 2442
    },
    {
      "epoch": 0.5479021763518062,
      "gripper_loss": 0.1884765625,
      "loss": 0.0625,
      "pos_loss": 0.1640625,
      "rot_loss": 0.1103515625,
      "step": 2442
    },
    {
      "epoch": 0.5481265425173883,
      "grad_norm": 1.0496172904968262,
      "learning_rate": 0.0004700623223552057,
      "loss": 0.1282,
      "step": 2443
    },
    {
      "epoch": 0.5481265425173883,
      "gripper_loss": 0.796875,
      "loss": 0.07080078125,
      "pos_loss": 0.13671875,
      "rot_loss": 0.0859375,
      "step": 2443
    },
    {
      "epoch": 0.5483509086829707,
      "grad_norm": 0.9185296297073364,
      "learning_rate": 0.00047003357964467326,
      "loss": 0.1501,
      "step": 2444
    },
    {
      "epoch": 0.5483509086829707,
      "gripper_loss": 0.1767578125,
      "loss": 0.30859375,
      "pos_loss": 1.625,
      "rot_loss": 1.203125,
      "step": 2444
    },
    {
      "epoch": 0.5485752748485528,
      "grad_norm": 1.1132067441940308,
      "learning_rate": 0.00047000482402266965,
      "loss": 0.1715,
      "step": 2445
    },
    {
      "epoch": 0.5485752748485528,
      "gripper_loss": 0.267578125,
      "loss": 0.080078125,
      "pos_loss": 0.283203125,
      "rot_loss": 0.314453125,
      "step": 2445
    },
    {
      "epoch": 0.548799641014135,
      "grad_norm": 0.9509406685829163,
      "learning_rate": 0.00046997605549088233,
      "loss": 0.1315,
      "step": 2446
    },
    {
      "epoch": 0.548799641014135,
      "gripper_loss": 0.048095703125,
      "loss": 0.08837890625,
      "pos_loss": 0.474609375,
      "rot_loss": 0.26953125,
      "step": 2446
    },
    {
      "epoch": 0.5490240071797173,
      "grad_norm": 0.7502841949462891,
      "learning_rate": 0.00046994727405099947,
      "loss": 0.0869,
      "step": 2447
    },
    {
      "epoch": 0.5490240071797173,
      "gripper_loss": 0.58984375,
      "loss": 0.052001953125,
      "pos_loss": 0.0703125,
      "rot_loss": 0.1162109375,
      "step": 2447
    },
    {
      "epoch": 0.5492483733452995,
      "grad_norm": 0.8195978403091431,
      "learning_rate": 0.00046991847970470987,
      "loss": 0.1145,
      "step": 2448
    },
    {
      "epoch": 0.5492483733452995,
      "gripper_loss": 0.859375,
      "loss": 0.1240234375,
      "pos_loss": 0.609375,
      "rot_loss": 0.1318359375,
      "step": 2448
    },
    {
      "epoch": 0.5494727395108817,
      "grad_norm": 0.8294421434402466,
      "learning_rate": 0.00046988967245370315,
      "loss": 0.1113,
      "step": 2449
    },
    {
      "epoch": 0.5494727395108817,
      "gripper_loss": 0.05908203125,
      "loss": 0.16796875,
      "pos_loss": 1.234375,
      "rot_loss": 0.291015625,
      "step": 2449
    },
    {
      "epoch": 0.549697105676464,
      "grad_norm": 0.7658631205558777,
      "learning_rate": 0.0004698608522996698,
      "loss": 0.1229,
      "step": 2450
    },
    {
      "epoch": 0.549697105676464,
      "gripper_loss": 1.09375,
      "loss": 0.0712890625,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.07958984375,
      "step": 2450
    },
    {
      "epoch": 0.5499214718420462,
      "grad_norm": 0.7456849813461304,
      "learning_rate": 0.000469832019244301,
      "loss": 0.1079,
      "step": 2451
    },
    {
      "epoch": 0.5499214718420462,
      "gripper_loss": 0.3515625,
      "loss": 0.12158203125,
      "pos_loss": 0.89453125,
      "rot_loss": 0.150390625,
      "step": 2451
    },
    {
      "epoch": 0.5501458380076284,
      "grad_norm": 0.8618457317352295,
      "learning_rate": 0.00046980317328928844,
      "loss": 0.0975,
      "step": 2452
    },
    {
      "epoch": 0.5501458380076284,
      "gripper_loss": 0.275390625,
      "loss": 0.1083984375,
      "pos_loss": 0.8828125,
      "rot_loss": 0.048095703125,
      "step": 2452
    },
    {
      "epoch": 0.5503702041732107,
      "grad_norm": 0.8049413561820984,
      "learning_rate": 0.000469774314436325,
      "loss": 0.1461,
      "step": 2453
    },
    {
      "epoch": 0.5503702041732107,
      "gripper_loss": 0.051513671875,
      "loss": 0.0888671875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.19921875,
      "step": 2453
    },
    {
      "epoch": 0.5505945703387929,
      "grad_norm": 0.9716246724128723,
      "learning_rate": 0.0004697454426871041,
      "loss": 0.1291,
      "step": 2454
    },
    {
      "epoch": 0.5505945703387929,
      "gripper_loss": 0.087890625,
      "loss": 0.09619140625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.380859375,
      "step": 2454
    },
    {
      "epoch": 0.5508189365043752,
      "grad_norm": 0.8657270073890686,
      "learning_rate": 0.0004697165580433198,
      "loss": 0.1256,
      "step": 2455
    },
    {
      "epoch": 0.5508189365043752,
      "gripper_loss": 0.4921875,
      "loss": 0.1826171875,
      "pos_loss": 0.333984375,
      "rot_loss": 0.384765625,
      "step": 2455
    },
    {
      "epoch": 0.5510433026699574,
      "grad_norm": 1.6972216367721558,
      "learning_rate": 0.0004696876605066671,
      "loss": 0.254,
      "step": 2456
    },
    {
      "epoch": 0.5510433026699574,
      "gripper_loss": 0.70703125,
      "loss": 0.10302734375,
      "pos_loss": 0.359375,
      "rot_loss": 0.34765625,
      "step": 2456
    },
    {
      "epoch": 0.5512676688355396,
      "grad_norm": 0.9527100920677185,
      "learning_rate": 0.0004696587500788417,
      "loss": 0.1183,
      "step": 2457
    },
    {
      "epoch": 0.5512676688355396,
      "gripper_loss": 0.08447265625,
      "loss": 0.06201171875,
      "pos_loss": 0.111328125,
      "rot_loss": 0.36328125,
      "step": 2457
    },
    {
      "epoch": 0.5514920350011219,
      "grad_norm": 0.9282580614089966,
      "learning_rate": 0.0004696298267615401,
      "loss": 0.1212,
      "step": 2458
    },
    {
      "epoch": 0.5514920350011219,
      "gripper_loss": 0.23828125,
      "loss": 0.177734375,
      "pos_loss": 1.4140625,
      "rot_loss": 0.193359375,
      "step": 2458
    },
    {
      "epoch": 0.5517164011667041,
      "grad_norm": 1.207335352897644,
      "learning_rate": 0.0004696008905564594,
      "loss": 0.1243,
      "step": 2459
    },
    {
      "epoch": 0.5517164011667041,
      "gripper_loss": 0.56640625,
      "loss": 0.2177734375,
      "pos_loss": 1.71875,
      "rot_loss": 0.2734375,
      "step": 2459
    },
    {
      "epoch": 0.5519407673322863,
      "grad_norm": 0.6614978909492493,
      "learning_rate": 0.0004695719414652976,
      "loss": 0.1147,
      "step": 2460
    },
    {
      "epoch": 0.5519407673322863,
      "gripper_loss": 0.83203125,
      "loss": 0.19921875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.32421875,
      "step": 2460
    },
    {
      "epoch": 0.5521651334978686,
      "grad_norm": 1.8017067909240723,
      "learning_rate": 0.00046954297948975345,
      "loss": 0.2537,
      "step": 2461
    },
    {
      "epoch": 0.5521651334978686,
      "gripper_loss": 0.134765625,
      "loss": 0.146484375,
      "pos_loss": 0.875,
      "rot_loss": 0.37890625,
      "step": 2461
    },
    {
      "epoch": 0.5523894996634507,
      "grad_norm": 0.9235022664070129,
      "learning_rate": 0.0004695140046315264,
      "loss": 0.1398,
      "step": 2462
    },
    {
      "epoch": 0.5523894996634507,
      "gripper_loss": 0.34765625,
      "loss": 0.232421875,
      "pos_loss": 1.6484375,
      "rot_loss": 0.486328125,
      "step": 2462
    },
    {
      "epoch": 0.5526138658290329,
      "grad_norm": 0.8755283355712891,
      "learning_rate": 0.0004694850168923167,
      "loss": 0.18,
      "step": 2463
    },
    {
      "epoch": 0.5526138658290329,
      "gripper_loss": 0.1142578125,
      "loss": 0.06494140625,
      "pos_loss": 0.3984375,
      "rot_loss": 0.10302734375,
      "step": 2463
    },
    {
      "epoch": 0.5528382319946152,
      "grad_norm": 0.9281893968582153,
      "learning_rate": 0.00046945601627382537,
      "loss": 0.0834,
      "step": 2464
    },
    {
      "epoch": 0.5528382319946152,
      "gripper_loss": 0.97265625,
      "loss": 0.1279296875,
      "pos_loss": 0.6953125,
      "rot_loss": 0.1767578125,
      "step": 2464
    },
    {
      "epoch": 0.5530625981601974,
      "grad_norm": 1.0607563257217407,
      "learning_rate": 0.00046942700277775406,
      "loss": 0.1245,
      "step": 2465
    },
    {
      "epoch": 0.5530625981601974,
      "gripper_loss": 0.98046875,
      "loss": 0.06298828125,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.0247802734375,
      "step": 2465
    },
    {
      "epoch": 0.5532869643257796,
      "grad_norm": 0.9867467880249023,
      "learning_rate": 0.0004693979764058054,
      "loss": 0.1351,
      "step": 2466
    },
    {
      "epoch": 0.5532869643257796,
      "gripper_loss": 0.11376953125,
      "loss": 0.18359375,
      "pos_loss": 1.2109375,
      "rot_loss": 0.34765625,
      "step": 2466
    },
    {
      "epoch": 0.5535113304913619,
      "grad_norm": 0.9133291244506836,
      "learning_rate": 0.00046936893715968255,
      "loss": 0.1441,
      "step": 2467
    },
    {
      "epoch": 0.5535113304913619,
      "gripper_loss": 0.97265625,
      "loss": 0.08984375,
      "pos_loss": 0.4609375,
      "rot_loss": 0.04443359375,
      "step": 2467
    },
    {
      "epoch": 0.5537356966569441,
      "grad_norm": 0.7477967739105225,
      "learning_rate": 0.0004693398850410895,
      "loss": 0.1133,
      "step": 2468
    },
    {
      "epoch": 0.5537356966569441,
      "gripper_loss": 0.07958984375,
      "loss": 0.11962890625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.2041015625,
      "step": 2468
    },
    {
      "epoch": 0.5539600628225264,
      "grad_norm": 0.8877095580101013,
      "learning_rate": 0.000469310820051731,
      "loss": 0.1381,
      "step": 2469
    },
    {
      "epoch": 0.5539600628225264,
      "gripper_loss": 0.080078125,
      "loss": 0.24609375,
      "pos_loss": 1.3203125,
      "rot_loss": 1.1171875,
      "step": 2469
    },
    {
      "epoch": 0.5541844289881086,
      "grad_norm": 0.9852508902549744,
      "learning_rate": 0.0004692817421933127,
      "loss": 0.1459,
      "step": 2470
    },
    {
      "epoch": 0.5541844289881086,
      "gripper_loss": 1.296875,
      "loss": 0.09130859375,
      "pos_loss": 0.24609375,
      "rot_loss": 0.1689453125,
      "step": 2470
    },
    {
      "epoch": 0.5544087951536908,
      "grad_norm": 0.5506851673126221,
      "learning_rate": 0.0004692526514675408,
      "loss": 0.0921,
      "step": 2471
    },
    {
      "epoch": 0.5544087951536908,
      "gripper_loss": 0.072265625,
      "loss": 0.1953125,
      "pos_loss": 0.80859375,
      "rot_loss": 1.140625,
      "step": 2471
    },
    {
      "epoch": 0.5546331613192731,
      "grad_norm": 0.5179605484008789,
      "learning_rate": 0.0004692235478761223,
      "loss": 0.1191,
      "step": 2472
    },
    {
      "epoch": 0.5546331613192731,
      "gripper_loss": 1.1796875,
      "loss": 0.053955078125,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.019287109375,
      "step": 2472
    },
    {
      "epoch": 0.5548575274848553,
      "grad_norm": 0.5540555119514465,
      "learning_rate": 0.00046919443142076503,
      "loss": 0.0595,
      "step": 2473
    },
    {
      "epoch": 0.5548575274848553,
      "gripper_loss": 0.1923828125,
      "loss": 0.158203125,
      "pos_loss": 0.95703125,
      "rot_loss": 0.421875,
      "step": 2473
    },
    {
      "epoch": 0.5550818936504375,
      "grad_norm": 0.9839687943458557,
      "learning_rate": 0.0004691653021031775,
      "loss": 0.1435,
      "step": 2474
    },
    {
      "epoch": 0.5550818936504375,
      "gripper_loss": 0.89453125,
      "loss": 0.04638671875,
      "pos_loss": 0.058837890625,
      "rot_loss": 0.06103515625,
      "step": 2474
    },
    {
      "epoch": 0.5553062598160198,
      "grad_norm": 0.5392513275146484,
      "learning_rate": 0.000469136159925069,
      "loss": 0.1108,
      "step": 2475
    },
    {
      "epoch": 0.5553062598160198,
      "gripper_loss": 0.12060546875,
      "loss": 0.09814453125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.1279296875,
      "step": 2475
    },
    {
      "epoch": 0.555530625981602,
      "grad_norm": 0.5224985480308533,
      "learning_rate": 0.00046910700488814964,
      "loss": 0.0925,
      "step": 2476
    },
    {
      "epoch": 0.555530625981602,
      "gripper_loss": 0.208984375,
      "loss": 0.318359375,
      "pos_loss": 1.1171875,
      "rot_loss": 2.015625,
      "step": 2476
    },
    {
      "epoch": 0.5557549921471842,
      "grad_norm": 0.6252312660217285,
      "learning_rate": 0.0004690778369941302,
      "loss": 0.1423,
      "step": 2477
    },
    {
      "epoch": 0.5557549921471842,
      "gripper_loss": 0.56640625,
      "loss": 0.431640625,
      "pos_loss": 1.078125,
      "rot_loss": 1.109375,
      "step": 2477
    },
    {
      "epoch": 0.5559793583127665,
      "grad_norm": 1.7515959739685059,
      "learning_rate": 0.00046904865624472215,
      "loss": 0.3802,
      "step": 2478
    },
    {
      "epoch": 0.5559793583127665,
      "gripper_loss": 0.125,
      "loss": 0.12255859375,
      "pos_loss": 0.248046875,
      "rot_loss": 0.51171875,
      "step": 2478
    },
    {
      "epoch": 0.5562037244783486,
      "grad_norm": 1.2396401166915894,
      "learning_rate": 0.00046901946264163793,
      "loss": 0.1777,
      "step": 2479
    },
    {
      "epoch": 0.5562037244783486,
      "gripper_loss": 0.06591796875,
      "loss": 0.1435546875,
      "pos_loss": 0.9921875,
      "rot_loss": 0.416015625,
      "step": 2479
    },
    {
      "epoch": 0.556428090643931,
      "grad_norm": 0.9208678603172302,
      "learning_rate": 0.0004689902561865905,
      "loss": 0.1048,
      "step": 2480
    },
    {
      "epoch": 0.556428090643931,
      "gripper_loss": 0.01092529296875,
      "loss": 0.09033203125,
      "pos_loss": 0.828125,
      "rot_loss": 0.056396484375,
      "step": 2480
    },
    {
      "epoch": 0.5566524568095131,
      "grad_norm": 0.7269840240478516,
      "learning_rate": 0.0004689610368812938,
      "loss": 0.1228,
      "step": 2481
    },
    {
      "epoch": 0.5566524568095131,
      "gripper_loss": 0.2333984375,
      "loss": 0.29296875,
      "pos_loss": 0.7421875,
      "rot_loss": 0.57421875,
      "step": 2481
    },
    {
      "epoch": 0.5568768229750953,
      "grad_norm": 1.597890853881836,
      "learning_rate": 0.0004689318047274623,
      "loss": 0.2825,
      "step": 2482
    },
    {
      "epoch": 0.5568768229750953,
      "gripper_loss": 1.0625,
      "loss": 0.1337890625,
      "pos_loss": 0.83984375,
      "rot_loss": 0.08349609375,
      "step": 2482
    },
    {
      "epoch": 0.5571011891406776,
      "grad_norm": 0.9035807251930237,
      "learning_rate": 0.0004689025597268114,
      "loss": 0.1147,
      "step": 2483
    },
    {
      "epoch": 0.5571011891406776,
      "gripper_loss": 0.12451171875,
      "loss": 0.25390625,
      "pos_loss": 0.7578125,
      "rot_loss": 1.65625,
      "step": 2483
    },
    {
      "epoch": 0.5573255553062598,
      "grad_norm": 0.6043439507484436,
      "learning_rate": 0.0004688733018810571,
      "loss": 0.119,
      "step": 2484
    },
    {
      "epoch": 0.5573255553062598,
      "gripper_loss": 0.130859375,
      "loss": 0.244140625,
      "pos_loss": 0.875,
      "rot_loss": 1.2890625,
      "step": 2484
    },
    {
      "epoch": 0.557549921471842,
      "grad_norm": 0.8845052719116211,
      "learning_rate": 0.00046884403119191645,
      "loss": 0.1402,
      "step": 2485
    },
    {
      "epoch": 0.557549921471842,
      "gripper_loss": 0.10400390625,
      "loss": 0.263671875,
      "pos_loss": 0.7890625,
      "rot_loss": 0.734375,
      "step": 2485
    },
    {
      "epoch": 0.5577742876374243,
      "grad_norm": 1.7920043468475342,
      "learning_rate": 0.0004688147476611067,
      "loss": 0.256,
      "step": 2486
    },
    {
      "epoch": 0.5577742876374243,
      "gripper_loss": 1.203125,
      "loss": 0.1181640625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.283203125,
      "step": 2486
    },
    {
      "epoch": 0.5579986538030065,
      "grad_norm": 1.061020851135254,
      "learning_rate": 0.00046878545129034645,
      "loss": 0.1687,
      "step": 2487
    },
    {
      "epoch": 0.5579986538030065,
      "gripper_loss": 0.1142578125,
      "loss": 0.04296875,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.1337890625,
      "step": 2487
    },
    {
      "epoch": 0.5582230199685887,
      "grad_norm": 0.9008347392082214,
      "learning_rate": 0.00046875614208135473,
      "loss": 0.0903,
      "step": 2488
    },
    {
      "epoch": 0.5582230199685887,
      "gripper_loss": 0.1552734375,
      "loss": 0.1279296875,
      "pos_loss": 0.87890625,
      "rot_loss": 0.271484375,
      "step": 2488
    },
    {
      "epoch": 0.558447386134171,
      "grad_norm": 0.7064410448074341,
      "learning_rate": 0.0004687268200358514,
      "loss": 0.1065,
      "step": 2489
    },
    {
      "epoch": 0.558447386134171,
      "gripper_loss": 0.038330078125,
      "loss": 0.05029296875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.0556640625,
      "step": 2489
    },
    {
      "epoch": 0.5586717522997532,
      "grad_norm": 0.7298270463943481,
      "learning_rate": 0.00046869748515555697,
      "loss": 0.1531,
      "step": 2490
    },
    {
      "epoch": 0.5586717522997532,
      "gripper_loss": 1.546875,
      "loss": 0.06884765625,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.0546875,
      "step": 2490
    },
    {
      "epoch": 0.5588961184653354,
      "grad_norm": 0.7187479138374329,
      "learning_rate": 0.00046866813744219293,
      "loss": 0.0988,
      "step": 2491
    },
    {
      "epoch": 0.5588961184653354,
      "gripper_loss": 1.46875,
      "loss": 0.126953125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.427734375,
      "step": 2491
    },
    {
      "epoch": 0.5591204846309177,
      "grad_norm": 0.5712637305259705,
      "learning_rate": 0.00046863877689748136,
      "loss": 0.0787,
      "step": 2492
    },
    {
      "epoch": 0.5591204846309177,
      "gripper_loss": 0.01904296875,
      "loss": 0.263671875,
      "pos_loss": 2.03125,
      "rot_loss": 0.66015625,
      "step": 2492
    },
    {
      "epoch": 0.5593448507964999,
      "grad_norm": 0.7902889251708984,
      "learning_rate": 0.00046860940352314506,
      "loss": 0.1249,
      "step": 2493
    },
    {
      "epoch": 0.5593448507964999,
      "gripper_loss": 0.796875,
      "loss": 0.369140625,
      "pos_loss": 1.140625,
      "rot_loss": 2.4375,
      "step": 2493
    },
    {
      "epoch": 0.5595692169620822,
      "grad_norm": 0.6253635287284851,
      "learning_rate": 0.0004685800173209077,
      "loss": 0.1634,
      "step": 2494
    },
    {
      "epoch": 0.5595692169620822,
      "gripper_loss": 0.047119140625,
      "loss": 0.1796875,
      "pos_loss": 1.6875,
      "rot_loss": 0.1171875,
      "step": 2494
    },
    {
      "epoch": 0.5597935831276644,
      "grad_norm": 0.855930507183075,
      "learning_rate": 0.0004685506182924937,
      "loss": 0.1277,
      "step": 2495
    },
    {
      "epoch": 0.5597935831276644,
      "gripper_loss": 0.546875,
      "loss": 0.169921875,
      "pos_loss": 0.2734375,
      "rot_loss": 1.2734375,
      "step": 2495
    },
    {
      "epoch": 0.5600179492932466,
      "grad_norm": 0.8889491558074951,
      "learning_rate": 0.00046852120643962804,
      "loss": 0.1276,
      "step": 2496
    },
    {
      "epoch": 0.5600179492932466,
      "gripper_loss": 0.3203125,
      "loss": 0.12255859375,
      "pos_loss": 0.46875,
      "rot_loss": 0.51953125,
      "step": 2496
    },
    {
      "epoch": 0.5602423154588289,
      "grad_norm": 1.0062017440795898,
      "learning_rate": 0.00046849178176403667,
      "loss": 0.1378,
      "step": 2497
    },
    {
      "epoch": 0.5602423154588289,
      "gripper_loss": 0.40625,
      "loss": 0.1474609375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.2294921875,
      "step": 2497
    },
    {
      "epoch": 0.560466681624411,
      "grad_norm": 1.6900713443756104,
      "learning_rate": 0.00046846234426744626,
      "loss": 0.1732,
      "step": 2498
    },
    {
      "epoch": 0.560466681624411,
      "gripper_loss": 0.77734375,
      "loss": 0.0908203125,
      "pos_loss": 0.44140625,
      "rot_loss": 0.1484375,
      "step": 2498
    },
    {
      "epoch": 0.5606910477899932,
      "grad_norm": 0.8217104077339172,
      "learning_rate": 0.0004684328939515841,
      "loss": 0.0795,
      "step": 2499
    },
    {
      "epoch": 0.5606910477899932,
      "gripper_loss": 0.06005859375,
      "loss": 0.1083984375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.16796875,
      "step": 2499
    },
    {
      "epoch": 0.5609154139555755,
      "grad_norm": 0.87404465675354,
      "learning_rate": 0.0004684034308181784,
      "loss": 0.1089,
      "step": 2500
    },
    {
      "epoch": 0.5609154139555755,
      "gripper_loss": 0.28125,
      "loss": 0.169921875,
      "pos_loss": 0.703125,
      "rot_loss": 0.359375,
      "step": 2500
    },
    {
      "epoch": 0.5611397801211577,
      "grad_norm": 1.1096084117889404,
      "learning_rate": 0.00046837395486895806,
      "loss": 0.1589,
      "step": 2501
    },
    {
      "epoch": 0.5611397801211577,
      "gripper_loss": 0.06640625,
      "loss": 0.2470703125,
      "pos_loss": 2.09375,
      "rot_loss": 0.40625,
      "step": 2501
    },
    {
      "epoch": 0.5613641462867399,
      "grad_norm": 0.7741881012916565,
      "learning_rate": 0.0004683444661056526,
      "loss": 0.102,
      "step": 2502
    },
    {
      "epoch": 0.5613641462867399,
      "gripper_loss": 0.55078125,
      "loss": 0.126953125,
      "pos_loss": 0.6875,
      "rot_loss": 0.263671875,
      "step": 2502
    },
    {
      "epoch": 0.5615885124523222,
      "grad_norm": 1.0051807165145874,
      "learning_rate": 0.00046831496452999244,
      "loss": 0.0999,
      "step": 2503
    },
    {
      "epoch": 0.5615885124523222,
      "gripper_loss": 0.109375,
      "loss": 0.298828125,
      "pos_loss": 2.25,
      "rot_loss": 0.4375,
      "step": 2503
    },
    {
      "epoch": 0.5618128786179044,
      "grad_norm": 0.9973194599151611,
      "learning_rate": 0.00046828545014370885,
      "loss": 0.1511,
      "step": 2504
    },
    {
      "epoch": 0.5618128786179044,
      "gripper_loss": 0.0634765625,
      "loss": 0.06298828125,
      "pos_loss": 0.38671875,
      "rot_loss": 0.0966796875,
      "step": 2504
    },
    {
      "epoch": 0.5620372447834866,
      "grad_norm": 0.6450091004371643,
      "learning_rate": 0.00046825592294853357,
      "loss": 0.079,
      "step": 2505
    },
    {
      "epoch": 0.5620372447834866,
      "gripper_loss": 0.0732421875,
      "loss": 0.30078125,
      "pos_loss": 2.03125,
      "rot_loss": 0.9609375,
      "step": 2505
    },
    {
      "epoch": 0.5622616109490689,
      "grad_norm": 0.7637043595314026,
      "learning_rate": 0.00046822638294619935,
      "loss": 0.1415,
      "step": 2506
    },
    {
      "epoch": 0.5622616109490689,
      "gripper_loss": 1.0625,
      "loss": 0.06005859375,
      "pos_loss": 0.1220703125,
      "rot_loss": 0.05419921875,
      "step": 2506
    },
    {
      "epoch": 0.5624859771146511,
      "grad_norm": 0.8161759376525879,
      "learning_rate": 0.0004681968301384395,
      "loss": 0.0775,
      "step": 2507
    },
    {
      "epoch": 0.5624859771146511,
      "gripper_loss": 0.322265625,
      "loss": 0.1767578125,
      "pos_loss": 0.9140625,
      "rot_loss": 0.48828125,
      "step": 2507
    },
    {
      "epoch": 0.5627103432802334,
      "grad_norm": 1.0986042022705078,
      "learning_rate": 0.0004681672645269882,
      "loss": 0.1589,
      "step": 2508
    },
    {
      "epoch": 0.5627103432802334,
      "gripper_loss": 1.7421875,
      "loss": 0.1162109375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.07666015625,
      "step": 2508
    },
    {
      "epoch": 0.5629347094458156,
      "grad_norm": 0.6546443700790405,
      "learning_rate": 0.0004681376861135803,
      "loss": 0.1533,
      "step": 2509
    },
    {
      "epoch": 0.5629347094458156,
      "gripper_loss": 0.0654296875,
      "loss": 0.041259765625,
      "pos_loss": 0.15234375,
      "rot_loss": 0.1103515625,
      "step": 2509
    },
    {
      "epoch": 0.5631590756113978,
      "grad_norm": 0.7499424815177917,
      "learning_rate": 0.0004681080948999515,
      "loss": 0.0879,
      "step": 2510
    },
    {
      "epoch": 0.5631590756113978,
      "gripper_loss": 0.1181640625,
      "loss": 0.0791015625,
      "pos_loss": 0.359375,
      "rot_loss": 0.287109375,
      "step": 2510
    },
    {
      "epoch": 0.5633834417769801,
      "grad_norm": 1.0154893398284912,
      "learning_rate": 0.00046807849088783827,
      "loss": 0.112,
      "step": 2511
    },
    {
      "epoch": 0.5633834417769801,
      "gripper_loss": 1.171875,
      "loss": 0.1328125,
      "pos_loss": 0.6953125,
      "rot_loss": 0.059326171875,
      "step": 2511
    },
    {
      "epoch": 0.5636078079425623,
      "grad_norm": 0.9138430953025818,
      "learning_rate": 0.0004680488740789777,
      "loss": 0.155,
      "step": 2512
    },
    {
      "epoch": 0.5636078079425623,
      "gripper_loss": 0.421875,
      "loss": 0.0859375,
      "pos_loss": 0.40625,
      "rot_loss": 0.2236328125,
      "step": 2512
    },
    {
      "epoch": 0.5638321741081445,
      "grad_norm": 0.602341890335083,
      "learning_rate": 0.00046801924447510755,
      "loss": 0.1154,
      "step": 2513
    },
    {
      "epoch": 0.5638321741081445,
      "gripper_loss": 0.0859375,
      "loss": 0.12890625,
      "pos_loss": 0.1162109375,
      "rot_loss": 1.125,
      "step": 2513
    },
    {
      "epoch": 0.5640565402737268,
      "grad_norm": 0.845363438129425,
      "learning_rate": 0.0004679896020779667,
      "loss": 0.1179,
      "step": 2514
    },
    {
      "epoch": 0.5640565402737268,
      "gripper_loss": 1.921875,
      "loss": 0.1640625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.318359375,
      "step": 2514
    },
    {
      "epoch": 0.564280906439309,
      "grad_norm": 0.85923171043396,
      "learning_rate": 0.00046795994688929435,
      "loss": 0.1312,
      "step": 2515
    },
    {
      "epoch": 0.564280906439309,
      "gripper_loss": 0.0361328125,
      "loss": 0.12255859375,
      "pos_loss": 0.41796875,
      "rot_loss": 0.7265625,
      "step": 2515
    },
    {
      "epoch": 0.5645052726048911,
      "grad_norm": 0.7966870665550232,
      "learning_rate": 0.0004679302789108308,
      "loss": 0.1424,
      "step": 2516
    },
    {
      "epoch": 0.5645052726048911,
      "gripper_loss": 0.04296875,
      "loss": 0.06640625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.07177734375,
      "step": 2516
    },
    {
      "epoch": 0.5647296387704734,
      "grad_norm": 0.8717861771583557,
      "learning_rate": 0.0004679005981443169,
      "loss": 0.0966,
      "step": 2517
    },
    {
      "epoch": 0.5647296387704734,
      "gripper_loss": 0.51953125,
      "loss": 0.361328125,
      "pos_loss": 1.34375,
      "rot_loss": 1.796875,
      "step": 2517
    },
    {
      "epoch": 0.5649540049360556,
      "grad_norm": 0.7323278188705444,
      "learning_rate": 0.00046787090459149427,
      "loss": 0.1727,
      "step": 2518
    },
    {
      "epoch": 0.5649540049360556,
      "gripper_loss": 1.0234375,
      "loss": 0.1865234375,
      "pos_loss": 1.296875,
      "rot_loss": 0.2451171875,
      "step": 2518
    },
    {
      "epoch": 0.5651783711016378,
      "grad_norm": 0.8060544729232788,
      "learning_rate": 0.00046784119825410544,
      "loss": 0.1434,
      "step": 2519
    },
    {
      "epoch": 0.5651783711016378,
      "gripper_loss": 0.5390625,
      "loss": 0.265625,
      "pos_loss": 0.625,
      "rot_loss": 0.37109375,
      "step": 2519
    },
    {
      "epoch": 0.5654027372672201,
      "grad_norm": 1.7976382970809937,
      "learning_rate": 0.0004678114791338934,
      "loss": 0.2968,
      "step": 2520
    },
    {
      "epoch": 0.5654027372672201,
      "gripper_loss": 0.04443359375,
      "loss": 0.062255859375,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.263671875,
      "step": 2520
    },
    {
      "epoch": 0.5656271034328023,
      "grad_norm": 0.7310991287231445,
      "learning_rate": 0.0004677817472326022,
      "loss": 0.0966,
      "step": 2521
    },
    {
      "epoch": 0.5656271034328023,
      "gripper_loss": 0.1201171875,
      "loss": 0.04150390625,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.0654296875,
      "step": 2521
    },
    {
      "epoch": 0.5658514695983846,
      "grad_norm": 0.914895236492157,
      "learning_rate": 0.00046775200255197636,
      "loss": 0.1451,
      "step": 2522
    },
    {
      "epoch": 0.5658514695983846,
      "gripper_loss": 0.181640625,
      "loss": 0.109375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.47265625,
      "step": 2522
    },
    {
      "epoch": 0.5660758357639668,
      "grad_norm": 0.7377466559410095,
      "learning_rate": 0.00046772224509376137,
      "loss": 0.1217,
      "step": 2523
    },
    {
      "epoch": 0.5660758357639668,
      "gripper_loss": 0.125,
      "loss": 0.08740234375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.349609375,
      "step": 2523
    },
    {
      "epoch": 0.566300201929549,
      "grad_norm": 0.8813436031341553,
      "learning_rate": 0.00046769247485970334,
      "loss": 0.1183,
      "step": 2524
    },
    {
      "epoch": 0.566300201929549,
      "gripper_loss": 0.78515625,
      "loss": 0.04736328125,
      "pos_loss": 0.0291748046875,
      "rot_loss": 0.12158203125,
      "step": 2524
    },
    {
      "epoch": 0.5665245680951313,
      "grad_norm": 0.6245616674423218,
      "learning_rate": 0.00046766269185154923,
      "loss": 0.1317,
      "step": 2525
    },
    {
      "epoch": 0.5665245680951313,
      "gripper_loss": 0.06689453125,
      "loss": 0.08544921875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.1650390625,
      "step": 2525
    },
    {
      "epoch": 0.5667489342607135,
      "grad_norm": 0.9066680669784546,
      "learning_rate": 0.0004676328960710466,
      "loss": 0.1083,
      "step": 2526
    },
    {
      "epoch": 0.5667489342607135,
      "gripper_loss": 0.2392578125,
      "loss": 0.1552734375,
      "pos_loss": 1.3515625,
      "rot_loss": 0.078125,
      "step": 2526
    },
    {
      "epoch": 0.5669733004262957,
      "grad_norm": 0.7868918776512146,
      "learning_rate": 0.000467603087519944,
      "loss": 0.1247,
      "step": 2527
    },
    {
      "epoch": 0.5669733004262957,
      "gripper_loss": 0.2138671875,
      "loss": 0.1689453125,
      "pos_loss": 1.2734375,
      "rot_loss": 0.306640625,
      "step": 2527
    },
    {
      "epoch": 0.567197666591878,
      "grad_norm": 0.693795382976532,
      "learning_rate": 0.00046757326619999053,
      "loss": 0.1143,
      "step": 2528
    },
    {
      "epoch": 0.567197666591878,
      "gripper_loss": 0.1083984375,
      "loss": 0.02392578125,
      "pos_loss": 0.07080078125,
      "rot_loss": 0.032958984375,
      "step": 2528
    },
    {
      "epoch": 0.5674220327574602,
      "grad_norm": 0.6056401133537292,
      "learning_rate": 0.00046754343211293593,
      "loss": 0.0919,
      "step": 2529
    },
    {
      "epoch": 0.5674220327574602,
      "gripper_loss": 0.053466796875,
      "loss": 0.06298828125,
      "pos_loss": 0.3984375,
      "rot_loss": 0.06005859375,
      "step": 2529
    },
    {
      "epoch": 0.5676463989230424,
      "grad_norm": 0.7978296279907227,
      "learning_rate": 0.0004675135852605311,
      "loss": 0.1505,
      "step": 2530
    },
    {
      "epoch": 0.5676463989230424,
      "gripper_loss": 0.1494140625,
      "loss": 0.09130859375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.09814453125,
      "step": 2530
    },
    {
      "epoch": 0.5678707650886247,
      "grad_norm": 1.409187912940979,
      "learning_rate": 0.00046748372564452725,
      "loss": 0.1235,
      "step": 2531
    },
    {
      "epoch": 0.5678707650886247,
      "gripper_loss": 0.0712890625,
      "loss": 0.115234375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.4765625,
      "step": 2531
    },
    {
      "epoch": 0.5680951312542069,
      "grad_norm": 0.6670857071876526,
      "learning_rate": 0.00046745385326667655,
      "loss": 0.1237,
      "step": 2532
    },
    {
      "epoch": 0.5680951312542069,
      "gripper_loss": 1.2890625,
      "loss": 0.384765625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.6875,
      "step": 2532
    },
    {
      "epoch": 0.568319497419789,
      "grad_norm": 2.2380130290985107,
      "learning_rate": 0.000467423968128732,
      "loss": 0.4631,
      "step": 2533
    },
    {
      "epoch": 0.568319497419789,
      "gripper_loss": 0.123046875,
      "loss": 0.51171875,
      "pos_loss": 2.109375,
      "rot_loss": 3.0625,
      "step": 2533
    },
    {
      "epoch": 0.5685438635853713,
      "grad_norm": 1.1566945314407349,
      "learning_rate": 0.0004673940702324472,
      "loss": 0.1769,
      "step": 2534
    },
    {
      "epoch": 0.5685438635853713,
      "gripper_loss": 0.60546875,
      "loss": 0.072265625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.06591796875,
      "step": 2534
    },
    {
      "epoch": 0.5687682297509535,
      "grad_norm": 0.8845758438110352,
      "learning_rate": 0.00046736415957957656,
      "loss": 0.1215,
      "step": 2535
    },
    {
      "epoch": 0.5687682297509535,
      "gripper_loss": 0.1357421875,
      "loss": 0.0810546875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.04541015625,
      "step": 2535
    },
    {
      "epoch": 0.5689925959165358,
      "grad_norm": 0.8317167162895203,
      "learning_rate": 0.00046733423617187516,
      "loss": 0.1395,
      "step": 2536
    },
    {
      "epoch": 0.5689925959165358,
      "gripper_loss": 0.12890625,
      "loss": 0.259765625,
      "pos_loss": 2.234375,
      "rot_loss": 0.333984375,
      "step": 2536
    },
    {
      "epoch": 0.569216962082118,
      "grad_norm": 0.853838324546814,
      "learning_rate": 0.0004673043000110989,
      "loss": 0.1355,
      "step": 2537
    },
    {
      "epoch": 0.569216962082118,
      "gripper_loss": 0.197265625,
      "loss": 0.1318359375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.3046875,
      "step": 2537
    },
    {
      "epoch": 0.5694413282477002,
      "grad_norm": 1.01282799243927,
      "learning_rate": 0.0004672743510990045,
      "loss": 0.1017,
      "step": 2538
    },
    {
      "epoch": 0.5694413282477002,
      "gripper_loss": 0.9921875,
      "loss": 0.07177734375,
      "pos_loss": 0.212890625,
      "rot_loss": 0.140625,
      "step": 2538
    },
    {
      "epoch": 0.5696656944132825,
      "grad_norm": 0.5564407110214233,
      "learning_rate": 0.00046724438943734924,
      "loss": 0.149,
      "step": 2539
    },
    {
      "epoch": 0.5696656944132825,
      "gripper_loss": 0.26171875,
      "loss": 0.0419921875,
      "pos_loss": 0.12109375,
      "rot_loss": 0.080078125,
      "step": 2539
    },
    {
      "epoch": 0.5698900605788647,
      "grad_norm": 0.8072671294212341,
      "learning_rate": 0.0004672144150278914,
      "loss": 0.1096,
      "step": 2540
    },
    {
      "epoch": 0.5698900605788647,
      "gripper_loss": 0.0322265625,
      "loss": 0.16015625,
      "pos_loss": 0.78515625,
      "rot_loss": 0.72265625,
      "step": 2540
    },
    {
      "epoch": 0.5701144267444469,
      "grad_norm": 1.1823985576629639,
      "learning_rate": 0.0004671844278723898,
      "loss": 0.2016,
      "step": 2541
    },
    {
      "epoch": 0.5701144267444469,
      "gripper_loss": 0.09326171875,
      "loss": 0.158203125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.50390625,
      "step": 2541
    },
    {
      "epoch": 0.5703387929100292,
      "grad_norm": 1.1763050556182861,
      "learning_rate": 0.000467154427972604,
      "loss": 0.1321,
      "step": 2542
    },
    {
      "epoch": 0.5703387929100292,
      "gripper_loss": 1.84375,
      "loss": 0.1123046875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.06494140625,
      "step": 2542
    },
    {
      "epoch": 0.5705631590756114,
      "grad_norm": 1.031875491142273,
      "learning_rate": 0.00046712441533029443,
      "loss": 0.1141,
      "step": 2543
    },
    {
      "epoch": 0.5705631590756114,
      "gripper_loss": 0.279296875,
      "loss": 0.1025390625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.09912109375,
      "step": 2543
    },
    {
      "epoch": 0.5707875252411936,
      "grad_norm": 0.824522852897644,
      "learning_rate": 0.0004670943899472222,
      "loss": 0.1077,
      "step": 2544
    },
    {
      "epoch": 0.5707875252411936,
      "gripper_loss": 0.0947265625,
      "loss": 0.283203125,
      "pos_loss": 0.90625,
      "rot_loss": 0.8984375,
      "step": 2544
    },
    {
      "epoch": 0.5710118914067759,
      "grad_norm": 1.4208409786224365,
      "learning_rate": 0.00046706435182514925,
      "loss": 0.1846,
      "step": 2545
    },
    {
      "epoch": 0.5710118914067759,
      "gripper_loss": 0.1357421875,
      "loss": 0.0830078125,
      "pos_loss": 0.484375,
      "rot_loss": 0.1787109375,
      "step": 2545
    },
    {
      "epoch": 0.5712362575723581,
      "grad_norm": 0.8152499198913574,
      "learning_rate": 0.0004670343009658382,
      "loss": 0.1346,
      "step": 2546
    },
    {
      "epoch": 0.5712362575723581,
      "gripper_loss": 0.388671875,
      "loss": 0.049072265625,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.10498046875,
      "step": 2546
    },
    {
      "epoch": 0.5714606237379403,
      "grad_norm": 0.7636565566062927,
      "learning_rate": 0.00046700423737105237,
      "loss": 0.0961,
      "step": 2547
    },
    {
      "epoch": 0.5714606237379403,
      "gripper_loss": 0.054443359375,
      "loss": 0.130859375,
      "pos_loss": 0.8515625,
      "rot_loss": 0.37890625,
      "step": 2547
    },
    {
      "epoch": 0.5716849899035226,
      "grad_norm": 0.8735621571540833,
      "learning_rate": 0.00046697416104255586,
      "loss": 0.1253,
      "step": 2548
    },
    {
      "epoch": 0.5716849899035226,
      "gripper_loss": 1.5078125,
      "loss": 0.080078125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.08935546875,
      "step": 2548
    },
    {
      "epoch": 0.5719093560691048,
      "grad_norm": 0.6710054874420166,
      "learning_rate": 0.00046694407198211353,
      "loss": 0.1595,
      "step": 2549
    },
    {
      "epoch": 0.5719093560691048,
      "gripper_loss": 1.484375,
      "loss": 0.220703125,
      "pos_loss": 0.3828125,
      "rot_loss": 1.3515625,
      "step": 2549
    },
    {
      "epoch": 0.5721337222346871,
      "grad_norm": 0.6784448623657227,
      "learning_rate": 0.00046691397019149106,
      "loss": 0.1546,
      "step": 2550
    },
    {
      "epoch": 0.5721337222346871,
      "gripper_loss": 0.12158203125,
      "loss": 0.173828125,
      "pos_loss": 0.578125,
      "rot_loss": 1.0390625,
      "step": 2550
    },
    {
      "epoch": 0.5723580884002692,
      "grad_norm": 0.8646399974822998,
      "learning_rate": 0.00046688385567245484,
      "loss": 0.1215,
      "step": 2551
    },
    {
      "epoch": 0.5723580884002692,
      "gripper_loss": 0.546875,
      "loss": 0.462890625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.546875,
      "step": 2551
    },
    {
      "epoch": 0.5725824545658514,
      "grad_norm": 2.120360851287842,
      "learning_rate": 0.00046685372842677185,
      "loss": 0.4309,
      "step": 2552
    },
    {
      "epoch": 0.5725824545658514,
      "gripper_loss": 0.1220703125,
      "loss": 0.1298828125,
      "pos_loss": 0.78125,
      "rot_loss": 0.35546875,
      "step": 2552
    },
    {
      "epoch": 0.5728068207314337,
      "grad_norm": 0.7725499272346497,
      "learning_rate": 0.00046682358845621003,
      "loss": 0.1364,
      "step": 2553
    },
    {
      "epoch": 0.5728068207314337,
      "gripper_loss": 0.6328125,
      "loss": 0.1865234375,
      "pos_loss": 0.890625,
      "rot_loss": 0.2099609375,
      "step": 2553
    },
    {
      "epoch": 0.5730311868970159,
      "grad_norm": 1.2990007400512695,
      "learning_rate": 0.00046679343576253794,
      "loss": 0.1959,
      "step": 2554
    },
    {
      "epoch": 0.5730311868970159,
      "gripper_loss": 0.062255859375,
      "loss": 0.361328125,
      "pos_loss": 1.8984375,
      "rot_loss": 1.7890625,
      "step": 2554
    },
    {
      "epoch": 0.5732555530625981,
      "grad_norm": 0.9045190215110779,
      "learning_rate": 0.000466763270347525,
      "loss": 0.1415,
      "step": 2555
    },
    {
      "epoch": 0.5732555530625981,
      "gripper_loss": 0.09375,
      "loss": 0.045654296875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.06494140625,
      "step": 2555
    },
    {
      "epoch": 0.5734799192281804,
      "grad_norm": 0.8598194122314453,
      "learning_rate": 0.0004667330922129412,
      "loss": 0.1127,
      "step": 2556
    },
    {
      "epoch": 0.5734799192281804,
      "gripper_loss": 0.29296875,
      "loss": 0.20703125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.9296875,
      "step": 2556
    },
    {
      "epoch": 0.5737042853937626,
      "grad_norm": 0.87592613697052,
      "learning_rate": 0.0004667029013605575,
      "loss": 0.1745,
      "step": 2557
    },
    {
      "epoch": 0.5737042853937626,
      "gripper_loss": 0.07177734375,
      "loss": 0.0732421875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.041015625,
      "step": 2557
    },
    {
      "epoch": 0.5739286515593448,
      "grad_norm": 0.5770983695983887,
      "learning_rate": 0.00046667269779214525,
      "loss": 0.1096,
      "step": 2558
    },
    {
      "epoch": 0.5739286515593448,
      "gripper_loss": 0.1318359375,
      "loss": 0.12890625,
      "pos_loss": 1.0234375,
      "rot_loss": 0.08935546875,
      "step": 2558
    },
    {
      "epoch": 0.5741530177249271,
      "grad_norm": 0.8206594586372375,
      "learning_rate": 0.00046664248150947706,
      "loss": 0.1432,
      "step": 2559
    },
    {
      "epoch": 0.5741530177249271,
      "gripper_loss": 0.39453125,
      "loss": 0.2333984375,
      "pos_loss": 0.83984375,
      "rot_loss": 0.76953125,
      "step": 2559
    },
    {
      "epoch": 0.5743773838905093,
      "grad_norm": 1.1633599996566772,
      "learning_rate": 0.00046661225251432595,
      "loss": 0.191,
      "step": 2560
    },
    {
      "epoch": 0.5743773838905093,
      "gripper_loss": 0.068359375,
      "loss": 0.1494140625,
      "pos_loss": 1.3984375,
      "rot_loss": 0.07080078125,
      "step": 2560
    },
    {
      "epoch": 0.5746017500560915,
      "grad_norm": 0.6365139484405518,
      "learning_rate": 0.00046658201080846556,
      "loss": 0.1077,
      "step": 2561
    },
    {
      "epoch": 0.5746017500560915,
      "gripper_loss": 2.765625,
      "loss": 0.146484375,
      "pos_loss": 0.412109375,
      "rot_loss": 0.134765625,
      "step": 2561
    },
    {
      "epoch": 0.5748261162216738,
      "grad_norm": 0.7780195474624634,
      "learning_rate": 0.0004665517563936706,
      "loss": 0.1364,
      "step": 2562
    },
    {
      "epoch": 0.5748261162216738,
      "gripper_loss": 0.07763671875,
      "loss": 0.10888671875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.46875,
      "step": 2562
    },
    {
      "epoch": 0.575050482387256,
      "grad_norm": 1.089095950126648,
      "learning_rate": 0.0004665214892717165,
      "loss": 0.1362,
      "step": 2563
    },
    {
      "epoch": 0.575050482387256,
      "gripper_loss": 0.34375,
      "loss": 0.05078125,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.216796875,
      "step": 2563
    },
    {
      "epoch": 0.5752748485528383,
      "grad_norm": 0.6779829263687134,
      "learning_rate": 0.00046649120944437913,
      "loss": 0.1265,
      "step": 2564
    },
    {
      "epoch": 0.5752748485528383,
      "gripper_loss": 1.078125,
      "loss": 0.162109375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.1875,
      "step": 2564
    },
    {
      "epoch": 0.5754992147184205,
      "grad_norm": 0.9537036418914795,
      "learning_rate": 0.00046646091691343534,
      "loss": 0.1591,
      "step": 2565
    },
    {
      "epoch": 0.5754992147184205,
      "gripper_loss": 0.66796875,
      "loss": 0.055419921875,
      "pos_loss": 0.197265625,
      "rot_loss": 0.09619140625,
      "step": 2565
    },
    {
      "epoch": 0.5757235808840027,
      "grad_norm": 0.7029674649238586,
      "learning_rate": 0.0004664306116806627,
      "loss": 0.0921,
      "step": 2566
    },
    {
      "epoch": 0.5757235808840027,
      "gripper_loss": 0.796875,
      "loss": 0.150390625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.205078125,
      "step": 2566
    },
    {
      "epoch": 0.575947947049585,
      "grad_norm": 0.749366044998169,
      "learning_rate": 0.0004664002937478395,
      "loss": 0.1807,
      "step": 2567
    },
    {
      "epoch": 0.575947947049585,
      "gripper_loss": 0.2119140625,
      "loss": 0.091796875,
      "pos_loss": 0.76953125,
      "rot_loss": 0.0247802734375,
      "step": 2567
    },
    {
      "epoch": 0.5761723132151672,
      "grad_norm": 0.5486894249916077,
      "learning_rate": 0.00046636996311674484,
      "loss": 0.1307,
      "step": 2568
    },
    {
      "epoch": 0.5761723132151672,
      "gripper_loss": 0.220703125,
      "loss": 0.09130859375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.201171875,
      "step": 2568
    },
    {
      "epoch": 0.5763966793807493,
      "grad_norm": 0.6613951921463013,
      "learning_rate": 0.0004663396197891584,
      "loss": 0.119,
      "step": 2569
    },
    {
      "epoch": 0.5763966793807493,
      "gripper_loss": 0.60546875,
      "loss": 0.09375,
      "pos_loss": 0.296875,
      "rot_loss": 0.1865234375,
      "step": 2569
    },
    {
      "epoch": 0.5766210455463316,
      "grad_norm": 0.8175289034843445,
      "learning_rate": 0.00046630926376686077,
      "loss": 0.1359,
      "step": 2570
    },
    {
      "epoch": 0.5766210455463316,
      "gripper_loss": 0.470703125,
      "loss": 0.1220703125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.306640625,
      "step": 2570
    },
    {
      "epoch": 0.5768454117119138,
      "grad_norm": 0.7065854668617249,
      "learning_rate": 0.0004662788950516332,
      "loss": 0.1055,
      "step": 2571
    },
    {
      "epoch": 0.5768454117119138,
      "gripper_loss": 0.447265625,
      "loss": 0.12353515625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.08984375,
      "step": 2571
    },
    {
      "epoch": 0.577069777877496,
      "grad_norm": 0.7476827502250671,
      "learning_rate": 0.0004662485136452579,
      "loss": 0.1279,
      "step": 2572
    },
    {
      "epoch": 0.577069777877496,
      "gripper_loss": 0.039306640625,
      "loss": 0.1298828125,
      "pos_loss": 1.1953125,
      "rot_loss": 0.062255859375,
      "step": 2572
    },
    {
      "epoch": 0.5772941440430783,
      "grad_norm": 0.6494508385658264,
      "learning_rate": 0.0004662181195495173,
      "loss": 0.0946,
      "step": 2573
    },
    {
      "epoch": 0.5772941440430783,
      "gripper_loss": 0.142578125,
      "loss": 0.197265625,
      "pos_loss": 0.90234375,
      "rot_loss": 1.0390625,
      "step": 2573
    },
    {
      "epoch": 0.5775185102086605,
      "grad_norm": 0.8337290287017822,
      "learning_rate": 0.0004661877127661952,
      "loss": 0.1578,
      "step": 2574
    },
    {
      "epoch": 0.5775185102086605,
      "gripper_loss": 0.15625,
      "loss": 0.05126953125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.095703125,
      "step": 2574
    },
    {
      "epoch": 0.5777428763742427,
      "grad_norm": 0.6328528523445129,
      "learning_rate": 0.0004661572932970757,
      "loss": 0.1262,
      "step": 2575
    },
    {
      "epoch": 0.5777428763742427,
      "gripper_loss": 0.45703125,
      "loss": 0.212890625,
      "pos_loss": 0.37109375,
      "rot_loss": 1.6640625,
      "step": 2575
    },
    {
      "epoch": 0.577967242539825,
      "grad_norm": 0.8731851577758789,
      "learning_rate": 0.0004661268611439439,
      "loss": 0.1358,
      "step": 2576
    },
    {
      "epoch": 0.577967242539825,
      "gripper_loss": 1.9453125,
      "loss": 0.1318359375,
      "pos_loss": 0.396484375,
      "rot_loss": 0.2890625,
      "step": 2576
    },
    {
      "epoch": 0.5781916087054072,
      "grad_norm": 0.876737117767334,
      "learning_rate": 0.00046609641630858547,
      "loss": 0.1478,
      "step": 2577
    },
    {
      "epoch": 0.5781916087054072,
      "gripper_loss": 0.78515625,
      "loss": 0.1357421875,
      "pos_loss": 0.84765625,
      "rot_loss": 0.1826171875,
      "step": 2577
    },
    {
      "epoch": 0.5784159748709895,
      "grad_norm": 0.9329643845558167,
      "learning_rate": 0.0004660659587927869,
      "loss": 0.1451,
      "step": 2578
    },
    {
      "epoch": 0.5784159748709895,
      "gripper_loss": 0.05615234375,
      "loss": 0.1015625,
      "pos_loss": 0.90234375,
      "rot_loss": 0.04345703125,
      "step": 2578
    },
    {
      "epoch": 0.5786403410365717,
      "grad_norm": 0.9088213443756104,
      "learning_rate": 0.00046603548859833546,
      "loss": 0.1367,
      "step": 2579
    },
    {
      "epoch": 0.5786403410365717,
      "gripper_loss": 0.20703125,
      "loss": 0.2314453125,
      "pos_loss": 1.15625,
      "rot_loss": 0.84765625,
      "step": 2579
    },
    {
      "epoch": 0.5788647072021539,
      "grad_norm": 0.8909434676170349,
      "learning_rate": 0.0004660050057270191,
      "loss": 0.104,
      "step": 2580
    },
    {
      "epoch": 0.5788647072021539,
      "gripper_loss": 0.2119140625,
      "loss": 0.0228271484375,
      "pos_loss": 0.032958984375,
      "rot_loss": 0.06640625,
      "step": 2580
    },
    {
      "epoch": 0.5790890733677362,
      "grad_norm": 0.6786943078041077,
      "learning_rate": 0.00046597451018062655,
      "loss": 0.1401,
      "step": 2581
    },
    {
      "epoch": 0.5790890733677362,
      "gripper_loss": 1.15625,
      "loss": 0.130859375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.318359375,
      "step": 2581
    },
    {
      "epoch": 0.5793134395333184,
      "grad_norm": 0.6775752305984497,
      "learning_rate": 0.00046594400196094734,
      "loss": 0.0872,
      "step": 2582
    },
    {
      "epoch": 0.5793134395333184,
      "gripper_loss": 1.046875,
      "loss": 0.080078125,
      "pos_loss": 0.220703125,
      "rot_loss": 0.1943359375,
      "step": 2582
    },
    {
      "epoch": 0.5795378056989006,
      "grad_norm": 0.5455606579780579,
      "learning_rate": 0.0004659134810697715,
      "loss": 0.1005,
      "step": 2583
    },
    {
      "epoch": 0.5795378056989006,
      "gripper_loss": 0.365234375,
      "loss": 0.0478515625,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.158203125,
      "step": 2583
    },
    {
      "epoch": 0.5797621718644829,
      "grad_norm": 0.6959391832351685,
      "learning_rate": 0.0004658829475088902,
      "loss": 0.1181,
      "step": 2584
    },
    {
      "epoch": 0.5797621718644829,
      "gripper_loss": 0.029296875,
      "loss": 0.11669921875,
      "pos_loss": 0.80078125,
      "rot_loss": 0.314453125,
      "step": 2584
    },
    {
      "epoch": 0.5799865380300651,
      "grad_norm": 0.8205270767211914,
      "learning_rate": 0.000465852401280095,
      "loss": 0.1594,
      "step": 2585
    },
    {
      "epoch": 0.5799865380300651,
      "gripper_loss": 0.0947265625,
      "loss": 0.0927734375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.3984375,
      "step": 2585
    },
    {
      "epoch": 0.5802109041956472,
      "grad_norm": 0.6381731033325195,
      "learning_rate": 0.0004658218423851784,
      "loss": 0.0961,
      "step": 2586
    },
    {
      "epoch": 0.5802109041956472,
      "gripper_loss": 0.78515625,
      "loss": 0.07666015625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.185546875,
      "step": 2586
    },
    {
      "epoch": 0.5804352703612295,
      "grad_norm": 0.6529097557067871,
      "learning_rate": 0.0004657912708259335,
      "loss": 0.1265,
      "step": 2587
    },
    {
      "epoch": 0.5804352703612295,
      "gripper_loss": 0.11669921875,
      "loss": 0.08837890625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.25390625,
      "step": 2587
    },
    {
      "epoch": 0.5806596365268117,
      "grad_norm": 0.6605994701385498,
      "learning_rate": 0.00046576068660415435,
      "loss": 0.1053,
      "step": 2588
    },
    {
      "epoch": 0.5806596365268117,
      "gripper_loss": 0.3203125,
      "loss": 0.25390625,
      "pos_loss": 0.671875,
      "rot_loss": 0.78125,
      "step": 2588
    },
    {
      "epoch": 0.580884002692394,
      "grad_norm": 1.7448688745498657,
      "learning_rate": 0.0004657300897216355,
      "loss": 0.2491,
      "step": 2589
    },
    {
      "epoch": 0.580884002692394,
      "gripper_loss": 0.5546875,
      "loss": 0.322265625,
      "pos_loss": 1.0078125,
      "rot_loss": 0.75390625,
      "step": 2589
    },
    {
      "epoch": 0.5811083688579762,
      "grad_norm": 1.7704007625579834,
      "learning_rate": 0.0004656994801801724,
      "loss": 0.3003,
      "step": 2590
    },
    {
      "epoch": 0.5811083688579762,
      "gripper_loss": 0.41796875,
      "loss": 0.10595703125,
      "pos_loss": 0.490234375,
      "rot_loss": 0.380859375,
      "step": 2590
    },
    {
      "epoch": 0.5813327350235584,
      "grad_norm": 0.9990365505218506,
      "learning_rate": 0.0004656688579815612,
      "loss": 0.1314,
      "step": 2591
    },
    {
      "epoch": 0.5813327350235584,
      "gripper_loss": 0.546875,
      "loss": 0.1181640625,
      "pos_loss": 0.65625,
      "rot_loss": 0.310546875,
      "step": 2591
    },
    {
      "epoch": 0.5815571011891407,
      "grad_norm": 0.9693257808685303,
      "learning_rate": 0.0004656382231275989,
      "loss": 0.142,
      "step": 2592
    },
    {
      "epoch": 0.5815571011891407,
      "gripper_loss": 0.050537109375,
      "loss": 0.041015625,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.08251953125,
      "step": 2592
    },
    {
      "epoch": 0.5817814673547229,
      "grad_norm": 0.8311066627502441,
      "learning_rate": 0.00046560757562008305,
      "loss": 0.1299,
      "step": 2593
    },
    {
      "epoch": 0.5817814673547229,
      "gripper_loss": 0.07275390625,
      "loss": 0.0272216796875,
      "pos_loss": 0.0859375,
      "rot_loss": 0.06689453125,
      "step": 2593
    },
    {
      "epoch": 0.5820058335203051,
      "grad_norm": 0.6602433919906616,
      "learning_rate": 0.0004655769154608119,
      "loss": 0.1019,
      "step": 2594
    },
    {
      "epoch": 0.5820058335203051,
      "gripper_loss": 0.453125,
      "loss": 0.064453125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.11865234375,
      "step": 2594
    },
    {
      "epoch": 0.5822301996858874,
      "grad_norm": 1.0929718017578125,
      "learning_rate": 0.00046554624265158486,
      "loss": 0.1235,
      "step": 2595
    },
    {
      "epoch": 0.5822301996858874,
      "gripper_loss": 1.1640625,
      "loss": 0.062255859375,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.078125,
      "step": 2595
    },
    {
      "epoch": 0.5824545658514696,
      "grad_norm": 0.6028097867965698,
      "learning_rate": 0.0004655155571942016,
      "loss": 0.1364,
      "step": 2596
    },
    {
      "epoch": 0.5824545658514696,
      "gripper_loss": 0.062255859375,
      "loss": 0.1357421875,
      "pos_loss": 0.97265625,
      "rot_loss": 0.333984375,
      "step": 2596
    },
    {
      "epoch": 0.5826789320170518,
      "grad_norm": 0.7700076699256897,
      "learning_rate": 0.0004654848590904627,
      "loss": 0.0861,
      "step": 2597
    },
    {
      "epoch": 0.5826789320170518,
      "gripper_loss": 0.25,
      "loss": 0.34375,
      "pos_loss": 1.0546875,
      "rot_loss": 2.25,
      "step": 2597
    },
    {
      "epoch": 0.5829032981826341,
      "grad_norm": 0.9897153973579407,
      "learning_rate": 0.0004654541483421697,
      "loss": 0.1754,
      "step": 2598
    },
    {
      "epoch": 0.5829032981826341,
      "gripper_loss": 0.158203125,
      "loss": 0.0791015625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.455078125,
      "step": 2598
    },
    {
      "epoch": 0.5831276643482163,
      "grad_norm": 0.8600589036941528,
      "learning_rate": 0.0004654234249511245,
      "loss": 0.1275,
      "step": 2599
    },
    {
      "epoch": 0.5831276643482163,
      "gripper_loss": 1.109375,
      "loss": 0.1806640625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.37890625,
      "step": 2599
    },
    {
      "epoch": 0.5833520305137985,
      "grad_norm": 1.6122061014175415,
      "learning_rate": 0.00046539268891913,
      "loss": 0.2053,
      "step": 2600
    },
    {
      "epoch": 0.5833520305137985,
      "gripper_loss": 0.162109375,
      "loss": 0.06494140625,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.1337890625,
      "step": 2600
    },
    {
      "epoch": 0.5835763966793808,
      "grad_norm": 0.9610351920127869,
      "learning_rate": 0.00046536194024798984,
      "loss": 0.1384,
      "step": 2601
    },
    {
      "epoch": 0.5835763966793808,
      "gripper_loss": 1.234375,
      "loss": 0.205078125,
      "pos_loss": 0.9453125,
      "rot_loss": 0.55078125,
      "step": 2601
    },
    {
      "epoch": 0.583800762844963,
      "grad_norm": 1.2967605590820312,
      "learning_rate": 0.00046533117893950826,
      "loss": 0.1531,
      "step": 2602
    },
    {
      "epoch": 0.583800762844963,
      "gripper_loss": 0.7265625,
      "loss": 0.05859375,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.04150390625,
      "step": 2602
    },
    {
      "epoch": 0.5840251290105453,
      "grad_norm": 0.5646532773971558,
      "learning_rate": 0.0004653004049954903,
      "loss": 0.0882,
      "step": 2603
    },
    {
      "epoch": 0.5840251290105453,
      "gripper_loss": 0.48046875,
      "loss": 0.3046875,
      "pos_loss": 1.0390625,
      "rot_loss": 0.92578125,
      "step": 2603
    },
    {
      "epoch": 0.5842494951761275,
      "grad_norm": 1.3528733253479004,
      "learning_rate": 0.00046526961841774185,
      "loss": 0.2312,
      "step": 2604
    },
    {
      "epoch": 0.5842494951761275,
      "gripper_loss": 0.037353515625,
      "loss": 0.130859375,
      "pos_loss": 0.97265625,
      "rot_loss": 0.326171875,
      "step": 2604
    },
    {
      "epoch": 0.5844738613417096,
      "grad_norm": 0.6893109679222107,
      "learning_rate": 0.0004652388192080694,
      "loss": 0.0838,
      "step": 2605
    },
    {
      "epoch": 0.5844738613417096,
      "gripper_loss": 0.050048828125,
      "loss": 0.1796875,
      "pos_loss": 0.99609375,
      "rot_loss": 0.796875,
      "step": 2605
    },
    {
      "epoch": 0.584698227507292,
      "grad_norm": 0.6516807675361633,
      "learning_rate": 0.0004652080073682803,
      "loss": 0.1063,
      "step": 2606
    },
    {
      "epoch": 0.584698227507292,
      "gripper_loss": 0.4765625,
      "loss": 0.057373046875,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.07958984375,
      "step": 2606
    },
    {
      "epoch": 0.5849225936728741,
      "grad_norm": 0.5868198871612549,
      "learning_rate": 0.00046517718290018246,
      "loss": 0.1045,
      "step": 2607
    },
    {
      "epoch": 0.5849225936728741,
      "gripper_loss": 0.09228515625,
      "loss": 0.0255126953125,
      "pos_loss": 0.095703125,
      "rot_loss": 0.046142578125,
      "step": 2607
    },
    {
      "epoch": 0.5851469598384563,
      "grad_norm": 0.5760254263877869,
      "learning_rate": 0.0004651463458055847,
      "loss": 0.0945,
      "step": 2608
    },
    {
      "epoch": 0.5851469598384563,
      "gripper_loss": 1.4140625,
      "loss": 0.10498046875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.07470703125,
      "step": 2608
    },
    {
      "epoch": 0.5853713260040386,
      "grad_norm": 0.8020102977752686,
      "learning_rate": 0.00046511549608629655,
      "loss": 0.1178,
      "step": 2609
    },
    {
      "epoch": 0.5853713260040386,
      "gripper_loss": 1.3125,
      "loss": 0.5,
      "pos_loss": 0.69921875,
      "rot_loss": 0.91796875,
      "step": 2609
    },
    {
      "epoch": 0.5855956921696208,
      "grad_norm": 1.987330675125122,
      "learning_rate": 0.00046508463374412824,
      "loss": 0.4644,
      "step": 2610
    },
    {
      "epoch": 0.5855956921696208,
      "gripper_loss": 0.09765625,
      "loss": 0.125,
      "pos_loss": 0.96875,
      "rot_loss": 0.205078125,
      "step": 2610
    },
    {
      "epoch": 0.585820058335203,
      "grad_norm": 0.8427792191505432,
      "learning_rate": 0.00046505375878089076,
      "loss": 0.1292,
      "step": 2611
    },
    {
      "epoch": 0.585820058335203,
      "gripper_loss": 1.6328125,
      "loss": 0.09814453125,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.12255859375,
      "step": 2611
    },
    {
      "epoch": 0.5860444245007853,
      "grad_norm": 1.0349549055099487,
      "learning_rate": 0.0004650228711983958,
      "loss": 0.17,
      "step": 2612
    },
    {
      "epoch": 0.5860444245007853,
      "gripper_loss": 0.099609375,
      "loss": 0.1044921875,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.71484375,
      "step": 2612
    },
    {
      "epoch": 0.5862687906663675,
      "grad_norm": 0.7635460495948792,
      "learning_rate": 0.0004649919709984559,
      "loss": 0.1102,
      "step": 2613
    },
    {
      "epoch": 0.5862687906663675,
      "gripper_loss": 0.1455078125,
      "loss": 0.578125,
      "pos_loss": 2.546875,
      "rot_loss": 3.46875,
      "step": 2613
    },
    {
      "epoch": 0.5864931568319497,
      "grad_norm": 1.1653764247894287,
      "learning_rate": 0.00046496105818288425,
      "loss": 0.1775,
      "step": 2614
    },
    {
      "epoch": 0.5864931568319497,
      "gripper_loss": 0.1875,
      "loss": 0.12158203125,
      "pos_loss": 0.9609375,
      "rot_loss": 0.10107421875,
      "step": 2614
    },
    {
      "epoch": 0.586717522997532,
      "grad_norm": 0.8120424747467041,
      "learning_rate": 0.00046493013275349473,
      "loss": 0.1237,
      "step": 2615
    },
    {
      "epoch": 0.586717522997532,
      "gripper_loss": 0.0771484375,
      "loss": 0.03857421875,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.09619140625,
      "step": 2615
    },
    {
      "epoch": 0.5869418891631142,
      "grad_norm": 0.9317014217376709,
      "learning_rate": 0.0004648991947121022,
      "loss": 0.1209,
      "step": 2616
    },
    {
      "epoch": 0.5869418891631142,
      "gripper_loss": 0.484375,
      "loss": 0.05126953125,
      "pos_loss": 0.08203125,
      "rot_loss": 0.1337890625,
      "step": 2616
    },
    {
      "epoch": 0.5871662553286965,
      "grad_norm": 0.6194335222244263,
      "learning_rate": 0.00046486824406052186,
      "loss": 0.0911,
      "step": 2617
    },
    {
      "epoch": 0.5871662553286965,
      "gripper_loss": 0.1328125,
      "loss": 0.1044921875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.15234375,
      "step": 2617
    },
    {
      "epoch": 0.5873906214942787,
      "grad_norm": 0.9656296968460083,
      "learning_rate": 0.00046483728080057,
      "loss": 0.1323,
      "step": 2618
    },
    {
      "epoch": 0.5873906214942787,
      "gripper_loss": 0.2197265625,
      "loss": 0.078125,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.57421875,
      "step": 2618
    },
    {
      "epoch": 0.5876149876598609,
      "grad_norm": 0.8335574865341187,
      "learning_rate": 0.0004648063049340635,
      "loss": 0.118,
      "step": 2619
    },
    {
      "epoch": 0.5876149876598609,
      "gripper_loss": 0.126953125,
      "loss": 0.25390625,
      "pos_loss": 1.2265625,
      "rot_loss": 1.3359375,
      "step": 2619
    },
    {
      "epoch": 0.5878393538254432,
      "grad_norm": 1.1850242614746094,
      "learning_rate": 0.0004647753164628201,
      "loss": 0.1758,
      "step": 2620
    },
    {
      "epoch": 0.5878393538254432,
      "gripper_loss": 0.373046875,
      "loss": 0.078125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.1943359375,
      "step": 2620
    },
    {
      "epoch": 0.5880637199910254,
      "grad_norm": 0.9946876764297485,
      "learning_rate": 0.0004647443153886581,
      "loss": 0.1422,
      "step": 2621
    },
    {
      "epoch": 0.5880637199910254,
      "gripper_loss": 0.63671875,
      "loss": 0.62890625,
      "pos_loss": 1.1484375,
      "rot_loss": 0.5546875,
      "step": 2621
    },
    {
      "epoch": 0.5882880861566075,
      "grad_norm": 1.4989686012268066,
      "learning_rate": 0.00046471330171339673,
      "loss": 0.6416,
      "step": 2622
    },
    {
      "epoch": 0.5882880861566075,
      "gripper_loss": 0.1630859375,
      "loss": 0.130859375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.400390625,
      "step": 2622
    },
    {
      "epoch": 0.5885124523221898,
      "grad_norm": 0.8444111943244934,
      "learning_rate": 0.00046468227543885565,
      "loss": 0.1273,
      "step": 2623
    },
    {
      "epoch": 0.5885124523221898,
      "gripper_loss": 0.1103515625,
      "loss": 0.1865234375,
      "pos_loss": 0.84765625,
      "rot_loss": 0.6015625,
      "step": 2623
    },
    {
      "epoch": 0.588736818487772,
      "grad_norm": 1.1109678745269775,
      "learning_rate": 0.0004646512365668557,
      "loss": 0.1603,
      "step": 2624
    },
    {
      "epoch": 0.588736818487772,
      "gripper_loss": 0.5859375,
      "loss": 0.111328125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.189453125,
      "step": 2624
    },
    {
      "epoch": 0.5889611846533542,
      "grad_norm": 0.6901504397392273,
      "learning_rate": 0.00046462018509921813,
      "loss": 0.1438,
      "step": 2625
    },
    {
      "epoch": 0.5889611846533542,
      "gripper_loss": 0.32421875,
      "loss": 0.353515625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.77734375,
      "step": 2625
    },
    {
      "epoch": 0.5891855508189365,
      "grad_norm": 2.322599172592163,
      "learning_rate": 0.00046458912103776494,
      "loss": 0.3743,
      "step": 2626
    },
    {
      "epoch": 0.5891855508189365,
      "gripper_loss": 0.0303955078125,
      "loss": 0.09130859375,
      "pos_loss": 0.291015625,
      "rot_loss": 0.5859375,
      "step": 2626
    },
    {
      "epoch": 0.5894099169845187,
      "grad_norm": 0.874163806438446,
      "learning_rate": 0.00046455804438431914,
      "loss": 0.0959,
      "step": 2627
    },
    {
      "epoch": 0.5894099169845187,
      "gripper_loss": 0.2412109375,
      "loss": 0.1015625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.1767578125,
      "step": 2627
    },
    {
      "epoch": 0.5896342831501009,
      "grad_norm": 0.7866318225860596,
      "learning_rate": 0.0004645269551407041,
      "loss": 0.1383,
      "step": 2628
    },
    {
      "epoch": 0.5896342831501009,
      "gripper_loss": 0.091796875,
      "loss": 0.2197265625,
      "pos_loss": 1.1953125,
      "rot_loss": 0.69921875,
      "step": 2628
    },
    {
      "epoch": 0.5898586493156832,
      "grad_norm": 1.0271835327148438,
      "learning_rate": 0.0004644958533087443,
      "loss": 0.1429,
      "step": 2629
    },
    {
      "epoch": 0.5898586493156832,
      "gripper_loss": 0.796875,
      "loss": 0.2490234375,
      "pos_loss": 1.7265625,
      "rot_loss": 0.52734375,
      "step": 2629
    },
    {
      "epoch": 0.5900830154812654,
      "grad_norm": 0.8770630359649658,
      "learning_rate": 0.00046446473889026466,
      "loss": 0.1102,
      "step": 2630
    },
    {
      "epoch": 0.5900830154812654,
      "gripper_loss": 0.0390625,
      "loss": 0.21875,
      "pos_loss": 1.46875,
      "rot_loss": 0.734375,
      "step": 2630
    },
    {
      "epoch": 0.5903073816468477,
      "grad_norm": 0.7527598738670349,
      "learning_rate": 0.000464433611887091,
      "loss": 0.1275,
      "step": 2631
    },
    {
      "epoch": 0.5903073816468477,
      "gripper_loss": 0.66015625,
      "loss": 0.28515625,
      "pos_loss": 1.2890625,
      "rot_loss": 1.4375,
      "step": 2631
    },
    {
      "epoch": 0.5905317478124299,
      "grad_norm": 0.6969334483146667,
      "learning_rate": 0.00046440247230104977,
      "loss": 0.1208,
      "step": 2632
    },
    {
      "epoch": 0.5905317478124299,
      "gripper_loss": 0.1337890625,
      "loss": 0.1357421875,
      "pos_loss": 0.7734375,
      "rot_loss": 0.306640625,
      "step": 2632
    },
    {
      "epoch": 0.5907561139780121,
      "grad_norm": 1.1439392566680908,
      "learning_rate": 0.0004643713201339683,
      "loss": 0.1469,
      "step": 2633
    },
    {
      "epoch": 0.5907561139780121,
      "gripper_loss": 0.09375,
      "loss": 0.078125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.244140625,
      "step": 2633
    },
    {
      "epoch": 0.5909804801435944,
      "grad_norm": 0.8906480073928833,
      "learning_rate": 0.00046434015538767467,
      "loss": 0.1183,
      "step": 2634
    },
    {
      "epoch": 0.5909804801435944,
      "gripper_loss": 0.0263671875,
      "loss": 0.1572265625,
      "pos_loss": 1.046875,
      "rot_loss": 0.458984375,
      "step": 2634
    },
    {
      "epoch": 0.5912048463091766,
      "grad_norm": 0.9258229732513428,
      "learning_rate": 0.0004643089780639974,
      "loss": 0.127,
      "step": 2635
    },
    {
      "epoch": 0.5912048463091766,
      "gripper_loss": 0.95703125,
      "loss": 0.1396484375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.578125,
      "step": 2635
    },
    {
      "epoch": 0.5914292124747588,
      "grad_norm": 0.8403640389442444,
      "learning_rate": 0.00046427778816476617,
      "loss": 0.1286,
      "step": 2636
    },
    {
      "epoch": 0.5914292124747588,
      "gripper_loss": 0.126953125,
      "loss": 0.1435546875,
      "pos_loss": 0.84765625,
      "rot_loss": 0.515625,
      "step": 2636
    },
    {
      "epoch": 0.5916535786403411,
      "grad_norm": 0.7896156907081604,
      "learning_rate": 0.0004642465856918111,
      "loss": 0.1203,
      "step": 2637
    },
    {
      "epoch": 0.5916535786403411,
      "gripper_loss": 1.0234375,
      "loss": 0.1845703125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.279296875,
      "step": 2637
    },
    {
      "epoch": 0.5918779448059233,
      "grad_norm": 1.2854480743408203,
      "learning_rate": 0.0004642153706469632,
      "loss": 0.2312,
      "step": 2638
    },
    {
      "epoch": 0.5918779448059233,
      "gripper_loss": 0.2255859375,
      "loss": 0.0625,
      "pos_loss": 0.294921875,
      "rot_loss": 0.1845703125,
      "step": 2638
    },
    {
      "epoch": 0.5921023109715055,
      "grad_norm": 0.7399746775627136,
      "learning_rate": 0.0004641841430320539,
      "loss": 0.0867,
      "step": 2639
    },
    {
      "epoch": 0.5921023109715055,
      "gripper_loss": 0.2255859375,
      "loss": 0.126953125,
      "pos_loss": 0.8046875,
      "rot_loss": 0.302734375,
      "step": 2639
    },
    {
      "epoch": 0.5923266771370878,
      "grad_norm": 0.8788232803344727,
      "learning_rate": 0.000464152902848916,
      "loss": 0.1366,
      "step": 2640
    },
    {
      "epoch": 0.5923266771370878,
      "gripper_loss": 0.0169677734375,
      "loss": 0.203125,
      "pos_loss": 0.62890625,
      "rot_loss": 1.3828125,
      "step": 2640
    },
    {
      "epoch": 0.5925510433026699,
      "grad_norm": 0.9178944826126099,
      "learning_rate": 0.0004641216500993823,
      "loss": 0.1369,
      "step": 2641
    },
    {
      "epoch": 0.5925510433026699,
      "gripper_loss": 0.0166015625,
      "loss": 0.142578125,
      "pos_loss": 1.3125,
      "rot_loss": 0.08056640625,
      "step": 2641
    },
    {
      "epoch": 0.5927754094682521,
      "grad_norm": 0.7588667273521423,
      "learning_rate": 0.0004640903847852871,
      "loss": 0.1033,
      "step": 2642
    },
    {
      "epoch": 0.5927754094682521,
      "gripper_loss": 0.08056640625,
      "loss": 0.061767578125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.1962890625,
      "step": 2642
    },
    {
      "epoch": 0.5929997756338344,
      "grad_norm": 0.6088854074478149,
      "learning_rate": 0.0004640591069084646,
      "loss": 0.1022,
      "step": 2643
    },
    {
      "epoch": 0.5929997756338344,
      "gripper_loss": 0.08154296875,
      "loss": 0.1689453125,
      "pos_loss": 0.67578125,
      "rot_loss": 0.73828125,
      "step": 2643
    },
    {
      "epoch": 0.5932241417994166,
      "grad_norm": 1.2263094186782837,
      "learning_rate": 0.0004640278164707505,
      "loss": 0.1167,
      "step": 2644
    },
    {
      "epoch": 0.5932241417994166,
      "gripper_loss": 0.50390625,
      "loss": 0.1064453125,
      "pos_loss": 0.482421875,
      "rot_loss": 0.396484375,
      "step": 2644
    },
    {
      "epoch": 0.5934485079649989,
      "grad_norm": 0.7646223306655884,
      "learning_rate": 0.0004639965134739808,
      "loss": 0.0906,
      "step": 2645
    },
    {
      "epoch": 0.5934485079649989,
      "gripper_loss": 0.1748046875,
      "loss": 0.1025390625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.1728515625,
      "step": 2645
    },
    {
      "epoch": 0.5936728741305811,
      "grad_norm": 0.6612412333488464,
      "learning_rate": 0.00046396519791999224,
      "loss": 0.1265,
      "step": 2646
    },
    {
      "epoch": 0.5936728741305811,
      "gripper_loss": 0.423828125,
      "loss": 0.06982421875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.1474609375,
      "step": 2646
    },
    {
      "epoch": 0.5938972402961633,
      "grad_norm": 1.002966284751892,
      "learning_rate": 0.0004639338698106225,
      "loss": 0.1213,
      "step": 2647
    },
    {
      "epoch": 0.5938972402961633,
      "gripper_loss": 0.119140625,
      "loss": 0.095703125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.53515625,
      "step": 2647
    },
    {
      "epoch": 0.5941216064617456,
      "grad_norm": 0.5895031690597534,
      "learning_rate": 0.0004639025291477099,
      "loss": 0.0985,
      "step": 2648
    },
    {
      "epoch": 0.5941216064617456,
      "gripper_loss": 0.427734375,
      "loss": 0.08837890625,
      "pos_loss": 0.443359375,
      "rot_loss": 0.2421875,
      "step": 2648
    },
    {
      "epoch": 0.5943459726273278,
      "grad_norm": 0.7386471629142761,
      "learning_rate": 0.0004638711759330936,
      "loss": 0.1568,
      "step": 2649
    },
    {
      "epoch": 0.5943459726273278,
      "gripper_loss": 0.65234375,
      "loss": 0.189453125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.65625,
      "step": 2649
    },
    {
      "epoch": 0.59457033879291,
      "grad_norm": 1.1965985298156738,
      "learning_rate": 0.00046383981016861315,
      "loss": 0.1454,
      "step": 2650
    },
    {
      "epoch": 0.59457033879291,
      "gripper_loss": 0.0625,
      "loss": 0.20703125,
      "pos_loss": 1.8203125,
      "rot_loss": 0.212890625,
      "step": 2650
    },
    {
      "epoch": 0.5947947049584923,
      "grad_norm": 0.9894872903823853,
      "learning_rate": 0.00046380843185610927,
      "loss": 0.1977,
      "step": 2651
    },
    {
      "epoch": 0.5947947049584923,
      "gripper_loss": 0.10595703125,
      "loss": 0.07958984375,
      "pos_loss": 0.4140625,
      "rot_loss": 0.291015625,
      "step": 2651
    },
    {
      "epoch": 0.5950190711240745,
      "grad_norm": 0.7768151760101318,
      "learning_rate": 0.00046377704099742314,
      "loss": 0.1349,
      "step": 2652
    },
    {
      "epoch": 0.5950190711240745,
      "gripper_loss": 0.0286865234375,
      "loss": 0.0341796875,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.06103515625,
      "step": 2652
    },
    {
      "epoch": 0.5952434372896567,
      "grad_norm": 0.606575071811676,
      "learning_rate": 0.0004637456375943968,
      "loss": 0.0861,
      "step": 2653
    },
    {
      "epoch": 0.5952434372896567,
      "gripper_loss": 0.0419921875,
      "loss": 0.251953125,
      "pos_loss": 1.0078125,
      "rot_loss": 1.5703125,
      "step": 2653
    },
    {
      "epoch": 0.595467803455239,
      "grad_norm": 0.6186196208000183,
      "learning_rate": 0.00046371422164887303,
      "loss": 0.1064,
      "step": 2654
    },
    {
      "epoch": 0.595467803455239,
      "gripper_loss": 0.11669921875,
      "loss": 0.1806640625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.77734375,
      "step": 2654
    },
    {
      "epoch": 0.5956921696208212,
      "grad_norm": 1.0302574634552002,
      "learning_rate": 0.0004636827931626951,
      "loss": 0.1432,
      "step": 2655
    },
    {
      "epoch": 0.5956921696208212,
      "gripper_loss": 0.76953125,
      "loss": 0.05810546875,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.046630859375,
      "step": 2655
    },
    {
      "epoch": 0.5959165357864034,
      "grad_norm": 0.4936176836490631,
      "learning_rate": 0.00046365135213770754,
      "loss": 0.0773,
      "step": 2656
    },
    {
      "epoch": 0.5959165357864034,
      "gripper_loss": 0.58203125,
      "loss": 0.05615234375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.07666015625,
      "step": 2656
    },
    {
      "epoch": 0.5961409019519857,
      "grad_norm": 0.6871458292007446,
      "learning_rate": 0.00046361989857575506,
      "loss": 0.1048,
      "step": 2657
    },
    {
      "epoch": 0.5961409019519857,
      "gripper_loss": 1.1875,
      "loss": 0.1025390625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.08642578125,
      "step": 2657
    },
    {
      "epoch": 0.5963652681175678,
      "grad_norm": 0.965336799621582,
      "learning_rate": 0.00046358843247868337,
      "loss": 0.1522,
      "step": 2658
    },
    {
      "epoch": 0.5963652681175678,
      "gripper_loss": 1.3046875,
      "loss": 0.05615234375,
      "pos_loss": 0.03955078125,
      "rot_loss": 0.03515625,
      "step": 2658
    },
    {
      "epoch": 0.5965896342831501,
      "grad_norm": 0.6359705328941345,
      "learning_rate": 0.00046355695384833897,
      "loss": 0.0751,
      "step": 2659
    },
    {
      "epoch": 0.5965896342831501,
      "gripper_loss": 0.0595703125,
      "loss": 0.1650390625,
      "pos_loss": 0.83984375,
      "rot_loss": 0.69921875,
      "step": 2659
    },
    {
      "epoch": 0.5968140004487323,
      "grad_norm": 0.8156910538673401,
      "learning_rate": 0.0004635254626865689,
      "loss": 0.1415,
      "step": 2660
    },
    {
      "epoch": 0.5968140004487323,
      "gripper_loss": 0.28125,
      "loss": 0.255859375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.5390625,
      "step": 2660
    },
    {
      "epoch": 0.5970383666143145,
      "grad_norm": 1.7240620851516724,
      "learning_rate": 0.00046349395899522117,
      "loss": 0.2542,
      "step": 2661
    },
    {
      "epoch": 0.5970383666143145,
      "gripper_loss": 0.0859375,
      "loss": 0.2099609375,
      "pos_loss": 0.6171875,
      "rot_loss": 1.5078125,
      "step": 2661
    },
    {
      "epoch": 0.5972627327798968,
      "grad_norm": 0.7118566036224365,
      "learning_rate": 0.00046346244277614435,
      "loss": 0.1294,
      "step": 2662
    },
    {
      "epoch": 0.5972627327798968,
      "gripper_loss": 0.10107421875,
      "loss": 0.2041015625,
      "pos_loss": 1.2421875,
      "rot_loss": 0.73828125,
      "step": 2662
    },
    {
      "epoch": 0.597487098945479,
      "grad_norm": 0.6977912783622742,
      "learning_rate": 0.00046343091403118773,
      "loss": 0.1553,
      "step": 2663
    },
    {
      "epoch": 0.597487098945479,
      "gripper_loss": 0.42578125,
      "loss": 0.2275390625,
      "pos_loss": 0.201171875,
      "rot_loss": 1.9609375,
      "step": 2663
    },
    {
      "epoch": 0.5977114651110612,
      "grad_norm": 0.9411275386810303,
      "learning_rate": 0.00046339937276220156,
      "loss": 0.1397,
      "step": 2664
    },
    {
      "epoch": 0.5977114651110612,
      "gripper_loss": 0.12353515625,
      "loss": 0.150390625,
      "pos_loss": 0.8203125,
      "rot_loss": 0.51171875,
      "step": 2664
    },
    {
      "epoch": 0.5979358312766435,
      "grad_norm": 0.8174926042556763,
      "learning_rate": 0.00046336781897103645,
      "loss": 0.1223,
      "step": 2665
    },
    {
      "epoch": 0.5979358312766435,
      "gripper_loss": 0.01953125,
      "loss": 0.09375,
      "pos_loss": 0.4453125,
      "rot_loss": 0.470703125,
      "step": 2665
    },
    {
      "epoch": 0.5981601974422257,
      "grad_norm": 0.7630385756492615,
      "learning_rate": 0.0004633362526595442,
      "loss": 0.1057,
      "step": 2666
    },
    {
      "epoch": 0.5981601974422257,
      "gripper_loss": 0.053955078125,
      "loss": 0.15625,
      "pos_loss": 0.9140625,
      "rot_loss": 0.65234375,
      "step": 2666
    },
    {
      "epoch": 0.5983845636078079,
      "grad_norm": 0.6647067070007324,
      "learning_rate": 0.0004633046738295769,
      "loss": 0.1286,
      "step": 2667
    },
    {
      "epoch": 0.5983845636078079,
      "gripper_loss": 0.1513671875,
      "loss": 0.09521484375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.41796875,
      "step": 2667
    },
    {
      "epoch": 0.5986089297733902,
      "grad_norm": 0.892028272151947,
      "learning_rate": 0.0004632730824829877,
      "loss": 0.0963,
      "step": 2668
    },
    {
      "epoch": 0.5986089297733902,
      "gripper_loss": 0.027099609375,
      "loss": 0.09619140625,
      "pos_loss": 0.83203125,
      "rot_loss": 0.07373046875,
      "step": 2668
    },
    {
      "epoch": 0.5988332959389724,
      "grad_norm": 0.8228247761726379,
      "learning_rate": 0.00046324147862163037,
      "loss": 0.1303,
      "step": 2669
    },
    {
      "epoch": 0.5988332959389724,
      "gripper_loss": 0.390625,
      "loss": 0.09912109375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.349609375,
      "step": 2669
    },
    {
      "epoch": 0.5990576621045546,
      "grad_norm": 0.7508645057678223,
      "learning_rate": 0.0004632098622473593,
      "loss": 0.0804,
      "step": 2670
    },
    {
      "epoch": 0.5990576621045546,
      "gripper_loss": 0.96875,
      "loss": 0.083984375,
      "pos_loss": 0.38671875,
      "rot_loss": 0.07177734375,
      "step": 2670
    },
    {
      "epoch": 0.5992820282701369,
      "grad_norm": 1.091020941734314,
      "learning_rate": 0.0004631782333620298,
      "loss": 0.135,
      "step": 2671
    },
    {
      "epoch": 0.5992820282701369,
      "gripper_loss": 0.0478515625,
      "loss": 0.1904296875,
      "pos_loss": 1.34375,
      "rot_loss": 0.5234375,
      "step": 2671
    },
    {
      "epoch": 0.5995063944357191,
      "grad_norm": 0.8819104433059692,
      "learning_rate": 0.0004631465919674979,
      "loss": 0.129,
      "step": 2672
    },
    {
      "epoch": 0.5995063944357191,
      "gripper_loss": 0.47265625,
      "loss": 0.05029296875,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.126953125,
      "step": 2672
    },
    {
      "epoch": 0.5997307606013014,
      "grad_norm": 0.6989518404006958,
      "learning_rate": 0.00046311493806562023,
      "loss": 0.0842,
      "step": 2673
    },
    {
      "epoch": 0.5997307606013014,
      "gripper_loss": 1.1484375,
      "loss": 0.12158203125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.259765625,
      "step": 2673
    },
    {
      "epoch": 0.5999551267668836,
      "grad_norm": 0.6367666125297546,
      "learning_rate": 0.00046308327165825425,
      "loss": 0.1097,
      "step": 2674
    },
    {
      "epoch": 0.5999551267668836,
      "gripper_loss": 0.251953125,
      "loss": 0.119140625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.41796875,
      "step": 2674
    },
    {
      "epoch": 0.6001794929324658,
      "grad_norm": 0.8361591696739197,
      "learning_rate": 0.0004630515927472581,
      "loss": 0.1014,
      "step": 2675
    },
    {
      "epoch": 0.6001794929324658,
      "gripper_loss": 0.07568359375,
      "loss": 0.1669921875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.65625,
      "step": 2675
    },
    {
      "epoch": 0.600403859098048,
      "grad_norm": 0.7838375568389893,
      "learning_rate": 0.00046301990133449067,
      "loss": 0.122,
      "step": 2676
    },
    {
      "epoch": 0.600403859098048,
      "gripper_loss": 0.330078125,
      "loss": 0.1044921875,
      "pos_loss": 0.75,
      "rot_loss": 0.1552734375,
      "step": 2676
    },
    {
      "epoch": 0.6006282252636302,
      "grad_norm": 0.6112106442451477,
      "learning_rate": 0.00046298819742181176,
      "loss": 0.1343,
      "step": 2677
    },
    {
      "epoch": 0.6006282252636302,
      "gripper_loss": 0.197265625,
      "loss": 0.2109375,
      "pos_loss": 0.4765625,
      "rot_loss": 1.609375,
      "step": 2677
    },
    {
      "epoch": 0.6008525914292124,
      "grad_norm": 0.48999038338661194,
      "learning_rate": 0.00046295648101108143,
      "loss": 0.0956,
      "step": 2678
    },
    {
      "epoch": 0.6008525914292124,
      "gripper_loss": 2.21875,
      "loss": 0.193359375,
      "pos_loss": 0.6484375,
      "rot_loss": 0.515625,
      "step": 2678
    },
    {
      "epoch": 0.6010769575947947,
      "grad_norm": 0.9006250500679016,
      "learning_rate": 0.0004629247521041611,
      "loss": 0.1475,
      "step": 2679
    },
    {
      "epoch": 0.6010769575947947,
      "gripper_loss": 0.302734375,
      "loss": 0.103515625,
      "pos_loss": 0.84375,
      "rot_loss": 0.050537109375,
      "step": 2679
    },
    {
      "epoch": 0.6013013237603769,
      "grad_norm": 0.6750453114509583,
      "learning_rate": 0.00046289301070291243,
      "loss": 0.0906,
      "step": 2680
    },
    {
      "epoch": 0.6013013237603769,
      "gripper_loss": 0.055908203125,
      "loss": 0.162109375,
      "pos_loss": 1.390625,
      "rot_loss": 0.2236328125,
      "step": 2680
    },
    {
      "epoch": 0.6015256899259591,
      "grad_norm": 1.0275204181671143,
      "learning_rate": 0.000462861256809198,
      "loss": 0.1845,
      "step": 2681
    },
    {
      "epoch": 0.6015256899259591,
      "gripper_loss": 1.2265625,
      "loss": 0.0673828125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.01361083984375,
      "step": 2681
    },
    {
      "epoch": 0.6017500560915414,
      "grad_norm": 0.8914040923118591,
      "learning_rate": 0.0004628294904248812,
      "loss": 0.165,
      "step": 2682
    },
    {
      "epoch": 0.6017500560915414,
      "gripper_loss": 0.73828125,
      "loss": 0.09130859375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.265625,
      "step": 2682
    },
    {
      "epoch": 0.6019744222571236,
      "grad_norm": 1.0573275089263916,
      "learning_rate": 0.000462797711551826,
      "loss": 0.1071,
      "step": 2683
    },
    {
      "epoch": 0.6019744222571236,
      "gripper_loss": 0.97265625,
      "loss": 0.10400390625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.047119140625,
      "step": 2683
    },
    {
      "epoch": 0.6021987884227059,
      "grad_norm": 0.531336784362793,
      "learning_rate": 0.00046276592019189725,
      "loss": 0.1089,
      "step": 2684
    },
    {
      "epoch": 0.6021987884227059,
      "gripper_loss": 0.7421875,
      "loss": 0.0888671875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.34765625,
      "step": 2684
    },
    {
      "epoch": 0.6024231545882881,
      "grad_norm": 0.8016528487205505,
      "learning_rate": 0.00046273411634696035,
      "loss": 0.0879,
      "step": 2685
    },
    {
      "epoch": 0.6024231545882881,
      "gripper_loss": 0.66796875,
      "loss": 0.197265625,
      "pos_loss": 0.953125,
      "rot_loss": 0.58203125,
      "step": 2685
    },
    {
      "epoch": 0.6026475207538703,
      "grad_norm": 1.1189638376235962,
      "learning_rate": 0.0004627023000188816,
      "loss": 0.149,
      "step": 2686
    },
    {
      "epoch": 0.6026475207538703,
      "gripper_loss": 0.9375,
      "loss": 0.0625,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.057861328125,
      "step": 2686
    },
    {
      "epoch": 0.6028718869194526,
      "grad_norm": 0.6483885049819946,
      "learning_rate": 0.00046267047120952787,
      "loss": 0.104,
      "step": 2687
    },
    {
      "epoch": 0.6028718869194526,
      "gripper_loss": 0.37890625,
      "loss": 0.03857421875,
      "pos_loss": 0.0712890625,
      "rot_loss": 0.11328125,
      "step": 2687
    },
    {
      "epoch": 0.6030962530850348,
      "grad_norm": 0.8280583024024963,
      "learning_rate": 0.000462638629920767,
      "loss": 0.1026,
      "step": 2688
    },
    {
      "epoch": 0.6030962530850348,
      "gripper_loss": 0.18359375,
      "loss": 0.018798828125,
      "pos_loss": 0.052978515625,
      "rot_loss": 0.030029296875,
      "step": 2688
    },
    {
      "epoch": 0.603320619250617,
      "grad_norm": 0.8000097870826721,
      "learning_rate": 0.0004626067761544673,
      "loss": 0.1591,
      "step": 2689
    },
    {
      "epoch": 0.603320619250617,
      "gripper_loss": 0.0751953125,
      "loss": 0.10986328125,
      "pos_loss": 0.953125,
      "rot_loss": 0.1103515625,
      "step": 2689
    },
    {
      "epoch": 0.6035449854161993,
      "grad_norm": 0.5437154769897461,
      "learning_rate": 0.000462574909912498,
      "loss": 0.1058,
      "step": 2690
    },
    {
      "epoch": 0.6035449854161993,
      "gripper_loss": 2.375,
      "loss": 0.08935546875,
      "pos_loss": 0.059814453125,
      "rot_loss": 0.048095703125,
      "step": 2690
    },
    {
      "epoch": 0.6037693515817815,
      "grad_norm": 0.8198954463005066,
      "learning_rate": 0.000462543031196729,
      "loss": 0.1234,
      "step": 2691
    },
    {
      "epoch": 0.6037693515817815,
      "gripper_loss": 0.21484375,
      "loss": 0.1484375,
      "pos_loss": 1.1328125,
      "rot_loss": 0.2578125,
      "step": 2691
    },
    {
      "epoch": 0.6039937177473637,
      "grad_norm": 0.6891394853591919,
      "learning_rate": 0.00046251114000903093,
      "loss": 0.0775,
      "step": 2692
    },
    {
      "epoch": 0.6039937177473637,
      "gripper_loss": 0.92578125,
      "loss": 0.1982421875,
      "pos_loss": 0.55078125,
      "rot_loss": 0.71484375,
      "step": 2692
    },
    {
      "epoch": 0.604218083912946,
      "grad_norm": 1.66646146774292,
      "learning_rate": 0.00046247923635127515,
      "loss": 0.2037,
      "step": 2693
    },
    {
      "epoch": 0.604218083912946,
      "gripper_loss": 1.03125,
      "loss": 0.07666015625,
      "pos_loss": 0.259765625,
      "rot_loss": 0.119140625,
      "step": 2693
    },
    {
      "epoch": 0.6044424500785281,
      "grad_norm": 0.8629392981529236,
      "learning_rate": 0.0004624473202253337,
      "loss": 0.0945,
      "step": 2694
    },
    {
      "epoch": 0.6044424500785281,
      "gripper_loss": 0.447265625,
      "loss": 0.083984375,
      "pos_loss": 0.41796875,
      "rot_loss": 0.2294921875,
      "step": 2694
    },
    {
      "epoch": 0.6046668162441103,
      "grad_norm": 0.6351425647735596,
      "learning_rate": 0.00046241539163307946,
      "loss": 0.0702,
      "step": 2695
    },
    {
      "epoch": 0.6046668162441103,
      "gripper_loss": 0.93359375,
      "loss": 0.1435546875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.416015625,
      "step": 2695
    },
    {
      "epoch": 0.6048911824096926,
      "grad_norm": 0.9555078744888306,
      "learning_rate": 0.00046238345057638596,
      "loss": 0.1621,
      "step": 2696
    },
    {
      "epoch": 0.6048911824096926,
      "gripper_loss": 1.2265625,
      "loss": 0.052734375,
      "pos_loss": 0.03857421875,
      "rot_loss": 0.04296875,
      "step": 2696
    },
    {
      "epoch": 0.6051155485752748,
      "grad_norm": 0.662006139755249,
      "learning_rate": 0.00046235149705712756,
      "loss": 0.0955,
      "step": 2697
    },
    {
      "epoch": 0.6051155485752748,
      "gripper_loss": 0.9296875,
      "loss": 0.0810546875,
      "pos_loss": 0.263671875,
      "rot_loss": 0.197265625,
      "step": 2697
    },
    {
      "epoch": 0.6053399147408571,
      "grad_norm": 0.5776715874671936,
      "learning_rate": 0.00046231953107717913,
      "loss": 0.1246,
      "step": 2698
    },
    {
      "epoch": 0.6053399147408571,
      "gripper_loss": 0.048583984375,
      "loss": 0.134765625,
      "pos_loss": 1.09375,
      "rot_loss": 0.26953125,
      "step": 2698
    },
    {
      "epoch": 0.6055642809064393,
      "grad_norm": 0.6983832716941833,
      "learning_rate": 0.0004622875526384165,
      "loss": 0.1253,
      "step": 2699
    },
    {
      "epoch": 0.6055642809064393,
      "gripper_loss": 0.06396484375,
      "loss": 0.12255859375,
      "pos_loss": 1.046875,
      "rot_loss": 0.11669921875,
      "step": 2699
    },
    {
      "epoch": 0.6057886470720215,
      "grad_norm": 0.7200309038162231,
      "learning_rate": 0.0004622555617427162,
      "loss": 0.0992,
      "step": 2700
    },
    {
      "epoch": 0.6057886470720215,
      "gripper_loss": 0.51171875,
      "loss": 0.043212890625,
      "pos_loss": 0.13671875,
      "rot_loss": 0.08837890625,
      "step": 2700
    },
    {
      "epoch": 0.6060130132376038,
      "grad_norm": 0.6302570700645447,
      "learning_rate": 0.0004622235583919554,
      "loss": 0.1389,
      "step": 2701
    },
    {
      "epoch": 0.6060130132376038,
      "gripper_loss": 0.1044921875,
      "loss": 0.095703125,
      "pos_loss": 0.8125,
      "rot_loss": 0.0751953125,
      "step": 2701
    },
    {
      "epoch": 0.606237379403186,
      "grad_norm": 0.7765404582023621,
      "learning_rate": 0.000462191542588012,
      "loss": 0.1066,
      "step": 2702
    },
    {
      "epoch": 0.606237379403186,
      "gripper_loss": 0.2734375,
      "loss": 0.5546875,
      "pos_loss": 1.3515625,
      "rot_loss": 0.5625,
      "step": 2702
    },
    {
      "epoch": 0.6064617455687682,
      "grad_norm": 2.1290392875671387,
      "learning_rate": 0.0004621595143327647,
      "loss": 0.5037,
      "step": 2703
    },
    {
      "epoch": 0.6064617455687682,
      "gripper_loss": 0.1865234375,
      "loss": 0.111328125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.578125,
      "step": 2703
    },
    {
      "epoch": 0.6066861117343505,
      "grad_norm": 0.8038598895072937,
      "learning_rate": 0.0004621274736280929,
      "loss": 0.084,
      "step": 2704
    },
    {
      "epoch": 0.6066861117343505,
      "gripper_loss": 0.0255126953125,
      "loss": 0.13671875,
      "pos_loss": 1.0859375,
      "rot_loss": 0.25,
      "step": 2704
    },
    {
      "epoch": 0.6069104778999327,
      "grad_norm": 0.8808379769325256,
      "learning_rate": 0.0004620954204758768,
      "loss": 0.0905,
      "step": 2705
    },
    {
      "epoch": 0.6069104778999327,
      "gripper_loss": 1.0546875,
      "loss": 0.046630859375,
      "pos_loss": 0.03857421875,
      "rot_loss": 0.01708984375,
      "step": 2705
    },
    {
      "epoch": 0.6071348440655149,
      "grad_norm": 0.8864877820014954,
      "learning_rate": 0.00046206335487799724,
      "loss": 0.135,
      "step": 2706
    },
    {
      "epoch": 0.6071348440655149,
      "gripper_loss": 0.1591796875,
      "loss": 0.125,
      "pos_loss": 0.8125,
      "rot_loss": 0.326171875,
      "step": 2706
    },
    {
      "epoch": 0.6073592102310972,
      "grad_norm": 0.4617525339126587,
      "learning_rate": 0.0004620312768363357,
      "loss": 0.1088,
      "step": 2707
    },
    {
      "epoch": 0.6073592102310972,
      "gripper_loss": 0.80078125,
      "loss": 0.10498046875,
      "pos_loss": 0.484375,
      "rot_loss": 0.287109375,
      "step": 2707
    },
    {
      "epoch": 0.6075835763966794,
      "grad_norm": 0.6640298962593079,
      "learning_rate": 0.0004619991863527746,
      "loss": 0.1203,
      "step": 2708
    },
    {
      "epoch": 0.6075835763966794,
      "gripper_loss": 1.296875,
      "loss": 0.439453125,
      "pos_loss": 0.76953125,
      "rot_loss": 0.6328125,
      "step": 2708
    },
    {
      "epoch": 0.6078079425622616,
      "grad_norm": 1.5278667211532593,
      "learning_rate": 0.000461967083429197,
      "loss": 0.4578,
      "step": 2709
    },
    {
      "epoch": 0.6078079425622616,
      "gripper_loss": 0.50390625,
      "loss": 0.134765625,
      "pos_loss": 0.1025390625,
      "rot_loss": 1.09375,
      "step": 2709
    },
    {
      "epoch": 0.6080323087278439,
      "grad_norm": 0.5027023553848267,
      "learning_rate": 0.0004619349680674867,
      "loss": 0.0888,
      "step": 2710
    },
    {
      "epoch": 0.6080323087278439,
      "gripper_loss": 0.78515625,
      "loss": 0.2275390625,
      "pos_loss": 0.609375,
      "rot_loss": 0.419921875,
      "step": 2710
    },
    {
      "epoch": 0.608256674893426,
      "grad_norm": 2.0118942260742188,
      "learning_rate": 0.0004619028402695282,
      "loss": 0.2681,
      "step": 2711
    },
    {
      "epoch": 0.608256674893426,
      "gripper_loss": 0.060302734375,
      "loss": 0.050048828125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.1630859375,
      "step": 2711
    },
    {
      "epoch": 0.6084810410590084,
      "grad_norm": 0.7948988080024719,
      "learning_rate": 0.00046187070003720666,
      "loss": 0.1242,
      "step": 2712
    },
    {
      "epoch": 0.6084810410590084,
      "gripper_loss": 1.7578125,
      "loss": 0.2392578125,
      "pos_loss": 1.359375,
      "rot_loss": 0.45703125,
      "step": 2712
    },
    {
      "epoch": 0.6087054072245905,
      "grad_norm": 1.052750825881958,
      "learning_rate": 0.00046183854737240815,
      "loss": 0.1346,
      "step": 2713
    },
    {
      "epoch": 0.6087054072245905,
      "gripper_loss": 0.07275390625,
      "loss": 0.1142578125,
      "pos_loss": 0.6328125,
      "rot_loss": 0.388671875,
      "step": 2713
    },
    {
      "epoch": 0.6089297733901727,
      "grad_norm": 0.8338558673858643,
      "learning_rate": 0.00046180638227701944,
      "loss": 0.1364,
      "step": 2714
    },
    {
      "epoch": 0.6089297733901727,
      "gripper_loss": 0.279296875,
      "loss": 0.12255859375,
      "pos_loss": 0.234375,
      "rot_loss": 0.296875,
      "step": 2714
    },
    {
      "epoch": 0.609154139555755,
      "grad_norm": 1.4371263980865479,
      "learning_rate": 0.00046177420475292775,
      "loss": 0.1701,
      "step": 2715
    },
    {
      "epoch": 0.609154139555755,
      "gripper_loss": 0.8203125,
      "loss": 0.185546875,
      "pos_loss": 1.234375,
      "rot_loss": 0.2578125,
      "step": 2715
    },
    {
      "epoch": 0.6093785057213372,
      "grad_norm": 0.7799198031425476,
      "learning_rate": 0.00046174201480202144,
      "loss": 0.1248,
      "step": 2716
    },
    {
      "epoch": 0.6093785057213372,
      "gripper_loss": 0.138671875,
      "loss": 0.1171875,
      "pos_loss": 0.412109375,
      "rot_loss": 0.55078125,
      "step": 2716
    },
    {
      "epoch": 0.6096028718869194,
      "grad_norm": 0.8756706714630127,
      "learning_rate": 0.00046170981242618924,
      "loss": 0.1246,
      "step": 2717
    },
    {
      "epoch": 0.6096028718869194,
      "gripper_loss": 0.240234375,
      "loss": 0.0947265625,
      "pos_loss": 0.333984375,
      "rot_loss": 0.431640625,
      "step": 2717
    },
    {
      "epoch": 0.6098272380525017,
      "grad_norm": 1.078109622001648,
      "learning_rate": 0.00046167759762732097,
      "loss": 0.1149,
      "step": 2718
    },
    {
      "epoch": 0.6098272380525017,
      "gripper_loss": 0.63671875,
      "loss": 0.061767578125,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.0556640625,
      "step": 2718
    },
    {
      "epoch": 0.6100516042180839,
      "grad_norm": 1.098537802696228,
      "learning_rate": 0.0004616453704073068,
      "loss": 0.1071,
      "step": 2719
    },
    {
      "epoch": 0.6100516042180839,
      "gripper_loss": 0.08447265625,
      "loss": 0.10986328125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.08837890625,
      "step": 2719
    },
    {
      "epoch": 0.6102759703836661,
      "grad_norm": 1.1434705257415771,
      "learning_rate": 0.0004616131307680379,
      "loss": 0.1714,
      "step": 2720
    },
    {
      "epoch": 0.6102759703836661,
      "gripper_loss": 0.6640625,
      "loss": 0.10791015625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.41015625,
      "step": 2720
    },
    {
      "epoch": 0.6105003365492484,
      "grad_norm": 0.982019305229187,
      "learning_rate": 0.000461580878711406,
      "loss": 0.1285,
      "step": 2721
    },
    {
      "epoch": 0.6105003365492484,
      "gripper_loss": 0.19921875,
      "loss": 0.056640625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.10400390625,
      "step": 2721
    },
    {
      "epoch": 0.6107247027148306,
      "grad_norm": 1.1365303993225098,
      "learning_rate": 0.0004615486142393038,
      "loss": 0.1114,
      "step": 2722
    },
    {
      "epoch": 0.6107247027148306,
      "gripper_loss": 0.275390625,
      "loss": 0.051025390625,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.08447265625,
      "step": 2722
    },
    {
      "epoch": 0.6109490688804128,
      "grad_norm": 0.9754313230514526,
      "learning_rate": 0.0004615163373536243,
      "loss": 0.0999,
      "step": 2723
    },
    {
      "epoch": 0.6109490688804128,
      "gripper_loss": 0.1416015625,
      "loss": 0.4921875,
      "pos_loss": 2.015625,
      "rot_loss": 2.84375,
      "step": 2723
    },
    {
      "epoch": 0.6111734350459951,
      "grad_norm": 0.9819469451904297,
      "learning_rate": 0.0004614840480562618,
      "loss": 0.1989,
      "step": 2724
    },
    {
      "epoch": 0.6111734350459951,
      "gripper_loss": 0.12158203125,
      "loss": 0.1142578125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.435546875,
      "step": 2724
    },
    {
      "epoch": 0.6113978012115773,
      "grad_norm": 0.9872376918792725,
      "learning_rate": 0.0004614517463491108,
      "loss": 0.124,
      "step": 2725
    },
    {
      "epoch": 0.6113978012115773,
      "gripper_loss": 0.7578125,
      "loss": 0.10009765625,
      "pos_loss": 0.69140625,
      "rot_loss": 0.031494140625,
      "step": 2725
    },
    {
      "epoch": 0.6116221673771596,
      "grad_norm": 0.6637658476829529,
      "learning_rate": 0.0004614194322340668,
      "loss": 0.1049,
      "step": 2726
    },
    {
      "epoch": 0.6116221673771596,
      "gripper_loss": 0.416015625,
      "loss": 0.11083984375,
      "pos_loss": 0.474609375,
      "rot_loss": 0.455078125,
      "step": 2726
    },
    {
      "epoch": 0.6118465335427418,
      "grad_norm": 0.5617327094078064,
      "learning_rate": 0.000461387105713026,
      "loss": 0.1317,
      "step": 2727
    },
    {
      "epoch": 0.6118465335427418,
      "gripper_loss": 0.298828125,
      "loss": 0.06689453125,
      "pos_loss": 0.458984375,
      "rot_loss": 0.053955078125,
      "step": 2727
    },
    {
      "epoch": 0.612070899708324,
      "grad_norm": 0.7075052857398987,
      "learning_rate": 0.00046135476678788533,
      "loss": 0.1275,
      "step": 2728
    },
    {
      "epoch": 0.612070899708324,
      "gripper_loss": 0.06884765625,
      "loss": 0.26171875,
      "pos_loss": 1.78125,
      "rot_loss": 0.8984375,
      "step": 2728
    },
    {
      "epoch": 0.6122952658739063,
      "grad_norm": 0.805926501750946,
      "learning_rate": 0.00046132241546054234,
      "loss": 0.14,
      "step": 2729
    },
    {
      "epoch": 0.6122952658739063,
      "gripper_loss": 0.1015625,
      "loss": 0.1484375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.27734375,
      "step": 2729
    },
    {
      "epoch": 0.6125196320394884,
      "grad_norm": 1.3919010162353516,
      "learning_rate": 0.0004612900517328955,
      "loss": 0.1907,
      "step": 2730
    },
    {
      "epoch": 0.6125196320394884,
      "gripper_loss": 0.65234375,
      "loss": 0.11572265625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.173828125,
      "step": 2730
    },
    {
      "epoch": 0.6127439982050706,
      "grad_norm": 1.0103646516799927,
      "learning_rate": 0.0004612576756068438,
      "loss": 0.1677,
      "step": 2731
    },
    {
      "epoch": 0.6127439982050706,
      "gripper_loss": 1.125,
      "loss": 0.1328125,
      "pos_loss": 0.3671875,
      "rot_loss": 0.53515625,
      "step": 2731
    },
    {
      "epoch": 0.6129683643706529,
      "grad_norm": 1.0282598733901978,
      "learning_rate": 0.00046122528708428717,
      "loss": 0.121,
      "step": 2732
    },
    {
      "epoch": 0.6129683643706529,
      "gripper_loss": 0.1962890625,
      "loss": 0.2138671875,
      "pos_loss": 1.1015625,
      "rot_loss": 0.8046875,
      "step": 2732
    },
    {
      "epoch": 0.6131927305362351,
      "grad_norm": 0.9068244099617004,
      "learning_rate": 0.0004611928861671261,
      "loss": 0.1587,
      "step": 2733
    },
    {
      "epoch": 0.6131927305362351,
      "gripper_loss": 0.07275390625,
      "loss": 0.08984375,
      "pos_loss": 0.40625,
      "rot_loss": 0.37109375,
      "step": 2733
    },
    {
      "epoch": 0.6134170967018173,
      "grad_norm": 0.7969058752059937,
      "learning_rate": 0.00046116047285726177,
      "loss": 0.1186,
      "step": 2734
    },
    {
      "epoch": 0.6134170967018173,
      "gripper_loss": 0.1259765625,
      "loss": 0.109375,
      "pos_loss": 0.400390625,
      "rot_loss": 0.345703125,
      "step": 2734
    },
    {
      "epoch": 0.6136414628673996,
      "grad_norm": 0.9478980302810669,
      "learning_rate": 0.0004611280471565963,
      "loss": 0.1321,
      "step": 2735
    },
    {
      "epoch": 0.6136414628673996,
      "gripper_loss": 0.2578125,
      "loss": 0.173828125,
      "pos_loss": 1.5,
      "rot_loss": 0.12451171875,
      "step": 2735
    },
    {
      "epoch": 0.6138658290329818,
      "grad_norm": 0.6996096968650818,
      "learning_rate": 0.0004610956090670323,
      "loss": 0.0748,
      "step": 2736
    },
    {
      "epoch": 0.6138658290329818,
      "gripper_loss": 0.08984375,
      "loss": 0.029052734375,
      "pos_loss": 0.09375,
      "rot_loss": 0.0751953125,
      "step": 2736
    },
    {
      "epoch": 0.614090195198564,
      "grad_norm": 0.9499855041503906,
      "learning_rate": 0.0004610631585904734,
      "loss": 0.1433,
      "step": 2737
    },
    {
      "epoch": 0.614090195198564,
      "gripper_loss": 0.5078125,
      "loss": 0.09912109375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.158203125,
      "step": 2737
    },
    {
      "epoch": 0.6143145613641463,
      "grad_norm": 0.7808171510696411,
      "learning_rate": 0.0004610306957288236,
      "loss": 0.1463,
      "step": 2738
    },
    {
      "epoch": 0.6143145613641463,
      "gripper_loss": 0.37890625,
      "loss": 0.05419921875,
      "pos_loss": 0.322265625,
      "rot_loss": 0.0272216796875,
      "step": 2738
    },
    {
      "epoch": 0.6145389275297285,
      "grad_norm": 0.6360421776771545,
      "learning_rate": 0.0004609982204839879,
      "loss": 0.0883,
      "step": 2739
    },
    {
      "epoch": 0.6145389275297285,
      "gripper_loss": 0.72265625,
      "loss": 0.07470703125,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.37109375,
      "step": 2739
    },
    {
      "epoch": 0.6147632936953108,
      "grad_norm": 0.5955389142036438,
      "learning_rate": 0.0004609657328578719,
      "loss": 0.1225,
      "step": 2740
    },
    {
      "epoch": 0.6147632936953108,
      "gripper_loss": 0.34765625,
      "loss": 0.076171875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.265625,
      "step": 2740
    },
    {
      "epoch": 0.614987659860893,
      "grad_norm": 0.6000667214393616,
      "learning_rate": 0.000460933232852382,
      "loss": 0.1247,
      "step": 2741
    },
    {
      "epoch": 0.614987659860893,
      "gripper_loss": 0.7890625,
      "loss": 0.11376953125,
      "pos_loss": 0.283203125,
      "rot_loss": 0.40234375,
      "step": 2741
    },
    {
      "epoch": 0.6152120260264752,
      "grad_norm": 0.641008198261261,
      "learning_rate": 0.0004609007204694252,
      "loss": 0.0911,
      "step": 2742
    },
    {
      "epoch": 0.6152120260264752,
      "gripper_loss": 0.53515625,
      "loss": 0.314453125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.890625,
      "step": 2742
    },
    {
      "epoch": 0.6154363921920575,
      "grad_norm": 1.7727516889572144,
      "learning_rate": 0.00046086819571090936,
      "loss": 0.3527,
      "step": 2743
    },
    {
      "epoch": 0.6154363921920575,
      "gripper_loss": 0.35546875,
      "loss": 0.125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.412109375,
      "step": 2743
    },
    {
      "epoch": 0.6156607583576397,
      "grad_norm": 0.9738212823867798,
      "learning_rate": 0.0004608356585787431,
      "loss": 0.1113,
      "step": 2744
    },
    {
      "epoch": 0.6156607583576397,
      "gripper_loss": 0.1904296875,
      "loss": 0.052490234375,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.21484375,
      "step": 2744
    },
    {
      "epoch": 0.6158851245232219,
      "grad_norm": 0.7068566083908081,
      "learning_rate": 0.00046080310907483556,
      "loss": 0.1132,
      "step": 2745
    },
    {
      "epoch": 0.6158851245232219,
      "gripper_loss": 0.298828125,
      "loss": 0.053955078125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.140625,
      "step": 2745
    },
    {
      "epoch": 0.6161094906888042,
      "grad_norm": 0.7070767283439636,
      "learning_rate": 0.00046077054720109677,
      "loss": 0.0727,
      "step": 2746
    },
    {
      "epoch": 0.6161094906888042,
      "gripper_loss": 0.189453125,
      "loss": 0.1025390625,
      "pos_loss": 0.490234375,
      "rot_loss": 0.2265625,
      "step": 2746
    },
    {
      "epoch": 0.6163338568543864,
      "grad_norm": 0.9542366862297058,
      "learning_rate": 0.00046073797295943754,
      "loss": 0.1489,
      "step": 2747
    },
    {
      "epoch": 0.6163338568543864,
      "gripper_loss": 0.099609375,
      "loss": 0.271484375,
      "pos_loss": 0.67578125,
      "rot_loss": 1.8671875,
      "step": 2747
    },
    {
      "epoch": 0.6165582230199685,
      "grad_norm": 0.8618956804275513,
      "learning_rate": 0.00046070538635176915,
      "loss": 0.1658,
      "step": 2748
    },
    {
      "epoch": 0.6165582230199685,
      "gripper_loss": 0.203125,
      "loss": 0.07177734375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.07421875,
      "step": 2748
    },
    {
      "epoch": 0.6167825891855508,
      "grad_norm": 0.9457547068595886,
      "learning_rate": 0.00046067278738000383,
      "loss": 0.1709,
      "step": 2749
    },
    {
      "epoch": 0.6167825891855508,
      "gripper_loss": 0.10302734375,
      "loss": 0.15234375,
      "pos_loss": 0.515625,
      "rot_loss": 0.80078125,
      "step": 2749
    },
    {
      "epoch": 0.617006955351133,
      "grad_norm": 0.9787493348121643,
      "learning_rate": 0.0004606401760460546,
      "loss": 0.1177,
      "step": 2750
    },
    {
      "epoch": 0.617006955351133,
      "gripper_loss": 0.04296875,
      "loss": 0.197265625,
      "pos_loss": 1.4296875,
      "rot_loss": 0.53515625,
      "step": 2750
    },
    {
      "epoch": 0.6172313215167152,
      "grad_norm": 0.8146015405654907,
      "learning_rate": 0.0004606075523518348,
      "loss": 0.1542,
      "step": 2751
    },
    {
      "epoch": 0.6172313215167152,
      "gripper_loss": 0.1318359375,
      "loss": 0.037841796875,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.09912109375,
      "step": 2751
    },
    {
      "epoch": 0.6174556876822975,
      "grad_norm": 1.1646369695663452,
      "learning_rate": 0.00046057491629925907,
      "loss": 0.1149,
      "step": 2752
    },
    {
      "epoch": 0.6174556876822975,
      "gripper_loss": 0.61328125,
      "loss": 0.064453125,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.1494140625,
      "step": 2752
    },
    {
      "epoch": 0.6176800538478797,
      "grad_norm": 1.1515175104141235,
      "learning_rate": 0.00046054226789024236,
      "loss": 0.1582,
      "step": 2753
    },
    {
      "epoch": 0.6176800538478797,
      "gripper_loss": 0.0673828125,
      "loss": 0.1494140625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.81640625,
      "step": 2753
    },
    {
      "epoch": 0.617904420013462,
      "grad_norm": 0.8692107200622559,
      "learning_rate": 0.0004605096071267004,
      "loss": 0.1397,
      "step": 2754
    },
    {
      "epoch": 0.617904420013462,
      "gripper_loss": 1.5625,
      "loss": 0.08154296875,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.039794921875,
      "step": 2754
    },
    {
      "epoch": 0.6181287861790442,
      "grad_norm": 1.2020654678344727,
      "learning_rate": 0.00046047693401054976,
      "loss": 0.1193,
      "step": 2755
    },
    {
      "epoch": 0.6181287861790442,
      "gripper_loss": 0.51171875,
      "loss": 0.10400390625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.18359375,
      "step": 2755
    },
    {
      "epoch": 0.6183531523446264,
      "grad_norm": 0.5346775650978088,
      "learning_rate": 0.0004604442485437077,
      "loss": 0.0934,
      "step": 2756
    },
    {
      "epoch": 0.6183531523446264,
      "gripper_loss": 1.2578125,
      "loss": 0.0576171875,
      "pos_loss": 0.029052734375,
      "rot_loss": 0.046875,
      "step": 2756
    },
    {
      "epoch": 0.6185775185102087,
      "grad_norm": 0.8343934416770935,
      "learning_rate": 0.0004604115507280922,
      "loss": 0.1376,
      "step": 2757
    },
    {
      "epoch": 0.6185775185102087,
      "gripper_loss": 0.3671875,
      "loss": 0.10546875,
      "pos_loss": 0.42578125,
      "rot_loss": 0.173828125,
      "step": 2757
    },
    {
      "epoch": 0.6188018846757909,
      "grad_norm": 0.8948149085044861,
      "learning_rate": 0.00046037884056562183,
      "loss": 0.1548,
      "step": 2758
    },
    {
      "epoch": 0.6188018846757909,
      "gripper_loss": 0.197265625,
      "loss": 0.1171875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.419921875,
      "step": 2758
    },
    {
      "epoch": 0.6190262508413731,
      "grad_norm": 1.4758514165878296,
      "learning_rate": 0.0004603461180582162,
      "loss": 0.1673,
      "step": 2759
    },
    {
      "epoch": 0.6190262508413731,
      "gripper_loss": 0.15625,
      "loss": 0.0791015625,
      "pos_loss": 0.28125,
      "rot_loss": 0.2177734375,
      "step": 2759
    },
    {
      "epoch": 0.6192506170069554,
      "grad_norm": 0.7621040940284729,
      "learning_rate": 0.0004603133832077953,
      "loss": 0.1841,
      "step": 2760
    },
    {
      "epoch": 0.6192506170069554,
      "gripper_loss": 0.08447265625,
      "loss": 0.1630859375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.34375,
      "step": 2760
    },
    {
      "epoch": 0.6194749831725376,
      "grad_norm": 1.470024824142456,
      "learning_rate": 0.0004602806360162801,
      "loss": 0.1841,
      "step": 2761
    },
    {
      "epoch": 0.6194749831725376,
      "gripper_loss": 0.07275390625,
      "loss": 0.267578125,
      "pos_loss": 1.2109375,
      "rot_loss": 1.4453125,
      "step": 2761
    },
    {
      "epoch": 0.6196993493381198,
      "grad_norm": 0.8648423552513123,
      "learning_rate": 0.00046024787648559206,
      "loss": 0.1274,
      "step": 2762
    },
    {
      "epoch": 0.6196993493381198,
      "gripper_loss": 0.044189453125,
      "loss": 0.1201171875,
      "pos_loss": 0.44921875,
      "rot_loss": 0.66015625,
      "step": 2762
    },
    {
      "epoch": 0.6199237155037021,
      "grad_norm": 0.7034769058227539,
      "learning_rate": 0.0004602151046176537,
      "loss": 0.0823,
      "step": 2763
    },
    {
      "epoch": 0.6199237155037021,
      "gripper_loss": 0.0216064453125,
      "loss": 0.126953125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.66796875,
      "step": 2763
    },
    {
      "epoch": 0.6201480816692843,
      "grad_norm": 0.7798534631729126,
      "learning_rate": 0.0004601823204143879,
      "loss": 0.0957,
      "step": 2764
    },
    {
      "epoch": 0.6201480816692843,
      "gripper_loss": 0.1904296875,
      "loss": 0.189453125,
      "pos_loss": 1.828125,
      "rot_loss": 0.0458984375,
      "step": 2764
    },
    {
      "epoch": 0.6203724478348664,
      "grad_norm": 0.6660078763961792,
      "learning_rate": 0.0004601495238777184,
      "loss": 0.1061,
      "step": 2765
    },
    {
      "epoch": 0.6203724478348664,
      "gripper_loss": 0.423828125,
      "loss": 0.22265625,
      "pos_loss": 0.5859375,
      "rot_loss": 1.5,
      "step": 2765
    },
    {
      "epoch": 0.6205968140004487,
      "grad_norm": 0.7867612838745117,
      "learning_rate": 0.0004601167150095698,
      "loss": 0.1453,
      "step": 2766
    },
    {
      "epoch": 0.6205968140004487,
      "gripper_loss": 0.2041015625,
      "loss": 0.126953125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.45703125,
      "step": 2766
    },
    {
      "epoch": 0.6208211801660309,
      "grad_norm": 0.5736501216888428,
      "learning_rate": 0.0004600838938118672,
      "loss": 0.0992,
      "step": 2767
    },
    {
      "epoch": 0.6208211801660309,
      "gripper_loss": 1.5078125,
      "loss": 0.09765625,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.177734375,
      "step": 2767
    },
    {
      "epoch": 0.6210455463316132,
      "grad_norm": 0.7562121748924255,
      "learning_rate": 0.00046005106028653667,
      "loss": 0.1204,
      "step": 2768
    },
    {
      "epoch": 0.6210455463316132,
      "gripper_loss": 0.7578125,
      "loss": 0.115234375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.1865234375,
      "step": 2768
    },
    {
      "epoch": 0.6212699124971954,
      "grad_norm": 0.9442706108093262,
      "learning_rate": 0.00046001821443550475,
      "loss": 0.1185,
      "step": 2769
    },
    {
      "epoch": 0.6212699124971954,
      "gripper_loss": 0.03125,
      "loss": 0.1630859375,
      "pos_loss": 1.3125,
      "rot_loss": 0.271484375,
      "step": 2769
    },
    {
      "epoch": 0.6214942786627776,
      "grad_norm": 0.6849001049995422,
      "learning_rate": 0.00045998535626069883,
      "loss": 0.0872,
      "step": 2770
    },
    {
      "epoch": 0.6214942786627776,
      "gripper_loss": 0.05224609375,
      "loss": 0.0693359375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.1015625,
      "step": 2770
    },
    {
      "epoch": 0.6217186448283599,
      "grad_norm": 0.6820663213729858,
      "learning_rate": 0.000459952485764047,
      "loss": 0.0933,
      "step": 2771
    },
    {
      "epoch": 0.6217186448283599,
      "gripper_loss": 0.04736328125,
      "loss": 0.0703125,
      "pos_loss": 0.31640625,
      "rot_loss": 0.32421875,
      "step": 2771
    },
    {
      "epoch": 0.6219430109939421,
      "grad_norm": 0.7665274739265442,
      "learning_rate": 0.0004599196029474782,
      "loss": 0.1461,
      "step": 2772
    },
    {
      "epoch": 0.6219430109939421,
      "gripper_loss": 0.80859375,
      "loss": 0.1982421875,
      "pos_loss": 1.0234375,
      "rot_loss": 0.30859375,
      "step": 2772
    },
    {
      "epoch": 0.6221673771595243,
      "grad_norm": 1.3074028491973877,
      "learning_rate": 0.00045988670781292183,
      "loss": 0.2323,
      "step": 2773
    },
    {
      "epoch": 0.6221673771595243,
      "gripper_loss": 0.0771484375,
      "loss": 0.265625,
      "pos_loss": 1.7578125,
      "rot_loss": 0.20703125,
      "step": 2773
    },
    {
      "epoch": 0.6223917433251066,
      "grad_norm": 1.4481160640716553,
      "learning_rate": 0.0004598538003623083,
      "loss": 0.2235,
      "step": 2774
    },
    {
      "epoch": 0.6223917433251066,
      "gripper_loss": 0.9140625,
      "loss": 0.0849609375,
      "pos_loss": 0.326171875,
      "rot_loss": 0.16796875,
      "step": 2774
    },
    {
      "epoch": 0.6226161094906888,
      "grad_norm": 0.6214053630828857,
      "learning_rate": 0.00045982088059756855,
      "loss": 0.0762,
      "step": 2775
    },
    {
      "epoch": 0.6226161094906888,
      "gripper_loss": 1.265625,
      "loss": 0.068359375,
      "pos_loss": 0.068359375,
      "rot_loss": 0.109375,
      "step": 2775
    },
    {
      "epoch": 0.622840475656271,
      "grad_norm": 0.8829907178878784,
      "learning_rate": 0.00045978794852063424,
      "loss": 0.0936,
      "step": 2776
    },
    {
      "epoch": 0.622840475656271,
      "gripper_loss": 0.52734375,
      "loss": 0.291015625,
      "pos_loss": 2.171875,
      "rot_loss": 0.671875,
      "step": 2776
    },
    {
      "epoch": 0.6230648418218533,
      "grad_norm": 0.5690881609916687,
      "learning_rate": 0.00045975500413343785,
      "loss": 0.1231,
      "step": 2777
    },
    {
      "epoch": 0.6230648418218533,
      "gripper_loss": 0.546875,
      "loss": 0.09521484375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.55078125,
      "step": 2777
    },
    {
      "epoch": 0.6232892079874355,
      "grad_norm": 0.7319597601890564,
      "learning_rate": 0.0004597220474379125,
      "loss": 0.0956,
      "step": 2778
    },
    {
      "epoch": 0.6232892079874355,
      "gripper_loss": 0.482421875,
      "loss": 0.26953125,
      "pos_loss": 0.435546875,
      "rot_loss": 0.482421875,
      "step": 2778
    },
    {
      "epoch": 0.6235135741530178,
      "grad_norm": 1.7162046432495117,
      "learning_rate": 0.0004596890784359922,
      "loss": 0.2899,
      "step": 2779
    },
    {
      "epoch": 0.6235135741530178,
      "gripper_loss": 3.5,
      "loss": 0.158203125,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.3046875,
      "step": 2779
    },
    {
      "epoch": 0.6237379403186,
      "grad_norm": 0.7335352301597595,
      "learning_rate": 0.00045965609712961145,
      "loss": 0.1251,
      "step": 2780
    },
    {
      "epoch": 0.6237379403186,
      "gripper_loss": 0.09619140625,
      "loss": 0.08251953125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.408203125,
      "step": 2780
    },
    {
      "epoch": 0.6239623064841822,
      "grad_norm": 0.5763995051383972,
      "learning_rate": 0.00045962310352070556,
      "loss": 0.1349,
      "step": 2781
    },
    {
      "epoch": 0.6239623064841822,
      "gripper_loss": 0.796875,
      "loss": 0.10693359375,
      "pos_loss": 0.69140625,
      "rot_loss": 0.029541015625,
      "step": 2781
    },
    {
      "epoch": 0.6241866726497645,
      "grad_norm": 0.8321328163146973,
      "learning_rate": 0.00045959009761121074,
      "loss": 0.1539,
      "step": 2782
    },
    {
      "epoch": 0.6241866726497645,
      "gripper_loss": 0.23046875,
      "loss": 0.0986328125,
      "pos_loss": 0.298828125,
      "rot_loss": 0.296875,
      "step": 2782
    },
    {
      "epoch": 0.6244110388153467,
      "grad_norm": 1.1697819232940674,
      "learning_rate": 0.0004595570794030636,
      "loss": 0.1501,
      "step": 2783
    },
    {
      "epoch": 0.6244110388153467,
      "gripper_loss": 0.357421875,
      "loss": 0.1318359375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.447265625,
      "step": 2783
    },
    {
      "epoch": 0.6246354049809288,
      "grad_norm": 1.0698106288909912,
      "learning_rate": 0.0004595240488982015,
      "loss": 0.1232,
      "step": 2784
    },
    {
      "epoch": 0.6246354049809288,
      "gripper_loss": 0.9921875,
      "loss": 0.1884765625,
      "pos_loss": 1.125,
      "rot_loss": 0.1455078125,
      "step": 2784
    },
    {
      "epoch": 0.6248597711465111,
      "grad_norm": 1.250518560409546,
      "learning_rate": 0.0004594910060985631,
      "loss": 0.1693,
      "step": 2785
    },
    {
      "epoch": 0.6248597711465111,
      "gripper_loss": 0.369140625,
      "loss": 0.1376953125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1513671875,
      "step": 2785
    },
    {
      "epoch": 0.6250841373120933,
      "grad_norm": 1.1794226169586182,
      "learning_rate": 0.0004594579510060869,
      "loss": 0.2019,
      "step": 2786
    },
    {
      "epoch": 0.6250841373120933,
      "gripper_loss": 0.0634765625,
      "loss": 0.2578125,
      "pos_loss": 1.0,
      "rot_loss": 1.484375,
      "step": 2786
    },
    {
      "epoch": 0.6253085034776755,
      "grad_norm": 1.2271075248718262,
      "learning_rate": 0.0004594248836227128,
      "loss": 0.15,
      "step": 2787
    },
    {
      "epoch": 0.6253085034776755,
      "gripper_loss": 0.1923828125,
      "loss": 0.259765625,
      "pos_loss": 1.4765625,
      "rot_loss": 0.91015625,
      "step": 2787
    },
    {
      "epoch": 0.6255328696432578,
      "grad_norm": 1.263272762298584,
      "learning_rate": 0.00045939180395038106,
      "loss": 0.138,
      "step": 2788
    },
    {
      "epoch": 0.6255328696432578,
      "gripper_loss": 0.294921875,
      "loss": 0.06396484375,
      "pos_loss": 0.2109375,
      "rot_loss": 0.1162109375,
      "step": 2788
    },
    {
      "epoch": 0.62575723580884,
      "grad_norm": 1.3333677053451538,
      "learning_rate": 0.00045935871199103285,
      "loss": 0.1367,
      "step": 2789
    },
    {
      "epoch": 0.62575723580884,
      "gripper_loss": 0.357421875,
      "loss": 0.291015625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.359375,
      "step": 2789
    },
    {
      "epoch": 0.6259816019744222,
      "grad_norm": 2.2429304122924805,
      "learning_rate": 0.00045932560774661005,
      "loss": 0.4478,
      "step": 2790
    },
    {
      "epoch": 0.6259816019744222,
      "gripper_loss": 0.291015625,
      "loss": 0.248046875,
      "pos_loss": 1.625,
      "rot_loss": 0.51171875,
      "step": 2790
    },
    {
      "epoch": 0.6262059681400045,
      "grad_norm": 1.1021875143051147,
      "learning_rate": 0.000459292491219055,
      "loss": 0.1666,
      "step": 2791
    },
    {
      "epoch": 0.6262059681400045,
      "gripper_loss": 0.0908203125,
      "loss": 0.1953125,
      "pos_loss": 1.2890625,
      "rot_loss": 0.59765625,
      "step": 2791
    },
    {
      "epoch": 0.6264303343055867,
      "grad_norm": 1.01935613155365,
      "learning_rate": 0.0004592593624103111,
      "loss": 0.1772,
      "step": 2792
    },
    {
      "epoch": 0.6264303343055867,
      "gripper_loss": 0.158203125,
      "loss": 0.10400390625,
      "pos_loss": 0.466796875,
      "rot_loss": 0.400390625,
      "step": 2792
    },
    {
      "epoch": 0.626654700471169,
      "grad_norm": 1.0689232349395752,
      "learning_rate": 0.00045922622132232236,
      "loss": 0.1586,
      "step": 2793
    },
    {
      "epoch": 0.626654700471169,
      "gripper_loss": 0.07275390625,
      "loss": 0.2431640625,
      "pos_loss": 0.80859375,
      "rot_loss": 1.40625,
      "step": 2793
    },
    {
      "epoch": 0.6268790666367512,
      "grad_norm": 0.9758371114730835,
      "learning_rate": 0.00045919306795703344,
      "loss": 0.1287,
      "step": 2794
    },
    {
      "epoch": 0.6268790666367512,
      "gripper_loss": 0.1611328125,
      "loss": 0.11376953125,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.373046875,
      "step": 2794
    },
    {
      "epoch": 0.6271034328023334,
      "grad_norm": 1.2459124326705933,
      "learning_rate": 0.0004591599023163898,
      "loss": 0.1646,
      "step": 2795
    },
    {
      "epoch": 0.6271034328023334,
      "gripper_loss": 0.515625,
      "loss": 0.12255859375,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.7421875,
      "step": 2795
    },
    {
      "epoch": 0.6273277989679157,
      "grad_norm": 0.9322948455810547,
      "learning_rate": 0.0004591267244023375,
      "loss": 0.1021,
      "step": 2796
    },
    {
      "epoch": 0.6273277989679157,
      "gripper_loss": 0.2021484375,
      "loss": 0.036865234375,
      "pos_loss": 0.16015625,
      "rot_loss": 0.04052734375,
      "step": 2796
    },
    {
      "epoch": 0.6275521651334979,
      "grad_norm": 0.8287084102630615,
      "learning_rate": 0.00045909353421682344,
      "loss": 0.0905,
      "step": 2797
    },
    {
      "epoch": 0.6275521651334979,
      "gripper_loss": 0.2353515625,
      "loss": 0.1435546875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.443359375,
      "step": 2797
    },
    {
      "epoch": 0.6277765312990801,
      "grad_norm": 1.3353068828582764,
      "learning_rate": 0.00045906033176179524,
      "loss": 0.1497,
      "step": 2798
    },
    {
      "epoch": 0.6277765312990801,
      "gripper_loss": 0.09814453125,
      "loss": 0.1357421875,
      "pos_loss": 0.98828125,
      "rot_loss": 0.162109375,
      "step": 2798
    },
    {
      "epoch": 0.6280008974646624,
      "grad_norm": 0.979396402835846,
      "learning_rate": 0.0004590271170392012,
      "loss": 0.1287,
      "step": 2799
    },
    {
      "epoch": 0.6280008974646624,
      "gripper_loss": 0.341796875,
      "loss": 0.1943359375,
      "pos_loss": 0.4296875,
      "rot_loss": 1.3828125,
      "step": 2799
    },
    {
      "epoch": 0.6282252636302446,
      "grad_norm": 0.7566393613815308,
      "learning_rate": 0.0004589938900509903,
      "loss": 0.1743,
      "step": 2800
    },
    {
      "epoch": 0.6282252636302446,
      "gripper_loss": 1.0078125,
      "loss": 0.07275390625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.1044921875,
      "step": 2800
    },
    {
      "epoch": 0.6284496297958267,
      "grad_norm": 0.8632663488388062,
      "learning_rate": 0.0004589606507991123,
      "loss": 0.1722,
      "step": 2801
    },
    {
      "epoch": 0.6284496297958267,
      "gripper_loss": 0.037109375,
      "loss": 0.1015625,
      "pos_loss": 0.388671875,
      "rot_loss": 0.478515625,
      "step": 2801
    },
    {
      "epoch": 0.628673995961409,
      "grad_norm": 0.771602213382721,
      "learning_rate": 0.00045892739928551777,
      "loss": 0.1082,
      "step": 2802
    },
    {
      "epoch": 0.628673995961409,
      "gripper_loss": 0.142578125,
      "loss": 0.1455078125,
      "pos_loss": 0.95703125,
      "rot_loss": 0.333984375,
      "step": 2802
    },
    {
      "epoch": 0.6288983621269912,
      "grad_norm": 0.9624353647232056,
      "learning_rate": 0.00045889413551215776,
      "loss": 0.1141,
      "step": 2803
    },
    {
      "epoch": 0.6288983621269912,
      "gripper_loss": 0.03369140625,
      "loss": 0.1748046875,
      "pos_loss": 1.1328125,
      "rot_loss": 0.53515625,
      "step": 2803
    },
    {
      "epoch": 0.6291227282925734,
      "grad_norm": 0.8139311075210571,
      "learning_rate": 0.00045886085948098417,
      "loss": 0.1273,
      "step": 2804
    },
    {
      "epoch": 0.6291227282925734,
      "gripper_loss": 0.2177734375,
      "loss": 0.1357421875,
      "pos_loss": 0.890625,
      "rot_loss": 0.369140625,
      "step": 2804
    },
    {
      "epoch": 0.6293470944581557,
      "grad_norm": 0.5695233345031738,
      "learning_rate": 0.0004588275711939497,
      "loss": 0.1433,
      "step": 2805
    },
    {
      "epoch": 0.6293470944581557,
      "gripper_loss": 0.18359375,
      "loss": 0.2197265625,
      "pos_loss": 0.51171875,
      "rot_loss": 1.1953125,
      "step": 2805
    },
    {
      "epoch": 0.6295714606237379,
      "grad_norm": 1.1112511157989502,
      "learning_rate": 0.0004587942706530077,
      "loss": 0.1793,
      "step": 2806
    },
    {
      "epoch": 0.6295714606237379,
      "gripper_loss": 0.06396484375,
      "loss": 0.0255126953125,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.07080078125,
      "step": 2806
    },
    {
      "epoch": 0.6297958267893202,
      "grad_norm": 0.8905728459358215,
      "learning_rate": 0.00045876095786011214,
      "loss": 0.142,
      "step": 2807
    },
    {
      "epoch": 0.6297958267893202,
      "gripper_loss": 0.0341796875,
      "loss": 0.396484375,
      "pos_loss": 3.25,
      "rot_loss": 0.84765625,
      "step": 2807
    },
    {
      "epoch": 0.6300201929549024,
      "grad_norm": 0.7015225291252136,
      "learning_rate": 0.00045872763281721787,
      "loss": 0.1394,
      "step": 2808
    },
    {
      "epoch": 0.6300201929549024,
      "gripper_loss": 0.0810546875,
      "loss": 0.038330078125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.049560546875,
      "step": 2808
    },
    {
      "epoch": 0.6302445591204846,
      "grad_norm": 0.7504640817642212,
      "learning_rate": 0.0004586942955262804,
      "loss": 0.0872,
      "step": 2809
    },
    {
      "epoch": 0.6302445591204846,
      "gripper_loss": 0.28125,
      "loss": 0.056396484375,
      "pos_loss": 0.11865234375,
      "rot_loss": 0.23828125,
      "step": 2809
    },
    {
      "epoch": 0.6304689252860669,
      "grad_norm": 0.7993879914283752,
      "learning_rate": 0.00045866094598925585,
      "loss": 0.1051,
      "step": 2810
    },
    {
      "epoch": 0.6304689252860669,
      "gripper_loss": 0.55078125,
      "loss": 0.0693359375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.0693359375,
      "step": 2810
    },
    {
      "epoch": 0.6306932914516491,
      "grad_norm": 0.6848698258399963,
      "learning_rate": 0.00045862758420810125,
      "loss": 0.0919,
      "step": 2811
    },
    {
      "epoch": 0.6306932914516491,
      "gripper_loss": 0.859375,
      "loss": 0.04736328125,
      "pos_loss": 0.10595703125,
      "rot_loss": 0.0546875,
      "step": 2811
    },
    {
      "epoch": 0.6309176576172313,
      "grad_norm": 0.6153131723403931,
      "learning_rate": 0.00045859421018477426,
      "loss": 0.0872,
      "step": 2812
    },
    {
      "epoch": 0.6309176576172313,
      "gripper_loss": 0.921875,
      "loss": 0.10302734375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.33984375,
      "step": 2812
    },
    {
      "epoch": 0.6311420237828136,
      "grad_norm": 0.924374520778656,
      "learning_rate": 0.0004585608239212332,
      "loss": 0.0914,
      "step": 2813
    },
    {
      "epoch": 0.6311420237828136,
      "gripper_loss": 0.03271484375,
      "loss": 0.2216796875,
      "pos_loss": 1.8359375,
      "rot_loss": 0.392578125,
      "step": 2813
    },
    {
      "epoch": 0.6313663899483958,
      "grad_norm": 0.7502029538154602,
      "learning_rate": 0.00045852742541943717,
      "loss": 0.1515,
      "step": 2814
    },
    {
      "epoch": 0.6313663899483958,
      "gripper_loss": 0.052001953125,
      "loss": 0.0810546875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1103515625,
      "step": 2814
    },
    {
      "epoch": 0.631590756113978,
      "grad_norm": 0.759358286857605,
      "learning_rate": 0.000458494014681346,
      "loss": 0.0851,
      "step": 2815
    },
    {
      "epoch": 0.631590756113978,
      "gripper_loss": 1.0546875,
      "loss": 0.07373046875,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.1875,
      "step": 2815
    },
    {
      "epoch": 0.6318151222795603,
      "grad_norm": 0.8296205401420593,
      "learning_rate": 0.0004584605917089202,
      "loss": 0.1322,
      "step": 2816
    },
    {
      "epoch": 0.6318151222795603,
      "gripper_loss": 0.0673828125,
      "loss": 0.2890625,
      "pos_loss": 1.21875,
      "rot_loss": 1.734375,
      "step": 2816
    },
    {
      "epoch": 0.6320394884451425,
      "grad_norm": 1.0177555084228516,
      "learning_rate": 0.00045842715650412104,
      "loss": 0.1714,
      "step": 2817
    },
    {
      "epoch": 0.6320394884451425,
      "gripper_loss": 0.04736328125,
      "loss": 0.373046875,
      "pos_loss": 3.171875,
      "rot_loss": 0.67578125,
      "step": 2817
    },
    {
      "epoch": 0.6322638546107247,
      "grad_norm": 0.8550769686698914,
      "learning_rate": 0.00045839370906891044,
      "loss": 0.1612,
      "step": 2818
    },
    {
      "epoch": 0.6322638546107247,
      "gripper_loss": 0.11083984375,
      "loss": 0.052978515625,
      "pos_loss": 0.353515625,
      "rot_loss": 0.1083984375,
      "step": 2818
    },
    {
      "epoch": 0.632488220776307,
      "grad_norm": 0.7130568027496338,
      "learning_rate": 0.0004583602494052511,
      "loss": 0.0907,
      "step": 2819
    },
    {
      "epoch": 0.632488220776307,
      "gripper_loss": 0.02734375,
      "loss": 0.234375,
      "pos_loss": 1.1328125,
      "rot_loss": 1.28125,
      "step": 2819
    },
    {
      "epoch": 0.6327125869418891,
      "grad_norm": 0.9287455677986145,
      "learning_rate": 0.00045832677751510645,
      "loss": 0.1878,
      "step": 2820
    },
    {
      "epoch": 0.6327125869418891,
      "gripper_loss": 0.07421875,
      "loss": 0.1337890625,
      "pos_loss": 0.828125,
      "rot_loss": 0.48828125,
      "step": 2820
    },
    {
      "epoch": 0.6329369531074714,
      "grad_norm": 0.8446182608604431,
      "learning_rate": 0.0004582932934004406,
      "loss": 0.0902,
      "step": 2821
    },
    {
      "epoch": 0.6329369531074714,
      "gripper_loss": 0.5390625,
      "loss": 0.035400390625,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.03662109375,
      "step": 2821
    },
    {
      "epoch": 0.6331613192730536,
      "grad_norm": 0.5221152305603027,
      "learning_rate": 0.0004582597970632183,
      "loss": 0.1019,
      "step": 2822
    },
    {
      "epoch": 0.6331613192730536,
      "gripper_loss": 0.056884765625,
      "loss": 0.1650390625,
      "pos_loss": 0.98046875,
      "rot_loss": 0.640625,
      "step": 2822
    },
    {
      "epoch": 0.6333856854386358,
      "grad_norm": 0.803718626499176,
      "learning_rate": 0.00045822628850540517,
      "loss": 0.1386,
      "step": 2823
    },
    {
      "epoch": 0.6333856854386358,
      "gripper_loss": 0.08837890625,
      "loss": 0.10498046875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.39453125,
      "step": 2823
    },
    {
      "epoch": 0.6336100516042181,
      "grad_norm": 0.6485871076583862,
      "learning_rate": 0.00045819276772896743,
      "loss": 0.1096,
      "step": 2824
    },
    {
      "epoch": 0.6336100516042181,
      "gripper_loss": 0.162109375,
      "loss": 0.16796875,
      "pos_loss": 1.609375,
      "rot_loss": 0.060546875,
      "step": 2824
    },
    {
      "epoch": 0.6338344177698003,
      "grad_norm": 0.8459858298301697,
      "learning_rate": 0.00045815923473587215,
      "loss": 0.1704,
      "step": 2825
    },
    {
      "epoch": 0.6338344177698003,
      "gripper_loss": 1.2109375,
      "loss": 0.171875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.93359375,
      "step": 2825
    },
    {
      "epoch": 0.6340587839353825,
      "grad_norm": 1.025978684425354,
      "learning_rate": 0.000458125689528087,
      "loss": 0.1541,
      "step": 2826
    },
    {
      "epoch": 0.6340587839353825,
      "gripper_loss": 0.236328125,
      "loss": 0.400390625,
      "pos_loss": 1.2734375,
      "rot_loss": 0.75390625,
      "step": 2826
    },
    {
      "epoch": 0.6342831501009648,
      "grad_norm": 1.8409779071807861,
      "learning_rate": 0.00045809213210758036,
      "loss": 0.4556,
      "step": 2827
    },
    {
      "epoch": 0.6342831501009648,
      "gripper_loss": 0.361328125,
      "loss": 0.06884765625,
      "pos_loss": 0.388671875,
      "rot_loss": 0.1494140625,
      "step": 2827
    },
    {
      "epoch": 0.634507516266547,
      "grad_norm": 0.8674907088279724,
      "learning_rate": 0.00045805856247632144,
      "loss": 0.1223,
      "step": 2828
    },
    {
      "epoch": 0.634507516266547,
      "gripper_loss": 1.46875,
      "loss": 0.2578125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.9375,
      "step": 2828
    },
    {
      "epoch": 0.6347318824321292,
      "grad_norm": 0.8744624257087708,
      "learning_rate": 0.00045802498063628,
      "loss": 0.1633,
      "step": 2829
    },
    {
      "epoch": 0.6347318824321292,
      "gripper_loss": 0.65625,
      "loss": 0.21875,
      "pos_loss": 0.6953125,
      "rot_loss": 1.3203125,
      "step": 2829
    },
    {
      "epoch": 0.6349562485977115,
      "grad_norm": 1.22954261302948,
      "learning_rate": 0.00045799138658942664,
      "loss": 0.146,
      "step": 2830
    },
    {
      "epoch": 0.6349562485977115,
      "gripper_loss": 0.07958984375,
      "loss": 0.0869140625,
      "pos_loss": 0.74609375,
      "rot_loss": 0.030517578125,
      "step": 2830
    },
    {
      "epoch": 0.6351806147632937,
      "grad_norm": 1.0217666625976562,
      "learning_rate": 0.00045795778033773263,
      "loss": 0.1277,
      "step": 2831
    },
    {
      "epoch": 0.6351806147632937,
      "gripper_loss": 3.234375,
      "loss": 0.11328125,
      "pos_loss": 0.03955078125,
      "rot_loss": 0.0247802734375,
      "step": 2831
    },
    {
      "epoch": 0.6354049809288759,
      "grad_norm": 0.7872095108032227,
      "learning_rate": 0.00045792416188316997,
      "loss": 0.1107,
      "step": 2832
    },
    {
      "epoch": 0.6354049809288759,
      "gripper_loss": 0.578125,
      "loss": 0.71875,
      "pos_loss": 1.3359375,
      "rot_loss": 1.0078125,
      "step": 2832
    },
    {
      "epoch": 0.6356293470944582,
      "grad_norm": 2.050110340118408,
      "learning_rate": 0.0004578905312277114,
      "loss": 0.6548,
      "step": 2833
    },
    {
      "epoch": 0.6356293470944582,
      "gripper_loss": 0.8828125,
      "loss": 0.044921875,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.0498046875,
      "step": 2833
    },
    {
      "epoch": 0.6358537132600404,
      "grad_norm": 0.7233098745346069,
      "learning_rate": 0.0004578568883733304,
      "loss": 0.1423,
      "step": 2834
    },
    {
      "epoch": 0.6358537132600404,
      "gripper_loss": 0.1103515625,
      "loss": 0.055908203125,
      "pos_loss": 0.263671875,
      "rot_loss": 0.1796875,
      "step": 2834
    },
    {
      "epoch": 0.6360780794256227,
      "grad_norm": 1.077517032623291,
      "learning_rate": 0.00045782323332200104,
      "loss": 0.11,
      "step": 2835
    },
    {
      "epoch": 0.6360780794256227,
      "gripper_loss": 0.6015625,
      "loss": 0.1640625,
      "pos_loss": 1.2421875,
      "rot_loss": 0.1328125,
      "step": 2835
    },
    {
      "epoch": 0.6363024455912049,
      "grad_norm": 1.2569267749786377,
      "learning_rate": 0.00045778956607569815,
      "loss": 0.1567,
      "step": 2836
    },
    {
      "epoch": 0.6363024455912049,
      "gripper_loss": 0.25390625,
      "loss": 0.20703125,
      "pos_loss": 1.953125,
      "rot_loss": 0.07421875,
      "step": 2836
    },
    {
      "epoch": 0.636526811756787,
      "grad_norm": 0.8949291110038757,
      "learning_rate": 0.0004577558866363974,
      "loss": 0.1217,
      "step": 2837
    },
    {
      "epoch": 0.636526811756787,
      "gripper_loss": 0.09765625,
      "loss": 0.0361328125,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.06591796875,
      "step": 2837
    },
    {
      "epoch": 0.6367511779223693,
      "grad_norm": 0.9223038554191589,
      "learning_rate": 0.000457722195006075,
      "loss": 0.0926,
      "step": 2838
    },
    {
      "epoch": 0.6367511779223693,
      "gripper_loss": 0.361328125,
      "loss": 0.115234375,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.1640625,
      "step": 2838
    },
    {
      "epoch": 0.6369755440879515,
      "grad_norm": 1.5244994163513184,
      "learning_rate": 0.0004576884911867081,
      "loss": 0.1733,
      "step": 2839
    },
    {
      "epoch": 0.6369755440879515,
      "gripper_loss": 0.28125,
      "loss": 0.0576171875,
      "pos_loss": 0.16796875,
      "rot_loss": 0.2578125,
      "step": 2839
    },
    {
      "epoch": 0.6371999102535337,
      "grad_norm": 0.7921977043151855,
      "learning_rate": 0.00045765477518027424,
      "loss": 0.0819,
      "step": 2840
    },
    {
      "epoch": 0.6371999102535337,
      "gripper_loss": 0.0654296875,
      "loss": 0.125,
      "pos_loss": 0.8984375,
      "rot_loss": 0.2890625,
      "step": 2840
    },
    {
      "epoch": 0.637424276419116,
      "grad_norm": 0.8554622530937195,
      "learning_rate": 0.000457621046988752,
      "loss": 0.1306,
      "step": 2841
    },
    {
      "epoch": 0.637424276419116,
      "gripper_loss": 0.31640625,
      "loss": 0.2236328125,
      "pos_loss": 1.015625,
      "rot_loss": 0.302734375,
      "step": 2841
    },
    {
      "epoch": 0.6376486425846982,
      "grad_norm": 1.0093311071395874,
      "learning_rate": 0.0004575873066141205,
      "loss": 0.1889,
      "step": 2842
    },
    {
      "epoch": 0.6376486425846982,
      "gripper_loss": 0.08935546875,
      "loss": 0.045166015625,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.05078125,
      "step": 2842
    },
    {
      "epoch": 0.6378730087502804,
      "grad_norm": 0.839622974395752,
      "learning_rate": 0.0004575535540583596,
      "loss": 0.1515,
      "step": 2843
    },
    {
      "epoch": 0.6378730087502804,
      "gripper_loss": 0.08984375,
      "loss": 0.1806640625,
      "pos_loss": 1.59375,
      "rot_loss": 0.1103515625,
      "step": 2843
    },
    {
      "epoch": 0.6380973749158627,
      "grad_norm": 1.0669500827789307,
      "learning_rate": 0.00045751978932344984,
      "loss": 0.1305,
      "step": 2844
    },
    {
      "epoch": 0.6380973749158627,
      "gripper_loss": 1.6328125,
      "loss": 0.1591796875,
      "pos_loss": 0.22265625,
      "rot_loss": 0.396484375,
      "step": 2844
    },
    {
      "epoch": 0.6383217410814449,
      "grad_norm": 1.5149940252304077,
      "learning_rate": 0.00045748601241137255,
      "loss": 0.1804,
      "step": 2845
    },
    {
      "epoch": 0.6383217410814449,
      "gripper_loss": 0.53515625,
      "loss": 0.1435546875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.42578125,
      "step": 2845
    },
    {
      "epoch": 0.6385461072470271,
      "grad_norm": 1.2901121377944946,
      "learning_rate": 0.0004574522233241098,
      "loss": 0.1396,
      "step": 2846
    },
    {
      "epoch": 0.6385461072470271,
      "gripper_loss": 0.05029296875,
      "loss": 0.17578125,
      "pos_loss": 0.5859375,
      "rot_loss": 1.1640625,
      "step": 2846
    },
    {
      "epoch": 0.6387704734126094,
      "grad_norm": 1.0470389127731323,
      "learning_rate": 0.00045741842206364425,
      "loss": 0.1696,
      "step": 2847
    },
    {
      "epoch": 0.6387704734126094,
      "gripper_loss": 0.083984375,
      "loss": 0.326171875,
      "pos_loss": 2.1875,
      "rot_loss": 1.0859375,
      "step": 2847
    },
    {
      "epoch": 0.6389948395781916,
      "grad_norm": 0.7929840087890625,
      "learning_rate": 0.0004573846086319594,
      "loss": 0.1299,
      "step": 2848
    },
    {
      "epoch": 0.6389948395781916,
      "gripper_loss": 1.765625,
      "loss": 0.1708984375,
      "pos_loss": 0.765625,
      "rot_loss": 0.2001953125,
      "step": 2848
    },
    {
      "epoch": 0.6392192057437739,
      "grad_norm": 1.0748783349990845,
      "learning_rate": 0.0004573507830310393,
      "loss": 0.1566,
      "step": 2849
    },
    {
      "epoch": 0.6392192057437739,
      "gripper_loss": 0.10595703125,
      "loss": 0.10986328125,
      "pos_loss": 0.18359375,
      "rot_loss": 0.53125,
      "step": 2849
    },
    {
      "epoch": 0.6394435719093561,
      "grad_norm": 0.8905603885650635,
      "learning_rate": 0.00045731694526286894,
      "loss": 0.1169,
      "step": 2850
    },
    {
      "epoch": 0.6394435719093561,
      "gripper_loss": 0.056884765625,
      "loss": 0.2021484375,
      "pos_loss": 0.984375,
      "rot_loss": 1.046875,
      "step": 2850
    },
    {
      "epoch": 0.6396679380749383,
      "grad_norm": 0.788739800453186,
      "learning_rate": 0.0004572830953294339,
      "loss": 0.1163,
      "step": 2851
    },
    {
      "epoch": 0.6396679380749383,
      "gripper_loss": 0.439453125,
      "loss": 0.11962890625,
      "pos_loss": 0.79296875,
      "rot_loss": 0.2021484375,
      "step": 2851
    },
    {
      "epoch": 0.6398923042405206,
      "grad_norm": 0.8471415638923645,
      "learning_rate": 0.00045724923323272037,
      "loss": 0.1334,
      "step": 2852
    },
    {
      "epoch": 0.6398923042405206,
      "gripper_loss": 0.05224609375,
      "loss": 0.263671875,
      "pos_loss": 1.953125,
      "rot_loss": 0.71484375,
      "step": 2852
    },
    {
      "epoch": 0.6401166704061028,
      "grad_norm": 0.8457945585250854,
      "learning_rate": 0.0004572153589747154,
      "loss": 0.1934,
      "step": 2853
    },
    {
      "epoch": 0.6401166704061028,
      "gripper_loss": 0.125,
      "loss": 0.06591796875,
      "pos_loss": 0.279296875,
      "rot_loss": 0.1943359375,
      "step": 2853
    },
    {
      "epoch": 0.640341036571685,
      "grad_norm": 0.7077259421348572,
      "learning_rate": 0.0004571814725574068,
      "loss": 0.1211,
      "step": 2854
    },
    {
      "epoch": 0.640341036571685,
      "gripper_loss": 0.07080078125,
      "loss": 0.049072265625,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.1630859375,
      "step": 2854
    },
    {
      "epoch": 0.6405654027372673,
      "grad_norm": 0.571591854095459,
      "learning_rate": 0.000457147573982783,
      "loss": 0.0704,
      "step": 2855
    },
    {
      "epoch": 0.6405654027372673,
      "gripper_loss": 0.369140625,
      "loss": 0.12158203125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.255859375,
      "step": 2855
    },
    {
      "epoch": 0.6407897689028494,
      "grad_norm": 1.1666061878204346,
      "learning_rate": 0.0004571136632528331,
      "loss": 0.1861,
      "step": 2856
    },
    {
      "epoch": 0.6407897689028494,
      "gripper_loss": 0.328125,
      "loss": 0.09130859375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.10693359375,
      "step": 2856
    },
    {
      "epoch": 0.6410141350684316,
      "grad_norm": 0.6070371866226196,
      "learning_rate": 0.0004570797403695469,
      "loss": 0.1165,
      "step": 2857
    },
    {
      "epoch": 0.6410141350684316,
      "gripper_loss": 0.640625,
      "loss": 0.05712890625,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.17578125,
      "step": 2857
    },
    {
      "epoch": 0.6412385012340139,
      "grad_norm": 0.6789675354957581,
      "learning_rate": 0.0004570458053349151,
      "loss": 0.1081,
      "step": 2858
    },
    {
      "epoch": 0.6412385012340139,
      "gripper_loss": 0.09716796875,
      "loss": 0.1376953125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.7109375,
      "step": 2858
    },
    {
      "epoch": 0.6414628673995961,
      "grad_norm": 1.0202305316925049,
      "learning_rate": 0.00045701185815092896,
      "loss": 0.1327,
      "step": 2859
    },
    {
      "epoch": 0.6414628673995961,
      "gripper_loss": 0.2431640625,
      "loss": 0.2158203125,
      "pos_loss": 0.83984375,
      "rot_loss": 0.72265625,
      "step": 2859
    },
    {
      "epoch": 0.6416872335651783,
      "grad_norm": 1.4707350730895996,
      "learning_rate": 0.0004569778988195804,
      "loss": 0.1837,
      "step": 2860
    },
    {
      "epoch": 0.6416872335651783,
      "gripper_loss": 0.5625,
      "loss": 0.1064453125,
      "pos_loss": 0.375,
      "rot_loss": 0.396484375,
      "step": 2860
    },
    {
      "epoch": 0.6419115997307606,
      "grad_norm": 0.9441106915473938,
      "learning_rate": 0.0004569439273428623,
      "loss": 0.1022,
      "step": 2861
    },
    {
      "epoch": 0.6419115997307606,
      "gripper_loss": 0.439453125,
      "loss": 0.07373046875,
      "pos_loss": 0.232421875,
      "rot_loss": 0.234375,
      "step": 2861
    },
    {
      "epoch": 0.6421359658963428,
      "grad_norm": 1.0043988227844238,
      "learning_rate": 0.0004569099437227679,
      "loss": 0.1017,
      "step": 2862
    },
    {
      "epoch": 0.6421359658963428,
      "gripper_loss": 0.1650390625,
      "loss": 0.203125,
      "pos_loss": 1.5390625,
      "rot_loss": 0.416015625,
      "step": 2862
    },
    {
      "epoch": 0.6423603320619251,
      "grad_norm": 0.8617079257965088,
      "learning_rate": 0.0004568759479612916,
      "loss": 0.1075,
      "step": 2863
    },
    {
      "epoch": 0.6423603320619251,
      "gripper_loss": 1.609375,
      "loss": 0.07373046875,
      "pos_loss": 0.06982421875,
      "rot_loss": 0.07275390625,
      "step": 2863
    },
    {
      "epoch": 0.6425846982275073,
      "grad_norm": 0.7717374563217163,
      "learning_rate": 0.000456841940060428,
      "loss": 0.1417,
      "step": 2864
    },
    {
      "epoch": 0.6425846982275073,
      "gripper_loss": 0.361328125,
      "loss": 0.1220703125,
      "pos_loss": 0.4765625,
      "rot_loss": 0.58203125,
      "step": 2864
    },
    {
      "epoch": 0.6428090643930895,
      "grad_norm": 0.7606164216995239,
      "learning_rate": 0.00045680792002217275,
      "loss": 0.1392,
      "step": 2865
    },
    {
      "epoch": 0.6428090643930895,
      "gripper_loss": 0.2265625,
      "loss": 0.1376953125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.416015625,
      "step": 2865
    },
    {
      "epoch": 0.6430334305586718,
      "grad_norm": 1.1194158792495728,
      "learning_rate": 0.00045677388784852213,
      "loss": 0.1263,
      "step": 2866
    },
    {
      "epoch": 0.6430334305586718,
      "gripper_loss": 0.3515625,
      "loss": 0.10986328125,
      "pos_loss": 0.16796875,
      "rot_loss": 0.5078125,
      "step": 2866
    },
    {
      "epoch": 0.643257796724254,
      "grad_norm": 1.2571682929992676,
      "learning_rate": 0.0004567398435414732,
      "loss": 0.13,
      "step": 2867
    },
    {
      "epoch": 0.643257796724254,
      "gripper_loss": 0.298828125,
      "loss": 0.171875,
      "pos_loss": 0.9140625,
      "rot_loss": 0.66796875,
      "step": 2867
    },
    {
      "epoch": 0.6434821628898362,
      "grad_norm": 0.752548336982727,
      "learning_rate": 0.00045670578710302367,
      "loss": 0.0944,
      "step": 2868
    },
    {
      "epoch": 0.6434821628898362,
      "gripper_loss": 0.09130859375,
      "loss": 0.1455078125,
      "pos_loss": 1.0,
      "rot_loss": 0.328125,
      "step": 2868
    },
    {
      "epoch": 0.6437065290554185,
      "grad_norm": 0.8132275342941284,
      "learning_rate": 0.00045667171853517187,
      "loss": 0.1459,
      "step": 2869
    },
    {
      "epoch": 0.6437065290554185,
      "gripper_loss": 0.1416015625,
      "loss": 0.1552734375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.53125,
      "step": 2869
    },
    {
      "epoch": 0.6439308952210007,
      "grad_norm": 1.0683372020721436,
      "learning_rate": 0.0004566376378399169,
      "loss": 0.1381,
      "step": 2870
    },
    {
      "epoch": 0.6439308952210007,
      "gripper_loss": 0.359375,
      "loss": 0.2197265625,
      "pos_loss": 0.82421875,
      "rot_loss": 0.703125,
      "step": 2870
    },
    {
      "epoch": 0.6441552613865829,
      "grad_norm": 1.2712042331695557,
      "learning_rate": 0.0004566035450192587,
      "loss": 0.1946,
      "step": 2871
    },
    {
      "epoch": 0.6441552613865829,
      "gripper_loss": 0.51953125,
      "loss": 0.05908203125,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.10205078125,
      "step": 2871
    },
    {
      "epoch": 0.6443796275521652,
      "grad_norm": 0.8489502668380737,
      "learning_rate": 0.00045656944007519784,
      "loss": 0.1256,
      "step": 2872
    },
    {
      "epoch": 0.6443796275521652,
      "gripper_loss": 0.026123046875,
      "loss": 0.06494140625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.142578125,
      "step": 2872
    },
    {
      "epoch": 0.6446039937177473,
      "grad_norm": 1.2192678451538086,
      "learning_rate": 0.00045653532300973543,
      "loss": 0.122,
      "step": 2873
    },
    {
      "epoch": 0.6446039937177473,
      "gripper_loss": 0.044921875,
      "loss": 0.0400390625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.1015625,
      "step": 2873
    },
    {
      "epoch": 0.6448283598833296,
      "grad_norm": 0.8063129782676697,
      "learning_rate": 0.00045650119382487363,
      "loss": 0.1128,
      "step": 2874
    },
    {
      "epoch": 0.6448283598833296,
      "gripper_loss": 0.0179443359375,
      "loss": 0.08154296875,
      "pos_loss": 0.640625,
      "rot_loss": 0.09716796875,
      "step": 2874
    },
    {
      "epoch": 0.6450527260489118,
      "grad_norm": 0.7086854577064514,
      "learning_rate": 0.000456467052522615,
      "loss": 0.0926,
      "step": 2875
    },
    {
      "epoch": 0.6450527260489118,
      "gripper_loss": 1.3046875,
      "loss": 0.134765625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.2578125,
      "step": 2875
    },
    {
      "epoch": 0.645277092214494,
      "grad_norm": 1.179996371269226,
      "learning_rate": 0.0004564328991049629,
      "loss": 0.156,
      "step": 2876
    },
    {
      "epoch": 0.645277092214494,
      "gripper_loss": 0.027587890625,
      "loss": 0.16015625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.50390625,
      "step": 2876
    },
    {
      "epoch": 0.6455014583800763,
      "grad_norm": 0.6700093746185303,
      "learning_rate": 0.0004563987335739216,
      "loss": 0.1246,
      "step": 2877
    },
    {
      "epoch": 0.6455014583800763,
      "gripper_loss": 0.8203125,
      "loss": 0.216796875,
      "pos_loss": 0.47265625,
      "rot_loss": 0.271484375,
      "step": 2877
    },
    {
      "epoch": 0.6457258245456585,
      "grad_norm": 1.7295969724655151,
      "learning_rate": 0.0004563645559314957,
      "loss": 0.228,
      "step": 2878
    },
    {
      "epoch": 0.6457258245456585,
      "gripper_loss": 0.09033203125,
      "loss": 0.263671875,
      "pos_loss": 0.55078125,
      "rot_loss": 2.125,
      "step": 2878
    },
    {
      "epoch": 0.6459501907112407,
      "grad_norm": 0.668807864189148,
      "learning_rate": 0.000456330366179691,
      "loss": 0.1873,
      "step": 2879
    },
    {
      "epoch": 0.6459501907112407,
      "gripper_loss": 0.036376953125,
      "loss": 0.1298828125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.494140625,
      "step": 2879
    },
    {
      "epoch": 0.646174556876823,
      "grad_norm": 0.9711856245994568,
      "learning_rate": 0.0004562961643205136,
      "loss": 0.1228,
      "step": 2880
    },
    {
      "epoch": 0.646174556876823,
      "gripper_loss": 0.03173828125,
      "loss": 0.0625,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.2734375,
      "step": 2880
    },
    {
      "epoch": 0.6463989230424052,
      "grad_norm": 0.9256315231323242,
      "learning_rate": 0.00045626195035597037,
      "loss": 0.1035,
      "step": 2881
    },
    {
      "epoch": 0.6463989230424052,
      "gripper_loss": 0.6640625,
      "loss": 0.10498046875,
      "pos_loss": 0.353515625,
      "rot_loss": 0.3359375,
      "step": 2881
    },
    {
      "epoch": 0.6466232892079874,
      "grad_norm": 1.1672346591949463,
      "learning_rate": 0.00045622772428806905,
      "loss": 0.1454,
      "step": 2882
    },
    {
      "epoch": 0.6466232892079874,
      "gripper_loss": 1.6171875,
      "loss": 0.134765625,
      "pos_loss": 0.44140625,
      "rot_loss": 0.361328125,
      "step": 2882
    },
    {
      "epoch": 0.6468476553735697,
      "grad_norm": 0.6945367455482483,
      "learning_rate": 0.00045619348611881797,
      "loss": 0.1406,
      "step": 2883
    },
    {
      "epoch": 0.6468476553735697,
      "gripper_loss": 0.275390625,
      "loss": 0.091796875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.390625,
      "step": 2883
    },
    {
      "epoch": 0.6470720215391519,
      "grad_norm": 0.7996430993080139,
      "learning_rate": 0.00045615923585022627,
      "loss": 0.1074,
      "step": 2884
    },
    {
      "epoch": 0.6470720215391519,
      "gripper_loss": 0.39453125,
      "loss": 0.1298828125,
      "pos_loss": 0.296875,
      "rot_loss": 0.2294921875,
      "step": 2884
    },
    {
      "epoch": 0.6472963877047341,
      "grad_norm": 1.258044719696045,
      "learning_rate": 0.0004561249734843037,
      "loss": 0.1812,
      "step": 2885
    },
    {
      "epoch": 0.6472963877047341,
      "gripper_loss": 1.03125,
      "loss": 0.0634765625,
      "pos_loss": 0.0703125,
      "rot_loss": 0.1533203125,
      "step": 2885
    },
    {
      "epoch": 0.6475207538703164,
      "grad_norm": 0.8137054443359375,
      "learning_rate": 0.0004560906990230609,
      "loss": 0.1405,
      "step": 2886
    },
    {
      "epoch": 0.6475207538703164,
      "gripper_loss": 0.345703125,
      "loss": 0.1728515625,
      "pos_loss": 0.51171875,
      "rot_loss": 1.09375,
      "step": 2886
    },
    {
      "epoch": 0.6477451200358986,
      "grad_norm": 0.7495507001876831,
      "learning_rate": 0.0004560564124685088,
      "loss": 0.113,
      "step": 2887
    },
    {
      "epoch": 0.6477451200358986,
      "gripper_loss": 0.9765625,
      "loss": 0.1494140625,
      "pos_loss": 0.470703125,
      "rot_loss": 0.35546875,
      "step": 2887
    },
    {
      "epoch": 0.6479694862014809,
      "grad_norm": 0.8700076937675476,
      "learning_rate": 0.00045602211382265957,
      "loss": 0.1411,
      "step": 2888
    },
    {
      "epoch": 0.6479694862014809,
      "gripper_loss": 1.2578125,
      "loss": 0.083984375,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.10302734375,
      "step": 2888
    },
    {
      "epoch": 0.6481938523670631,
      "grad_norm": 0.8699074387550354,
      "learning_rate": 0.00045598780308752566,
      "loss": 0.0746,
      "step": 2889
    },
    {
      "epoch": 0.6481938523670631,
      "gripper_loss": 0.2412109375,
      "loss": 0.1259765625,
      "pos_loss": 0.44140625,
      "rot_loss": 0.7109375,
      "step": 2889
    },
    {
      "epoch": 0.6484182185326453,
      "grad_norm": 0.6367770433425903,
      "learning_rate": 0.0004559534802651205,
      "loss": 0.099,
      "step": 2890
    },
    {
      "epoch": 0.6484182185326453,
      "gripper_loss": 0.8125,
      "loss": 0.08447265625,
      "pos_loss": 0.24609375,
      "rot_loss": 0.1650390625,
      "step": 2890
    },
    {
      "epoch": 0.6486425846982276,
      "grad_norm": 0.8847913146018982,
      "learning_rate": 0.0004559191453574582,
      "loss": 0.0986,
      "step": 2891
    },
    {
      "epoch": 0.6486425846982276,
      "gripper_loss": 0.035888671875,
      "loss": 0.20703125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.90234375,
      "step": 2891
    },
    {
      "epoch": 0.6488669508638097,
      "grad_norm": 0.5416367053985596,
      "learning_rate": 0.0004558847983665534,
      "loss": 0.194,
      "step": 2892
    },
    {
      "epoch": 0.6488669508638097,
      "gripper_loss": 0.62890625,
      "loss": 0.07958984375,
      "pos_loss": 0.482421875,
      "rot_loss": 0.056884765625,
      "step": 2892
    },
    {
      "epoch": 0.6490913170293919,
      "grad_norm": 0.9605098962783813,
      "learning_rate": 0.0004558504392944216,
      "loss": 0.1035,
      "step": 2893
    },
    {
      "epoch": 0.6490913170293919,
      "gripper_loss": 0.6796875,
      "loss": 0.12158203125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.27734375,
      "step": 2893
    },
    {
      "epoch": 0.6493156831949742,
      "grad_norm": 1.1358531713485718,
      "learning_rate": 0.00045581606814307907,
      "loss": 0.1425,
      "step": 2894
    },
    {
      "epoch": 0.6493156831949742,
      "gripper_loss": 0.052978515625,
      "loss": 0.11376953125,
      "pos_loss": 1.0625,
      "rot_loss": 0.035400390625,
      "step": 2894
    },
    {
      "epoch": 0.6495400493605564,
      "grad_norm": 0.6544293165206909,
      "learning_rate": 0.00045578168491454255,
      "loss": 0.1114,
      "step": 2895
    },
    {
      "epoch": 0.6495400493605564,
      "gripper_loss": 0.09130859375,
      "loss": 0.078125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.11474609375,
      "step": 2895
    },
    {
      "epoch": 0.6497644155261386,
      "grad_norm": 0.5467658638954163,
      "learning_rate": 0.0004557472896108297,
      "loss": 0.0871,
      "step": 2896
    },
    {
      "epoch": 0.6497644155261386,
      "gripper_loss": 0.287109375,
      "loss": 0.0537109375,
      "pos_loss": 0.166015625,
      "rot_loss": 0.189453125,
      "step": 2896
    },
    {
      "epoch": 0.6499887816917209,
      "grad_norm": 0.6572070121765137,
      "learning_rate": 0.0004557128822339588,
      "loss": 0.0868,
      "step": 2897
    },
    {
      "epoch": 0.6499887816917209,
      "gripper_loss": 0.10595703125,
      "loss": 0.08154296875,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.1455078125,
      "step": 2897
    },
    {
      "epoch": 0.6502131478573031,
      "grad_norm": 1.0336425304412842,
      "learning_rate": 0.00045567846278594883,
      "loss": 0.1718,
      "step": 2898
    },
    {
      "epoch": 0.6502131478573031,
      "gripper_loss": 0.024169921875,
      "loss": 0.130859375,
      "pos_loss": 0.75390625,
      "rot_loss": 0.5234375,
      "step": 2898
    },
    {
      "epoch": 0.6504375140228853,
      "grad_norm": 0.5484047532081604,
      "learning_rate": 0.00045564403126881957,
      "loss": 0.0941,
      "step": 2899
    },
    {
      "epoch": 0.6504375140228853,
      "gripper_loss": 0.0634765625,
      "loss": 0.109375,
      "pos_loss": 0.671875,
      "rot_loss": 0.390625,
      "step": 2899
    },
    {
      "epoch": 0.6506618801884676,
      "grad_norm": 0.6861475706100464,
      "learning_rate": 0.00045560958768459147,
      "loss": 0.0947,
      "step": 2900
    },
    {
      "epoch": 0.6506618801884676,
      "gripper_loss": 0.90625,
      "loss": 0.055908203125,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.04541015625,
      "step": 2900
    },
    {
      "epoch": 0.6508862463540498,
      "grad_norm": 0.66999351978302,
      "learning_rate": 0.0004555751320352856,
      "loss": 0.0667,
      "step": 2901
    },
    {
      "epoch": 0.6508862463540498,
      "gripper_loss": 0.5078125,
      "loss": 0.1767578125,
      "pos_loss": 0.36328125,
      "rot_loss": 0.1357421875,
      "step": 2901
    },
    {
      "epoch": 0.6511106125196321,
      "grad_norm": 1.6315925121307373,
      "learning_rate": 0.00045554066432292387,
      "loss": 0.2495,
      "step": 2902
    },
    {
      "epoch": 0.6511106125196321,
      "gripper_loss": 0.048583984375,
      "loss": 0.095703125,
      "pos_loss": 0.3984375,
      "rot_loss": 0.3515625,
      "step": 2902
    },
    {
      "epoch": 0.6513349786852143,
      "grad_norm": 1.0943974256515503,
      "learning_rate": 0.0004555061845495287,
      "loss": 0.1204,
      "step": 2903
    },
    {
      "epoch": 0.6513349786852143,
      "gripper_loss": 0.91796875,
      "loss": 0.453125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.42578125,
      "step": 2903
    },
    {
      "epoch": 0.6515593448507965,
      "grad_norm": 1.7649110555648804,
      "learning_rate": 0.00045547169271712345,
      "loss": 0.4702,
      "step": 2904
    },
    {
      "epoch": 0.6515593448507965,
      "gripper_loss": 0.1123046875,
      "loss": 0.275390625,
      "pos_loss": 2.3125,
      "rot_loss": 0.494140625,
      "step": 2904
    },
    {
      "epoch": 0.6517837110163788,
      "grad_norm": 0.7504073977470398,
      "learning_rate": 0.0004554371888277321,
      "loss": 0.1422,
      "step": 2905
    },
    {
      "epoch": 0.6517837110163788,
      "gripper_loss": 0.58203125,
      "loss": 0.109375,
      "pos_loss": 0.7265625,
      "rot_loss": 0.11083984375,
      "step": 2905
    },
    {
      "epoch": 0.652008077181961,
      "grad_norm": 0.921489953994751,
      "learning_rate": 0.0004554026728833792,
      "loss": 0.1115,
      "step": 2906
    },
    {
      "epoch": 0.652008077181961,
      "gripper_loss": 0.431640625,
      "loss": 0.060791015625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.09716796875,
      "step": 2906
    },
    {
      "epoch": 0.6522324433475432,
      "grad_norm": 1.0179861783981323,
      "learning_rate": 0.00045536814488609037,
      "loss": 0.1327,
      "step": 2907
    },
    {
      "epoch": 0.6522324433475432,
      "gripper_loss": 0.75,
      "loss": 0.275390625,
      "pos_loss": 1.4140625,
      "rot_loss": 1.140625,
      "step": 2907
    },
    {
      "epoch": 0.6524568095131255,
      "grad_norm": 1.310051441192627,
      "learning_rate": 0.00045533360483789145,
      "loss": 0.1891,
      "step": 2908
    },
    {
      "epoch": 0.6524568095131255,
      "gripper_loss": 0.255859375,
      "loss": 0.062255859375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.1240234375,
      "step": 2908
    },
    {
      "epoch": 0.6526811756787076,
      "grad_norm": 0.6591830253601074,
      "learning_rate": 0.00045529905274080927,
      "loss": 0.1257,
      "step": 2909
    },
    {
      "epoch": 0.6526811756787076,
      "gripper_loss": 0.036865234375,
      "loss": 0.18359375,
      "pos_loss": 0.609375,
      "rot_loss": 0.5234375,
      "step": 2909
    },
    {
      "epoch": 0.6529055418442898,
      "grad_norm": 1.4696109294891357,
      "learning_rate": 0.0004552644885968715,
      "loss": 0.1738,
      "step": 2910
    },
    {
      "epoch": 0.6529055418442898,
      "gripper_loss": 0.1181640625,
      "loss": 0.228515625,
      "pos_loss": 1.0859375,
      "rot_loss": 1.09375,
      "step": 2910
    },
    {
      "epoch": 0.6531299080098721,
      "grad_norm": 0.5974583029747009,
      "learning_rate": 0.0004552299124081062,
      "loss": 0.09,
      "step": 2911
    },
    {
      "epoch": 0.6531299080098721,
      "gripper_loss": 0.77734375,
      "loss": 0.09375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.0218505859375,
      "step": 2911
    },
    {
      "epoch": 0.6533542741754543,
      "grad_norm": 0.6570647954940796,
      "learning_rate": 0.0004551953241765423,
      "loss": 0.105,
      "step": 2912
    },
    {
      "epoch": 0.6533542741754543,
      "gripper_loss": 0.185546875,
      "loss": 0.265625,
      "pos_loss": 1.4609375,
      "rot_loss": 1.1796875,
      "step": 2912
    },
    {
      "epoch": 0.6535786403410365,
      "grad_norm": 0.8958622813224792,
      "learning_rate": 0.0004551607239042095,
      "loss": 0.1497,
      "step": 2913
    },
    {
      "epoch": 0.6535786403410365,
      "gripper_loss": 0.369140625,
      "loss": 0.1455078125,
      "pos_loss": 0.73828125,
      "rot_loss": 0.5390625,
      "step": 2913
    },
    {
      "epoch": 0.6538030065066188,
      "grad_norm": 0.7977191209793091,
      "learning_rate": 0.000455126111593138,
      "loss": 0.1001,
      "step": 2914
    },
    {
      "epoch": 0.6538030065066188,
      "gripper_loss": 0.890625,
      "loss": 0.06494140625,
      "pos_loss": 0.16015625,
      "rot_loss": 0.130859375,
      "step": 2914
    },
    {
      "epoch": 0.654027372672201,
      "grad_norm": 0.8038672804832458,
      "learning_rate": 0.000455091487245359,
      "loss": 0.1301,
      "step": 2915
    },
    {
      "epoch": 0.654027372672201,
      "gripper_loss": 0.17578125,
      "loss": 0.11181640625,
      "pos_loss": 0.88671875,
      "rot_loss": 0.12109375,
      "step": 2915
    },
    {
      "epoch": 0.6542517388377833,
      "grad_norm": 0.8254067897796631,
      "learning_rate": 0.0004550568508629041,
      "loss": 0.0989,
      "step": 2916
    },
    {
      "epoch": 0.6542517388377833,
      "gripper_loss": 0.291015625,
      "loss": 0.0927734375,
      "pos_loss": 0.6484375,
      "rot_loss": 0.15625,
      "step": 2916
    },
    {
      "epoch": 0.6544761050033655,
      "grad_norm": 0.6368520855903625,
      "learning_rate": 0.0004550222024478057,
      "loss": 0.1099,
      "step": 2917
    },
    {
      "epoch": 0.6544761050033655,
      "gripper_loss": 0.76171875,
      "loss": 0.0517578125,
      "pos_loss": 0.047119140625,
      "rot_loss": 0.1396484375,
      "step": 2917
    },
    {
      "epoch": 0.6547004711689477,
      "grad_norm": 0.5728158354759216,
      "learning_rate": 0.00045498754200209724,
      "loss": 0.0878,
      "step": 2918
    },
    {
      "epoch": 0.6547004711689477,
      "gripper_loss": 0.04833984375,
      "loss": 0.12451171875,
      "pos_loss": 0.396484375,
      "rot_loss": 0.80078125,
      "step": 2918
    },
    {
      "epoch": 0.65492483733453,
      "grad_norm": 0.7123388051986694,
      "learning_rate": 0.0004549528695278122,
      "loss": 0.1194,
      "step": 2919
    },
    {
      "epoch": 0.65492483733453,
      "gripper_loss": 0.1474609375,
      "loss": 0.21484375,
      "pos_loss": 0.921875,
      "rot_loss": 0.7421875,
      "step": 2919
    },
    {
      "epoch": 0.6551492035001122,
      "grad_norm": 1.1067848205566406,
      "learning_rate": 0.00045491818502698544,
      "loss": 0.1603,
      "step": 2920
    },
    {
      "epoch": 0.6551492035001122,
      "gripper_loss": 0.3359375,
      "loss": 0.053466796875,
      "pos_loss": 0.1953125,
      "rot_loss": 0.154296875,
      "step": 2920
    },
    {
      "epoch": 0.6553735696656944,
      "grad_norm": 0.6471861004829407,
      "learning_rate": 0.00045488348850165216,
      "loss": 0.0956,
      "step": 2921
    },
    {
      "epoch": 0.6553735696656944,
      "gripper_loss": 0.27734375,
      "loss": 0.1142578125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.02392578125,
      "step": 2921
    },
    {
      "epoch": 0.6555979358312767,
      "grad_norm": 0.5233943462371826,
      "learning_rate": 0.0004548487799538482,
      "loss": 0.0958,
      "step": 2922
    },
    {
      "epoch": 0.6555979358312767,
      "gripper_loss": 0.0849609375,
      "loss": 0.0306396484375,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.04150390625,
      "step": 2922
    },
    {
      "epoch": 0.6558223019968589,
      "grad_norm": 0.5681983232498169,
      "learning_rate": 0.00045481405938561047,
      "loss": 0.1044,
      "step": 2923
    },
    {
      "epoch": 0.6558223019968589,
      "gripper_loss": 0.443359375,
      "loss": 0.09619140625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.201171875,
      "step": 2923
    },
    {
      "epoch": 0.6560466681624411,
      "grad_norm": 0.699131965637207,
      "learning_rate": 0.00045477932679897616,
      "loss": 0.0898,
      "step": 2924
    },
    {
      "epoch": 0.6560466681624411,
      "gripper_loss": 0.032958984375,
      "loss": 0.150390625,
      "pos_loss": 0.43359375,
      "rot_loss": 0.984375,
      "step": 2924
    },
    {
      "epoch": 0.6562710343280234,
      "grad_norm": 0.6163179278373718,
      "learning_rate": 0.00045474458219598346,
      "loss": 0.1619,
      "step": 2925
    },
    {
      "epoch": 0.6562710343280234,
      "gripper_loss": 0.5234375,
      "loss": 0.09814453125,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.75,
      "step": 2925
    },
    {
      "epoch": 0.6564954004936056,
      "grad_norm": 0.5302304029464722,
      "learning_rate": 0.0004547098255786711,
      "loss": 0.132,
      "step": 2926
    },
    {
      "epoch": 0.6564954004936056,
      "gripper_loss": 0.0255126953125,
      "loss": 0.11669921875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.53125,
      "step": 2926
    },
    {
      "epoch": 0.6567197666591877,
      "grad_norm": 0.6173110604286194,
      "learning_rate": 0.0004546750569490786,
      "loss": 0.1052,
      "step": 2927
    },
    {
      "epoch": 0.6567197666591877,
      "gripper_loss": 0.388671875,
      "loss": 0.025634765625,
      "pos_loss": 0.0546875,
      "rot_loss": 0.015625,
      "step": 2927
    },
    {
      "epoch": 0.65694413282477,
      "grad_norm": 0.5387140512466431,
      "learning_rate": 0.00045464027630924634,
      "loss": 0.0786,
      "step": 2928
    },
    {
      "epoch": 0.65694413282477,
      "gripper_loss": 0.287109375,
      "loss": 0.029541015625,
      "pos_loss": 0.03369140625,
      "rot_loss": 0.0888671875,
      "step": 2928
    },
    {
      "epoch": 0.6571684989903522,
      "grad_norm": 0.8967844843864441,
      "learning_rate": 0.0004546054836612149,
      "loss": 0.0791,
      "step": 2929
    },
    {
      "epoch": 0.6571684989903522,
      "gripper_loss": 0.043212890625,
      "loss": 0.0830078125,
      "pos_loss": 0.375,
      "rot_loss": 0.419921875,
      "step": 2929
    },
    {
      "epoch": 0.6573928651559345,
      "grad_norm": 0.4186995327472687,
      "learning_rate": 0.0004545706790070262,
      "loss": 0.0702,
      "step": 2930
    },
    {
      "epoch": 0.6573928651559345,
      "gripper_loss": 0.240234375,
      "loss": 0.1826171875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.40234375,
      "step": 2930
    },
    {
      "epoch": 0.6576172313215167,
      "grad_norm": 1.138574242591858,
      "learning_rate": 0.0004545358623487224,
      "loss": 0.137,
      "step": 2931
    },
    {
      "epoch": 0.6576172313215167,
      "gripper_loss": 1.0078125,
      "loss": 0.353515625,
      "pos_loss": 1.2421875,
      "rot_loss": 2.140625,
      "step": 2931
    },
    {
      "epoch": 0.6578415974870989,
      "grad_norm": 0.5928485989570618,
      "learning_rate": 0.00045450103368834655,
      "loss": 0.1352,
      "step": 2932
    },
    {
      "epoch": 0.6578415974870989,
      "gripper_loss": 0.78125,
      "loss": 0.1767578125,
      "pos_loss": 0.515625,
      "rot_loss": 0.90234375,
      "step": 2932
    },
    {
      "epoch": 0.6580659636526812,
      "grad_norm": 0.9252848029136658,
      "learning_rate": 0.0004544661930279425,
      "loss": 0.1071,
      "step": 2933
    },
    {
      "epoch": 0.6580659636526812,
      "gripper_loss": 0.79296875,
      "loss": 0.046630859375,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.051025390625,
      "step": 2933
    },
    {
      "epoch": 0.6582903298182634,
      "grad_norm": 0.7169973850250244,
      "learning_rate": 0.00045443134036955447,
      "loss": 0.0887,
      "step": 2934
    },
    {
      "epoch": 0.6582903298182634,
      "gripper_loss": 0.059326171875,
      "loss": 0.1748046875,
      "pos_loss": 1.2109375,
      "rot_loss": 0.458984375,
      "step": 2934
    },
    {
      "epoch": 0.6585146959838456,
      "grad_norm": 0.6472474336624146,
      "learning_rate": 0.0004543964757152277,
      "loss": 0.1389,
      "step": 2935
    },
    {
      "epoch": 0.6585146959838456,
      "gripper_loss": 0.57421875,
      "loss": 0.06005859375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.08203125,
      "step": 2935
    },
    {
      "epoch": 0.6587390621494279,
      "grad_norm": 0.8337116241455078,
      "learning_rate": 0.0004543615990670081,
      "loss": 0.125,
      "step": 2936
    },
    {
      "epoch": 0.6587390621494279,
      "gripper_loss": 0.134765625,
      "loss": 0.072265625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.1953125,
      "step": 2936
    },
    {
      "epoch": 0.6589634283150101,
      "grad_norm": 0.7345291376113892,
      "learning_rate": 0.0004543267104269421,
      "loss": 0.1022,
      "step": 2937
    },
    {
      "epoch": 0.6589634283150101,
      "gripper_loss": 0.52734375,
      "loss": 0.1142578125,
      "pos_loss": 0.154296875,
      "rot_loss": 0.81640625,
      "step": 2937
    },
    {
      "epoch": 0.6591877944805923,
      "grad_norm": 0.5660232305526733,
      "learning_rate": 0.00045429180979707706,
      "loss": 0.0764,
      "step": 2938
    },
    {
      "epoch": 0.6591877944805923,
      "gripper_loss": 0.1650390625,
      "loss": 0.06201171875,
      "pos_loss": 0.51171875,
      "rot_loss": 0.0311279296875,
      "step": 2938
    },
    {
      "epoch": 0.6594121606461746,
      "grad_norm": 0.46843215823173523,
      "learning_rate": 0.0004542568971794609,
      "loss": 0.0732,
      "step": 2939
    },
    {
      "epoch": 0.6594121606461746,
      "gripper_loss": 0.8671875,
      "loss": 0.130859375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.34765625,
      "step": 2939
    },
    {
      "epoch": 0.6596365268117568,
      "grad_norm": 1.2639192342758179,
      "learning_rate": 0.00045422197257614217,
      "loss": 0.1184,
      "step": 2940
    },
    {
      "epoch": 0.6596365268117568,
      "gripper_loss": 0.44921875,
      "loss": 0.0537109375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.047607421875,
      "step": 2940
    },
    {
      "epoch": 0.659860892977339,
      "grad_norm": 0.7146130204200745,
      "learning_rate": 0.00045418703598917046,
      "loss": 0.1562,
      "step": 2941
    },
    {
      "epoch": 0.659860892977339,
      "gripper_loss": 0.171875,
      "loss": 0.12890625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.25390625,
      "step": 2941
    },
    {
      "epoch": 0.6600852591429213,
      "grad_norm": 0.8543487787246704,
      "learning_rate": 0.00045415208742059554,
      "loss": 0.099,
      "step": 2942
    },
    {
      "epoch": 0.6600852591429213,
      "gripper_loss": 1.4375,
      "loss": 0.10009765625,
      "pos_loss": 0.302734375,
      "rot_loss": 0.2216796875,
      "step": 2942
    },
    {
      "epoch": 0.6603096253085035,
      "grad_norm": 0.5052746534347534,
      "learning_rate": 0.0004541171268724684,
      "loss": 0.1069,
      "step": 2943
    },
    {
      "epoch": 0.6603096253085035,
      "gripper_loss": 1.3828125,
      "loss": 0.134765625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.345703125,
      "step": 2943
    },
    {
      "epoch": 0.6605339914740858,
      "grad_norm": 0.7575739622116089,
      "learning_rate": 0.00045408215434684045,
      "loss": 0.1244,
      "step": 2944
    },
    {
      "epoch": 0.6605339914740858,
      "gripper_loss": 0.087890625,
      "loss": 0.1279296875,
      "pos_loss": 0.90234375,
      "rot_loss": 0.34375,
      "step": 2944
    },
    {
      "epoch": 0.660758357639668,
      "grad_norm": 0.8067943453788757,
      "learning_rate": 0.0004540471698457639,
      "loss": 0.1306,
      "step": 2945
    },
    {
      "epoch": 0.660758357639668,
      "gripper_loss": 0.41015625,
      "loss": 0.1123046875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.38671875,
      "step": 2945
    },
    {
      "epoch": 0.6609827238052501,
      "grad_norm": 0.7563742399215698,
      "learning_rate": 0.00045401217337129145,
      "loss": 0.1588,
      "step": 2946
    },
    {
      "epoch": 0.6609827238052501,
      "gripper_loss": 0.375,
      "loss": 0.07177734375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.0673828125,
      "step": 2946
    },
    {
      "epoch": 0.6612070899708324,
      "grad_norm": 0.5842379927635193,
      "learning_rate": 0.0004539771649254769,
      "loss": 0.0945,
      "step": 2947
    },
    {
      "epoch": 0.6612070899708324,
      "gripper_loss": 0.79296875,
      "loss": 0.07080078125,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.294921875,
      "step": 2947
    },
    {
      "epoch": 0.6614314561364146,
      "grad_norm": 0.6413671970367432,
      "learning_rate": 0.00045394214451037435,
      "loss": 0.0778,
      "step": 2948
    },
    {
      "epoch": 0.6614314561364146,
      "gripper_loss": 0.1376953125,
      "loss": 0.10498046875,
      "pos_loss": 0.7890625,
      "rot_loss": 0.16796875,
      "step": 2948
    },
    {
      "epoch": 0.6616558223019968,
      "grad_norm": 0.6578121185302734,
      "learning_rate": 0.0004539071121280389,
      "loss": 0.087,
      "step": 2949
    },
    {
      "epoch": 0.6616558223019968,
      "gripper_loss": 0.453125,
      "loss": 0.13671875,
      "pos_loss": 1.078125,
      "rot_loss": 0.1337890625,
      "step": 2949
    },
    {
      "epoch": 0.6618801884675791,
      "grad_norm": 0.6048736572265625,
      "learning_rate": 0.0004538720677805263,
      "loss": 0.1089,
      "step": 2950
    },
    {
      "epoch": 0.6618801884675791,
      "gripper_loss": 0.033447265625,
      "loss": 0.06689453125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.291015625,
      "step": 2950
    },
    {
      "epoch": 0.6621045546331613,
      "grad_norm": 0.5615779757499695,
      "learning_rate": 0.00045383701146989265,
      "loss": 0.0606,
      "step": 2951
    },
    {
      "epoch": 0.6621045546331613,
      "gripper_loss": 0.0625,
      "loss": 0.017333984375,
      "pos_loss": 0.0458984375,
      "rot_loss": 0.03515625,
      "step": 2951
    },
    {
      "epoch": 0.6623289207987435,
      "grad_norm": 0.817288875579834,
      "learning_rate": 0.0004538019431981953,
      "loss": 0.118,
      "step": 2952
    },
    {
      "epoch": 0.6623289207987435,
      "gripper_loss": 0.2734375,
      "loss": 0.041259765625,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.1748046875,
      "step": 2952
    },
    {
      "epoch": 0.6625532869643258,
      "grad_norm": 0.636876106262207,
      "learning_rate": 0.00045376686296749193,
      "loss": 0.1082,
      "step": 2953
    },
    {
      "epoch": 0.6625532869643258,
      "gripper_loss": 1.65625,
      "loss": 0.3046875,
      "pos_loss": 2.359375,
      "rot_loss": 0.263671875,
      "step": 2953
    },
    {
      "epoch": 0.662777653129908,
      "grad_norm": 0.9130073189735413,
      "learning_rate": 0.0004537317707798411,
      "loss": 0.1705,
      "step": 2954
    },
    {
      "epoch": 0.662777653129908,
      "gripper_loss": 0.0279541015625,
      "loss": 0.1796875,
      "pos_loss": 1.8203125,
      "rot_loss": 0.0284423828125,
      "step": 2954
    },
    {
      "epoch": 0.6630020192954902,
      "grad_norm": 0.6379923820495605,
      "learning_rate": 0.00045369666663730196,
      "loss": 0.1462,
      "step": 2955
    },
    {
      "epoch": 0.6630020192954902,
      "gripper_loss": 0.53515625,
      "loss": 0.091796875,
      "pos_loss": 0.546875,
      "rot_loss": 0.171875,
      "step": 2955
    },
    {
      "epoch": 0.6632263854610725,
      "grad_norm": 0.5179736018180847,
      "learning_rate": 0.0004536615505419345,
      "loss": 0.1105,
      "step": 2956
    },
    {
      "epoch": 0.6632263854610725,
      "gripper_loss": 0.443359375,
      "loss": 0.11083984375,
      "pos_loss": 0.3984375,
      "rot_loss": 0.546875,
      "step": 2956
    },
    {
      "epoch": 0.6634507516266547,
      "grad_norm": 0.6084086298942566,
      "learning_rate": 0.0004536264224957991,
      "loss": 0.1087,
      "step": 2957
    },
    {
      "epoch": 0.6634507516266547,
      "gripper_loss": 0.1044921875,
      "loss": 0.08544921875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.42578125,
      "step": 2957
    },
    {
      "epoch": 0.663675117792237,
      "grad_norm": 0.745293378829956,
      "learning_rate": 0.0004535912825009573,
      "loss": 0.1154,
      "step": 2958
    },
    {
      "epoch": 0.663675117792237,
      "gripper_loss": 0.043701171875,
      "loss": 0.09765625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.0220947265625,
      "step": 2958
    },
    {
      "epoch": 0.6638994839578192,
      "grad_norm": 0.9036550521850586,
      "learning_rate": 0.0004535561305594709,
      "loss": 0.1553,
      "step": 2959
    },
    {
      "epoch": 0.6638994839578192,
      "gripper_loss": 1.3203125,
      "loss": 0.055908203125,
      "pos_loss": 0.044921875,
      "rot_loss": 0.046142578125,
      "step": 2959
    },
    {
      "epoch": 0.6641238501234014,
      "grad_norm": 0.5663267970085144,
      "learning_rate": 0.0004535209666734027,
      "loss": 0.1139,
      "step": 2960
    },
    {
      "epoch": 0.6641238501234014,
      "gripper_loss": 0.373046875,
      "loss": 0.1748046875,
      "pos_loss": 0.609375,
      "rot_loss": 0.63671875,
      "step": 2960
    },
    {
      "epoch": 0.6643482162889837,
      "grad_norm": 1.1784745454788208,
      "learning_rate": 0.0004534857908448161,
      "loss": 0.1865,
      "step": 2961
    },
    {
      "epoch": 0.6643482162889837,
      "gripper_loss": 0.1826171875,
      "loss": 0.10595703125,
      "pos_loss": 0.609375,
      "rot_loss": 0.255859375,
      "step": 2961
    },
    {
      "epoch": 0.6645725824545659,
      "grad_norm": 0.8860729932785034,
      "learning_rate": 0.0004534506030757752,
      "loss": 0.129,
      "step": 2962
    },
    {
      "epoch": 0.6645725824545659,
      "gripper_loss": 1.4453125,
      "loss": 0.078125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.1435546875,
      "step": 2962
    },
    {
      "epoch": 0.664796948620148,
      "grad_norm": 0.4775901734828949,
      "learning_rate": 0.00045341540336834473,
      "loss": 0.0533,
      "step": 2963
    },
    {
      "epoch": 0.664796948620148,
      "gripper_loss": 0.158203125,
      "loss": 0.10546875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.26171875,
      "step": 2963
    },
    {
      "epoch": 0.6650213147857303,
      "grad_norm": 0.8130574822425842,
      "learning_rate": 0.00045338019172459033,
      "loss": 0.1455,
      "step": 2964
    },
    {
      "epoch": 0.6650213147857303,
      "gripper_loss": 0.0263671875,
      "loss": 0.11865234375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.162109375,
      "step": 2964
    },
    {
      "epoch": 0.6652456809513125,
      "grad_norm": 0.5476424098014832,
      "learning_rate": 0.0004533449681465781,
      "loss": 0.1532,
      "step": 2965
    },
    {
      "epoch": 0.6652456809513125,
      "gripper_loss": 0.11279296875,
      "loss": 0.1552734375,
      "pos_loss": 0.462890625,
      "rot_loss": 0.3515625,
      "step": 2965
    },
    {
      "epoch": 0.6654700471168947,
      "grad_norm": 1.5463167428970337,
      "learning_rate": 0.000453309732636375,
      "loss": 0.1698,
      "step": 2966
    },
    {
      "epoch": 0.6654700471168947,
      "gripper_loss": 0.58984375,
      "loss": 0.1630859375,
      "pos_loss": 0.765625,
      "rot_loss": 0.306640625,
      "step": 2966
    },
    {
      "epoch": 0.665694413282477,
      "grad_norm": 1.3809818029403687,
      "learning_rate": 0.0004532744851960485,
      "loss": 0.1661,
      "step": 2967
    },
    {
      "epoch": 0.665694413282477,
      "gripper_loss": 1.5078125,
      "loss": 0.0927734375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.1494140625,
      "step": 2967
    },
    {
      "epoch": 0.6659187794480592,
      "grad_norm": 0.6188580393791199,
      "learning_rate": 0.0004532392258276672,
      "loss": 0.1189,
      "step": 2968
    },
    {
      "epoch": 0.6659187794480592,
      "gripper_loss": 0.22265625,
      "loss": 0.0947265625,
      "pos_loss": 0.4921875,
      "rot_loss": 0.1708984375,
      "step": 2968
    },
    {
      "epoch": 0.6661431456136414,
      "grad_norm": 0.7368009090423584,
      "learning_rate": 0.0004532039545332998,
      "loss": 0.1125,
      "step": 2969
    },
    {
      "epoch": 0.6661431456136414,
      "gripper_loss": 0.2431640625,
      "loss": 0.1748046875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.6796875,
      "step": 2969
    },
    {
      "epoch": 0.6663675117792237,
      "grad_norm": 1.2708697319030762,
      "learning_rate": 0.00045316867131501605,
      "loss": 0.1561,
      "step": 2970
    },
    {
      "epoch": 0.6663675117792237,
      "gripper_loss": 0.2177734375,
      "loss": 0.10693359375,
      "pos_loss": 0.53125,
      "rot_loss": 0.427734375,
      "step": 2970
    },
    {
      "epoch": 0.6665918779448059,
      "grad_norm": 0.735048770904541,
      "learning_rate": 0.00045313337617488653,
      "loss": 0.1163,
      "step": 2971
    },
    {
      "epoch": 0.6665918779448059,
      "gripper_loss": 1.171875,
      "loss": 0.10791015625,
      "pos_loss": 0.48828125,
      "rot_loss": 0.107421875,
      "step": 2971
    },
    {
      "epoch": 0.6668162441103882,
      "grad_norm": 0.7372875213623047,
      "learning_rate": 0.0004530980691149822,
      "loss": 0.1051,
      "step": 2972
    },
    {
      "epoch": 0.6668162441103882,
      "gripper_loss": 0.140625,
      "loss": 0.25,
      "pos_loss": 1.6484375,
      "rot_loss": 0.6953125,
      "step": 2972
    },
    {
      "epoch": 0.6670406102759704,
      "grad_norm": 0.9870622754096985,
      "learning_rate": 0.00045306275013737486,
      "loss": 0.1359,
      "step": 2973
    },
    {
      "epoch": 0.6670406102759704,
      "gripper_loss": 1.640625,
      "loss": 0.09912109375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.0556640625,
      "step": 2973
    },
    {
      "epoch": 0.6672649764415526,
      "grad_norm": 0.7069128751754761,
      "learning_rate": 0.00045302741924413707,
      "loss": 0.1063,
      "step": 2974
    },
    {
      "epoch": 0.6672649764415526,
      "gripper_loss": 0.1181640625,
      "loss": 0.1298828125,
      "pos_loss": 1.0859375,
      "rot_loss": 0.1591796875,
      "step": 2974
    },
    {
      "epoch": 0.6674893426071349,
      "grad_norm": 0.5717145800590515,
      "learning_rate": 0.00045299207643734207,
      "loss": 0.1143,
      "step": 2975
    },
    {
      "epoch": 0.6674893426071349,
      "gripper_loss": 0.373046875,
      "loss": 0.053955078125,
      "pos_loss": 0.341796875,
      "rot_loss": 0.0299072265625,
      "step": 2975
    },
    {
      "epoch": 0.6677137087727171,
      "grad_norm": 0.5535575151443481,
      "learning_rate": 0.00045295672171906365,
      "loss": 0.0989,
      "step": 2976
    },
    {
      "epoch": 0.6677137087727171,
      "gripper_loss": 0.0810546875,
      "loss": 0.080078125,
      "pos_loss": 0.341796875,
      "rot_loss": 0.232421875,
      "step": 2976
    },
    {
      "epoch": 0.6679380749382993,
      "grad_norm": 0.913476288318634,
      "learning_rate": 0.00045292135509137645,
      "loss": 0.1002,
      "step": 2977
    },
    {
      "epoch": 0.6679380749382993,
      "gripper_loss": 0.04638671875,
      "loss": 0.21484375,
      "pos_loss": 1.28125,
      "rot_loss": 0.8828125,
      "step": 2977
    },
    {
      "epoch": 0.6681624411038816,
      "grad_norm": 1.1081128120422363,
      "learning_rate": 0.0004528859765563558,
      "loss": 0.1589,
      "step": 2978
    },
    {
      "epoch": 0.6681624411038816,
      "gripper_loss": 0.2578125,
      "loss": 0.126953125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.14453125,
      "step": 2978
    },
    {
      "epoch": 0.6683868072694638,
      "grad_norm": 0.7957141399383545,
      "learning_rate": 0.0004528505861160776,
      "loss": 0.0962,
      "step": 2979
    },
    {
      "epoch": 0.6683868072694638,
      "gripper_loss": 0.1630859375,
      "loss": 0.140625,
      "pos_loss": 0.52734375,
      "rot_loss": 0.765625,
      "step": 2979
    },
    {
      "epoch": 0.668611173435046,
      "grad_norm": 0.7394401431083679,
      "learning_rate": 0.00045281518377261867,
      "loss": 0.1221,
      "step": 2980
    },
    {
      "epoch": 0.668611173435046,
      "gripper_loss": 1.2265625,
      "loss": 0.0556640625,
      "pos_loss": 0.04345703125,
      "rot_loss": 0.0498046875,
      "step": 2980
    },
    {
      "epoch": 0.6688355396006282,
      "grad_norm": 0.6050043106079102,
      "learning_rate": 0.00045277976952805634,
      "loss": 0.0895,
      "step": 2981
    },
    {
      "epoch": 0.6688355396006282,
      "gripper_loss": 0.045654296875,
      "loss": 0.060302734375,
      "pos_loss": 0.341796875,
      "rot_loss": 0.13671875,
      "step": 2981
    },
    {
      "epoch": 0.6690599057662104,
      "grad_norm": 0.8327773213386536,
      "learning_rate": 0.0004527443433844687,
      "loss": 0.0896,
      "step": 2982
    },
    {
      "epoch": 0.6690599057662104,
      "gripper_loss": 0.98046875,
      "loss": 0.40234375,
      "pos_loss": 0.91015625,
      "rot_loss": 1.078125,
      "step": 2982
    },
    {
      "epoch": 0.6692842719317927,
      "grad_norm": 1.6143875122070312,
      "learning_rate": 0.0004527089053439346,
      "loss": 0.4036,
      "step": 2983
    },
    {
      "epoch": 0.6692842719317927,
      "gripper_loss": 1.5234375,
      "loss": 0.0625,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.023681640625,
      "step": 2983
    },
    {
      "epoch": 0.6695086380973749,
      "grad_norm": 0.6794816255569458,
      "learning_rate": 0.00045267345540853343,
      "loss": 0.1299,
      "step": 2984
    },
    {
      "epoch": 0.6695086380973749,
      "gripper_loss": 0.140625,
      "loss": 0.16796875,
      "pos_loss": 1.25,
      "rot_loss": 0.35546875,
      "step": 2984
    },
    {
      "epoch": 0.6697330042629571,
      "grad_norm": 0.6684832572937012,
      "learning_rate": 0.0004526379935803455,
      "loss": 0.1087,
      "step": 2985
    },
    {
      "epoch": 0.6697330042629571,
      "gripper_loss": 0.7734375,
      "loss": 0.06494140625,
      "pos_loss": 0.1484375,
      "rot_loss": 0.2119140625,
      "step": 2985
    },
    {
      "epoch": 0.6699573704285394,
      "grad_norm": 0.655128538608551,
      "learning_rate": 0.0004526025198614515,
      "loss": 0.1135,
      "step": 2986
    },
    {
      "epoch": 0.6699573704285394,
      "gripper_loss": 0.63671875,
      "loss": 0.07275390625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.2001953125,
      "step": 2986
    },
    {
      "epoch": 0.6701817365941216,
      "grad_norm": 0.6927313208580017,
      "learning_rate": 0.0004525670342539332,
      "loss": 0.0925,
      "step": 2987
    },
    {
      "epoch": 0.6701817365941216,
      "gripper_loss": 0.08251953125,
      "loss": 0.16015625,
      "pos_loss": 0.4609375,
      "rot_loss": 1.1328125,
      "step": 2987
    },
    {
      "epoch": 0.6704061027597038,
      "grad_norm": 0.7204434871673584,
      "learning_rate": 0.0004525315367598728,
      "loss": 0.1174,
      "step": 2988
    },
    {
      "epoch": 0.6704061027597038,
      "gripper_loss": 0.390625,
      "loss": 0.033935546875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.042724609375,
      "step": 2988
    },
    {
      "epoch": 0.6706304689252861,
      "grad_norm": 0.82146817445755,
      "learning_rate": 0.0004524960273813533,
      "loss": 0.1187,
      "step": 2989
    },
    {
      "epoch": 0.6706304689252861,
      "gripper_loss": 0.671875,
      "loss": 0.1845703125,
      "pos_loss": 0.875,
      "rot_loss": 0.76953125,
      "step": 2989
    },
    {
      "epoch": 0.6708548350908683,
      "grad_norm": 0.7244308590888977,
      "learning_rate": 0.0004524605061204584,
      "loss": 0.1098,
      "step": 2990
    },
    {
      "epoch": 0.6708548350908683,
      "gripper_loss": 0.89453125,
      "loss": 0.0576171875,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.05908203125,
      "step": 2990
    },
    {
      "epoch": 0.6710792012564505,
      "grad_norm": 0.5815302729606628,
      "learning_rate": 0.0004524249729792724,
      "loss": 0.108,
      "step": 2991
    },
    {
      "epoch": 0.6710792012564505,
      "gripper_loss": 0.07763671875,
      "loss": 0.1640625,
      "pos_loss": 1.328125,
      "rot_loss": 0.27734375,
      "step": 2991
    },
    {
      "epoch": 0.6713035674220328,
      "grad_norm": 1.0267481803894043,
      "learning_rate": 0.00045238942795988035,
      "loss": 0.1216,
      "step": 2992
    },
    {
      "epoch": 0.6713035674220328,
      "gripper_loss": 0.263671875,
      "loss": 0.038330078125,
      "pos_loss": 0.10546875,
      "rot_loss": 0.115234375,
      "step": 2992
    },
    {
      "epoch": 0.671527933587615,
      "grad_norm": 0.624850332736969,
      "learning_rate": 0.0004523538710643681,
      "loss": 0.1041,
      "step": 2993
    },
    {
      "epoch": 0.671527933587615,
      "gripper_loss": 0.05517578125,
      "loss": 0.181640625,
      "pos_loss": 1.265625,
      "rot_loss": 0.5703125,
      "step": 2993
    },
    {
      "epoch": 0.6717522997531972,
      "grad_norm": 0.5235684514045715,
      "learning_rate": 0.00045231830229482215,
      "loss": 0.1158,
      "step": 2994
    },
    {
      "epoch": 0.6717522997531972,
      "gripper_loss": 0.279296875,
      "loss": 0.03369140625,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.09912109375,
      "step": 2994
    },
    {
      "epoch": 0.6719766659187795,
      "grad_norm": 0.5480644702911377,
      "learning_rate": 0.0004522827216533295,
      "loss": 0.0558,
      "step": 2995
    },
    {
      "epoch": 0.6719766659187795,
      "gripper_loss": 0.7734375,
      "loss": 0.1396484375,
      "pos_loss": 0.96875,
      "rot_loss": 0.1904296875,
      "step": 2995
    },
    {
      "epoch": 0.6722010320843617,
      "grad_norm": 0.5646539330482483,
      "learning_rate": 0.0004522471291419781,
      "loss": 0.1053,
      "step": 2996
    },
    {
      "epoch": 0.6722010320843617,
      "gripper_loss": 0.0888671875,
      "loss": 0.05322265625,
      "pos_loss": 0.185546875,
      "rot_loss": 0.216796875,
      "step": 2996
    },
    {
      "epoch": 0.672425398249944,
      "grad_norm": 0.6517313122749329,
      "learning_rate": 0.00045221152476285654,
      "loss": 0.0911,
      "step": 2997
    },
    {
      "epoch": 0.672425398249944,
      "gripper_loss": 0.27734375,
      "loss": 0.1279296875,
      "pos_loss": 0.671875,
      "rot_loss": 0.3828125,
      "step": 2997
    },
    {
      "epoch": 0.6726497644155262,
      "grad_norm": 0.6748599410057068,
      "learning_rate": 0.000452175908518054,
      "loss": 0.0958,
      "step": 2998
    },
    {
      "epoch": 0.6726497644155262,
      "gripper_loss": 0.435546875,
      "loss": 0.1845703125,
      "pos_loss": 1.5390625,
      "rot_loss": 0.2138671875,
      "step": 2998
    },
    {
      "epoch": 0.6728741305811083,
      "grad_norm": 0.5884760618209839,
      "learning_rate": 0.00045214028040966046,
      "loss": 0.1198,
      "step": 2999
    },
    {
      "epoch": 0.6728741305811083,
      "gripper_loss": 0.2275390625,
      "loss": 0.1064453125,
      "pos_loss": 0.9140625,
      "rot_loss": 0.08349609375,
      "step": 2999
    },
    {
      "epoch": 0.6730984967466906,
      "grad_norm": 0.5264444947242737,
      "learning_rate": 0.00045210464043976664,
      "loss": 0.0922,
      "step": 3000
    },
    {
      "epoch": 0.6730984967466906,
      "gripper_loss": 0.625,
      "loss": 0.058349609375,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.11865234375,
      "step": 3000
    },
    {
      "epoch": 0.6733228629122728,
      "grad_norm": 0.5357047915458679,
      "learning_rate": 0.0004520689886104637,
      "loss": 0.0952,
      "step": 3001
    },
    {
      "epoch": 0.6733228629122728,
      "gripper_loss": 0.76953125,
      "loss": 0.061767578125,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.1669921875,
      "step": 3001
    },
    {
      "epoch": 0.673547229077855,
      "grad_norm": 0.7337012887001038,
      "learning_rate": 0.00045203332492384376,
      "loss": 0.1036,
      "step": 3002
    },
    {
      "epoch": 0.673547229077855,
      "gripper_loss": 0.486328125,
      "loss": 0.130859375,
      "pos_loss": 0.6953125,
      "rot_loss": 0.1650390625,
      "step": 3002
    },
    {
      "epoch": 0.6737715952434373,
      "grad_norm": 1.0358132123947144,
      "learning_rate": 0.0004519976493819996,
      "loss": 0.1639,
      "step": 3003
    },
    {
      "epoch": 0.6737715952434373,
      "gripper_loss": 0.91015625,
      "loss": 0.12890625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.271484375,
      "step": 3003
    },
    {
      "epoch": 0.6739959614090195,
      "grad_norm": 0.6132115125656128,
      "learning_rate": 0.00045196196198702456,
      "loss": 0.1016,
      "step": 3004
    },
    {
      "epoch": 0.6739959614090195,
      "gripper_loss": 1.8671875,
      "loss": 0.1875,
      "pos_loss": 0.77734375,
      "rot_loss": 0.48828125,
      "step": 3004
    },
    {
      "epoch": 0.6742203275746017,
      "grad_norm": 0.6537147760391235,
      "learning_rate": 0.00045192626274101277,
      "loss": 0.1121,
      "step": 3005
    },
    {
      "epoch": 0.6742203275746017,
      "gripper_loss": 0.373046875,
      "loss": 0.08837890625,
      "pos_loss": 0.30859375,
      "rot_loss": 0.421875,
      "step": 3005
    },
    {
      "epoch": 0.674444693740184,
      "grad_norm": 0.6394410729408264,
      "learning_rate": 0.00045189055164605917,
      "loss": 0.097,
      "step": 3006
    },
    {
      "epoch": 0.674444693740184,
      "gripper_loss": 0.23046875,
      "loss": 0.06396484375,
      "pos_loss": 0.154296875,
      "rot_loss": 0.369140625,
      "step": 3006
    },
    {
      "epoch": 0.6746690599057662,
      "grad_norm": 0.6588744521141052,
      "learning_rate": 0.0004518548287042591,
      "loss": 0.1091,
      "step": 3007
    },
    {
      "epoch": 0.6746690599057662,
      "gripper_loss": 0.059814453125,
      "loss": 0.12890625,
      "pos_loss": 1.0234375,
      "rot_loss": 0.2412109375,
      "step": 3007
    },
    {
      "epoch": 0.6748934260713484,
      "grad_norm": 0.7110305428504944,
      "learning_rate": 0.0004518190939177089,
      "loss": 0.1014,
      "step": 3008
    },
    {
      "epoch": 0.6748934260713484,
      "gripper_loss": 0.42578125,
      "loss": 0.0284423828125,
      "pos_loss": 0.0299072265625,
      "rot_loss": 0.041259765625,
      "step": 3008
    },
    {
      "epoch": 0.6751177922369307,
      "grad_norm": 0.6062126159667969,
      "learning_rate": 0.00045178334728850533,
      "loss": 0.1262,
      "step": 3009
    },
    {
      "epoch": 0.6751177922369307,
      "gripper_loss": 2.90625,
      "loss": 0.322265625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.1435546875,
      "step": 3009
    },
    {
      "epoch": 0.6753421584025129,
      "grad_norm": 2.375589609146118,
      "learning_rate": 0.00045174758881874616,
      "loss": 0.303,
      "step": 3010
    },
    {
      "epoch": 0.6753421584025129,
      "gripper_loss": 0.1484375,
      "loss": 0.146484375,
      "pos_loss": 0.8828125,
      "rot_loss": 0.3984375,
      "step": 3010
    },
    {
      "epoch": 0.6755665245680952,
      "grad_norm": 0.8018155097961426,
      "learning_rate": 0.0004517118185105296,
      "loss": 0.1133,
      "step": 3011
    },
    {
      "epoch": 0.6755665245680952,
      "gripper_loss": 0.1748046875,
      "loss": 0.0439453125,
      "pos_loss": 0.09375,
      "rot_loss": 0.083984375,
      "step": 3011
    },
    {
      "epoch": 0.6757908907336774,
      "grad_norm": 0.848979651927948,
      "learning_rate": 0.00045167603636595455,
      "loss": 0.1252,
      "step": 3012
    },
    {
      "epoch": 0.6757908907336774,
      "gripper_loss": 1.203125,
      "loss": 0.10400390625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.05859375,
      "step": 3012
    },
    {
      "epoch": 0.6760152568992596,
      "grad_norm": 0.8251878023147583,
      "learning_rate": 0.00045164024238712074,
      "loss": 0.1275,
      "step": 3013
    },
    {
      "epoch": 0.6760152568992596,
      "gripper_loss": 0.84765625,
      "loss": 0.04833984375,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.03662109375,
      "step": 3013
    },
    {
      "epoch": 0.6762396230648419,
      "grad_norm": 0.5853368043899536,
      "learning_rate": 0.0004516044365761286,
      "loss": 0.0902,
      "step": 3014
    },
    {
      "epoch": 0.6762396230648419,
      "gripper_loss": 1.46875,
      "loss": 0.15625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.055908203125,
      "step": 3014
    },
    {
      "epoch": 0.6764639892304241,
      "grad_norm": 0.5833484530448914,
      "learning_rate": 0.0004515686189350792,
      "loss": 0.1357,
      "step": 3015
    },
    {
      "epoch": 0.6764639892304241,
      "gripper_loss": 0.0986328125,
      "loss": 0.09521484375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.185546875,
      "step": 3015
    },
    {
      "epoch": 0.6766883553960062,
      "grad_norm": 0.640142023563385,
      "learning_rate": 0.00045153278946607426,
      "loss": 0.1219,
      "step": 3016
    },
    {
      "epoch": 0.6766883553960062,
      "gripper_loss": 0.484375,
      "loss": 0.044921875,
      "pos_loss": 0.17578125,
      "rot_loss": 0.043212890625,
      "step": 3016
    },
    {
      "epoch": 0.6769127215615885,
      "grad_norm": 0.8142446875572205,
      "learning_rate": 0.00045149694817121625,
      "loss": 0.0802,
      "step": 3017
    },
    {
      "epoch": 0.6769127215615885,
      "gripper_loss": 0.138671875,
      "loss": 0.09130859375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.0615234375,
      "step": 3017
    },
    {
      "epoch": 0.6771370877271707,
      "grad_norm": 0.6656582951545715,
      "learning_rate": 0.00045146109505260837,
      "loss": 0.0795,
      "step": 3018
    },
    {
      "epoch": 0.6771370877271707,
      "gripper_loss": 0.041259765625,
      "loss": 0.142578125,
      "pos_loss": 0.60546875,
      "rot_loss": 0.5390625,
      "step": 3018
    },
    {
      "epoch": 0.6773614538927529,
      "grad_norm": 1.3084913492202759,
      "learning_rate": 0.0004514252301123543,
      "loss": 0.1508,
      "step": 3019
    },
    {
      "epoch": 0.6773614538927529,
      "gripper_loss": 0.09619140625,
      "loss": 0.11767578125,
      "pos_loss": 0.9453125,
      "rot_loss": 0.171875,
      "step": 3019
    },
    {
      "epoch": 0.6775858200583352,
      "grad_norm": 0.7616822719573975,
      "learning_rate": 0.0004513893533525587,
      "loss": 0.1055,
      "step": 3020
    },
    {
      "epoch": 0.6775858200583352,
      "gripper_loss": 1.7109375,
      "loss": 0.1767578125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.0322265625,
      "step": 3020
    },
    {
      "epoch": 0.6778101862239174,
      "grad_norm": 0.6531691551208496,
      "learning_rate": 0.0004513534647753269,
      "loss": 0.1286,
      "step": 3021
    },
    {
      "epoch": 0.6778101862239174,
      "gripper_loss": 0.06396484375,
      "loss": 0.0361328125,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.1630859375,
      "step": 3021
    },
    {
      "epoch": 0.6780345523894996,
      "grad_norm": 0.7425116300582886,
      "learning_rate": 0.00045131756438276466,
      "loss": 0.1249,
      "step": 3022
    },
    {
      "epoch": 0.6780345523894996,
      "gripper_loss": 0.0198974609375,
      "loss": 0.1533203125,
      "pos_loss": 0.48046875,
      "rot_loss": 1.0625,
      "step": 3022
    },
    {
      "epoch": 0.6782589185550819,
      "grad_norm": 0.6965911388397217,
      "learning_rate": 0.0004512816521769787,
      "loss": 0.1069,
      "step": 3023
    },
    {
      "epoch": 0.6782589185550819,
      "gripper_loss": 0.033447265625,
      "loss": 0.0849609375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.2734375,
      "step": 3023
    },
    {
      "epoch": 0.6784832847206641,
      "grad_norm": 0.6033732295036316,
      "learning_rate": 0.00045124572816007626,
      "loss": 0.0928,
      "step": 3024
    },
    {
      "epoch": 0.6784832847206641,
      "gripper_loss": 0.392578125,
      "loss": 0.08544921875,
      "pos_loss": 0.609375,
      "rot_loss": 0.0771484375,
      "step": 3024
    },
    {
      "epoch": 0.6787076508862464,
      "grad_norm": 0.5499753355979919,
      "learning_rate": 0.0004512097923341654,
      "loss": 0.0686,
      "step": 3025
    },
    {
      "epoch": 0.6787076508862464,
      "gripper_loss": 0.453125,
      "loss": 0.1328125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.57421875,
      "step": 3025
    },
    {
      "epoch": 0.6789320170518286,
      "grad_norm": 0.5446115732192993,
      "learning_rate": 0.0004511738447013547,
      "loss": 0.1198,
      "step": 3026
    },
    {
      "epoch": 0.6789320170518286,
      "gripper_loss": 0.79296875,
      "loss": 0.5078125,
      "pos_loss": 0.56640625,
      "rot_loss": 1.390625,
      "step": 3026
    },
    {
      "epoch": 0.6791563832174108,
      "grad_norm": 2.1014010906219482,
      "learning_rate": 0.0004511378852637537,
      "loss": 0.509,
      "step": 3027
    },
    {
      "epoch": 0.6791563832174108,
      "gripper_loss": 0.1982421875,
      "loss": 0.1953125,
      "pos_loss": 1.1015625,
      "rot_loss": 0.578125,
      "step": 3027
    },
    {
      "epoch": 0.6793807493829931,
      "grad_norm": 0.6702017188072205,
      "learning_rate": 0.00045110191402347245,
      "loss": 0.0996,
      "step": 3028
    },
    {
      "epoch": 0.6793807493829931,
      "gripper_loss": 0.08203125,
      "loss": 0.05859375,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1796875,
      "step": 3028
    },
    {
      "epoch": 0.6796051155485753,
      "grad_norm": 0.8934052586555481,
      "learning_rate": 0.00045106593098262173,
      "loss": 0.1062,
      "step": 3029
    },
    {
      "epoch": 0.6796051155485753,
      "gripper_loss": 0.154296875,
      "loss": 0.08935546875,
      "pos_loss": 0.337890625,
      "rot_loss": 0.43359375,
      "step": 3029
    },
    {
      "epoch": 0.6798294817141575,
      "grad_norm": 0.7164630889892578,
      "learning_rate": 0.0004510299361433129,
      "loss": 0.1107,
      "step": 3030
    },
    {
      "epoch": 0.6798294817141575,
      "gripper_loss": 0.10693359375,
      "loss": 0.232421875,
      "pos_loss": 1.8984375,
      "rot_loss": 0.412109375,
      "step": 3030
    },
    {
      "epoch": 0.6800538478797398,
      "grad_norm": 0.7293375730514526,
      "learning_rate": 0.0004509939295076583,
      "loss": 0.1361,
      "step": 3031
    },
    {
      "epoch": 0.6800538478797398,
      "gripper_loss": 0.6328125,
      "loss": 0.09814453125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.220703125,
      "step": 3031
    },
    {
      "epoch": 0.680278214045322,
      "grad_norm": 0.6134631633758545,
      "learning_rate": 0.0004509579110777706,
      "loss": 0.136,
      "step": 3032
    },
    {
      "epoch": 0.680278214045322,
      "gripper_loss": 2.515625,
      "loss": 0.1982421875,
      "pos_loss": 0.4375,
      "rot_loss": 0.75390625,
      "step": 3032
    },
    {
      "epoch": 0.6805025802109042,
      "grad_norm": 0.6805322766304016,
      "learning_rate": 0.00045092188085576345,
      "loss": 0.1236,
      "step": 3033
    },
    {
      "epoch": 0.6805025802109042,
      "gripper_loss": 0.07373046875,
      "loss": 0.17578125,
      "pos_loss": 1.3046875,
      "rot_loss": 0.201171875,
      "step": 3033
    },
    {
      "epoch": 0.6807269463764865,
      "grad_norm": 1.028328776359558,
      "learning_rate": 0.0004508858388437511,
      "loss": 0.1242,
      "step": 3034
    },
    {
      "epoch": 0.6807269463764865,
      "gripper_loss": 0.2314453125,
      "loss": 0.134765625,
      "pos_loss": 0.765625,
      "rot_loss": 0.4765625,
      "step": 3034
    },
    {
      "epoch": 0.6809513125420686,
      "grad_norm": 0.7443692684173584,
      "learning_rate": 0.00045084978504384847,
      "loss": 0.0993,
      "step": 3035
    },
    {
      "epoch": 0.6809513125420686,
      "gripper_loss": 0.625,
      "loss": 0.08984375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.34765625,
      "step": 3035
    },
    {
      "epoch": 0.6811756787076508,
      "grad_norm": 0.6729208827018738,
      "learning_rate": 0.0004508137194581712,
      "loss": 0.0748,
      "step": 3036
    },
    {
      "epoch": 0.6811756787076508,
      "gripper_loss": 0.068359375,
      "loss": 0.1806640625,
      "pos_loss": 1.140625,
      "rot_loss": 0.66015625,
      "step": 3036
    },
    {
      "epoch": 0.6814000448732331,
      "grad_norm": 0.9362214207649231,
      "learning_rate": 0.0004507776420888354,
      "loss": 0.1856,
      "step": 3037
    },
    {
      "epoch": 0.6814000448732331,
      "gripper_loss": 0.0927734375,
      "loss": 0.171875,
      "pos_loss": 0.32421875,
      "rot_loss": 1.4140625,
      "step": 3037
    },
    {
      "epoch": 0.6816244110388153,
      "grad_norm": 0.7042300701141357,
      "learning_rate": 0.0004507415529379584,
      "loss": 0.1693,
      "step": 3038
    },
    {
      "epoch": 0.6816244110388153,
      "gripper_loss": 0.53125,
      "loss": 0.1494140625,
      "pos_loss": 1.015625,
      "rot_loss": 0.25390625,
      "step": 3038
    },
    {
      "epoch": 0.6818487772043976,
      "grad_norm": 0.903161883354187,
      "learning_rate": 0.0004507054520076576,
      "loss": 0.1462,
      "step": 3039
    },
    {
      "epoch": 0.6818487772043976,
      "gripper_loss": 0.058837890625,
      "loss": 0.10595703125,
      "pos_loss": 0.7265625,
      "rot_loss": 0.267578125,
      "step": 3039
    },
    {
      "epoch": 0.6820731433699798,
      "grad_norm": 0.5141215324401855,
      "learning_rate": 0.0004506693393000516,
      "loss": 0.0942,
      "step": 3040
    },
    {
      "epoch": 0.6820731433699798,
      "gripper_loss": 0.5390625,
      "loss": 0.412109375,
      "pos_loss": 1.5,
      "rot_loss": 2.625,
      "step": 3040
    },
    {
      "epoch": 0.682297509535562,
      "grad_norm": 0.8835607171058655,
      "learning_rate": 0.0004506332148172594,
      "loss": 0.1577,
      "step": 3041
    },
    {
      "epoch": 0.682297509535562,
      "gripper_loss": 0.1015625,
      "loss": 0.08251953125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.23046875,
      "step": 3041
    },
    {
      "epoch": 0.6825218757011443,
      "grad_norm": 0.4380626380443573,
      "learning_rate": 0.0004505970785614007,
      "loss": 0.1186,
      "step": 3042
    },
    {
      "epoch": 0.6825218757011443,
      "gripper_loss": 0.01220703125,
      "loss": 0.099609375,
      "pos_loss": 0.77734375,
      "rot_loss": 0.2001953125,
      "step": 3042
    },
    {
      "epoch": 0.6827462418667265,
      "grad_norm": 0.617827296257019,
      "learning_rate": 0.000450560930534596,
      "loss": 0.1111,
      "step": 3043
    },
    {
      "epoch": 0.6827462418667265,
      "gripper_loss": 0.546875,
      "loss": 0.072265625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.123046875,
      "step": 3043
    },
    {
      "epoch": 0.6829706080323087,
      "grad_norm": 0.5346764922142029,
      "learning_rate": 0.00045052477073896657,
      "loss": 0.1077,
      "step": 3044
    },
    {
      "epoch": 0.6829706080323087,
      "gripper_loss": 0.90234375,
      "loss": 0.08447265625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.1728515625,
      "step": 3044
    },
    {
      "epoch": 0.683194974197891,
      "grad_norm": 0.608374834060669,
      "learning_rate": 0.0004504885991766341,
      "loss": 0.1119,
      "step": 3045
    },
    {
      "epoch": 0.683194974197891,
      "gripper_loss": 0.09326171875,
      "loss": 0.15625,
      "pos_loss": 0.59765625,
      "rot_loss": 0.78125,
      "step": 3045
    },
    {
      "epoch": 0.6834193403634732,
      "grad_norm": 1.0906486511230469,
      "learning_rate": 0.0004504524158497212,
      "loss": 0.1522,
      "step": 3046
    },
    {
      "epoch": 0.6834193403634732,
      "gripper_loss": 0.4765625,
      "loss": 0.03173828125,
      "pos_loss": 0.06787109375,
      "rot_loss": 0.0267333984375,
      "step": 3046
    },
    {
      "epoch": 0.6836437065290554,
      "grad_norm": 0.8386712670326233,
      "learning_rate": 0.00045041622076035106,
      "loss": 0.1395,
      "step": 3047
    },
    {
      "epoch": 0.6836437065290554,
      "gripper_loss": 0.375,
      "loss": 0.0301513671875,
      "pos_loss": 0.06787109375,
      "rot_loss": 0.0262451171875,
      "step": 3047
    },
    {
      "epoch": 0.6838680726946377,
      "grad_norm": 0.6903676986694336,
      "learning_rate": 0.00045038001391064754,
      "loss": 0.144,
      "step": 3048
    },
    {
      "epoch": 0.6838680726946377,
      "gripper_loss": 0.039306640625,
      "loss": 0.15625,
      "pos_loss": 0.431640625,
      "rot_loss": 1.125,
      "step": 3048
    },
    {
      "epoch": 0.6840924388602199,
      "grad_norm": 0.7621174454689026,
      "learning_rate": 0.0004503437953027354,
      "loss": 0.1179,
      "step": 3049
    },
    {
      "epoch": 0.6840924388602199,
      "gripper_loss": 0.1611328125,
      "loss": 0.1640625,
      "pos_loss": 0.53515625,
      "rot_loss": 1.046875,
      "step": 3049
    },
    {
      "epoch": 0.684316805025802,
      "grad_norm": 0.9056652784347534,
      "learning_rate": 0.0004503075649387398,
      "loss": 0.1577,
      "step": 3050
    },
    {
      "epoch": 0.684316805025802,
      "gripper_loss": 0.7421875,
      "loss": 0.036865234375,
      "pos_loss": 0.0712890625,
      "rot_loss": 0.0169677734375,
      "step": 3050
    },
    {
      "epoch": 0.6845411711913844,
      "grad_norm": 0.5024336576461792,
      "learning_rate": 0.0004502713228207866,
      "loss": 0.1198,
      "step": 3051
    },
    {
      "epoch": 0.6845411711913844,
      "gripper_loss": 0.76953125,
      "loss": 0.12158203125,
      "pos_loss": 0.490234375,
      "rot_loss": 0.4453125,
      "step": 3051
    },
    {
      "epoch": 0.6847655373569665,
      "grad_norm": 0.5628805160522461,
      "learning_rate": 0.0004502350689510028,
      "loss": 0.1001,
      "step": 3052
    },
    {
      "epoch": 0.6847655373569665,
      "gripper_loss": 0.17578125,
      "loss": 0.31640625,
      "pos_loss": 1.6953125,
      "rot_loss": 1.5390625,
      "step": 3052
    },
    {
      "epoch": 0.6849899035225488,
      "grad_norm": 0.5618646740913391,
      "learning_rate": 0.00045019880333151553,
      "loss": 0.1343,
      "step": 3053
    },
    {
      "epoch": 0.6849899035225488,
      "gripper_loss": 0.33203125,
      "loss": 0.0263671875,
      "pos_loss": 0.0361328125,
      "rot_loss": 0.05029296875,
      "step": 3053
    },
    {
      "epoch": 0.685214269688131,
      "grad_norm": 0.6026110053062439,
      "learning_rate": 0.0004501625259644529,
      "loss": 0.0552,
      "step": 3054
    },
    {
      "epoch": 0.685214269688131,
      "gripper_loss": 0.498046875,
      "loss": 0.2314453125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.50390625,
      "step": 3054
    },
    {
      "epoch": 0.6854386358537132,
      "grad_norm": 1.380914330482483,
      "learning_rate": 0.0004501262368519436,
      "loss": 0.2679,
      "step": 3055
    },
    {
      "epoch": 0.6854386358537132,
      "gripper_loss": 0.037109375,
      "loss": 0.15234375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.51953125,
      "step": 3055
    },
    {
      "epoch": 0.6856630020192955,
      "grad_norm": 0.6714857220649719,
      "learning_rate": 0.0004500899359961171,
      "loss": 0.1774,
      "step": 3056
    },
    {
      "epoch": 0.6856630020192955,
      "gripper_loss": 0.045166015625,
      "loss": 0.1474609375,
      "pos_loss": 0.9375,
      "rot_loss": 0.443359375,
      "step": 3056
    },
    {
      "epoch": 0.6858873681848777,
      "grad_norm": 0.7892797589302063,
      "learning_rate": 0.0004500536233991036,
      "loss": 0.122,
      "step": 3057
    },
    {
      "epoch": 0.6858873681848777,
      "gripper_loss": 0.58203125,
      "loss": 0.0869140625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.047119140625,
      "step": 3057
    },
    {
      "epoch": 0.6861117343504599,
      "grad_norm": 0.732281506061554,
      "learning_rate": 0.0004500172990630338,
      "loss": 0.0894,
      "step": 3058
    },
    {
      "epoch": 0.6861117343504599,
      "gripper_loss": 0.8046875,
      "loss": 0.05224609375,
      "pos_loss": 0.078125,
      "rot_loss": 0.08203125,
      "step": 3058
    },
    {
      "epoch": 0.6863361005160422,
      "grad_norm": 0.918292224407196,
      "learning_rate": 0.00044998096299003916,
      "loss": 0.1097,
      "step": 3059
    },
    {
      "epoch": 0.6863361005160422,
      "gripper_loss": 0.04638671875,
      "loss": 0.0771484375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.443359375,
      "step": 3059
    },
    {
      "epoch": 0.6865604666816244,
      "grad_norm": 0.5581064820289612,
      "learning_rate": 0.00044994461518225196,
      "loss": 0.1058,
      "step": 3060
    },
    {
      "epoch": 0.6865604666816244,
      "gripper_loss": 0.12353515625,
      "loss": 0.1259765625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.44921875,
      "step": 3060
    },
    {
      "epoch": 0.6867848328472066,
      "grad_norm": 0.5822790265083313,
      "learning_rate": 0.00044990825564180504,
      "loss": 0.0992,
      "step": 3061
    },
    {
      "epoch": 0.6867848328472066,
      "gripper_loss": 0.7890625,
      "loss": 0.3046875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.953125,
      "step": 3061
    },
    {
      "epoch": 0.6870091990127889,
      "grad_norm": 1.5007266998291016,
      "learning_rate": 0.00044987188437083195,
      "loss": 0.2412,
      "step": 3062
    },
    {
      "epoch": 0.6870091990127889,
      "gripper_loss": 0.32421875,
      "loss": 0.033447265625,
      "pos_loss": 0.08984375,
      "rot_loss": 0.0498046875,
      "step": 3062
    },
    {
      "epoch": 0.6872335651783711,
      "grad_norm": 0.6366720795631409,
      "learning_rate": 0.00044983550137146696,
      "loss": 0.0742,
      "step": 3063
    },
    {
      "epoch": 0.6872335651783711,
      "gripper_loss": 0.419921875,
      "loss": 0.03955078125,
      "pos_loss": 0.09228515625,
      "rot_loss": 0.06396484375,
      "step": 3063
    },
    {
      "epoch": 0.6874579313439533,
      "grad_norm": 0.8130195140838623,
      "learning_rate": 0.000449799106645845,
      "loss": 0.107,
      "step": 3064
    },
    {
      "epoch": 0.6874579313439533,
      "gripper_loss": 0.197265625,
      "loss": 0.255859375,
      "pos_loss": 0.875,
      "rot_loss": 0.796875,
      "step": 3064
    },
    {
      "epoch": 0.6876822975095356,
      "grad_norm": 1.388522982597351,
      "learning_rate": 0.00044976270019610166,
      "loss": 0.1826,
      "step": 3065
    },
    {
      "epoch": 0.6876822975095356,
      "gripper_loss": 0.10205078125,
      "loss": 0.048828125,
      "pos_loss": 0.205078125,
      "rot_loss": 0.2109375,
      "step": 3065
    },
    {
      "epoch": 0.6879066636751178,
      "grad_norm": 0.7391985654830933,
      "learning_rate": 0.0004497262820243733,
      "loss": 0.1371,
      "step": 3066
    },
    {
      "epoch": 0.6879066636751178,
      "gripper_loss": 0.10498046875,
      "loss": 0.2578125,
      "pos_loss": 1.71875,
      "rot_loss": 0.90625,
      "step": 3066
    },
    {
      "epoch": 0.6881310298407001,
      "grad_norm": 0.7453439235687256,
      "learning_rate": 0.00044968985213279697,
      "loss": 0.1339,
      "step": 3067
    },
    {
      "epoch": 0.6881310298407001,
      "gripper_loss": 0.640625,
      "loss": 0.10107421875,
      "pos_loss": 0.1953125,
      "rot_loss": 0.2119140625,
      "step": 3067
    },
    {
      "epoch": 0.6883553960062823,
      "grad_norm": 1.0132197141647339,
      "learning_rate": 0.00044965341052351026,
      "loss": 0.1343,
      "step": 3068
    },
    {
      "epoch": 0.6883553960062823,
      "gripper_loss": 0.78125,
      "loss": 0.466796875,
      "pos_loss": 0.9453125,
      "rot_loss": 0.8359375,
      "step": 3068
    },
    {
      "epoch": 0.6885797621718645,
      "grad_norm": 1.7489092350006104,
      "learning_rate": 0.00044961695719865157,
      "loss": 0.4536,
      "step": 3069
    },
    {
      "epoch": 0.6885797621718645,
      "gripper_loss": 0.345703125,
      "loss": 0.0498046875,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.2080078125,
      "step": 3069
    },
    {
      "epoch": 0.6888041283374468,
      "grad_norm": 0.6860648393630981,
      "learning_rate": 0.00044958049216036003,
      "loss": 0.1415,
      "step": 3070
    },
    {
      "epoch": 0.6888041283374468,
      "gripper_loss": 0.1806640625,
      "loss": 0.1123046875,
      "pos_loss": 0.921875,
      "rot_loss": 0.0751953125,
      "step": 3070
    },
    {
      "epoch": 0.6890284945030289,
      "grad_norm": 0.9992273449897766,
      "learning_rate": 0.00044954401541077527,
      "loss": 0.132,
      "step": 3071
    },
    {
      "epoch": 0.6890284945030289,
      "gripper_loss": 1.234375,
      "loss": 0.11865234375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.181640625,
      "step": 3071
    },
    {
      "epoch": 0.6892528606686111,
      "grad_norm": 1.1747385263442993,
      "learning_rate": 0.0004495075269520378,
      "loss": 0.1372,
      "step": 3072
    },
    {
      "epoch": 0.6892528606686111,
      "gripper_loss": 0.328125,
      "loss": 0.1640625,
      "pos_loss": 0.216796875,
      "rot_loss": 0.337890625,
      "step": 3072
    },
    {
      "epoch": 0.6894772268341934,
      "grad_norm": 1.9044795036315918,
      "learning_rate": 0.0004494710267862888,
      "loss": 0.2158,
      "step": 3073
    },
    {
      "epoch": 0.6894772268341934,
      "gripper_loss": 0.062255859375,
      "loss": 0.1845703125,
      "pos_loss": 1.375,
      "rot_loss": 0.310546875,
      "step": 3073
    },
    {
      "epoch": 0.6897015929997756,
      "grad_norm": 1.0969557762145996,
      "learning_rate": 0.00044943451491567,
      "loss": 0.1187,
      "step": 3074
    },
    {
      "epoch": 0.6897015929997756,
      "gripper_loss": 0.146484375,
      "loss": 0.1611328125,
      "pos_loss": 1.2109375,
      "rot_loss": 0.3125,
      "step": 3074
    },
    {
      "epoch": 0.6899259591653578,
      "grad_norm": 0.6943879723548889,
      "learning_rate": 0.00044939799134232397,
      "loss": 0.1288,
      "step": 3075
    },
    {
      "epoch": 0.6899259591653578,
      "gripper_loss": 0.1591796875,
      "loss": 0.271484375,
      "pos_loss": 2.0625,
      "rot_loss": 0.232421875,
      "step": 3075
    },
    {
      "epoch": 0.6901503253309401,
      "grad_norm": 1.1824228763580322,
      "learning_rate": 0.00044936145606839383,
      "loss": 0.1646,
      "step": 3076
    },
    {
      "epoch": 0.6901503253309401,
      "gripper_loss": 0.2265625,
      "loss": 0.306640625,
      "pos_loss": 2.140625,
      "rot_loss": 0.515625,
      "step": 3076
    },
    {
      "epoch": 0.6903746914965223,
      "grad_norm": 0.802086353302002,
      "learning_rate": 0.00044932490909602347,
      "loss": 0.1436,
      "step": 3077
    },
    {
      "epoch": 0.6903746914965223,
      "gripper_loss": 0.0732421875,
      "loss": 0.171875,
      "pos_loss": 0.60546875,
      "rot_loss": 0.91015625,
      "step": 3077
    },
    {
      "epoch": 0.6905990576621046,
      "grad_norm": 1.2379287481307983,
      "learning_rate": 0.0004492883504273575,
      "loss": 0.1458,
      "step": 3078
    },
    {
      "epoch": 0.6905990576621046,
      "gripper_loss": 0.12353515625,
      "loss": 0.0947265625,
      "pos_loss": 0.53125,
      "rot_loss": 0.1298828125,
      "step": 3078
    },
    {
      "epoch": 0.6908234238276868,
      "grad_norm": 1.1575326919555664,
      "learning_rate": 0.0004492517800645411,
      "loss": 0.1324,
      "step": 3079
    },
    {
      "epoch": 0.6908234238276868,
      "gripper_loss": 0.3046875,
      "loss": 0.0888671875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.173828125,
      "step": 3079
    },
    {
      "epoch": 0.691047789993269,
      "grad_norm": 1.0989881753921509,
      "learning_rate": 0.0004492151980097202,
      "loss": 0.1137,
      "step": 3080
    },
    {
      "epoch": 0.691047789993269,
      "gripper_loss": 0.099609375,
      "loss": 0.1943359375,
      "pos_loss": 1.109375,
      "rot_loss": 0.67578125,
      "step": 3080
    },
    {
      "epoch": 0.6912721561588513,
      "grad_norm": 0.7914345264434814,
      "learning_rate": 0.00044917860426504154,
      "loss": 0.0953,
      "step": 3081
    },
    {
      "epoch": 0.6912721561588513,
      "gripper_loss": 0.059814453125,
      "loss": 0.0517578125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.0830078125,
      "step": 3081
    },
    {
      "epoch": 0.6914965223244335,
      "grad_norm": 0.9189619421958923,
      "learning_rate": 0.0004491419988326523,
      "loss": 0.1154,
      "step": 3082
    },
    {
      "epoch": 0.6914965223244335,
      "gripper_loss": 0.2158203125,
      "loss": 0.267578125,
      "pos_loss": 0.89453125,
      "rot_loss": 0.43359375,
      "step": 3082
    },
    {
      "epoch": 0.6917208884900157,
      "grad_norm": 1.597266674041748,
      "learning_rate": 0.00044910538171470037,
      "loss": 0.3107,
      "step": 3083
    },
    {
      "epoch": 0.6917208884900157,
      "gripper_loss": 0.07470703125,
      "loss": 0.061767578125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.1650390625,
      "step": 3083
    },
    {
      "epoch": 0.691945254655598,
      "grad_norm": 0.7222427129745483,
      "learning_rate": 0.0004490687529133347,
      "loss": 0.0965,
      "step": 3084
    },
    {
      "epoch": 0.691945254655598,
      "gripper_loss": 0.150390625,
      "loss": 0.2080078125,
      "pos_loss": 1.0,
      "rot_loss": 0.75390625,
      "step": 3084
    },
    {
      "epoch": 0.6921696208211802,
      "grad_norm": 1.0084184408187866,
      "learning_rate": 0.00044903211243070454,
      "loss": 0.1282,
      "step": 3085
    },
    {
      "epoch": 0.6921696208211802,
      "gripper_loss": 0.189453125,
      "loss": 0.02734375,
      "pos_loss": 0.049072265625,
      "rot_loss": 0.02685546875,
      "step": 3085
    },
    {
      "epoch": 0.6923939869867624,
      "grad_norm": 0.9419599771499634,
      "learning_rate": 0.0004489954602689598,
      "loss": 0.126,
      "step": 3086
    },
    {
      "epoch": 0.6923939869867624,
      "gripper_loss": 0.031494140625,
      "loss": 0.1669921875,
      "pos_loss": 1.484375,
      "rot_loss": 0.12890625,
      "step": 3086
    },
    {
      "epoch": 0.6926183531523447,
      "grad_norm": 0.8797748684883118,
      "learning_rate": 0.0004489587964302514,
      "loss": 0.1227,
      "step": 3087
    },
    {
      "epoch": 0.6926183531523447,
      "gripper_loss": 1.359375,
      "loss": 0.0927734375,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.1591796875,
      "step": 3087
    },
    {
      "epoch": 0.6928427193179268,
      "grad_norm": 0.9576255083084106,
      "learning_rate": 0.0004489221209167306,
      "loss": 0.1351,
      "step": 3088
    },
    {
      "epoch": 0.6928427193179268,
      "gripper_loss": 1.359375,
      "loss": 0.2177734375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.28515625,
      "step": 3088
    },
    {
      "epoch": 0.693067085483509,
      "grad_norm": 1.6613097190856934,
      "learning_rate": 0.00044888543373054963,
      "loss": 0.2271,
      "step": 3089
    },
    {
      "epoch": 0.693067085483509,
      "gripper_loss": 0.353515625,
      "loss": 0.11474609375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.265625,
      "step": 3089
    },
    {
      "epoch": 0.6932914516490913,
      "grad_norm": 1.4446645975112915,
      "learning_rate": 0.00044884873487386126,
      "loss": 0.2043,
      "step": 3090
    },
    {
      "epoch": 0.6932914516490913,
      "gripper_loss": 0.81640625,
      "loss": 0.515625,
      "pos_loss": 1.6640625,
      "rot_loss": 0.546875,
      "step": 3090
    },
    {
      "epoch": 0.6935158178146735,
      "grad_norm": 1.5723788738250732,
      "learning_rate": 0.00044881202434881884,
      "loss": 0.4614,
      "step": 3091
    },
    {
      "epoch": 0.6935158178146735,
      "gripper_loss": 0.220703125,
      "loss": 0.09326171875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.171875,
      "step": 3091
    },
    {
      "epoch": 0.6937401839802558,
      "grad_norm": 0.8772900104522705,
      "learning_rate": 0.0004487753021575767,
      "loss": 0.117,
      "step": 3092
    },
    {
      "epoch": 0.6937401839802558,
      "gripper_loss": 1.8359375,
      "loss": 0.099609375,
      "pos_loss": 0.068359375,
      "rot_loss": 0.068359375,
      "step": 3092
    },
    {
      "epoch": 0.693964550145838,
      "grad_norm": 1.1320250034332275,
      "learning_rate": 0.0004487385683022895,
      "loss": 0.1508,
      "step": 3093
    },
    {
      "epoch": 0.693964550145838,
      "gripper_loss": 0.107421875,
      "loss": 0.18359375,
      "pos_loss": 0.890625,
      "rot_loss": 0.7421875,
      "step": 3093
    },
    {
      "epoch": 0.6941889163114202,
      "grad_norm": 1.0097023248672485,
      "learning_rate": 0.00044870182278511296,
      "loss": 0.1603,
      "step": 3094
    },
    {
      "epoch": 0.6941889163114202,
      "gripper_loss": 0.298828125,
      "loss": 0.59765625,
      "pos_loss": 1.2421875,
      "rot_loss": 1.84375,
      "step": 3094
    },
    {
      "epoch": 0.6944132824770025,
      "grad_norm": 2.5279080867767334,
      "learning_rate": 0.00044866506560820317,
      "loss": 0.469,
      "step": 3095
    },
    {
      "epoch": 0.6944132824770025,
      "gripper_loss": 0.026123046875,
      "loss": 0.1513671875,
      "pos_loss": 0.96484375,
      "rot_loss": 0.337890625,
      "step": 3095
    },
    {
      "epoch": 0.6946376486425847,
      "grad_norm": 0.8745188117027283,
      "learning_rate": 0.0004486282967737171,
      "loss": 0.1008,
      "step": 3096
    },
    {
      "epoch": 0.6946376486425847,
      "gripper_loss": 0.06640625,
      "loss": 0.068359375,
      "pos_loss": 0.359375,
      "rot_loss": 0.1259765625,
      "step": 3096
    },
    {
      "epoch": 0.6948620148081669,
      "grad_norm": 0.8052061796188354,
      "learning_rate": 0.0004485915162838122,
      "loss": 0.134,
      "step": 3097
    },
    {
      "epoch": 0.6948620148081669,
      "gripper_loss": 1.171875,
      "loss": 0.1240234375,
      "pos_loss": 0.6796875,
      "rot_loss": 0.076171875,
      "step": 3097
    },
    {
      "epoch": 0.6950863809737492,
      "grad_norm": 1.007991075515747,
      "learning_rate": 0.0004485547241406468,
      "loss": 0.1258,
      "step": 3098
    },
    {
      "epoch": 0.6950863809737492,
      "gripper_loss": 0.0380859375,
      "loss": 0.1259765625,
      "pos_loss": 1.0078125,
      "rot_loss": 0.1767578125,
      "step": 3098
    },
    {
      "epoch": 0.6953107471393314,
      "grad_norm": 0.6133427023887634,
      "learning_rate": 0.00044851792034637995,
      "loss": 0.0948,
      "step": 3099
    },
    {
      "epoch": 0.6953107471393314,
      "gripper_loss": 0.6875,
      "loss": 0.039306640625,
      "pos_loss": 0.038818359375,
      "rot_loss": 0.044921875,
      "step": 3099
    },
    {
      "epoch": 0.6955351133049136,
      "grad_norm": 0.8873995542526245,
      "learning_rate": 0.0004484811049031711,
      "loss": 0.1167,
      "step": 3100
    },
    {
      "epoch": 0.6955351133049136,
      "gripper_loss": 0.0732421875,
      "loss": 0.11328125,
      "pos_loss": 0.828125,
      "rot_loss": 0.169921875,
      "step": 3100
    },
    {
      "epoch": 0.6957594794704959,
      "grad_norm": 0.9670842885971069,
      "learning_rate": 0.00044844427781318065,
      "loss": 0.1223,
      "step": 3101
    },
    {
      "epoch": 0.6957594794704959,
      "gripper_loss": 0.70703125,
      "loss": 0.1123046875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.265625,
      "step": 3101
    },
    {
      "epoch": 0.6959838456360781,
      "grad_norm": 1.1215941905975342,
      "learning_rate": 0.0004484074390785696,
      "loss": 0.1666,
      "step": 3102
    },
    {
      "epoch": 0.6959838456360781,
      "gripper_loss": 0.30859375,
      "loss": 0.08740234375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.240234375,
      "step": 3102
    },
    {
      "epoch": 0.6962082118016603,
      "grad_norm": 0.4563777446746826,
      "learning_rate": 0.00044837058870149973,
      "loss": 0.0813,
      "step": 3103
    },
    {
      "epoch": 0.6962082118016603,
      "gripper_loss": 0.283203125,
      "loss": 0.099609375,
      "pos_loss": 0.66796875,
      "rot_loss": 0.2109375,
      "step": 3103
    },
    {
      "epoch": 0.6964325779672426,
      "grad_norm": 0.6451031565666199,
      "learning_rate": 0.0004483337266841332,
      "loss": 0.087,
      "step": 3104
    },
    {
      "epoch": 0.6964325779672426,
      "gripper_loss": 0.30078125,
      "loss": 0.162109375,
      "pos_loss": 1.1015625,
      "rot_loss": 0.41796875,
      "step": 3104
    },
    {
      "epoch": 0.6966569441328248,
      "grad_norm": 0.649690568447113,
      "learning_rate": 0.0004482968530286332,
      "loss": 0.1214,
      "step": 3105
    },
    {
      "epoch": 0.6966569441328248,
      "gripper_loss": 0.349609375,
      "loss": 0.12255859375,
      "pos_loss": 0.55078125,
      "rot_loss": 0.34375,
      "step": 3105
    },
    {
      "epoch": 0.696881310298407,
      "grad_norm": 1.0212846994400024,
      "learning_rate": 0.00044825996773716336,
      "loss": 0.1154,
      "step": 3106
    },
    {
      "epoch": 0.696881310298407,
      "gripper_loss": 0.06005859375,
      "loss": 0.062255859375,
      "pos_loss": 0.18359375,
      "rot_loss": 0.333984375,
      "step": 3106
    },
    {
      "epoch": 0.6971056764639892,
      "grad_norm": 0.7101081013679504,
      "learning_rate": 0.0004482230708118882,
      "loss": 0.0916,
      "step": 3107
    },
    {
      "epoch": 0.6971056764639892,
      "gripper_loss": 0.244140625,
      "loss": 0.13671875,
      "pos_loss": 0.85546875,
      "rot_loss": 0.29296875,
      "step": 3107
    },
    {
      "epoch": 0.6973300426295714,
      "grad_norm": 0.6498472094535828,
      "learning_rate": 0.0004481861622549728,
      "loss": 0.1072,
      "step": 3108
    },
    {
      "epoch": 0.6973300426295714,
      "gripper_loss": 0.02001953125,
      "loss": 0.294921875,
      "pos_loss": 0.86328125,
      "rot_loss": 2.140625,
      "step": 3108
    },
    {
      "epoch": 0.6975544087951537,
      "grad_norm": 0.7653799057006836,
      "learning_rate": 0.0004481492420685828,
      "loss": 0.142,
      "step": 3109
    },
    {
      "epoch": 0.6975544087951537,
      "gripper_loss": 0.0947265625,
      "loss": 0.059326171875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.07421875,
      "step": 3109
    },
    {
      "epoch": 0.6977787749607359,
      "grad_norm": 0.837356448173523,
      "learning_rate": 0.00044811231025488485,
      "loss": 0.1661,
      "step": 3110
    },
    {
      "epoch": 0.6977787749607359,
      "gripper_loss": 0.408203125,
      "loss": 0.26171875,
      "pos_loss": 1.8515625,
      "rot_loss": 0.353515625,
      "step": 3110
    },
    {
      "epoch": 0.6980031411263181,
      "grad_norm": 0.935494065284729,
      "learning_rate": 0.000448075366816046,
      "loss": 0.1589,
      "step": 3111
    },
    {
      "epoch": 0.6980031411263181,
      "gripper_loss": 0.6953125,
      "loss": 0.33203125,
      "pos_loss": 0.65625,
      "rot_loss": 0.87109375,
      "step": 3111
    },
    {
      "epoch": 0.6982275072919004,
      "grad_norm": 1.7506887912750244,
      "learning_rate": 0.000448038411754234,
      "loss": 0.2753,
      "step": 3112
    },
    {
      "epoch": 0.6982275072919004,
      "gripper_loss": 0.1259765625,
      "loss": 0.50390625,
      "pos_loss": 0.9921875,
      "rot_loss": 0.796875,
      "step": 3112
    },
    {
      "epoch": 0.6984518734574826,
      "grad_norm": 1.579722285270691,
      "learning_rate": 0.0004480014450716175,
      "loss": 0.4915,
      "step": 3113
    },
    {
      "epoch": 0.6984518734574826,
      "gripper_loss": 2.109375,
      "loss": 0.11328125,
      "pos_loss": 0.265625,
      "rot_loss": 0.07666015625,
      "step": 3113
    },
    {
      "epoch": 0.6986762396230648,
      "grad_norm": 0.8932538628578186,
      "learning_rate": 0.0004479644667703656,
      "loss": 0.1549,
      "step": 3114
    },
    {
      "epoch": 0.6986762396230648,
      "gripper_loss": 0.0830078125,
      "loss": 0.2080078125,
      "pos_loss": 0.66015625,
      "rot_loss": 1.34375,
      "step": 3114
    },
    {
      "epoch": 0.6989006057886471,
      "grad_norm": 0.967381477355957,
      "learning_rate": 0.0004479274768526482,
      "loss": 0.1298,
      "step": 3115
    },
    {
      "epoch": 0.6989006057886471,
      "gripper_loss": 0.031982421875,
      "loss": 0.068359375,
      "pos_loss": 0.466796875,
      "rot_loss": 0.138671875,
      "step": 3115
    },
    {
      "epoch": 0.6991249719542293,
      "grad_norm": 0.730117917060852,
      "learning_rate": 0.0004478904753206359,
      "loss": 0.1075,
      "step": 3116
    },
    {
      "epoch": 0.6991249719542293,
      "gripper_loss": 0.185546875,
      "loss": 0.045654296875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.05712890625,
      "step": 3116
    },
    {
      "epoch": 0.6993493381198115,
      "grad_norm": 0.7635172605514526,
      "learning_rate": 0.0004478534621764998,
      "loss": 0.1277,
      "step": 3117
    },
    {
      "epoch": 0.6993493381198115,
      "gripper_loss": 1.015625,
      "loss": 0.10693359375,
      "pos_loss": 0.53125,
      "rot_loss": 0.12255859375,
      "step": 3117
    },
    {
      "epoch": 0.6995737042853938,
      "grad_norm": 0.6958664655685425,
      "learning_rate": 0.00044781643742241185,
      "loss": 0.1649,
      "step": 3118
    },
    {
      "epoch": 0.6995737042853938,
      "gripper_loss": 0.1044921875,
      "loss": 0.060791015625,
      "pos_loss": 0.341796875,
      "rot_loss": 0.185546875,
      "step": 3118
    },
    {
      "epoch": 0.699798070450976,
      "grad_norm": 0.622908890247345,
      "learning_rate": 0.0004477794010605448,
      "loss": 0.1238,
      "step": 3119
    },
    {
      "epoch": 0.699798070450976,
      "gripper_loss": 0.1181640625,
      "loss": 0.1611328125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.404296875,
      "step": 3119
    },
    {
      "epoch": 0.7000224366165583,
      "grad_norm": 0.7809962630271912,
      "learning_rate": 0.00044774235309307176,
      "loss": 0.1509,
      "step": 3120
    },
    {
      "epoch": 0.7000224366165583,
      "gripper_loss": 0.1630859375,
      "loss": 0.0966796875,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.703125,
      "step": 3120
    },
    {
      "epoch": 0.7002468027821405,
      "grad_norm": 0.7763049006462097,
      "learning_rate": 0.0004477052935221667,
      "loss": 0.1227,
      "step": 3121
    },
    {
      "epoch": 0.7002468027821405,
      "gripper_loss": 0.267578125,
      "loss": 0.08837890625,
      "pos_loss": 0.494140625,
      "rot_loss": 0.24609375,
      "step": 3121
    },
    {
      "epoch": 0.7004711689477227,
      "grad_norm": 0.7378250956535339,
      "learning_rate": 0.00044766822235000437,
      "loss": 0.1003,
      "step": 3122
    },
    {
      "epoch": 0.7004711689477227,
      "gripper_loss": 0.07763671875,
      "loss": 0.07666015625,
      "pos_loss": 0.498046875,
      "rot_loss": 0.2109375,
      "step": 3122
    },
    {
      "epoch": 0.700695535113305,
      "grad_norm": 0.8351614475250244,
      "learning_rate": 0.00044763113957876,
      "loss": 0.1132,
      "step": 3123
    },
    {
      "epoch": 0.700695535113305,
      "gripper_loss": 0.051513671875,
      "loss": 0.1513671875,
      "pos_loss": 0.86328125,
      "rot_loss": 0.6484375,
      "step": 3123
    },
    {
      "epoch": 0.7009199012788871,
      "grad_norm": 0.7884104251861572,
      "learning_rate": 0.00044759404521060967,
      "loss": 0.1163,
      "step": 3124
    },
    {
      "epoch": 0.7009199012788871,
      "gripper_loss": 1.2421875,
      "loss": 0.0849609375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.0830078125,
      "step": 3124
    },
    {
      "epoch": 0.7011442674444693,
      "grad_norm": 0.5204821228981018,
      "learning_rate": 0.0004475569392477299,
      "loss": 0.1234,
      "step": 3125
    },
    {
      "epoch": 0.7011442674444693,
      "gripper_loss": 0.40234375,
      "loss": 0.052490234375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.0625,
      "step": 3125
    },
    {
      "epoch": 0.7013686336100516,
      "grad_norm": 0.46765199303627014,
      "learning_rate": 0.0004475198216922982,
      "loss": 0.0865,
      "step": 3126
    },
    {
      "epoch": 0.7013686336100516,
      "gripper_loss": 0.2099609375,
      "loss": 0.048828125,
      "pos_loss": 0.283203125,
      "rot_loss": 0.09033203125,
      "step": 3126
    },
    {
      "epoch": 0.7015929997756338,
      "grad_norm": 0.9850892424583435,
      "learning_rate": 0.0004474826925464926,
      "loss": 0.1401,
      "step": 3127
    },
    {
      "epoch": 0.7015929997756338,
      "gripper_loss": 0.0439453125,
      "loss": 0.109375,
      "pos_loss": 0.75390625,
      "rot_loss": 0.330078125,
      "step": 3127
    },
    {
      "epoch": 0.701817365941216,
      "grad_norm": 0.4359702169895172,
      "learning_rate": 0.00044744555181249173,
      "loss": 0.0878,
      "step": 3128
    },
    {
      "epoch": 0.701817365941216,
      "gripper_loss": 0.1376953125,
      "loss": 0.208984375,
      "pos_loss": 1.6015625,
      "rot_loss": 0.49609375,
      "step": 3128
    },
    {
      "epoch": 0.7020417321067983,
      "grad_norm": 0.6616334319114685,
      "learning_rate": 0.00044740839949247507,
      "loss": 0.0901,
      "step": 3129
    },
    {
      "epoch": 0.7020417321067983,
      "gripper_loss": 0.30078125,
      "loss": 0.0634765625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.11767578125,
      "step": 3129
    },
    {
      "epoch": 0.7022660982723805,
      "grad_norm": 0.6365243792533875,
      "learning_rate": 0.0004473712355886227,
      "loss": 0.098,
      "step": 3130
    },
    {
      "epoch": 0.7022660982723805,
      "gripper_loss": 0.1650390625,
      "loss": 0.0751953125,
      "pos_loss": 0.265625,
      "rot_loss": 0.357421875,
      "step": 3130
    },
    {
      "epoch": 0.7024904644379627,
      "grad_norm": 0.5297048687934875,
      "learning_rate": 0.0004473340601031153,
      "loss": 0.0716,
      "step": 3131
    },
    {
      "epoch": 0.7024904644379627,
      "gripper_loss": 0.4453125,
      "loss": 0.0419921875,
      "pos_loss": 0.14453125,
      "rot_loss": 0.053955078125,
      "step": 3131
    },
    {
      "epoch": 0.702714830603545,
      "grad_norm": 0.5160813331604004,
      "learning_rate": 0.00044729687303813443,
      "loss": 0.0832,
      "step": 3132
    },
    {
      "epoch": 0.702714830603545,
      "gripper_loss": 0.734375,
      "loss": 0.294921875,
      "pos_loss": 0.65625,
      "rot_loss": 0.2275390625,
      "step": 3132
    },
    {
      "epoch": 0.7029391967691272,
      "grad_norm": 2.5243585109710693,
      "learning_rate": 0.0004472596743958621,
      "loss": 0.3318,
      "step": 3133
    },
    {
      "epoch": 0.7029391967691272,
      "gripper_loss": 0.07470703125,
      "loss": 0.1064453125,
      "pos_loss": 0.408203125,
      "rot_loss": 0.6015625,
      "step": 3133
    },
    {
      "epoch": 0.7031635629347095,
      "grad_norm": 0.5811813473701477,
      "learning_rate": 0.00044722246417848124,
      "loss": 0.1122,
      "step": 3134
    },
    {
      "epoch": 0.7031635629347095,
      "gripper_loss": 0.08740234375,
      "loss": 0.0498046875,
      "pos_loss": 0.1640625,
      "rot_loss": 0.1884765625,
      "step": 3134
    },
    {
      "epoch": 0.7033879291002917,
      "grad_norm": 1.0230835676193237,
      "learning_rate": 0.0004471852423881752,
      "loss": 0.1207,
      "step": 3135
    },
    {
      "epoch": 0.7033879291002917,
      "gripper_loss": 0.0185546875,
      "loss": 0.057861328125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.1787109375,
      "step": 3135
    },
    {
      "epoch": 0.7036122952658739,
      "grad_norm": 0.7007259726524353,
      "learning_rate": 0.0004471480090271282,
      "loss": 0.0746,
      "step": 3136
    },
    {
      "epoch": 0.7036122952658739,
      "gripper_loss": 0.1279296875,
      "loss": 0.0908203125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.1220703125,
      "step": 3136
    },
    {
      "epoch": 0.7038366614314562,
      "grad_norm": 0.7905117869377136,
      "learning_rate": 0.0004471107640975251,
      "loss": 0.1201,
      "step": 3137
    },
    {
      "epoch": 0.7038366614314562,
      "gripper_loss": 0.439453125,
      "loss": 0.09521484375,
      "pos_loss": 0.490234375,
      "rot_loss": 0.3203125,
      "step": 3137
    },
    {
      "epoch": 0.7040610275970384,
      "grad_norm": 0.46612557768821716,
      "learning_rate": 0.0004470735076015513,
      "loss": 0.1102,
      "step": 3138
    },
    {
      "epoch": 0.7040610275970384,
      "gripper_loss": 0.1552734375,
      "loss": 0.0322265625,
      "pos_loss": 0.162109375,
      "rot_loss": 0.051513671875,
      "step": 3138
    },
    {
      "epoch": 0.7042853937626206,
      "grad_norm": 0.5007038116455078,
      "learning_rate": 0.0004470362395413931,
      "loss": 0.0828,
      "step": 3139
    },
    {
      "epoch": 0.7042853937626206,
      "gripper_loss": 0.0498046875,
      "loss": 0.11962890625,
      "pos_loss": 0.97265625,
      "rot_loss": 0.203125,
      "step": 3139
    },
    {
      "epoch": 0.7045097599282029,
      "grad_norm": 0.7761309742927551,
      "learning_rate": 0.00044699895991923735,
      "loss": 0.1043,
      "step": 3140
    },
    {
      "epoch": 0.7045097599282029,
      "gripper_loss": 0.404296875,
      "loss": 0.07080078125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.18359375,
      "step": 3140
    },
    {
      "epoch": 0.704734126093785,
      "grad_norm": 0.7201220989227295,
      "learning_rate": 0.0004469616687372716,
      "loss": 0.1167,
      "step": 3141
    },
    {
      "epoch": 0.704734126093785,
      "gripper_loss": 0.365234375,
      "loss": 0.16015625,
      "pos_loss": 0.08203125,
      "rot_loss": 1.4375,
      "step": 3141
    },
    {
      "epoch": 0.7049584922593672,
      "grad_norm": 0.7002845406532288,
      "learning_rate": 0.00044692436599768416,
      "loss": 0.114,
      "step": 3142
    },
    {
      "epoch": 0.7049584922593672,
      "gripper_loss": 0.1669921875,
      "loss": 0.1025390625,
      "pos_loss": 0.490234375,
      "rot_loss": 0.474609375,
      "step": 3142
    },
    {
      "epoch": 0.7051828584249495,
      "grad_norm": 0.8736112713813782,
      "learning_rate": 0.0004468870517026638,
      "loss": 0.1251,
      "step": 3143
    },
    {
      "epoch": 0.7051828584249495,
      "gripper_loss": 0.53515625,
      "loss": 0.078125,
      "pos_loss": 0.5,
      "rot_loss": 0.0439453125,
      "step": 3143
    },
    {
      "epoch": 0.7054072245905317,
      "grad_norm": 0.6654903888702393,
      "learning_rate": 0.0004468497258544001,
      "loss": 0.1176,
      "step": 3144
    },
    {
      "epoch": 0.7054072245905317,
      "gripper_loss": 0.08642578125,
      "loss": 0.1494140625,
      "pos_loss": 1.3828125,
      "rot_loss": 0.07958984375,
      "step": 3144
    },
    {
      "epoch": 0.7056315907561139,
      "grad_norm": 0.6234267354011536,
      "learning_rate": 0.0004468123884550834,
      "loss": 0.1226,
      "step": 3145
    },
    {
      "epoch": 0.7056315907561139,
      "gripper_loss": 0.373046875,
      "loss": 0.46484375,
      "pos_loss": 0.734375,
      "rot_loss": 0.81640625,
      "step": 3145
    },
    {
      "epoch": 0.7058559569216962,
      "grad_norm": 2.0110857486724854,
      "learning_rate": 0.0004467750395069047,
      "loss": 0.4375,
      "step": 3146
    },
    {
      "epoch": 0.7058559569216962,
      "gripper_loss": 0.578125,
      "loss": 0.03955078125,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.09228515625,
      "step": 3146
    },
    {
      "epoch": 0.7060803230872784,
      "grad_norm": 0.859920859336853,
      "learning_rate": 0.0004467376790120555,
      "loss": 0.0916,
      "step": 3147
    },
    {
      "epoch": 0.7060803230872784,
      "gripper_loss": 0.1904296875,
      "loss": 0.208984375,
      "pos_loss": 1.4140625,
      "rot_loss": 0.65234375,
      "step": 3147
    },
    {
      "epoch": 0.7063046892528607,
      "grad_norm": 1.005556583404541,
      "learning_rate": 0.0004467003069727281,
      "loss": 0.1907,
      "step": 3148
    },
    {
      "epoch": 0.7063046892528607,
      "gripper_loss": 0.74609375,
      "loss": 0.087890625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.1015625,
      "step": 3148
    },
    {
      "epoch": 0.7065290554184429,
      "grad_norm": 1.1288034915924072,
      "learning_rate": 0.0004466629233911156,
      "loss": 0.1804,
      "step": 3149
    },
    {
      "epoch": 0.7065290554184429,
      "gripper_loss": 0.369140625,
      "loss": 0.0654296875,
      "pos_loss": 0.44921875,
      "rot_loss": 0.02880859375,
      "step": 3149
    },
    {
      "epoch": 0.7067534215840251,
      "grad_norm": 0.6876885890960693,
      "learning_rate": 0.00044662552826941153,
      "loss": 0.1066,
      "step": 3150
    },
    {
      "epoch": 0.7067534215840251,
      "gripper_loss": 0.90625,
      "loss": 0.146484375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.4140625,
      "step": 3150
    },
    {
      "epoch": 0.7069777877496074,
      "grad_norm": 1.2197967767715454,
      "learning_rate": 0.0004465881216098103,
      "loss": 0.1807,
      "step": 3151
    },
    {
      "epoch": 0.7069777877496074,
      "gripper_loss": 0.61328125,
      "loss": 0.040283203125,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.035888671875,
      "step": 3151
    },
    {
      "epoch": 0.7072021539151896,
      "grad_norm": 0.517658531665802,
      "learning_rate": 0.00044655070341450686,
      "loss": 0.0874,
      "step": 3152
    },
    {
      "epoch": 0.7072021539151896,
      "gripper_loss": 3.0625,
      "loss": 0.126953125,
      "pos_loss": 0.04931640625,
      "rot_loss": 0.12451171875,
      "step": 3152
    },
    {
      "epoch": 0.7074265200807718,
      "grad_norm": 1.0523635149002075,
      "learning_rate": 0.0004465132736856969,
      "loss": 0.1311,
      "step": 3153
    },
    {
      "epoch": 0.7074265200807718,
      "gripper_loss": 0.41015625,
      "loss": 0.091796875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.09326171875,
      "step": 3153
    },
    {
      "epoch": 0.7076508862463541,
      "grad_norm": 0.5760915279388428,
      "learning_rate": 0.00044647583242557676,
      "loss": 0.1002,
      "step": 3154
    },
    {
      "epoch": 0.7076508862463541,
      "gripper_loss": 0.1123046875,
      "loss": 0.1630859375,
      "pos_loss": 1.109375,
      "rot_loss": 0.265625,
      "step": 3154
    },
    {
      "epoch": 0.7078752524119363,
      "grad_norm": 0.9856147170066833,
      "learning_rate": 0.0004464383796363435,
      "loss": 0.1184,
      "step": 3155
    },
    {
      "epoch": 0.7078752524119363,
      "gripper_loss": 0.1201171875,
      "loss": 0.0771484375,
      "pos_loss": 0.255859375,
      "rot_loss": 0.375,
      "step": 3155
    },
    {
      "epoch": 0.7080996185775185,
      "grad_norm": 0.8455116748809814,
      "learning_rate": 0.00044640091532019486,
      "loss": 0.1202,
      "step": 3156
    },
    {
      "epoch": 0.7080996185775185,
      "gripper_loss": 0.78125,
      "loss": 0.04541015625,
      "pos_loss": 0.057861328125,
      "rot_loss": 0.09423828125,
      "step": 3156
    },
    {
      "epoch": 0.7083239847431008,
      "grad_norm": 0.8002862930297852,
      "learning_rate": 0.0004463634394793292,
      "loss": 0.0992,
      "step": 3157
    },
    {
      "epoch": 0.7083239847431008,
      "gripper_loss": 0.0810546875,
      "loss": 0.1513671875,
      "pos_loss": 0.65625,
      "rot_loss": 0.76953125,
      "step": 3157
    },
    {
      "epoch": 0.708548350908683,
      "grad_norm": 0.9224156141281128,
      "learning_rate": 0.0004463259521159456,
      "loss": 0.1406,
      "step": 3158
    },
    {
      "epoch": 0.708548350908683,
      "gripper_loss": 0.3828125,
      "loss": 0.08447265625,
      "pos_loss": 0.287109375,
      "rot_loss": 0.37109375,
      "step": 3158
    },
    {
      "epoch": 0.7087727170742651,
      "grad_norm": 0.8468155860900879,
      "learning_rate": 0.00044628845323224387,
      "loss": 0.1035,
      "step": 3159
    },
    {
      "epoch": 0.7087727170742651,
      "gripper_loss": 0.1650390625,
      "loss": 0.10693359375,
      "pos_loss": 0.91796875,
      "rot_loss": 0.06689453125,
      "step": 3159
    },
    {
      "epoch": 0.7089970832398474,
      "grad_norm": 0.6102985739707947,
      "learning_rate": 0.0004462509428304242,
      "loss": 0.0959,
      "step": 3160
    },
    {
      "epoch": 0.7089970832398474,
      "gripper_loss": 0.2578125,
      "loss": 0.03515625,
      "pos_loss": 0.1220703125,
      "rot_loss": 0.07373046875,
      "step": 3160
    },
    {
      "epoch": 0.7092214494054296,
      "grad_norm": 0.8700569272041321,
      "learning_rate": 0.0004462134209126879,
      "loss": 0.1319,
      "step": 3161
    },
    {
      "epoch": 0.7092214494054296,
      "gripper_loss": 0.59375,
      "loss": 0.0322265625,
      "pos_loss": 0.02978515625,
      "rot_loss": 0.0286865234375,
      "step": 3161
    },
    {
      "epoch": 0.7094458155710119,
      "grad_norm": 0.8595555424690247,
      "learning_rate": 0.0004461758874812367,
      "loss": 0.1306,
      "step": 3162
    },
    {
      "epoch": 0.7094458155710119,
      "gripper_loss": 0.10693359375,
      "loss": 0.125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.1484375,
      "step": 3162
    },
    {
      "epoch": 0.7096701817365941,
      "grad_norm": 0.47043487429618835,
      "learning_rate": 0.00044613834253827303,
      "loss": 0.0995,
      "step": 3163
    },
    {
      "epoch": 0.7096701817365941,
      "gripper_loss": 0.06591796875,
      "loss": 0.1904296875,
      "pos_loss": 1.3203125,
      "rot_loss": 0.478515625,
      "step": 3163
    },
    {
      "epoch": 0.7098945479021763,
      "grad_norm": 0.5982192158699036,
      "learning_rate": 0.0004461007860859999,
      "loss": 0.1204,
      "step": 3164
    },
    {
      "epoch": 0.7098945479021763,
      "gripper_loss": 0.1494140625,
      "loss": 0.068359375,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.255859375,
      "step": 3164
    },
    {
      "epoch": 0.7101189140677586,
      "grad_norm": 0.8356688022613525,
      "learning_rate": 0.0004460632181266213,
      "loss": 0.092,
      "step": 3165
    },
    {
      "epoch": 0.7101189140677586,
      "gripper_loss": 0.2333984375,
      "loss": 0.1142578125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.31640625,
      "step": 3165
    },
    {
      "epoch": 0.7103432802333408,
      "grad_norm": 0.8120630383491516,
      "learning_rate": 0.00044602563866234156,
      "loss": 0.1309,
      "step": 3166
    },
    {
      "epoch": 0.7103432802333408,
      "gripper_loss": 0.3203125,
      "loss": 0.060302734375,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.228515625,
      "step": 3166
    },
    {
      "epoch": 0.710567646398923,
      "grad_norm": 0.77542644739151,
      "learning_rate": 0.0004459880476953659,
      "loss": 0.1265,
      "step": 3167
    },
    {
      "epoch": 0.710567646398923,
      "gripper_loss": 0.146484375,
      "loss": 0.1337890625,
      "pos_loss": 0.796875,
      "rot_loss": 0.33984375,
      "step": 3167
    },
    {
      "epoch": 0.7107920125645053,
      "grad_norm": 0.9138675928115845,
      "learning_rate": 0.0004459504452279001,
      "loss": 0.1091,
      "step": 3168
    },
    {
      "epoch": 0.7107920125645053,
      "gripper_loss": 0.2392578125,
      "loss": 0.357421875,
      "pos_loss": 1.1796875,
      "rot_loss": 0.435546875,
      "step": 3168
    },
    {
      "epoch": 0.7110163787300875,
      "grad_norm": 1.966240644454956,
      "learning_rate": 0.00044591283126215066,
      "loss": 0.3464,
      "step": 3169
    },
    {
      "epoch": 0.7110163787300875,
      "gripper_loss": 0.265625,
      "loss": 0.050537109375,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.2177734375,
      "step": 3169
    },
    {
      "epoch": 0.7112407448956697,
      "grad_norm": 0.7835965752601624,
      "learning_rate": 0.0004458752058003248,
      "loss": 0.1343,
      "step": 3170
    },
    {
      "epoch": 0.7112407448956697,
      "gripper_loss": 0.11474609375,
      "loss": 0.142578125,
      "pos_loss": 0.83203125,
      "rot_loss": 0.28125,
      "step": 3170
    },
    {
      "epoch": 0.711465111061252,
      "grad_norm": 0.9022093415260315,
      "learning_rate": 0.00044583756884463023,
      "loss": 0.1362,
      "step": 3171
    },
    {
      "epoch": 0.711465111061252,
      "gripper_loss": 0.419921875,
      "loss": 0.10595703125,
      "pos_loss": 0.76953125,
      "rot_loss": 0.1201171875,
      "step": 3171
    },
    {
      "epoch": 0.7116894772268342,
      "grad_norm": 0.7938076853752136,
      "learning_rate": 0.0004457999203972756,
      "loss": 0.1195,
      "step": 3172
    },
    {
      "epoch": 0.7116894772268342,
      "gripper_loss": 0.032470703125,
      "loss": 0.0634765625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.11572265625,
      "step": 3172
    },
    {
      "epoch": 0.7119138433924165,
      "grad_norm": 0.8373026847839355,
      "learning_rate": 0.00044576226046047013,
      "loss": 0.1101,
      "step": 3173
    },
    {
      "epoch": 0.7119138433924165,
      "gripper_loss": 1.4140625,
      "loss": 0.24609375,
      "pos_loss": 0.9765625,
      "rot_loss": 1.09375,
      "step": 3173
    },
    {
      "epoch": 0.7121382095579987,
      "grad_norm": 0.9666614532470703,
      "learning_rate": 0.0004457245890364235,
      "loss": 0.1461,
      "step": 3174
    },
    {
      "epoch": 0.7121382095579987,
      "gripper_loss": 0.06494140625,
      "loss": 0.142578125,
      "pos_loss": 1.09375,
      "rot_loss": 0.330078125,
      "step": 3174
    },
    {
      "epoch": 0.7123625757235809,
      "grad_norm": 0.6402626633644104,
      "learning_rate": 0.00044568690612734654,
      "loss": 0.1211,
      "step": 3175
    },
    {
      "epoch": 0.7123625757235809,
      "gripper_loss": 0.126953125,
      "loss": 0.16015625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.796875,
      "step": 3175
    },
    {
      "epoch": 0.7125869418891632,
      "grad_norm": 1.279554009437561,
      "learning_rate": 0.0004456492117354502,
      "loss": 0.1298,
      "step": 3176
    },
    {
      "epoch": 0.7125869418891632,
      "gripper_loss": 0.10302734375,
      "loss": 0.0537109375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.07568359375,
      "step": 3176
    },
    {
      "epoch": 0.7128113080547454,
      "grad_norm": 0.5925019383430481,
      "learning_rate": 0.00044561150586294653,
      "loss": 0.0909,
      "step": 3177
    },
    {
      "epoch": 0.7128113080547454,
      "gripper_loss": 0.06640625,
      "loss": 0.033447265625,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.0888671875,
      "step": 3177
    },
    {
      "epoch": 0.7130356742203275,
      "grad_norm": 0.9425464868545532,
      "learning_rate": 0.00044557378851204797,
      "loss": 0.1091,
      "step": 3178
    },
    {
      "epoch": 0.7130356742203275,
      "gripper_loss": 0.92578125,
      "loss": 0.15234375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.609375,
      "step": 3178
    },
    {
      "epoch": 0.7132600403859098,
      "grad_norm": 0.7868453860282898,
      "learning_rate": 0.0004455360596849678,
      "loss": 0.0923,
      "step": 3179
    },
    {
      "epoch": 0.7132600403859098,
      "gripper_loss": 0.12890625,
      "loss": 0.03369140625,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.0908203125,
      "step": 3179
    },
    {
      "epoch": 0.713484406551492,
      "grad_norm": 0.5693061351776123,
      "learning_rate": 0.00044549831938392004,
      "loss": 0.0557,
      "step": 3180
    },
    {
      "epoch": 0.713484406551492,
      "gripper_loss": 0.474609375,
      "loss": 0.107421875,
      "pos_loss": 0.515625,
      "rot_loss": 0.392578125,
      "step": 3180
    },
    {
      "epoch": 0.7137087727170742,
      "grad_norm": 0.5900887250900269,
      "learning_rate": 0.00044546056761111914,
      "loss": 0.1007,
      "step": 3181
    },
    {
      "epoch": 0.7137087727170742,
      "gripper_loss": 0.78125,
      "loss": 0.059814453125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.08251953125,
      "step": 3181
    },
    {
      "epoch": 0.7139331388826565,
      "grad_norm": 0.9320882558822632,
      "learning_rate": 0.0004454228043687804,
      "loss": 0.1532,
      "step": 3182
    },
    {
      "epoch": 0.7139331388826565,
      "gripper_loss": 0.953125,
      "loss": 0.087890625,
      "pos_loss": 0.4375,
      "rot_loss": 0.11474609375,
      "step": 3182
    },
    {
      "epoch": 0.7141575050482387,
      "grad_norm": 0.6516408920288086,
      "learning_rate": 0.00044538502965911974,
      "loss": 0.1608,
      "step": 3183
    },
    {
      "epoch": 0.7141575050482387,
      "gripper_loss": 1.1953125,
      "loss": 0.07666015625,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.23046875,
      "step": 3183
    },
    {
      "epoch": 0.7143818712138209,
      "grad_norm": 0.527519702911377,
      "learning_rate": 0.00044534724348435384,
      "loss": 0.112,
      "step": 3184
    },
    {
      "epoch": 0.7143818712138209,
      "gripper_loss": 0.0380859375,
      "loss": 0.1259765625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.53125,
      "step": 3184
    },
    {
      "epoch": 0.7146062373794032,
      "grad_norm": 0.6210110783576965,
      "learning_rate": 0.0004453094458466999,
      "loss": 0.07,
      "step": 3185
    },
    {
      "epoch": 0.7146062373794032,
      "gripper_loss": 0.0791015625,
      "loss": 0.05029296875,
      "pos_loss": 0.28125,
      "rot_loss": 0.11279296875,
      "step": 3185
    },
    {
      "epoch": 0.7148306035449854,
      "grad_norm": 0.7775946259498596,
      "learning_rate": 0.0004452716367483759,
      "loss": 0.1148,
      "step": 3186
    },
    {
      "epoch": 0.7148306035449854,
      "gripper_loss": 0.11376953125,
      "loss": 0.0859375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.291015625,
      "step": 3186
    },
    {
      "epoch": 0.7150549697105677,
      "grad_norm": 0.8516474962234497,
      "learning_rate": 0.0004452338161916004,
      "loss": 0.1557,
      "step": 3187
    },
    {
      "epoch": 0.7150549697105677,
      "gripper_loss": 0.026611328125,
      "loss": 0.07080078125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.28125,
      "step": 3187
    },
    {
      "epoch": 0.7152793358761499,
      "grad_norm": 0.4247860312461853,
      "learning_rate": 0.00044519598417859274,
      "loss": 0.1001,
      "step": 3188
    },
    {
      "epoch": 0.7152793358761499,
      "gripper_loss": 0.6796875,
      "loss": 0.057373046875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.04052734375,
      "step": 3188
    },
    {
      "epoch": 0.7155037020417321,
      "grad_norm": 0.5319137573242188,
      "learning_rate": 0.00044515814071157284,
      "loss": 0.0848,
      "step": 3189
    },
    {
      "epoch": 0.7155037020417321,
      "gripper_loss": 0.333984375,
      "loss": 0.0673828125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.1923828125,
      "step": 3189
    },
    {
      "epoch": 0.7157280682073144,
      "grad_norm": 0.5382201671600342,
      "learning_rate": 0.00044512028579276144,
      "loss": 0.093,
      "step": 3190
    },
    {
      "epoch": 0.7157280682073144,
      "gripper_loss": 0.06982421875,
      "loss": 0.11083984375,
      "pos_loss": 0.59765625,
      "rot_loss": 0.39453125,
      "step": 3190
    },
    {
      "epoch": 0.7159524343728966,
      "grad_norm": 0.7645759582519531,
      "learning_rate": 0.0004450824194243798,
      "loss": 0.0749,
      "step": 3191
    },
    {
      "epoch": 0.7159524343728966,
      "gripper_loss": 1.1171875,
      "loss": 0.109375,
      "pos_loss": 0.6875,
      "rot_loss": 0.048095703125,
      "step": 3191
    },
    {
      "epoch": 0.7161768005384788,
      "grad_norm": 0.887823760509491,
      "learning_rate": 0.0004450445416086498,
      "loss": 0.1617,
      "step": 3192
    },
    {
      "epoch": 0.7161768005384788,
      "gripper_loss": 0.047119140625,
      "loss": 0.072265625,
      "pos_loss": 0.48828125,
      "rot_loss": 0.1826171875,
      "step": 3192
    },
    {
      "epoch": 0.7164011667040611,
      "grad_norm": 0.5953203439712524,
      "learning_rate": 0.00044500665234779423,
      "loss": 0.093,
      "step": 3193
    },
    {
      "epoch": 0.7164011667040611,
      "gripper_loss": 0.1337890625,
      "loss": 0.0673828125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.041259765625,
      "step": 3193
    },
    {
      "epoch": 0.7166255328696433,
      "grad_norm": 0.5607699155807495,
      "learning_rate": 0.00044496875164403636,
      "loss": 0.0925,
      "step": 3194
    },
    {
      "epoch": 0.7166255328696433,
      "gripper_loss": 0.5078125,
      "loss": 0.041748046875,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.09521484375,
      "step": 3194
    },
    {
      "epoch": 0.7168498990352254,
      "grad_norm": 0.6371861696243286,
      "learning_rate": 0.0004449308394996002,
      "loss": 0.0896,
      "step": 3195
    },
    {
      "epoch": 0.7168498990352254,
      "gripper_loss": 0.388671875,
      "loss": 0.0537109375,
      "pos_loss": 0.326171875,
      "rot_loss": 0.0625,
      "step": 3195
    },
    {
      "epoch": 0.7170742652008077,
      "grad_norm": 0.4566575884819031,
      "learning_rate": 0.00044489291591671043,
      "loss": 0.0845,
      "step": 3196
    },
    {
      "epoch": 0.7170742652008077,
      "gripper_loss": 0.62890625,
      "loss": 0.193359375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.23828125,
      "step": 3196
    },
    {
      "epoch": 0.7172986313663899,
      "grad_norm": 1.242607831954956,
      "learning_rate": 0.00044485498089759243,
      "loss": 0.1946,
      "step": 3197
    },
    {
      "epoch": 0.7172986313663899,
      "gripper_loss": 0.2021484375,
      "loss": 0.11865234375,
      "pos_loss": 0.69921875,
      "rot_loss": 0.3828125,
      "step": 3197
    },
    {
      "epoch": 0.7175229975319721,
      "grad_norm": 0.6386931538581848,
      "learning_rate": 0.0004448170344444721,
      "loss": 0.0976,
      "step": 3198
    },
    {
      "epoch": 0.7175229975319721,
      "gripper_loss": 0.126953125,
      "loss": 0.037109375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.1376953125,
      "step": 3198
    },
    {
      "epoch": 0.7177473636975544,
      "grad_norm": 0.4513744115829468,
      "learning_rate": 0.0004447790765595761,
      "loss": 0.0788,
      "step": 3199
    },
    {
      "epoch": 0.7177473636975544,
      "gripper_loss": 0.65625,
      "loss": 0.09619140625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.1650390625,
      "step": 3199
    },
    {
      "epoch": 0.7179717298631366,
      "grad_norm": 0.7167913317680359,
      "learning_rate": 0.00044474110724513195,
      "loss": 0.1115,
      "step": 3200
    },
    {
      "epoch": 0.7179717298631366,
      "gripper_loss": 0.08251953125,
      "loss": 0.0869140625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1669921875,
      "step": 3200
    },
    {
      "epoch": 0.7181960960287189,
      "grad_norm": 0.8093465566635132,
      "learning_rate": 0.0004447031265033675,
      "loss": 0.0866,
      "step": 3201
    },
    {
      "epoch": 0.7181960960287189,
      "gripper_loss": 0.5546875,
      "loss": 0.365234375,
      "pos_loss": 0.62890625,
      "rot_loss": 0.439453125,
      "step": 3201
    },
    {
      "epoch": 0.7184204621943011,
      "grad_norm": 2.056906223297119,
      "learning_rate": 0.0004446651343365115,
      "loss": 0.4092,
      "step": 3202
    },
    {
      "epoch": 0.7184204621943011,
      "gripper_loss": 0.384765625,
      "loss": 0.12255859375,
      "pos_loss": 0.9609375,
      "rot_loss": 0.1357421875,
      "step": 3202
    },
    {
      "epoch": 0.7186448283598833,
      "grad_norm": 0.6822127103805542,
      "learning_rate": 0.0004446271307467934,
      "loss": 0.0902,
      "step": 3203
    },
    {
      "epoch": 0.7186448283598833,
      "gripper_loss": 0.19140625,
      "loss": 0.08544921875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.17578125,
      "step": 3203
    },
    {
      "epoch": 0.7188691945254656,
      "grad_norm": 1.0086419582366943,
      "learning_rate": 0.0004445891157364431,
      "loss": 0.1308,
      "step": 3204
    },
    {
      "epoch": 0.7188691945254656,
      "gripper_loss": 1.421875,
      "loss": 0.1318359375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.0537109375,
      "step": 3204
    },
    {
      "epoch": 0.7190935606910478,
      "grad_norm": 0.7565245628356934,
      "learning_rate": 0.00044455108930769146,
      "loss": 0.1326,
      "step": 3205
    },
    {
      "epoch": 0.7190935606910478,
      "gripper_loss": 0.05029296875,
      "loss": 0.103515625,
      "pos_loss": 0.71484375,
      "rot_loss": 0.2392578125,
      "step": 3205
    },
    {
      "epoch": 0.71931792685663,
      "grad_norm": 0.8059343695640564,
      "learning_rate": 0.00044451305146276965,
      "loss": 0.1245,
      "step": 3206
    },
    {
      "epoch": 0.71931792685663,
      "gripper_loss": 0.1669921875,
      "loss": 0.2470703125,
      "pos_loss": 0.6796875,
      "rot_loss": 1.8046875,
      "step": 3206
    },
    {
      "epoch": 0.7195422930222123,
      "grad_norm": 0.7808640599250793,
      "learning_rate": 0.0004444750022039099,
      "loss": 0.0974,
      "step": 3207
    },
    {
      "epoch": 0.7195422930222123,
      "gripper_loss": 0.2490234375,
      "loss": 0.035400390625,
      "pos_loss": 0.1123046875,
      "rot_loss": 0.0537109375,
      "step": 3207
    },
    {
      "epoch": 0.7197666591877945,
      "grad_norm": 0.8016065955162048,
      "learning_rate": 0.00044443694153334487,
      "loss": 0.096,
      "step": 3208
    },
    {
      "epoch": 0.7197666591877945,
      "gripper_loss": 0.1337890625,
      "loss": 0.03515625,
      "pos_loss": 0.150390625,
      "rot_loss": 0.048583984375,
      "step": 3208
    },
    {
      "epoch": 0.7199910253533767,
      "grad_norm": 0.7375175356864929,
      "learning_rate": 0.0004443988694533079,
      "loss": 0.0938,
      "step": 3209
    },
    {
      "epoch": 0.7199910253533767,
      "gripper_loss": 0.1162109375,
      "loss": 0.275390625,
      "pos_loss": 2.171875,
      "rot_loss": 0.6640625,
      "step": 3209
    },
    {
      "epoch": 0.720215391518959,
      "grad_norm": 0.42298683524131775,
      "learning_rate": 0.000444360785966033,
      "loss": 0.0837,
      "step": 3210
    },
    {
      "epoch": 0.720215391518959,
      "gripper_loss": 0.055908203125,
      "loss": 0.185546875,
      "pos_loss": 1.1484375,
      "rot_loss": 0.7109375,
      "step": 3210
    },
    {
      "epoch": 0.7204397576845412,
      "grad_norm": 0.5665538311004639,
      "learning_rate": 0.000444322691073755,
      "loss": 0.1079,
      "step": 3211
    },
    {
      "epoch": 0.7204397576845412,
      "gripper_loss": 0.06787109375,
      "loss": 0.1083984375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.5390625,
      "step": 3211
    },
    {
      "epoch": 0.7206641238501234,
      "grad_norm": 0.644639790058136,
      "learning_rate": 0.00044428458477870927,
      "loss": 0.082,
      "step": 3212
    },
    {
      "epoch": 0.7206641238501234,
      "gripper_loss": 0.051513671875,
      "loss": 0.283203125,
      "pos_loss": 1.25,
      "rot_loss": 1.6796875,
      "step": 3212
    },
    {
      "epoch": 0.7208884900157057,
      "grad_norm": 0.9115145802497864,
      "learning_rate": 0.00044424646708313175,
      "loss": 0.1703,
      "step": 3213
    },
    {
      "epoch": 0.7208884900157057,
      "gripper_loss": 0.77734375,
      "loss": 0.130859375,
      "pos_loss": 0.984375,
      "rot_loss": 0.050537109375,
      "step": 3213
    },
    {
      "epoch": 0.7211128561812878,
      "grad_norm": 0.5991094708442688,
      "learning_rate": 0.0004442083379892594,
      "loss": 0.1441,
      "step": 3214
    },
    {
      "epoch": 0.7211128561812878,
      "gripper_loss": 0.4921875,
      "loss": 0.158203125,
      "pos_loss": 0.94140625,
      "rot_loss": 0.455078125,
      "step": 3214
    },
    {
      "epoch": 0.7213372223468701,
      "grad_norm": 0.7021672129631042,
      "learning_rate": 0.0004441701974993294,
      "loss": 0.1009,
      "step": 3215
    },
    {
      "epoch": 0.7213372223468701,
      "gripper_loss": 0.06884765625,
      "loss": 0.08837890625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.09521484375,
      "step": 3215
    },
    {
      "epoch": 0.7215615885124523,
      "grad_norm": 0.5393990874290466,
      "learning_rate": 0.00044413204561557986,
      "loss": 0.0873,
      "step": 3216
    },
    {
      "epoch": 0.7215615885124523,
      "gripper_loss": 0.287109375,
      "loss": 0.0283203125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.0262451171875,
      "step": 3216
    },
    {
      "epoch": 0.7217859546780345,
      "grad_norm": 0.589377224445343,
      "learning_rate": 0.00044409388234024964,
      "loss": 0.0935,
      "step": 3217
    },
    {
      "epoch": 0.7217859546780345,
      "gripper_loss": 0.26953125,
      "loss": 0.032958984375,
      "pos_loss": 0.052490234375,
      "rot_loss": 0.138671875,
      "step": 3217
    },
    {
      "epoch": 0.7220103208436168,
      "grad_norm": 0.4970959722995758,
      "learning_rate": 0.000444055707675578,
      "loss": 0.1201,
      "step": 3218
    },
    {
      "epoch": 0.7220103208436168,
      "gripper_loss": 0.22265625,
      "loss": 0.080078125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.057861328125,
      "step": 3218
    },
    {
      "epoch": 0.722234687009199,
      "grad_norm": 0.4959412217140198,
      "learning_rate": 0.00044401752162380513,
      "loss": 0.0625,
      "step": 3219
    },
    {
      "epoch": 0.722234687009199,
      "gripper_loss": 0.26953125,
      "loss": 0.185546875,
      "pos_loss": 1.2734375,
      "rot_loss": 0.54296875,
      "step": 3219
    },
    {
      "epoch": 0.7224590531747812,
      "grad_norm": 0.8168861865997314,
      "learning_rate": 0.0004439793241871717,
      "loss": 0.1125,
      "step": 3220
    },
    {
      "epoch": 0.7224590531747812,
      "gripper_loss": 0.2197265625,
      "loss": 0.138671875,
      "pos_loss": 0.86328125,
      "rot_loss": 0.47265625,
      "step": 3220
    },
    {
      "epoch": 0.7226834193403635,
      "grad_norm": 1.546809434890747,
      "learning_rate": 0.00044394111536791915,
      "loss": 0.1823,
      "step": 3221
    },
    {
      "epoch": 0.7226834193403635,
      "gripper_loss": 0.275390625,
      "loss": 0.275390625,
      "pos_loss": 1.171875,
      "rot_loss": 1.4375,
      "step": 3221
    },
    {
      "epoch": 0.7229077855059457,
      "grad_norm": 0.9677727222442627,
      "learning_rate": 0.00044390289516828946,
      "loss": 0.1379,
      "step": 3222
    },
    {
      "epoch": 0.7229077855059457,
      "gripper_loss": 1.625,
      "loss": 0.0947265625,
      "pos_loss": 0.150390625,
      "rot_loss": 0.255859375,
      "step": 3222
    },
    {
      "epoch": 0.7231321516715279,
      "grad_norm": 0.6642274856567383,
      "learning_rate": 0.00044386466359052544,
      "loss": 0.0856,
      "step": 3223
    },
    {
      "epoch": 0.7231321516715279,
      "gripper_loss": 0.1552734375,
      "loss": 0.08056640625,
      "pos_loss": 0.62109375,
      "rot_loss": 0.06982421875,
      "step": 3223
    },
    {
      "epoch": 0.7233565178371102,
      "grad_norm": 0.8288135528564453,
      "learning_rate": 0.00044382642063687063,
      "loss": 0.0792,
      "step": 3224
    },
    {
      "epoch": 0.7233565178371102,
      "gripper_loss": 0.1875,
      "loss": 0.162109375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.70703125,
      "step": 3224
    },
    {
      "epoch": 0.7235808840026924,
      "grad_norm": 0.6149994134902954,
      "learning_rate": 0.00044378816630956885,
      "loss": 0.0896,
      "step": 3225
    },
    {
      "epoch": 0.7235808840026924,
      "gripper_loss": 0.07080078125,
      "loss": 0.15234375,
      "pos_loss": 1.265625,
      "rot_loss": 0.2001953125,
      "step": 3225
    },
    {
      "epoch": 0.7238052501682746,
      "grad_norm": 0.6287925243377686,
      "learning_rate": 0.00044374990061086514,
      "loss": 0.0948,
      "step": 3226
    },
    {
      "epoch": 0.7238052501682746,
      "gripper_loss": 0.412109375,
      "loss": 0.024169921875,
      "pos_loss": 0.03564453125,
      "rot_loss": 0.01708984375,
      "step": 3226
    },
    {
      "epoch": 0.7240296163338569,
      "grad_norm": 0.6476648449897766,
      "learning_rate": 0.00044371162354300467,
      "loss": 0.0977,
      "step": 3227
    },
    {
      "epoch": 0.7240296163338569,
      "gripper_loss": 0.61328125,
      "loss": 0.2421875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.5234375,
      "step": 3227
    },
    {
      "epoch": 0.7242539824994391,
      "grad_norm": 1.5125459432601929,
      "learning_rate": 0.0004436733351082336,
      "loss": 0.2284,
      "step": 3228
    },
    {
      "epoch": 0.7242539824994391,
      "gripper_loss": 0.036376953125,
      "loss": 0.1640625,
      "pos_loss": 0.9453125,
      "rot_loss": 0.72265625,
      "step": 3228
    },
    {
      "epoch": 0.7244783486650214,
      "grad_norm": 0.6853430271148682,
      "learning_rate": 0.00044363503530879875,
      "loss": 0.1295,
      "step": 3229
    },
    {
      "epoch": 0.7244783486650214,
      "gripper_loss": 1.953125,
      "loss": 0.07470703125,
      "pos_loss": 0.05224609375,
      "rot_loss": 0.01806640625,
      "step": 3229
    },
    {
      "epoch": 0.7247027148306036,
      "grad_norm": 0.5548018217086792,
      "learning_rate": 0.0004435967241469474,
      "loss": 0.0995,
      "step": 3230
    },
    {
      "epoch": 0.7247027148306036,
      "gripper_loss": 0.671875,
      "loss": 0.10888671875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.251953125,
      "step": 3230
    },
    {
      "epoch": 0.7249270809961857,
      "grad_norm": 0.5583630800247192,
      "learning_rate": 0.0004435584016249278,
      "loss": 0.0934,
      "step": 3231
    },
    {
      "epoch": 0.7249270809961857,
      "gripper_loss": 0.6875,
      "loss": 0.0830078125,
      "pos_loss": 0.482421875,
      "rot_loss": 0.09912109375,
      "step": 3231
    },
    {
      "epoch": 0.725151447161768,
      "grad_norm": 0.6932477355003357,
      "learning_rate": 0.00044352006774498853,
      "loss": 0.0789,
      "step": 3232
    },
    {
      "epoch": 0.725151447161768,
      "gripper_loss": 0.2001953125,
      "loss": 0.10546875,
      "pos_loss": 0.470703125,
      "rot_loss": 0.1953125,
      "step": 3232
    },
    {
      "epoch": 0.7253758133273502,
      "grad_norm": 1.1002821922302246,
      "learning_rate": 0.0004434817225093791,
      "loss": 0.123,
      "step": 3233
    },
    {
      "epoch": 0.7253758133273502,
      "gripper_loss": 0.038330078125,
      "loss": 0.10205078125,
      "pos_loss": 0.9609375,
      "rot_loss": 0.05126953125,
      "step": 3233
    },
    {
      "epoch": 0.7256001794929324,
      "grad_norm": 0.753993570804596,
      "learning_rate": 0.00044344336592034954,
      "loss": 0.1298,
      "step": 3234
    },
    {
      "epoch": 0.7256001794929324,
      "gripper_loss": 0.06884765625,
      "loss": 0.12255859375,
      "pos_loss": 0.51953125,
      "rot_loss": 0.470703125,
      "step": 3234
    },
    {
      "epoch": 0.7258245456585147,
      "grad_norm": 0.838564932346344,
      "learning_rate": 0.0004434049979801507,
      "loss": 0.0947,
      "step": 3235
    },
    {
      "epoch": 0.7258245456585147,
      "gripper_loss": 1.2109375,
      "loss": 0.07763671875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.130859375,
      "step": 3235
    },
    {
      "epoch": 0.7260489118240969,
      "grad_norm": 0.8869199156761169,
      "learning_rate": 0.0004433666186910339,
      "loss": 0.104,
      "step": 3236
    },
    {
      "epoch": 0.7260489118240969,
      "gripper_loss": 0.087890625,
      "loss": 0.1181640625,
      "pos_loss": 0.98046875,
      "rot_loss": 0.07666015625,
      "step": 3236
    },
    {
      "epoch": 0.7262732779896791,
      "grad_norm": 0.7291396260261536,
      "learning_rate": 0.0004433282280552512,
      "loss": 0.0888,
      "step": 3237
    },
    {
      "epoch": 0.7262732779896791,
      "gripper_loss": 0.047607421875,
      "loss": 0.09130859375,
      "pos_loss": 0.421875,
      "rot_loss": 0.3828125,
      "step": 3237
    },
    {
      "epoch": 0.7264976441552614,
      "grad_norm": 0.6884557008743286,
      "learning_rate": 0.0004432898260750554,
      "loss": 0.0938,
      "step": 3238
    },
    {
      "epoch": 0.7264976441552614,
      "gripper_loss": 1.34375,
      "loss": 0.1630859375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.640625,
      "step": 3238
    },
    {
      "epoch": 0.7267220103208436,
      "grad_norm": 0.702309787273407,
      "learning_rate": 0.0004432514127527,
      "loss": 0.1178,
      "step": 3239
    },
    {
      "epoch": 0.7267220103208436,
      "gripper_loss": 0.283203125,
      "loss": 0.103515625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.34765625,
      "step": 3239
    },
    {
      "epoch": 0.7269463764864258,
      "grad_norm": 0.6601855754852295,
      "learning_rate": 0.00044321298809043885,
      "loss": 0.1257,
      "step": 3240
    },
    {
      "epoch": 0.7269463764864258,
      "gripper_loss": 0.1640625,
      "loss": 0.08642578125,
      "pos_loss": 0.73828125,
      "rot_loss": 0.0361328125,
      "step": 3240
    },
    {
      "epoch": 0.7271707426520081,
      "grad_norm": 0.6728441715240479,
      "learning_rate": 0.00044317455209052684,
      "loss": 0.1105,
      "step": 3241
    },
    {
      "epoch": 0.7271707426520081,
      "gripper_loss": 0.076171875,
      "loss": 0.37890625,
      "pos_loss": 0.58203125,
      "rot_loss": 3.34375,
      "step": 3241
    },
    {
      "epoch": 0.7273951088175903,
      "grad_norm": 0.9934164881706238,
      "learning_rate": 0.00044313610475521937,
      "loss": 0.169,
      "step": 3242
    },
    {
      "epoch": 0.7273951088175903,
      "gripper_loss": 0.291015625,
      "loss": 0.05224609375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.05419921875,
      "step": 3242
    },
    {
      "epoch": 0.7276194749831726,
      "grad_norm": 0.49669238924980164,
      "learning_rate": 0.0004430976460867725,
      "loss": 0.0759,
      "step": 3243
    },
    {
      "epoch": 0.7276194749831726,
      "gripper_loss": 0.83203125,
      "loss": 0.08544921875,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.2216796875,
      "step": 3243
    },
    {
      "epoch": 0.7278438411487548,
      "grad_norm": 0.7092797160148621,
      "learning_rate": 0.00044305917608744295,
      "loss": 0.0955,
      "step": 3244
    },
    {
      "epoch": 0.7278438411487548,
      "gripper_loss": 0.0341796875,
      "loss": 0.1474609375,
      "pos_loss": 0.14453125,
      "rot_loss": 1.328125,
      "step": 3244
    },
    {
      "epoch": 0.728068207314337,
      "grad_norm": 0.8078756332397461,
      "learning_rate": 0.00044302069475948814,
      "loss": 0.1797,
      "step": 3245
    },
    {
      "epoch": 0.728068207314337,
      "gripper_loss": 0.1826171875,
      "loss": 0.1884765625,
      "pos_loss": 1.5625,
      "rot_loss": 0.2890625,
      "step": 3245
    },
    {
      "epoch": 0.7282925734799193,
      "grad_norm": 0.553781270980835,
      "learning_rate": 0.0004429822021051662,
      "loss": 0.0908,
      "step": 3246
    },
    {
      "epoch": 0.7282925734799193,
      "gripper_loss": 0.0908203125,
      "loss": 0.265625,
      "pos_loss": 0.85546875,
      "rot_loss": 0.75,
      "step": 3246
    },
    {
      "epoch": 0.7285169396455015,
      "grad_norm": 1.6675000190734863,
      "learning_rate": 0.0004429436981267356,
      "loss": 0.2019,
      "step": 3247
    },
    {
      "epoch": 0.7285169396455015,
      "gripper_loss": 1.515625,
      "loss": 0.10546875,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.23828125,
      "step": 3247
    },
    {
      "epoch": 0.7287413058110837,
      "grad_norm": 1.1748908758163452,
      "learning_rate": 0.00044290518282645607,
      "loss": 0.1387,
      "step": 3248
    },
    {
      "epoch": 0.7287413058110837,
      "gripper_loss": 0.0771484375,
      "loss": 0.020263671875,
      "pos_loss": 0.07080078125,
      "rot_loss": 0.032470703125,
      "step": 3248
    },
    {
      "epoch": 0.728965671976666,
      "grad_norm": 0.7025755643844604,
      "learning_rate": 0.00044286665620658753,
      "loss": 0.0944,
      "step": 3249
    },
    {
      "epoch": 0.728965671976666,
      "gripper_loss": 0.61328125,
      "loss": 0.2158203125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.98828125,
      "step": 3249
    },
    {
      "epoch": 0.7291900381422481,
      "grad_norm": 0.6243258714675903,
      "learning_rate": 0.00044282811826939074,
      "loss": 0.1095,
      "step": 3250
    },
    {
      "epoch": 0.7291900381422481,
      "gripper_loss": 0.03662109375,
      "loss": 0.14453125,
      "pos_loss": 1.3359375,
      "rot_loss": 0.0361328125,
      "step": 3250
    },
    {
      "epoch": 0.7294144043078303,
      "grad_norm": 0.731221616268158,
      "learning_rate": 0.00044278956901712695,
      "loss": 0.1376,
      "step": 3251
    },
    {
      "epoch": 0.7294144043078303,
      "gripper_loss": 0.80078125,
      "loss": 0.1279296875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.1875,
      "step": 3251
    },
    {
      "epoch": 0.7296387704734126,
      "grad_norm": 1.0861140489578247,
      "learning_rate": 0.0004427510084520584,
      "loss": 0.1265,
      "step": 3252
    },
    {
      "epoch": 0.7296387704734126,
      "gripper_loss": 0.1630859375,
      "loss": 0.11669921875,
      "pos_loss": 0.546875,
      "rot_loss": 0.396484375,
      "step": 3252
    },
    {
      "epoch": 0.7298631366389948,
      "grad_norm": 0.9314458966255188,
      "learning_rate": 0.0004427124365764477,
      "loss": 0.1132,
      "step": 3253
    },
    {
      "epoch": 0.7298631366389948,
      "gripper_loss": 0.59375,
      "loss": 0.051513671875,
      "pos_loss": 0.23046875,
      "rot_loss": 0.048583984375,
      "step": 3253
    },
    {
      "epoch": 0.730087502804577,
      "grad_norm": 0.563791036605835,
      "learning_rate": 0.0004426738533925582,
      "loss": 0.0975,
      "step": 3254
    },
    {
      "epoch": 0.730087502804577,
      "gripper_loss": 0.08349609375,
      "loss": 0.10986328125,
      "pos_loss": 0.70703125,
      "rot_loss": 0.3203125,
      "step": 3254
    },
    {
      "epoch": 0.7303118689701593,
      "grad_norm": 0.7251858711242676,
      "learning_rate": 0.0004426352589026541,
      "loss": 0.1324,
      "step": 3255
    },
    {
      "epoch": 0.7303118689701593,
      "gripper_loss": 0.4609375,
      "loss": 0.1376953125,
      "pos_loss": 1.171875,
      "rot_loss": 0.0654296875,
      "step": 3255
    },
    {
      "epoch": 0.7305362351357415,
      "grad_norm": 0.6847283244132996,
      "learning_rate": 0.0004425966531089999,
      "loss": 0.122,
      "step": 3256
    },
    {
      "epoch": 0.7305362351357415,
      "gripper_loss": 0.037353515625,
      "loss": 0.039794921875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0546875,
      "step": 3256
    },
    {
      "epoch": 0.7307606013013238,
      "grad_norm": 0.6810391545295715,
      "learning_rate": 0.0004425580360138611,
      "loss": 0.117,
      "step": 3257
    },
    {
      "epoch": 0.7307606013013238,
      "gripper_loss": 1.0546875,
      "loss": 0.1044921875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.181640625,
      "step": 3257
    },
    {
      "epoch": 0.730984967466906,
      "grad_norm": 1.1410497426986694,
      "learning_rate": 0.0004425194076195038,
      "loss": 0.1111,
      "step": 3258
    },
    {
      "epoch": 0.730984967466906,
      "gripper_loss": 0.042724609375,
      "loss": 0.1640625,
      "pos_loss": 1.2890625,
      "rot_loss": 0.3203125,
      "step": 3258
    },
    {
      "epoch": 0.7312093336324882,
      "grad_norm": 0.874535858631134,
      "learning_rate": 0.0004424807679281945,
      "loss": 0.1454,
      "step": 3259
    },
    {
      "epoch": 0.7312093336324882,
      "gripper_loss": 0.58203125,
      "loss": 0.08740234375,
      "pos_loss": 0.515625,
      "rot_loss": 0.1533203125,
      "step": 3259
    },
    {
      "epoch": 0.7314336997980705,
      "grad_norm": 0.6550304293632507,
      "learning_rate": 0.0004424421169422007,
      "loss": 0.1465,
      "step": 3260
    },
    {
      "epoch": 0.7314336997980705,
      "gripper_loss": 0.11962890625,
      "loss": 0.12255859375,
      "pos_loss": 0.6796875,
      "rot_loss": 0.310546875,
      "step": 3260
    },
    {
      "epoch": 0.7316580659636527,
      "grad_norm": 1.3035480976104736,
      "learning_rate": 0.0004424034546637904,
      "loss": 0.1679,
      "step": 3261
    },
    {
      "epoch": 0.7316580659636527,
      "gripper_loss": 0.11962890625,
      "loss": 0.11767578125,
      "pos_loss": 0.83984375,
      "rot_loss": 0.2275390625,
      "step": 3261
    },
    {
      "epoch": 0.7318824321292349,
      "grad_norm": 0.693244993686676,
      "learning_rate": 0.00044236478109523227,
      "loss": 0.1045,
      "step": 3262
    },
    {
      "epoch": 0.7318824321292349,
      "gripper_loss": 0.142578125,
      "loss": 0.046875,
      "pos_loss": 0.224609375,
      "rot_loss": 0.056396484375,
      "step": 3262
    },
    {
      "epoch": 0.7321067982948172,
      "grad_norm": 1.1157125234603882,
      "learning_rate": 0.0004423260962387956,
      "loss": 0.1195,
      "step": 3263
    },
    {
      "epoch": 0.7321067982948172,
      "gripper_loss": 0.66015625,
      "loss": 0.0830078125,
      "pos_loss": 0.3984375,
      "rot_loss": 0.09375,
      "step": 3263
    },
    {
      "epoch": 0.7323311644603994,
      "grad_norm": 0.8651583194732666,
      "learning_rate": 0.0004422874000967505,
      "loss": 0.1331,
      "step": 3264
    },
    {
      "epoch": 0.7323311644603994,
      "gripper_loss": 0.031494140625,
      "loss": 0.07177734375,
      "pos_loss": 0.5703125,
      "rot_loss": 0.03466796875,
      "step": 3264
    },
    {
      "epoch": 0.7325555306259816,
      "grad_norm": 0.7937706112861633,
      "learning_rate": 0.0004422486926713676,
      "loss": 0.0891,
      "step": 3265
    },
    {
      "epoch": 0.7325555306259816,
      "gripper_loss": 0.298828125,
      "loss": 0.123046875,
      "pos_loss": 0.65234375,
      "rot_loss": 0.412109375,
      "step": 3265
    },
    {
      "epoch": 0.7327798967915639,
      "grad_norm": 0.812457799911499,
      "learning_rate": 0.00044220997396491826,
      "loss": 0.1201,
      "step": 3266
    },
    {
      "epoch": 0.7327798967915639,
      "gripper_loss": 0.1240234375,
      "loss": 0.08544921875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.337890625,
      "step": 3266
    },
    {
      "epoch": 0.733004262957146,
      "grad_norm": 0.8514402508735657,
      "learning_rate": 0.0004421712439796744,
      "loss": 0.1053,
      "step": 3267
    },
    {
      "epoch": 0.733004262957146,
      "gripper_loss": 0.0380859375,
      "loss": 0.1123046875,
      "pos_loss": 0.70703125,
      "rot_loss": 0.34765625,
      "step": 3267
    },
    {
      "epoch": 0.7332286291227282,
      "grad_norm": 0.6092844009399414,
      "learning_rate": 0.0004421325027179088,
      "loss": 0.0696,
      "step": 3268
    },
    {
      "epoch": 0.7332286291227282,
      "gripper_loss": 0.734375,
      "loss": 0.0546875,
      "pos_loss": 0.234375,
      "rot_loss": 0.0279541015625,
      "step": 3268
    },
    {
      "epoch": 0.7334529952883105,
      "grad_norm": 0.66487056016922,
      "learning_rate": 0.00044209375018189464,
      "loss": 0.1049,
      "step": 3269
    },
    {
      "epoch": 0.7334529952883105,
      "gripper_loss": 0.373046875,
      "loss": 0.0673828125,
      "pos_loss": 0.234375,
      "rot_loss": 0.283203125,
      "step": 3269
    },
    {
      "epoch": 0.7336773614538927,
      "grad_norm": 0.7048957943916321,
      "learning_rate": 0.00044205498637390594,
      "loss": 0.0675,
      "step": 3270
    },
    {
      "epoch": 0.7336773614538927,
      "gripper_loss": 0.25390625,
      "loss": 0.06689453125,
      "pos_loss": 0.38671875,
      "rot_loss": 0.150390625,
      "step": 3270
    },
    {
      "epoch": 0.733901727619475,
      "grad_norm": 0.8080959320068359,
      "learning_rate": 0.0004420162112962175,
      "loss": 0.1015,
      "step": 3271
    },
    {
      "epoch": 0.733901727619475,
      "gripper_loss": 0.1328125,
      "loss": 0.1298828125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.625,
      "step": 3271
    },
    {
      "epoch": 0.7341260937850572,
      "grad_norm": 0.6276811361312866,
      "learning_rate": 0.0004419774249511044,
      "loss": 0.1061,
      "step": 3272
    },
    {
      "epoch": 0.7341260937850572,
      "gripper_loss": 0.031494140625,
      "loss": 0.08984375,
      "pos_loss": 0.55859375,
      "rot_loss": 0.26171875,
      "step": 3272
    },
    {
      "epoch": 0.7343504599506394,
      "grad_norm": 0.7407930493354797,
      "learning_rate": 0.0004419386273408428,
      "loss": 0.1068,
      "step": 3273
    },
    {
      "epoch": 0.7343504599506394,
      "gripper_loss": 0.578125,
      "loss": 0.1259765625,
      "pos_loss": 0.412109375,
      "rot_loss": 0.68359375,
      "step": 3273
    },
    {
      "epoch": 0.7345748261162217,
      "grad_norm": 0.5018529295921326,
      "learning_rate": 0.0004418998184677091,
      "loss": 0.1103,
      "step": 3274
    },
    {
      "epoch": 0.7345748261162217,
      "gripper_loss": 0.047119140625,
      "loss": 0.1025390625,
      "pos_loss": 0.609375,
      "rot_loss": 0.388671875,
      "step": 3274
    },
    {
      "epoch": 0.7347991922818039,
      "grad_norm": 0.7020959258079529,
      "learning_rate": 0.0004418609983339808,
      "loss": 0.1011,
      "step": 3275
    },
    {
      "epoch": 0.7347991922818039,
      "gripper_loss": 0.333984375,
      "loss": 0.1943359375,
      "pos_loss": 0.71875,
      "rot_loss": 0.8671875,
      "step": 3275
    },
    {
      "epoch": 0.7350235584473861,
      "grad_norm": 0.8043908476829529,
      "learning_rate": 0.0004418221669419358,
      "loss": 0.1031,
      "step": 3276
    },
    {
      "epoch": 0.7350235584473861,
      "gripper_loss": 0.06982421875,
      "loss": 0.365234375,
      "pos_loss": 2.609375,
      "rot_loss": 1.171875,
      "step": 3276
    },
    {
      "epoch": 0.7352479246129684,
      "grad_norm": 0.9403766393661499,
      "learning_rate": 0.0004417833242938526,
      "loss": 0.1855,
      "step": 3277
    },
    {
      "epoch": 0.7352479246129684,
      "gripper_loss": 0.0390625,
      "loss": 0.059814453125,
      "pos_loss": 0.33203125,
      "rot_loss": 0.2109375,
      "step": 3277
    },
    {
      "epoch": 0.7354722907785506,
      "grad_norm": 0.5355596542358398,
      "learning_rate": 0.0004417444703920105,
      "loss": 0.104,
      "step": 3278
    },
    {
      "epoch": 0.7354722907785506,
      "gripper_loss": 1.3359375,
      "loss": 0.4765625,
      "pos_loss": 0.578125,
      "rot_loss": 0.404296875,
      "step": 3278
    },
    {
      "epoch": 0.7356966569441328,
      "grad_norm": 1.799568772315979,
      "learning_rate": 0.0004417056052386896,
      "loss": 0.5247,
      "step": 3279
    },
    {
      "epoch": 0.7356966569441328,
      "gripper_loss": 0.12353515625,
      "loss": 0.11767578125,
      "pos_loss": 0.2109375,
      "rot_loss": 0.91015625,
      "step": 3279
    },
    {
      "epoch": 0.7359210231097151,
      "grad_norm": 0.9129116535186768,
      "learning_rate": 0.00044166672883617025,
      "loss": 0.11,
      "step": 3280
    },
    {
      "epoch": 0.7359210231097151,
      "gripper_loss": 0.10205078125,
      "loss": 0.07080078125,
      "pos_loss": 0.419921875,
      "rot_loss": 0.2470703125,
      "step": 3280
    },
    {
      "epoch": 0.7361453892752973,
      "grad_norm": 0.6162093877792358,
      "learning_rate": 0.0004416278411867338,
      "loss": 0.0908,
      "step": 3281
    },
    {
      "epoch": 0.7361453892752973,
      "gripper_loss": 0.162109375,
      "loss": 0.08740234375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.2470703125,
      "step": 3281
    },
    {
      "epoch": 0.7363697554408796,
      "grad_norm": 0.8939824104309082,
      "learning_rate": 0.0004415889422926623,
      "loss": 0.0961,
      "step": 3282
    },
    {
      "epoch": 0.7363697554408796,
      "gripper_loss": 0.080078125,
      "loss": 0.11279296875,
      "pos_loss": 0.765625,
      "rot_loss": 0.212890625,
      "step": 3282
    },
    {
      "epoch": 0.7365941216064618,
      "grad_norm": 1.0139999389648438,
      "learning_rate": 0.00044155003215623815,
      "loss": 0.1042,
      "step": 3283
    },
    {
      "epoch": 0.7365941216064618,
      "gripper_loss": 0.83203125,
      "loss": 0.134765625,
      "pos_loss": 0.546875,
      "rot_loss": 0.494140625,
      "step": 3283
    },
    {
      "epoch": 0.736818487772044,
      "grad_norm": 0.7697885632514954,
      "learning_rate": 0.0004415111107797445,
      "loss": 0.1176,
      "step": 3284
    },
    {
      "epoch": 0.736818487772044,
      "gripper_loss": 0.0322265625,
      "loss": 0.140625,
      "pos_loss": 0.154296875,
      "rot_loss": 1.2265625,
      "step": 3284
    },
    {
      "epoch": 0.7370428539376263,
      "grad_norm": 0.6120917201042175,
      "learning_rate": 0.0004414721781654655,
      "loss": 0.0859,
      "step": 3285
    },
    {
      "epoch": 0.7370428539376263,
      "gripper_loss": 0.1376953125,
      "loss": 0.12255859375,
      "pos_loss": 0.9375,
      "rot_loss": 0.1689453125,
      "step": 3285
    },
    {
      "epoch": 0.7372672201032084,
      "grad_norm": 0.6299596428871155,
      "learning_rate": 0.0004414332343156854,
      "loss": 0.0978,
      "step": 3286
    },
    {
      "epoch": 0.7372672201032084,
      "gripper_loss": 0.06494140625,
      "loss": 0.049072265625,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.2470703125,
      "step": 3286
    },
    {
      "epoch": 0.7374915862687906,
      "grad_norm": 0.7512423396110535,
      "learning_rate": 0.0004413942792326897,
      "loss": 0.1167,
      "step": 3287
    },
    {
      "epoch": 0.7374915862687906,
      "gripper_loss": 1.2734375,
      "loss": 0.10693359375,
      "pos_loss": 0.5625,
      "rot_loss": 0.0625,
      "step": 3287
    },
    {
      "epoch": 0.7377159524343729,
      "grad_norm": 0.97271728515625,
      "learning_rate": 0.0004413553129187641,
      "loss": 0.1235,
      "step": 3288
    },
    {
      "epoch": 0.7377159524343729,
      "gripper_loss": 1.4453125,
      "loss": 0.062255859375,
      "pos_loss": 0.05029296875,
      "rot_loss": 0.05859375,
      "step": 3288
    },
    {
      "epoch": 0.7379403185999551,
      "grad_norm": 0.653218686580658,
      "learning_rate": 0.00044131633537619516,
      "loss": 0.098,
      "step": 3289
    },
    {
      "epoch": 0.7379403185999551,
      "gripper_loss": 0.181640625,
      "loss": 0.10888671875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.203125,
      "step": 3289
    },
    {
      "epoch": 0.7381646847655373,
      "grad_norm": 1.1838390827178955,
      "learning_rate": 0.00044127734660727,
      "loss": 0.159,
      "step": 3290
    },
    {
      "epoch": 0.7381646847655373,
      "gripper_loss": 0.04150390625,
      "loss": 0.12890625,
      "pos_loss": 0.96875,
      "rot_loss": 0.30859375,
      "step": 3290
    },
    {
      "epoch": 0.7383890509311196,
      "grad_norm": 0.6128125786781311,
      "learning_rate": 0.00044123834661427666,
      "loss": 0.121,
      "step": 3291
    },
    {
      "epoch": 0.7383890509311196,
      "gripper_loss": 0.9453125,
      "loss": 1.1015625,
      "pos_loss": 1.046875,
      "rot_loss": 1.125,
      "step": 3291
    },
    {
      "epoch": 0.7386134170967018,
      "grad_norm": 2.9996182918548584,
      "learning_rate": 0.00044119933539950334,
      "loss": 1.0938,
      "step": 3292
    },
    {
      "epoch": 0.7386134170967018,
      "gripper_loss": 0.119140625,
      "loss": 0.08935546875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.30078125,
      "step": 3292
    },
    {
      "epoch": 0.738837783262284,
      "grad_norm": 0.9988978505134583,
      "learning_rate": 0.0004411603129652395,
      "loss": 0.1051,
      "step": 3293
    },
    {
      "epoch": 0.738837783262284,
      "gripper_loss": 0.1923828125,
      "loss": 0.12255859375,
      "pos_loss": 0.8515625,
      "rot_loss": 0.3125,
      "step": 3293
    },
    {
      "epoch": 0.7390621494278663,
      "grad_norm": 0.5544344186782837,
      "learning_rate": 0.0004411212793137748,
      "loss": 0.1027,
      "step": 3294
    },
    {
      "epoch": 0.7390621494278663,
      "gripper_loss": 0.1708984375,
      "loss": 0.064453125,
      "pos_loss": 0.38671875,
      "rot_loss": 0.166015625,
      "step": 3294
    },
    {
      "epoch": 0.7392865155934485,
      "grad_norm": 0.6093412041664124,
      "learning_rate": 0.0004410822344473996,
      "loss": 0.1492,
      "step": 3295
    },
    {
      "epoch": 0.7392865155934485,
      "gripper_loss": 0.490234375,
      "loss": 0.1201171875,
      "pos_loss": 0.875,
      "rot_loss": 0.09521484375,
      "step": 3295
    },
    {
      "epoch": 0.7395108817590308,
      "grad_norm": 0.8925527334213257,
      "learning_rate": 0.00044104317836840534,
      "loss": 0.1268,
      "step": 3296
    },
    {
      "epoch": 0.7395108817590308,
      "gripper_loss": 0.3359375,
      "loss": 0.06005859375,
      "pos_loss": 0.423828125,
      "rot_loss": 0.02392578125,
      "step": 3296
    },
    {
      "epoch": 0.739735247924613,
      "grad_norm": 0.7843246459960938,
      "learning_rate": 0.0004410041110790836,
      "loss": 0.1008,
      "step": 3297
    },
    {
      "epoch": 0.739735247924613,
      "gripper_loss": 0.10693359375,
      "loss": 0.08251953125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.3125,
      "step": 3297
    },
    {
      "epoch": 0.7399596140901952,
      "grad_norm": 0.46060070395469666,
      "learning_rate": 0.0004409650325817269,
      "loss": 0.091,
      "step": 3298
    },
    {
      "epoch": 0.7399596140901952,
      "gripper_loss": 0.03466796875,
      "loss": 0.0966796875,
      "pos_loss": 0.494140625,
      "rot_loss": 0.4453125,
      "step": 3298
    },
    {
      "epoch": 0.7401839802557775,
      "grad_norm": 0.45700591802597046,
      "learning_rate": 0.0004409259428786283,
      "loss": 0.0918,
      "step": 3299
    },
    {
      "epoch": 0.7401839802557775,
      "gripper_loss": 0.439453125,
      "loss": 0.224609375,
      "pos_loss": 0.40234375,
      "rot_loss": 0.345703125,
      "step": 3299
    },
    {
      "epoch": 0.7404083464213597,
      "grad_norm": 1.282151460647583,
      "learning_rate": 0.0004408868419720816,
      "loss": 0.2242,
      "step": 3300
    },
    {
      "epoch": 0.7404083464213597,
      "gripper_loss": 0.408203125,
      "loss": 0.09912109375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.412109375,
      "step": 3300
    },
    {
      "epoch": 0.7406327125869419,
      "grad_norm": 0.7535727620124817,
      "learning_rate": 0.0004408477298643812,
      "loss": 0.1087,
      "step": 3301
    },
    {
      "epoch": 0.7406327125869419,
      "gripper_loss": 0.796875,
      "loss": 0.3359375,
      "pos_loss": 0.703125,
      "rot_loss": 0.546875,
      "step": 3301
    },
    {
      "epoch": 0.7408570787525242,
      "grad_norm": 1.2281852960586548,
      "learning_rate": 0.0004408086065578223,
      "loss": 0.2753,
      "step": 3302
    },
    {
      "epoch": 0.7408570787525242,
      "gripper_loss": 1.0078125,
      "loss": 0.1318359375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.451171875,
      "step": 3302
    },
    {
      "epoch": 0.7410814449181063,
      "grad_norm": 0.836421549320221,
      "learning_rate": 0.00044076947205470043,
      "loss": 0.1087,
      "step": 3303
    },
    {
      "epoch": 0.7410814449181063,
      "gripper_loss": 1.1640625,
      "loss": 0.07861328125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.034912109375,
      "step": 3303
    },
    {
      "epoch": 0.7413058110836885,
      "grad_norm": 0.8511900305747986,
      "learning_rate": 0.0004407303263573121,
      "loss": 0.1074,
      "step": 3304
    },
    {
      "epoch": 0.7413058110836885,
      "gripper_loss": 0.330078125,
      "loss": 0.07666015625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.10546875,
      "step": 3304
    },
    {
      "epoch": 0.7415301772492708,
      "grad_norm": 0.8650535345077515,
      "learning_rate": 0.0004406911694679544,
      "loss": 0.0617,
      "step": 3305
    },
    {
      "epoch": 0.7415301772492708,
      "gripper_loss": 0.052490234375,
      "loss": 0.1201171875,
      "pos_loss": 0.98828125,
      "rot_loss": 0.1552734375,
      "step": 3305
    },
    {
      "epoch": 0.741754543414853,
      "grad_norm": 0.6489953398704529,
      "learning_rate": 0.000440652001388925,
      "loss": 0.076,
      "step": 3306
    },
    {
      "epoch": 0.741754543414853,
      "gripper_loss": 0.12060546875,
      "loss": 0.1357421875,
      "pos_loss": 0.890625,
      "rot_loss": 0.1572265625,
      "step": 3306
    },
    {
      "epoch": 0.7419789095804352,
      "grad_norm": 1.1485453844070435,
      "learning_rate": 0.0004406128221225222,
      "loss": 0.1389,
      "step": 3307
    },
    {
      "epoch": 0.7419789095804352,
      "gripper_loss": 0.62109375,
      "loss": 0.1865234375,
      "pos_loss": 1.3203125,
      "rot_loss": 0.2734375,
      "step": 3307
    },
    {
      "epoch": 0.7422032757460175,
      "grad_norm": 0.8029351830482483,
      "learning_rate": 0.00044057363167104515,
      "loss": 0.0862,
      "step": 3308
    },
    {
      "epoch": 0.7422032757460175,
      "gripper_loss": 0.050537109375,
      "loss": 0.10205078125,
      "pos_loss": 0.890625,
      "rot_loss": 0.06884765625,
      "step": 3308
    },
    {
      "epoch": 0.7424276419115997,
      "grad_norm": 0.7509858012199402,
      "learning_rate": 0.0004405344300367934,
      "loss": 0.0775,
      "step": 3309
    },
    {
      "epoch": 0.7424276419115997,
      "gripper_loss": 0.380859375,
      "loss": 0.33203125,
      "pos_loss": 1.796875,
      "rot_loss": 0.54296875,
      "step": 3309
    },
    {
      "epoch": 0.742652008077182,
      "grad_norm": 1.559687614440918,
      "learning_rate": 0.0004404952172220674,
      "loss": 0.249,
      "step": 3310
    },
    {
      "epoch": 0.742652008077182,
      "gripper_loss": 1.2890625,
      "loss": 0.12158203125,
      "pos_loss": 0.185546875,
      "rot_loss": 0.384765625,
      "step": 3310
    },
    {
      "epoch": 0.7428763742427642,
      "grad_norm": 0.8341031670570374,
      "learning_rate": 0.00044045599322916804,
      "loss": 0.1076,
      "step": 3311
    },
    {
      "epoch": 0.7428763742427642,
      "gripper_loss": 0.154296875,
      "loss": 0.1083984375,
      "pos_loss": 0.609375,
      "rot_loss": 0.33984375,
      "step": 3311
    },
    {
      "epoch": 0.7431007404083464,
      "grad_norm": 0.806670606136322,
      "learning_rate": 0.000440416758060397,
      "loss": 0.1646,
      "step": 3312
    },
    {
      "epoch": 0.7431007404083464,
      "gripper_loss": 0.0986328125,
      "loss": 0.236328125,
      "pos_loss": 1.078125,
      "rot_loss": 1.234375,
      "step": 3312
    },
    {
      "epoch": 0.7433251065739287,
      "grad_norm": 0.8345614671707153,
      "learning_rate": 0.00044037751171805664,
      "loss": 0.1218,
      "step": 3313
    },
    {
      "epoch": 0.7433251065739287,
      "gripper_loss": 0.12255859375,
      "loss": 0.1279296875,
      "pos_loss": 0.9140625,
      "rot_loss": 0.2158203125,
      "step": 3313
    },
    {
      "epoch": 0.7435494727395109,
      "grad_norm": 0.6773349046707153,
      "learning_rate": 0.00044033825420444983,
      "loss": 0.12,
      "step": 3314
    },
    {
      "epoch": 0.7435494727395109,
      "gripper_loss": 0.07763671875,
      "loss": 0.146484375,
      "pos_loss": 1.21875,
      "rot_loss": 0.19921875,
      "step": 3314
    },
    {
      "epoch": 0.7437738389050931,
      "grad_norm": 0.7009119391441345,
      "learning_rate": 0.0004402989855218802,
      "loss": 0.0987,
      "step": 3315
    },
    {
      "epoch": 0.7437738389050931,
      "gripper_loss": 0.7890625,
      "loss": 0.055419921875,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.1337890625,
      "step": 3315
    },
    {
      "epoch": 0.7439982050706754,
      "grad_norm": 0.6820269823074341,
      "learning_rate": 0.00044025970567265207,
      "loss": 0.1092,
      "step": 3316
    },
    {
      "epoch": 0.7439982050706754,
      "gripper_loss": 0.298828125,
      "loss": 0.043212890625,
      "pos_loss": 0.173828125,
      "rot_loss": 0.1005859375,
      "step": 3316
    },
    {
      "epoch": 0.7442225712362576,
      "grad_norm": 0.8084367513656616,
      "learning_rate": 0.0004402204146590704,
      "loss": 0.0905,
      "step": 3317
    },
    {
      "epoch": 0.7442225712362576,
      "gripper_loss": 0.07080078125,
      "loss": 0.2431640625,
      "pos_loss": 1.3046875,
      "rot_loss": 0.8515625,
      "step": 3317
    },
    {
      "epoch": 0.7444469374018398,
      "grad_norm": 0.9356302618980408,
      "learning_rate": 0.00044018111248344063,
      "loss": 0.1714,
      "step": 3318
    },
    {
      "epoch": 0.7444469374018398,
      "gripper_loss": 0.2412109375,
      "loss": 0.173828125,
      "pos_loss": 1.5078125,
      "rot_loss": 0.1884765625,
      "step": 3318
    },
    {
      "epoch": 0.7446713035674221,
      "grad_norm": 0.5847621560096741,
      "learning_rate": 0.0004401417991480691,
      "loss": 0.1082,
      "step": 3319
    },
    {
      "epoch": 0.7446713035674221,
      "gripper_loss": 0.05859375,
      "loss": 0.1650390625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.953125,
      "step": 3319
    },
    {
      "epoch": 0.7448956697330043,
      "grad_norm": 0.6829466223716736,
      "learning_rate": 0.00044010247465526257,
      "loss": 0.1103,
      "step": 3320
    },
    {
      "epoch": 0.7448956697330043,
      "gripper_loss": 0.43359375,
      "loss": 0.23828125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.486328125,
      "step": 3320
    },
    {
      "epoch": 0.7451200358985864,
      "grad_norm": 1.6765528917312622,
      "learning_rate": 0.00044006313900732874,
      "loss": 0.2266,
      "step": 3321
    },
    {
      "epoch": 0.7451200358985864,
      "gripper_loss": 0.150390625,
      "loss": 0.1708984375,
      "pos_loss": 0.353515625,
      "rot_loss": 0.38671875,
      "step": 3321
    },
    {
      "epoch": 0.7453444020641687,
      "grad_norm": 1.7510507106781006,
      "learning_rate": 0.0004400237922065758,
      "loss": 0.2161,
      "step": 3322
    },
    {
      "epoch": 0.7453444020641687,
      "gripper_loss": 0.2734375,
      "loss": 0.0771484375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.1181640625,
      "step": 3322
    },
    {
      "epoch": 0.7455687682297509,
      "grad_norm": 1.193638563156128,
      "learning_rate": 0.0004399844342553125,
      "loss": 0.1187,
      "step": 3323
    },
    {
      "epoch": 0.7455687682297509,
      "gripper_loss": 0.028564453125,
      "loss": 0.12255859375,
      "pos_loss": 0.4375,
      "rot_loss": 0.72265625,
      "step": 3323
    },
    {
      "epoch": 0.7457931343953332,
      "grad_norm": 0.968545138835907,
      "learning_rate": 0.0004399450651558484,
      "loss": 0.1029,
      "step": 3324
    },
    {
      "epoch": 0.7457931343953332,
      "gripper_loss": 0.03466796875,
      "loss": 0.1171875,
      "pos_loss": 0.6875,
      "rot_loss": 0.388671875,
      "step": 3324
    },
    {
      "epoch": 0.7460175005609154,
      "grad_norm": 1.0877928733825684,
      "learning_rate": 0.00043990568491049365,
      "loss": 0.1272,
      "step": 3325
    },
    {
      "epoch": 0.7460175005609154,
      "gripper_loss": 0.04541015625,
      "loss": 0.2138671875,
      "pos_loss": 0.515625,
      "rot_loss": 1.4375,
      "step": 3325
    },
    {
      "epoch": 0.7462418667264976,
      "grad_norm": 0.9684417843818665,
      "learning_rate": 0.0004398662935215592,
      "loss": 0.1125,
      "step": 3326
    },
    {
      "epoch": 0.7462418667264976,
      "gripper_loss": 0.625,
      "loss": 0.09326171875,
      "pos_loss": 0.5078125,
      "rot_loss": 0.0888671875,
      "step": 3326
    },
    {
      "epoch": 0.7464662328920799,
      "grad_norm": 1.0217788219451904,
      "learning_rate": 0.0004398268909913562,
      "loss": 0.1003,
      "step": 3327
    },
    {
      "epoch": 0.7464662328920799,
      "gripper_loss": 1.1875,
      "loss": 0.388671875,
      "pos_loss": 2.296875,
      "rot_loss": 1.40625,
      "step": 3327
    },
    {
      "epoch": 0.7466905990576621,
      "grad_norm": 0.8281636834144592,
      "learning_rate": 0.00043978747732219704,
      "loss": 0.1586,
      "step": 3328
    },
    {
      "epoch": 0.7466905990576621,
      "gripper_loss": 0.8359375,
      "loss": 0.09814453125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.1552734375,
      "step": 3328
    },
    {
      "epoch": 0.7469149652232443,
      "grad_norm": 1.2699898481369019,
      "learning_rate": 0.00043974805251639445,
      "loss": 0.1504,
      "step": 3329
    },
    {
      "epoch": 0.7469149652232443,
      "gripper_loss": 1.9921875,
      "loss": 0.08544921875,
      "pos_loss": 0.0419921875,
      "rot_loss": 0.083984375,
      "step": 3329
    },
    {
      "epoch": 0.7471393313888266,
      "grad_norm": 1.0139820575714111,
      "learning_rate": 0.0004397086165762618,
      "loss": 0.1155,
      "step": 3330
    },
    {
      "epoch": 0.7471393313888266,
      "gripper_loss": 1.0625,
      "loss": 0.265625,
      "pos_loss": 0.859375,
      "rot_loss": 0.435546875,
      "step": 3330
    },
    {
      "epoch": 0.7473636975544088,
      "grad_norm": 1.5135713815689087,
      "learning_rate": 0.0004396691695041132,
      "loss": 0.2223,
      "step": 3331
    },
    {
      "epoch": 0.7473636975544088,
      "gripper_loss": 0.75390625,
      "loss": 0.08837890625,
      "pos_loss": 0.232421875,
      "rot_loss": 0.26953125,
      "step": 3331
    },
    {
      "epoch": 0.747588063719991,
      "grad_norm": 1.025546908378601,
      "learning_rate": 0.0004396297113022634,
      "loss": 0.107,
      "step": 3332
    },
    {
      "epoch": 0.747588063719991,
      "gripper_loss": 0.15625,
      "loss": 0.05908203125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.08203125,
      "step": 3332
    },
    {
      "epoch": 0.7478124298855733,
      "grad_norm": 0.9073970913887024,
      "learning_rate": 0.0004395902419730278,
      "loss": 0.1244,
      "step": 3333
    },
    {
      "epoch": 0.7478124298855733,
      "gripper_loss": 0.0263671875,
      "loss": 0.251953125,
      "pos_loss": 1.1875,
      "rot_loss": 1.3515625,
      "step": 3333
    },
    {
      "epoch": 0.7480367960511555,
      "grad_norm": 0.9179280996322632,
      "learning_rate": 0.0004395507615187224,
      "loss": 0.1053,
      "step": 3334
    },
    {
      "epoch": 0.7480367960511555,
      "gripper_loss": 0.031982421875,
      "loss": 0.09619140625,
      "pos_loss": 0.7578125,
      "rot_loss": 0.1328125,
      "step": 3334
    },
    {
      "epoch": 0.7482611622167377,
      "grad_norm": 0.6693130731582642,
      "learning_rate": 0.0004395112699416639,
      "loss": 0.0712,
      "step": 3335
    },
    {
      "epoch": 0.7482611622167377,
      "gripper_loss": 0.95703125,
      "loss": 0.0751953125,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.11669921875,
      "step": 3335
    },
    {
      "epoch": 0.74848552838232,
      "grad_norm": 0.6936659216880798,
      "learning_rate": 0.0004394717672441697,
      "loss": 0.1067,
      "step": 3336
    },
    {
      "epoch": 0.74848552838232,
      "gripper_loss": 1.421875,
      "loss": 0.1884765625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.328125,
      "step": 3336
    },
    {
      "epoch": 0.7487098945479022,
      "grad_norm": 1.354330062866211,
      "learning_rate": 0.0004394322534285577,
      "loss": 0.2484,
      "step": 3337
    },
    {
      "epoch": 0.7487098945479022,
      "gripper_loss": 0.0284423828125,
      "loss": 0.3515625,
      "pos_loss": 2.015625,
      "rot_loss": 1.65625,
      "step": 3337
    },
    {
      "epoch": 0.7489342607134845,
      "grad_norm": 0.9302163124084473,
      "learning_rate": 0.0004393927284971467,
      "loss": 0.1777,
      "step": 3338
    },
    {
      "epoch": 0.7489342607134845,
      "gripper_loss": 0.2451171875,
      "loss": 0.039794921875,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.126953125,
      "step": 3338
    },
    {
      "epoch": 0.7491586268790666,
      "grad_norm": 0.6072918176651001,
      "learning_rate": 0.0004393531924522559,
      "loss": 0.0821,
      "step": 3339
    },
    {
      "epoch": 0.7491586268790666,
      "gripper_loss": 0.11474609375,
      "loss": 0.2041015625,
      "pos_loss": 0.765625,
      "rot_loss": 1.25,
      "step": 3339
    },
    {
      "epoch": 0.7493829930446488,
      "grad_norm": 0.6395927667617798,
      "learning_rate": 0.0004393136452962053,
      "loss": 0.1138,
      "step": 3340
    },
    {
      "epoch": 0.7493829930446488,
      "gripper_loss": 0.138671875,
      "loss": 0.271484375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.279296875,
      "step": 3340
    },
    {
      "epoch": 0.7496073592102311,
      "grad_norm": 1.799142599105835,
      "learning_rate": 0.00043927408703131545,
      "loss": 0.2986,
      "step": 3341
    },
    {
      "epoch": 0.7496073592102311,
      "gripper_loss": 0.042236328125,
      "loss": 0.0546875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.2060546875,
      "step": 3341
    },
    {
      "epoch": 0.7498317253758133,
      "grad_norm": 0.7501115202903748,
      "learning_rate": 0.0004392345176599076,
      "loss": 0.0997,
      "step": 3342
    },
    {
      "epoch": 0.7498317253758133,
      "gripper_loss": 0.359375,
      "loss": 0.359375,
      "pos_loss": 1.7578125,
      "rot_loss": 1.0546875,
      "step": 3342
    },
    {
      "epoch": 0.7500560915413955,
      "grad_norm": 1.3004324436187744,
      "learning_rate": 0.0004391949371843038,
      "loss": 0.2465,
      "step": 3343
    },
    {
      "epoch": 0.7500560915413955,
      "gripper_loss": 1.1953125,
      "loss": 0.06201171875,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.0791015625,
      "step": 3343
    },
    {
      "epoch": 0.7502804577069778,
      "grad_norm": 0.5825682878494263,
      "learning_rate": 0.00043915534560682657,
      "loss": 0.0966,
      "step": 3344
    },
    {
      "epoch": 0.7502804577069778,
      "gripper_loss": 0.07275390625,
      "loss": 0.052734375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.0869140625,
      "step": 3344
    },
    {
      "epoch": 0.75050482387256,
      "grad_norm": 0.8714051246643066,
      "learning_rate": 0.000439115742929799,
      "loss": 0.1298,
      "step": 3345
    },
    {
      "epoch": 0.75050482387256,
      "gripper_loss": 0.0947265625,
      "loss": 0.353515625,
      "pos_loss": 1.7109375,
      "rot_loss": 1.9375,
      "step": 3345
    },
    {
      "epoch": 0.7507291900381422,
      "grad_norm": 1.367654800415039,
      "learning_rate": 0.0004390761291555451,
      "loss": 0.1931,
      "step": 3346
    },
    {
      "epoch": 0.7507291900381422,
      "gripper_loss": 0.04248046875,
      "loss": 0.166015625,
      "pos_loss": 1.234375,
      "rot_loss": 0.392578125,
      "step": 3346
    },
    {
      "epoch": 0.7509535562037245,
      "grad_norm": 0.8905428051948547,
      "learning_rate": 0.00043903650428638925,
      "loss": 0.1436,
      "step": 3347
    },
    {
      "epoch": 0.7509535562037245,
      "gripper_loss": 1.6796875,
      "loss": 0.1455078125,
      "pos_loss": 0.59375,
      "rot_loss": 0.1787109375,
      "step": 3347
    },
    {
      "epoch": 0.7511779223693067,
      "grad_norm": 0.9065786600112915,
      "learning_rate": 0.00043899686832465673,
      "loss": 0.1157,
      "step": 3348
    },
    {
      "epoch": 0.7511779223693067,
      "gripper_loss": 0.1611328125,
      "loss": 0.150390625,
      "pos_loss": 0.95703125,
      "rot_loss": 0.4765625,
      "step": 3348
    },
    {
      "epoch": 0.7514022885348889,
      "grad_norm": 0.7754165530204773,
      "learning_rate": 0.0004389572212726733,
      "loss": 0.1402,
      "step": 3349
    },
    {
      "epoch": 0.7514022885348889,
      "gripper_loss": 0.1806640625,
      "loss": 0.1142578125,
      "pos_loss": 0.81640625,
      "rot_loss": 0.1708984375,
      "step": 3349
    },
    {
      "epoch": 0.7516266547004712,
      "grad_norm": 0.6603636741638184,
      "learning_rate": 0.00043891756313276556,
      "loss": 0.1244,
      "step": 3350
    },
    {
      "epoch": 0.7516266547004712,
      "gripper_loss": 1.5,
      "loss": 0.087890625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.028076171875,
      "step": 3350
    },
    {
      "epoch": 0.7518510208660534,
      "grad_norm": 0.7349875569343567,
      "learning_rate": 0.0004388778939072605,
      "loss": 0.124,
      "step": 3351
    },
    {
      "epoch": 0.7518510208660534,
      "gripper_loss": 0.0166015625,
      "loss": 0.0556640625,
      "pos_loss": 0.466796875,
      "rot_loss": 0.041748046875,
      "step": 3351
    },
    {
      "epoch": 0.7520753870316357,
      "grad_norm": 0.41214990615844727,
      "learning_rate": 0.00043883821359848584,
      "loss": 0.0763,
      "step": 3352
    },
    {
      "epoch": 0.7520753870316357,
      "gripper_loss": 0.1845703125,
      "loss": 0.04052734375,
      "pos_loss": 0.236328125,
      "rot_loss": 0.039794921875,
      "step": 3352
    },
    {
      "epoch": 0.7522997531972179,
      "grad_norm": 0.5162570476531982,
      "learning_rate": 0.0004387985222087702,
      "loss": 0.0698,
      "step": 3353
    },
    {
      "epoch": 0.7522997531972179,
      "gripper_loss": 0.158203125,
      "loss": 0.310546875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.55859375,
      "step": 3353
    },
    {
      "epoch": 0.7525241193628001,
      "grad_norm": 1.8000202178955078,
      "learning_rate": 0.0004387588197404425,
      "loss": 0.3452,
      "step": 3354
    },
    {
      "epoch": 0.7525241193628001,
      "gripper_loss": 0.2158203125,
      "loss": 0.44140625,
      "pos_loss": 1.015625,
      "rot_loss": 0.43359375,
      "step": 3354
    },
    {
      "epoch": 0.7527484855283824,
      "grad_norm": 1.5947524309158325,
      "learning_rate": 0.0004387191061958324,
      "loss": 0.4443,
      "step": 3355
    },
    {
      "epoch": 0.7527484855283824,
      "gripper_loss": 0.73046875,
      "loss": 0.1591796875,
      "pos_loss": 0.484375,
      "rot_loss": 0.859375,
      "step": 3355
    },
    {
      "epoch": 0.7529728516939646,
      "grad_norm": 0.7292956709861755,
      "learning_rate": 0.0004386793815772706,
      "loss": 0.1072,
      "step": 3356
    },
    {
      "epoch": 0.7529728516939646,
      "gripper_loss": 0.09521484375,
      "loss": 0.041259765625,
      "pos_loss": 0.27734375,
      "rot_loss": 0.0284423828125,
      "step": 3356
    },
    {
      "epoch": 0.7531972178595467,
      "grad_norm": 0.7053287625312805,
      "learning_rate": 0.00043863964588708774,
      "loss": 0.1057,
      "step": 3357
    },
    {
      "epoch": 0.7531972178595467,
      "gripper_loss": 0.1357421875,
      "loss": 0.185546875,
      "pos_loss": 0.76171875,
      "rot_loss": 1.015625,
      "step": 3357
    },
    {
      "epoch": 0.753421584025129,
      "grad_norm": 0.7117891907691956,
      "learning_rate": 0.00043859989912761564,
      "loss": 0.1072,
      "step": 3358
    },
    {
      "epoch": 0.753421584025129,
      "gripper_loss": 0.38671875,
      "loss": 0.193359375,
      "pos_loss": 0.515625,
      "rot_loss": 1.1015625,
      "step": 3358
    },
    {
      "epoch": 0.7536459501907112,
      "grad_norm": 1.0993319749832153,
      "learning_rate": 0.00043856014130118674,
      "loss": 0.128,
      "step": 3359
    },
    {
      "epoch": 0.7536459501907112,
      "gripper_loss": 0.376953125,
      "loss": 0.060546875,
      "pos_loss": 0.3828125,
      "rot_loss": 0.057861328125,
      "step": 3359
    },
    {
      "epoch": 0.7538703163562934,
      "grad_norm": 0.559218168258667,
      "learning_rate": 0.0004385203724101338,
      "loss": 0.0966,
      "step": 3360
    },
    {
      "epoch": 0.7538703163562934,
      "gripper_loss": 0.1181640625,
      "loss": 0.2353515625,
      "pos_loss": 2.265625,
      "rot_loss": 0.06396484375,
      "step": 3360
    },
    {
      "epoch": 0.7540946825218757,
      "grad_norm": 0.6904565095901489,
      "learning_rate": 0.0004384805924567905,
      "loss": 0.1207,
      "step": 3361
    },
    {
      "epoch": 0.7540946825218757,
      "gripper_loss": 0.04443359375,
      "loss": 0.0230712890625,
      "pos_loss": 0.103515625,
      "rot_loss": 0.033447265625,
      "step": 3361
    },
    {
      "epoch": 0.7543190486874579,
      "grad_norm": 0.5512162446975708,
      "learning_rate": 0.0004384408014434913,
      "loss": 0.0987,
      "step": 3362
    },
    {
      "epoch": 0.7543190486874579,
      "gripper_loss": 0.1318359375,
      "loss": 0.08251953125,
      "pos_loss": 0.3671875,
      "rot_loss": 0.337890625,
      "step": 3362
    },
    {
      "epoch": 0.7545434148530401,
      "grad_norm": 0.6673786044120789,
      "learning_rate": 0.0004384009993725709,
      "loss": 0.0837,
      "step": 3363
    },
    {
      "epoch": 0.7545434148530401,
      "gripper_loss": 0.04931640625,
      "loss": 0.1337890625,
      "pos_loss": 1.140625,
      "rot_loss": 0.12060546875,
      "step": 3363
    },
    {
      "epoch": 0.7547677810186224,
      "grad_norm": 0.7903085350990295,
      "learning_rate": 0.0004383611862463649,
      "loss": 0.0863,
      "step": 3364
    },
    {
      "epoch": 0.7547677810186224,
      "gripper_loss": 0.57421875,
      "loss": 0.04345703125,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.0576171875,
      "step": 3364
    },
    {
      "epoch": 0.7549921471842046,
      "grad_norm": 0.6970434188842773,
      "learning_rate": 0.00043832136206720964,
      "loss": 0.0677,
      "step": 3365
    },
    {
      "epoch": 0.7549921471842046,
      "gripper_loss": 0.1533203125,
      "loss": 0.1484375,
      "pos_loss": 1.0546875,
      "rot_loss": 0.357421875,
      "step": 3365
    },
    {
      "epoch": 0.7552165133497869,
      "grad_norm": 0.4954100251197815,
      "learning_rate": 0.00043828152683744184,
      "loss": 0.1372,
      "step": 3366
    },
    {
      "epoch": 0.7552165133497869,
      "gripper_loss": 0.51171875,
      "loss": 0.416015625,
      "pos_loss": 0.6875,
      "rot_loss": 0.59765625,
      "step": 3366
    },
    {
      "epoch": 0.7554408795153691,
      "grad_norm": 3.3794772624969482,
      "learning_rate": 0.00043824168055939917,
      "loss": 0.5645,
      "step": 3367
    },
    {
      "epoch": 0.7554408795153691,
      "gripper_loss": 0.1484375,
      "loss": 0.046875,
      "pos_loss": 0.296875,
      "rot_loss": 0.07421875,
      "step": 3367
    },
    {
      "epoch": 0.7556652456809513,
      "grad_norm": 0.8183863759040833,
      "learning_rate": 0.00043820182323541955,
      "loss": 0.1264,
      "step": 3368
    },
    {
      "epoch": 0.7556652456809513,
      "gripper_loss": 0.042724609375,
      "loss": 0.1748046875,
      "pos_loss": 0.859375,
      "rot_loss": 0.87109375,
      "step": 3368
    },
    {
      "epoch": 0.7558896118465336,
      "grad_norm": 0.745294451713562,
      "learning_rate": 0.00043816195486784203,
      "loss": 0.0748,
      "step": 3369
    },
    {
      "epoch": 0.7558896118465336,
      "gripper_loss": 0.1533203125,
      "loss": 0.09716796875,
      "pos_loss": 0.5625,
      "rot_loss": 0.15234375,
      "step": 3369
    },
    {
      "epoch": 0.7561139780121158,
      "grad_norm": 0.7601531744003296,
      "learning_rate": 0.00043812207545900595,
      "loss": 0.1094,
      "step": 3370
    },
    {
      "epoch": 0.7561139780121158,
      "gripper_loss": 0.330078125,
      "loss": 0.11962890625,
      "pos_loss": 0.79296875,
      "rot_loss": 0.1943359375,
      "step": 3370
    },
    {
      "epoch": 0.756338344177698,
      "grad_norm": 0.6091291308403015,
      "learning_rate": 0.0004380821850112515,
      "loss": 0.1198,
      "step": 3371
    },
    {
      "epoch": 0.756338344177698,
      "gripper_loss": 1.109375,
      "loss": 0.12890625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.1953125,
      "step": 3371
    },
    {
      "epoch": 0.7565627103432803,
      "grad_norm": 0.7318986058235168,
      "learning_rate": 0.0004380422835269193,
      "loss": 0.1255,
      "step": 3372
    },
    {
      "epoch": 0.7565627103432803,
      "gripper_loss": 0.2294921875,
      "loss": 0.10498046875,
      "pos_loss": 0.88671875,
      "rot_loss": 0.04833984375,
      "step": 3372
    },
    {
      "epoch": 0.7567870765088625,
      "grad_norm": 0.6008972525596619,
      "learning_rate": 0.00043800237100835083,
      "loss": 0.1174,
      "step": 3373
    },
    {
      "epoch": 0.7567870765088625,
      "gripper_loss": 0.10302734375,
      "loss": 0.0595703125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.08203125,
      "step": 3373
    },
    {
      "epoch": 0.7570114426744446,
      "grad_norm": 0.6608670353889465,
      "learning_rate": 0.00043796244745788814,
      "loss": 0.0829,
      "step": 3374
    },
    {
      "epoch": 0.7570114426744446,
      "gripper_loss": 0.0281982421875,
      "loss": 0.1484375,
      "pos_loss": 0.9765625,
      "rot_loss": 0.53125,
      "step": 3374
    },
    {
      "epoch": 0.757235808840027,
      "grad_norm": 0.7430452108383179,
      "learning_rate": 0.000437922512877874,
      "loss": 0.136,
      "step": 3375
    },
    {
      "epoch": 0.757235808840027,
      "gripper_loss": 0.259765625,
      "loss": 0.07177734375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.09033203125,
      "step": 3375
    },
    {
      "epoch": 0.7574601750056091,
      "grad_norm": 0.6392064094543457,
      "learning_rate": 0.0004378825672706516,
      "loss": 0.0952,
      "step": 3376
    },
    {
      "epoch": 0.7574601750056091,
      "gripper_loss": 0.2216796875,
      "loss": 0.0302734375,
      "pos_loss": 0.064453125,
      "rot_loss": 0.09326171875,
      "step": 3376
    },
    {
      "epoch": 0.7576845411711914,
      "grad_norm": 0.551767885684967,
      "learning_rate": 0.00043784261063856497,
      "loss": 0.0752,
      "step": 3377
    },
    {
      "epoch": 0.7576845411711914,
      "gripper_loss": 0.44140625,
      "loss": 0.1279296875,
      "pos_loss": 0.46875,
      "rot_loss": 0.66796875,
      "step": 3377
    },
    {
      "epoch": 0.7579089073367736,
      "grad_norm": 0.566107451915741,
      "learning_rate": 0.00043780264298395877,
      "loss": 0.0909,
      "step": 3378
    },
    {
      "epoch": 0.7579089073367736,
      "gripper_loss": 0.89453125,
      "loss": 0.138671875,
      "pos_loss": 0.3203125,
      "rot_loss": 0.3125,
      "step": 3378
    },
    {
      "epoch": 0.7581332735023558,
      "grad_norm": 1.0870729684829712,
      "learning_rate": 0.0004377626643091784,
      "loss": 0.1516,
      "step": 3379
    },
    {
      "epoch": 0.7581332735023558,
      "gripper_loss": 0.1240234375,
      "loss": 0.020751953125,
      "pos_loss": 0.05517578125,
      "rot_loss": 0.04150390625,
      "step": 3379
    },
    {
      "epoch": 0.7583576396679381,
      "grad_norm": 0.5989575386047363,
      "learning_rate": 0.00043772267461656956,
      "loss": 0.1566,
      "step": 3380
    },
    {
      "epoch": 0.7583576396679381,
      "gripper_loss": 0.02099609375,
      "loss": 0.10400390625,
      "pos_loss": 0.7109375,
      "rot_loss": 0.259765625,
      "step": 3380
    },
    {
      "epoch": 0.7585820058335203,
      "grad_norm": 0.7060055136680603,
      "learning_rate": 0.00043768267390847904,
      "loss": 0.0943,
      "step": 3381
    },
    {
      "epoch": 0.7585820058335203,
      "gripper_loss": 0.050048828125,
      "loss": 0.09423828125,
      "pos_loss": 0.5703125,
      "rot_loss": 0.3203125,
      "step": 3381
    },
    {
      "epoch": 0.7588063719991025,
      "grad_norm": 0.6244391798973083,
      "learning_rate": 0.00043764266218725395,
      "loss": 0.1247,
      "step": 3382
    },
    {
      "epoch": 0.7588063719991025,
      "gripper_loss": 0.10302734375,
      "loss": 0.20703125,
      "pos_loss": 1.9765625,
      "rot_loss": 0.09228515625,
      "step": 3382
    },
    {
      "epoch": 0.7590307381646848,
      "grad_norm": 0.5701200366020203,
      "learning_rate": 0.00043760263945524216,
      "loss": 0.1218,
      "step": 3383
    },
    {
      "epoch": 0.7590307381646848,
      "gripper_loss": 0.015625,
      "loss": 0.208984375,
      "pos_loss": 1.9609375,
      "rot_loss": 0.1708984375,
      "step": 3383
    },
    {
      "epoch": 0.759255104330267,
      "grad_norm": 0.6839048862457275,
      "learning_rate": 0.00043756260571479224,
      "loss": 0.1468,
      "step": 3384
    },
    {
      "epoch": 0.759255104330267,
      "gripper_loss": 0.0284423828125,
      "loss": 0.1767578125,
      "pos_loss": 0.89453125,
      "rot_loss": 0.87890625,
      "step": 3384
    },
    {
      "epoch": 0.7594794704958492,
      "grad_norm": 0.5245447158813477,
      "learning_rate": 0.0004375225609682533,
      "loss": 0.0887,
      "step": 3385
    },
    {
      "epoch": 0.7594794704958492,
      "gripper_loss": 0.2275390625,
      "loss": 0.07568359375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.2109375,
      "step": 3385
    },
    {
      "epoch": 0.7597038366614315,
      "grad_norm": 0.9744569063186646,
      "learning_rate": 0.0004374825052179752,
      "loss": 0.1321,
      "step": 3386
    },
    {
      "epoch": 0.7597038366614315,
      "gripper_loss": 0.11669921875,
      "loss": 0.03857421875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.0634765625,
      "step": 3386
    },
    {
      "epoch": 0.7599282028270137,
      "grad_norm": 0.49850448966026306,
      "learning_rate": 0.00043744243846630836,
      "loss": 0.0656,
      "step": 3387
    },
    {
      "epoch": 0.7599282028270137,
      "gripper_loss": 0.12890625,
      "loss": 0.275390625,
      "pos_loss": 1.34375,
      "rot_loss": 0.40625,
      "step": 3387
    },
    {
      "epoch": 0.7601525689925959,
      "grad_norm": 1.4021527767181396,
      "learning_rate": 0.0004374023607156039,
      "loss": 0.2452,
      "step": 3388
    },
    {
      "epoch": 0.7601525689925959,
      "gripper_loss": 0.0303955078125,
      "loss": 0.056640625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.1533203125,
      "step": 3388
    },
    {
      "epoch": 0.7603769351581782,
      "grad_norm": 0.7640870809555054,
      "learning_rate": 0.00043736227196821347,
      "loss": 0.1111,
      "step": 3389
    },
    {
      "epoch": 0.7603769351581782,
      "gripper_loss": 0.0267333984375,
      "loss": 0.08203125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.392578125,
      "step": 3389
    },
    {
      "epoch": 0.7606013013237604,
      "grad_norm": 0.8671665787696838,
      "learning_rate": 0.0004373221722264896,
      "loss": 0.1006,
      "step": 3390
    },
    {
      "epoch": 0.7606013013237604,
      "gripper_loss": 0.443359375,
      "loss": 0.12353515625,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.8359375,
      "step": 3390
    },
    {
      "epoch": 0.7608256674893427,
      "grad_norm": 0.7485609650611877,
      "learning_rate": 0.0004372820614927852,
      "loss": 0.0997,
      "step": 3391
    },
    {
      "epoch": 0.7608256674893427,
      "gripper_loss": 1.1640625,
      "loss": 0.0673828125,
      "pos_loss": 0.09033203125,
      "rot_loss": 0.1396484375,
      "step": 3391
    },
    {
      "epoch": 0.7610500336549249,
      "grad_norm": 0.7498922348022461,
      "learning_rate": 0.00043724193976945404,
      "loss": 0.0935,
      "step": 3392
    },
    {
      "epoch": 0.7610500336549249,
      "gripper_loss": 0.3515625,
      "loss": 0.04443359375,
      "pos_loss": 0.1875,
      "rot_loss": 0.0296630859375,
      "step": 3392
    },
    {
      "epoch": 0.761274399820507,
      "grad_norm": 0.6605793237686157,
      "learning_rate": 0.0004372018070588505,
      "loss": 0.1077,
      "step": 3393
    },
    {
      "epoch": 0.761274399820507,
      "gripper_loss": 0.41796875,
      "loss": 0.185546875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.5078125,
      "step": 3393
    },
    {
      "epoch": 0.7614987659860893,
      "grad_norm": 1.442028522491455,
      "learning_rate": 0.00043716166336332937,
      "loss": 0.2639,
      "step": 3394
    },
    {
      "epoch": 0.7614987659860893,
      "gripper_loss": 0.11669921875,
      "loss": 0.1396484375,
      "pos_loss": 0.4453125,
      "rot_loss": 0.2099609375,
      "step": 3394
    },
    {
      "epoch": 0.7617231321516715,
      "grad_norm": 1.5709556341171265,
      "learning_rate": 0.0004371215086852464,
      "loss": 0.1467,
      "step": 3395
    },
    {
      "epoch": 0.7617231321516715,
      "gripper_loss": 0.04150390625,
      "loss": 0.09423828125,
      "pos_loss": 0.43359375,
      "rot_loss": 0.365234375,
      "step": 3395
    },
    {
      "epoch": 0.7619474983172537,
      "grad_norm": 0.8460435271263123,
      "learning_rate": 0.0004370813430269577,
      "loss": 0.1064,
      "step": 3396
    },
    {
      "epoch": 0.7619474983172537,
      "gripper_loss": 0.55859375,
      "loss": 0.048583984375,
      "pos_loss": 0.146484375,
      "rot_loss": 0.04248046875,
      "step": 3396
    },
    {
      "epoch": 0.762171864482836,
      "grad_norm": 0.7906696200370789,
      "learning_rate": 0.0004370411663908204,
      "loss": 0.1461,
      "step": 3397
    },
    {
      "epoch": 0.762171864482836,
      "gripper_loss": 0.28515625,
      "loss": 0.515625,
      "pos_loss": 0.75,
      "rot_loss": 0.578125,
      "step": 3397
    },
    {
      "epoch": 0.7623962306484182,
      "grad_norm": 1.8766210079193115,
      "learning_rate": 0.00043700097877919186,
      "loss": 0.5212,
      "step": 3398
    },
    {
      "epoch": 0.7623962306484182,
      "gripper_loss": 0.7421875,
      "loss": 0.1826171875,
      "pos_loss": 1.09375,
      "rot_loss": 0.384765625,
      "step": 3398
    },
    {
      "epoch": 0.7626205968140004,
      "grad_norm": 0.9638334512710571,
      "learning_rate": 0.0004369607801944304,
      "loss": 0.1114,
      "step": 3399
    },
    {
      "epoch": 0.7626205968140004,
      "gripper_loss": 0.036376953125,
      "loss": 0.0751953125,
      "pos_loss": 0.283203125,
      "rot_loss": 0.34765625,
      "step": 3399
    },
    {
      "epoch": 0.7628449629795827,
      "grad_norm": 0.8535708785057068,
      "learning_rate": 0.0004369205706388948,
      "loss": 0.0764,
      "step": 3400
    },
    {
      "epoch": 0.7628449629795827,
      "gripper_loss": 1.1953125,
      "loss": 0.06982421875,
      "pos_loss": 0.119140625,
      "rot_loss": 0.0439453125,
      "step": 3400
    },
    {
      "epoch": 0.7630693291451649,
      "grad_norm": 0.9057093262672424,
      "learning_rate": 0.0004368803501149444,
      "loss": 0.0929,
      "step": 3401
    },
    {
      "epoch": 0.7630693291451649,
      "gripper_loss": 0.54296875,
      "loss": 0.087890625,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.390625,
      "step": 3401
    },
    {
      "epoch": 0.7632936953107471,
      "grad_norm": 0.6730643510818481,
      "learning_rate": 0.00043684011862493954,
      "loss": 0.1128,
      "step": 3402
    },
    {
      "epoch": 0.7632936953107471,
      "gripper_loss": 0.5390625,
      "loss": 0.2080078125,
      "pos_loss": 1.6171875,
      "rot_loss": 0.330078125,
      "step": 3402
    },
    {
      "epoch": 0.7635180614763294,
      "grad_norm": 0.7710322141647339,
      "learning_rate": 0.00043679987617124095,
      "loss": 0.1859,
      "step": 3403
    },
    {
      "epoch": 0.7635180614763294,
      "gripper_loss": 0.2392578125,
      "loss": 0.16796875,
      "pos_loss": 0.77734375,
      "rot_loss": 0.24609375,
      "step": 3403
    },
    {
      "epoch": 0.7637424276419116,
      "grad_norm": 1.1673256158828735,
      "learning_rate": 0.00043675962275620993,
      "loss": 0.1585,
      "step": 3404
    },
    {
      "epoch": 0.7637424276419116,
      "gripper_loss": 0.037109375,
      "loss": 0.10205078125,
      "pos_loss": 0.8203125,
      "rot_loss": 0.12060546875,
      "step": 3404
    },
    {
      "epoch": 0.7639667938074939,
      "grad_norm": 0.6739560961723328,
      "learning_rate": 0.00043671935838220853,
      "loss": 0.1024,
      "step": 3405
    },
    {
      "epoch": 0.7639667938074939,
      "gripper_loss": 0.55078125,
      "loss": 0.10986328125,
      "pos_loss": 0.765625,
      "rot_loss": 0.08349609375,
      "step": 3405
    },
    {
      "epoch": 0.7641911599730761,
      "grad_norm": 0.8481693267822266,
      "learning_rate": 0.00043667908305159965,
      "loss": 0.1171,
      "step": 3406
    },
    {
      "epoch": 0.7641911599730761,
      "gripper_loss": 0.1318359375,
      "loss": 0.2099609375,
      "pos_loss": 0.89453125,
      "rot_loss": 0.8046875,
      "step": 3406
    },
    {
      "epoch": 0.7644155261386583,
      "grad_norm": 0.7824389934539795,
      "learning_rate": 0.0004366387967667463,
      "loss": 0.106,
      "step": 3407
    },
    {
      "epoch": 0.7644155261386583,
      "gripper_loss": 0.0263671875,
      "loss": 0.1826171875,
      "pos_loss": 1.453125,
      "rot_loss": 0.330078125,
      "step": 3407
    },
    {
      "epoch": 0.7646398923042406,
      "grad_norm": 0.9267756342887878,
      "learning_rate": 0.00043659849953001285,
      "loss": 0.1151,
      "step": 3408
    },
    {
      "epoch": 0.7646398923042406,
      "gripper_loss": 0.11376953125,
      "loss": 0.1259765625,
      "pos_loss": 0.67578125,
      "rot_loss": 0.373046875,
      "step": 3408
    },
    {
      "epoch": 0.7648642584698228,
      "grad_norm": 0.8344107270240784,
      "learning_rate": 0.00043655819134376356,
      "loss": 0.1221,
      "step": 3409
    },
    {
      "epoch": 0.7648642584698228,
      "gripper_loss": 0.02099609375,
      "loss": 0.09716796875,
      "pos_loss": 0.6875,
      "rot_loss": 0.162109375,
      "step": 3409
    },
    {
      "epoch": 0.765088624635405,
      "grad_norm": 0.9352831840515137,
      "learning_rate": 0.0004365178722103639,
      "loss": 0.1048,
      "step": 3410
    },
    {
      "epoch": 0.765088624635405,
      "gripper_loss": 0.6328125,
      "loss": 0.10791015625,
      "pos_loss": 0.451171875,
      "rot_loss": 0.365234375,
      "step": 3410
    },
    {
      "epoch": 0.7653129908009872,
      "grad_norm": 0.707908570766449,
      "learning_rate": 0.00043647754213217975,
      "loss": 0.1151,
      "step": 3411
    },
    {
      "epoch": 0.7653129908009872,
      "gripper_loss": 1.2421875,
      "loss": 0.06591796875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.05615234375,
      "step": 3411
    },
    {
      "epoch": 0.7655373569665694,
      "grad_norm": 0.5827920436859131,
      "learning_rate": 0.00043643720111157766,
      "loss": 0.1252,
      "step": 3412
    },
    {
      "epoch": 0.7655373569665694,
      "gripper_loss": 0.0242919921875,
      "loss": 0.1650390625,
      "pos_loss": 1.53125,
      "rot_loss": 0.1318359375,
      "step": 3412
    },
    {
      "epoch": 0.7657617231321516,
      "grad_norm": 0.6484140753746033,
      "learning_rate": 0.00043639684915092473,
      "loss": 0.1078,
      "step": 3413
    },
    {
      "epoch": 0.7657617231321516,
      "gripper_loss": 0.1259765625,
      "loss": 0.455078125,
      "pos_loss": 2.40625,
      "rot_loss": 2.328125,
      "step": 3413
    },
    {
      "epoch": 0.7659860892977339,
      "grad_norm": 0.8564401268959045,
      "learning_rate": 0.00043635648625258897,
      "loss": 0.1245,
      "step": 3414
    },
    {
      "epoch": 0.7659860892977339,
      "gripper_loss": 0.07763671875,
      "loss": 0.126953125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.50390625,
      "step": 3414
    },
    {
      "epoch": 0.7662104554633161,
      "grad_norm": 0.8865591287612915,
      "learning_rate": 0.0004363161124189387,
      "loss": 0.104,
      "step": 3415
    },
    {
      "epoch": 0.7662104554633161,
      "gripper_loss": 0.026123046875,
      "loss": 0.1318359375,
      "pos_loss": 1.15625,
      "rot_loss": 0.12353515625,
      "step": 3415
    },
    {
      "epoch": 0.7664348216288983,
      "grad_norm": 0.7322468161582947,
      "learning_rate": 0.0004362757276523431,
      "loss": 0.1453,
      "step": 3416
    },
    {
      "epoch": 0.7664348216288983,
      "gripper_loss": 0.37890625,
      "loss": 0.130859375,
      "pos_loss": 0.46875,
      "rot_loss": 0.271484375,
      "step": 3416
    },
    {
      "epoch": 0.7666591877944806,
      "grad_norm": 1.0615612268447876,
      "learning_rate": 0.00043623533195517194,
      "loss": 0.1093,
      "step": 3417
    },
    {
      "epoch": 0.7666591877944806,
      "gripper_loss": 0.044921875,
      "loss": 0.04443359375,
      "pos_loss": 0.1083984375,
      "rot_loss": 0.236328125,
      "step": 3417
    },
    {
      "epoch": 0.7668835539600628,
      "grad_norm": 0.6366935968399048,
      "learning_rate": 0.0004361949253297955,
      "loss": 0.0599,
      "step": 3418
    },
    {
      "epoch": 0.7668835539600628,
      "gripper_loss": 0.08251953125,
      "loss": 0.2099609375,
      "pos_loss": 1.8359375,
      "rot_loss": 0.2314453125,
      "step": 3418
    },
    {
      "epoch": 0.7671079201256451,
      "grad_norm": 0.8326057195663452,
      "learning_rate": 0.00043615450777858514,
      "loss": 0.1363,
      "step": 3419
    },
    {
      "epoch": 0.7671079201256451,
      "gripper_loss": 0.28125,
      "loss": 0.1240234375,
      "pos_loss": 1.046875,
      "rot_loss": 0.08349609375,
      "step": 3419
    },
    {
      "epoch": 0.7673322862912273,
      "grad_norm": 0.7692210078239441,
      "learning_rate": 0.00043611407930391216,
      "loss": 0.1159,
      "step": 3420
    },
    {
      "epoch": 0.7673322862912273,
      "gripper_loss": 0.326171875,
      "loss": 0.06884765625,
      "pos_loss": 0.4375,
      "rot_loss": 0.107421875,
      "step": 3420
    },
    {
      "epoch": 0.7675566524568095,
      "grad_norm": 0.6943838596343994,
      "learning_rate": 0.00043607363990814913,
      "loss": 0.0833,
      "step": 3421
    },
    {
      "epoch": 0.7675566524568095,
      "gripper_loss": 0.0172119140625,
      "loss": 0.0308837890625,
      "pos_loss": 0.21484375,
      "rot_loss": 0.0252685546875,
      "step": 3421
    },
    {
      "epoch": 0.7677810186223918,
      "grad_norm": 0.5901278257369995,
      "learning_rate": 0.0004360331895936689,
      "loss": 0.1346,
      "step": 3422
    },
    {
      "epoch": 0.7677810186223918,
      "gripper_loss": 0.78125,
      "loss": 0.052978515625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.0291748046875,
      "step": 3422
    },
    {
      "epoch": 0.768005384787974,
      "grad_norm": 0.44467055797576904,
      "learning_rate": 0.00043599272836284514,
      "loss": 0.1237,
      "step": 3423
    },
    {
      "epoch": 0.768005384787974,
      "gripper_loss": 0.6796875,
      "loss": 0.0869140625,
      "pos_loss": 0.42578125,
      "rot_loss": 0.10302734375,
      "step": 3423
    },
    {
      "epoch": 0.7682297509535562,
      "grad_norm": 0.9208163022994995,
      "learning_rate": 0.0004359522562180521,
      "loss": 0.1083,
      "step": 3424
    },
    {
      "epoch": 0.7682297509535562,
      "gripper_loss": 0.458984375,
      "loss": 0.400390625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.69140625,
      "step": 3424
    },
    {
      "epoch": 0.7684541171191385,
      "grad_norm": 1.6040297746658325,
      "learning_rate": 0.00043591177316166466,
      "loss": 0.4504,
      "step": 3425
    },
    {
      "epoch": 0.7684541171191385,
      "gripper_loss": 0.6015625,
      "loss": 0.1201171875,
      "pos_loss": 0.380859375,
      "rot_loss": 0.3828125,
      "step": 3425
    },
    {
      "epoch": 0.7686784832847207,
      "grad_norm": 1.1849859952926636,
      "learning_rate": 0.0004358712791960583,
      "loss": 0.0955,
      "step": 3426
    },
    {
      "epoch": 0.7686784832847207,
      "gripper_loss": 0.15234375,
      "loss": 0.177734375,
      "pos_loss": 1.1015625,
      "rot_loss": 0.2412109375,
      "step": 3426
    },
    {
      "epoch": 0.7689028494503028,
      "grad_norm": 1.338479995727539,
      "learning_rate": 0.0004358307743236092,
      "loss": 0.1307,
      "step": 3427
    },
    {
      "epoch": 0.7689028494503028,
      "gripper_loss": 0.8046875,
      "loss": 0.1455078125,
      "pos_loss": 0.8984375,
      "rot_loss": 0.2734375,
      "step": 3427
    },
    {
      "epoch": 0.7691272156158852,
      "grad_norm": 0.7268181443214417,
      "learning_rate": 0.00043579025854669417,
      "loss": 0.1102,
      "step": 3428
    },
    {
      "epoch": 0.7691272156158852,
      "gripper_loss": 0.396484375,
      "loss": 0.054931640625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.060546875,
      "step": 3428
    },
    {
      "epoch": 0.7693515817814673,
      "grad_norm": 0.6353950500488281,
      "learning_rate": 0.0004357497318676907,
      "loss": 0.0627,
      "step": 3429
    },
    {
      "epoch": 0.7693515817814673,
      "gripper_loss": 0.1357421875,
      "loss": 0.09619140625,
      "pos_loss": 0.703125,
      "rot_loss": 0.154296875,
      "step": 3429
    },
    {
      "epoch": 0.7695759479470495,
      "grad_norm": 0.9786756634712219,
      "learning_rate": 0.00043570919428897683,
      "loss": 0.1205,
      "step": 3430
    },
    {
      "epoch": 0.7695759479470495,
      "gripper_loss": 0.48828125,
      "loss": 0.1328125,
      "pos_loss": 0.9609375,
      "rot_loss": 0.1796875,
      "step": 3430
    },
    {
      "epoch": 0.7698003141126318,
      "grad_norm": 0.8752872943878174,
      "learning_rate": 0.00043566864581293135,
      "loss": 0.1977,
      "step": 3431
    },
    {
      "epoch": 0.7698003141126318,
      "gripper_loss": 0.0537109375,
      "loss": 0.083984375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.142578125,
      "step": 3431
    },
    {
      "epoch": 0.770024680278214,
      "grad_norm": 0.8312190175056458,
      "learning_rate": 0.0004356280864419336,
      "loss": 0.1073,
      "step": 3432
    },
    {
      "epoch": 0.770024680278214,
      "gripper_loss": 0.12109375,
      "loss": 0.11376953125,
      "pos_loss": 0.85546875,
      "rot_loss": 0.16796875,
      "step": 3432
    },
    {
      "epoch": 0.7702490464437963,
      "grad_norm": 0.8906583786010742,
      "learning_rate": 0.0004355875161783635,
      "loss": 0.1168,
      "step": 3433
    },
    {
      "epoch": 0.7702490464437963,
      "gripper_loss": 0.85546875,
      "loss": 0.1357421875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.40625,
      "step": 3433
    },
    {
      "epoch": 0.7704734126093785,
      "grad_norm": 0.8261846303939819,
      "learning_rate": 0.0004355469350246018,
      "loss": 0.119,
      "step": 3434
    },
    {
      "epoch": 0.7704734126093785,
      "gripper_loss": 0.228515625,
      "loss": 0.046875,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.10595703125,
      "step": 3434
    },
    {
      "epoch": 0.7706977787749607,
      "grad_norm": 0.643177330493927,
      "learning_rate": 0.0004355063429830298,
      "loss": 0.1131,
      "step": 3435
    },
    {
      "epoch": 0.7706977787749607,
      "gripper_loss": 0.326171875,
      "loss": 0.07373046875,
      "pos_loss": 0.390625,
      "rot_loss": 0.19921875,
      "step": 3435
    },
    {
      "epoch": 0.770922144940543,
      "grad_norm": 0.6497396230697632,
      "learning_rate": 0.0004354657400560292,
      "loss": 0.0829,
      "step": 3436
    },
    {
      "epoch": 0.770922144940543,
      "gripper_loss": 0.341796875,
      "loss": 0.216796875,
      "pos_loss": 0.7265625,
      "rot_loss": 0.466796875,
      "step": 3436
    },
    {
      "epoch": 0.7711465111061252,
      "grad_norm": 1.5491780042648315,
      "learning_rate": 0.00043542512624598293,
      "loss": 0.2261,
      "step": 3437
    },
    {
      "epoch": 0.7711465111061252,
      "gripper_loss": 0.0245361328125,
      "loss": 0.205078125,
      "pos_loss": 1.578125,
      "rot_loss": 0.5078125,
      "step": 3437
    },
    {
      "epoch": 0.7713708772717074,
      "grad_norm": 0.5121890306472778,
      "learning_rate": 0.00043538450155527385,
      "loss": 0.1082,
      "step": 3438
    },
    {
      "epoch": 0.7713708772717074,
      "gripper_loss": 0.240234375,
      "loss": 0.05224609375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.22265625,
      "step": 3438
    },
    {
      "epoch": 0.7715952434372897,
      "grad_norm": 0.4839877486228943,
      "learning_rate": 0.0004353438659862861,
      "loss": 0.093,
      "step": 3439
    },
    {
      "epoch": 0.7715952434372897,
      "gripper_loss": 0.02294921875,
      "loss": 0.1474609375,
      "pos_loss": 1.21875,
      "rot_loss": 0.21484375,
      "step": 3439
    },
    {
      "epoch": 0.7718196096028719,
      "grad_norm": 0.7798189520835876,
      "learning_rate": 0.00043530321954140383,
      "loss": 0.1162,
      "step": 3440
    },
    {
      "epoch": 0.7718196096028719,
      "gripper_loss": 0.1328125,
      "loss": 0.1572265625,
      "pos_loss": 0.78515625,
      "rot_loss": 0.71875,
      "step": 3440
    },
    {
      "epoch": 0.7720439757684541,
      "grad_norm": 0.6718103289604187,
      "learning_rate": 0.0004352625622230124,
      "loss": 0.1003,
      "step": 3441
    },
    {
      "epoch": 0.7720439757684541,
      "gripper_loss": 0.462890625,
      "loss": 0.2158203125,
      "pos_loss": 1.4140625,
      "rot_loss": 0.6328125,
      "step": 3441
    },
    {
      "epoch": 0.7722683419340364,
      "grad_norm": 0.6682612299919128,
      "learning_rate": 0.0004352218940334974,
      "loss": 0.1041,
      "step": 3442
    },
    {
      "epoch": 0.7722683419340364,
      "gripper_loss": 0.26953125,
      "loss": 0.041748046875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.021484375,
      "step": 3442
    },
    {
      "epoch": 0.7724927080996186,
      "grad_norm": 0.4770892262458801,
      "learning_rate": 0.00043518121497524543,
      "loss": 0.1046,
      "step": 3443
    },
    {
      "epoch": 0.7724927080996186,
      "gripper_loss": 0.75,
      "loss": 0.1943359375,
      "pos_loss": 0.41796875,
      "rot_loss": 0.3671875,
      "step": 3443
    },
    {
      "epoch": 0.7727170742652008,
      "grad_norm": 1.3847219944000244,
      "learning_rate": 0.0004351405250506434,
      "loss": 0.2113,
      "step": 3444
    },
    {
      "epoch": 0.7727170742652008,
      "gripper_loss": 0.8671875,
      "loss": 0.126953125,
      "pos_loss": 0.3515625,
      "rot_loss": 0.6484375,
      "step": 3444
    },
    {
      "epoch": 0.772941440430783,
      "grad_norm": 0.5015503168106079,
      "learning_rate": 0.0004350998242620789,
      "loss": 0.1061,
      "step": 3445
    },
    {
      "epoch": 0.772941440430783,
      "gripper_loss": 0.0361328125,
      "loss": 0.052734375,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.2109375,
      "step": 3445
    },
    {
      "epoch": 0.7731658065963652,
      "grad_norm": 0.7254186868667603,
      "learning_rate": 0.0004350591126119403,
      "loss": 0.1113,
      "step": 3446
    },
    {
      "epoch": 0.7731658065963652,
      "gripper_loss": 0.38671875,
      "loss": 0.32421875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.8046875,
      "step": 3446
    },
    {
      "epoch": 0.7733901727619475,
      "grad_norm": 1.7746696472167969,
      "learning_rate": 0.00043501839010261657,
      "loss": 0.3855,
      "step": 3447
    },
    {
      "epoch": 0.7733901727619475,
      "gripper_loss": 0.40625,
      "loss": 0.54296875,
      "pos_loss": 1.2109375,
      "rot_loss": 0.71875,
      "step": 3447
    },
    {
      "epoch": 0.7736145389275297,
      "grad_norm": 1.771880865097046,
      "learning_rate": 0.00043497765673649724,
      "loss": 0.4792,
      "step": 3448
    },
    {
      "epoch": 0.7736145389275297,
      "gripper_loss": 0.74609375,
      "loss": 0.06396484375,
      "pos_loss": 0.29296875,
      "rot_loss": 0.05419921875,
      "step": 3448
    },
    {
      "epoch": 0.7738389050931119,
      "grad_norm": 1.0108420848846436,
      "learning_rate": 0.0004349369125159726,
      "loss": 0.1247,
      "step": 3449
    },
    {
      "epoch": 0.7738389050931119,
      "gripper_loss": 0.09130859375,
      "loss": 0.07958984375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.08837890625,
      "step": 3449
    },
    {
      "epoch": 0.7740632712586942,
      "grad_norm": 0.8050637245178223,
      "learning_rate": 0.00043489615744343344,
      "loss": 0.0993,
      "step": 3450
    },
    {
      "epoch": 0.7740632712586942,
      "gripper_loss": 1.7421875,
      "loss": 0.08056640625,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.02490234375,
      "step": 3450
    },
    {
      "epoch": 0.7742876374242764,
      "grad_norm": 0.858501136302948,
      "learning_rate": 0.00043485539152127124,
      "loss": 0.1225,
      "step": 3451
    },
    {
      "epoch": 0.7742876374242764,
      "gripper_loss": 0.70703125,
      "loss": 0.10400390625,
      "pos_loss": 0.25,
      "rot_loss": 0.37890625,
      "step": 3451
    },
    {
      "epoch": 0.7745120035898586,
      "grad_norm": 0.9624651074409485,
      "learning_rate": 0.00043481461475187815,
      "loss": 0.1247,
      "step": 3452
    },
    {
      "epoch": 0.7745120035898586,
      "gripper_loss": 0.06787109375,
      "loss": 0.1083984375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.22265625,
      "step": 3452
    },
    {
      "epoch": 0.7747363697554409,
      "grad_norm": 0.982670247554779,
      "learning_rate": 0.0004347738271376469,
      "loss": 0.1234,
      "step": 3453
    },
    {
      "epoch": 0.7747363697554409,
      "gripper_loss": 0.85546875,
      "loss": 0.1064453125,
      "pos_loss": 0.388671875,
      "rot_loss": 0.369140625,
      "step": 3453
    },
    {
      "epoch": 0.7749607359210231,
      "grad_norm": 0.8080359697341919,
      "learning_rate": 0.000434733028680971,
      "loss": 0.1273,
      "step": 3454
    },
    {
      "epoch": 0.7749607359210231,
      "gripper_loss": 0.05126953125,
      "loss": 0.060302734375,
      "pos_loss": 0.455078125,
      "rot_loss": 0.04052734375,
      "step": 3454
    },
    {
      "epoch": 0.7751851020866053,
      "grad_norm": 0.8336110711097717,
      "learning_rate": 0.00043469221938424436,
      "loss": 0.118,
      "step": 3455
    },
    {
      "epoch": 0.7751851020866053,
      "gripper_loss": 0.19140625,
      "loss": 0.03173828125,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.0986328125,
      "step": 3455
    },
    {
      "epoch": 0.7754094682521876,
      "grad_norm": 0.5902310013771057,
      "learning_rate": 0.00043465139924986167,
      "loss": 0.0893,
      "step": 3456
    },
    {
      "epoch": 0.7754094682521876,
      "gripper_loss": 0.1533203125,
      "loss": 0.107421875,
      "pos_loss": 0.7578125,
      "rot_loss": 0.0625,
      "step": 3456
    },
    {
      "epoch": 0.7756338344177698,
      "grad_norm": 0.9030400514602661,
      "learning_rate": 0.00043461056828021833,
      "loss": 0.0981,
      "step": 3457
    },
    {
      "epoch": 0.7756338344177698,
      "gripper_loss": 0.20703125,
      "loss": 0.248046875,
      "pos_loss": 0.8046875,
      "rot_loss": 1.0078125,
      "step": 3457
    },
    {
      "epoch": 0.775858200583352,
      "grad_norm": 1.37294340133667,
      "learning_rate": 0.00043456972647771023,
      "loss": 0.1982,
      "step": 3458
    },
    {
      "epoch": 0.775858200583352,
      "gripper_loss": 0.10693359375,
      "loss": 0.0712890625,
      "pos_loss": 0.498046875,
      "rot_loss": 0.09765625,
      "step": 3458
    },
    {
      "epoch": 0.7760825667489343,
      "grad_norm": 0.6645643711090088,
      "learning_rate": 0.0004345288738447338,
      "loss": 0.1271,
      "step": 3459
    },
    {
      "epoch": 0.7760825667489343,
      "gripper_loss": 0.97265625,
      "loss": 0.11376953125,
      "pos_loss": 0.6015625,
      "rot_loss": 0.1259765625,
      "step": 3459
    },
    {
      "epoch": 0.7763069329145165,
      "grad_norm": 0.7441853284835815,
      "learning_rate": 0.00043448801038368644,
      "loss": 0.0943,
      "step": 3460
    },
    {
      "epoch": 0.7763069329145165,
      "gripper_loss": 0.103515625,
      "loss": 0.2138671875,
      "pos_loss": 0.7734375,
      "rot_loss": 1.3125,
      "step": 3460
    },
    {
      "epoch": 0.7765312990800988,
      "grad_norm": 0.8564983606338501,
      "learning_rate": 0.0004344471360969661,
      "loss": 0.1142,
      "step": 3461
    },
    {
      "epoch": 0.7765312990800988,
      "gripper_loss": 0.08740234375,
      "loss": 0.056396484375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.08544921875,
      "step": 3461
    },
    {
      "epoch": 0.776755665245681,
      "grad_norm": 0.7909373044967651,
      "learning_rate": 0.0004344062509869709,
      "loss": 0.0877,
      "step": 3462
    },
    {
      "epoch": 0.776755665245681,
      "gripper_loss": 0.10009765625,
      "loss": 0.056884765625,
      "pos_loss": 0.15234375,
      "rot_loss": 0.279296875,
      "step": 3462
    },
    {
      "epoch": 0.7769800314112632,
      "grad_norm": 0.8063815832138062,
      "learning_rate": 0.00043436535505610033,
      "loss": 0.119,
      "step": 3463
    },
    {
      "epoch": 0.7769800314112632,
      "gripper_loss": 0.625,
      "loss": 0.08251953125,
      "pos_loss": 0.216796875,
      "rot_loss": 0.33984375,
      "step": 3463
    },
    {
      "epoch": 0.7772043975768455,
      "grad_norm": 0.8643898367881775,
      "learning_rate": 0.0004343244483067539,
      "loss": 0.138,
      "step": 3464
    },
    {
      "epoch": 0.7772043975768455,
      "gripper_loss": 0.6171875,
      "loss": 0.45703125,
      "pos_loss": 0.5625,
      "rot_loss": 0.65625,
      "step": 3464
    },
    {
      "epoch": 0.7774287637424276,
      "grad_norm": 1.7613880634307861,
      "learning_rate": 0.0004342835307413321,
      "loss": 0.5376,
      "step": 3465
    },
    {
      "epoch": 0.7774287637424276,
      "gripper_loss": 0.08740234375,
      "loss": 0.09716796875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.2197265625,
      "step": 3465
    },
    {
      "epoch": 0.7776531299080098,
      "grad_norm": 0.5643368363380432,
      "learning_rate": 0.0004342426023622359,
      "loss": 0.0597,
      "step": 3466
    },
    {
      "epoch": 0.7776531299080098,
      "gripper_loss": 0.0286865234375,
      "loss": 0.10986328125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.490234375,
      "step": 3466
    },
    {
      "epoch": 0.7778774960735921,
      "grad_norm": 0.6818181276321411,
      "learning_rate": 0.00043420166317186703,
      "loss": 0.1054,
      "step": 3467
    },
    {
      "epoch": 0.7778774960735921,
      "gripper_loss": 0.0888671875,
      "loss": 0.1357421875,
      "pos_loss": 1.2265625,
      "rot_loss": 0.0693359375,
      "step": 3467
    },
    {
      "epoch": 0.7781018622391743,
      "grad_norm": 0.6410295963287354,
      "learning_rate": 0.0004341607131726278,
      "loss": 0.114,
      "step": 3468
    },
    {
      "epoch": 0.7781018622391743,
      "gripper_loss": 0.5625,
      "loss": 0.08251953125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.3125,
      "step": 3468
    },
    {
      "epoch": 0.7783262284047565,
      "grad_norm": 0.5127604603767395,
      "learning_rate": 0.00043411975236692105,
      "loss": 0.0729,
      "step": 3469
    },
    {
      "epoch": 0.7783262284047565,
      "gripper_loss": 0.0263671875,
      "loss": 0.0771484375,
      "pos_loss": 0.484375,
      "rot_loss": 0.1435546875,
      "step": 3469
    },
    {
      "epoch": 0.7785505945703388,
      "grad_norm": 0.7114915251731873,
      "learning_rate": 0.00043407878075715035,
      "loss": 0.0992,
      "step": 3470
    },
    {
      "epoch": 0.7785505945703388,
      "gripper_loss": 0.08935546875,
      "loss": 0.031982421875,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.1083984375,
      "step": 3470
    },
    {
      "epoch": 0.778774960735921,
      "grad_norm": 0.8383979797363281,
      "learning_rate": 0.00043403779834572,
      "loss": 0.1264,
      "step": 3471
    },
    {
      "epoch": 0.778774960735921,
      "gripper_loss": 0.04638671875,
      "loss": 0.25390625,
      "pos_loss": 1.140625,
      "rot_loss": 1.421875,
      "step": 3471
    },
    {
      "epoch": 0.7789993269015033,
      "grad_norm": 0.8903287053108215,
      "learning_rate": 0.0004339968051350347,
      "loss": 0.1375,
      "step": 3472
    },
    {
      "epoch": 0.7789993269015033,
      "gripper_loss": 0.13671875,
      "loss": 0.130859375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.3828125,
      "step": 3472
    },
    {
      "epoch": 0.7792236930670855,
      "grad_norm": 1.4231350421905518,
      "learning_rate": 0.0004339558011275,
      "loss": 0.1709,
      "step": 3473
    },
    {
      "epoch": 0.7792236930670855,
      "gripper_loss": 0.51171875,
      "loss": 0.039794921875,
      "pos_loss": 0.053955078125,
      "rot_loss": 0.055908203125,
      "step": 3473
    },
    {
      "epoch": 0.7794480592326677,
      "grad_norm": 1.0546330213546753,
      "learning_rate": 0.00043391478632552193,
      "loss": 0.1015,
      "step": 3474
    },
    {
      "epoch": 0.7794480592326677,
      "gripper_loss": 0.140625,
      "loss": 0.10693359375,
      "pos_loss": 0.765625,
      "rot_loss": 0.12353515625,
      "step": 3474
    },
    {
      "epoch": 0.77967242539825,
      "grad_norm": 0.8278170824050903,
      "learning_rate": 0.0004338737607315073,
      "loss": 0.1178,
      "step": 3475
    },
    {
      "epoch": 0.77967242539825,
      "gripper_loss": 0.099609375,
      "loss": 0.169921875,
      "pos_loss": 1.078125,
      "rot_loss": 0.439453125,
      "step": 3475
    },
    {
      "epoch": 0.7798967915638322,
      "grad_norm": 0.847709596157074,
      "learning_rate": 0.0004338327243478634,
      "loss": 0.134,
      "step": 3476
    },
    {
      "epoch": 0.7798967915638322,
      "gripper_loss": 0.5234375,
      "loss": 0.06396484375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.053955078125,
      "step": 3476
    },
    {
      "epoch": 0.7801211577294144,
      "grad_norm": 0.6769512891769409,
      "learning_rate": 0.0004337916771769983,
      "loss": 0.1072,
      "step": 3477
    },
    {
      "epoch": 0.7801211577294144,
      "gripper_loss": 0.041748046875,
      "loss": 0.1748046875,
      "pos_loss": 0.87109375,
      "rot_loss": 0.90625,
      "step": 3477
    },
    {
      "epoch": 0.7803455238949967,
      "grad_norm": 0.650098443031311,
      "learning_rate": 0.00043375061922132054,
      "loss": 0.1451,
      "step": 3478
    },
    {
      "epoch": 0.7803455238949967,
      "gripper_loss": 0.41015625,
      "loss": 0.06494140625,
      "pos_loss": 0.41796875,
      "rot_loss": 0.07470703125,
      "step": 3478
    },
    {
      "epoch": 0.7805698900605789,
      "grad_norm": 0.5977152585983276,
      "learning_rate": 0.00043370955048323945,
      "loss": 0.0843,
      "step": 3479
    },
    {
      "epoch": 0.7805698900605789,
      "gripper_loss": 0.5859375,
      "loss": 0.333984375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.58203125,
      "step": 3479
    },
    {
      "epoch": 0.780794256226161,
      "grad_norm": 1.9424666166305542,
      "learning_rate": 0.00043366847096516493,
      "loss": 0.3926,
      "step": 3480
    },
    {
      "epoch": 0.780794256226161,
      "gripper_loss": 0.0537109375,
      "loss": 0.146484375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.6328125,
      "step": 3480
    },
    {
      "epoch": 0.7810186223917434,
      "grad_norm": 0.7785081267356873,
      "learning_rate": 0.00043362738066950743,
      "loss": 0.1218,
      "step": 3481
    },
    {
      "epoch": 0.7810186223917434,
      "gripper_loss": 0.027587890625,
      "loss": 0.212890625,
      "pos_loss": 1.4765625,
      "rot_loss": 0.6953125,
      "step": 3481
    },
    {
      "epoch": 0.7812429885573255,
      "grad_norm": 0.8194201588630676,
      "learning_rate": 0.00043358627959867816,
      "loss": 0.1003,
      "step": 3482
    },
    {
      "epoch": 0.7812429885573255,
      "gripper_loss": 0.1640625,
      "loss": 0.12353515625,
      "pos_loss": 0.921875,
      "rot_loss": 0.1376953125,
      "step": 3482
    },
    {
      "epoch": 0.7814673547229077,
      "grad_norm": 0.747329831123352,
      "learning_rate": 0.0004335451677550889,
      "loss": 0.0876,
      "step": 3483
    },
    {
      "epoch": 0.7814673547229077,
      "gripper_loss": 0.1640625,
      "loss": 0.052490234375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.044921875,
      "step": 3483
    },
    {
      "epoch": 0.78169172088849,
      "grad_norm": 0.6054165959358215,
      "learning_rate": 0.0004335040451411522,
      "loss": 0.0886,
      "step": 3484
    },
    {
      "epoch": 0.78169172088849,
      "gripper_loss": 0.11572265625,
      "loss": 0.09423828125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.259765625,
      "step": 3484
    },
    {
      "epoch": 0.7819160870540722,
      "grad_norm": 0.6817675232887268,
      "learning_rate": 0.0004334629117592809,
      "loss": 0.0962,
      "step": 3485
    },
    {
      "epoch": 0.7819160870540722,
      "gripper_loss": 0.515625,
      "loss": 0.11767578125,
      "pos_loss": 0.43359375,
      "rot_loss": 0.21875,
      "step": 3485
    },
    {
      "epoch": 0.7821404532196545,
      "grad_norm": 0.9080412983894348,
      "learning_rate": 0.0004334217676118888,
      "loss": 0.1234,
      "step": 3486
    },
    {
      "epoch": 0.7821404532196545,
      "gripper_loss": 0.255859375,
      "loss": 0.07421875,
      "pos_loss": 0.123046875,
      "rot_loss": 0.478515625,
      "step": 3486
    },
    {
      "epoch": 0.7823648193852367,
      "grad_norm": 0.6228901147842407,
      "learning_rate": 0.0004333806127013902,
      "loss": 0.08,
      "step": 3487
    },
    {
      "epoch": 0.7823648193852367,
      "gripper_loss": 0.1259765625,
      "loss": 0.035400390625,
      "pos_loss": 0.16015625,
      "rot_loss": 0.05029296875,
      "step": 3487
    },
    {
      "epoch": 0.7825891855508189,
      "grad_norm": 0.8166265487670898,
      "learning_rate": 0.00043333944703020005,
      "loss": 0.0992,
      "step": 3488
    },
    {
      "epoch": 0.7825891855508189,
      "gripper_loss": 0.27734375,
      "loss": 0.140625,
      "pos_loss": 0.98828125,
      "rot_loss": 0.26171875,
      "step": 3488
    },
    {
      "epoch": 0.7828135517164012,
      "grad_norm": 1.1189210414886475,
      "learning_rate": 0.000433298270600734,
      "loss": 0.2083,
      "step": 3489
    },
    {
      "epoch": 0.7828135517164012,
      "gripper_loss": 0.02099609375,
      "loss": 0.23046875,
      "pos_loss": 0.1630859375,
      "rot_loss": 2.203125,
      "step": 3489
    },
    {
      "epoch": 0.7830379178819834,
      "grad_norm": 0.6818303465843201,
      "learning_rate": 0.00043325708341540814,
      "loss": 0.1291,
      "step": 3490
    },
    {
      "epoch": 0.7830379178819834,
      "gripper_loss": 0.1650390625,
      "loss": 0.14453125,
      "pos_loss": 1.03125,
      "rot_loss": 0.2265625,
      "step": 3490
    },
    {
      "epoch": 0.7832622840475656,
      "grad_norm": 0.7862645983695984,
      "learning_rate": 0.00043321588547663947,
      "loss": 0.1102,
      "step": 3491
    },
    {
      "epoch": 0.7832622840475656,
      "gripper_loss": 0.61328125,
      "loss": 0.1279296875,
      "pos_loss": 0.5078125,
      "rot_loss": 0.5234375,
      "step": 3491
    },
    {
      "epoch": 0.7834866502131479,
      "grad_norm": 0.7233994603157043,
      "learning_rate": 0.0004331746767868454,
      "loss": 0.1406,
      "step": 3492
    },
    {
      "epoch": 0.7834866502131479,
      "gripper_loss": 1.3515625,
      "loss": 0.07421875,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.1123046875,
      "step": 3492
    },
    {
      "epoch": 0.7837110163787301,
      "grad_norm": 0.5517230033874512,
      "learning_rate": 0.00043313345734844394,
      "loss": 0.0857,
      "step": 3493
    },
    {
      "epoch": 0.7837110163787301,
      "gripper_loss": 0.19140625,
      "loss": 0.2412109375,
      "pos_loss": 0.71875,
      "rot_loss": 1.3671875,
      "step": 3493
    },
    {
      "epoch": 0.7839353825443123,
      "grad_norm": 1.0262386798858643,
      "learning_rate": 0.000433092227163854,
      "loss": 0.1372,
      "step": 3494
    },
    {
      "epoch": 0.7839353825443123,
      "gripper_loss": 0.03125,
      "loss": 0.123046875,
      "pos_loss": 0.99609375,
      "rot_loss": 0.140625,
      "step": 3494
    },
    {
      "epoch": 0.7841597487098946,
      "grad_norm": 0.8313708901405334,
      "learning_rate": 0.0004330509862354948,
      "loss": 0.0947,
      "step": 3495
    },
    {
      "epoch": 0.7841597487098946,
      "gripper_loss": 0.7265625,
      "loss": 0.049072265625,
      "pos_loss": 0.0390625,
      "rot_loss": 0.0654296875,
      "step": 3495
    },
    {
      "epoch": 0.7843841148754768,
      "grad_norm": 1.0223318338394165,
      "learning_rate": 0.0004330097345657863,
      "loss": 0.1113,
      "step": 3496
    },
    {
      "epoch": 0.7843841148754768,
      "gripper_loss": 0.08251953125,
      "loss": 0.1357421875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.455078125,
      "step": 3496
    },
    {
      "epoch": 0.784608481041059,
      "grad_norm": 0.757424533367157,
      "learning_rate": 0.0004329684721571493,
      "loss": 0.1425,
      "step": 3497
    },
    {
      "epoch": 0.784608481041059,
      "gripper_loss": 0.16015625,
      "loss": 0.173828125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.240234375,
      "step": 3497
    },
    {
      "epoch": 0.7848328472066413,
      "grad_norm": 1.1240770816802979,
      "learning_rate": 0.00043292719901200506,
      "loss": 0.1358,
      "step": 3498
    },
    {
      "epoch": 0.7848328472066413,
      "gripper_loss": 0.021728515625,
      "loss": 0.09423828125,
      "pos_loss": 0.8203125,
      "rot_loss": 0.046875,
      "step": 3498
    },
    {
      "epoch": 0.7850572133722235,
      "grad_norm": 0.7569772601127625,
      "learning_rate": 0.0004328859151327753,
      "loss": 0.0696,
      "step": 3499
    },
    {
      "epoch": 0.7850572133722235,
      "gripper_loss": 0.150390625,
      "loss": 0.10986328125,
      "pos_loss": 0.953125,
      "rot_loss": 0.078125,
      "step": 3499
    },
    {
      "epoch": 0.7852815795378058,
      "grad_norm": 0.675960898399353,
      "learning_rate": 0.0004328446205218827,
      "loss": 0.1038,
      "step": 3500
    },
    {
      "epoch": 0.7852815795378058,
      "gripper_loss": 0.1494140625,
      "loss": 0.1044921875,
      "pos_loss": 0.208984375,
      "rot_loss": 0.6328125,
      "step": 3500
    },
    {
      "epoch": 0.7855059457033879,
      "grad_norm": 0.8828799724578857,
      "learning_rate": 0.0004328033151817503,
      "loss": 0.1525,
      "step": 3501
    },
    {
      "epoch": 0.7855059457033879,
      "gripper_loss": 0.97265625,
      "loss": 0.06591796875,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.06591796875,
      "step": 3501
    },
    {
      "epoch": 0.7857303118689701,
      "grad_norm": 0.7031910419464111,
      "learning_rate": 0.00043276199911480194,
      "loss": 0.0979,
      "step": 3502
    },
    {
      "epoch": 0.7857303118689701,
      "gripper_loss": 0.52734375,
      "loss": 0.044921875,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.11083984375,
      "step": 3502
    },
    {
      "epoch": 0.7859546780345524,
      "grad_norm": 0.6101995706558228,
      "learning_rate": 0.00043272067232346203,
      "loss": 0.1172,
      "step": 3503
    },
    {
      "epoch": 0.7859546780345524,
      "gripper_loss": 0.06640625,
      "loss": 0.03759765625,
      "pos_loss": 0.109375,
      "rot_loss": 0.1376953125,
      "step": 3503
    },
    {
      "epoch": 0.7861790442001346,
      "grad_norm": 0.7579751014709473,
      "learning_rate": 0.0004326793348101555,
      "loss": 0.0729,
      "step": 3504
    },
    {
      "epoch": 0.7861790442001346,
      "gripper_loss": 0.036865234375,
      "loss": 0.1044921875,
      "pos_loss": 0.79296875,
      "rot_loss": 0.12890625,
      "step": 3504
    },
    {
      "epoch": 0.7864034103657168,
      "grad_norm": 0.5995290279388428,
      "learning_rate": 0.00043263798657730817,
      "loss": 0.0837,
      "step": 3505
    },
    {
      "epoch": 0.7864034103657168,
      "gripper_loss": 0.1748046875,
      "loss": 0.27734375,
      "pos_loss": 1.9375,
      "rot_loss": 0.85546875,
      "step": 3505
    },
    {
      "epoch": 0.7866277765312991,
      "grad_norm": 0.7748730182647705,
      "learning_rate": 0.00043259662762734624,
      "loss": 0.1373,
      "step": 3506
    },
    {
      "epoch": 0.7866277765312991,
      "gripper_loss": 0.03662109375,
      "loss": 0.16015625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.60546875,
      "step": 3506
    },
    {
      "epoch": 0.7868521426968813,
      "grad_norm": 0.7385420799255371,
      "learning_rate": 0.00043255525796269666,
      "loss": 0.0972,
      "step": 3507
    },
    {
      "epoch": 0.7868521426968813,
      "gripper_loss": 0.107421875,
      "loss": 0.11328125,
      "pos_loss": 0.796875,
      "rot_loss": 0.29296875,
      "step": 3507
    },
    {
      "epoch": 0.7870765088624635,
      "grad_norm": 0.5586350560188293,
      "learning_rate": 0.00043251387758578706,
      "loss": 0.0847,
      "step": 3508
    },
    {
      "epoch": 0.7870765088624635,
      "gripper_loss": 0.48046875,
      "loss": 0.037841796875,
      "pos_loss": 0.10400390625,
      "rot_loss": 0.04931640625,
      "step": 3508
    },
    {
      "epoch": 0.7873008750280458,
      "grad_norm": 0.48087644577026367,
      "learning_rate": 0.00043247248649904546,
      "loss": 0.0894,
      "step": 3509
    },
    {
      "epoch": 0.7873008750280458,
      "gripper_loss": 0.68359375,
      "loss": 0.146484375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.16015625,
      "step": 3509
    },
    {
      "epoch": 0.787525241193628,
      "grad_norm": 1.0191863775253296,
      "learning_rate": 0.00043243108470490086,
      "loss": 0.1265,
      "step": 3510
    },
    {
      "epoch": 0.787525241193628,
      "gripper_loss": 0.1494140625,
      "loss": 0.26953125,
      "pos_loss": 0.59375,
      "rot_loss": 0.42578125,
      "step": 3510
    },
    {
      "epoch": 0.7877496073592102,
      "grad_norm": 2.1070752143859863,
      "learning_rate": 0.0004323896722057825,
      "loss": 0.2819,
      "step": 3511
    },
    {
      "epoch": 0.7877496073592102,
      "gripper_loss": 0.031494140625,
      "loss": 0.283203125,
      "pos_loss": 1.890625,
      "rot_loss": 0.984375,
      "step": 3511
    },
    {
      "epoch": 0.7879739735247925,
      "grad_norm": 0.6860934495925903,
      "learning_rate": 0.0004323482490041206,
      "loss": 0.153,
      "step": 3512
    },
    {
      "epoch": 0.7879739735247925,
      "gripper_loss": 0.1796875,
      "loss": 0.154296875,
      "pos_loss": 0.8359375,
      "rot_loss": 0.5546875,
      "step": 3512
    },
    {
      "epoch": 0.7881983396903747,
      "grad_norm": 0.8185592889785767,
      "learning_rate": 0.00043230681510234573,
      "loss": 0.1122,
      "step": 3513
    },
    {
      "epoch": 0.7881983396903747,
      "gripper_loss": 0.06005859375,
      "loss": 0.02490234375,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.04736328125,
      "step": 3513
    },
    {
      "epoch": 0.788422705855957,
      "grad_norm": 0.7249284386634827,
      "learning_rate": 0.0004322653705028893,
      "loss": 0.0839,
      "step": 3514
    },
    {
      "epoch": 0.788422705855957,
      "gripper_loss": 0.054443359375,
      "loss": 0.140625,
      "pos_loss": 1.3125,
      "rot_loss": 0.05810546875,
      "step": 3514
    },
    {
      "epoch": 0.7886470720215392,
      "grad_norm": 0.7669119238853455,
      "learning_rate": 0.0004322239152081833,
      "loss": 0.1284,
      "step": 3515
    },
    {
      "epoch": 0.7886470720215392,
      "gripper_loss": 0.578125,
      "loss": 0.134765625,
      "pos_loss": 0.9296875,
      "rot_loss": 0.2314453125,
      "step": 3515
    },
    {
      "epoch": 0.7888714381871214,
      "grad_norm": 0.6015072464942932,
      "learning_rate": 0.0004321824492206602,
      "loss": 0.1205,
      "step": 3516
    },
    {
      "epoch": 0.7888714381871214,
      "gripper_loss": 0.041259765625,
      "loss": 0.193359375,
      "pos_loss": 0.8984375,
      "rot_loss": 1.0625,
      "step": 3516
    },
    {
      "epoch": 0.7890958043527037,
      "grad_norm": 0.5391904711723328,
      "learning_rate": 0.0004321409725427533,
      "loss": 0.0908,
      "step": 3517
    },
    {
      "epoch": 0.7890958043527037,
      "gripper_loss": 0.416015625,
      "loss": 0.1572265625,
      "pos_loss": 0.52734375,
      "rot_loss": 0.255859375,
      "step": 3517
    },
    {
      "epoch": 0.7893201705182858,
      "grad_norm": 1.8503868579864502,
      "learning_rate": 0.00043209948517689635,
      "loss": 0.2039,
      "step": 3518
    },
    {
      "epoch": 0.7893201705182858,
      "gripper_loss": 0.248046875,
      "loss": 0.0634765625,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.2197265625,
      "step": 3518
    },
    {
      "epoch": 0.789544536683868,
      "grad_norm": 0.6986757516860962,
      "learning_rate": 0.0004320579871255239,
      "loss": 0.1179,
      "step": 3519
    },
    {
      "epoch": 0.789544536683868,
      "gripper_loss": 0.365234375,
      "loss": 0.134765625,
      "pos_loss": 0.423828125,
      "rot_loss": 0.78125,
      "step": 3519
    },
    {
      "epoch": 0.7897689028494503,
      "grad_norm": 0.771178662776947,
      "learning_rate": 0.00043201647839107097,
      "loss": 0.1031,
      "step": 3520
    },
    {
      "epoch": 0.7897689028494503,
      "gripper_loss": 0.58203125,
      "loss": 0.263671875,
      "pos_loss": 0.765625,
      "rot_loss": 0.83984375,
      "step": 3520
    },
    {
      "epoch": 0.7899932690150325,
      "grad_norm": 1.1994518041610718,
      "learning_rate": 0.00043197495897597324,
      "loss": 0.2235,
      "step": 3521
    },
    {
      "epoch": 0.7899932690150325,
      "gripper_loss": 0.0625,
      "loss": 0.1015625,
      "pos_loss": 0.796875,
      "rot_loss": 0.12890625,
      "step": 3521
    },
    {
      "epoch": 0.7902176351806147,
      "grad_norm": 0.818439781665802,
      "learning_rate": 0.0004319334288826671,
      "loss": 0.0951,
      "step": 3522
    },
    {
      "epoch": 0.7902176351806147,
      "gripper_loss": 0.59375,
      "loss": 0.06982421875,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.16015625,
      "step": 3522
    },
    {
      "epoch": 0.790442001346197,
      "grad_norm": 0.9297798275947571,
      "learning_rate": 0.0004318918881135896,
      "loss": 0.1078,
      "step": 3523
    },
    {
      "epoch": 0.790442001346197,
      "gripper_loss": 0.474609375,
      "loss": 0.171875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.419921875,
      "step": 3523
    },
    {
      "epoch": 0.7906663675117792,
      "grad_norm": 1.3782728910446167,
      "learning_rate": 0.00043185033667117814,
      "loss": 0.2123,
      "step": 3524
    },
    {
      "epoch": 0.7906663675117792,
      "gripper_loss": 0.330078125,
      "loss": 0.05126953125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.0498046875,
      "step": 3524
    },
    {
      "epoch": 0.7908907336773614,
      "grad_norm": 0.8716220855712891,
      "learning_rate": 0.00043180877455787107,
      "loss": 0.1334,
      "step": 3525
    },
    {
      "epoch": 0.7908907336773614,
      "gripper_loss": 1.765625,
      "loss": 0.09765625,
      "pos_loss": 0.244140625,
      "rot_loss": 0.09326171875,
      "step": 3525
    },
    {
      "epoch": 0.7911150998429437,
      "grad_norm": 0.7307863235473633,
      "learning_rate": 0.00043176720177610727,
      "loss": 0.1076,
      "step": 3526
    },
    {
      "epoch": 0.7911150998429437,
      "gripper_loss": 0.1513671875,
      "loss": 0.12451171875,
      "pos_loss": 0.2421875,
      "rot_loss": 0.796875,
      "step": 3526
    },
    {
      "epoch": 0.7913394660085259,
      "grad_norm": 0.8880446553230286,
      "learning_rate": 0.00043172561832832614,
      "loss": 0.1168,
      "step": 3527
    },
    {
      "epoch": 0.7913394660085259,
      "gripper_loss": 0.0245361328125,
      "loss": 0.056396484375,
      "pos_loss": 0.44140625,
      "rot_loss": 0.039794921875,
      "step": 3527
    },
    {
      "epoch": 0.7915638321741082,
      "grad_norm": 0.6649236679077148,
      "learning_rate": 0.0004316840242169678,
      "loss": 0.0664,
      "step": 3528
    },
    {
      "epoch": 0.7915638321741082,
      "gripper_loss": 0.058837890625,
      "loss": 0.09765625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.296875,
      "step": 3528
    },
    {
      "epoch": 0.7917881983396904,
      "grad_norm": 0.6590076684951782,
      "learning_rate": 0.0004316424194444729,
      "loss": 0.1093,
      "step": 3529
    },
    {
      "epoch": 0.7917881983396904,
      "gripper_loss": 0.01513671875,
      "loss": 0.1142578125,
      "pos_loss": 0.412109375,
      "rot_loss": 0.6484375,
      "step": 3529
    },
    {
      "epoch": 0.7920125645052726,
      "grad_norm": 0.721575140953064,
      "learning_rate": 0.00043160080401328295,
      "loss": 0.1179,
      "step": 3530
    },
    {
      "epoch": 0.7920125645052726,
      "gripper_loss": 0.0810546875,
      "loss": 0.0751953125,
      "pos_loss": 0.341796875,
      "rot_loss": 0.2431640625,
      "step": 3530
    },
    {
      "epoch": 0.7922369306708549,
      "grad_norm": 0.6243464350700378,
      "learning_rate": 0.0004315591779258398,
      "loss": 0.1054,
      "step": 3531
    },
    {
      "epoch": 0.7922369306708549,
      "gripper_loss": 0.1337890625,
      "loss": 0.044189453125,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.1259765625,
      "step": 3531
    },
    {
      "epoch": 0.7924612968364371,
      "grad_norm": 0.8047423958778381,
      "learning_rate": 0.0004315175411845861,
      "loss": 0.0744,
      "step": 3532
    },
    {
      "epoch": 0.7924612968364371,
      "gripper_loss": 1.890625,
      "loss": 0.150390625,
      "pos_loss": 0.458984375,
      "rot_loss": 0.408203125,
      "step": 3532
    },
    {
      "epoch": 0.7926856630020193,
      "grad_norm": 0.5931645631790161,
      "learning_rate": 0.00043147589379196504,
      "loss": 0.0914,
      "step": 3533
    },
    {
      "epoch": 0.7926856630020193,
      "gripper_loss": 0.287109375,
      "loss": 0.140625,
      "pos_loss": 0.4765625,
      "rot_loss": 0.234375,
      "step": 3533
    },
    {
      "epoch": 0.7929100291676016,
      "grad_norm": 0.8375160098075867,
      "learning_rate": 0.00043143423575042045,
      "loss": 0.1513,
      "step": 3534
    },
    {
      "epoch": 0.7929100291676016,
      "gripper_loss": 0.47265625,
      "loss": 0.0947265625,
      "pos_loss": 0.49609375,
      "rot_loss": 0.1650390625,
      "step": 3534
    },
    {
      "epoch": 0.7931343953331838,
      "grad_norm": 0.5937475562095642,
      "learning_rate": 0.00043139256706239694,
      "loss": 0.0769,
      "step": 3535
    },
    {
      "epoch": 0.7931343953331838,
      "gripper_loss": 0.1708984375,
      "loss": 0.07666015625,
      "pos_loss": 0.3125,
      "rot_loss": 0.361328125,
      "step": 3535
    },
    {
      "epoch": 0.7933587614987659,
      "grad_norm": 0.5446497201919556,
      "learning_rate": 0.00043135088773033943,
      "loss": 0.1099,
      "step": 3536
    },
    {
      "epoch": 0.7933587614987659,
      "gripper_loss": 0.08544921875,
      "loss": 0.130859375,
      "pos_loss": 0.9921875,
      "rot_loss": 0.1796875,
      "step": 3536
    },
    {
      "epoch": 0.7935831276643482,
      "grad_norm": 0.8395091891288757,
      "learning_rate": 0.0004313091977566937,
      "loss": 0.1083,
      "step": 3537
    },
    {
      "epoch": 0.7935831276643482,
      "gripper_loss": 0.353515625,
      "loss": 0.054443359375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.05029296875,
      "step": 3537
    },
    {
      "epoch": 0.7938074938299304,
      "grad_norm": 0.5500094890594482,
      "learning_rate": 0.0004312674971439062,
      "loss": 0.0896,
      "step": 3538
    },
    {
      "epoch": 0.7938074938299304,
      "gripper_loss": 0.291015625,
      "loss": 0.171875,
      "pos_loss": 0.9765625,
      "rot_loss": 0.625,
      "step": 3538
    },
    {
      "epoch": 0.7940318599955126,
      "grad_norm": 0.6268977522850037,
      "learning_rate": 0.00043122578589442384,
      "loss": 0.0937,
      "step": 3539
    },
    {
      "epoch": 0.7940318599955126,
      "gripper_loss": 0.19140625,
      "loss": 0.251953125,
      "pos_loss": 0.93359375,
      "rot_loss": 0.466796875,
      "step": 3539
    },
    {
      "epoch": 0.7942562261610949,
      "grad_norm": 1.3292959928512573,
      "learning_rate": 0.0004311840640106942,
      "loss": 0.1913,
      "step": 3540
    },
    {
      "epoch": 0.7942562261610949,
      "gripper_loss": 0.0234375,
      "loss": 0.1240234375,
      "pos_loss": 1.203125,
      "rot_loss": 0.01519775390625,
      "step": 3540
    },
    {
      "epoch": 0.7944805923266771,
      "grad_norm": 0.7775434255599976,
      "learning_rate": 0.00043114233149516544,
      "loss": 0.1174,
      "step": 3541
    },
    {
      "epoch": 0.7944805923266771,
      "gripper_loss": 0.11083984375,
      "loss": 0.1171875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.64453125,
      "step": 3541
    },
    {
      "epoch": 0.7947049584922594,
      "grad_norm": 0.7453481554985046,
      "learning_rate": 0.00043110058835028653,
      "loss": 0.1033,
      "step": 3542
    },
    {
      "epoch": 0.7947049584922594,
      "gripper_loss": 0.0458984375,
      "loss": 0.06787109375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.07421875,
      "step": 3542
    },
    {
      "epoch": 0.7949293246578416,
      "grad_norm": 0.8345685005187988,
      "learning_rate": 0.0004310588345785069,
      "loss": 0.1262,
      "step": 3543
    },
    {
      "epoch": 0.7949293246578416,
      "gripper_loss": 0.8984375,
      "loss": 0.1513671875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.546875,
      "step": 3543
    },
    {
      "epoch": 0.7951536908234238,
      "grad_norm": 0.7104461193084717,
      "learning_rate": 0.0004310170701822766,
      "loss": 0.1132,
      "step": 3544
    },
    {
      "epoch": 0.7951536908234238,
      "gripper_loss": 0.2255859375,
      "loss": 0.2333984375,
      "pos_loss": 1.0546875,
      "rot_loss": 0.51171875,
      "step": 3544
    },
    {
      "epoch": 0.7953780569890061,
      "grad_norm": 1.054556965827942,
      "learning_rate": 0.00043097529516404636,
      "loss": 0.1614,
      "step": 3545
    },
    {
      "epoch": 0.7953780569890061,
      "gripper_loss": 0.2001953125,
      "loss": 0.04736328125,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.11328125,
      "step": 3545
    },
    {
      "epoch": 0.7956024231545883,
      "grad_norm": 0.8475673794746399,
      "learning_rate": 0.0004309335095262675,
      "loss": 0.114,
      "step": 3546
    },
    {
      "epoch": 0.7956024231545883,
      "gripper_loss": 0.2392578125,
      "loss": 0.1259765625,
      "pos_loss": 0.97265625,
      "rot_loss": 0.19921875,
      "step": 3546
    },
    {
      "epoch": 0.7958267893201705,
      "grad_norm": 0.677143394947052,
      "learning_rate": 0.00043089171327139207,
      "loss": 0.1072,
      "step": 3547
    },
    {
      "epoch": 0.7958267893201705,
      "gripper_loss": 0.19140625,
      "loss": 0.2314453125,
      "pos_loss": 0.703125,
      "rot_loss": 0.451171875,
      "step": 3547
    },
    {
      "epoch": 0.7960511554857528,
      "grad_norm": 1.3336894512176514,
      "learning_rate": 0.0004308499064018726,
      "loss": 0.2108,
      "step": 3548
    },
    {
      "epoch": 0.7960511554857528,
      "gripper_loss": 0.67578125,
      "loss": 0.166015625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.68359375,
      "step": 3548
    },
    {
      "epoch": 0.796275521651335,
      "grad_norm": 0.7424354553222656,
      "learning_rate": 0.00043080808892016233,
      "loss": 0.0955,
      "step": 3549
    },
    {
      "epoch": 0.796275521651335,
      "gripper_loss": 0.0966796875,
      "loss": 0.0888671875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.0869140625,
      "step": 3549
    },
    {
      "epoch": 0.7964998878169172,
      "grad_norm": 0.7633852958679199,
      "learning_rate": 0.0004307662608287149,
      "loss": 0.0793,
      "step": 3550
    },
    {
      "epoch": 0.7964998878169172,
      "gripper_loss": 0.0390625,
      "loss": 0.080078125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.294921875,
      "step": 3550
    },
    {
      "epoch": 0.7967242539824995,
      "grad_norm": 0.7079017162322998,
      "learning_rate": 0.0004307244221299851,
      "loss": 0.0989,
      "step": 3551
    },
    {
      "epoch": 0.7967242539824995,
      "gripper_loss": 0.53125,
      "loss": 0.13671875,
      "pos_loss": 1.0234375,
      "rot_loss": 0.1416015625,
      "step": 3551
    },
    {
      "epoch": 0.7969486201480817,
      "grad_norm": 0.7035789489746094,
      "learning_rate": 0.0004306825728264278,
      "loss": 0.1376,
      "step": 3552
    },
    {
      "epoch": 0.7969486201480817,
      "gripper_loss": 0.384765625,
      "loss": 0.1552734375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.48828125,
      "step": 3552
    },
    {
      "epoch": 0.7971729863136638,
      "grad_norm": 1.4841969013214111,
      "learning_rate": 0.00043064071292049866,
      "loss": 0.1474,
      "step": 3553
    },
    {
      "epoch": 0.7971729863136638,
      "gripper_loss": 0.017578125,
      "loss": 0.1357421875,
      "pos_loss": 0.86328125,
      "rot_loss": 0.45703125,
      "step": 3553
    },
    {
      "epoch": 0.7973973524792461,
      "grad_norm": 0.4632779657840729,
      "learning_rate": 0.00043059884241465407,
      "loss": 0.0976,
      "step": 3554
    },
    {
      "epoch": 0.7973973524792461,
      "gripper_loss": 0.023193359375,
      "loss": 0.08642578125,
      "pos_loss": 0.6875,
      "rot_loss": 0.1357421875,
      "step": 3554
    },
    {
      "epoch": 0.7976217186448283,
      "grad_norm": 0.6598915457725525,
      "learning_rate": 0.00043055696131135096,
      "loss": 0.092,
      "step": 3555
    },
    {
      "epoch": 0.7976217186448283,
      "gripper_loss": 0.072265625,
      "loss": 0.1494140625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.33203125,
      "step": 3555
    },
    {
      "epoch": 0.7978460848104106,
      "grad_norm": 0.763323962688446,
      "learning_rate": 0.0004305150696130469,
      "loss": 0.1318,
      "step": 3556
    },
    {
      "epoch": 0.7978460848104106,
      "gripper_loss": 0.43359375,
      "loss": 0.0810546875,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.365234375,
      "step": 3556
    },
    {
      "epoch": 0.7980704509759928,
      "grad_norm": 0.8151053190231323,
      "learning_rate": 0.0004304731673222001,
      "loss": 0.1315,
      "step": 3557
    },
    {
      "epoch": 0.7980704509759928,
      "gripper_loss": 0.54296875,
      "loss": 0.1337890625,
      "pos_loss": 0.40234375,
      "rot_loss": 0.486328125,
      "step": 3557
    },
    {
      "epoch": 0.798294817141575,
      "grad_norm": 1.1009994745254517,
      "learning_rate": 0.0004304312544412693,
      "loss": 0.1702,
      "step": 3558
    },
    {
      "epoch": 0.798294817141575,
      "gripper_loss": 0.6953125,
      "loss": 0.115234375,
      "pos_loss": 0.69140625,
      "rot_loss": 0.2001953125,
      "step": 3558
    },
    {
      "epoch": 0.7985191833071573,
      "grad_norm": 0.7758834362030029,
      "learning_rate": 0.00043038933097271407,
      "loss": 0.1123,
      "step": 3559
    },
    {
      "epoch": 0.7985191833071573,
      "gripper_loss": 0.9375,
      "loss": 0.068359375,
      "pos_loss": 0.23046875,
      "rot_loss": 0.08154296875,
      "step": 3559
    },
    {
      "epoch": 0.7987435494727395,
      "grad_norm": 0.7002719640731812,
      "learning_rate": 0.0004303473969189943,
      "loss": 0.115,
      "step": 3560
    },
    {
      "epoch": 0.7987435494727395,
      "gripper_loss": 0.240234375,
      "loss": 0.07373046875,
      "pos_loss": 0.462890625,
      "rot_loss": 0.1357421875,
      "step": 3560
    },
    {
      "epoch": 0.7989679156383217,
      "grad_norm": 0.755107581615448,
      "learning_rate": 0.0004303054522825708,
      "loss": 0.1439,
      "step": 3561
    },
    {
      "epoch": 0.7989679156383217,
      "gripper_loss": 0.026611328125,
      "loss": 0.2109375,
      "pos_loss": 1.421875,
      "rot_loss": 0.66015625,
      "step": 3561
    },
    {
      "epoch": 0.799192281803904,
      "grad_norm": 0.6933701038360596,
      "learning_rate": 0.00043026349706590467,
      "loss": 0.1058,
      "step": 3562
    },
    {
      "epoch": 0.799192281803904,
      "gripper_loss": 0.08203125,
      "loss": 0.042724609375,
      "pos_loss": 0.283203125,
      "rot_loss": 0.06005859375,
      "step": 3562
    },
    {
      "epoch": 0.7994166479694862,
      "grad_norm": 0.6492128372192383,
      "learning_rate": 0.00043022153127145803,
      "loss": 0.1259,
      "step": 3563
    },
    {
      "epoch": 0.7994166479694862,
      "gripper_loss": 0.55078125,
      "loss": 0.033447265625,
      "pos_loss": 0.0556640625,
      "rot_loss": 0.032958984375,
      "step": 3563
    },
    {
      "epoch": 0.7996410141350684,
      "grad_norm": 0.5020803213119507,
      "learning_rate": 0.00043017955490169327,
      "loss": 0.0707,
      "step": 3564
    },
    {
      "epoch": 0.7996410141350684,
      "gripper_loss": 0.09130859375,
      "loss": 0.13671875,
      "pos_loss": 1.0390625,
      "rot_loss": 0.23828125,
      "step": 3564
    },
    {
      "epoch": 0.7998653803006507,
      "grad_norm": 0.730098307132721,
      "learning_rate": 0.00043013756795907363,
      "loss": 0.1109,
      "step": 3565
    },
    {
      "epoch": 0.7998653803006507,
      "gripper_loss": 0.064453125,
      "loss": 0.251953125,
      "pos_loss": 1.3515625,
      "rot_loss": 1.1796875,
      "step": 3565
    },
    {
      "epoch": 0.8000897464662329,
      "grad_norm": 1.0907803773880005,
      "learning_rate": 0.00043009557044606286,
      "loss": 0.1564,
      "step": 3566
    },
    {
      "epoch": 0.8000897464662329,
      "gripper_loss": 1.0546875,
      "loss": 0.08154296875,
      "pos_loss": 0.326171875,
      "rot_loss": 0.08203125,
      "step": 3566
    },
    {
      "epoch": 0.8003141126318152,
      "grad_norm": 0.5250841975212097,
      "learning_rate": 0.0004300535623651253,
      "loss": 0.1216,
      "step": 3567
    },
    {
      "epoch": 0.8003141126318152,
      "gripper_loss": 0.03564453125,
      "loss": 0.19140625,
      "pos_loss": 1.2890625,
      "rot_loss": 0.671875,
      "step": 3567
    },
    {
      "epoch": 0.8005384787973974,
      "grad_norm": 0.7115585207939148,
      "learning_rate": 0.0004300115437187261,
      "loss": 0.0951,
      "step": 3568
    },
    {
      "epoch": 0.8005384787973974,
      "gripper_loss": 0.10107421875,
      "loss": 0.09130859375,
      "pos_loss": 0.29296875,
      "rot_loss": 0.1416015625,
      "step": 3568
    },
    {
      "epoch": 0.8007628449629796,
      "grad_norm": 1.1501593589782715,
      "learning_rate": 0.0004299695145093307,
      "loss": 0.1453,
      "step": 3569
    },
    {
      "epoch": 0.8007628449629796,
      "gripper_loss": 0.44921875,
      "loss": 0.0771484375,
      "pos_loss": 0.271484375,
      "rot_loss": 0.0908203125,
      "step": 3569
    },
    {
      "epoch": 0.8009872111285619,
      "grad_norm": 0.87443608045578,
      "learning_rate": 0.00042992747473940553,
      "loss": 0.1275,
      "step": 3570
    },
    {
      "epoch": 0.8009872111285619,
      "gripper_loss": 0.1181640625,
      "loss": 0.11328125,
      "pos_loss": 0.78515625,
      "rot_loss": 0.287109375,
      "step": 3570
    },
    {
      "epoch": 0.801211577294144,
      "grad_norm": 1.066611409187317,
      "learning_rate": 0.00042988542441141744,
      "loss": 0.1675,
      "step": 3571
    },
    {
      "epoch": 0.801211577294144,
      "gripper_loss": 0.0986328125,
      "loss": 0.130859375,
      "pos_loss": 0.7109375,
      "rot_loss": 0.09619140625,
      "step": 3571
    },
    {
      "epoch": 0.8014359434597262,
      "grad_norm": 1.2481046915054321,
      "learning_rate": 0.0004298433635278338,
      "loss": 0.1808,
      "step": 3572
    },
    {
      "epoch": 0.8014359434597262,
      "gripper_loss": 0.490234375,
      "loss": 0.0986328125,
      "pos_loss": 0.2890625,
      "rot_loss": 0.265625,
      "step": 3572
    },
    {
      "epoch": 0.8016603096253085,
      "grad_norm": 1.0282540321350098,
      "learning_rate": 0.00042980129209112283,
      "loss": 0.0887,
      "step": 3573
    },
    {
      "epoch": 0.8016603096253085,
      "gripper_loss": 0.08740234375,
      "loss": 0.1474609375,
      "pos_loss": 0.62109375,
      "rot_loss": 0.7890625,
      "step": 3573
    },
    {
      "epoch": 0.8018846757908907,
      "grad_norm": 0.7854189872741699,
      "learning_rate": 0.00042975921010375323,
      "loss": 0.1175,
      "step": 3574
    },
    {
      "epoch": 0.8018846757908907,
      "gripper_loss": 0.12158203125,
      "loss": 0.0263671875,
      "pos_loss": 0.054931640625,
      "rot_loss": 0.0830078125,
      "step": 3574
    },
    {
      "epoch": 0.8021090419564729,
      "grad_norm": 0.7150241136550903,
      "learning_rate": 0.0004297171175681944,
      "loss": 0.0976,
      "step": 3575
    },
    {
      "epoch": 0.8021090419564729,
      "gripper_loss": 0.4453125,
      "loss": 0.1572265625,
      "pos_loss": 1.390625,
      "rot_loss": 0.048095703125,
      "step": 3575
    },
    {
      "epoch": 0.8023334081220552,
      "grad_norm": 0.6109721660614014,
      "learning_rate": 0.00042967501448691625,
      "loss": 0.0887,
      "step": 3576
    },
    {
      "epoch": 0.8023334081220552,
      "gripper_loss": 0.02734375,
      "loss": 0.2294921875,
      "pos_loss": 1.953125,
      "rot_loss": 0.330078125,
      "step": 3576
    },
    {
      "epoch": 0.8025577742876374,
      "grad_norm": 0.6163220405578613,
      "learning_rate": 0.00042963290086238946,
      "loss": 0.0964,
      "step": 3577
    },
    {
      "epoch": 0.8025577742876374,
      "gripper_loss": 0.11279296875,
      "loss": 0.08203125,
      "pos_loss": 0.578125,
      "rot_loss": 0.1337890625,
      "step": 3577
    },
    {
      "epoch": 0.8027821404532196,
      "grad_norm": 0.6940950751304626,
      "learning_rate": 0.00042959077669708505,
      "loss": 0.1034,
      "step": 3578
    },
    {
      "epoch": 0.8027821404532196,
      "gripper_loss": 0.02392578125,
      "loss": 0.07666015625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.053466796875,
      "step": 3578
    },
    {
      "epoch": 0.8030065066188019,
      "grad_norm": 0.6724350452423096,
      "learning_rate": 0.0004295486419934751,
      "loss": 0.1041,
      "step": 3579
    },
    {
      "epoch": 0.8030065066188019,
      "gripper_loss": 0.03564453125,
      "loss": 0.142578125,
      "pos_loss": 1.0546875,
      "rot_loss": 0.361328125,
      "step": 3579
    },
    {
      "epoch": 0.8032308727843841,
      "grad_norm": 0.5830010175704956,
      "learning_rate": 0.00042950649675403186,
      "loss": 0.1266,
      "step": 3580
    },
    {
      "epoch": 0.8032308727843841,
      "gripper_loss": 0.04248046875,
      "loss": 0.10107421875,
      "pos_loss": 0.228515625,
      "rot_loss": 0.7109375,
      "step": 3580
    },
    {
      "epoch": 0.8034552389499664,
      "grad_norm": 0.581662118434906,
      "learning_rate": 0.00042946434098122845,
      "loss": 0.0893,
      "step": 3581
    },
    {
      "epoch": 0.8034552389499664,
      "gripper_loss": 0.044189453125,
      "loss": 0.1904296875,
      "pos_loss": 0.98828125,
      "rot_loss": 0.94921875,
      "step": 3581
    },
    {
      "epoch": 0.8036796051155486,
      "grad_norm": 0.6342361569404602,
      "learning_rate": 0.00042942217467753854,
      "loss": 0.0815,
      "step": 3582
    },
    {
      "epoch": 0.8036796051155486,
      "gripper_loss": 0.1572265625,
      "loss": 0.11962890625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.255859375,
      "step": 3582
    },
    {
      "epoch": 0.8039039712811308,
      "grad_norm": 1.1942375898361206,
      "learning_rate": 0.00042937999784543646,
      "loss": 0.1517,
      "step": 3583
    },
    {
      "epoch": 0.8039039712811308,
      "gripper_loss": 0.0152587890625,
      "loss": 0.2060546875,
      "pos_loss": 0.62109375,
      "rot_loss": 1.40625,
      "step": 3583
    },
    {
      "epoch": 0.8041283374467131,
      "grad_norm": 0.6528473496437073,
      "learning_rate": 0.0004293378104873971,
      "loss": 0.104,
      "step": 3584
    },
    {
      "epoch": 0.8041283374467131,
      "gripper_loss": 0.37109375,
      "loss": 0.0751953125,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.189453125,
      "step": 3584
    },
    {
      "epoch": 0.8043527036122953,
      "grad_norm": 1.0024908781051636,
      "learning_rate": 0.00042929561260589613,
      "loss": 0.0823,
      "step": 3585
    },
    {
      "epoch": 0.8043527036122953,
      "gripper_loss": 0.365234375,
      "loss": 0.20703125,
      "pos_loss": 1.4375,
      "rot_loss": 0.5390625,
      "step": 3585
    },
    {
      "epoch": 0.8045770697778775,
      "grad_norm": 0.8654463887214661,
      "learning_rate": 0.0004292534042034094,
      "loss": 0.1531,
      "step": 3586
    },
    {
      "epoch": 0.8045770697778775,
      "gripper_loss": 0.0189208984375,
      "loss": 0.09765625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.2392578125,
      "step": 3586
    },
    {
      "epoch": 0.8048014359434598,
      "grad_norm": 0.6599820256233215,
      "learning_rate": 0.000429211185282414,
      "loss": 0.09,
      "step": 3587
    },
    {
      "epoch": 0.8048014359434598,
      "gripper_loss": 0.019775390625,
      "loss": 0.296875,
      "pos_loss": 2.328125,
      "rot_loss": 0.72265625,
      "step": 3587
    },
    {
      "epoch": 0.805025802109042,
      "grad_norm": 0.8255420327186584,
      "learning_rate": 0.0004291689558453871,
      "loss": 0.1397,
      "step": 3588
    },
    {
      "epoch": 0.805025802109042,
      "gripper_loss": 0.078125,
      "loss": 0.1123046875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.171875,
      "step": 3588
    },
    {
      "epoch": 0.8052501682746241,
      "grad_norm": 0.7736576199531555,
      "learning_rate": 0.00042912671589480687,
      "loss": 0.1094,
      "step": 3589
    },
    {
      "epoch": 0.8052501682746241,
      "gripper_loss": 0.89453125,
      "loss": 0.13671875,
      "pos_loss": 0.99609375,
      "rot_loss": 0.1005859375,
      "step": 3589
    },
    {
      "epoch": 0.8054745344402064,
      "grad_norm": 0.6773089170455933,
      "learning_rate": 0.0004290844654331518,
      "loss": 0.1105,
      "step": 3590
    },
    {
      "epoch": 0.8054745344402064,
      "gripper_loss": 1.0234375,
      "loss": 0.07080078125,
      "pos_loss": 0.197265625,
      "rot_loss": 0.045654296875,
      "step": 3590
    },
    {
      "epoch": 0.8056989006057886,
      "grad_norm": 0.9182776808738708,
      "learning_rate": 0.00042904220446290123,
      "loss": 0.0971,
      "step": 3591
    },
    {
      "epoch": 0.8056989006057886,
      "gripper_loss": 0.057373046875,
      "loss": 0.06591796875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.259765625,
      "step": 3591
    },
    {
      "epoch": 0.8059232667713708,
      "grad_norm": 0.577944815158844,
      "learning_rate": 0.0004289999329865348,
      "loss": 0.1026,
      "step": 3592
    },
    {
      "epoch": 0.8059232667713708,
      "gripper_loss": 0.31640625,
      "loss": 0.30859375,
      "pos_loss": 1.375,
      "rot_loss": 0.578125,
      "step": 3592
    },
    {
      "epoch": 0.8061476329369531,
      "grad_norm": 1.1029627323150635,
      "learning_rate": 0.0004289576510065333,
      "loss": 0.1736,
      "step": 3593
    },
    {
      "epoch": 0.8061476329369531,
      "gripper_loss": 0.31640625,
      "loss": 0.0517578125,
      "pos_loss": 0.158203125,
      "rot_loss": 0.16015625,
      "step": 3593
    },
    {
      "epoch": 0.8063719991025353,
      "grad_norm": 0.721198558807373,
      "learning_rate": 0.0004289153585253776,
      "loss": 0.1029,
      "step": 3594
    },
    {
      "epoch": 0.8063719991025353,
      "gripper_loss": 0.115234375,
      "loss": 0.25,
      "pos_loss": 0.58984375,
      "rot_loss": 0.94140625,
      "step": 3594
    },
    {
      "epoch": 0.8065963652681176,
      "grad_norm": 1.4767186641693115,
      "learning_rate": 0.00042887305554554947,
      "loss": 0.2272,
      "step": 3595
    },
    {
      "epoch": 0.8065963652681176,
      "gripper_loss": 0.275390625,
      "loss": 0.23828125,
      "pos_loss": 1.015625,
      "rot_loss": 0.41015625,
      "step": 3595
    },
    {
      "epoch": 0.8068207314336998,
      "grad_norm": 1.3691643476486206,
      "learning_rate": 0.0004288307420695312,
      "loss": 0.1819,
      "step": 3596
    },
    {
      "epoch": 0.8068207314336998,
      "gripper_loss": 0.0810546875,
      "loss": 0.1044921875,
      "pos_loss": 0.59375,
      "rot_loss": 0.337890625,
      "step": 3596
    },
    {
      "epoch": 0.807045097599282,
      "grad_norm": 0.6708971858024597,
      "learning_rate": 0.0004287884180998058,
      "loss": 0.119,
      "step": 3597
    },
    {
      "epoch": 0.807045097599282,
      "gripper_loss": 0.049072265625,
      "loss": 0.103515625,
      "pos_loss": 0.408203125,
      "rot_loss": 0.57421875,
      "step": 3597
    },
    {
      "epoch": 0.8072694637648643,
      "grad_norm": 0.8024804592132568,
      "learning_rate": 0.0004287460836388567,
      "loss": 0.0973,
      "step": 3598
    },
    {
      "epoch": 0.8072694637648643,
      "gripper_loss": 0.0517578125,
      "loss": 0.10546875,
      "pos_loss": 0.435546875,
      "rot_loss": 0.52734375,
      "step": 3598
    },
    {
      "epoch": 0.8074938299304465,
      "grad_norm": 0.7931719422340393,
      "learning_rate": 0.0004287037386891682,
      "loss": 0.0901,
      "step": 3599
    },
    {
      "epoch": 0.8074938299304465,
      "gripper_loss": 1.109375,
      "loss": 0.1669921875,
      "pos_loss": 0.640625,
      "rot_loss": 0.6796875,
      "step": 3599
    },
    {
      "epoch": 0.8077181960960287,
      "grad_norm": 0.6687027215957642,
      "learning_rate": 0.000428661383253225,
      "loss": 0.0844,
      "step": 3600
    },
    {
      "epoch": 0.8077181960960287,
      "gripper_loss": 0.0284423828125,
      "loss": 0.2001953125,
      "pos_loss": 1.5,
      "rot_loss": 0.50390625,
      "step": 3600
    },
    {
      "epoch": 0.807942562261611,
      "grad_norm": 0.6191086173057556,
      "learning_rate": 0.0004286190173335125,
      "loss": 0.0934,
      "step": 3601
    },
    {
      "epoch": 0.807942562261611,
      "gripper_loss": 0.11181640625,
      "loss": 0.205078125,
      "pos_loss": 1.65625,
      "rot_loss": 0.1435546875,
      "step": 3601
    },
    {
      "epoch": 0.8081669284271932,
      "grad_norm": 0.798011839389801,
      "learning_rate": 0.0004285766409325167,
      "loss": 0.1569,
      "step": 3602
    },
    {
      "epoch": 0.8081669284271932,
      "gripper_loss": 0.703125,
      "loss": 0.12353515625,
      "pos_loss": 0.328125,
      "rot_loss": 0.66796875,
      "step": 3602
    },
    {
      "epoch": 0.8083912945927754,
      "grad_norm": 0.539991557598114,
      "learning_rate": 0.0004285342540527243,
      "loss": 0.0942,
      "step": 3603
    },
    {
      "epoch": 0.8083912945927754,
      "gripper_loss": 0.07763671875,
      "loss": 0.0478515625,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.1357421875,
      "step": 3603
    },
    {
      "epoch": 0.8086156607583577,
      "grad_norm": 0.49913525581359863,
      "learning_rate": 0.00042849185669662247,
      "loss": 0.1002,
      "step": 3604
    },
    {
      "epoch": 0.8086156607583577,
      "gripper_loss": 0.486328125,
      "loss": 0.1767578125,
      "pos_loss": 0.337890625,
      "rot_loss": 0.1953125,
      "step": 3604
    },
    {
      "epoch": 0.8088400269239399,
      "grad_norm": 1.55801260471344,
      "learning_rate": 0.00042844944886669914,
      "loss": 0.1954,
      "step": 3605
    },
    {
      "epoch": 0.8088400269239399,
      "gripper_loss": 0.0458984375,
      "loss": 0.10400390625,
      "pos_loss": 0.9140625,
      "rot_loss": 0.035400390625,
      "step": 3605
    },
    {
      "epoch": 0.809064393089522,
      "grad_norm": 0.7482163310050964,
      "learning_rate": 0.0004284070305654427,
      "loss": 0.139,
      "step": 3606
    },
    {
      "epoch": 0.809064393089522,
      "gripper_loss": 0.140625,
      "loss": 0.0615234375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.0206298828125,
      "step": 3606
    },
    {
      "epoch": 0.8092887592551044,
      "grad_norm": 0.8443005084991455,
      "learning_rate": 0.0004283646017953423,
      "loss": 0.0912,
      "step": 3607
    },
    {
      "epoch": 0.8092887592551044,
      "gripper_loss": 0.0458984375,
      "loss": 0.038330078125,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.1552734375,
      "step": 3607
    },
    {
      "epoch": 0.8095131254206865,
      "grad_norm": 0.6254419684410095,
      "learning_rate": 0.00042832216255888765,
      "loss": 0.0739,
      "step": 3608
    },
    {
      "epoch": 0.8095131254206865,
      "gripper_loss": 0.0260009765625,
      "loss": 0.1337890625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.2734375,
      "step": 3608
    },
    {
      "epoch": 0.8097374915862688,
      "grad_norm": 0.557705283164978,
      "learning_rate": 0.000428279712858569,
      "loss": 0.1233,
      "step": 3609
    },
    {
      "epoch": 0.8097374915862688,
      "gripper_loss": 0.1025390625,
      "loss": 0.045166015625,
      "pos_loss": 0.20703125,
      "rot_loss": 0.08984375,
      "step": 3609
    },
    {
      "epoch": 0.809961857751851,
      "grad_norm": 0.6251423954963684,
      "learning_rate": 0.0004282372526968773,
      "loss": 0.0827,
      "step": 3610
    },
    {
      "epoch": 0.809961857751851,
      "gripper_loss": 0.41015625,
      "loss": 0.042724609375,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.0830078125,
      "step": 3610
    },
    {
      "epoch": 0.8101862239174332,
      "grad_norm": 0.6881124973297119,
      "learning_rate": 0.0004281947820763041,
      "loss": 0.0786,
      "step": 3611
    },
    {
      "epoch": 0.8101862239174332,
      "gripper_loss": 0.11572265625,
      "loss": 0.07568359375,
      "pos_loss": 0.46484375,
      "rot_loss": 0.09814453125,
      "step": 3611
    },
    {
      "epoch": 0.8104105900830155,
      "grad_norm": 0.7803460955619812,
      "learning_rate": 0.0004281523009993416,
      "loss": 0.1168,
      "step": 3612
    },
    {
      "epoch": 0.8104105900830155,
      "gripper_loss": 0.1943359375,
      "loss": 0.12890625,
      "pos_loss": 0.9765625,
      "rot_loss": 0.22265625,
      "step": 3612
    },
    {
      "epoch": 0.8106349562485977,
      "grad_norm": 0.747805118560791,
      "learning_rate": 0.0004281098094684825,
      "loss": 0.0805,
      "step": 3613
    },
    {
      "epoch": 0.8106349562485977,
      "gripper_loss": 0.012451171875,
      "loss": 0.07080078125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.166015625,
      "step": 3613
    },
    {
      "epoch": 0.8108593224141799,
      "grad_norm": 0.6266245245933533,
      "learning_rate": 0.00042806730748622026,
      "loss": 0.1277,
      "step": 3614
    },
    {
      "epoch": 0.8108593224141799,
      "gripper_loss": 0.1201171875,
      "loss": 0.07080078125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.09716796875,
      "step": 3614
    },
    {
      "epoch": 0.8110836885797622,
      "grad_norm": 0.6644982695579529,
      "learning_rate": 0.00042802479505504875,
      "loss": 0.0884,
      "step": 3615
    },
    {
      "epoch": 0.8110836885797622,
      "gripper_loss": 0.388671875,
      "loss": 0.55078125,
      "pos_loss": 1.9765625,
      "rot_loss": 0.9140625,
      "step": 3615
    },
    {
      "epoch": 0.8113080547453444,
      "grad_norm": 1.9956912994384766,
      "learning_rate": 0.0004279822721774628,
      "loss": 0.3804,
      "step": 3616
    },
    {
      "epoch": 0.8113080547453444,
      "gripper_loss": 0.1748046875,
      "loss": 0.08154296875,
      "pos_loss": 0.373046875,
      "rot_loss": 0.248046875,
      "step": 3616
    },
    {
      "epoch": 0.8115324209109266,
      "grad_norm": 1.0691349506378174,
      "learning_rate": 0.0004279397388559574,
      "loss": 0.118,
      "step": 3617
    },
    {
      "epoch": 0.8115324209109266,
      "gripper_loss": 0.15625,
      "loss": 0.1396484375,
      "pos_loss": 0.515625,
      "rot_loss": 0.4140625,
      "step": 3617
    },
    {
      "epoch": 0.8117567870765089,
      "grad_norm": 1.2370915412902832,
      "learning_rate": 0.00042789719509302843,
      "loss": 0.1748,
      "step": 3618
    },
    {
      "epoch": 0.8117567870765089,
      "gripper_loss": 0.0269775390625,
      "loss": 0.12158203125,
      "pos_loss": 0.71875,
      "rot_loss": 0.431640625,
      "step": 3618
    },
    {
      "epoch": 0.8119811532420911,
      "grad_norm": 0.5551937222480774,
      "learning_rate": 0.0004278546408911724,
      "loss": 0.1231,
      "step": 3619
    },
    {
      "epoch": 0.8119811532420911,
      "gripper_loss": 0.34765625,
      "loss": 0.0712890625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.130859375,
      "step": 3619
    },
    {
      "epoch": 0.8122055194076733,
      "grad_norm": 0.9363918900489807,
      "learning_rate": 0.0004278120762528865,
      "loss": 0.1256,
      "step": 3620
    },
    {
      "epoch": 0.8122055194076733,
      "gripper_loss": 0.032958984375,
      "loss": 0.2119140625,
      "pos_loss": 2.0,
      "rot_loss": 0.041015625,
      "step": 3620
    },
    {
      "epoch": 0.8124298855732556,
      "grad_norm": 0.6653628349304199,
      "learning_rate": 0.00042776950118066814,
      "loss": 0.0813,
      "step": 3621
    },
    {
      "epoch": 0.8124298855732556,
      "gripper_loss": 0.578125,
      "loss": 0.0634765625,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.185546875,
      "step": 3621
    },
    {
      "epoch": 0.8126542517388378,
      "grad_norm": 0.6427842378616333,
      "learning_rate": 0.00042772691567701584,
      "loss": 0.0801,
      "step": 3622
    },
    {
      "epoch": 0.8126542517388378,
      "gripper_loss": 0.41015625,
      "loss": 0.1318359375,
      "pos_loss": 0.59375,
      "rot_loss": 0.310546875,
      "step": 3622
    },
    {
      "epoch": 0.8128786179044201,
      "grad_norm": 1.3981035947799683,
      "learning_rate": 0.0004276843197444283,
      "loss": 0.2047,
      "step": 3623
    },
    {
      "epoch": 0.8128786179044201,
      "gripper_loss": 0.0693359375,
      "loss": 0.11962890625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.3828125,
      "step": 3623
    },
    {
      "epoch": 0.8131029840700023,
      "grad_norm": 0.4489239752292633,
      "learning_rate": 0.00042764171338540515,
      "loss": 0.0868,
      "step": 3624
    },
    {
      "epoch": 0.8131029840700023,
      "gripper_loss": 0.470703125,
      "loss": 0.1328125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.75390625,
      "step": 3624
    },
    {
      "epoch": 0.8133273502355844,
      "grad_norm": 0.589504599571228,
      "learning_rate": 0.0004275990966024465,
      "loss": 0.1184,
      "step": 3625
    },
    {
      "epoch": 0.8133273502355844,
      "gripper_loss": 1.4765625,
      "loss": 0.103515625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.1826171875,
      "step": 3625
    },
    {
      "epoch": 0.8135517164011667,
      "grad_norm": 0.6654238700866699,
      "learning_rate": 0.00042755646939805303,
      "loss": 0.1221,
      "step": 3626
    },
    {
      "epoch": 0.8135517164011667,
      "gripper_loss": 0.01495361328125,
      "loss": 0.234375,
      "pos_loss": 1.25,
      "rot_loss": 1.0546875,
      "step": 3626
    },
    {
      "epoch": 0.8137760825667489,
      "grad_norm": 0.7375959157943726,
      "learning_rate": 0.0004275138317747262,
      "loss": 0.1513,
      "step": 3627
    },
    {
      "epoch": 0.8137760825667489,
      "gripper_loss": 0.010009765625,
      "loss": 0.06005859375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.0213623046875,
      "step": 3627
    },
    {
      "epoch": 0.8140004487323311,
      "grad_norm": 0.7617312073707581,
      "learning_rate": 0.00042747118373496785,
      "loss": 0.0939,
      "step": 3628
    },
    {
      "epoch": 0.8140004487323311,
      "gripper_loss": 0.08740234375,
      "loss": 0.158203125,
      "pos_loss": 0.8984375,
      "rot_loss": 0.423828125,
      "step": 3628
    },
    {
      "epoch": 0.8142248148979134,
      "grad_norm": 0.7976537346839905,
      "learning_rate": 0.0004274285252812806,
      "loss": 0.1248,
      "step": 3629
    },
    {
      "epoch": 0.8142248148979134,
      "gripper_loss": 0.04248046875,
      "loss": 0.1611328125,
      "pos_loss": 1.15625,
      "rot_loss": 0.23046875,
      "step": 3629
    },
    {
      "epoch": 0.8144491810634956,
      "grad_norm": 0.6603131294250488,
      "learning_rate": 0.00042738585641616754,
      "loss": 0.1052,
      "step": 3630
    },
    {
      "epoch": 0.8144491810634956,
      "gripper_loss": 0.5703125,
      "loss": 0.06982421875,
      "pos_loss": 0.25390625,
      "rot_loss": 0.1884765625,
      "step": 3630
    },
    {
      "epoch": 0.8146735472290778,
      "grad_norm": 0.5655146837234497,
      "learning_rate": 0.00042734317714213256,
      "loss": 0.1287,
      "step": 3631
    },
    {
      "epoch": 0.8146735472290778,
      "gripper_loss": 0.0634765625,
      "loss": 0.1982421875,
      "pos_loss": 0.498046875,
      "rot_loss": 1.5,
      "step": 3631
    },
    {
      "epoch": 0.8148979133946601,
      "grad_norm": 0.6925051212310791,
      "learning_rate": 0.0004273004874616801,
      "loss": 0.1193,
      "step": 3632
    },
    {
      "epoch": 0.8148979133946601,
      "gripper_loss": 0.369140625,
      "loss": 0.279296875,
      "pos_loss": 0.330078125,
      "rot_loss": 0.765625,
      "step": 3632
    },
    {
      "epoch": 0.8151222795602423,
      "grad_norm": 1.9371341466903687,
      "learning_rate": 0.00042725778737731505,
      "loss": 0.3057,
      "step": 3633
    },
    {
      "epoch": 0.8151222795602423,
      "gripper_loss": 0.3828125,
      "loss": 0.030517578125,
      "pos_loss": 0.0341796875,
      "rot_loss": 0.0693359375,
      "step": 3633
    },
    {
      "epoch": 0.8153466457258245,
      "grad_norm": 0.7684868574142456,
      "learning_rate": 0.0004272150768915431,
      "loss": 0.154,
      "step": 3634
    },
    {
      "epoch": 0.8153466457258245,
      "gripper_loss": 0.032470703125,
      "loss": 0.1025390625,
      "pos_loss": 0.62109375,
      "rot_loss": 0.2138671875,
      "step": 3634
    },
    {
      "epoch": 0.8155710118914068,
      "grad_norm": 1.1678482294082642,
      "learning_rate": 0.00042717235600687044,
      "loss": 0.0935,
      "step": 3635
    },
    {
      "epoch": 0.8155710118914068,
      "gripper_loss": 1.2109375,
      "loss": 0.126953125,
      "pos_loss": 0.80078125,
      "rot_loss": 0.056396484375,
      "step": 3635
    },
    {
      "epoch": 0.815795378056989,
      "grad_norm": 0.8329592347145081,
      "learning_rate": 0.00042712962472580396,
      "loss": 0.1105,
      "step": 3636
    },
    {
      "epoch": 0.815795378056989,
      "gripper_loss": 0.328125,
      "loss": 0.130859375,
      "pos_loss": 0.78515625,
      "rot_loss": 0.333984375,
      "step": 3636
    },
    {
      "epoch": 0.8160197442225713,
      "grad_norm": 0.704239547252655,
      "learning_rate": 0.0004270868830508512,
      "loss": 0.1111,
      "step": 3637
    },
    {
      "epoch": 0.8160197442225713,
      "gripper_loss": 0.0166015625,
      "loss": 0.181640625,
      "pos_loss": 0.78515625,
      "rot_loss": 1.0234375,
      "step": 3637
    },
    {
      "epoch": 0.8162441103881535,
      "grad_norm": 0.6765211820602417,
      "learning_rate": 0.00042704413098452,
      "loss": 0.1133,
      "step": 3638
    },
    {
      "epoch": 0.8162441103881535,
      "gripper_loss": 0.1142578125,
      "loss": 0.1572265625,
      "pos_loss": 1.2578125,
      "rot_loss": 0.275390625,
      "step": 3638
    },
    {
      "epoch": 0.8164684765537357,
      "grad_norm": 0.5182459950447083,
      "learning_rate": 0.00042700136852931914,
      "loss": 0.1087,
      "step": 3639
    },
    {
      "epoch": 0.8164684765537357,
      "gripper_loss": 0.58203125,
      "loss": 0.115234375,
      "pos_loss": 0.59375,
      "rot_loss": 0.27734375,
      "step": 3639
    },
    {
      "epoch": 0.816692842719318,
      "grad_norm": 0.9252710938453674,
      "learning_rate": 0.000426958595687758,
      "loss": 0.1469,
      "step": 3640
    },
    {
      "epoch": 0.816692842719318,
      "gripper_loss": 0.0225830078125,
      "loss": 0.044921875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.035400390625,
      "step": 3640
    },
    {
      "epoch": 0.8169172088849002,
      "grad_norm": 0.567881166934967,
      "learning_rate": 0.00042691581246234636,
      "loss": 0.1033,
      "step": 3641
    },
    {
      "epoch": 0.8169172088849002,
      "gripper_loss": 0.1640625,
      "loss": 0.10595703125,
      "pos_loss": 0.59375,
      "rot_loss": 0.36328125,
      "step": 3641
    },
    {
      "epoch": 0.8171415750504823,
      "grad_norm": 0.7034472823143005,
      "learning_rate": 0.00042687301885559463,
      "loss": 0.1153,
      "step": 3642
    },
    {
      "epoch": 0.8171415750504823,
      "gripper_loss": 0.26953125,
      "loss": 0.0771484375,
      "pos_loss": 0.59375,
      "rot_loss": 0.053955078125,
      "step": 3642
    },
    {
      "epoch": 0.8173659412160647,
      "grad_norm": 0.696442186832428,
      "learning_rate": 0.00042683021487001415,
      "loss": 0.081,
      "step": 3643
    },
    {
      "epoch": 0.8173659412160647,
      "gripper_loss": 0.337890625,
      "loss": 0.1376953125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.25390625,
      "step": 3643
    },
    {
      "epoch": 0.8175903073816468,
      "grad_norm": 0.5624616146087646,
      "learning_rate": 0.0004267874005081165,
      "loss": 0.089,
      "step": 3644
    },
    {
      "epoch": 0.8175903073816468,
      "gripper_loss": 0.11767578125,
      "loss": 0.1376953125,
      "pos_loss": 0.8671875,
      "rot_loss": 0.326171875,
      "step": 3644
    },
    {
      "epoch": 0.817814673547229,
      "grad_norm": 0.5702841877937317,
      "learning_rate": 0.00042674457577241396,
      "loss": 0.1007,
      "step": 3645
    },
    {
      "epoch": 0.817814673547229,
      "gripper_loss": 0.0556640625,
      "loss": 0.0615234375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.1513671875,
      "step": 3645
    },
    {
      "epoch": 0.8180390397128113,
      "grad_norm": 0.7385764122009277,
      "learning_rate": 0.0004267017406654196,
      "loss": 0.1016,
      "step": 3646
    },
    {
      "epoch": 0.8180390397128113,
      "gripper_loss": 0.1162109375,
      "loss": 0.05126953125,
      "pos_loss": 0.33203125,
      "rot_loss": 0.10302734375,
      "step": 3646
    },
    {
      "epoch": 0.8182634058783935,
      "grad_norm": 0.6155999898910522,
      "learning_rate": 0.00042665889518964686,
      "loss": 0.101,
      "step": 3647
    },
    {
      "epoch": 0.8182634058783935,
      "gripper_loss": 0.016357421875,
      "loss": 0.1640625,
      "pos_loss": 1.046875,
      "rot_loss": 0.58984375,
      "step": 3647
    },
    {
      "epoch": 0.8184877720439757,
      "grad_norm": 1.0349496603012085,
      "learning_rate": 0.00042661603934760996,
      "loss": 0.1575,
      "step": 3648
    },
    {
      "epoch": 0.8184877720439757,
      "gripper_loss": 0.1142578125,
      "loss": 0.037109375,
      "pos_loss": 0.2109375,
      "rot_loss": 0.05712890625,
      "step": 3648
    },
    {
      "epoch": 0.818712138209558,
      "grad_norm": 0.5793671607971191,
      "learning_rate": 0.00042657317314182366,
      "loss": 0.0906,
      "step": 3649
    },
    {
      "epoch": 0.818712138209558,
      "gripper_loss": 0.87890625,
      "loss": 0.11572265625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.294921875,
      "step": 3649
    },
    {
      "epoch": 0.8189365043751402,
      "grad_norm": 0.5181964039802551,
      "learning_rate": 0.00042653029657480323,
      "loss": 0.1233,
      "step": 3650
    },
    {
      "epoch": 0.8189365043751402,
      "gripper_loss": 0.01190185546875,
      "loss": 0.2333984375,
      "pos_loss": 1.5234375,
      "rot_loss": 0.91015625,
      "step": 3650
    },
    {
      "epoch": 0.8191608705407225,
      "grad_norm": 0.7613705396652222,
      "learning_rate": 0.00042648740964906475,
      "loss": 0.1384,
      "step": 3651
    },
    {
      "epoch": 0.8191608705407225,
      "gripper_loss": 0.8046875,
      "loss": 0.056640625,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.05859375,
      "step": 3651
    },
    {
      "epoch": 0.8193852367063047,
      "grad_norm": 0.4981403052806854,
      "learning_rate": 0.0004264445123671248,
      "loss": 0.1078,
      "step": 3652
    },
    {
      "epoch": 0.8193852367063047,
      "gripper_loss": 0.0267333984375,
      "loss": 0.07421875,
      "pos_loss": 0.60546875,
      "rot_loss": 0.1259765625,
      "step": 3652
    },
    {
      "epoch": 0.8196096028718869,
      "grad_norm": 0.5311723351478577,
      "learning_rate": 0.0004264016047315005,
      "loss": 0.1135,
      "step": 3653
    },
    {
      "epoch": 0.8196096028718869,
      "gripper_loss": 0.0211181640625,
      "loss": 0.11865234375,
      "pos_loss": 0.8359375,
      "rot_loss": 0.30078125,
      "step": 3653
    },
    {
      "epoch": 0.8198339690374692,
      "grad_norm": 0.7318446040153503,
      "learning_rate": 0.00042635868674470976,
      "loss": 0.0798,
      "step": 3654
    },
    {
      "epoch": 0.8198339690374692,
      "gripper_loss": 0.486328125,
      "loss": 0.0947265625,
      "pos_loss": 0.6875,
      "rot_loss": 0.09033203125,
      "step": 3654
    },
    {
      "epoch": 0.8200583352030514,
      "grad_norm": 0.5524448752403259,
      "learning_rate": 0.0004263157584092709,
      "loss": 0.0755,
      "step": 3655
    },
    {
      "epoch": 0.8200583352030514,
      "gripper_loss": 0.087890625,
      "loss": 0.05712890625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.2158203125,
      "step": 3655
    },
    {
      "epoch": 0.8202827013686336,
      "grad_norm": 0.564430296421051,
      "learning_rate": 0.0004262728197277029,
      "loss": 0.0752,
      "step": 3656
    },
    {
      "epoch": 0.8202827013686336,
      "gripper_loss": 0.6484375,
      "loss": 0.09228515625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.0206298828125,
      "step": 3656
    },
    {
      "epoch": 0.8205070675342159,
      "grad_norm": 0.6383446455001831,
      "learning_rate": 0.00042622987070252557,
      "loss": 0.0809,
      "step": 3657
    },
    {
      "epoch": 0.8205070675342159,
      "gripper_loss": 0.5546875,
      "loss": 0.1787109375,
      "pos_loss": 0.359375,
      "rot_loss": 0.5390625,
      "step": 3657
    },
    {
      "epoch": 0.8207314336997981,
      "grad_norm": 1.4280050992965698,
      "learning_rate": 0.00042618691133625896,
      "loss": 0.1804,
      "step": 3658
    },
    {
      "epoch": 0.8207314336997981,
      "gripper_loss": 0.16015625,
      "loss": 0.09619140625,
      "pos_loss": 0.65625,
      "rot_loss": 0.12451171875,
      "step": 3658
    },
    {
      "epoch": 0.8209557998653803,
      "grad_norm": 0.7679392695426941,
      "learning_rate": 0.00042614394163142396,
      "loss": 0.1042,
      "step": 3659
    },
    {
      "epoch": 0.8209557998653803,
      "gripper_loss": 0.80859375,
      "loss": 0.1474609375,
      "pos_loss": 0.72265625,
      "rot_loss": 0.302734375,
      "step": 3659
    },
    {
      "epoch": 0.8211801660309626,
      "grad_norm": 0.8982505202293396,
      "learning_rate": 0.000426100961590542,
      "loss": 0.1349,
      "step": 3660
    },
    {
      "epoch": 0.8211801660309626,
      "gripper_loss": 0.890625,
      "loss": 0.123046875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.2294921875,
      "step": 3660
    },
    {
      "epoch": 0.8214045321965447,
      "grad_norm": 0.7987167239189148,
      "learning_rate": 0.0004260579712161351,
      "loss": 0.123,
      "step": 3661
    },
    {
      "epoch": 0.8214045321965447,
      "gripper_loss": 0.28515625,
      "loss": 0.0673828125,
      "pos_loss": 0.357421875,
      "rot_loss": 0.080078125,
      "step": 3661
    },
    {
      "epoch": 0.8216288983621269,
      "grad_norm": 0.6264430284500122,
      "learning_rate": 0.00042601497051072604,
      "loss": 0.1147,
      "step": 3662
    },
    {
      "epoch": 0.8216288983621269,
      "gripper_loss": 0.115234375,
      "loss": 0.1728515625,
      "pos_loss": 0.83984375,
      "rot_loss": 0.85546875,
      "step": 3662
    },
    {
      "epoch": 0.8218532645277092,
      "grad_norm": 0.9098054766654968,
      "learning_rate": 0.00042597195947683796,
      "loss": 0.1047,
      "step": 3663
    },
    {
      "epoch": 0.8218532645277092,
      "gripper_loss": 0.08447265625,
      "loss": 0.16796875,
      "pos_loss": 0.49609375,
      "rot_loss": 1.1953125,
      "step": 3663
    },
    {
      "epoch": 0.8220776306932914,
      "grad_norm": 0.6553266048431396,
      "learning_rate": 0.00042592893811699474,
      "loss": 0.0927,
      "step": 3664
    },
    {
      "epoch": 0.8220776306932914,
      "gripper_loss": 0.82421875,
      "loss": 0.060302734375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.03271484375,
      "step": 3664
    },
    {
      "epoch": 0.8223019968588737,
      "grad_norm": 0.6503528356552124,
      "learning_rate": 0.0004258859064337209,
      "loss": 0.1098,
      "step": 3665
    },
    {
      "epoch": 0.8223019968588737,
      "gripper_loss": 0.080078125,
      "loss": 0.12158203125,
      "pos_loss": 0.61328125,
      "rot_loss": 0.2138671875,
      "step": 3665
    },
    {
      "epoch": 0.8225263630244559,
      "grad_norm": 1.2123160362243652,
      "learning_rate": 0.00042584286442954157,
      "loss": 0.139,
      "step": 3666
    },
    {
      "epoch": 0.8225263630244559,
      "gripper_loss": 0.392578125,
      "loss": 0.031005859375,
      "pos_loss": 0.10693359375,
      "rot_loss": 0.0233154296875,
      "step": 3666
    },
    {
      "epoch": 0.8227507291900381,
      "grad_norm": 0.5409404039382935,
      "learning_rate": 0.0004257998121069824,
      "loss": 0.0841,
      "step": 3667
    },
    {
      "epoch": 0.8227507291900381,
      "gripper_loss": 0.0810546875,
      "loss": 0.1064453125,
      "pos_loss": 0.6015625,
      "rot_loss": 0.408203125,
      "step": 3667
    },
    {
      "epoch": 0.8229750953556204,
      "grad_norm": 0.6535124182701111,
      "learning_rate": 0.00042575674946856946,
      "loss": 0.0906,
      "step": 3668
    },
    {
      "epoch": 0.8229750953556204,
      "gripper_loss": 0.05712890625,
      "loss": 0.061279296875,
      "pos_loss": 0.203125,
      "rot_loss": 0.2314453125,
      "step": 3668
    },
    {
      "epoch": 0.8231994615212026,
      "grad_norm": 0.9171212315559387,
      "learning_rate": 0.00042571367651682995,
      "loss": 0.0765,
      "step": 3669
    },
    {
      "epoch": 0.8231994615212026,
      "gripper_loss": 0.0439453125,
      "loss": 0.060302734375,
      "pos_loss": 0.470703125,
      "rot_loss": 0.07421875,
      "step": 3669
    },
    {
      "epoch": 0.8234238276867848,
      "grad_norm": 0.8181033730506897,
      "learning_rate": 0.00042567059325429124,
      "loss": 0.166,
      "step": 3670
    },
    {
      "epoch": 0.8234238276867848,
      "gripper_loss": 0.0576171875,
      "loss": 0.10498046875,
      "pos_loss": 0.4609375,
      "rot_loss": 0.5703125,
      "step": 3670
    },
    {
      "epoch": 0.8236481938523671,
      "grad_norm": 0.6760850548744202,
      "learning_rate": 0.0004256274996834815,
      "loss": 0.0773,
      "step": 3671
    },
    {
      "epoch": 0.8236481938523671,
      "gripper_loss": 1.890625,
      "loss": 0.1298828125,
      "pos_loss": 0.416015625,
      "rot_loss": 0.25390625,
      "step": 3671
    },
    {
      "epoch": 0.8238725600179493,
      "grad_norm": 0.7636823058128357,
      "learning_rate": 0.0004255843958069293,
      "loss": 0.102,
      "step": 3672
    },
    {
      "epoch": 0.8238725600179493,
      "gripper_loss": 0.1591796875,
      "loss": 0.0458984375,
      "pos_loss": 0.287109375,
      "rot_loss": 0.08154296875,
      "step": 3672
    },
    {
      "epoch": 0.8240969261835315,
      "grad_norm": 0.8325623869895935,
      "learning_rate": 0.0004255412816271641,
      "loss": 0.1018,
      "step": 3673
    },
    {
      "epoch": 0.8240969261835315,
      "gripper_loss": 0.1650390625,
      "loss": 0.061767578125,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.35546875,
      "step": 3673
    },
    {
      "epoch": 0.8243212923491138,
      "grad_norm": 0.644463062286377,
      "learning_rate": 0.0004254981571467158,
      "loss": 0.1166,
      "step": 3674
    },
    {
      "epoch": 0.8243212923491138,
      "gripper_loss": 1.1484375,
      "loss": 0.08837890625,
      "pos_loss": 0.34375,
      "rot_loss": 0.076171875,
      "step": 3674
    },
    {
      "epoch": 0.824545658514696,
      "grad_norm": 0.730821430683136,
      "learning_rate": 0.00042545502236811483,
      "loss": 0.0753,
      "step": 3675
    },
    {
      "epoch": 0.824545658514696,
      "gripper_loss": 0.75390625,
      "loss": 0.07080078125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.07275390625,
      "step": 3675
    },
    {
      "epoch": 0.8247700246802783,
      "grad_norm": 0.8097991943359375,
      "learning_rate": 0.00042541187729389253,
      "loss": 0.1032,
      "step": 3676
    },
    {
      "epoch": 0.8247700246802783,
      "gripper_loss": 0.017822265625,
      "loss": 0.08837890625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.06494140625,
      "step": 3676
    },
    {
      "epoch": 0.8249943908458605,
      "grad_norm": 0.7124052047729492,
      "learning_rate": 0.00042536872192658034,
      "loss": 0.0948,
      "step": 3677
    },
    {
      "epoch": 0.8249943908458605,
      "gripper_loss": 0.07861328125,
      "loss": 0.1220703125,
      "pos_loss": 0.482421875,
      "rot_loss": 0.7265625,
      "step": 3677
    },
    {
      "epoch": 0.8252187570114426,
      "grad_norm": 0.7275750041007996,
      "learning_rate": 0.0004253255562687108,
      "loss": 0.09,
      "step": 3678
    },
    {
      "epoch": 0.8252187570114426,
      "gripper_loss": 0.11376953125,
      "loss": 0.09814453125,
      "pos_loss": 0.90625,
      "rot_loss": 0.032958984375,
      "step": 3678
    },
    {
      "epoch": 0.825443123177025,
      "grad_norm": 0.6535995602607727,
      "learning_rate": 0.0004252823803228167,
      "loss": 0.1258,
      "step": 3679
    },
    {
      "epoch": 0.825443123177025,
      "gripper_loss": 0.05419921875,
      "loss": 0.0869140625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.1748046875,
      "step": 3679
    },
    {
      "epoch": 0.8256674893426071,
      "grad_norm": 0.7418954968452454,
      "learning_rate": 0.00042523919409143184,
      "loss": 0.0989,
      "step": 3680
    },
    {
      "epoch": 0.8256674893426071,
      "gripper_loss": 0.08154296875,
      "loss": 0.1474609375,
      "pos_loss": 1.171875,
      "rot_loss": 0.1689453125,
      "step": 3680
    },
    {
      "epoch": 0.8258918555081893,
      "grad_norm": 0.6990590691566467,
      "learning_rate": 0.00042519599757709017,
      "loss": 0.1089,
      "step": 3681
    },
    {
      "epoch": 0.8258918555081893,
      "gripper_loss": 0.859375,
      "loss": 0.15234375,
      "pos_loss": 1.109375,
      "rot_loss": 0.15625,
      "step": 3681
    },
    {
      "epoch": 0.8261162216737716,
      "grad_norm": 0.7621612548828125,
      "learning_rate": 0.00042515279078232643,
      "loss": 0.1339,
      "step": 3682
    },
    {
      "epoch": 0.8261162216737716,
      "gripper_loss": 0.03662109375,
      "loss": 0.035400390625,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.09814453125,
      "step": 3682
    },
    {
      "epoch": 0.8263405878393538,
      "grad_norm": 0.6096885800361633,
      "learning_rate": 0.000425109573709676,
      "loss": 0.078,
      "step": 3683
    },
    {
      "epoch": 0.8263405878393538,
      "gripper_loss": 0.1552734375,
      "loss": 0.1669921875,
      "pos_loss": 0.6953125,
      "rot_loss": 0.6484375,
      "step": 3683
    },
    {
      "epoch": 0.826564954004936,
      "grad_norm": 1.1818058490753174,
      "learning_rate": 0.00042506634636167495,
      "loss": 0.139,
      "step": 3684
    },
    {
      "epoch": 0.826564954004936,
      "gripper_loss": 0.69921875,
      "loss": 0.1630859375,
      "pos_loss": 0.41015625,
      "rot_loss": 1.03125,
      "step": 3684
    },
    {
      "epoch": 0.8267893201705183,
      "grad_norm": 0.671669065952301,
      "learning_rate": 0.0004250231087408597,
      "loss": 0.0746,
      "step": 3685
    },
    {
      "epoch": 0.8267893201705183,
      "gripper_loss": 0.034912109375,
      "loss": 0.0888671875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.447265625,
      "step": 3685
    },
    {
      "epoch": 0.8270136863361005,
      "grad_norm": 0.9278502464294434,
      "learning_rate": 0.00042497986084976747,
      "loss": 0.1208,
      "step": 3686
    },
    {
      "epoch": 0.8270136863361005,
      "gripper_loss": 0.31640625,
      "loss": 0.212890625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.76171875,
      "step": 3686
    },
    {
      "epoch": 0.8272380525016827,
      "grad_norm": 1.0278689861297607,
      "learning_rate": 0.0004249366026909361,
      "loss": 0.1408,
      "step": 3687
    },
    {
      "epoch": 0.8272380525016827,
      "gripper_loss": 0.051025390625,
      "loss": 0.1630859375,
      "pos_loss": 0.3828125,
      "rot_loss": 1.2578125,
      "step": 3687
    },
    {
      "epoch": 0.827462418667265,
      "grad_norm": 0.5204902291297913,
      "learning_rate": 0.0004248933342669038,
      "loss": 0.0981,
      "step": 3688
    },
    {
      "epoch": 0.827462418667265,
      "gripper_loss": 0.37890625,
      "loss": 0.06884765625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.2451171875,
      "step": 3688
    },
    {
      "epoch": 0.8276867848328472,
      "grad_norm": 0.7342339158058167,
      "learning_rate": 0.0004248500555802097,
      "loss": 0.1358,
      "step": 3689
    },
    {
      "epoch": 0.8276867848328472,
      "gripper_loss": 0.09326171875,
      "loss": 0.212890625,
      "pos_loss": 1.1796875,
      "rot_loss": 0.97265625,
      "step": 3689
    },
    {
      "epoch": 0.8279111509984295,
      "grad_norm": 0.7754001021385193,
      "learning_rate": 0.0004248067666333932,
      "loss": 0.1157,
      "step": 3690
    },
    {
      "epoch": 0.8279111509984295,
      "gripper_loss": 0.7109375,
      "loss": 0.07470703125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.13671875,
      "step": 3690
    },
    {
      "epoch": 0.8281355171640117,
      "grad_norm": 0.9305046796798706,
      "learning_rate": 0.00042476346742899475,
      "loss": 0.11,
      "step": 3691
    },
    {
      "epoch": 0.8281355171640117,
      "gripper_loss": 0.609375,
      "loss": 0.08935546875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.2314453125,
      "step": 3691
    },
    {
      "epoch": 0.8283598833295939,
      "grad_norm": 0.7756402492523193,
      "learning_rate": 0.0004247201579695548,
      "loss": 0.1373,
      "step": 3692
    },
    {
      "epoch": 0.8283598833295939,
      "gripper_loss": 0.54296875,
      "loss": 0.10693359375,
      "pos_loss": 0.83203125,
      "rot_loss": 0.047607421875,
      "step": 3692
    },
    {
      "epoch": 0.8285842494951762,
      "grad_norm": 0.6056840419769287,
      "learning_rate": 0.00042467683825761493,
      "loss": 0.1031,
      "step": 3693
    },
    {
      "epoch": 0.8285842494951762,
      "gripper_loss": 0.287109375,
      "loss": 0.030517578125,
      "pos_loss": 0.1328125,
      "rot_loss": 0.025390625,
      "step": 3693
    },
    {
      "epoch": 0.8288086156607584,
      "grad_norm": 0.6946093440055847,
      "learning_rate": 0.0004246335082957171,
      "loss": 0.0962,
      "step": 3694
    },
    {
      "epoch": 0.8288086156607584,
      "gripper_loss": 0.2060546875,
      "loss": 0.0634765625,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.2041015625,
      "step": 3694
    },
    {
      "epoch": 0.8290329818263406,
      "grad_norm": 0.6448599696159363,
      "learning_rate": 0.00042459016808640387,
      "loss": 0.0965,
      "step": 3695
    },
    {
      "epoch": 0.8290329818263406,
      "gripper_loss": 0.0810546875,
      "loss": 0.1142578125,
      "pos_loss": 0.484375,
      "rot_loss": 0.453125,
      "step": 3695
    },
    {
      "epoch": 0.8292573479919229,
      "grad_norm": 0.8207147121429443,
      "learning_rate": 0.0004245468176322184,
      "loss": 0.166,
      "step": 3696
    },
    {
      "epoch": 0.8292573479919229,
      "gripper_loss": 0.08154296875,
      "loss": 0.09521484375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.294921875,
      "step": 3696
    },
    {
      "epoch": 0.829481714157505,
      "grad_norm": 0.7053837776184082,
      "learning_rate": 0.00042450345693570456,
      "loss": 0.0948,
      "step": 3697
    },
    {
      "epoch": 0.829481714157505,
      "gripper_loss": 0.0294189453125,
      "loss": 0.138671875,
      "pos_loss": 0.93359375,
      "rot_loss": 0.43359375,
      "step": 3697
    },
    {
      "epoch": 0.8297060803230872,
      "grad_norm": 0.44381943345069885,
      "learning_rate": 0.00042446008599940653,
      "loss": 0.1173,
      "step": 3698
    },
    {
      "epoch": 0.8297060803230872,
      "gripper_loss": 0.80078125,
      "loss": 0.1005859375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.2060546875,
      "step": 3698
    },
    {
      "epoch": 0.8299304464886695,
      "grad_norm": 0.6972440481185913,
      "learning_rate": 0.0004244167048258696,
      "loss": 0.1354,
      "step": 3699
    },
    {
      "epoch": 0.8299304464886695,
      "gripper_loss": 0.298828125,
      "loss": 0.045654296875,
      "pos_loss": 0.212890625,
      "rot_loss": 0.08203125,
      "step": 3699
    },
    {
      "epoch": 0.8301548126542517,
      "grad_norm": 0.6153824329376221,
      "learning_rate": 0.00042437331341763914,
      "loss": 0.077,
      "step": 3700
    },
    {
      "epoch": 0.8301548126542517,
      "gripper_loss": 0.197265625,
      "loss": 0.03125,
      "pos_loss": 0.1015625,
      "rot_loss": 0.0673828125,
      "step": 3700
    },
    {
      "epoch": 0.8303791788198339,
      "grad_norm": 0.6607667803764343,
      "learning_rate": 0.00042432991177726137,
      "loss": 0.1201,
      "step": 3701
    },
    {
      "epoch": 0.8303791788198339,
      "gripper_loss": 0.2890625,
      "loss": 0.035400390625,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.052978515625,
      "step": 3701
    },
    {
      "epoch": 0.8306035449854162,
      "grad_norm": 0.843906819820404,
      "learning_rate": 0.00042428649990728317,
      "loss": 0.1043,
      "step": 3702
    },
    {
      "epoch": 0.8306035449854162,
      "gripper_loss": 0.03955078125,
      "loss": 0.2265625,
      "pos_loss": 1.5546875,
      "rot_loss": 0.73046875,
      "step": 3702
    },
    {
      "epoch": 0.8308279111509984,
      "grad_norm": 0.6432464122772217,
      "learning_rate": 0.00042424307781025177,
      "loss": 0.1199,
      "step": 3703
    },
    {
      "epoch": 0.8308279111509984,
      "gripper_loss": 0.046630859375,
      "loss": 0.1435546875,
      "pos_loss": 0.9921875,
      "rot_loss": 0.453125,
      "step": 3703
    },
    {
      "epoch": 0.8310522773165807,
      "grad_norm": 0.49350476264953613,
      "learning_rate": 0.00042419964548871537,
      "loss": 0.1165,
      "step": 3704
    },
    {
      "epoch": 0.8310522773165807,
      "gripper_loss": 0.8125,
      "loss": 0.1962890625,
      "pos_loss": 0.796875,
      "rot_loss": 0.361328125,
      "step": 3704
    },
    {
      "epoch": 0.8312766434821629,
      "grad_norm": 1.3487966060638428,
      "learning_rate": 0.00042415620294522234,
      "loss": 0.2043,
      "step": 3705
    },
    {
      "epoch": 0.8312766434821629,
      "gripper_loss": 0.275390625,
      "loss": 0.06640625,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.27734375,
      "step": 3705
    },
    {
      "epoch": 0.8315010096477451,
      "grad_norm": 0.7347372174263,
      "learning_rate": 0.00042411275018232206,
      "loss": 0.0888,
      "step": 3706
    },
    {
      "epoch": 0.8315010096477451,
      "gripper_loss": 0.265625,
      "loss": 0.05517578125,
      "pos_loss": 0.19921875,
      "rot_loss": 0.2109375,
      "step": 3706
    },
    {
      "epoch": 0.8317253758133274,
      "grad_norm": 0.5771521925926208,
      "learning_rate": 0.0004240692872025641,
      "loss": 0.1059,
      "step": 3707
    },
    {
      "epoch": 0.8317253758133274,
      "gripper_loss": 0.30078125,
      "loss": 0.05517578125,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.130859375,
      "step": 3707
    },
    {
      "epoch": 0.8319497419789096,
      "grad_norm": 0.866470992565155,
      "learning_rate": 0.00042402581400849914,
      "loss": 0.1063,
      "step": 3708
    },
    {
      "epoch": 0.8319497419789096,
      "gripper_loss": 0.349609375,
      "loss": 0.0625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.0966796875,
      "step": 3708
    },
    {
      "epoch": 0.8321741081444918,
      "grad_norm": 0.7398169040679932,
      "learning_rate": 0.0004239823306026779,
      "loss": 0.0912,
      "step": 3709
    },
    {
      "epoch": 0.8321741081444918,
      "gripper_loss": 0.71484375,
      "loss": 0.0888671875,
      "pos_loss": 0.32421875,
      "rot_loss": 0.228515625,
      "step": 3709
    },
    {
      "epoch": 0.8323984743100741,
      "grad_norm": 0.7714610695838928,
      "learning_rate": 0.0004239388369876521,
      "loss": 0.1082,
      "step": 3710
    },
    {
      "epoch": 0.8323984743100741,
      "gripper_loss": 0.138671875,
      "loss": 0.130859375,
      "pos_loss": 0.54296875,
      "rot_loss": 0.51171875,
      "step": 3710
    },
    {
      "epoch": 0.8326228404756563,
      "grad_norm": 1.127609133720398,
      "learning_rate": 0.0004238953331659739,
      "loss": 0.1556,
      "step": 3711
    },
    {
      "epoch": 0.8326228404756563,
      "gripper_loss": 0.4765625,
      "loss": 0.08447265625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.10107421875,
      "step": 3711
    },
    {
      "epoch": 0.8328472066412385,
      "grad_norm": 0.6693136096000671,
      "learning_rate": 0.0004238518191401961,
      "loss": 0.0848,
      "step": 3712
    },
    {
      "epoch": 0.8328472066412385,
      "gripper_loss": 0.052978515625,
      "loss": 0.1533203125,
      "pos_loss": 1.0625,
      "rot_loss": 0.412109375,
      "step": 3712
    },
    {
      "epoch": 0.8330715728068208,
      "grad_norm": 0.8378790020942688,
      "learning_rate": 0.000423808294912872,
      "loss": 0.0741,
      "step": 3713
    },
    {
      "epoch": 0.8330715728068208,
      "gripper_loss": 0.79296875,
      "loss": 0.484375,
      "pos_loss": 0.474609375,
      "rot_loss": 0.44140625,
      "step": 3713
    },
    {
      "epoch": 0.833295938972403,
      "grad_norm": 1.862535834312439,
      "learning_rate": 0.00042376476048655576,
      "loss": 0.5173,
      "step": 3714
    },
    {
      "epoch": 0.833295938972403,
      "gripper_loss": 0.031005859375,
      "loss": 0.09375,
      "pos_loss": 0.78125,
      "rot_loss": 0.10400390625,
      "step": 3714
    },
    {
      "epoch": 0.8335203051379851,
      "grad_norm": 0.8254565000534058,
      "learning_rate": 0.0004237212158638017,
      "loss": 0.1277,
      "step": 3715
    },
    {
      "epoch": 0.8335203051379851,
      "gripper_loss": 0.1376953125,
      "loss": 0.048583984375,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.0673828125,
      "step": 3715
    },
    {
      "epoch": 0.8337446713035674,
      "grad_norm": 0.8091898560523987,
      "learning_rate": 0.0004236776610471653,
      "loss": 0.085,
      "step": 3716
    },
    {
      "epoch": 0.8337446713035674,
      "gripper_loss": 0.62890625,
      "loss": 0.111328125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.443359375,
      "step": 3716
    },
    {
      "epoch": 0.8339690374691496,
      "grad_norm": 0.9110714197158813,
      "learning_rate": 0.00042363409603920213,
      "loss": 0.1404,
      "step": 3717
    },
    {
      "epoch": 0.8339690374691496,
      "gripper_loss": 0.06396484375,
      "loss": 0.2021484375,
      "pos_loss": 0.78125,
      "rot_loss": 0.64453125,
      "step": 3717
    },
    {
      "epoch": 0.8341934036347319,
      "grad_norm": 1.3737496137619019,
      "learning_rate": 0.00042359052084246855,
      "loss": 0.1614,
      "step": 3718
    },
    {
      "epoch": 0.8341934036347319,
      "gripper_loss": 0.185546875,
      "loss": 0.087890625,
      "pos_loss": 0.263671875,
      "rot_loss": 0.5078125,
      "step": 3718
    },
    {
      "epoch": 0.8344177698003141,
      "grad_norm": 0.7392749190330505,
      "learning_rate": 0.0004235469354595217,
      "loss": 0.1004,
      "step": 3719
    },
    {
      "epoch": 0.8344177698003141,
      "gripper_loss": 0.029052734375,
      "loss": 0.1474609375,
      "pos_loss": 0.7578125,
      "rot_loss": 0.66796875,
      "step": 3719
    },
    {
      "epoch": 0.8346421359658963,
      "grad_norm": 0.7848396897315979,
      "learning_rate": 0.00042350333989291903,
      "loss": 0.0941,
      "step": 3720
    },
    {
      "epoch": 0.8346421359658963,
      "gripper_loss": 0.671875,
      "loss": 0.0390625,
      "pos_loss": 0.03076171875,
      "rot_loss": 0.03662109375,
      "step": 3720
    },
    {
      "epoch": 0.8348665021314786,
      "grad_norm": 0.8455047011375427,
      "learning_rate": 0.00042345973414521863,
      "loss": 0.1179,
      "step": 3721
    },
    {
      "epoch": 0.8348665021314786,
      "gripper_loss": 0.039794921875,
      "loss": 0.048828125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.1513671875,
      "step": 3721
    },
    {
      "epoch": 0.8350908682970608,
      "grad_norm": 0.5661394596099854,
      "learning_rate": 0.0004234161182189795,
      "loss": 0.0827,
      "step": 3722
    },
    {
      "epoch": 0.8350908682970608,
      "gripper_loss": 0.1943359375,
      "loss": 0.0390625,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.0634765625,
      "step": 3722
    },
    {
      "epoch": 0.835315234462643,
      "grad_norm": 0.5915945768356323,
      "learning_rate": 0.0004233724921167609,
      "loss": 0.0835,
      "step": 3723
    },
    {
      "epoch": 0.835315234462643,
      "gripper_loss": 0.1171875,
      "loss": 0.09033203125,
      "pos_loss": 0.4140625,
      "rot_loss": 0.431640625,
      "step": 3723
    },
    {
      "epoch": 0.8355396006282253,
      "grad_norm": 0.6158215999603271,
      "learning_rate": 0.0004233288558411226,
      "loss": 0.1447,
      "step": 3724
    },
    {
      "epoch": 0.8355396006282253,
      "gripper_loss": 0.2392578125,
      "loss": 0.0693359375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.036865234375,
      "step": 3724
    },
    {
      "epoch": 0.8357639667938075,
      "grad_norm": 0.7538902759552002,
      "learning_rate": 0.0004232852093946254,
      "loss": 0.1153,
      "step": 3725
    },
    {
      "epoch": 0.8357639667938075,
      "gripper_loss": 0.0311279296875,
      "loss": 0.1357421875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.80078125,
      "step": 3725
    },
    {
      "epoch": 0.8359883329593897,
      "grad_norm": 0.784399688243866,
      "learning_rate": 0.00042324155277983035,
      "loss": 0.0862,
      "step": 3726
    },
    {
      "epoch": 0.8359883329593897,
      "gripper_loss": 0.0419921875,
      "loss": 0.08349609375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.640625,
      "step": 3726
    },
    {
      "epoch": 0.836212699124972,
      "grad_norm": 0.5834335684776306,
      "learning_rate": 0.00042319788599929926,
      "loss": 0.0624,
      "step": 3727
    },
    {
      "epoch": 0.836212699124972,
      "gripper_loss": 0.251953125,
      "loss": 0.181640625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.31640625,
      "step": 3727
    },
    {
      "epoch": 0.8364370652905542,
      "grad_norm": 1.4067659378051758,
      "learning_rate": 0.0004231542090555944,
      "loss": 0.1854,
      "step": 3728
    },
    {
      "epoch": 0.8364370652905542,
      "gripper_loss": 0.298828125,
      "loss": 0.294921875,
      "pos_loss": 1.3515625,
      "rot_loss": 0.390625,
      "step": 3728
    },
    {
      "epoch": 0.8366614314561364,
      "grad_norm": 1.3341389894485474,
      "learning_rate": 0.0004231105219512787,
      "loss": 0.2551,
      "step": 3729
    },
    {
      "epoch": 0.8366614314561364,
      "gripper_loss": 0.6875,
      "loss": 0.1416015625,
      "pos_loss": 1.0859375,
      "rot_loss": 0.080078125,
      "step": 3729
    },
    {
      "epoch": 0.8368857976217187,
      "grad_norm": 0.7377929091453552,
      "learning_rate": 0.0004230668246889159,
      "loss": 0.13,
      "step": 3730
    },
    {
      "epoch": 0.8368857976217187,
      "gripper_loss": 0.310546875,
      "loss": 0.1435546875,
      "pos_loss": 0.78125,
      "rot_loss": 0.3125,
      "step": 3730
    },
    {
      "epoch": 0.8371101637873009,
      "grad_norm": 1.128487229347229,
      "learning_rate": 0.0004230231172710699,
      "loss": 0.1835,
      "step": 3731
    },
    {
      "epoch": 0.8371101637873009,
      "gripper_loss": 0.06787109375,
      "loss": 0.04150390625,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.1650390625,
      "step": 3731
    },
    {
      "epoch": 0.8373345299528832,
      "grad_norm": 0.6285649538040161,
      "learning_rate": 0.00042297939970030554,
      "loss": 0.11,
      "step": 3732
    },
    {
      "epoch": 0.8373345299528832,
      "gripper_loss": 0.322265625,
      "loss": 0.2109375,
      "pos_loss": 1.234375,
      "rot_loss": 0.8203125,
      "step": 3732
    },
    {
      "epoch": 0.8375588961184653,
      "grad_norm": 0.6156759262084961,
      "learning_rate": 0.00042293567197918805,
      "loss": 0.1212,
      "step": 3733
    },
    {
      "epoch": 0.8375588961184653,
      "gripper_loss": 0.32421875,
      "loss": 0.5703125,
      "pos_loss": 0.8984375,
      "rot_loss": 0.82421875,
      "step": 3733
    },
    {
      "epoch": 0.8377832622840475,
      "grad_norm": 1.7556772232055664,
      "learning_rate": 0.0004228919341102835,
      "loss": 0.5894,
      "step": 3734
    },
    {
      "epoch": 0.8377832622840475,
      "gripper_loss": 1.5234375,
      "loss": 0.166015625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.1455078125,
      "step": 3734
    },
    {
      "epoch": 0.8380076284496298,
      "grad_norm": 0.570780336856842,
      "learning_rate": 0.00042284818609615826,
      "loss": 0.1101,
      "step": 3735
    },
    {
      "epoch": 0.8380076284496298,
      "gripper_loss": 0.0208740234375,
      "loss": 0.07861328125,
      "pos_loss": 0.56640625,
      "rot_loss": 0.126953125,
      "step": 3735
    },
    {
      "epoch": 0.838231994615212,
      "grad_norm": 0.5886816382408142,
      "learning_rate": 0.0004228044279393796,
      "loss": 0.0852,
      "step": 3736
    },
    {
      "epoch": 0.838231994615212,
      "gripper_loss": 1.9921875,
      "loss": 0.14453125,
      "pos_loss": 0.671875,
      "rot_loss": 0.0908203125,
      "step": 3736
    },
    {
      "epoch": 0.8384563607807942,
      "grad_norm": 0.6904729604721069,
      "learning_rate": 0.00042276065964251514,
      "loss": 0.108,
      "step": 3737
    },
    {
      "epoch": 0.8384563607807942,
      "gripper_loss": 0.0712890625,
      "loss": 0.10888671875,
      "pos_loss": 0.8203125,
      "rot_loss": 0.2294921875,
      "step": 3737
    },
    {
      "epoch": 0.8386807269463765,
      "grad_norm": 0.648308277130127,
      "learning_rate": 0.0004227168812081332,
      "loss": 0.1006,
      "step": 3738
    },
    {
      "epoch": 0.8386807269463765,
      "gripper_loss": 0.375,
      "loss": 0.07421875,
      "pos_loss": 0.310546875,
      "rot_loss": 0.189453125,
      "step": 3738
    },
    {
      "epoch": 0.8389050931119587,
      "grad_norm": 0.6765580773353577,
      "learning_rate": 0.0004226730926388026,
      "loss": 0.0974,
      "step": 3739
    },
    {
      "epoch": 0.8389050931119587,
      "gripper_loss": 0.263671875,
      "loss": 0.08740234375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.1220703125,
      "step": 3739
    },
    {
      "epoch": 0.8391294592775409,
      "grad_norm": 0.6500102877616882,
      "learning_rate": 0.000422629293937093,
      "loss": 0.0961,
      "step": 3740
    },
    {
      "epoch": 0.8391294592775409,
      "gripper_loss": 0.055419921875,
      "loss": 0.0859375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.0634765625,
      "step": 3740
    },
    {
      "epoch": 0.8393538254431232,
      "grad_norm": 0.6278569102287292,
      "learning_rate": 0.00042258548510557437,
      "loss": 0.0872,
      "step": 3741
    },
    {
      "epoch": 0.8393538254431232,
      "gripper_loss": 0.03515625,
      "loss": 0.059814453125,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.3828125,
      "step": 3741
    },
    {
      "epoch": 0.8395781916087054,
      "grad_norm": 0.6399741768836975,
      "learning_rate": 0.00042254166614681736,
      "loss": 0.0833,
      "step": 3742
    },
    {
      "epoch": 0.8395781916087054,
      "gripper_loss": 0.060791015625,
      "loss": 0.040771484375,
      "pos_loss": 0.15234375,
      "rot_loss": 0.1005859375,
      "step": 3742
    },
    {
      "epoch": 0.8398025577742876,
      "grad_norm": 0.7201024293899536,
      "learning_rate": 0.00042249783706339335,
      "loss": 0.1021,
      "step": 3743
    },
    {
      "epoch": 0.8398025577742876,
      "gripper_loss": 0.037353515625,
      "loss": 0.0172119140625,
      "pos_loss": 0.041748046875,
      "rot_loss": 0.04736328125,
      "step": 3743
    },
    {
      "epoch": 0.8400269239398699,
      "grad_norm": 0.5447115302085876,
      "learning_rate": 0.00042245399785787417,
      "loss": 0.0681,
      "step": 3744
    },
    {
      "epoch": 0.8400269239398699,
      "gripper_loss": 0.036865234375,
      "loss": 0.09814453125,
      "pos_loss": 0.94921875,
      "rot_loss": 0.0189208984375,
      "step": 3744
    },
    {
      "epoch": 0.8402512901054521,
      "grad_norm": 0.5944986343383789,
      "learning_rate": 0.0004224101485328322,
      "loss": 0.0851,
      "step": 3745
    },
    {
      "epoch": 0.8402512901054521,
      "gripper_loss": 0.060546875,
      "loss": 0.1123046875,
      "pos_loss": 0.29296875,
      "rot_loss": 0.7890625,
      "step": 3745
    },
    {
      "epoch": 0.8404756562710344,
      "grad_norm": 0.4772737920284271,
      "learning_rate": 0.0004223662890908407,
      "loss": 0.082,
      "step": 3746
    },
    {
      "epoch": 0.8404756562710344,
      "gripper_loss": 0.024169921875,
      "loss": 0.1982421875,
      "pos_loss": 1.703125,
      "rot_loss": 0.333984375,
      "step": 3746
    },
    {
      "epoch": 0.8407000224366166,
      "grad_norm": 0.5265157222747803,
      "learning_rate": 0.00042232241953447307,
      "loss": 0.1019,
      "step": 3747
    },
    {
      "epoch": 0.8407000224366166,
      "gripper_loss": 0.0810546875,
      "loss": 0.076171875,
      "pos_loss": 0.412109375,
      "rot_loss": 0.2890625,
      "step": 3747
    },
    {
      "epoch": 0.8409243886021988,
      "grad_norm": 0.4326889216899872,
      "learning_rate": 0.0004222785398663038,
      "loss": 0.0916,
      "step": 3748
    },
    {
      "epoch": 0.8409243886021988,
      "gripper_loss": 0.1416015625,
      "loss": 0.06591796875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.1826171875,
      "step": 3748
    },
    {
      "epoch": 0.8411487547677811,
      "grad_norm": 0.7123599648475647,
      "learning_rate": 0.0004222346500889075,
      "loss": 0.1517,
      "step": 3749
    },
    {
      "epoch": 0.8411487547677811,
      "gripper_loss": 0.0751953125,
      "loss": 0.061767578125,
      "pos_loss": 0.380859375,
      "rot_loss": 0.1455078125,
      "step": 3749
    },
    {
      "epoch": 0.8413731209333632,
      "grad_norm": 0.7442090511322021,
      "learning_rate": 0.00042219075020485974,
      "loss": 0.1255,
      "step": 3750
    },
    {
      "epoch": 0.8413731209333632,
      "gripper_loss": 0.041015625,
      "loss": 0.0947265625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.54296875,
      "step": 3750
    },
    {
      "epoch": 0.8415974870989454,
      "grad_norm": 0.464497834444046,
      "learning_rate": 0.00042214684021673666,
      "loss": 0.111,
      "step": 3751
    },
    {
      "epoch": 0.8415974870989454,
      "gripper_loss": 0.75390625,
      "loss": 0.435546875,
      "pos_loss": 0.78125,
      "rot_loss": 0.4140625,
      "step": 3751
    },
    {
      "epoch": 0.8418218532645277,
      "grad_norm": 2.7422866821289062,
      "learning_rate": 0.0004221029201271146,
      "loss": 0.4795,
      "step": 3752
    },
    {
      "epoch": 0.8418218532645277,
      "gripper_loss": 0.05517578125,
      "loss": 0.1591796875,
      "pos_loss": 0.87890625,
      "rot_loss": 0.72265625,
      "step": 3752
    },
    {
      "epoch": 0.8420462194301099,
      "grad_norm": 0.606665849685669,
      "learning_rate": 0.00042205898993857095,
      "loss": 0.1053,
      "step": 3753
    },
    {
      "epoch": 0.8420462194301099,
      "gripper_loss": 0.439453125,
      "loss": 0.02587890625,
      "pos_loss": 0.022216796875,
      "rot_loss": 0.037109375,
      "step": 3753
    },
    {
      "epoch": 0.8422705855956921,
      "grad_norm": 0.5505704283714294,
      "learning_rate": 0.00042201504965368343,
      "loss": 0.0899,
      "step": 3754
    },
    {
      "epoch": 0.8422705855956921,
      "gripper_loss": 0.404296875,
      "loss": 0.1162109375,
      "pos_loss": 0.734375,
      "rot_loss": 0.283203125,
      "step": 3754
    },
    {
      "epoch": 0.8424949517612744,
      "grad_norm": 0.694970965385437,
      "learning_rate": 0.00042197109927503057,
      "loss": 0.1414,
      "step": 3755
    },
    {
      "epoch": 0.8424949517612744,
      "gripper_loss": 0.52734375,
      "loss": 0.224609375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.625,
      "step": 3755
    },
    {
      "epoch": 0.8427193179268566,
      "grad_norm": 1.0212898254394531,
      "learning_rate": 0.0004219271388051912,
      "loss": 0.1502,
      "step": 3756
    },
    {
      "epoch": 0.8427193179268566,
      "gripper_loss": 0.2333984375,
      "loss": 0.0732421875,
      "pos_loss": 0.26953125,
      "rot_loss": 0.263671875,
      "step": 3756
    },
    {
      "epoch": 0.8429436840924388,
      "grad_norm": 0.9251940846443176,
      "learning_rate": 0.000421883168246745,
      "loss": 0.1068,
      "step": 3757
    },
    {
      "epoch": 0.8429436840924388,
      "gripper_loss": 0.40234375,
      "loss": 0.053955078125,
      "pos_loss": 0.25390625,
      "rot_loss": 0.056396484375,
      "step": 3757
    },
    {
      "epoch": 0.8431680502580211,
      "grad_norm": 0.7716559767723083,
      "learning_rate": 0.0004218391876022721,
      "loss": 0.0997,
      "step": 3758
    },
    {
      "epoch": 0.8431680502580211,
      "gripper_loss": 0.09814453125,
      "loss": 0.1474609375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.380859375,
      "step": 3758
    },
    {
      "epoch": 0.8433924164236033,
      "grad_norm": 1.063957929611206,
      "learning_rate": 0.0004217951968743533,
      "loss": 0.136,
      "step": 3759
    },
    {
      "epoch": 0.8433924164236033,
      "gripper_loss": 1.546875,
      "loss": 0.07177734375,
      "pos_loss": 0.046142578125,
      "rot_loss": 0.11328125,
      "step": 3759
    },
    {
      "epoch": 0.8436167825891856,
      "grad_norm": 0.843421995639801,
      "learning_rate": 0.00042175119606556986,
      "loss": 0.0825,
      "step": 3760
    },
    {
      "epoch": 0.8436167825891856,
      "gripper_loss": 0.88671875,
      "loss": 0.07080078125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.015869140625,
      "step": 3760
    },
    {
      "epoch": 0.8438411487547678,
      "grad_norm": 0.6385524868965149,
      "learning_rate": 0.00042170718517850394,
      "loss": 0.0894,
      "step": 3761
    },
    {
      "epoch": 0.8438411487547678,
      "gripper_loss": 0.2138671875,
      "loss": 0.07568359375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.1572265625,
      "step": 3761
    },
    {
      "epoch": 0.84406551492035,
      "grad_norm": 0.9235518574714661,
      "learning_rate": 0.0004216631642157378,
      "loss": 0.1225,
      "step": 3762
    },
    {
      "epoch": 0.84406551492035,
      "gripper_loss": 0.8515625,
      "loss": 0.06591796875,
      "pos_loss": 0.25,
      "rot_loss": 0.037353515625,
      "step": 3762
    },
    {
      "epoch": 0.8442898810859323,
      "grad_norm": 0.8317751288414001,
      "learning_rate": 0.0004216191331798547,
      "loss": 0.1068,
      "step": 3763
    },
    {
      "epoch": 0.8442898810859323,
      "gripper_loss": 0.1337890625,
      "loss": 0.039794921875,
      "pos_loss": 0.1171875,
      "rot_loss": 0.16015625,
      "step": 3763
    },
    {
      "epoch": 0.8445142472515145,
      "grad_norm": 0.7305869460105896,
      "learning_rate": 0.0004215750920734385,
      "loss": 0.0838,
      "step": 3764
    },
    {
      "epoch": 0.8445142472515145,
      "gripper_loss": 0.640625,
      "loss": 0.07470703125,
      "pos_loss": 0.158203125,
      "rot_loss": 0.17578125,
      "step": 3764
    },
    {
      "epoch": 0.8447386134170967,
      "grad_norm": 0.6922131776809692,
      "learning_rate": 0.00042153104089907324,
      "loss": 0.0958,
      "step": 3765
    },
    {
      "epoch": 0.8447386134170967,
      "gripper_loss": 0.060546875,
      "loss": 0.080078125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.041015625,
      "step": 3765
    },
    {
      "epoch": 0.844962979582679,
      "grad_norm": 0.5143712162971497,
      "learning_rate": 0.00042148697965934404,
      "loss": 0.0764,
      "step": 3766
    },
    {
      "epoch": 0.844962979582679,
      "gripper_loss": 0.046630859375,
      "loss": 0.0830078125,
      "pos_loss": 0.302734375,
      "rot_loss": 0.447265625,
      "step": 3766
    },
    {
      "epoch": 0.8451873457482612,
      "grad_norm": 0.5602000951766968,
      "learning_rate": 0.0004214429083568363,
      "loss": 0.1036,
      "step": 3767
    },
    {
      "epoch": 0.8451873457482612,
      "gripper_loss": 0.0390625,
      "loss": 0.1171875,
      "pos_loss": 0.796875,
      "rot_loss": 0.271484375,
      "step": 3767
    },
    {
      "epoch": 0.8454117119138433,
      "grad_norm": 0.6993111371994019,
      "learning_rate": 0.00042139882699413617,
      "loss": 0.1134,
      "step": 3768
    },
    {
      "epoch": 0.8454117119138433,
      "gripper_loss": 0.302734375,
      "loss": 0.12060546875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.4140625,
      "step": 3768
    },
    {
      "epoch": 0.8456360780794256,
      "grad_norm": 0.5134487748146057,
      "learning_rate": 0.0004213547355738302,
      "loss": 0.0941,
      "step": 3769
    },
    {
      "epoch": 0.8456360780794256,
      "gripper_loss": 0.3046875,
      "loss": 0.13671875,
      "pos_loss": 0.3046875,
      "rot_loss": 0.94140625,
      "step": 3769
    },
    {
      "epoch": 0.8458604442450078,
      "grad_norm": 0.7707856297492981,
      "learning_rate": 0.0004213106340985058,
      "loss": 0.1134,
      "step": 3770
    },
    {
      "epoch": 0.8458604442450078,
      "gripper_loss": 0.0546875,
      "loss": 0.031982421875,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.051513671875,
      "step": 3770
    },
    {
      "epoch": 0.8460848104105901,
      "grad_norm": 0.5303378701210022,
      "learning_rate": 0.0004212665225707507,
      "loss": 0.1082,
      "step": 3771
    },
    {
      "epoch": 0.8460848104105901,
      "gripper_loss": 1.03125,
      "loss": 0.05517578125,
      "pos_loss": 0.037841796875,
      "rot_loss": 0.10791015625,
      "step": 3771
    },
    {
      "epoch": 0.8463091765761723,
      "grad_norm": 0.765338122844696,
      "learning_rate": 0.00042122240099315346,
      "loss": 0.1206,
      "step": 3772
    },
    {
      "epoch": 0.8463091765761723,
      "gripper_loss": 0.4375,
      "loss": 0.029052734375,
      "pos_loss": 0.02734375,
      "rot_loss": 0.06982421875,
      "step": 3772
    },
    {
      "epoch": 0.8465335427417545,
      "grad_norm": 0.47939541935920715,
      "learning_rate": 0.0004211782693683031,
      "loss": 0.0669,
      "step": 3773
    },
    {
      "epoch": 0.8465335427417545,
      "gripper_loss": 0.51953125,
      "loss": 0.25,
      "pos_loss": 0.353515625,
      "rot_loss": 0.64453125,
      "step": 3773
    },
    {
      "epoch": 0.8467579089073368,
      "grad_norm": 1.5826663970947266,
      "learning_rate": 0.00042113412769878913,
      "loss": 0.2727,
      "step": 3774
    },
    {
      "epoch": 0.8467579089073368,
      "gripper_loss": 1.453125,
      "loss": 0.07861328125,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.1640625,
      "step": 3774
    },
    {
      "epoch": 0.846982275072919,
      "grad_norm": 0.4868810176849365,
      "learning_rate": 0.0004210899759872018,
      "loss": 0.1151,
      "step": 3775
    },
    {
      "epoch": 0.846982275072919,
      "gripper_loss": 0.1064453125,
      "loss": 0.1474609375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.44140625,
      "step": 3775
    },
    {
      "epoch": 0.8472066412385012,
      "grad_norm": 0.9099686145782471,
      "learning_rate": 0.00042104581423613196,
      "loss": 0.101,
      "step": 3776
    },
    {
      "epoch": 0.8472066412385012,
      "gripper_loss": 0.05126953125,
      "loss": 0.05078125,
      "pos_loss": 0.138671875,
      "rot_loss": 0.3203125,
      "step": 3776
    },
    {
      "epoch": 0.8474310074040835,
      "grad_norm": 0.4919273555278778,
      "learning_rate": 0.00042100164244817095,
      "loss": 0.1049,
      "step": 3777
    },
    {
      "epoch": 0.8474310074040835,
      "gripper_loss": 0.051513671875,
      "loss": 0.2275390625,
      "pos_loss": 1.640625,
      "rot_loss": 0.69921875,
      "step": 3777
    },
    {
      "epoch": 0.8476553735696657,
      "grad_norm": 0.46838533878326416,
      "learning_rate": 0.0004209574606259109,
      "loss": 0.0999,
      "step": 3778
    },
    {
      "epoch": 0.8476553735696657,
      "gripper_loss": 0.0302734375,
      "loss": 0.123046875,
      "pos_loss": 0.734375,
      "rot_loss": 0.490234375,
      "step": 3778
    },
    {
      "epoch": 0.8478797397352479,
      "grad_norm": 0.5315274000167847,
      "learning_rate": 0.0004209132687719442,
      "loss": 0.0975,
      "step": 3779
    },
    {
      "epoch": 0.8478797397352479,
      "gripper_loss": 0.49609375,
      "loss": 0.1328125,
      "pos_loss": 0.69140625,
      "rot_loss": 0.302734375,
      "step": 3779
    },
    {
      "epoch": 0.8481041059008302,
      "grad_norm": 0.9391899704933167,
      "learning_rate": 0.00042086906688886406,
      "loss": 0.1149,
      "step": 3780
    },
    {
      "epoch": 0.8481041059008302,
      "gripper_loss": 0.73046875,
      "loss": 0.06298828125,
      "pos_loss": 0.2890625,
      "rot_loss": 0.0771484375,
      "step": 3780
    },
    {
      "epoch": 0.8483284720664124,
      "grad_norm": 0.5849579572677612,
      "learning_rate": 0.00042082485497926423,
      "loss": 0.0853,
      "step": 3781
    },
    {
      "epoch": 0.8483284720664124,
      "gripper_loss": 1.3125,
      "loss": 0.23046875,
      "pos_loss": 1.6875,
      "rot_loss": 0.25390625,
      "step": 3781
    },
    {
      "epoch": 0.8485528382319946,
      "grad_norm": 0.5355497002601624,
      "learning_rate": 0.0004207806330457391,
      "loss": 0.1059,
      "step": 3782
    },
    {
      "epoch": 0.8485528382319946,
      "gripper_loss": 0.1953125,
      "loss": 0.103515625,
      "pos_loss": 0.703125,
      "rot_loss": 0.2451171875,
      "step": 3782
    },
    {
      "epoch": 0.8487772043975769,
      "grad_norm": 0.513930082321167,
      "learning_rate": 0.00042073640109088355,
      "loss": 0.1068,
      "step": 3783
    },
    {
      "epoch": 0.8487772043975769,
      "gripper_loss": 0.71875,
      "loss": 0.08984375,
      "pos_loss": 0.421875,
      "rot_loss": 0.2373046875,
      "step": 3783
    },
    {
      "epoch": 0.8490015705631591,
      "grad_norm": 0.45385709404945374,
      "learning_rate": 0.0004206921591172931,
      "loss": 0.0857,
      "step": 3784
    },
    {
      "epoch": 0.8490015705631591,
      "gripper_loss": 0.0263671875,
      "loss": 0.10107421875,
      "pos_loss": 0.921875,
      "rot_loss": 0.06494140625,
      "step": 3784
    },
    {
      "epoch": 0.8492259367287414,
      "grad_norm": 0.588468611240387,
      "learning_rate": 0.00042064790712756383,
      "loss": 0.0984,
      "step": 3785
    },
    {
      "epoch": 0.8492259367287414,
      "gripper_loss": 0.00653076171875,
      "loss": 0.052978515625,
      "pos_loss": 0.265625,
      "rot_loss": 0.232421875,
      "step": 3785
    },
    {
      "epoch": 0.8494503028943236,
      "grad_norm": 0.5146781802177429,
      "learning_rate": 0.0004206036451242924,
      "loss": 0.0964,
      "step": 3786
    },
    {
      "epoch": 0.8494503028943236,
      "gripper_loss": 0.0228271484375,
      "loss": 0.040283203125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.028076171875,
      "step": 3786
    },
    {
      "epoch": 0.8496746690599057,
      "grad_norm": 0.6055858135223389,
      "learning_rate": 0.00042055937311007613,
      "loss": 0.0796,
      "step": 3787
    },
    {
      "epoch": 0.8496746690599057,
      "gripper_loss": 0.054443359375,
      "loss": 0.2470703125,
      "pos_loss": 1.4296875,
      "rot_loss": 1.09375,
      "step": 3787
    },
    {
      "epoch": 0.849899035225488,
      "grad_norm": 0.4048323333263397,
      "learning_rate": 0.0004205150910875129,
      "loss": 0.0919,
      "step": 3788
    },
    {
      "epoch": 0.849899035225488,
      "gripper_loss": 0.036376953125,
      "loss": 0.1494140625,
      "pos_loss": 0.765625,
      "rot_loss": 0.7109375,
      "step": 3788
    },
    {
      "epoch": 0.8501234013910702,
      "grad_norm": 0.5128341913223267,
      "learning_rate": 0.0004204707990592012,
      "loss": 0.0896,
      "step": 3789
    },
    {
      "epoch": 0.8501234013910702,
      "gripper_loss": 0.1611328125,
      "loss": 0.1025390625,
      "pos_loss": 0.59375,
      "rot_loss": 0.330078125,
      "step": 3789
    },
    {
      "epoch": 0.8503477675566524,
      "grad_norm": 0.5936329364776611,
      "learning_rate": 0.0004204264970277398,
      "loss": 0.1008,
      "step": 3790
    },
    {
      "epoch": 0.8503477675566524,
      "gripper_loss": 0.06982421875,
      "loss": 0.08349609375,
      "pos_loss": 0.08203125,
      "rot_loss": 0.6796875,
      "step": 3790
    },
    {
      "epoch": 0.8505721337222347,
      "grad_norm": 0.5743482708930969,
      "learning_rate": 0.00042038218499572866,
      "loss": 0.0919,
      "step": 3791
    },
    {
      "epoch": 0.8505721337222347,
      "gripper_loss": 0.66796875,
      "loss": 0.05859375,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.1318359375,
      "step": 3791
    },
    {
      "epoch": 0.8507964998878169,
      "grad_norm": 0.7002861499786377,
      "learning_rate": 0.0004203378629657678,
      "loss": 0.0958,
      "step": 3792
    },
    {
      "epoch": 0.8507964998878169,
      "gripper_loss": 0.34765625,
      "loss": 0.255859375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.69921875,
      "step": 3792
    },
    {
      "epoch": 0.8510208660533991,
      "grad_norm": 1.5792763233184814,
      "learning_rate": 0.00042029353094045807,
      "loss": 0.2495,
      "step": 3793
    },
    {
      "epoch": 0.8510208660533991,
      "gripper_loss": 0.59765625,
      "loss": 0.0693359375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.109375,
      "step": 3793
    },
    {
      "epoch": 0.8512452322189814,
      "grad_norm": 0.6150311231613159,
      "learning_rate": 0.0004202491889224009,
      "loss": 0.0718,
      "step": 3794
    },
    {
      "epoch": 0.8512452322189814,
      "gripper_loss": 0.4375,
      "loss": 0.126953125,
      "pos_loss": 0.33203125,
      "rot_loss": 0.79296875,
      "step": 3794
    },
    {
      "epoch": 0.8514695983845636,
      "grad_norm": 0.656346321105957,
      "learning_rate": 0.0004202048369141982,
      "loss": 0.1031,
      "step": 3795
    },
    {
      "epoch": 0.8514695983845636,
      "gripper_loss": 0.076171875,
      "loss": 0.12109375,
      "pos_loss": 0.671875,
      "rot_loss": 0.404296875,
      "step": 3795
    },
    {
      "epoch": 0.8516939645501458,
      "grad_norm": 0.8970506191253662,
      "learning_rate": 0.00042016047491845253,
      "loss": 0.1192,
      "step": 3796
    },
    {
      "epoch": 0.8516939645501458,
      "gripper_loss": 0.11279296875,
      "loss": 0.134765625,
      "pos_loss": 1.046875,
      "rot_loss": 0.28125,
      "step": 3796
    },
    {
      "epoch": 0.8519183307157281,
      "grad_norm": 0.5087568163871765,
      "learning_rate": 0.00042011610293776703,
      "loss": 0.0883,
      "step": 3797
    },
    {
      "epoch": 0.8519183307157281,
      "gripper_loss": 0.028564453125,
      "loss": 0.12890625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.2294921875,
      "step": 3797
    },
    {
      "epoch": 0.8521426968813103,
      "grad_norm": 0.5360214114189148,
      "learning_rate": 0.00042007172097474545,
      "loss": 0.1377,
      "step": 3798
    },
    {
      "epoch": 0.8521426968813103,
      "gripper_loss": 0.0201416015625,
      "loss": 0.0294189453125,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.0264892578125,
      "step": 3798
    },
    {
      "epoch": 0.8523670630468926,
      "grad_norm": 0.48551562428474426,
      "learning_rate": 0.00042002732903199204,
      "loss": 0.1006,
      "step": 3799
    },
    {
      "epoch": 0.8523670630468926,
      "gripper_loss": 0.431640625,
      "loss": 0.07177734375,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.3671875,
      "step": 3799
    },
    {
      "epoch": 0.8525914292124748,
      "grad_norm": 0.5258628129959106,
      "learning_rate": 0.00041998292711211186,
      "loss": 0.1029,
      "step": 3800
    },
    {
      "epoch": 0.8525914292124748,
      "gripper_loss": 0.0213623046875,
      "loss": 0.10107421875,
      "pos_loss": 0.578125,
      "rot_loss": 0.4453125,
      "step": 3800
    },
    {
      "epoch": 0.852815795378057,
      "grad_norm": 0.5011794567108154,
      "learning_rate": 0.00041993851521771015,
      "loss": 0.083,
      "step": 3801
    },
    {
      "epoch": 0.852815795378057,
      "gripper_loss": 0.09375,
      "loss": 0.267578125,
      "pos_loss": 2.109375,
      "rot_loss": 0.53125,
      "step": 3801
    },
    {
      "epoch": 0.8530401615436393,
      "grad_norm": 0.7100464105606079,
      "learning_rate": 0.00041989409335139316,
      "loss": 0.1136,
      "step": 3802
    },
    {
      "epoch": 0.8530401615436393,
      "gripper_loss": 0.1201171875,
      "loss": 0.255859375,
      "pos_loss": 0.69140625,
      "rot_loss": 0.55078125,
      "step": 3802
    },
    {
      "epoch": 0.8532645277092215,
      "grad_norm": 1.9716180562973022,
      "learning_rate": 0.00041984966151576754,
      "loss": 0.3306,
      "step": 3803
    },
    {
      "epoch": 0.8532645277092215,
      "gripper_loss": 0.421875,
      "loss": 0.29296875,
      "pos_loss": 0.7578125,
      "rot_loss": 1.0,
      "step": 3803
    },
    {
      "epoch": 0.8534888938748036,
      "grad_norm": 1.5075613260269165,
      "learning_rate": 0.00041980521971344046,
      "loss": 0.3174,
      "step": 3804
    },
    {
      "epoch": 0.8534888938748036,
      "gripper_loss": 0.99609375,
      "loss": 0.134765625,
      "pos_loss": 0.48828125,
      "rot_loss": 0.494140625,
      "step": 3804
    },
    {
      "epoch": 0.853713260040386,
      "grad_norm": 0.790698766708374,
      "learning_rate": 0.0004197607679470198,
      "loss": 0.1142,
      "step": 3805
    },
    {
      "epoch": 0.853713260040386,
      "gripper_loss": 0.259765625,
      "loss": 0.0888671875,
      "pos_loss": 0.1328125,
      "rot_loss": 0.126953125,
      "step": 3805
    },
    {
      "epoch": 0.8539376262059681,
      "grad_norm": 1.5136371850967407,
      "learning_rate": 0.00041971630621911386,
      "loss": 0.1904,
      "step": 3806
    },
    {
      "epoch": 0.8539376262059681,
      "gripper_loss": 0.25,
      "loss": 0.0322265625,
      "pos_loss": 0.0595703125,
      "rot_loss": 0.06982421875,
      "step": 3806
    },
    {
      "epoch": 0.8541619923715503,
      "grad_norm": 0.6818374395370483,
      "learning_rate": 0.0004196718345323318,
      "loss": 0.0944,
      "step": 3807
    },
    {
      "epoch": 0.8541619923715503,
      "gripper_loss": 0.055908203125,
      "loss": 0.17578125,
      "pos_loss": 0.5859375,
      "rot_loss": 1.1484375,
      "step": 3807
    },
    {
      "epoch": 0.8543863585371326,
      "grad_norm": 0.7617778778076172,
      "learning_rate": 0.00041962735288928306,
      "loss": 0.1131,
      "step": 3808
    },
    {
      "epoch": 0.8543863585371326,
      "gripper_loss": 0.80859375,
      "loss": 0.08251953125,
      "pos_loss": 0.41015625,
      "rot_loss": 0.07421875,
      "step": 3808
    },
    {
      "epoch": 0.8546107247027148,
      "grad_norm": 0.7040018439292908,
      "learning_rate": 0.0004195828612925779,
      "loss": 0.094,
      "step": 3809
    },
    {
      "epoch": 0.8546107247027148,
      "gripper_loss": 0.1259765625,
      "loss": 0.2158203125,
      "pos_loss": 1.09375,
      "rot_loss": 0.76171875,
      "step": 3809
    },
    {
      "epoch": 0.854835090868297,
      "grad_norm": 1.129360556602478,
      "learning_rate": 0.00041953835974482703,
      "loss": 0.1442,
      "step": 3810
    },
    {
      "epoch": 0.854835090868297,
      "gripper_loss": 0.3828125,
      "loss": 0.111328125,
      "pos_loss": 0.84765625,
      "rot_loss": 0.0654296875,
      "step": 3810
    },
    {
      "epoch": 0.8550594570338793,
      "grad_norm": 1.0344750881195068,
      "learning_rate": 0.00041949384824864174,
      "loss": 0.166,
      "step": 3811
    },
    {
      "epoch": 0.8550594570338793,
      "gripper_loss": 0.2470703125,
      "loss": 0.1279296875,
      "pos_loss": 0.431640625,
      "rot_loss": 0.4453125,
      "step": 3811
    },
    {
      "epoch": 0.8552838231994615,
      "grad_norm": 0.977451503276825,
      "learning_rate": 0.00041944932680663396,
      "loss": 0.1348,
      "step": 3812
    },
    {
      "epoch": 0.8552838231994615,
      "gripper_loss": 0.298828125,
      "loss": 0.05126953125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.058837890625,
      "step": 3812
    },
    {
      "epoch": 0.8555081893650438,
      "grad_norm": 0.942384660243988,
      "learning_rate": 0.00041940479542141624,
      "loss": 0.1055,
      "step": 3813
    },
    {
      "epoch": 0.8555081893650438,
      "gripper_loss": 0.357421875,
      "loss": 0.0390625,
      "pos_loss": 0.04248046875,
      "rot_loss": 0.11572265625,
      "step": 3813
    },
    {
      "epoch": 0.855732555530626,
      "grad_norm": 1.021765112876892,
      "learning_rate": 0.0004193602540956016,
      "loss": 0.1295,
      "step": 3814
    },
    {
      "epoch": 0.855732555530626,
      "gripper_loss": 0.2470703125,
      "loss": 0.049072265625,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.087890625,
      "step": 3814
    },
    {
      "epoch": 0.8559569216962082,
      "grad_norm": 0.9470531344413757,
      "learning_rate": 0.0004193157028318038,
      "loss": 0.1107,
      "step": 3815
    },
    {
      "epoch": 0.8559569216962082,
      "gripper_loss": 0.14453125,
      "loss": 0.12158203125,
      "pos_loss": 0.9375,
      "rot_loss": 0.1484375,
      "step": 3815
    },
    {
      "epoch": 0.8561812878617905,
      "grad_norm": 0.8288254737854004,
      "learning_rate": 0.000419271141632637,
      "loss": 0.1073,
      "step": 3816
    },
    {
      "epoch": 0.8561812878617905,
      "gripper_loss": 0.1552734375,
      "loss": 0.162109375,
      "pos_loss": 1.1875,
      "rot_loss": 0.2109375,
      "step": 3816
    },
    {
      "epoch": 0.8564056540273727,
      "grad_norm": 0.8871016502380371,
      "learning_rate": 0.00041922657050071603,
      "loss": 0.1495,
      "step": 3817
    },
    {
      "epoch": 0.8564056540273727,
      "gripper_loss": 0.0693359375,
      "loss": 0.2080078125,
      "pos_loss": 1.5390625,
      "rot_loss": 0.57421875,
      "step": 3817
    },
    {
      "epoch": 0.8566300201929549,
      "grad_norm": 0.6546401381492615,
      "learning_rate": 0.0004191819894386563,
      "loss": 0.1282,
      "step": 3818
    },
    {
      "epoch": 0.8566300201929549,
      "gripper_loss": 0.154296875,
      "loss": 0.1123046875,
      "pos_loss": 0.8046875,
      "rot_loss": 0.2490234375,
      "step": 3818
    },
    {
      "epoch": 0.8568543863585372,
      "grad_norm": 0.642288088798523,
      "learning_rate": 0.00041913739844907396,
      "loss": 0.08,
      "step": 3819
    },
    {
      "epoch": 0.8568543863585372,
      "gripper_loss": 0.55078125,
      "loss": 0.0986328125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.201171875,
      "step": 3819
    },
    {
      "epoch": 0.8570787525241194,
      "grad_norm": 0.7762771844863892,
      "learning_rate": 0.0004190927975345853,
      "loss": 0.1352,
      "step": 3820
    },
    {
      "epoch": 0.8570787525241194,
      "gripper_loss": 0.36328125,
      "loss": 0.10400390625,
      "pos_loss": 0.6953125,
      "rot_loss": 0.171875,
      "step": 3820
    },
    {
      "epoch": 0.8573031186897015,
      "grad_norm": 0.7298072576522827,
      "learning_rate": 0.00041904818669780776,
      "loss": 0.0992,
      "step": 3821
    },
    {
      "epoch": 0.8573031186897015,
      "gripper_loss": 0.1865234375,
      "loss": 0.125,
      "pos_loss": 0.78125,
      "rot_loss": 0.259765625,
      "step": 3821
    },
    {
      "epoch": 0.8575274848552839,
      "grad_norm": 0.8564426302909851,
      "learning_rate": 0.0004190035659413589,
      "loss": 0.0895,
      "step": 3822
    },
    {
      "epoch": 0.8575274848552839,
      "gripper_loss": 0.6015625,
      "loss": 0.054443359375,
      "pos_loss": 0.08203125,
      "rot_loss": 0.2138671875,
      "step": 3822
    },
    {
      "epoch": 0.857751851020866,
      "grad_norm": 0.9576805233955383,
      "learning_rate": 0.0004189589352678571,
      "loss": 0.142,
      "step": 3823
    },
    {
      "epoch": 0.857751851020866,
      "gripper_loss": 0.053466796875,
      "loss": 0.0693359375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.35546875,
      "step": 3823
    },
    {
      "epoch": 0.8579762171864482,
      "grad_norm": 0.5255141258239746,
      "learning_rate": 0.00041891429467992135,
      "loss": 0.1077,
      "step": 3824
    },
    {
      "epoch": 0.8579762171864482,
      "gripper_loss": 0.16015625,
      "loss": 0.0267333984375,
      "pos_loss": 0.045654296875,
      "rot_loss": 0.060546875,
      "step": 3824
    },
    {
      "epoch": 0.8582005833520305,
      "grad_norm": 0.8172203898429871,
      "learning_rate": 0.00041886964418017106,
      "loss": 0.085,
      "step": 3825
    },
    {
      "epoch": 0.8582005833520305,
      "gripper_loss": 0.625,
      "loss": 0.1298828125,
      "pos_loss": 0.703125,
      "rot_loss": 0.37109375,
      "step": 3825
    },
    {
      "epoch": 0.8584249495176127,
      "grad_norm": 0.6269441843032837,
      "learning_rate": 0.00041882498377122636,
      "loss": 0.0931,
      "step": 3826
    },
    {
      "epoch": 0.8584249495176127,
      "gripper_loss": 0.1162109375,
      "loss": 0.23046875,
      "pos_loss": 1.75,
      "rot_loss": 0.3203125,
      "step": 3826
    },
    {
      "epoch": 0.858649315683195,
      "grad_norm": 0.8128085136413574,
      "learning_rate": 0.0004187803134557078,
      "loss": 0.1507,
      "step": 3827
    },
    {
      "epoch": 0.858649315683195,
      "gripper_loss": 0.5234375,
      "loss": 0.279296875,
      "pos_loss": 0.369140625,
      "rot_loss": 2.375,
      "step": 3827
    },
    {
      "epoch": 0.8588736818487772,
      "grad_norm": 0.6897597312927246,
      "learning_rate": 0.00041873563323623666,
      "loss": 0.124,
      "step": 3828
    },
    {
      "epoch": 0.8588736818487772,
      "gripper_loss": 0.01324462890625,
      "loss": 0.06640625,
      "pos_loss": 0.494140625,
      "rot_loss": 0.06787109375,
      "step": 3828
    },
    {
      "epoch": 0.8590980480143594,
      "grad_norm": 0.7253905534744263,
      "learning_rate": 0.00041869094311543475,
      "loss": 0.0983,
      "step": 3829
    },
    {
      "epoch": 0.8590980480143594,
      "gripper_loss": 0.4921875,
      "loss": 0.134765625,
      "pos_loss": 0.96484375,
      "rot_loss": 0.2138671875,
      "step": 3829
    },
    {
      "epoch": 0.8593224141799417,
      "grad_norm": 0.6260842680931091,
      "learning_rate": 0.00041864624309592447,
      "loss": 0.1083,
      "step": 3830
    },
    {
      "epoch": 0.8593224141799417,
      "gripper_loss": 0.030517578125,
      "loss": 0.07421875,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.38671875,
      "step": 3830
    },
    {
      "epoch": 0.8595467803455239,
      "grad_norm": 0.6181889772415161,
      "learning_rate": 0.0004186015331803289,
      "loss": 0.1148,
      "step": 3831
    },
    {
      "epoch": 0.8595467803455239,
      "gripper_loss": 0.6328125,
      "loss": 0.251953125,
      "pos_loss": 2.34375,
      "rot_loss": 0.06005859375,
      "step": 3831
    },
    {
      "epoch": 0.8597711465111061,
      "grad_norm": 0.7575664520263672,
      "learning_rate": 0.00041855681337127137,
      "loss": 0.1604,
      "step": 3832
    },
    {
      "epoch": 0.8597711465111061,
      "gripper_loss": 0.012939453125,
      "loss": 0.22265625,
      "pos_loss": 0.404296875,
      "rot_loss": 1.9140625,
      "step": 3832
    },
    {
      "epoch": 0.8599955126766884,
      "grad_norm": 0.5431594848632812,
      "learning_rate": 0.00041851208367137626,
      "loss": 0.1451,
      "step": 3833
    },
    {
      "epoch": 0.8599955126766884,
      "gripper_loss": 0.052978515625,
      "loss": 0.1005859375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.24609375,
      "step": 3833
    },
    {
      "epoch": 0.8602198788422706,
      "grad_norm": 0.7862241864204407,
      "learning_rate": 0.0004184673440832681,
      "loss": 0.1124,
      "step": 3834
    },
    {
      "epoch": 0.8602198788422706,
      "gripper_loss": 0.03564453125,
      "loss": 0.1171875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.59375,
      "step": 3834
    },
    {
      "epoch": 0.8604442450078528,
      "grad_norm": 0.6815570592880249,
      "learning_rate": 0.0004184225946095723,
      "loss": 0.1169,
      "step": 3835
    },
    {
      "epoch": 0.8604442450078528,
      "gripper_loss": 0.040283203125,
      "loss": 0.054443359375,
      "pos_loss": 0.4453125,
      "rot_loss": 0.0380859375,
      "step": 3835
    },
    {
      "epoch": 0.8606686111734351,
      "grad_norm": 0.528059184551239,
      "learning_rate": 0.00041837783525291484,
      "loss": 0.0876,
      "step": 3836
    },
    {
      "epoch": 0.8606686111734351,
      "gripper_loss": 0.2216796875,
      "loss": 0.11865234375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.5390625,
      "step": 3836
    },
    {
      "epoch": 0.8608929773390173,
      "grad_norm": 0.9196523427963257,
      "learning_rate": 0.0004183330660159219,
      "loss": 0.1339,
      "step": 3837
    },
    {
      "epoch": 0.8608929773390173,
      "gripper_loss": 0.0260009765625,
      "loss": 0.18359375,
      "pos_loss": 1.609375,
      "rot_loss": 0.2431640625,
      "step": 3837
    },
    {
      "epoch": 0.8611173435045995,
      "grad_norm": 0.7362868189811707,
      "learning_rate": 0.00041828828690122067,
      "loss": 0.111,
      "step": 3838
    },
    {
      "epoch": 0.8611173435045995,
      "gripper_loss": 0.62109375,
      "loss": 0.11474609375,
      "pos_loss": 0.875,
      "rot_loss": 0.03369140625,
      "step": 3838
    },
    {
      "epoch": 0.8613417096701818,
      "grad_norm": 0.6437715888023376,
      "learning_rate": 0.0004182434979114388,
      "loss": 0.0728,
      "step": 3839
    },
    {
      "epoch": 0.8613417096701818,
      "gripper_loss": 0.04052734375,
      "loss": 0.08837890625,
      "pos_loss": 0.34765625,
      "rot_loss": 0.455078125,
      "step": 3839
    },
    {
      "epoch": 0.861566075835764,
      "grad_norm": 0.7533152103424072,
      "learning_rate": 0.0004181986990492045,
      "loss": 0.0935,
      "step": 3840
    },
    {
      "epoch": 0.861566075835764,
      "gripper_loss": 0.404296875,
      "loss": 0.10009765625,
      "pos_loss": 0.48828125,
      "rot_loss": 0.369140625,
      "step": 3840
    },
    {
      "epoch": 0.8617904420013462,
      "grad_norm": 0.6265034079551697,
      "learning_rate": 0.00041815389031714644,
      "loss": 0.1126,
      "step": 3841
    },
    {
      "epoch": 0.8617904420013462,
      "gripper_loss": 0.330078125,
      "loss": 0.1240234375,
      "pos_loss": 1.0859375,
      "rot_loss": 0.058837890625,
      "step": 3841
    },
    {
      "epoch": 0.8620148081669284,
      "grad_norm": 0.83079993724823,
      "learning_rate": 0.00041810907171789405,
      "loss": 0.1226,
      "step": 3842
    },
    {
      "epoch": 0.8620148081669284,
      "gripper_loss": 0.318359375,
      "loss": 0.03369140625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.05419921875,
      "step": 3842
    },
    {
      "epoch": 0.8622391743325106,
      "grad_norm": 0.537354052066803,
      "learning_rate": 0.00041806424325407726,
      "loss": 0.0909,
      "step": 3843
    },
    {
      "epoch": 0.8622391743325106,
      "gripper_loss": 1.2578125,
      "loss": 0.053466796875,
      "pos_loss": 0.06640625,
      "rot_loss": 0.0269775390625,
      "step": 3843
    },
    {
      "epoch": 0.8624635404980929,
      "grad_norm": 0.8721363544464111,
      "learning_rate": 0.0004180194049283266,
      "loss": 0.1087,
      "step": 3844
    },
    {
      "epoch": 0.8624635404980929,
      "gripper_loss": 0.08740234375,
      "loss": 0.15625,
      "pos_loss": 0.49609375,
      "rot_loss": 1.0390625,
      "step": 3844
    },
    {
      "epoch": 0.8626879066636751,
      "grad_norm": 0.56708824634552,
      "learning_rate": 0.00041797455674327306,
      "loss": 0.097,
      "step": 3845
    },
    {
      "epoch": 0.8626879066636751,
      "gripper_loss": 0.69921875,
      "loss": 0.2177734375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.2353515625,
      "step": 3845
    },
    {
      "epoch": 0.8629122728292573,
      "grad_norm": 1.8312621116638184,
      "learning_rate": 0.0004179296987015484,
      "loss": 0.2709,
      "step": 3846
    },
    {
      "epoch": 0.8629122728292573,
      "gripper_loss": 0.5703125,
      "loss": 0.0673828125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0830078125,
      "step": 3846
    },
    {
      "epoch": 0.8631366389948396,
      "grad_norm": 0.7344326972961426,
      "learning_rate": 0.000417884830805785,
      "loss": 0.0765,
      "step": 3847
    },
    {
      "epoch": 0.8631366389948396,
      "gripper_loss": 0.265625,
      "loss": 0.0439453125,
      "pos_loss": 0.111328125,
      "rot_loss": 0.162109375,
      "step": 3847
    },
    {
      "epoch": 0.8633610051604218,
      "grad_norm": 0.7392429113388062,
      "learning_rate": 0.00041783995305861535,
      "loss": 0.1246,
      "step": 3848
    },
    {
      "epoch": 0.8633610051604218,
      "gripper_loss": 0.25,
      "loss": 0.2177734375,
      "pos_loss": 0.69140625,
      "rot_loss": 0.6640625,
      "step": 3848
    },
    {
      "epoch": 0.863585371326004,
      "grad_norm": 1.1145532131195068,
      "learning_rate": 0.0004177950654626732,
      "loss": 0.2239,
      "step": 3849
    },
    {
      "epoch": 0.863585371326004,
      "gripper_loss": 0.26953125,
      "loss": 0.212890625,
      "pos_loss": 0.515625,
      "rot_loss": 0.71875,
      "step": 3849
    },
    {
      "epoch": 0.8638097374915863,
      "grad_norm": 1.4360454082489014,
      "learning_rate": 0.0004177501680205923,
      "loss": 0.1665,
      "step": 3850
    },
    {
      "epoch": 0.8638097374915863,
      "gripper_loss": 0.02490234375,
      "loss": 0.1728515625,
      "pos_loss": 1.2890625,
      "rot_loss": 0.44921875,
      "step": 3850
    },
    {
      "epoch": 0.8640341036571685,
      "grad_norm": 0.8059181571006775,
      "learning_rate": 0.00041770526073500736,
      "loss": 0.1245,
      "step": 3851
    },
    {
      "epoch": 0.8640341036571685,
      "gripper_loss": 0.07861328125,
      "loss": 0.048583984375,
      "pos_loss": 0.19140625,
      "rot_loss": 0.166015625,
      "step": 3851
    },
    {
      "epoch": 0.8642584698227507,
      "grad_norm": 0.9419636726379395,
      "learning_rate": 0.00041766034360855343,
      "loss": 0.1059,
      "step": 3852
    },
    {
      "epoch": 0.8642584698227507,
      "gripper_loss": 0.03173828125,
      "loss": 0.1103515625,
      "pos_loss": 0.8125,
      "rot_loss": 0.240234375,
      "step": 3852
    },
    {
      "epoch": 0.864482835988333,
      "grad_norm": 0.9199500679969788,
      "learning_rate": 0.00041761541664386614,
      "loss": 0.1113,
      "step": 3853
    },
    {
      "epoch": 0.864482835988333,
      "gripper_loss": 0.1005859375,
      "loss": 0.11083984375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.208984375,
      "step": 3853
    },
    {
      "epoch": 0.8647072021539152,
      "grad_norm": 1.5023354291915894,
      "learning_rate": 0.0004175704798435821,
      "loss": 0.1587,
      "step": 3854
    },
    {
      "epoch": 0.8647072021539152,
      "gripper_loss": 0.38671875,
      "loss": 0.34765625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.82421875,
      "step": 3854
    },
    {
      "epoch": 0.8649315683194975,
      "grad_norm": 2.274595260620117,
      "learning_rate": 0.0004175255332103379,
      "loss": 0.3938,
      "step": 3855
    },
    {
      "epoch": 0.8649315683194975,
      "gripper_loss": 0.06640625,
      "loss": 0.1962890625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.85546875,
      "step": 3855
    },
    {
      "epoch": 0.8651559344850797,
      "grad_norm": 0.7606551647186279,
      "learning_rate": 0.000417480576746771,
      "loss": 0.109,
      "step": 3856
    },
    {
      "epoch": 0.8651559344850797,
      "gripper_loss": 0.2041015625,
      "loss": 0.169921875,
      "pos_loss": 0.68359375,
      "rot_loss": 0.4375,
      "step": 3856
    },
    {
      "epoch": 0.8653803006506618,
      "grad_norm": 1.026698350906372,
      "learning_rate": 0.0004174356104555196,
      "loss": 0.1724,
      "step": 3857
    },
    {
      "epoch": 0.8653803006506618,
      "gripper_loss": 0.21875,
      "loss": 0.26953125,
      "pos_loss": 0.267578125,
      "rot_loss": 0.34375,
      "step": 3857
    },
    {
      "epoch": 0.8656046668162442,
      "grad_norm": 1.3483086824417114,
      "learning_rate": 0.00041739063433922217,
      "loss": 0.2999,
      "step": 3858
    },
    {
      "epoch": 0.8656046668162442,
      "gripper_loss": 0.1884765625,
      "loss": 0.1083984375,
      "pos_loss": 0.73046875,
      "rot_loss": 0.1865234375,
      "step": 3858
    },
    {
      "epoch": 0.8658290329818263,
      "grad_norm": 0.9343294501304626,
      "learning_rate": 0.0004173456484005178,
      "loss": 0.1112,
      "step": 3859
    },
    {
      "epoch": 0.8658290329818263,
      "gripper_loss": 0.2158203125,
      "loss": 0.107421875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.2373046875,
      "step": 3859
    },
    {
      "epoch": 0.8660533991474085,
      "grad_norm": 1.2907880544662476,
      "learning_rate": 0.0004173006526420465,
      "loss": 0.138,
      "step": 3860
    },
    {
      "epoch": 0.8660533991474085,
      "gripper_loss": 0.66796875,
      "loss": 0.1494140625,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.50390625,
      "step": 3860
    },
    {
      "epoch": 0.8662777653129908,
      "grad_norm": 1.5521641969680786,
      "learning_rate": 0.0004172556470664484,
      "loss": 0.1602,
      "step": 3861
    },
    {
      "epoch": 0.8662777653129908,
      "gripper_loss": 0.0218505859375,
      "loss": 0.337890625,
      "pos_loss": 2.734375,
      "rot_loss": 0.671875,
      "step": 3861
    },
    {
      "epoch": 0.866502131478573,
      "grad_norm": 0.8923107981681824,
      "learning_rate": 0.0004172106316763644,
      "loss": 0.1648,
      "step": 3862
    },
    {
      "epoch": 0.866502131478573,
      "gripper_loss": 1.0,
      "loss": 0.15234375,
      "pos_loss": 0.9765625,
      "rot_loss": 0.1435546875,
      "step": 3862
    },
    {
      "epoch": 0.8667264976441552,
      "grad_norm": 0.8879348635673523,
      "learning_rate": 0.00041716560647443615,
      "loss": 0.0912,
      "step": 3863
    },
    {
      "epoch": 0.8667264976441552,
      "gripper_loss": 0.048828125,
      "loss": 0.07861328125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.10009765625,
      "step": 3863
    },
    {
      "epoch": 0.8669508638097375,
      "grad_norm": 0.9689129590988159,
      "learning_rate": 0.0004171205714633056,
      "loss": 0.0998,
      "step": 3864
    },
    {
      "epoch": 0.8669508638097375,
      "gripper_loss": 0.1298828125,
      "loss": 0.11376953125,
      "pos_loss": 0.376953125,
      "rot_loss": 0.478515625,
      "step": 3864
    },
    {
      "epoch": 0.8671752299753197,
      "grad_norm": 0.8299944996833801,
      "learning_rate": 0.00041707552664561534,
      "loss": 0.1128,
      "step": 3865
    },
    {
      "epoch": 0.8671752299753197,
      "gripper_loss": 0.1630859375,
      "loss": 0.1494140625,
      "pos_loss": 1.203125,
      "rot_loss": 0.2421875,
      "step": 3865
    },
    {
      "epoch": 0.867399596140902,
      "grad_norm": 0.8703442811965942,
      "learning_rate": 0.0004170304720240087,
      "loss": 0.1749,
      "step": 3866
    },
    {
      "epoch": 0.867399596140902,
      "gripper_loss": 0.04296875,
      "loss": 0.1318359375,
      "pos_loss": 1.125,
      "rot_loss": 0.11376953125,
      "step": 3866
    },
    {
      "epoch": 0.8676239623064842,
      "grad_norm": 0.8597708940505981,
      "learning_rate": 0.00041698540760112926,
      "loss": 0.1563,
      "step": 3867
    },
    {
      "epoch": 0.8676239623064842,
      "gripper_loss": 1.125,
      "loss": 0.09326171875,
      "pos_loss": 0.34375,
      "rot_loss": 0.1318359375,
      "step": 3867
    },
    {
      "epoch": 0.8678483284720664,
      "grad_norm": 0.9779990911483765,
      "learning_rate": 0.0004169403333796216,
      "loss": 0.1357,
      "step": 3868
    },
    {
      "epoch": 0.8678483284720664,
      "gripper_loss": 0.189453125,
      "loss": 0.08251953125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.158203125,
      "step": 3868
    },
    {
      "epoch": 0.8680726946376487,
      "grad_norm": 1.0829983949661255,
      "learning_rate": 0.0004168952493621306,
      "loss": 0.0945,
      "step": 3869
    },
    {
      "epoch": 0.8680726946376487,
      "gripper_loss": 0.026123046875,
      "loss": 0.11474609375,
      "pos_loss": 0.890625,
      "rot_loss": 0.1748046875,
      "step": 3869
    },
    {
      "epoch": 0.8682970608032309,
      "grad_norm": 0.88759845495224,
      "learning_rate": 0.0004168501555513017,
      "loss": 0.1591,
      "step": 3870
    },
    {
      "epoch": 0.8682970608032309,
      "gripper_loss": 0.130859375,
      "loss": 0.1337890625,
      "pos_loss": 0.546875,
      "rot_loss": 0.53125,
      "step": 3870
    },
    {
      "epoch": 0.8685214269688131,
      "grad_norm": 0.8810134530067444,
      "learning_rate": 0.00041680505194978103,
      "loss": 0.1037,
      "step": 3871
    },
    {
      "epoch": 0.8685214269688131,
      "gripper_loss": 0.46484375,
      "loss": 0.0299072265625,
      "pos_loss": 0.0267333984375,
      "rot_loss": 0.0205078125,
      "step": 3871
    },
    {
      "epoch": 0.8687457931343954,
      "grad_norm": 0.5413064956665039,
      "learning_rate": 0.0004167599385602152,
      "loss": 0.0806,
      "step": 3872
    },
    {
      "epoch": 0.8687457931343954,
      "gripper_loss": 1.5703125,
      "loss": 0.11376953125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.07275390625,
      "step": 3872
    },
    {
      "epoch": 0.8689701592999776,
      "grad_norm": 0.7184172868728638,
      "learning_rate": 0.00041671481538525155,
      "loss": 0.1286,
      "step": 3873
    },
    {
      "epoch": 0.8689701592999776,
      "gripper_loss": 0.2158203125,
      "loss": 0.12353515625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.30859375,
      "step": 3873
    },
    {
      "epoch": 0.8691945254655598,
      "grad_norm": 0.985076367855072,
      "learning_rate": 0.00041666968242753776,
      "loss": 0.1403,
      "step": 3874
    },
    {
      "epoch": 0.8691945254655598,
      "gripper_loss": 0.3046875,
      "loss": 0.03466796875,
      "pos_loss": 0.1142578125,
      "rot_loss": 0.046142578125,
      "step": 3874
    },
    {
      "epoch": 0.869418891631142,
      "grad_norm": 0.6587463021278381,
      "learning_rate": 0.00041662453968972237,
      "loss": 0.1271,
      "step": 3875
    },
    {
      "epoch": 0.869418891631142,
      "gripper_loss": 0.0255126953125,
      "loss": 0.125,
      "pos_loss": 0.8203125,
      "rot_loss": 0.314453125,
      "step": 3875
    },
    {
      "epoch": 0.8696432577967242,
      "grad_norm": 0.6908421516418457,
      "learning_rate": 0.00041657938717445416,
      "loss": 0.0792,
      "step": 3876
    },
    {
      "epoch": 0.8696432577967242,
      "gripper_loss": 0.1220703125,
      "loss": 0.10400390625,
      "pos_loss": 0.380859375,
      "rot_loss": 0.51171875,
      "step": 3876
    },
    {
      "epoch": 0.8698676239623064,
      "grad_norm": 0.8764774203300476,
      "learning_rate": 0.00041653422488438274,
      "loss": 0.0887,
      "step": 3877
    },
    {
      "epoch": 0.8698676239623064,
      "gripper_loss": 0.474609375,
      "loss": 0.052490234375,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.07421875,
      "step": 3877
    },
    {
      "epoch": 0.8700919901278887,
      "grad_norm": 0.5271006226539612,
      "learning_rate": 0.00041648905282215824,
      "loss": 0.1224,
      "step": 3878
    },
    {
      "epoch": 0.8700919901278887,
      "gripper_loss": 0.07275390625,
      "loss": 0.10791015625,
      "pos_loss": 0.625,
      "rot_loss": 0.359375,
      "step": 3878
    },
    {
      "epoch": 0.8703163562934709,
      "grad_norm": 0.5223063826560974,
      "learning_rate": 0.0004164438709904314,
      "loss": 0.1113,
      "step": 3879
    },
    {
      "epoch": 0.8703163562934709,
      "gripper_loss": 0.1318359375,
      "loss": 0.12255859375,
      "pos_loss": 0.8828125,
      "rot_loss": 0.1298828125,
      "step": 3879
    },
    {
      "epoch": 0.8705407224590532,
      "grad_norm": 1.173487901687622,
      "learning_rate": 0.0004163986793918532,
      "loss": 0.1131,
      "step": 3880
    },
    {
      "epoch": 0.8705407224590532,
      "gripper_loss": 0.51171875,
      "loss": 0.1845703125,
      "pos_loss": 0.8046875,
      "rot_loss": 0.90625,
      "step": 3880
    },
    {
      "epoch": 0.8707650886246354,
      "grad_norm": 0.6989985108375549,
      "learning_rate": 0.00041635347802907574,
      "loss": 0.1405,
      "step": 3881
    },
    {
      "epoch": 0.8707650886246354,
      "gripper_loss": 0.119140625,
      "loss": 0.150390625,
      "pos_loss": 0.609375,
      "rot_loss": 0.84375,
      "step": 3881
    },
    {
      "epoch": 0.8709894547902176,
      "grad_norm": 0.8129147291183472,
      "learning_rate": 0.00041630826690475134,
      "loss": 0.0916,
      "step": 3882
    },
    {
      "epoch": 0.8709894547902176,
      "gripper_loss": 0.154296875,
      "loss": 0.06494140625,
      "pos_loss": 0.41796875,
      "rot_loss": 0.1533203125,
      "step": 3882
    },
    {
      "epoch": 0.8712138209557999,
      "grad_norm": 0.9495706558227539,
      "learning_rate": 0.0004162630460215329,
      "loss": 0.1183,
      "step": 3883
    },
    {
      "epoch": 0.8712138209557999,
      "gripper_loss": 0.035400390625,
      "loss": 0.045166015625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.054931640625,
      "step": 3883
    },
    {
      "epoch": 0.8714381871213821,
      "grad_norm": 0.49234941601753235,
      "learning_rate": 0.000416217815382074,
      "loss": 0.1081,
      "step": 3884
    },
    {
      "epoch": 0.8714381871213821,
      "gripper_loss": 1.234375,
      "loss": 0.216796875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.384765625,
      "step": 3884
    },
    {
      "epoch": 0.8716625532869643,
      "grad_norm": 1.8667665719985962,
      "learning_rate": 0.0004161725749890287,
      "loss": 0.2543,
      "step": 3885
    },
    {
      "epoch": 0.8716625532869643,
      "gripper_loss": 0.193359375,
      "loss": 0.10302734375,
      "pos_loss": 0.8046875,
      "rot_loss": 0.08203125,
      "step": 3885
    },
    {
      "epoch": 0.8718869194525466,
      "grad_norm": 0.736910879611969,
      "learning_rate": 0.00041612732484505187,
      "loss": 0.1115,
      "step": 3886
    },
    {
      "epoch": 0.8718869194525466,
      "gripper_loss": 0.67578125,
      "loss": 0.1005859375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.291015625,
      "step": 3886
    },
    {
      "epoch": 0.8721112856181288,
      "grad_norm": 0.6672223210334778,
      "learning_rate": 0.00041608206495279853,
      "loss": 0.1033,
      "step": 3887
    },
    {
      "epoch": 0.8721112856181288,
      "gripper_loss": 0.0869140625,
      "loss": 0.1083984375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.388671875,
      "step": 3887
    },
    {
      "epoch": 0.872335651783711,
      "grad_norm": 0.9177374243736267,
      "learning_rate": 0.00041603679531492476,
      "loss": 0.1183,
      "step": 3888
    },
    {
      "epoch": 0.872335651783711,
      "gripper_loss": 0.1103515625,
      "loss": 0.06689453125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.12890625,
      "step": 3888
    },
    {
      "epoch": 0.8725600179492933,
      "grad_norm": 0.6969925761222839,
      "learning_rate": 0.0004159915159340867,
      "loss": 0.0877,
      "step": 3889
    },
    {
      "epoch": 0.8725600179492933,
      "gripper_loss": 0.03515625,
      "loss": 0.05078125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.294921875,
      "step": 3889
    },
    {
      "epoch": 0.8727843841148755,
      "grad_norm": 0.6102880835533142,
      "learning_rate": 0.0004159462268129415,
      "loss": 0.105,
      "step": 3890
    },
    {
      "epoch": 0.8727843841148755,
      "gripper_loss": 0.03857421875,
      "loss": 0.07666015625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.10302734375,
      "step": 3890
    },
    {
      "epoch": 0.8730087502804577,
      "grad_norm": 0.7727146744728088,
      "learning_rate": 0.0004159009279541467,
      "loss": 0.1119,
      "step": 3891
    },
    {
      "epoch": 0.8730087502804577,
      "gripper_loss": 2.359375,
      "loss": 0.265625,
      "pos_loss": 1.890625,
      "rot_loss": 0.08984375,
      "step": 3891
    },
    {
      "epoch": 0.87323311644604,
      "grad_norm": 0.7159724235534668,
      "learning_rate": 0.00041585561936036033,
      "loss": 0.1003,
      "step": 3892
    },
    {
      "epoch": 0.87323311644604,
      "gripper_loss": 0.6171875,
      "loss": 0.054931640625,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.03564453125,
      "step": 3892
    },
    {
      "epoch": 0.8734574826116221,
      "grad_norm": 0.972682774066925,
      "learning_rate": 0.00041581030103424106,
      "loss": 0.1237,
      "step": 3893
    },
    {
      "epoch": 0.8734574826116221,
      "gripper_loss": 1.234375,
      "loss": 0.1142578125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.55859375,
      "step": 3893
    },
    {
      "epoch": 0.8736818487772045,
      "grad_norm": 0.7007837295532227,
      "learning_rate": 0.0004157649729784483,
      "loss": 0.1011,
      "step": 3894
    },
    {
      "epoch": 0.8736818487772045,
      "gripper_loss": 0.453125,
      "loss": 0.07568359375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.07080078125,
      "step": 3894
    },
    {
      "epoch": 0.8739062149427866,
      "grad_norm": 0.6015790700912476,
      "learning_rate": 0.0004157196351956417,
      "loss": 0.0925,
      "step": 3895
    },
    {
      "epoch": 0.8739062149427866,
      "gripper_loss": 0.1640625,
      "loss": 0.0966796875,
      "pos_loss": 0.86328125,
      "rot_loss": 0.046142578125,
      "step": 3895
    },
    {
      "epoch": 0.8741305811083688,
      "grad_norm": 0.5277518630027771,
      "learning_rate": 0.0004156742876884818,
      "loss": 0.0919,
      "step": 3896
    },
    {
      "epoch": 0.8741305811083688,
      "gripper_loss": 0.169921875,
      "loss": 0.125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.490234375,
      "step": 3896
    },
    {
      "epoch": 0.8743549472739511,
      "grad_norm": 0.6590667366981506,
      "learning_rate": 0.00041562893045962946,
      "loss": 0.0885,
      "step": 3897
    },
    {
      "epoch": 0.8743549472739511,
      "gripper_loss": 0.228515625,
      "loss": 0.171875,
      "pos_loss": 1.234375,
      "rot_loss": 0.2470703125,
      "step": 3897
    },
    {
      "epoch": 0.8745793134395333,
      "grad_norm": 0.796954333782196,
      "learning_rate": 0.0004155835635117463,
      "loss": 0.1333,
      "step": 3898
    },
    {
      "epoch": 0.8745793134395333,
      "gripper_loss": 0.1806640625,
      "loss": 0.0245361328125,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.03125,
      "step": 3898
    },
    {
      "epoch": 0.8748036796051155,
      "grad_norm": 0.5733506083488464,
      "learning_rate": 0.0004155381868474945,
      "loss": 0.0896,
      "step": 3899
    },
    {
      "epoch": 0.8748036796051155,
      "gripper_loss": 0.0247802734375,
      "loss": 0.09619140625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.2890625,
      "step": 3899
    },
    {
      "epoch": 0.8750280457706978,
      "grad_norm": 0.642106294631958,
      "learning_rate": 0.0004154928004695366,
      "loss": 0.0945,
      "step": 3900
    },
    {
      "epoch": 0.8750280457706978,
      "gripper_loss": 0.04296875,
      "loss": 0.061279296875,
      "pos_loss": 0.162109375,
      "rot_loss": 0.369140625,
      "step": 3900
    },
    {
      "epoch": 0.87525241193628,
      "grad_norm": 0.9197933673858643,
      "learning_rate": 0.00041544740438053583,
      "loss": 0.1444,
      "step": 3901
    },
    {
      "epoch": 0.87525241193628,
      "gripper_loss": 1.3515625,
      "loss": 0.201171875,
      "pos_loss": 1.578125,
      "rot_loss": 0.047607421875,
      "step": 3901
    },
    {
      "epoch": 0.8754767781018622,
      "grad_norm": 0.44818755984306335,
      "learning_rate": 0.0004154019985831562,
      "loss": 0.0938,
      "step": 3902
    },
    {
      "epoch": 0.8754767781018622,
      "gripper_loss": 0.06005859375,
      "loss": 0.15234375,
      "pos_loss": 1.15625,
      "rot_loss": 0.3125,
      "step": 3902
    },
    {
      "epoch": 0.8757011442674445,
      "grad_norm": 0.5921623110771179,
      "learning_rate": 0.00041535658308006196,
      "loss": 0.0835,
      "step": 3903
    },
    {
      "epoch": 0.8757011442674445,
      "gripper_loss": 0.63671875,
      "loss": 0.1376953125,
      "pos_loss": 0.67578125,
      "rot_loss": 0.50390625,
      "step": 3903
    },
    {
      "epoch": 0.8759255104330267,
      "grad_norm": 0.7904187440872192,
      "learning_rate": 0.0004153111578739181,
      "loss": 0.0989,
      "step": 3904
    },
    {
      "epoch": 0.8759255104330267,
      "gripper_loss": 0.0498046875,
      "loss": 0.1298828125,
      "pos_loss": 0.46875,
      "rot_loss": 0.81640625,
      "step": 3904
    },
    {
      "epoch": 0.8761498765986089,
      "grad_norm": 0.598267138004303,
      "learning_rate": 0.00041526572296739017,
      "loss": 0.0788,
      "step": 3905
    },
    {
      "epoch": 0.8761498765986089,
      "gripper_loss": 0.0233154296875,
      "loss": 0.1455078125,
      "pos_loss": 0.33203125,
      "rot_loss": 1.1640625,
      "step": 3905
    },
    {
      "epoch": 0.8763742427641912,
      "grad_norm": 0.4865323305130005,
      "learning_rate": 0.00041522027836314417,
      "loss": 0.0924,
      "step": 3906
    },
    {
      "epoch": 0.8763742427641912,
      "gripper_loss": 0.66796875,
      "loss": 0.076171875,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.447265625,
      "step": 3906
    },
    {
      "epoch": 0.8765986089297734,
      "grad_norm": 0.6730334758758545,
      "learning_rate": 0.0004151748240638469,
      "loss": 0.1134,
      "step": 3907
    },
    {
      "epoch": 0.8765986089297734,
      "gripper_loss": 0.1220703125,
      "loss": 0.04541015625,
      "pos_loss": 0.203125,
      "rot_loss": 0.1337890625,
      "step": 3907
    },
    {
      "epoch": 0.8768229750953557,
      "grad_norm": 0.6031542420387268,
      "learning_rate": 0.00041512936007216564,
      "loss": 0.091,
      "step": 3908
    },
    {
      "epoch": 0.8768229750953557,
      "gripper_loss": 0.02587890625,
      "loss": 0.1298828125,
      "pos_loss": 0.7890625,
      "rot_loss": 0.50390625,
      "step": 3908
    },
    {
      "epoch": 0.8770473412609379,
      "grad_norm": 0.5359703302383423,
      "learning_rate": 0.000415083886390768,
      "loss": 0.0952,
      "step": 3909
    },
    {
      "epoch": 0.8770473412609379,
      "gripper_loss": 0.047607421875,
      "loss": 0.0654296875,
      "pos_loss": 0.412109375,
      "rot_loss": 0.2060546875,
      "step": 3909
    },
    {
      "epoch": 0.87727170742652,
      "grad_norm": 0.5196471810340881,
      "learning_rate": 0.00041503840302232244,
      "loss": 0.1148,
      "step": 3910
    },
    {
      "epoch": 0.87727170742652,
      "gripper_loss": 0.345703125,
      "loss": 0.1748046875,
      "pos_loss": 0.75,
      "rot_loss": 0.416015625,
      "step": 3910
    },
    {
      "epoch": 0.8774960735921024,
      "grad_norm": 0.8332071304321289,
      "learning_rate": 0.000414992909969498,
      "loss": 0.1193,
      "step": 3911
    },
    {
      "epoch": 0.8774960735921024,
      "gripper_loss": 1.1796875,
      "loss": 0.38671875,
      "pos_loss": 0.80078125,
      "rot_loss": 0.5234375,
      "step": 3911
    },
    {
      "epoch": 0.8777204397576845,
      "grad_norm": 1.770412802696228,
      "learning_rate": 0.00041494740723496405,
      "loss": 0.3694,
      "step": 3912
    },
    {
      "epoch": 0.8777204397576845,
      "gripper_loss": 0.12255859375,
      "loss": 0.15625,
      "pos_loss": 1.234375,
      "rot_loss": 0.2451171875,
      "step": 3912
    },
    {
      "epoch": 0.8779448059232667,
      "grad_norm": 0.660118579864502,
      "learning_rate": 0.0004149018948213907,
      "loss": 0.123,
      "step": 3913
    },
    {
      "epoch": 0.8779448059232667,
      "gripper_loss": 3.625,
      "loss": 0.1591796875,
      "pos_loss": 0.36328125,
      "rot_loss": 0.033203125,
      "step": 3913
    },
    {
      "epoch": 0.878169172088849,
      "grad_norm": 0.8072593808174133,
      "learning_rate": 0.0004148563727314488,
      "loss": 0.1418,
      "step": 3914
    },
    {
      "epoch": 0.878169172088849,
      "gripper_loss": 0.193359375,
      "loss": 0.04150390625,
      "pos_loss": 0.1640625,
      "rot_loss": 0.05517578125,
      "step": 3914
    },
    {
      "epoch": 0.8783935382544312,
      "grad_norm": 0.8898775577545166,
      "learning_rate": 0.0004148108409678093,
      "loss": 0.1065,
      "step": 3915
    },
    {
      "epoch": 0.8783935382544312,
      "gripper_loss": 0.32421875,
      "loss": 0.026123046875,
      "pos_loss": 0.040283203125,
      "rot_loss": 0.053955078125,
      "step": 3915
    },
    {
      "epoch": 0.8786179044200134,
      "grad_norm": 0.634641170501709,
      "learning_rate": 0.000414765299533144,
      "loss": 0.0814,
      "step": 3916
    },
    {
      "epoch": 0.8786179044200134,
      "gripper_loss": 0.423828125,
      "loss": 0.030029296875,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.03369140625,
      "step": 3916
    },
    {
      "epoch": 0.8788422705855957,
      "grad_norm": 0.5174496173858643,
      "learning_rate": 0.0004147197484301255,
      "loss": 0.0813,
      "step": 3917
    },
    {
      "epoch": 0.8788422705855957,
      "gripper_loss": 0.2734375,
      "loss": 0.08056640625,
      "pos_loss": 0.640625,
      "rot_loss": 0.07373046875,
      "step": 3917
    },
    {
      "epoch": 0.8790666367511779,
      "grad_norm": 0.4453745484352112,
      "learning_rate": 0.00041467418766142646,
      "loss": 0.102,
      "step": 3918
    },
    {
      "epoch": 0.8790666367511779,
      "gripper_loss": 0.041748046875,
      "loss": 0.283203125,
      "pos_loss": 0.8359375,
      "rot_loss": 2.09375,
      "step": 3918
    },
    {
      "epoch": 0.8792910029167601,
      "grad_norm": 0.5147203207015991,
      "learning_rate": 0.00041462861722972046,
      "loss": 0.1355,
      "step": 3919
    },
    {
      "epoch": 0.8792910029167601,
      "gripper_loss": 1.015625,
      "loss": 0.068359375,
      "pos_loss": 0.20703125,
      "rot_loss": 0.1142578125,
      "step": 3919
    },
    {
      "epoch": 0.8795153690823424,
      "grad_norm": 0.43580955266952515,
      "learning_rate": 0.00041458303713768155,
      "loss": 0.0813,
      "step": 3920
    },
    {
      "epoch": 0.8795153690823424,
      "gripper_loss": 0.166015625,
      "loss": 0.0751953125,
      "pos_loss": 0.357421875,
      "rot_loss": 0.251953125,
      "step": 3920
    },
    {
      "epoch": 0.8797397352479246,
      "grad_norm": 0.650934100151062,
      "learning_rate": 0.00041453744738798433,
      "loss": 0.0954,
      "step": 3921
    },
    {
      "epoch": 0.8797397352479246,
      "gripper_loss": 0.032958984375,
      "loss": 0.06494140625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.08154296875,
      "step": 3921
    },
    {
      "epoch": 0.8799641014135069,
      "grad_norm": 0.551495373249054,
      "learning_rate": 0.00041449184798330403,
      "loss": 0.1022,
      "step": 3922
    },
    {
      "epoch": 0.8799641014135069,
      "gripper_loss": 0.1416015625,
      "loss": 0.0751953125,
      "pos_loss": 0.3671875,
      "rot_loss": 0.25390625,
      "step": 3922
    },
    {
      "epoch": 0.8801884675790891,
      "grad_norm": 0.7947216629981995,
      "learning_rate": 0.0004144462389263164,
      "loss": 0.0903,
      "step": 3923
    },
    {
      "epoch": 0.8801884675790891,
      "gripper_loss": 0.361328125,
      "loss": 0.10205078125,
      "pos_loss": 0.54296875,
      "rot_loss": 0.34765625,
      "step": 3923
    },
    {
      "epoch": 0.8804128337446713,
      "grad_norm": 0.810961902141571,
      "learning_rate": 0.0004144006202196977,
      "loss": 0.1314,
      "step": 3924
    },
    {
      "epoch": 0.8804128337446713,
      "gripper_loss": 0.035888671875,
      "loss": 0.08740234375,
      "pos_loss": 0.6484375,
      "rot_loss": 0.1806640625,
      "step": 3924
    },
    {
      "epoch": 0.8806371999102536,
      "grad_norm": 0.923263669013977,
      "learning_rate": 0.0004143549918661248,
      "loss": 0.129,
      "step": 3925
    },
    {
      "epoch": 0.8806371999102536,
      "gripper_loss": 0.419921875,
      "loss": 0.31640625,
      "pos_loss": 0.734375,
      "rot_loss": 0.494140625,
      "step": 3925
    },
    {
      "epoch": 0.8808615660758358,
      "grad_norm": 2.1302425861358643,
      "learning_rate": 0.0004143093538682753,
      "loss": 0.3943,
      "step": 3926
    },
    {
      "epoch": 0.8808615660758358,
      "gripper_loss": 0.055908203125,
      "loss": 0.1044921875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.64453125,
      "step": 3926
    },
    {
      "epoch": 0.881085932241418,
      "grad_norm": 0.5028741955757141,
      "learning_rate": 0.00041426370622882705,
      "loss": 0.0884,
      "step": 3927
    },
    {
      "epoch": 0.881085932241418,
      "gripper_loss": 0.0322265625,
      "loss": 0.1171875,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.95703125,
      "step": 3927
    },
    {
      "epoch": 0.8813102984070003,
      "grad_norm": 0.5081608295440674,
      "learning_rate": 0.0004142180489504587,
      "loss": 0.084,
      "step": 3928
    },
    {
      "epoch": 0.8813102984070003,
      "gripper_loss": 0.0322265625,
      "loss": 0.1279296875,
      "pos_loss": 1.125,
      "rot_loss": 0.158203125,
      "step": 3928
    },
    {
      "epoch": 0.8815346645725824,
      "grad_norm": 0.7863408923149109,
      "learning_rate": 0.0004141723820358495,
      "loss": 0.1075,
      "step": 3929
    },
    {
      "epoch": 0.8815346645725824,
      "gripper_loss": 0.10888671875,
      "loss": 0.11962890625,
      "pos_loss": 0.71875,
      "rot_loss": 0.431640625,
      "step": 3929
    },
    {
      "epoch": 0.8817590307381646,
      "grad_norm": 0.6205788850784302,
      "learning_rate": 0.0004141267054876789,
      "loss": 0.0733,
      "step": 3930
    },
    {
      "epoch": 0.8817590307381646,
      "gripper_loss": 0.4296875,
      "loss": 0.078125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.111328125,
      "step": 3930
    },
    {
      "epoch": 0.8819833969037469,
      "grad_norm": 0.6594401001930237,
      "learning_rate": 0.0004140810193086275,
      "loss": 0.1059,
      "step": 3931
    },
    {
      "epoch": 0.8819833969037469,
      "gripper_loss": 0.265625,
      "loss": 0.0986328125,
      "pos_loss": 0.427734375,
      "rot_loss": 0.25,
      "step": 3931
    },
    {
      "epoch": 0.8822077630693291,
      "grad_norm": 0.9206896424293518,
      "learning_rate": 0.0004140353235013759,
      "loss": 0.1346,
      "step": 3932
    },
    {
      "epoch": 0.8822077630693291,
      "gripper_loss": 0.08251953125,
      "loss": 0.087890625,
      "pos_loss": 0.193359375,
      "rot_loss": 0.62890625,
      "step": 3932
    },
    {
      "epoch": 0.8824321292349113,
      "grad_norm": 0.5956741571426392,
      "learning_rate": 0.00041398961806860565,
      "loss": 0.1013,
      "step": 3933
    },
    {
      "epoch": 0.8824321292349113,
      "gripper_loss": 0.30078125,
      "loss": 0.09033203125,
      "pos_loss": 0.61328125,
      "rot_loss": 0.1669921875,
      "step": 3933
    },
    {
      "epoch": 0.8826564954004936,
      "grad_norm": 0.5182366371154785,
      "learning_rate": 0.0004139439030129987,
      "loss": 0.0926,
      "step": 3934
    },
    {
      "epoch": 0.8826564954004936,
      "gripper_loss": 0.053955078125,
      "loss": 0.09423828125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.2373046875,
      "step": 3934
    },
    {
      "epoch": 0.8828808615660758,
      "grad_norm": 0.650382399559021,
      "learning_rate": 0.0004138981783372374,
      "loss": 0.0853,
      "step": 3935
    },
    {
      "epoch": 0.8828808615660758,
      "gripper_loss": 0.033203125,
      "loss": 0.07080078125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.083984375,
      "step": 3935
    },
    {
      "epoch": 0.8831052277316581,
      "grad_norm": 0.5263693928718567,
      "learning_rate": 0.0004138524440440051,
      "loss": 0.0902,
      "step": 3936
    },
    {
      "epoch": 0.8831052277316581,
      "gripper_loss": 0.1884765625,
      "loss": 0.03759765625,
      "pos_loss": 0.251953125,
      "rot_loss": 0.01806640625,
      "step": 3936
    },
    {
      "epoch": 0.8833295938972403,
      "grad_norm": 0.48431795835494995,
      "learning_rate": 0.0004138067001359855,
      "loss": 0.0596,
      "step": 3937
    },
    {
      "epoch": 0.8833295938972403,
      "gripper_loss": 0.62109375,
      "loss": 0.1025390625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.058837890625,
      "step": 3937
    },
    {
      "epoch": 0.8835539600628225,
      "grad_norm": 0.4818759560585022,
      "learning_rate": 0.00041376094661586257,
      "loss": 0.0858,
      "step": 3938
    },
    {
      "epoch": 0.8835539600628225,
      "gripper_loss": 1.1640625,
      "loss": 0.130859375,
      "pos_loss": 0.78515625,
      "rot_loss": 0.1259765625,
      "step": 3938
    },
    {
      "epoch": 0.8837783262284048,
      "grad_norm": 0.4927330017089844,
      "learning_rate": 0.0004137151834863213,
      "loss": 0.1136,
      "step": 3939
    },
    {
      "epoch": 0.8837783262284048,
      "gripper_loss": 0.380859375,
      "loss": 0.07177734375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.2353515625,
      "step": 3939
    },
    {
      "epoch": 0.884002692393987,
      "grad_norm": 0.6185704469680786,
      "learning_rate": 0.00041366941075004696,
      "loss": 0.1091,
      "step": 3940
    },
    {
      "epoch": 0.884002692393987,
      "gripper_loss": 0.0283203125,
      "loss": 0.01556396484375,
      "pos_loss": 0.0615234375,
      "rot_loss": 0.033447265625,
      "step": 3940
    },
    {
      "epoch": 0.8842270585595692,
      "grad_norm": 0.42814862728118896,
      "learning_rate": 0.0004136236284097256,
      "loss": 0.069,
      "step": 3941
    },
    {
      "epoch": 0.8842270585595692,
      "gripper_loss": 0.038330078125,
      "loss": 0.068359375,
      "pos_loss": 0.40625,
      "rot_loss": 0.244140625,
      "step": 3941
    },
    {
      "epoch": 0.8844514247251515,
      "grad_norm": 0.5656159520149231,
      "learning_rate": 0.00041357783646804347,
      "loss": 0.0918,
      "step": 3942
    },
    {
      "epoch": 0.8844514247251515,
      "gripper_loss": 0.345703125,
      "loss": 0.0810546875,
      "pos_loss": 0.640625,
      "rot_loss": 0.040771484375,
      "step": 3942
    },
    {
      "epoch": 0.8846757908907337,
      "grad_norm": 0.45547887682914734,
      "learning_rate": 0.00041353203492768795,
      "loss": 0.1119,
      "step": 3943
    },
    {
      "epoch": 0.8846757908907337,
      "gripper_loss": 0.02734375,
      "loss": 0.125,
      "pos_loss": 0.640625,
      "rot_loss": 0.5703125,
      "step": 3943
    },
    {
      "epoch": 0.8849001570563159,
      "grad_norm": 0.7625308036804199,
      "learning_rate": 0.0004134862237913463,
      "loss": 0.135,
      "step": 3944
    },
    {
      "epoch": 0.8849001570563159,
      "gripper_loss": 0.041015625,
      "loss": 0.01904296875,
      "pos_loss": 0.0380859375,
      "rot_loss": 0.091796875,
      "step": 3944
    },
    {
      "epoch": 0.8851245232218982,
      "grad_norm": 0.6896829605102539,
      "learning_rate": 0.00041344040306170695,
      "loss": 0.1381,
      "step": 3945
    },
    {
      "epoch": 0.8851245232218982,
      "gripper_loss": 0.0673828125,
      "loss": 0.0869140625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.1376953125,
      "step": 3945
    },
    {
      "epoch": 0.8853488893874804,
      "grad_norm": 0.6920307874679565,
      "learning_rate": 0.00041339457274145857,
      "loss": 0.1147,
      "step": 3946
    },
    {
      "epoch": 0.8853488893874804,
      "gripper_loss": 0.69921875,
      "loss": 0.046875,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.0791015625,
      "step": 3946
    },
    {
      "epoch": 0.8855732555530625,
      "grad_norm": 0.4776409864425659,
      "learning_rate": 0.00041334873283329043,
      "loss": 0.1093,
      "step": 3947
    },
    {
      "epoch": 0.8855732555530625,
      "gripper_loss": 0.1806640625,
      "loss": 0.01904296875,
      "pos_loss": 0.05078125,
      "rot_loss": 0.035888671875,
      "step": 3947
    },
    {
      "epoch": 0.8857976217186448,
      "grad_norm": 0.5541977882385254,
      "learning_rate": 0.0004133028833398925,
      "loss": 0.0656,
      "step": 3948
    },
    {
      "epoch": 0.8857976217186448,
      "gripper_loss": 1.0859375,
      "loss": 0.07275390625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.1318359375,
      "step": 3948
    },
    {
      "epoch": 0.886021987884227,
      "grad_norm": 0.5944451093673706,
      "learning_rate": 0.000413257024263955,
      "loss": 0.0873,
      "step": 3949
    },
    {
      "epoch": 0.886021987884227,
      "gripper_loss": 0.042236328125,
      "loss": 0.0546875,
      "pos_loss": 0.44140625,
      "rot_loss": 0.055908203125,
      "step": 3949
    },
    {
      "epoch": 0.8862463540498093,
      "grad_norm": 0.38487011194229126,
      "learning_rate": 0.0004132111556081691,
      "loss": 0.0808,
      "step": 3950
    },
    {
      "epoch": 0.8862463540498093,
      "gripper_loss": 0.0240478515625,
      "loss": 0.034912109375,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.11669921875,
      "step": 3950
    },
    {
      "epoch": 0.8864707202153915,
      "grad_norm": 0.5932862162590027,
      "learning_rate": 0.0004131652773752263,
      "loss": 0.1011,
      "step": 3951
    },
    {
      "epoch": 0.8864707202153915,
      "gripper_loss": 0.047607421875,
      "loss": 0.09130859375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.6328125,
      "step": 3951
    },
    {
      "epoch": 0.8866950863809737,
      "grad_norm": 0.5210198163986206,
      "learning_rate": 0.00041311938956781875,
      "loss": 0.0752,
      "step": 3952
    },
    {
      "epoch": 0.8866950863809737,
      "gripper_loss": 0.08642578125,
      "loss": 0.11083984375,
      "pos_loss": 0.5625,
      "rot_loss": 0.455078125,
      "step": 3952
    },
    {
      "epoch": 0.886919452546556,
      "grad_norm": 0.5522022843360901,
      "learning_rate": 0.000413073492188639,
      "loss": 0.1241,
      "step": 3953
    },
    {
      "epoch": 0.886919452546556,
      "gripper_loss": 0.10791015625,
      "loss": 0.0283203125,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.103515625,
      "step": 3953
    },
    {
      "epoch": 0.8871438187121382,
      "grad_norm": 0.5556264519691467,
      "learning_rate": 0.0004130275852403804,
      "loss": 0.0589,
      "step": 3954
    },
    {
      "epoch": 0.8871438187121382,
      "gripper_loss": 0.01239013671875,
      "loss": 0.12890625,
      "pos_loss": 0.65234375,
      "rot_loss": 0.671875,
      "step": 3954
    },
    {
      "epoch": 0.8873681848777204,
      "grad_norm": 0.5174181461334229,
      "learning_rate": 0.00041298166872573677,
      "loss": 0.1277,
      "step": 3955
    },
    {
      "epoch": 0.8873681848777204,
      "gripper_loss": 1.8828125,
      "loss": 0.0712890625,
      "pos_loss": 0.068359375,
      "rot_loss": 0.0235595703125,
      "step": 3955
    },
    {
      "epoch": 0.8875925510433027,
      "grad_norm": 0.6569440960884094,
      "learning_rate": 0.0004129357426474024,
      "loss": 0.1689,
      "step": 3956
    },
    {
      "epoch": 0.8875925510433027,
      "gripper_loss": 0.1181640625,
      "loss": 0.09033203125,
      "pos_loss": 0.23046875,
      "rot_loss": 0.482421875,
      "step": 3956
    },
    {
      "epoch": 0.8878169172088849,
      "grad_norm": 0.7946325540542603,
      "learning_rate": 0.00041288980700807224,
      "loss": 0.1096,
      "step": 3957
    },
    {
      "epoch": 0.8878169172088849,
      "gripper_loss": 0.91796875,
      "loss": 0.119140625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.1064453125,
      "step": 3957
    },
    {
      "epoch": 0.8880412833744671,
      "grad_norm": 0.5690541863441467,
      "learning_rate": 0.0004128438618104418,
      "loss": 0.0796,
      "step": 3958
    },
    {
      "epoch": 0.8880412833744671,
      "gripper_loss": 0.2119140625,
      "loss": 0.2021484375,
      "pos_loss": 0.51171875,
      "rot_loss": 0.65625,
      "step": 3958
    },
    {
      "epoch": 0.8882656495400494,
      "grad_norm": 1.2263445854187012,
      "learning_rate": 0.00041279790705720697,
      "loss": 0.229,
      "step": 3959
    },
    {
      "epoch": 0.8882656495400494,
      "gripper_loss": 0.3125,
      "loss": 0.0556640625,
      "pos_loss": 0.40625,
      "rot_loss": 0.0157470703125,
      "step": 3959
    },
    {
      "epoch": 0.8884900157056316,
      "grad_norm": 0.6076564788818359,
      "learning_rate": 0.00041275194275106454,
      "loss": 0.0814,
      "step": 3960
    },
    {
      "epoch": 0.8884900157056316,
      "gripper_loss": 0.0458984375,
      "loss": 0.1083984375,
      "pos_loss": 0.84375,
      "rot_loss": 0.1875,
      "step": 3960
    },
    {
      "epoch": 0.8887143818712138,
      "grad_norm": 0.5351318120956421,
      "learning_rate": 0.00041270596889471167,
      "loss": 0.1102,
      "step": 3961
    },
    {
      "epoch": 0.8887143818712138,
      "gripper_loss": 0.099609375,
      "loss": 0.130859375,
      "pos_loss": 0.640625,
      "rot_loss": 0.44921875,
      "step": 3961
    },
    {
      "epoch": 0.8889387480367961,
      "grad_norm": 0.9058659672737122,
      "learning_rate": 0.00041265998549084595,
      "loss": 0.1072,
      "step": 3962
    },
    {
      "epoch": 0.8889387480367961,
      "gripper_loss": 0.71875,
      "loss": 0.0859375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.16796875,
      "step": 3962
    },
    {
      "epoch": 0.8891631142023783,
      "grad_norm": 0.790119469165802,
      "learning_rate": 0.0004126139925421658,
      "loss": 0.0836,
      "step": 3963
    },
    {
      "epoch": 0.8891631142023783,
      "gripper_loss": 0.416015625,
      "loss": 0.06396484375,
      "pos_loss": 0.470703125,
      "rot_loss": 0.020263671875,
      "step": 3963
    },
    {
      "epoch": 0.8893874803679606,
      "grad_norm": 0.5441046357154846,
      "learning_rate": 0.00041256799005136996,
      "loss": 0.0921,
      "step": 3964
    },
    {
      "epoch": 0.8893874803679606,
      "gripper_loss": 0.0927734375,
      "loss": 0.058349609375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.103515625,
      "step": 3964
    },
    {
      "epoch": 0.8896118465335427,
      "grad_norm": 0.5935214757919312,
      "learning_rate": 0.0004125219780211579,
      "loss": 0.0778,
      "step": 3965
    },
    {
      "epoch": 0.8896118465335427,
      "gripper_loss": 0.0233154296875,
      "loss": 0.19921875,
      "pos_loss": 1.9921875,
      "rot_loss": 0.0419921875,
      "step": 3965
    },
    {
      "epoch": 0.8898362126991249,
      "grad_norm": 0.5234649777412415,
      "learning_rate": 0.00041247595645422955,
      "loss": 0.0639,
      "step": 3966
    },
    {
      "epoch": 0.8898362126991249,
      "gripper_loss": 0.296875,
      "loss": 0.1533203125,
      "pos_loss": 0.99609375,
      "rot_loss": 0.408203125,
      "step": 3966
    },
    {
      "epoch": 0.8900605788647072,
      "grad_norm": 0.638236939907074,
      "learning_rate": 0.0004124299253532855,
      "loss": 0.0835,
      "step": 3967
    },
    {
      "epoch": 0.8900605788647072,
      "gripper_loss": 0.09228515625,
      "loss": 0.04541015625,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.07958984375,
      "step": 3967
    },
    {
      "epoch": 0.8902849450302894,
      "grad_norm": 0.9055526256561279,
      "learning_rate": 0.00041238388472102674,
      "loss": 0.1024,
      "step": 3968
    },
    {
      "epoch": 0.8902849450302894,
      "gripper_loss": 0.0625,
      "loss": 0.1474609375,
      "pos_loss": 1.0,
      "rot_loss": 0.447265625,
      "step": 3968
    },
    {
      "epoch": 0.8905093111958716,
      "grad_norm": 0.9965692758560181,
      "learning_rate": 0.00041233783456015496,
      "loss": 0.1554,
      "step": 3969
    },
    {
      "epoch": 0.8905093111958716,
      "gripper_loss": 0.123046875,
      "loss": 0.1962890625,
      "pos_loss": 0.427734375,
      "rot_loss": 1.5390625,
      "step": 3969
    },
    {
      "epoch": 0.8907336773614539,
      "grad_norm": 0.792041003704071,
      "learning_rate": 0.00041229177487337235,
      "loss": 0.1024,
      "step": 3970
    },
    {
      "epoch": 0.8907336773614539,
      "gripper_loss": 0.0703125,
      "loss": 0.12890625,
      "pos_loss": 0.82421875,
      "rot_loss": 0.423828125,
      "step": 3970
    },
    {
      "epoch": 0.8909580435270361,
      "grad_norm": 0.776489794254303,
      "learning_rate": 0.0004122457056633817,
      "loss": 0.1006,
      "step": 3971
    },
    {
      "epoch": 0.8909580435270361,
      "gripper_loss": 0.451171875,
      "loss": 0.080078125,
      "pos_loss": 0.162109375,
      "rot_loss": 0.44921875,
      "step": 3971
    },
    {
      "epoch": 0.8911824096926183,
      "grad_norm": 0.6950502395629883,
      "learning_rate": 0.0004121996269328864,
      "loss": 0.1284,
      "step": 3972
    },
    {
      "epoch": 0.8911824096926183,
      "gripper_loss": 0.5390625,
      "loss": 0.039306640625,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.0615234375,
      "step": 3972
    },
    {
      "epoch": 0.8914067758582006,
      "grad_norm": 0.5593791604042053,
      "learning_rate": 0.00041215353868459016,
      "loss": 0.0654,
      "step": 3973
    },
    {
      "epoch": 0.8914067758582006,
      "gripper_loss": 0.30078125,
      "loss": 0.021728515625,
      "pos_loss": 0.0311279296875,
      "rot_loss": 0.018310546875,
      "step": 3973
    },
    {
      "epoch": 0.8916311420237828,
      "grad_norm": 0.5165577530860901,
      "learning_rate": 0.00041210744092119744,
      "loss": 0.1361,
      "step": 3974
    },
    {
      "epoch": 0.8916311420237828,
      "gripper_loss": 1.3359375,
      "loss": 0.11767578125,
      "pos_loss": 0.6640625,
      "rot_loss": 0.0751953125,
      "step": 3974
    },
    {
      "epoch": 0.8918555081893651,
      "grad_norm": 0.576438307762146,
      "learning_rate": 0.0004120613336454133,
      "loss": 0.0916,
      "step": 3975
    },
    {
      "epoch": 0.8918555081893651,
      "gripper_loss": 0.08349609375,
      "loss": 0.07275390625,
      "pos_loss": 0.3828125,
      "rot_loss": 0.283203125,
      "step": 3975
    },
    {
      "epoch": 0.8920798743549473,
      "grad_norm": 0.6463034152984619,
      "learning_rate": 0.00041201521685994336,
      "loss": 0.0809,
      "step": 3976
    },
    {
      "epoch": 0.8920798743549473,
      "gripper_loss": 0.0712890625,
      "loss": 0.09619140625,
      "pos_loss": 0.65625,
      "rot_loss": 0.20703125,
      "step": 3976
    },
    {
      "epoch": 0.8923042405205295,
      "grad_norm": 0.7184997797012329,
      "learning_rate": 0.00041196909056749365,
      "loss": 0.1163,
      "step": 3977
    },
    {
      "epoch": 0.8923042405205295,
      "gripper_loss": 0.2138671875,
      "loss": 0.1552734375,
      "pos_loss": 0.4140625,
      "rot_loss": 0.3359375,
      "step": 3977
    },
    {
      "epoch": 0.8925286066861118,
      "grad_norm": 0.9896343350410461,
      "learning_rate": 0.0004119229547707709,
      "loss": 0.2024,
      "step": 3978
    },
    {
      "epoch": 0.8925286066861118,
      "gripper_loss": 0.83203125,
      "loss": 0.11083984375,
      "pos_loss": 0.765625,
      "rot_loss": 0.058349609375,
      "step": 3978
    },
    {
      "epoch": 0.892752972851694,
      "grad_norm": 0.8106760382652283,
      "learning_rate": 0.0004118768094724822,
      "loss": 0.0911,
      "step": 3979
    },
    {
      "epoch": 0.892752972851694,
      "gripper_loss": 1.890625,
      "loss": 0.1318359375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.14453125,
      "step": 3979
    },
    {
      "epoch": 0.8929773390172762,
      "grad_norm": 0.6804611682891846,
      "learning_rate": 0.0004118306546753355,
      "loss": 0.0898,
      "step": 3980
    },
    {
      "epoch": 0.8929773390172762,
      "gripper_loss": 0.10205078125,
      "loss": 0.10791015625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.49609375,
      "step": 3980
    },
    {
      "epoch": 0.8932017051828585,
      "grad_norm": 1.155129313468933,
      "learning_rate": 0.000411784490382039,
      "loss": 0.12,
      "step": 3981
    },
    {
      "epoch": 0.8932017051828585,
      "gripper_loss": 0.14453125,
      "loss": 0.1416015625,
      "pos_loss": 1.2890625,
      "rot_loss": 0.045654296875,
      "step": 3981
    },
    {
      "epoch": 0.8934260713484407,
      "grad_norm": 0.8739563226699829,
      "learning_rate": 0.00041173831659530177,
      "loss": 0.1505,
      "step": 3982
    },
    {
      "epoch": 0.8934260713484407,
      "gripper_loss": 0.55078125,
      "loss": 0.04296875,
      "pos_loss": 0.15234375,
      "rot_loss": 0.058837890625,
      "step": 3982
    },
    {
      "epoch": 0.8936504375140228,
      "grad_norm": 0.6049745082855225,
      "learning_rate": 0.0004116921333178331,
      "loss": 0.0984,
      "step": 3983
    },
    {
      "epoch": 0.8936504375140228,
      "gripper_loss": 0.0177001953125,
      "loss": 0.1953125,
      "pos_loss": 0.318359375,
      "rot_loss": 1.703125,
      "step": 3983
    },
    {
      "epoch": 0.8938748036796051,
      "grad_norm": 0.7067602872848511,
      "learning_rate": 0.0004116459405523431,
      "loss": 0.1291,
      "step": 3984
    },
    {
      "epoch": 0.8938748036796051,
      "gripper_loss": 1.0078125,
      "loss": 0.046875,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.01556396484375,
      "step": 3984
    },
    {
      "epoch": 0.8940991698451873,
      "grad_norm": 0.4794900715351105,
      "learning_rate": 0.0004115997383015422,
      "loss": 0.0798,
      "step": 3985
    },
    {
      "epoch": 0.8940991698451873,
      "gripper_loss": 0.2578125,
      "loss": 0.040283203125,
      "pos_loss": 0.203125,
      "rot_loss": 0.080078125,
      "step": 3985
    },
    {
      "epoch": 0.8943235360107695,
      "grad_norm": 0.5898923277854919,
      "learning_rate": 0.00041155352656814173,
      "loss": 0.1011,
      "step": 3986
    },
    {
      "epoch": 0.8943235360107695,
      "gripper_loss": 0.06689453125,
      "loss": 0.11865234375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.58203125,
      "step": 3986
    },
    {
      "epoch": 0.8945479021763518,
      "grad_norm": 0.5738811492919922,
      "learning_rate": 0.00041150730535485325,
      "loss": 0.1082,
      "step": 3987
    },
    {
      "epoch": 0.8945479021763518,
      "gripper_loss": 0.921875,
      "loss": 0.10302734375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.296875,
      "step": 3987
    },
    {
      "epoch": 0.894772268341934,
      "grad_norm": 0.6198397278785706,
      "learning_rate": 0.0004114610746643891,
      "loss": 0.0978,
      "step": 3988
    },
    {
      "epoch": 0.894772268341934,
      "gripper_loss": 0.380859375,
      "loss": 0.03564453125,
      "pos_loss": 0.109375,
      "rot_loss": 0.07666015625,
      "step": 3988
    },
    {
      "epoch": 0.8949966345075163,
      "grad_norm": 0.4830836057662964,
      "learning_rate": 0.00041141483449946186,
      "loss": 0.1166,
      "step": 3989
    },
    {
      "epoch": 0.8949966345075163,
      "gripper_loss": 0.6953125,
      "loss": 0.171875,
      "pos_loss": 0.90625,
      "rot_loss": 0.6171875,
      "step": 3989
    },
    {
      "epoch": 0.8952210006730985,
      "grad_norm": 0.5796636939048767,
      "learning_rate": 0.00041136858486278516,
      "loss": 0.1268,
      "step": 3990
    },
    {
      "epoch": 0.8952210006730985,
      "gripper_loss": 0.146484375,
      "loss": 0.1455078125,
      "pos_loss": 1.046875,
      "rot_loss": 0.2158203125,
      "step": 3990
    },
    {
      "epoch": 0.8954453668386807,
      "grad_norm": 0.5437020659446716,
      "learning_rate": 0.00041132232575707273,
      "loss": 0.0998,
      "step": 3991
    },
    {
      "epoch": 0.8954453668386807,
      "gripper_loss": 0.02001953125,
      "loss": 0.173828125,
      "pos_loss": 1.1796875,
      "rot_loss": 0.58984375,
      "step": 3991
    },
    {
      "epoch": 0.895669733004263,
      "grad_norm": 0.7747241258621216,
      "learning_rate": 0.00041127605718503906,
      "loss": 0.1183,
      "step": 3992
    },
    {
      "epoch": 0.895669733004263,
      "gripper_loss": 0.0242919921875,
      "loss": 0.1259765625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.7265625,
      "step": 3992
    },
    {
      "epoch": 0.8958940991698452,
      "grad_norm": 0.4336155354976654,
      "learning_rate": 0.00041122977914939923,
      "loss": 0.0783,
      "step": 3993
    },
    {
      "epoch": 0.8958940991698452,
      "gripper_loss": 0.07861328125,
      "loss": 0.05908203125,
      "pos_loss": 0.328125,
      "rot_loss": 0.189453125,
      "step": 3993
    },
    {
      "epoch": 0.8961184653354274,
      "grad_norm": 0.7251825928688049,
      "learning_rate": 0.0004111834916528687,
      "loss": 0.0701,
      "step": 3994
    },
    {
      "epoch": 0.8961184653354274,
      "gripper_loss": 0.4609375,
      "loss": 0.53125,
      "pos_loss": 0.671875,
      "rot_loss": 2.078125,
      "step": 3994
    },
    {
      "epoch": 0.8963428315010097,
      "grad_norm": 1.787341594696045,
      "learning_rate": 0.0004111371946981638,
      "loss": 0.3823,
      "step": 3995
    },
    {
      "epoch": 0.8963428315010097,
      "gripper_loss": 0.408203125,
      "loss": 0.09521484375,
      "pos_loss": 0.625,
      "rot_loss": 0.099609375,
      "step": 3995
    },
    {
      "epoch": 0.8965671976665919,
      "grad_norm": 1.1945573091506958,
      "learning_rate": 0.000411090888288001,
      "loss": 0.237,
      "step": 3996
    },
    {
      "epoch": 0.8965671976665919,
      "gripper_loss": 0.2451171875,
      "loss": 0.08544921875,
      "pos_loss": 0.59375,
      "rot_loss": 0.173828125,
      "step": 3996
    },
    {
      "epoch": 0.8967915638321741,
      "grad_norm": 0.3895854353904724,
      "learning_rate": 0.0004110445724250976,
      "loss": 0.0746,
      "step": 3997
    },
    {
      "epoch": 0.8967915638321741,
      "gripper_loss": 0.6015625,
      "loss": 0.07373046875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.1796875,
      "step": 3997
    },
    {
      "epoch": 0.8970159299977564,
      "grad_norm": 0.8044400215148926,
      "learning_rate": 0.0004109982471121715,
      "loss": 0.0867,
      "step": 3998
    },
    {
      "epoch": 0.8970159299977564,
      "gripper_loss": 0.2490234375,
      "loss": 0.1318359375,
      "pos_loss": 0.890625,
      "rot_loss": 0.369140625,
      "step": 3998
    },
    {
      "epoch": 0.8972402961633386,
      "grad_norm": 0.4930086135864258,
      "learning_rate": 0.00041095191235194096,
      "loss": 0.0958,
      "step": 3999
    },
    {
      "epoch": 0.8972402961633386,
      "gripper_loss": 0.99609375,
      "loss": 0.11328125,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.255859375,
      "step": 3999
    },
    {
      "epoch": 0.8974646623289207,
      "grad_norm": 1.2596616744995117,
      "learning_rate": 0.00041090556814712476,
      "loss": 0.1671,
      "step": 4000
    },
    {
      "epoch": 0.8974646623289207,
      "gripper_loss": 0.1806640625,
      "loss": 0.045166015625,
      "pos_loss": 0.1328125,
      "rot_loss": 0.2236328125,
      "step": 4000
    },
    {
      "epoch": 0.897689028494503,
      "grad_norm": 0.5898237824440002,
      "learning_rate": 0.0004108592145004426,
      "loss": 0.1188,
      "step": 4001
    },
    {
      "epoch": 0.897689028494503,
      "gripper_loss": 0.68359375,
      "loss": 0.062255859375,
      "pos_loss": 0.326171875,
      "rot_loss": 0.054443359375,
      "step": 4001
    },
    {
      "epoch": 0.8979133946600852,
      "grad_norm": 0.5943703651428223,
      "learning_rate": 0.0004108128514146144,
      "loss": 0.1364,
      "step": 4002
    },
    {
      "epoch": 0.8979133946600852,
      "gripper_loss": 0.67578125,
      "loss": 0.109375,
      "pos_loss": 0.3125,
      "rot_loss": 0.3671875,
      "step": 4002
    },
    {
      "epoch": 0.8981377608256675,
      "grad_norm": 0.8508434295654297,
      "learning_rate": 0.0004107664788923607,
      "loss": 0.1061,
      "step": 4003
    },
    {
      "epoch": 0.8981377608256675,
      "gripper_loss": 0.2734375,
      "loss": 0.22265625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.431640625,
      "step": 4003
    },
    {
      "epoch": 0.8983621269912497,
      "grad_norm": 1.549587368965149,
      "learning_rate": 0.00041072009693640253,
      "loss": 0.2405,
      "step": 4004
    },
    {
      "epoch": 0.8983621269912497,
      "gripper_loss": 0.025146484375,
      "loss": 0.1943359375,
      "pos_loss": 0.75,
      "rot_loss": 1.234375,
      "step": 4004
    },
    {
      "epoch": 0.8985864931568319,
      "grad_norm": 0.8955603837966919,
      "learning_rate": 0.0004106737055494617,
      "loss": 0.1149,
      "step": 4005
    },
    {
      "epoch": 0.8985864931568319,
      "gripper_loss": 0.03466796875,
      "loss": 0.1767578125,
      "pos_loss": 1.5,
      "rot_loss": 0.1982421875,
      "step": 4005
    },
    {
      "epoch": 0.8988108593224142,
      "grad_norm": 0.8274919390678406,
      "learning_rate": 0.00041062730473426045,
      "loss": 0.1132,
      "step": 4006
    },
    {
      "epoch": 0.8988108593224142,
      "gripper_loss": 0.08544921875,
      "loss": 0.0693359375,
      "pos_loss": 0.3984375,
      "rot_loss": 0.2333984375,
      "step": 4006
    },
    {
      "epoch": 0.8990352254879964,
      "grad_norm": 0.6913885474205017,
      "learning_rate": 0.0004105808944935214,
      "loss": 0.0842,
      "step": 4007
    },
    {
      "epoch": 0.8990352254879964,
      "gripper_loss": 0.06689453125,
      "loss": 0.083984375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.228515625,
      "step": 4007
    },
    {
      "epoch": 0.8992595916535786,
      "grad_norm": 0.6112729907035828,
      "learning_rate": 0.0004105344748299681,
      "loss": 0.1038,
      "step": 4008
    },
    {
      "epoch": 0.8992595916535786,
      "gripper_loss": 0.09814453125,
      "loss": 0.283203125,
      "pos_loss": 1.171875,
      "rot_loss": 1.7109375,
      "step": 4008
    },
    {
      "epoch": 0.8994839578191609,
      "grad_norm": 0.7136232852935791,
      "learning_rate": 0.0004104880457463242,
      "loss": 0.1223,
      "step": 4009
    },
    {
      "epoch": 0.8994839578191609,
      "gripper_loss": 0.84765625,
      "loss": 0.10693359375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.03173828125,
      "step": 4009
    },
    {
      "epoch": 0.8997083239847431,
      "grad_norm": 0.6095161437988281,
      "learning_rate": 0.0004104416072453143,
      "loss": 0.1042,
      "step": 4010
    },
    {
      "epoch": 0.8997083239847431,
      "gripper_loss": 1.0,
      "loss": 0.08447265625,
      "pos_loss": 0.466796875,
      "rot_loss": 0.033935546875,
      "step": 4010
    },
    {
      "epoch": 0.8999326901503253,
      "grad_norm": 0.42864879965782166,
      "learning_rate": 0.00041039515932966337,
      "loss": 0.0733,
      "step": 4011
    },
    {
      "epoch": 0.8999326901503253,
      "gripper_loss": 0.07177734375,
      "loss": 0.08740234375,
      "pos_loss": 0.283203125,
      "rot_loss": 0.42578125,
      "step": 4011
    },
    {
      "epoch": 0.9001570563159076,
      "grad_norm": 0.7294993996620178,
      "learning_rate": 0.00041034870200209696,
      "loss": 0.0941,
      "step": 4012
    },
    {
      "epoch": 0.9001570563159076,
      "gripper_loss": 0.11767578125,
      "loss": 0.1396484375,
      "pos_loss": 1.0390625,
      "rot_loss": 0.232421875,
      "step": 4012
    },
    {
      "epoch": 0.9003814224814898,
      "grad_norm": 0.8868354558944702,
      "learning_rate": 0.00041030223526534104,
      "loss": 0.1141,
      "step": 4013
    },
    {
      "epoch": 0.9003814224814898,
      "gripper_loss": 0.119140625,
      "loss": 0.1357421875,
      "pos_loss": 0.8828125,
      "rot_loss": 0.36328125,
      "step": 4013
    },
    {
      "epoch": 0.900605788647072,
      "grad_norm": 0.5571197867393494,
      "learning_rate": 0.00041025575912212236,
      "loss": 0.092,
      "step": 4014
    },
    {
      "epoch": 0.900605788647072,
      "gripper_loss": 0.02392578125,
      "loss": 0.0634765625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.1572265625,
      "step": 4014
    },
    {
      "epoch": 0.9008301548126543,
      "grad_norm": 0.5867581367492676,
      "learning_rate": 0.00041020927357516814,
      "loss": 0.0659,
      "step": 4015
    },
    {
      "epoch": 0.9008301548126543,
      "gripper_loss": 0.040283203125,
      "loss": 0.1669921875,
      "pos_loss": 1.4296875,
      "rot_loss": 0.2255859375,
      "step": 4015
    },
    {
      "epoch": 0.9010545209782365,
      "grad_norm": 0.6943048238754272,
      "learning_rate": 0.00041016277862720605,
      "loss": 0.0836,
      "step": 4016
    },
    {
      "epoch": 0.9010545209782365,
      "gripper_loss": 0.049072265625,
      "loss": 0.177734375,
      "pos_loss": 1.2734375,
      "rot_loss": 0.5234375,
      "step": 4016
    },
    {
      "epoch": 0.9012788871438188,
      "grad_norm": 0.7424602508544922,
      "learning_rate": 0.00041011627428096456,
      "loss": 0.096,
      "step": 4017
    },
    {
      "epoch": 0.9012788871438188,
      "gripper_loss": 0.11279296875,
      "loss": 0.10205078125,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.8515625,
      "step": 4017
    },
    {
      "epoch": 0.901503253309401,
      "grad_norm": 0.6684954762458801,
      "learning_rate": 0.0004100697605391723,
      "loss": 0.1054,
      "step": 4018
    },
    {
      "epoch": 0.901503253309401,
      "gripper_loss": 0.0162353515625,
      "loss": 0.055419921875,
      "pos_loss": 0.3671875,
      "rot_loss": 0.14453125,
      "step": 4018
    },
    {
      "epoch": 0.9017276194749831,
      "grad_norm": 0.6018246412277222,
      "learning_rate": 0.0004100232374045588,
      "loss": 0.1364,
      "step": 4019
    },
    {
      "epoch": 0.9017276194749831,
      "gripper_loss": 0.1015625,
      "loss": 0.10302734375,
      "pos_loss": 0.291015625,
      "rot_loss": 0.703125,
      "step": 4019
    },
    {
      "epoch": 0.9019519856405654,
      "grad_norm": 0.4947241246700287,
      "learning_rate": 0.000409976704879854,
      "loss": 0.1077,
      "step": 4020
    },
    {
      "epoch": 0.9019519856405654,
      "gripper_loss": 0.9453125,
      "loss": 0.062255859375,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.08154296875,
      "step": 4020
    },
    {
      "epoch": 0.9021763518061476,
      "grad_norm": 0.6392681002616882,
      "learning_rate": 0.0004099301629677884,
      "loss": 0.0959,
      "step": 4021
    },
    {
      "epoch": 0.9021763518061476,
      "gripper_loss": 0.2216796875,
      "loss": 0.259765625,
      "pos_loss": 0.443359375,
      "rot_loss": 0.73828125,
      "step": 4021
    },
    {
      "epoch": 0.9024007179717298,
      "grad_norm": 2.212364435195923,
      "learning_rate": 0.0004098836116710931,
      "loss": 0.2405,
      "step": 4022
    },
    {
      "epoch": 0.9024007179717298,
      "gripper_loss": 1.671875,
      "loss": 0.1328125,
      "pos_loss": 0.6640625,
      "rot_loss": 0.1171875,
      "step": 4022
    },
    {
      "epoch": 0.9026250841373121,
      "grad_norm": 0.767667829990387,
      "learning_rate": 0.0004098370509924997,
      "loss": 0.1298,
      "step": 4023
    },
    {
      "epoch": 0.9026250841373121,
      "gripper_loss": 0.27734375,
      "loss": 0.04736328125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.0673828125,
      "step": 4023
    },
    {
      "epoch": 0.9028494503028943,
      "grad_norm": 0.6859318017959595,
      "learning_rate": 0.00040979048093474027,
      "loss": 0.0798,
      "step": 4024
    },
    {
      "epoch": 0.9028494503028943,
      "gripper_loss": 0.1982421875,
      "loss": 0.07080078125,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.1328125,
      "step": 4024
    },
    {
      "epoch": 0.9030738164684765,
      "grad_norm": 0.9095602631568909,
      "learning_rate": 0.00040974390150054756,
      "loss": 0.1194,
      "step": 4025
    },
    {
      "epoch": 0.9030738164684765,
      "gripper_loss": 1.8125,
      "loss": 0.1328125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.345703125,
      "step": 4025
    },
    {
      "epoch": 0.9032981826340588,
      "grad_norm": 0.6684179306030273,
      "learning_rate": 0.00040969731269265485,
      "loss": 0.0984,
      "step": 4026
    },
    {
      "epoch": 0.9032981826340588,
      "gripper_loss": 0.02880859375,
      "loss": 0.181640625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.91015625,
      "step": 4026
    },
    {
      "epoch": 0.903522548799641,
      "grad_norm": 0.7411609292030334,
      "learning_rate": 0.000409650714513796,
      "loss": 0.0921,
      "step": 4027
    },
    {
      "epoch": 0.903522548799641,
      "gripper_loss": 0.07080078125,
      "loss": 0.1884765625,
      "pos_loss": 1.140625,
      "rot_loss": 0.75390625,
      "step": 4027
    },
    {
      "epoch": 0.9037469149652232,
      "grad_norm": 0.5414999127388,
      "learning_rate": 0.00040960410696670534,
      "loss": 0.0905,
      "step": 4028
    },
    {
      "epoch": 0.9037469149652232,
      "gripper_loss": 0.056640625,
      "loss": 0.05712890625,
      "pos_loss": 0.408203125,
      "rot_loss": 0.1025390625,
      "step": 4028
    },
    {
      "epoch": 0.9039712811308055,
      "grad_norm": 0.5664942860603333,
      "learning_rate": 0.0004095574900541177,
      "loss": 0.075,
      "step": 4029
    },
    {
      "epoch": 0.9039712811308055,
      "gripper_loss": 0.2001953125,
      "loss": 0.0751953125,
      "pos_loss": 0.216796875,
      "rot_loss": 0.130859375,
      "step": 4029
    },
    {
      "epoch": 0.9041956472963877,
      "grad_norm": 0.8750385642051697,
      "learning_rate": 0.0004095108637787686,
      "loss": 0.1403,
      "step": 4030
    },
    {
      "epoch": 0.9041956472963877,
      "gripper_loss": 1.03125,
      "loss": 0.0703125,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.054931640625,
      "step": 4030
    },
    {
      "epoch": 0.90442001346197,
      "grad_norm": 0.8952429294586182,
      "learning_rate": 0.0004094642281433941,
      "loss": 0.1025,
      "step": 4031
    },
    {
      "epoch": 0.90442001346197,
      "gripper_loss": 0.06494140625,
      "loss": 0.1435546875,
      "pos_loss": 1.328125,
      "rot_loss": 0.08740234375,
      "step": 4031
    },
    {
      "epoch": 0.9046443796275522,
      "grad_norm": 0.613650381565094,
      "learning_rate": 0.00040941758315073075,
      "loss": 0.0895,
      "step": 4032
    },
    {
      "epoch": 0.9046443796275522,
      "gripper_loss": 0.59765625,
      "loss": 0.09423828125,
      "pos_loss": 0.421875,
      "rot_loss": 0.318359375,
      "step": 4032
    },
    {
      "epoch": 0.9048687457931344,
      "grad_norm": 0.5410031676292419,
      "learning_rate": 0.0004093709288035156,
      "loss": 0.0821,
      "step": 4033
    },
    {
      "epoch": 0.9048687457931344,
      "gripper_loss": 0.0341796875,
      "loss": 0.03955078125,
      "pos_loss": 0.251953125,
      "rot_loss": 0.05859375,
      "step": 4033
    },
    {
      "epoch": 0.9050931119587167,
      "grad_norm": 0.589353084564209,
      "learning_rate": 0.0004093242651044862,
      "loss": 0.0938,
      "step": 4034
    },
    {
      "epoch": 0.9050931119587167,
      "gripper_loss": 2.34375,
      "loss": 0.10400390625,
      "pos_loss": 0.224609375,
      "rot_loss": 0.0255126953125,
      "step": 4034
    },
    {
      "epoch": 0.9053174781242989,
      "grad_norm": 0.7423803806304932,
      "learning_rate": 0.0004092775920563809,
      "loss": 0.1422,
      "step": 4035
    },
    {
      "epoch": 0.9053174781242989,
      "gripper_loss": 0.625,
      "loss": 0.2431640625,
      "pos_loss": 0.94921875,
      "rot_loss": 0.423828125,
      "step": 4035
    },
    {
      "epoch": 0.905541844289881,
      "grad_norm": 1.170304775238037,
      "learning_rate": 0.00040923090966193856,
      "loss": 0.1613,
      "step": 4036
    },
    {
      "epoch": 0.905541844289881,
      "gripper_loss": 0.01483154296875,
      "loss": 0.1416015625,
      "pos_loss": 0.341796875,
      "rot_loss": 1.078125,
      "step": 4036
    },
    {
      "epoch": 0.9057662104554633,
      "grad_norm": 0.6450567245483398,
      "learning_rate": 0.00040918421792389826,
      "loss": 0.0918,
      "step": 4037
    },
    {
      "epoch": 0.9057662104554633,
      "gripper_loss": 0.06689453125,
      "loss": 0.041259765625,
      "pos_loss": 0.228515625,
      "rot_loss": 0.1181640625,
      "step": 4037
    },
    {
      "epoch": 0.9059905766210455,
      "grad_norm": 0.7060503959655762,
      "learning_rate": 0.00040913751684499997,
      "loss": 0.09,
      "step": 4038
    },
    {
      "epoch": 0.9059905766210455,
      "gripper_loss": 0.1318359375,
      "loss": 0.1767578125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.9453125,
      "step": 4038
    },
    {
      "epoch": 0.9062149427866277,
      "grad_norm": 0.876097559928894,
      "learning_rate": 0.00040909080642798404,
      "loss": 0.126,
      "step": 4039
    },
    {
      "epoch": 0.9062149427866277,
      "gripper_loss": 0.265625,
      "loss": 0.1279296875,
      "pos_loss": 1.0546875,
      "rot_loss": 0.1142578125,
      "step": 4039
    },
    {
      "epoch": 0.90643930895221,
      "grad_norm": 0.7305518388748169,
      "learning_rate": 0.00040904408667559146,
      "loss": 0.1595,
      "step": 4040
    },
    {
      "epoch": 0.90643930895221,
      "gripper_loss": 1.4609375,
      "loss": 0.09375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1162109375,
      "step": 4040
    },
    {
      "epoch": 0.9066636751177922,
      "grad_norm": 0.6028658747673035,
      "learning_rate": 0.0004089973575905637,
      "loss": 0.1143,
      "step": 4041
    },
    {
      "epoch": 0.9066636751177922,
      "gripper_loss": 0.0260009765625,
      "loss": 0.2490234375,
      "pos_loss": 1.6484375,
      "rot_loss": 0.92578125,
      "step": 4041
    },
    {
      "epoch": 0.9068880412833744,
      "grad_norm": 0.6096795201301575,
      "learning_rate": 0.0004089506191756427,
      "loss": 0.1235,
      "step": 4042
    },
    {
      "epoch": 0.9068880412833744,
      "gripper_loss": 0.427734375,
      "loss": 0.09912109375,
      "pos_loss": 0.419921875,
      "rot_loss": 0.12158203125,
      "step": 4042
    },
    {
      "epoch": 0.9071124074489567,
      "grad_norm": 0.8866878151893616,
      "learning_rate": 0.0004089038714335712,
      "loss": 0.1113,
      "step": 4043
    },
    {
      "epoch": 0.9071124074489567,
      "gripper_loss": 0.033935546875,
      "loss": 0.1845703125,
      "pos_loss": 1.6875,
      "rot_loss": 0.2060546875,
      "step": 4043
    },
    {
      "epoch": 0.9073367736145389,
      "grad_norm": 0.5438421368598938,
      "learning_rate": 0.0004088571143670924,
      "loss": 0.101,
      "step": 4044
    },
    {
      "epoch": 0.9073367736145389,
      "gripper_loss": 0.04833984375,
      "loss": 0.11572265625,
      "pos_loss": 1.015625,
      "rot_loss": 0.05712890625,
      "step": 4044
    },
    {
      "epoch": 0.9075611397801212,
      "grad_norm": 0.7199287414550781,
      "learning_rate": 0.00040881034797894976,
      "loss": 0.1022,
      "step": 4045
    },
    {
      "epoch": 0.9075611397801212,
      "gripper_loss": 0.10498046875,
      "loss": 0.1328125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.2255859375,
      "step": 4045
    },
    {
      "epoch": 0.9077855059457034,
      "grad_norm": 0.639742374420166,
      "learning_rate": 0.0004087635722718877,
      "loss": 0.0928,
      "step": 4046
    },
    {
      "epoch": 0.9077855059457034,
      "gripper_loss": 0.064453125,
      "loss": 0.16796875,
      "pos_loss": 1.2734375,
      "rot_loss": 0.375,
      "step": 4046
    },
    {
      "epoch": 0.9080098721112856,
      "grad_norm": 0.687908411026001,
      "learning_rate": 0.0004087167872486508,
      "loss": 0.1254,
      "step": 4047
    },
    {
      "epoch": 0.9080098721112856,
      "gripper_loss": 0.265625,
      "loss": 0.13671875,
      "pos_loss": 0.94140625,
      "rot_loss": 0.328125,
      "step": 4047
    },
    {
      "epoch": 0.9082342382768679,
      "grad_norm": 0.6245748400688171,
      "learning_rate": 0.0004086699929119846,
      "loss": 0.0999,
      "step": 4048
    },
    {
      "epoch": 0.9082342382768679,
      "gripper_loss": 0.47265625,
      "loss": 0.05712890625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.037353515625,
      "step": 4048
    },
    {
      "epoch": 0.9084586044424501,
      "grad_norm": 0.6599617600440979,
      "learning_rate": 0.00040862318926463483,
      "loss": 0.0875,
      "step": 4049
    },
    {
      "epoch": 0.9084586044424501,
      "gripper_loss": 0.53125,
      "loss": 0.32421875,
      "pos_loss": 0.67578125,
      "rot_loss": 0.64453125,
      "step": 4049
    },
    {
      "epoch": 0.9086829706080323,
      "grad_norm": 1.4158271551132202,
      "learning_rate": 0.00040857637630934795,
      "loss": 0.2615,
      "step": 4050
    },
    {
      "epoch": 0.9086829706080323,
      "gripper_loss": 0.23828125,
      "loss": 0.146484375,
      "pos_loss": 0.609375,
      "rot_loss": 0.2275390625,
      "step": 4050
    },
    {
      "epoch": 0.9089073367736146,
      "grad_norm": 1.1415817737579346,
      "learning_rate": 0.00040852955404887094,
      "loss": 0.1716,
      "step": 4051
    },
    {
      "epoch": 0.9089073367736146,
      "gripper_loss": 0.140625,
      "loss": 0.1357421875,
      "pos_loss": 1.03125,
      "rot_loss": 0.23046875,
      "step": 4051
    },
    {
      "epoch": 0.9091317029391968,
      "grad_norm": 0.6582549810409546,
      "learning_rate": 0.0004084827224859513,
      "loss": 0.0897,
      "step": 4052
    },
    {
      "epoch": 0.9091317029391968,
      "gripper_loss": 0.40625,
      "loss": 0.28125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.5703125,
      "step": 4052
    },
    {
      "epoch": 0.909356069104779,
      "grad_norm": 1.772421956062317,
      "learning_rate": 0.0004084358816233371,
      "loss": 0.2665,
      "step": 4053
    },
    {
      "epoch": 0.909356069104779,
      "gripper_loss": 0.10693359375,
      "loss": 0.138671875,
      "pos_loss": 0.9921875,
      "rot_loss": 0.1123046875,
      "step": 4053
    },
    {
      "epoch": 0.9095804352703613,
      "grad_norm": 0.9520986080169678,
      "learning_rate": 0.0004083890314637769,
      "loss": 0.1215,
      "step": 4054
    },
    {
      "epoch": 0.9095804352703613,
      "gripper_loss": 1.0234375,
      "loss": 0.0859375,
      "pos_loss": 0.248046875,
      "rot_loss": 0.11083984375,
      "step": 4054
    },
    {
      "epoch": 0.9098048014359434,
      "grad_norm": 0.9638461470603943,
      "learning_rate": 0.00040834217201001985,
      "loss": 0.1328,
      "step": 4055
    },
    {
      "epoch": 0.9098048014359434,
      "gripper_loss": 0.1513671875,
      "loss": 0.1396484375,
      "pos_loss": 0.061767578125,
      "rot_loss": 1.265625,
      "step": 4055
    },
    {
      "epoch": 0.9100291676015256,
      "grad_norm": 0.7521936297416687,
      "learning_rate": 0.00040829530326481564,
      "loss": 0.108,
      "step": 4056
    },
    {
      "epoch": 0.9100291676015256,
      "gripper_loss": 0.83984375,
      "loss": 0.041259765625,
      "pos_loss": 0.046630859375,
      "rot_loss": 0.03173828125,
      "step": 4056
    },
    {
      "epoch": 0.9102535337671079,
      "grad_norm": 0.6479945182800293,
      "learning_rate": 0.00040824842523091455,
      "loss": 0.1017,
      "step": 4057
    },
    {
      "epoch": 0.9102535337671079,
      "gripper_loss": 0.43359375,
      "loss": 0.349609375,
      "pos_loss": 0.8046875,
      "rot_loss": 0.5625,
      "step": 4057
    },
    {
      "epoch": 0.9104778999326901,
      "grad_norm": 2.064758539199829,
      "learning_rate": 0.00040820153791106727,
      "loss": 0.2751,
      "step": 4058
    },
    {
      "epoch": 0.9104778999326901,
      "gripper_loss": 0.1630859375,
      "loss": 0.09228515625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.283203125,
      "step": 4058
    },
    {
      "epoch": 0.9107022660982724,
      "grad_norm": 0.5163125991821289,
      "learning_rate": 0.0004081546413080253,
      "loss": 0.097,
      "step": 4059
    },
    {
      "epoch": 0.9107022660982724,
      "gripper_loss": 0.447265625,
      "loss": 0.0673828125,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.12353515625,
      "step": 4059
    },
    {
      "epoch": 0.9109266322638546,
      "grad_norm": 0.7235569953918457,
      "learning_rate": 0.00040810773542454033,
      "loss": 0.0893,
      "step": 4060
    },
    {
      "epoch": 0.9109266322638546,
      "gripper_loss": 0.01251220703125,
      "loss": 0.0888671875,
      "pos_loss": 0.53125,
      "rot_loss": 0.26953125,
      "step": 4060
    },
    {
      "epoch": 0.9111509984294368,
      "grad_norm": 0.7370420098304749,
      "learning_rate": 0.0004080608202633649,
      "loss": 0.0859,
      "step": 4061
    },
    {
      "epoch": 0.9111509984294368,
      "gripper_loss": 0.337890625,
      "loss": 0.09521484375,
      "pos_loss": 0.4453125,
      "rot_loss": 0.1923828125,
      "step": 4061
    },
    {
      "epoch": 0.9113753645950191,
      "grad_norm": 0.8862603902816772,
      "learning_rate": 0.0004080138958272518,
      "loss": 0.1024,
      "step": 4062
    },
    {
      "epoch": 0.9113753645950191,
      "gripper_loss": 0.030517578125,
      "loss": 0.1728515625,
      "pos_loss": 1.328125,
      "rot_loss": 0.3984375,
      "step": 4062
    },
    {
      "epoch": 0.9115997307606013,
      "grad_norm": 0.7755341529846191,
      "learning_rate": 0.00040796696211895477,
      "loss": 0.0796,
      "step": 4063
    },
    {
      "epoch": 0.9115997307606013,
      "gripper_loss": 0.040771484375,
      "loss": 0.181640625,
      "pos_loss": 1.0625,
      "rot_loss": 0.7578125,
      "step": 4063
    },
    {
      "epoch": 0.9118240969261835,
      "grad_norm": 0.7314788699150085,
      "learning_rate": 0.00040792001914122765,
      "loss": 0.1198,
      "step": 4064
    },
    {
      "epoch": 0.9118240969261835,
      "gripper_loss": 0.93359375,
      "loss": 0.11572265625,
      "pos_loss": 0.82421875,
      "rot_loss": 0.01470947265625,
      "step": 4064
    },
    {
      "epoch": 0.9120484630917658,
      "grad_norm": 0.5151869654655457,
      "learning_rate": 0.0004078730668968252,
      "loss": 0.1139,
      "step": 4065
    },
    {
      "epoch": 0.9120484630917658,
      "gripper_loss": 0.546875,
      "loss": 0.0625,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.2275390625,
      "step": 4065
    },
    {
      "epoch": 0.912272829257348,
      "grad_norm": 0.8262685537338257,
      "learning_rate": 0.0004078261053885025,
      "loss": 0.109,
      "step": 4066
    },
    {
      "epoch": 0.912272829257348,
      "gripper_loss": 0.03271484375,
      "loss": 0.123046875,
      "pos_loss": 0.609375,
      "rot_loss": 0.5703125,
      "step": 4066
    },
    {
      "epoch": 0.9124971954229302,
      "grad_norm": 0.6257567405700684,
      "learning_rate": 0.0004077791346190152,
      "loss": 0.1503,
      "step": 4067
    },
    {
      "epoch": 0.9124971954229302,
      "gripper_loss": 0.48828125,
      "loss": 0.047607421875,
      "pos_loss": 0.162109375,
      "rot_loss": 0.0966796875,
      "step": 4067
    },
    {
      "epoch": 0.9127215615885125,
      "grad_norm": 0.6359342336654663,
      "learning_rate": 0.00040773215459111953,
      "loss": 0.0946,
      "step": 4068
    },
    {
      "epoch": 0.9127215615885125,
      "gripper_loss": 1.0078125,
      "loss": 0.06103515625,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.08740234375,
      "step": 4068
    },
    {
      "epoch": 0.9129459277540947,
      "grad_norm": 0.6069995164871216,
      "learning_rate": 0.00040768516530757223,
      "loss": 0.0852,
      "step": 4069
    },
    {
      "epoch": 0.9129459277540947,
      "gripper_loss": 0.078125,
      "loss": 0.05810546875,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.322265625,
      "step": 4069
    },
    {
      "epoch": 0.913170293919677,
      "grad_norm": 0.6129242181777954,
      "learning_rate": 0.00040763816677113064,
      "loss": 0.0834,
      "step": 4070
    },
    {
      "epoch": 0.913170293919677,
      "gripper_loss": 0.306640625,
      "loss": 0.076171875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.11181640625,
      "step": 4070
    },
    {
      "epoch": 0.9133946600852592,
      "grad_norm": 0.6558775305747986,
      "learning_rate": 0.00040759115898455264,
      "loss": 0.0697,
      "step": 4071
    },
    {
      "epoch": 0.9133946600852592,
      "gripper_loss": 0.091796875,
      "loss": 0.2138671875,
      "pos_loss": 0.921875,
      "rot_loss": 1.2109375,
      "step": 4071
    },
    {
      "epoch": 0.9136190262508413,
      "grad_norm": 0.7388834953308105,
      "learning_rate": 0.00040754414195059665,
      "loss": 0.1286,
      "step": 4072
    },
    {
      "epoch": 0.9136190262508413,
      "gripper_loss": 0.034912109375,
      "loss": 0.0986328125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.1904296875,
      "step": 4072
    },
    {
      "epoch": 0.9138433924164236,
      "grad_norm": 0.558443009853363,
      "learning_rate": 0.00040749711567202143,
      "loss": 0.1083,
      "step": 4073
    },
    {
      "epoch": 0.9138433924164236,
      "gripper_loss": 0.15625,
      "loss": 0.1142578125,
      "pos_loss": 0.5859375,
      "rot_loss": 0.2080078125,
      "step": 4073
    },
    {
      "epoch": 0.9140677585820058,
      "grad_norm": 0.8201037049293518,
      "learning_rate": 0.0004074500801515867,
      "loss": 0.0912,
      "step": 4074
    },
    {
      "epoch": 0.9140677585820058,
      "gripper_loss": 0.125,
      "loss": 0.052001953125,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.322265625,
      "step": 4074
    },
    {
      "epoch": 0.914292124747588,
      "grad_norm": 0.6289466619491577,
      "learning_rate": 0.0004074030353920523,
      "loss": 0.0699,
      "step": 4075
    },
    {
      "epoch": 0.914292124747588,
      "gripper_loss": 1.1875,
      "loss": 0.2890625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.75,
      "step": 4075
    },
    {
      "epoch": 0.9145164909131703,
      "grad_norm": 1.7137171030044556,
      "learning_rate": 0.00040735598139617893,
      "loss": 0.2537,
      "step": 4076
    },
    {
      "epoch": 0.9145164909131703,
      "gripper_loss": 0.047119140625,
      "loss": 0.099609375,
      "pos_loss": 0.91015625,
      "rot_loss": 0.050537109375,
      "step": 4076
    },
    {
      "epoch": 0.9147408570787525,
      "grad_norm": 0.5831581354141235,
      "learning_rate": 0.00040730891816672754,
      "loss": 0.0685,
      "step": 4077
    },
    {
      "epoch": 0.9147408570787525,
      "gripper_loss": 0.05322265625,
      "loss": 0.07763671875,
      "pos_loss": 0.21484375,
      "rot_loss": 0.369140625,
      "step": 4077
    },
    {
      "epoch": 0.9149652232443347,
      "grad_norm": 0.7291542291641235,
      "learning_rate": 0.00040726184570645996,
      "loss": 0.0993,
      "step": 4078
    },
    {
      "epoch": 0.9149652232443347,
      "gripper_loss": 0.02880859375,
      "loss": 0.1240234375,
      "pos_loss": 0.9609375,
      "rot_loss": 0.1943359375,
      "step": 4078
    },
    {
      "epoch": 0.915189589409917,
      "grad_norm": 0.5606715679168701,
      "learning_rate": 0.0004072147640181383,
      "loss": 0.0997,
      "step": 4079
    },
    {
      "epoch": 0.915189589409917,
      "gripper_loss": 0.1142578125,
      "loss": 0.11181640625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.1318359375,
      "step": 4079
    },
    {
      "epoch": 0.9154139555754992,
      "grad_norm": 0.9091405868530273,
      "learning_rate": 0.00040716767310452524,
      "loss": 0.147,
      "step": 4080
    },
    {
      "epoch": 0.9154139555754992,
      "gripper_loss": 0.0206298828125,
      "loss": 0.09521484375,
      "pos_loss": 0.6796875,
      "rot_loss": 0.25,
      "step": 4080
    },
    {
      "epoch": 0.9156383217410814,
      "grad_norm": 0.46867942810058594,
      "learning_rate": 0.00040712057296838413,
      "loss": 0.0718,
      "step": 4081
    },
    {
      "epoch": 0.9156383217410814,
      "gripper_loss": 0.009521484375,
      "loss": 0.087890625,
      "pos_loss": 0.578125,
      "rot_loss": 0.271484375,
      "step": 4081
    },
    {
      "epoch": 0.9158626879066637,
      "grad_norm": 0.7106703519821167,
      "learning_rate": 0.0004070734636124788,
      "loss": 0.1343,
      "step": 4082
    },
    {
      "epoch": 0.9158626879066637,
      "gripper_loss": 0.31640625,
      "loss": 0.05615234375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.29296875,
      "step": 4082
    },
    {
      "epoch": 0.9160870540722459,
      "grad_norm": 0.4210629463195801,
      "learning_rate": 0.00040702634503957347,
      "loss": 0.0524,
      "step": 4083
    },
    {
      "epoch": 0.9160870540722459,
      "gripper_loss": 0.271484375,
      "loss": 0.050048828125,
      "pos_loss": 0.298828125,
      "rot_loss": 0.052001953125,
      "step": 4083
    },
    {
      "epoch": 0.9163114202378282,
      "grad_norm": 0.5956711769104004,
      "learning_rate": 0.00040697921725243313,
      "loss": 0.0898,
      "step": 4084
    },
    {
      "epoch": 0.9163114202378282,
      "gripper_loss": 1.234375,
      "loss": 0.15234375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.451171875,
      "step": 4084
    },
    {
      "epoch": 0.9165357864034104,
      "grad_norm": 1.1282422542572021,
      "learning_rate": 0.0004069320802538233,
      "loss": 0.1549,
      "step": 4085
    },
    {
      "epoch": 0.9165357864034104,
      "gripper_loss": 0.03173828125,
      "loss": 0.150390625,
      "pos_loss": 0.9609375,
      "rot_loss": 0.51953125,
      "step": 4085
    },
    {
      "epoch": 0.9167601525689926,
      "grad_norm": 0.5607690215110779,
      "learning_rate": 0.00040688493404650983,
      "loss": 0.104,
      "step": 4086
    },
    {
      "epoch": 0.9167601525689926,
      "gripper_loss": 0.07421875,
      "loss": 0.1328125,
      "pos_loss": 0.84375,
      "rot_loss": 0.376953125,
      "step": 4086
    },
    {
      "epoch": 0.9169845187345749,
      "grad_norm": 0.5974177718162537,
      "learning_rate": 0.00040683777863325933,
      "loss": 0.0732,
      "step": 4087
    },
    {
      "epoch": 0.9169845187345749,
      "gripper_loss": 1.4921875,
      "loss": 0.275390625,
      "pos_loss": 2.015625,
      "rot_loss": 0.322265625,
      "step": 4087
    },
    {
      "epoch": 0.9172088849001571,
      "grad_norm": 0.7971701622009277,
      "learning_rate": 0.0004067906140168387,
      "loss": 0.1382,
      "step": 4088
    },
    {
      "epoch": 0.9172088849001571,
      "gripper_loss": 0.56640625,
      "loss": 0.0830078125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.0693359375,
      "step": 4088
    },
    {
      "epoch": 0.9174332510657393,
      "grad_norm": 0.6743488311767578,
      "learning_rate": 0.00040674344020001575,
      "loss": 0.0695,
      "step": 4089
    },
    {
      "epoch": 0.9174332510657393,
      "gripper_loss": 0.053466796875,
      "loss": 0.048583984375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.1083984375,
      "step": 4089
    },
    {
      "epoch": 0.9176576172313216,
      "grad_norm": 0.5719985961914062,
      "learning_rate": 0.0004066962571855584,
      "loss": 0.0735,
      "step": 4090
    },
    {
      "epoch": 0.9176576172313216,
      "gripper_loss": 0.1181640625,
      "loss": 0.1923828125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.208984375,
      "step": 4090
    },
    {
      "epoch": 0.9178819833969037,
      "grad_norm": 1.1132187843322754,
      "learning_rate": 0.0004066490649762356,
      "loss": 0.2275,
      "step": 4091
    },
    {
      "epoch": 0.9178819833969037,
      "gripper_loss": 0.033203125,
      "loss": 0.0888671875,
      "pos_loss": 0.431640625,
      "rot_loss": 0.404296875,
      "step": 4091
    },
    {
      "epoch": 0.9181063495624859,
      "grad_norm": 0.6489253044128418,
      "learning_rate": 0.0004066018635748163,
      "loss": 0.1497,
      "step": 4092
    },
    {
      "epoch": 0.9181063495624859,
      "gripper_loss": 0.4609375,
      "loss": 0.21875,
      "pos_loss": 0.98046875,
      "rot_loss": 1.109375,
      "step": 4092
    },
    {
      "epoch": 0.9183307157280682,
      "grad_norm": 0.5521320700645447,
      "learning_rate": 0.00040655465298407035,
      "loss": 0.0884,
      "step": 4093
    },
    {
      "epoch": 0.9183307157280682,
      "gripper_loss": 0.046630859375,
      "loss": 0.06298828125,
      "pos_loss": 0.146484375,
      "rot_loss": 0.40234375,
      "step": 4093
    },
    {
      "epoch": 0.9185550818936504,
      "grad_norm": 0.7590677738189697,
      "learning_rate": 0.0004065074332067681,
      "loss": 0.0713,
      "step": 4094
    },
    {
      "epoch": 0.9185550818936504,
      "gripper_loss": 0.67578125,
      "loss": 0.058349609375,
      "pos_loss": 0.265625,
      "rot_loss": 0.052490234375,
      "step": 4094
    },
    {
      "epoch": 0.9187794480592326,
      "grad_norm": 0.4522832930088043,
      "learning_rate": 0.00040646020424568035,
      "loss": 0.0875,
      "step": 4095
    },
    {
      "epoch": 0.9187794480592326,
      "gripper_loss": 0.97265625,
      "loss": 0.07421875,
      "pos_loss": 0.3828125,
      "rot_loss": 0.0198974609375,
      "step": 4095
    },
    {
      "epoch": 0.9190038142248149,
      "grad_norm": 0.5415329933166504,
      "learning_rate": 0.0004064129661035785,
      "loss": 0.094,
      "step": 4096
    },
    {
      "epoch": 0.9190038142248149,
      "gripper_loss": 0.0245361328125,
      "loss": 0.01214599609375,
      "pos_loss": 0.04248046875,
      "rot_loss": 0.027587890625,
      "step": 4096
    },
    {
      "epoch": 0.9192281803903971,
      "grad_norm": 0.3855116367340088,
      "learning_rate": 0.00040636571878323443,
      "loss": 0.0711,
      "step": 4097
    },
    {
      "epoch": 0.9192281803903971,
      "gripper_loss": 0.027099609375,
      "loss": 0.125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.083984375,
      "step": 4097
    },
    {
      "epoch": 0.9194525465559794,
      "grad_norm": 0.6413586735725403,
      "learning_rate": 0.0004063184622874206,
      "loss": 0.0995,
      "step": 4098
    },
    {
      "epoch": 0.9194525465559794,
      "gripper_loss": 0.8984375,
      "loss": 0.166015625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.828125,
      "step": 4098
    },
    {
      "epoch": 0.9196769127215616,
      "grad_norm": 0.6200641989707947,
      "learning_rate": 0.00040627119661891,
      "loss": 0.1357,
      "step": 4099
    },
    {
      "epoch": 0.9196769127215616,
      "gripper_loss": 0.091796875,
      "loss": 0.10986328125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.60546875,
      "step": 4099
    },
    {
      "epoch": 0.9199012788871438,
      "grad_norm": 0.6687517166137695,
      "learning_rate": 0.0004062239217804761,
      "loss": 0.1097,
      "step": 4100
    },
    {
      "epoch": 0.9199012788871438,
      "gripper_loss": 0.0341796875,
      "loss": 0.1240234375,
      "pos_loss": 0.875,
      "rot_loss": 0.32421875,
      "step": 4100
    },
    {
      "epoch": 0.9201256450527261,
      "grad_norm": 0.5352517366409302,
      "learning_rate": 0.00040617663777489313,
      "loss": 0.0749,
      "step": 4101
    },
    {
      "epoch": 0.9201256450527261,
      "gripper_loss": 0.04248046875,
      "loss": 0.06201171875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.140625,
      "step": 4101
    },
    {
      "epoch": 0.9203500112183083,
      "grad_norm": 0.6553795337677002,
      "learning_rate": 0.0004061293446049355,
      "loss": 0.1055,
      "step": 4102
    },
    {
      "epoch": 0.9203500112183083,
      "gripper_loss": 0.045654296875,
      "loss": 0.09521484375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.11474609375,
      "step": 4102
    },
    {
      "epoch": 0.9205743773838905,
      "grad_norm": 0.41751113533973694,
      "learning_rate": 0.0004060820422733784,
      "loss": 0.0708,
      "step": 4103
    },
    {
      "epoch": 0.9205743773838905,
      "gripper_loss": 0.498046875,
      "loss": 0.053466796875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.05126953125,
      "step": 4103
    },
    {
      "epoch": 0.9207987435494728,
      "grad_norm": 0.6175476312637329,
      "learning_rate": 0.0004060347307829977,
      "loss": 0.0932,
      "step": 4104
    },
    {
      "epoch": 0.9207987435494728,
      "gripper_loss": 0.020751953125,
      "loss": 0.0888671875,
      "pos_loss": 0.4609375,
      "rot_loss": 0.408203125,
      "step": 4104
    },
    {
      "epoch": 0.921023109715055,
      "grad_norm": 0.49306079745292664,
      "learning_rate": 0.0004059874101365693,
      "loss": 0.0986,
      "step": 4105
    },
    {
      "epoch": 0.921023109715055,
      "gripper_loss": 0.059814453125,
      "loss": 0.130859375,
      "pos_loss": 1.1875,
      "rot_loss": 0.125,
      "step": 4105
    },
    {
      "epoch": 0.9212474758806372,
      "grad_norm": 1.3158515691757202,
      "learning_rate": 0.0004059400803368702,
      "loss": 0.1788,
      "step": 4106
    },
    {
      "epoch": 0.9212474758806372,
      "gripper_loss": 0.07177734375,
      "loss": 0.07080078125,
      "pos_loss": 0.3671875,
      "rot_loss": 0.267578125,
      "step": 4106
    },
    {
      "epoch": 0.9214718420462195,
      "grad_norm": 0.5466673970222473,
      "learning_rate": 0.0004058927413866776,
      "loss": 0.1035,
      "step": 4107
    },
    {
      "epoch": 0.9214718420462195,
      "gripper_loss": 0.45703125,
      "loss": 0.2158203125,
      "pos_loss": 0.89453125,
      "rot_loss": 0.55859375,
      "step": 4107
    },
    {
      "epoch": 0.9216962082118016,
      "grad_norm": 1.180022954940796,
      "learning_rate": 0.00040584539328876934,
      "loss": 0.1847,
      "step": 4108
    },
    {
      "epoch": 0.9216962082118016,
      "gripper_loss": 0.28125,
      "loss": 0.10546875,
      "pos_loss": 0.263671875,
      "rot_loss": 0.349609375,
      "step": 4108
    },
    {
      "epoch": 0.9219205743773838,
      "grad_norm": 0.9577420949935913,
      "learning_rate": 0.0004057980360459238,
      "loss": 0.1047,
      "step": 4109
    },
    {
      "epoch": 0.9219205743773838,
      "gripper_loss": 0.39453125,
      "loss": 0.055419921875,
      "pos_loss": 0.328125,
      "rot_loss": 0.03466796875,
      "step": 4109
    },
    {
      "epoch": 0.9221449405429661,
      "grad_norm": 0.5698242783546448,
      "learning_rate": 0.00040575066966091984,
      "loss": 0.0978,
      "step": 4110
    },
    {
      "epoch": 0.9221449405429661,
      "gripper_loss": 0.337890625,
      "loss": 0.1650390625,
      "pos_loss": 0.88671875,
      "rot_loss": 0.4140625,
      "step": 4110
    },
    {
      "epoch": 0.9223693067085483,
      "grad_norm": 0.8453746438026428,
      "learning_rate": 0.00040570329413653695,
      "loss": 0.1202,
      "step": 4111
    },
    {
      "epoch": 0.9223693067085483,
      "gripper_loss": 0.310546875,
      "loss": 0.130859375,
      "pos_loss": 0.78125,
      "rot_loss": 0.369140625,
      "step": 4111
    },
    {
      "epoch": 0.9225936728741306,
      "grad_norm": 0.6325122117996216,
      "learning_rate": 0.000405655909475555,
      "loss": 0.0895,
      "step": 4112
    },
    {
      "epoch": 0.9225936728741306,
      "gripper_loss": 0.228515625,
      "loss": 0.08349609375,
      "pos_loss": 0.12109375,
      "rot_loss": 0.5859375,
      "step": 4112
    },
    {
      "epoch": 0.9228180390397128,
      "grad_norm": 0.6173433661460876,
      "learning_rate": 0.0004056085156807547,
      "loss": 0.0775,
      "step": 4113
    },
    {
      "epoch": 0.9228180390397128,
      "gripper_loss": 0.1591796875,
      "loss": 0.142578125,
      "pos_loss": 0.53125,
      "rot_loss": 0.474609375,
      "step": 4113
    },
    {
      "epoch": 0.923042405205295,
      "grad_norm": 1.0061172246932983,
      "learning_rate": 0.0004055611127549169,
      "loss": 0.1542,
      "step": 4114
    },
    {
      "epoch": 0.923042405205295,
      "gripper_loss": 0.0390625,
      "loss": 0.051025390625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.04296875,
      "step": 4114
    },
    {
      "epoch": 0.9232667713708773,
      "grad_norm": 0.5959658026695251,
      "learning_rate": 0.0004055137007008233,
      "loss": 0.1081,
      "step": 4115
    },
    {
      "epoch": 0.9232667713708773,
      "gripper_loss": 0.1357421875,
      "loss": 0.0966796875,
      "pos_loss": 0.7265625,
      "rot_loss": 0.08935546875,
      "step": 4115
    },
    {
      "epoch": 0.9234911375364595,
      "grad_norm": 0.7083842158317566,
      "learning_rate": 0.0004054662795212559,
      "loss": 0.1029,
      "step": 4116
    },
    {
      "epoch": 0.9234911375364595,
      "gripper_loss": 0.291015625,
      "loss": 0.0390625,
      "pos_loss": 0.203125,
      "rot_loss": 0.030029296875,
      "step": 4116
    },
    {
      "epoch": 0.9237155037020417,
      "grad_norm": 0.6528253555297852,
      "learning_rate": 0.00040541884921899753,
      "loss": 0.0998,
      "step": 4117
    },
    {
      "epoch": 0.9237155037020417,
      "gripper_loss": 0.1943359375,
      "loss": 0.0888671875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.36328125,
      "step": 4117
    },
    {
      "epoch": 0.923939869867624,
      "grad_norm": 0.6045032143592834,
      "learning_rate": 0.0004053714097968312,
      "loss": 0.0836,
      "step": 4118
    },
    {
      "epoch": 0.923939869867624,
      "gripper_loss": 0.48046875,
      "loss": 0.2001953125,
      "pos_loss": 1.6171875,
      "rot_loss": 0.2392578125,
      "step": 4118
    },
    {
      "epoch": 0.9241642360332062,
      "grad_norm": 0.8502795696258545,
      "learning_rate": 0.00040532396125754066,
      "loss": 0.1174,
      "step": 4119
    },
    {
      "epoch": 0.9241642360332062,
      "gripper_loss": 0.049560546875,
      "loss": 0.10498046875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.267578125,
      "step": 4119
    },
    {
      "epoch": 0.9243886021987884,
      "grad_norm": 0.8820242881774902,
      "learning_rate": 0.00040527650360391035,
      "loss": 0.1099,
      "step": 4120
    },
    {
      "epoch": 0.9243886021987884,
      "gripper_loss": 1.9375,
      "loss": 0.08837890625,
      "pos_loss": 0.035888671875,
      "rot_loss": 0.1748046875,
      "step": 4120
    },
    {
      "epoch": 0.9246129683643707,
      "grad_norm": 0.6429027915000916,
      "learning_rate": 0.00040522903683872484,
      "loss": 0.1443,
      "step": 4121
    },
    {
      "epoch": 0.9246129683643707,
      "gripper_loss": 1.5703125,
      "loss": 0.1337890625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.08642578125,
      "step": 4121
    },
    {
      "epoch": 0.9248373345299529,
      "grad_norm": 0.6587614417076111,
      "learning_rate": 0.00040518156096476955,
      "loss": 0.1248,
      "step": 4122
    },
    {
      "epoch": 0.9248373345299529,
      "gripper_loss": 0.462890625,
      "loss": 0.1142578125,
      "pos_loss": 0.69921875,
      "rot_loss": 0.2890625,
      "step": 4122
    },
    {
      "epoch": 0.9250617006955351,
      "grad_norm": 0.46818411350250244,
      "learning_rate": 0.00040513407598483043,
      "loss": 0.0834,
      "step": 4123
    },
    {
      "epoch": 0.9250617006955351,
      "gripper_loss": 0.2451171875,
      "loss": 0.12890625,
      "pos_loss": 1.125,
      "rot_loss": 0.06298828125,
      "step": 4123
    },
    {
      "epoch": 0.9252860668611174,
      "grad_norm": 0.5667932033538818,
      "learning_rate": 0.0004050865819016937,
      "loss": 0.0728,
      "step": 4124
    },
    {
      "epoch": 0.9252860668611174,
      "gripper_loss": 0.0810546875,
      "loss": 0.1337890625,
      "pos_loss": 0.28515625,
      "rot_loss": 1.015625,
      "step": 4124
    },
    {
      "epoch": 0.9255104330266996,
      "grad_norm": 0.549899160861969,
      "learning_rate": 0.00040503907871814636,
      "loss": 0.1306,
      "step": 4125
    },
    {
      "epoch": 0.9255104330266996,
      "gripper_loss": 0.5703125,
      "loss": 0.060791015625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.11474609375,
      "step": 4125
    },
    {
      "epoch": 0.9257347991922819,
      "grad_norm": 0.49512559175491333,
      "learning_rate": 0.000404991566436976,
      "loss": 0.0852,
      "step": 4126
    },
    {
      "epoch": 0.9257347991922819,
      "gripper_loss": 0.10302734375,
      "loss": 0.09619140625,
      "pos_loss": 0.294921875,
      "rot_loss": 0.48828125,
      "step": 4126
    },
    {
      "epoch": 0.925959165357864,
      "grad_norm": 0.6302207708358765,
      "learning_rate": 0.0004049440450609705,
      "loss": 0.0912,
      "step": 4127
    },
    {
      "epoch": 0.925959165357864,
      "gripper_loss": 0.1640625,
      "loss": 0.1552734375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.2890625,
      "step": 4127
    },
    {
      "epoch": 0.9261835315234462,
      "grad_norm": 1.2695395946502686,
      "learning_rate": 0.00040489651459291843,
      "loss": 0.186,
      "step": 4128
    },
    {
      "epoch": 0.9261835315234462,
      "gripper_loss": 0.0260009765625,
      "loss": 0.048095703125,
      "pos_loss": 0.38671875,
      "rot_loss": 0.05029296875,
      "step": 4128
    },
    {
      "epoch": 0.9264078976890285,
      "grad_norm": 0.5829589366912842,
      "learning_rate": 0.00040484897503560875,
      "loss": 0.0791,
      "step": 4129
    },
    {
      "epoch": 0.9264078976890285,
      "gripper_loss": 0.208984375,
      "loss": 0.1357421875,
      "pos_loss": 0.486328125,
      "rot_loss": 0.81640625,
      "step": 4129
    },
    {
      "epoch": 0.9266322638546107,
      "grad_norm": 0.5929994583129883,
      "learning_rate": 0.0004048014263918312,
      "loss": 0.1281,
      "step": 4130
    },
    {
      "epoch": 0.9266322638546107,
      "gripper_loss": 0.033935546875,
      "loss": 0.1865234375,
      "pos_loss": 0.875,
      "rot_loss": 1.03125,
      "step": 4130
    },
    {
      "epoch": 0.9268566300201929,
      "grad_norm": 0.46842533349990845,
      "learning_rate": 0.00040475386866437583,
      "loss": 0.1085,
      "step": 4131
    },
    {
      "epoch": 0.9268566300201929,
      "gripper_loss": 0.0103759765625,
      "loss": 0.06103515625,
      "pos_loss": 0.33203125,
      "rot_loss": 0.1767578125,
      "step": 4131
    },
    {
      "epoch": 0.9270809961857752,
      "grad_norm": 0.6828994154930115,
      "learning_rate": 0.00040470630185603334,
      "loss": 0.08,
      "step": 4132
    },
    {
      "epoch": 0.9270809961857752,
      "gripper_loss": 0.0712890625,
      "loss": 0.08251953125,
      "pos_loss": 0.72265625,
      "rot_loss": 0.05712890625,
      "step": 4132
    },
    {
      "epoch": 0.9273053623513574,
      "grad_norm": 0.520335853099823,
      "learning_rate": 0.00040465872596959495,
      "loss": 0.0901,
      "step": 4133
    },
    {
      "epoch": 0.9273053623513574,
      "gripper_loss": 0.019775390625,
      "loss": 0.1279296875,
      "pos_loss": 0.74609375,
      "rot_loss": 0.56640625,
      "step": 4133
    },
    {
      "epoch": 0.9275297285169396,
      "grad_norm": 0.5261498689651489,
      "learning_rate": 0.00040461114100785235,
      "loss": 0.1041,
      "step": 4134
    },
    {
      "epoch": 0.9275297285169396,
      "gripper_loss": 0.8046875,
      "loss": 0.041259765625,
      "pos_loss": 0.02880859375,
      "rot_loss": 0.0174560546875,
      "step": 4134
    },
    {
      "epoch": 0.9277540946825219,
      "grad_norm": 0.6483690142631531,
      "learning_rate": 0.0004045635469735978,
      "loss": 0.1022,
      "step": 4135
    },
    {
      "epoch": 0.9277540946825219,
      "gripper_loss": 0.040771484375,
      "loss": 0.189453125,
      "pos_loss": 1.0,
      "rot_loss": 0.490234375,
      "step": 4135
    },
    {
      "epoch": 0.9279784608481041,
      "grad_norm": 0.9856670498847961,
      "learning_rate": 0.0004045159438696242,
      "loss": 0.1121,
      "step": 4136
    },
    {
      "epoch": 0.9279784608481041,
      "gripper_loss": 0.11669921875,
      "loss": 0.08837890625,
      "pos_loss": 0.25,
      "rot_loss": 0.337890625,
      "step": 4136
    },
    {
      "epoch": 0.9282028270136863,
      "grad_norm": 0.7404463887214661,
      "learning_rate": 0.0004044683316987247,
      "loss": 0.075,
      "step": 4137
    },
    {
      "epoch": 0.9282028270136863,
      "gripper_loss": 0.12890625,
      "loss": 0.0751953125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.125,
      "step": 4137
    },
    {
      "epoch": 0.9284271931792686,
      "grad_norm": 0.6232479810714722,
      "learning_rate": 0.0004044207104636933,
      "loss": 0.1128,
      "step": 4138
    },
    {
      "epoch": 0.9284271931792686,
      "gripper_loss": 0.28125,
      "loss": 0.1474609375,
      "pos_loss": 0.4140625,
      "rot_loss": 0.515625,
      "step": 4138
    },
    {
      "epoch": 0.9286515593448508,
      "grad_norm": 0.9517356753349304,
      "learning_rate": 0.0004043730801673243,
      "loss": 0.1733,
      "step": 4139
    },
    {
      "epoch": 0.9286515593448508,
      "gripper_loss": 0.0235595703125,
      "loss": 0.1083984375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.44140625,
      "step": 4139
    },
    {
      "epoch": 0.9288759255104331,
      "grad_norm": 1.1938600540161133,
      "learning_rate": 0.00040432544081241275,
      "loss": 0.0887,
      "step": 4140
    },
    {
      "epoch": 0.9288759255104331,
      "gripper_loss": 0.1806640625,
      "loss": 0.130859375,
      "pos_loss": 0.486328125,
      "rot_loss": 0.5546875,
      "step": 4140
    },
    {
      "epoch": 0.9291002916760153,
      "grad_norm": 1.0901631116867065,
      "learning_rate": 0.000404277792401754,
      "loss": 0.1241,
      "step": 4141
    },
    {
      "epoch": 0.9291002916760153,
      "gripper_loss": 0.64453125,
      "loss": 0.057373046875,
      "pos_loss": 0.076171875,
      "rot_loss": 0.09423828125,
      "step": 4141
    },
    {
      "epoch": 0.9293246578415975,
      "grad_norm": 1.1139862537384033,
      "learning_rate": 0.000404230134938144,
      "loss": 0.0941,
      "step": 4142
    },
    {
      "epoch": 0.9293246578415975,
      "gripper_loss": 0.050537109375,
      "loss": 0.177734375,
      "pos_loss": 1.5546875,
      "rot_loss": 0.1025390625,
      "step": 4142
    },
    {
      "epoch": 0.9295490240071798,
      "grad_norm": 0.9622632265090942,
      "learning_rate": 0.00040418246842437947,
      "loss": 0.1457,
      "step": 4143
    },
    {
      "epoch": 0.9295490240071798,
      "gripper_loss": 0.5234375,
      "loss": 0.2294921875,
      "pos_loss": 1.5859375,
      "rot_loss": 0.58984375,
      "step": 4143
    },
    {
      "epoch": 0.929773390172762,
      "grad_norm": 0.6580177545547485,
      "learning_rate": 0.00040413479286325715,
      "loss": 0.0988,
      "step": 4144
    },
    {
      "epoch": 0.929773390172762,
      "gripper_loss": 0.59375,
      "loss": 0.34765625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.96875,
      "step": 4144
    },
    {
      "epoch": 0.9299977563383441,
      "grad_norm": 1.6094359159469604,
      "learning_rate": 0.0004040871082575749,
      "loss": 0.323,
      "step": 4145
    },
    {
      "epoch": 0.9299977563383441,
      "gripper_loss": 0.0289306640625,
      "loss": 0.09228515625,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.5703125,
      "step": 4145
    },
    {
      "epoch": 0.9302221225039264,
      "grad_norm": 0.6623580455780029,
      "learning_rate": 0.0004040394146101307,
      "loss": 0.077,
      "step": 4146
    },
    {
      "epoch": 0.9302221225039264,
      "gripper_loss": 0.042236328125,
      "loss": 0.2197265625,
      "pos_loss": 0.953125,
      "rot_loss": 1.2421875,
      "step": 4146
    },
    {
      "epoch": 0.9304464886695086,
      "grad_norm": 0.6640639901161194,
      "learning_rate": 0.00040399171192372324,
      "loss": 0.1029,
      "step": 4147
    },
    {
      "epoch": 0.9304464886695086,
      "gripper_loss": 0.2333984375,
      "loss": 0.16796875,
      "pos_loss": 0.353515625,
      "rot_loss": 0.48046875,
      "step": 4147
    },
    {
      "epoch": 0.9306708548350908,
      "grad_norm": 0.8691642880439758,
      "learning_rate": 0.00040394400020115164,
      "loss": 0.1467,
      "step": 4148
    },
    {
      "epoch": 0.9306708548350908,
      "gripper_loss": 0.033203125,
      "loss": 0.060546875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.06689453125,
      "step": 4148
    },
    {
      "epoch": 0.9308952210006731,
      "grad_norm": 0.9553384184837341,
      "learning_rate": 0.00040389627944521566,
      "loss": 0.1106,
      "step": 4149
    },
    {
      "epoch": 0.9308952210006731,
      "gripper_loss": 0.0771484375,
      "loss": 0.050048828125,
      "pos_loss": 0.37890625,
      "rot_loss": 0.0191650390625,
      "step": 4149
    },
    {
      "epoch": 0.9311195871662553,
      "grad_norm": 0.8024490475654602,
      "learning_rate": 0.00040384854965871546,
      "loss": 0.132,
      "step": 4150
    },
    {
      "epoch": 0.9311195871662553,
      "gripper_loss": 0.232421875,
      "loss": 0.06640625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.032470703125,
      "step": 4150
    },
    {
      "epoch": 0.9313439533318375,
      "grad_norm": 0.745819628238678,
      "learning_rate": 0.0004038008108444519,
      "loss": 0.0891,
      "step": 4151
    },
    {
      "epoch": 0.9313439533318375,
      "gripper_loss": 0.076171875,
      "loss": 0.07958984375,
      "pos_loss": 0.546875,
      "rot_loss": 0.1689453125,
      "step": 4151
    },
    {
      "epoch": 0.9315683194974198,
      "grad_norm": 0.766114354133606,
      "learning_rate": 0.00040375306300522617,
      "loss": 0.0924,
      "step": 4152
    },
    {
      "epoch": 0.9315683194974198,
      "gripper_loss": 1.3046875,
      "loss": 0.0908203125,
      "pos_loss": 0.435546875,
      "rot_loss": 0.04150390625,
      "step": 4152
    },
    {
      "epoch": 0.931792685663002,
      "grad_norm": 0.3969533443450928,
      "learning_rate": 0.0004037053061438402,
      "loss": 0.0797,
      "step": 4153
    },
    {
      "epoch": 0.931792685663002,
      "gripper_loss": 0.58984375,
      "loss": 0.062255859375,
      "pos_loss": 0.34375,
      "rot_loss": 0.037841796875,
      "step": 4153
    },
    {
      "epoch": 0.9320170518285843,
      "grad_norm": 0.5264574885368347,
      "learning_rate": 0.0004036575402630962,
      "loss": 0.085,
      "step": 4154
    },
    {
      "epoch": 0.9320170518285843,
      "gripper_loss": 0.2197265625,
      "loss": 0.10546875,
      "pos_loss": 0.515625,
      "rot_loss": 0.453125,
      "step": 4154
    },
    {
      "epoch": 0.9322414179941665,
      "grad_norm": 0.5004353523254395,
      "learning_rate": 0.0004036097653657972,
      "loss": 0.1017,
      "step": 4155
    },
    {
      "epoch": 0.9322414179941665,
      "gripper_loss": 0.0245361328125,
      "loss": 0.07861328125,
      "pos_loss": 0.66796875,
      "rot_loss": 0.05078125,
      "step": 4155
    },
    {
      "epoch": 0.9324657841597487,
      "grad_norm": 0.6399244070053101,
      "learning_rate": 0.00040356198145474656,
      "loss": 0.0682,
      "step": 4156
    },
    {
      "epoch": 0.9324657841597487,
      "gripper_loss": 0.28125,
      "loss": 0.11865234375,
      "pos_loss": 0.96484375,
      "rot_loss": 0.07568359375,
      "step": 4156
    },
    {
      "epoch": 0.932690150325331,
      "grad_norm": 0.5524202585220337,
      "learning_rate": 0.0004035141885327481,
      "loss": 0.0995,
      "step": 4157
    },
    {
      "epoch": 0.932690150325331,
      "gripper_loss": 0.061279296875,
      "loss": 0.091796875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.30859375,
      "step": 4157
    },
    {
      "epoch": 0.9329145164909132,
      "grad_norm": 0.6235633492469788,
      "learning_rate": 0.00040346638660260643,
      "loss": 0.0725,
      "step": 4158
    },
    {
      "epoch": 0.9329145164909132,
      "gripper_loss": 0.11572265625,
      "loss": 0.06982421875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.1123046875,
      "step": 4158
    },
    {
      "epoch": 0.9331388826564954,
      "grad_norm": 0.6234483122825623,
      "learning_rate": 0.0004034185756671265,
      "loss": 0.1255,
      "step": 4159
    },
    {
      "epoch": 0.9331388826564954,
      "gripper_loss": 0.040771484375,
      "loss": 0.02490234375,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.048583984375,
      "step": 4159
    },
    {
      "epoch": 0.9333632488220777,
      "grad_norm": 0.6329171657562256,
      "learning_rate": 0.00040337075572911385,
      "loss": 0.0896,
      "step": 4160
    },
    {
      "epoch": 0.9333632488220777,
      "gripper_loss": 0.65234375,
      "loss": 0.15625,
      "pos_loss": 1.0078125,
      "rot_loss": 0.369140625,
      "step": 4160
    },
    {
      "epoch": 0.9335876149876599,
      "grad_norm": 0.5744416117668152,
      "learning_rate": 0.0004033229267913745,
      "loss": 0.0941,
      "step": 4161
    },
    {
      "epoch": 0.9335876149876599,
      "gripper_loss": 0.029541015625,
      "loss": 0.06396484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.240234375,
      "step": 4161
    },
    {
      "epoch": 0.933811981153242,
      "grad_norm": 0.5909203290939331,
      "learning_rate": 0.00040327508885671504,
      "loss": 0.1397,
      "step": 4162
    },
    {
      "epoch": 0.933811981153242,
      "gripper_loss": 0.84765625,
      "loss": 0.07421875,
      "pos_loss": 0.322265625,
      "rot_loss": 0.1220703125,
      "step": 4162
    },
    {
      "epoch": 0.9340363473188243,
      "grad_norm": 0.526758074760437,
      "learning_rate": 0.0004032272419279426,
      "loss": 0.0909,
      "step": 4163
    },
    {
      "epoch": 0.9340363473188243,
      "gripper_loss": 0.12109375,
      "loss": 0.07275390625,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.058349609375,
      "step": 4163
    },
    {
      "epoch": 0.9342607134844065,
      "grad_norm": 1.2381587028503418,
      "learning_rate": 0.00040317938600786487,
      "loss": 0.1508,
      "step": 4164
    },
    {
      "epoch": 0.9342607134844065,
      "gripper_loss": 0.412109375,
      "loss": 0.21484375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.498046875,
      "step": 4164
    },
    {
      "epoch": 0.9344850796499888,
      "grad_norm": 1.4747064113616943,
      "learning_rate": 0.00040313152109928984,
      "loss": 0.2021,
      "step": 4165
    },
    {
      "epoch": 0.9344850796499888,
      "gripper_loss": 0.498046875,
      "loss": 0.0322265625,
      "pos_loss": 0.040283203125,
      "rot_loss": 0.0546875,
      "step": 4165
    },
    {
      "epoch": 0.934709445815571,
      "grad_norm": 0.6577128767967224,
      "learning_rate": 0.0004030836472050264,
      "loss": 0.0849,
      "step": 4166
    },
    {
      "epoch": 0.934709445815571,
      "gripper_loss": 0.6484375,
      "loss": 0.08447265625,
      "pos_loss": 0.3515625,
      "rot_loss": 0.2314453125,
      "step": 4166
    },
    {
      "epoch": 0.9349338119811532,
      "grad_norm": 0.7520912289619446,
      "learning_rate": 0.0004030357643278836,
      "loss": 0.1324,
      "step": 4167
    },
    {
      "epoch": 0.9349338119811532,
      "gripper_loss": 0.5078125,
      "loss": 0.064453125,
      "pos_loss": 0.349609375,
      "rot_loss": 0.039794921875,
      "step": 4167
    },
    {
      "epoch": 0.9351581781467355,
      "grad_norm": 0.792765200138092,
      "learning_rate": 0.0004029878724706713,
      "loss": 0.0596,
      "step": 4168
    },
    {
      "epoch": 0.9351581781467355,
      "gripper_loss": 0.08642578125,
      "loss": 0.11962890625,
      "pos_loss": 0.23046875,
      "rot_loss": 0.94140625,
      "step": 4168
    },
    {
      "epoch": 0.9353825443123177,
      "grad_norm": 0.43987277150154114,
      "learning_rate": 0.0004029399716361997,
      "loss": 0.0896,
      "step": 4169
    },
    {
      "epoch": 0.9353825443123177,
      "gripper_loss": 0.87109375,
      "loss": 0.068359375,
      "pos_loss": 0.36328125,
      "rot_loss": 0.0238037109375,
      "step": 4169
    },
    {
      "epoch": 0.9356069104778999,
      "grad_norm": 0.4471699893474579,
      "learning_rate": 0.00040289206182727964,
      "loss": 0.1094,
      "step": 4170
    },
    {
      "epoch": 0.9356069104778999,
      "gripper_loss": 1.53125,
      "loss": 0.32421875,
      "pos_loss": 2.5625,
      "rot_loss": 0.3203125,
      "step": 4170
    },
    {
      "epoch": 0.9358312766434822,
      "grad_norm": 0.531090259552002,
      "learning_rate": 0.00040284414304672244,
      "loss": 0.1119,
      "step": 4171
    },
    {
      "epoch": 0.9358312766434822,
      "gripper_loss": 0.83984375,
      "loss": 0.52734375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.484375,
      "step": 4171
    },
    {
      "epoch": 0.9360556428090644,
      "grad_norm": 2.098034381866455,
      "learning_rate": 0.00040279621529734,
      "loss": 0.5576,
      "step": 4172
    },
    {
      "epoch": 0.9360556428090644,
      "gripper_loss": 0.07177734375,
      "loss": 0.0213623046875,
      "pos_loss": 0.07421875,
      "rot_loss": 0.05712890625,
      "step": 4172
    },
    {
      "epoch": 0.9362800089746466,
      "grad_norm": 0.5083688497543335,
      "learning_rate": 0.00040274827858194465,
      "loss": 0.1008,
      "step": 4173
    },
    {
      "epoch": 0.9362800089746466,
      "gripper_loss": 1.1484375,
      "loss": 0.09130859375,
      "pos_loss": 0.396484375,
      "rot_loss": 0.09130859375,
      "step": 4173
    },
    {
      "epoch": 0.9365043751402289,
      "grad_norm": 0.6125728487968445,
      "learning_rate": 0.0004027003329033493,
      "loss": 0.0771,
      "step": 4174
    },
    {
      "epoch": 0.9365043751402289,
      "gripper_loss": 0.1279296875,
      "loss": 0.0771484375,
      "pos_loss": 0.515625,
      "rot_loss": 0.1611328125,
      "step": 4174
    },
    {
      "epoch": 0.9367287413058111,
      "grad_norm": 0.7359679937362671,
      "learning_rate": 0.0004026523782643673,
      "loss": 0.0739,
      "step": 4175
    },
    {
      "epoch": 0.9367287413058111,
      "gripper_loss": 0.0216064453125,
      "loss": 0.126953125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.03759765625,
      "step": 4175
    },
    {
      "epoch": 0.9369531074713933,
      "grad_norm": 0.6562110781669617,
      "learning_rate": 0.0004026044146678127,
      "loss": 0.1409,
      "step": 4176
    },
    {
      "epoch": 0.9369531074713933,
      "gripper_loss": 0.337890625,
      "loss": 0.05078125,
      "pos_loss": 0.158203125,
      "rot_loss": 0.173828125,
      "step": 4176
    },
    {
      "epoch": 0.9371774736369756,
      "grad_norm": 0.7004168033599854,
      "learning_rate": 0.0004025564421165,
      "loss": 0.1372,
      "step": 4177
    },
    {
      "epoch": 0.9371774736369756,
      "gripper_loss": 0.80859375,
      "loss": 0.1533203125,
      "pos_loss": 1.03125,
      "rot_loss": 0.177734375,
      "step": 4177
    },
    {
      "epoch": 0.9374018398025578,
      "grad_norm": 0.8077418804168701,
      "learning_rate": 0.0004025084606132442,
      "loss": 0.0949,
      "step": 4178
    },
    {
      "epoch": 0.9374018398025578,
      "gripper_loss": 0.27734375,
      "loss": 0.1494140625,
      "pos_loss": 0.65625,
      "rot_loss": 0.73828125,
      "step": 4178
    },
    {
      "epoch": 0.9376262059681401,
      "grad_norm": 0.5821938514709473,
      "learning_rate": 0.00040246047016086076,
      "loss": 0.1405,
      "step": 4179
    },
    {
      "epoch": 0.9376262059681401,
      "gripper_loss": 0.427734375,
      "loss": 0.08056640625,
      "pos_loss": 0.486328125,
      "rot_loss": 0.1318359375,
      "step": 4179
    },
    {
      "epoch": 0.9378505721337222,
      "grad_norm": 0.5063213109970093,
      "learning_rate": 0.00040241247076216574,
      "loss": 0.1032,
      "step": 4180
    },
    {
      "epoch": 0.9378505721337222,
      "gripper_loss": 0.7734375,
      "loss": 0.04248046875,
      "pos_loss": 0.0654296875,
      "rot_loss": 0.0291748046875,
      "step": 4180
    },
    {
      "epoch": 0.9380749382993044,
      "grad_norm": 0.6655782461166382,
      "learning_rate": 0.0004023644624199759,
      "loss": 0.0884,
      "step": 4181
    },
    {
      "epoch": 0.9380749382993044,
      "gripper_loss": 0.02490234375,
      "loss": 0.1103515625,
      "pos_loss": 0.228515625,
      "rot_loss": 0.82421875,
      "step": 4181
    },
    {
      "epoch": 0.9382993044648867,
      "grad_norm": 0.5403876900672913,
      "learning_rate": 0.00040231644513710806,
      "loss": 0.0948,
      "step": 4182
    },
    {
      "epoch": 0.9382993044648867,
      "gripper_loss": 0.012451171875,
      "loss": 0.11865234375,
      "pos_loss": 0.67578125,
      "rot_loss": 0.5,
      "step": 4182
    },
    {
      "epoch": 0.9385236706304689,
      "grad_norm": 0.6438637971878052,
      "learning_rate": 0.0004022684189163801,
      "loss": 0.1009,
      "step": 4183
    },
    {
      "epoch": 0.9385236706304689,
      "gripper_loss": 0.10888671875,
      "loss": 0.080078125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.1962890625,
      "step": 4183
    },
    {
      "epoch": 0.9387480367960511,
      "grad_norm": 0.4429701864719391,
      "learning_rate": 0.0004022203837606101,
      "loss": 0.064,
      "step": 4184
    },
    {
      "epoch": 0.9387480367960511,
      "gripper_loss": 0.05322265625,
      "loss": 0.08740234375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.3046875,
      "step": 4184
    },
    {
      "epoch": 0.9389724029616334,
      "grad_norm": 0.9340229034423828,
      "learning_rate": 0.0004021723396726167,
      "loss": 0.1241,
      "step": 4185
    },
    {
      "epoch": 0.9389724029616334,
      "gripper_loss": 0.341796875,
      "loss": 0.03271484375,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.08837890625,
      "step": 4185
    },
    {
      "epoch": 0.9391967691272156,
      "grad_norm": 0.448809951543808,
      "learning_rate": 0.00040212428665521905,
      "loss": 0.0951,
      "step": 4186
    },
    {
      "epoch": 0.9391967691272156,
      "gripper_loss": 0.056884765625,
      "loss": 0.07470703125,
      "pos_loss": 0.49609375,
      "rot_loss": 0.1513671875,
      "step": 4186
    },
    {
      "epoch": 0.9394211352927978,
      "grad_norm": 0.5889500975608826,
      "learning_rate": 0.00040207622471123705,
      "loss": 0.0728,
      "step": 4187
    },
    {
      "epoch": 0.9394211352927978,
      "gripper_loss": 0.0303955078125,
      "loss": 0.1826171875,
      "pos_loss": 1.03125,
      "rot_loss": 0.8125,
      "step": 4187
    },
    {
      "epoch": 0.9396455014583801,
      "grad_norm": 0.5213937163352966,
      "learning_rate": 0.0004020281538434909,
      "loss": 0.1048,
      "step": 4188
    },
    {
      "epoch": 0.9396455014583801,
      "gripper_loss": 0.2080078125,
      "loss": 0.09716796875,
      "pos_loss": 0.640625,
      "rot_loss": 0.263671875,
      "step": 4188
    },
    {
      "epoch": 0.9398698676239623,
      "grad_norm": 0.526496410369873,
      "learning_rate": 0.00040198007405480127,
      "loss": 0.0812,
      "step": 4189
    },
    {
      "epoch": 0.9398698676239623,
      "gripper_loss": 0.4609375,
      "loss": 0.0294189453125,
      "pos_loss": 0.0556640625,
      "rot_loss": 0.030029296875,
      "step": 4189
    },
    {
      "epoch": 0.9400942337895445,
      "grad_norm": 0.7185482382774353,
      "learning_rate": 0.0004019319853479895,
      "loss": 0.0808,
      "step": 4190
    },
    {
      "epoch": 0.9400942337895445,
      "gripper_loss": 0.33984375,
      "loss": 0.322265625,
      "pos_loss": 1.6171875,
      "rot_loss": 0.1923828125,
      "step": 4190
    },
    {
      "epoch": 0.9403185999551268,
      "grad_norm": 1.4165687561035156,
      "learning_rate": 0.00040188388772587747,
      "loss": 0.2765,
      "step": 4191
    },
    {
      "epoch": 0.9403185999551268,
      "gripper_loss": 0.470703125,
      "loss": 0.07421875,
      "pos_loss": 0.33203125,
      "rot_loss": 0.134765625,
      "step": 4191
    },
    {
      "epoch": 0.940542966120709,
      "grad_norm": 0.7815026640892029,
      "learning_rate": 0.00040183578119128757,
      "loss": 0.1038,
      "step": 4192
    },
    {
      "epoch": 0.940542966120709,
      "gripper_loss": 0.490234375,
      "loss": 0.09375,
      "pos_loss": 0.5703125,
      "rot_loss": 0.1875,
      "step": 4192
    },
    {
      "epoch": 0.9407673322862913,
      "grad_norm": 0.47255924344062805,
      "learning_rate": 0.00040178766574704253,
      "loss": 0.1039,
      "step": 4193
    },
    {
      "epoch": 0.9407673322862913,
      "gripper_loss": 0.56640625,
      "loss": 0.06201171875,
      "pos_loss": 0.138671875,
      "rot_loss": 0.267578125,
      "step": 4193
    },
    {
      "epoch": 0.9409916984518735,
      "grad_norm": 0.6438797116279602,
      "learning_rate": 0.00040173954139596584,
      "loss": 0.1211,
      "step": 4194
    },
    {
      "epoch": 0.9409916984518735,
      "gripper_loss": 0.047607421875,
      "loss": 0.1396484375,
      "pos_loss": 1.171875,
      "rot_loss": 0.234375,
      "step": 4194
    },
    {
      "epoch": 0.9412160646174557,
      "grad_norm": 0.6656758785247803,
      "learning_rate": 0.00040169140814088136,
      "loss": 0.1073,
      "step": 4195
    },
    {
      "epoch": 0.9412160646174557,
      "gripper_loss": 0.030029296875,
      "loss": 0.12451171875,
      "pos_loss": 1.1171875,
      "rot_loss": 0.1337890625,
      "step": 4195
    },
    {
      "epoch": 0.941440430783038,
      "grad_norm": 0.6577662229537964,
      "learning_rate": 0.00040164326598461365,
      "loss": 0.1353,
      "step": 4196
    },
    {
      "epoch": 0.941440430783038,
      "gripper_loss": 0.2138671875,
      "loss": 0.408203125,
      "pos_loss": 2.109375,
      "rot_loss": 0.3125,
      "step": 4196
    },
    {
      "epoch": 0.9416647969486202,
      "grad_norm": 1.433374047279358,
      "learning_rate": 0.00040159511492998744,
      "loss": 0.3733,
      "step": 4197
    },
    {
      "epoch": 0.9416647969486202,
      "gripper_loss": 0.0247802734375,
      "loss": 0.09130859375,
      "pos_loss": 0.55078125,
      "rot_loss": 0.275390625,
      "step": 4197
    },
    {
      "epoch": 0.9418891631142023,
      "grad_norm": 0.5289947390556335,
      "learning_rate": 0.0004015469549798284,
      "loss": 0.0915,
      "step": 4198
    },
    {
      "epoch": 0.9418891631142023,
      "gripper_loss": 0.359375,
      "loss": 0.08935546875,
      "pos_loss": 0.486328125,
      "rot_loss": 0.240234375,
      "step": 4198
    },
    {
      "epoch": 0.9421135292797846,
      "grad_norm": 0.5221823453903198,
      "learning_rate": 0.0004014987861369625,
      "loss": 0.0769,
      "step": 4199
    },
    {
      "epoch": 0.9421135292797846,
      "gripper_loss": 0.042236328125,
      "loss": 0.03125,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.0233154296875,
      "step": 4199
    },
    {
      "epoch": 0.9423378954453668,
      "grad_norm": 0.5772294998168945,
      "learning_rate": 0.00040145060840421625,
      "loss": 0.0733,
      "step": 4200
    },
    {
      "epoch": 0.9423378954453668,
      "gripper_loss": 0.0458984375,
      "loss": 0.080078125,
      "pos_loss": 0.376953125,
      "rot_loss": 0.259765625,
      "step": 4200
    },
    {
      "epoch": 0.942562261610949,
      "grad_norm": 0.7143313884735107,
      "learning_rate": 0.00040140242178441667,
      "loss": 0.1336,
      "step": 4201
    },
    {
      "epoch": 0.942562261610949,
      "gripper_loss": 0.0245361328125,
      "loss": 0.212890625,
      "pos_loss": 0.80859375,
      "rot_loss": 1.2109375,
      "step": 4201
    },
    {
      "epoch": 0.9427866277765313,
      "grad_norm": 0.5276982188224792,
      "learning_rate": 0.0004013542262803914,
      "loss": 0.0995,
      "step": 4202
    },
    {
      "epoch": 0.9427866277765313,
      "gripper_loss": 0.62890625,
      "loss": 0.162109375,
      "pos_loss": 0.578125,
      "rot_loss": 0.84765625,
      "step": 4202
    },
    {
      "epoch": 0.9430109939421135,
      "grad_norm": 0.7397911548614502,
      "learning_rate": 0.00040130602189496846,
      "loss": 0.136,
      "step": 4203
    },
    {
      "epoch": 0.9430109939421135,
      "gripper_loss": 0.2109375,
      "loss": 0.1376953125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.55859375,
      "step": 4203
    },
    {
      "epoch": 0.9432353601076957,
      "grad_norm": 0.6293314099311829,
      "learning_rate": 0.00040125780863097644,
      "loss": 0.102,
      "step": 4204
    },
    {
      "epoch": 0.9432353601076957,
      "gripper_loss": 0.296875,
      "loss": 0.0439453125,
      "pos_loss": 0.10400390625,
      "rot_loss": 0.1572265625,
      "step": 4204
    },
    {
      "epoch": 0.943459726273278,
      "grad_norm": 0.5815576910972595,
      "learning_rate": 0.0004012095864912446,
      "loss": 0.1117,
      "step": 4205
    },
    {
      "epoch": 0.943459726273278,
      "gripper_loss": 0.3359375,
      "loss": 0.12158203125,
      "pos_loss": 1.015625,
      "rot_loss": 0.07373046875,
      "step": 4205
    },
    {
      "epoch": 0.9436840924388602,
      "grad_norm": 0.6948966979980469,
      "learning_rate": 0.0004011613554786024,
      "loss": 0.1091,
      "step": 4206
    },
    {
      "epoch": 0.9436840924388602,
      "gripper_loss": 0.1953125,
      "loss": 0.05810546875,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.265625,
      "step": 4206
    },
    {
      "epoch": 0.9439084586044425,
      "grad_norm": 0.5165623426437378,
      "learning_rate": 0.0004011131155958803,
      "loss": 0.0679,
      "step": 4207
    },
    {
      "epoch": 0.9439084586044425,
      "gripper_loss": 0.2392578125,
      "loss": 0.0869140625,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.1884765625,
      "step": 4207
    },
    {
      "epoch": 0.9441328247700247,
      "grad_norm": 0.9976890683174133,
      "learning_rate": 0.0004010648668459087,
      "loss": 0.1394,
      "step": 4208
    },
    {
      "epoch": 0.9441328247700247,
      "gripper_loss": 0.345703125,
      "loss": 0.08203125,
      "pos_loss": 0.48046875,
      "rot_loss": 0.0810546875,
      "step": 4208
    },
    {
      "epoch": 0.9443571909356069,
      "grad_norm": 0.5557103157043457,
      "learning_rate": 0.00040101660923151894,
      "loss": 0.0931,
      "step": 4209
    },
    {
      "epoch": 0.9443571909356069,
      "gripper_loss": 0.19140625,
      "loss": 0.09228515625,
      "pos_loss": 0.171875,
      "rot_loss": 0.66015625,
      "step": 4209
    },
    {
      "epoch": 0.9445815571011892,
      "grad_norm": 0.5608382821083069,
      "learning_rate": 0.0004009683427555427,
      "loss": 0.0771,
      "step": 4210
    },
    {
      "epoch": 0.9445815571011892,
      "gripper_loss": 0.1318359375,
      "loss": 0.142578125,
      "pos_loss": 0.734375,
      "rot_loss": 0.376953125,
      "step": 4210
    },
    {
      "epoch": 0.9448059232667714,
      "grad_norm": 0.9023391008377075,
      "learning_rate": 0.00040092006742081245,
      "loss": 0.1157,
      "step": 4211
    },
    {
      "epoch": 0.9448059232667714,
      "gripper_loss": 0.03271484375,
      "loss": 0.0888671875,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.62109375,
      "step": 4211
    },
    {
      "epoch": 0.9450302894323536,
      "grad_norm": 0.7214822173118591,
      "learning_rate": 0.00040087178323016065,
      "loss": 0.11,
      "step": 4212
    },
    {
      "epoch": 0.9450302894323536,
      "gripper_loss": 0.2275390625,
      "loss": 0.0517578125,
      "pos_loss": 0.2109375,
      "rot_loss": 0.1806640625,
      "step": 4212
    },
    {
      "epoch": 0.9452546555979359,
      "grad_norm": 0.5238481163978577,
      "learning_rate": 0.0004008234901864208,
      "loss": 0.0802,
      "step": 4213
    },
    {
      "epoch": 0.9452546555979359,
      "gripper_loss": 0.462890625,
      "loss": 0.0361328125,
      "pos_loss": 0.052734375,
      "rot_loss": 0.05859375,
      "step": 4213
    },
    {
      "epoch": 0.9454790217635181,
      "grad_norm": 0.589030921459198,
      "learning_rate": 0.00040077518829242665,
      "loss": 0.091,
      "step": 4214
    },
    {
      "epoch": 0.9454790217635181,
      "gripper_loss": 0.013427734375,
      "loss": 0.0517578125,
      "pos_loss": 0.375,
      "rot_loss": 0.10791015625,
      "step": 4214
    },
    {
      "epoch": 0.9457033879291002,
      "grad_norm": 0.42464515566825867,
      "learning_rate": 0.00040072687755101255,
      "loss": 0.0928,
      "step": 4215
    },
    {
      "epoch": 0.9457033879291002,
      "gripper_loss": 0.1962890625,
      "loss": 0.13671875,
      "pos_loss": 0.37109375,
      "rot_loss": 0.6796875,
      "step": 4215
    },
    {
      "epoch": 0.9459277540946825,
      "grad_norm": 0.729932427406311,
      "learning_rate": 0.0004006785579650134,
      "loss": 0.098,
      "step": 4216
    },
    {
      "epoch": 0.9459277540946825,
      "gripper_loss": 0.031494140625,
      "loss": 0.193359375,
      "pos_loss": 0.84375,
      "rot_loss": 0.8046875,
      "step": 4216
    },
    {
      "epoch": 0.9461521202602647,
      "grad_norm": 0.8109124302864075,
      "learning_rate": 0.00040063022953726443,
      "loss": 0.126,
      "step": 4217
    },
    {
      "epoch": 0.9461521202602647,
      "gripper_loss": 0.365234375,
      "loss": 0.0546875,
      "pos_loss": 0.20703125,
      "rot_loss": 0.0869140625,
      "step": 4217
    },
    {
      "epoch": 0.9463764864258469,
      "grad_norm": 0.7489830255508423,
      "learning_rate": 0.00040058189227060165,
      "loss": 0.0957,
      "step": 4218
    },
    {
      "epoch": 0.9463764864258469,
      "gripper_loss": 0.8515625,
      "loss": 0.064453125,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.19921875,
      "step": 4218
    },
    {
      "epoch": 0.9466008525914292,
      "grad_norm": 0.743504524230957,
      "learning_rate": 0.00040053354616786143,
      "loss": 0.0888,
      "step": 4219
    },
    {
      "epoch": 0.9466008525914292,
      "gripper_loss": 0.06884765625,
      "loss": 0.12451171875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.61328125,
      "step": 4219
    },
    {
      "epoch": 0.9468252187570114,
      "grad_norm": 0.6522067785263062,
      "learning_rate": 0.00040048519123188077,
      "loss": 0.0788,
      "step": 4220
    },
    {
      "epoch": 0.9468252187570114,
      "gripper_loss": 0.2890625,
      "loss": 0.11962890625,
      "pos_loss": 0.474609375,
      "rot_loss": 0.62109375,
      "step": 4220
    },
    {
      "epoch": 0.9470495849225937,
      "grad_norm": 0.5581045150756836,
      "learning_rate": 0.00040043682746549695,
      "loss": 0.1167,
      "step": 4221
    },
    {
      "epoch": 0.9470495849225937,
      "gripper_loss": 0.1025390625,
      "loss": 0.0194091796875,
      "pos_loss": 0.0576171875,
      "rot_loss": 0.0179443359375,
      "step": 4221
    },
    {
      "epoch": 0.9472739510881759,
      "grad_norm": 0.6235643029212952,
      "learning_rate": 0.0004003884548715481,
      "loss": 0.0866,
      "step": 4222
    },
    {
      "epoch": 0.9472739510881759,
      "gripper_loss": 0.1640625,
      "loss": 0.2060546875,
      "pos_loss": 0.6015625,
      "rot_loss": 0.37109375,
      "step": 4222
    },
    {
      "epoch": 0.9474983172537581,
      "grad_norm": 1.6516047716140747,
      "learning_rate": 0.0004003400734528726,
      "loss": 0.2302,
      "step": 4223
    },
    {
      "epoch": 0.9474983172537581,
      "gripper_loss": 0.41796875,
      "loss": 0.07275390625,
      "pos_loss": 0.216796875,
      "rot_loss": 0.328125,
      "step": 4223
    },
    {
      "epoch": 0.9477226834193404,
      "grad_norm": 0.5399547219276428,
      "learning_rate": 0.0004002916832123095,
      "loss": 0.0956,
      "step": 4224
    },
    {
      "epoch": 0.9477226834193404,
      "gripper_loss": 0.08837890625,
      "loss": 0.1025390625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.498046875,
      "step": 4224
    },
    {
      "epoch": 0.9479470495849226,
      "grad_norm": 0.558618426322937,
      "learning_rate": 0.0004002432841526983,
      "loss": 0.0966,
      "step": 4225
    },
    {
      "epoch": 0.9479470495849226,
      "gripper_loss": 0.4765625,
      "loss": 0.181640625,
      "pos_loss": 0.9609375,
      "rot_loss": 0.74609375,
      "step": 4225
    },
    {
      "epoch": 0.9481714157505048,
      "grad_norm": 0.5750542283058167,
      "learning_rate": 0.000400194876276879,
      "loss": 0.0836,
      "step": 4226
    },
    {
      "epoch": 0.9481714157505048,
      "gripper_loss": 0.021728515625,
      "loss": 0.1416015625,
      "pos_loss": 1.25,
      "rot_loss": 0.154296875,
      "step": 4226
    },
    {
      "epoch": 0.9483957819160871,
      "grad_norm": 0.6922568678855896,
      "learning_rate": 0.00040014645958769227,
      "loss": 0.1131,
      "step": 4227
    },
    {
      "epoch": 0.9483957819160871,
      "gripper_loss": 1.390625,
      "loss": 0.275390625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.234375,
      "step": 4227
    },
    {
      "epoch": 0.9486201480816693,
      "grad_norm": 1.8701728582382202,
      "learning_rate": 0.00040009803408797907,
      "loss": 0.3387,
      "step": 4228
    },
    {
      "epoch": 0.9486201480816693,
      "gripper_loss": 0.04296875,
      "loss": 0.107421875,
      "pos_loss": 0.6875,
      "rot_loss": 0.2353515625,
      "step": 4228
    },
    {
      "epoch": 0.9488445142472515,
      "grad_norm": 0.8897042274475098,
      "learning_rate": 0.00040004959978058097,
      "loss": 0.0727,
      "step": 4229
    },
    {
      "epoch": 0.9488445142472515,
      "gripper_loss": 0.1650390625,
      "loss": 0.259765625,
      "pos_loss": 0.90234375,
      "rot_loss": 0.62109375,
      "step": 4229
    },
    {
      "epoch": 0.9490688804128338,
      "grad_norm": 1.5264489650726318,
      "learning_rate": 0.0004000011566683401,
      "loss": 0.2712,
      "step": 4230
    },
    {
      "epoch": 0.9490688804128338,
      "gripper_loss": 0.013916015625,
      "loss": 0.13671875,
      "pos_loss": 1.21875,
      "rot_loss": 0.1455078125,
      "step": 4230
    },
    {
      "epoch": 0.949293246578416,
      "grad_norm": 0.4900950789451599,
      "learning_rate": 0.0003999527047540992,
      "loss": 0.0925,
      "step": 4231
    },
    {
      "epoch": 0.949293246578416,
      "gripper_loss": 0.0400390625,
      "loss": 0.1376953125,
      "pos_loss": 1.2578125,
      "rot_loss": 0.1083984375,
      "step": 4231
    },
    {
      "epoch": 0.9495176127439982,
      "grad_norm": 0.4739433526992798,
      "learning_rate": 0.0003999042440407012,
      "loss": 0.0738,
      "step": 4232
    },
    {
      "epoch": 0.9495176127439982,
      "gripper_loss": 0.7734375,
      "loss": 0.357421875,
      "pos_loss": 1.2421875,
      "rot_loss": 0.92578125,
      "step": 4232
    },
    {
      "epoch": 0.9497419789095805,
      "grad_norm": 2.0569028854370117,
      "learning_rate": 0.0003998557745309899,
      "loss": 0.2218,
      "step": 4233
    },
    {
      "epoch": 0.9497419789095805,
      "gripper_loss": 0.0693359375,
      "loss": 0.1396484375,
      "pos_loss": 1.1015625,
      "rot_loss": 0.259765625,
      "step": 4233
    },
    {
      "epoch": 0.9499663450751626,
      "grad_norm": 0.7716901898384094,
      "learning_rate": 0.00039980729622780944,
      "loss": 0.1072,
      "step": 4234
    },
    {
      "epoch": 0.9499663450751626,
      "gripper_loss": 1.6484375,
      "loss": 0.091796875,
      "pos_loss": 0.111328125,
      "rot_loss": 0.23046875,
      "step": 4234
    },
    {
      "epoch": 0.950190711240745,
      "grad_norm": 0.704845666885376,
      "learning_rate": 0.00039975880913400454,
      "loss": 0.0905,
      "step": 4235
    },
    {
      "epoch": 0.950190711240745,
      "gripper_loss": 0.09619140625,
      "loss": 0.130859375,
      "pos_loss": 0.7890625,
      "rot_loss": 0.453125,
      "step": 4235
    },
    {
      "epoch": 0.9504150774063271,
      "grad_norm": 0.8304275870323181,
      "learning_rate": 0.00039971031325242027,
      "loss": 0.0894,
      "step": 4236
    },
    {
      "epoch": 0.9504150774063271,
      "gripper_loss": 0.71484375,
      "loss": 0.19921875,
      "pos_loss": 1.1484375,
      "rot_loss": 0.60546875,
      "step": 4236
    },
    {
      "epoch": 0.9506394435719093,
      "grad_norm": 0.7938898205757141,
      "learning_rate": 0.0003996618085859025,
      "loss": 0.1266,
      "step": 4237
    },
    {
      "epoch": 0.9506394435719093,
      "gripper_loss": 0.09423828125,
      "loss": 0.0947265625,
      "pos_loss": 0.82421875,
      "rot_loss": 0.0284423828125,
      "step": 4237
    },
    {
      "epoch": 0.9508638097374916,
      "grad_norm": 0.7537825107574463,
      "learning_rate": 0.00039961329513729725,
      "loss": 0.1102,
      "step": 4238
    },
    {
      "epoch": 0.9508638097374916,
      "gripper_loss": 0.03515625,
      "loss": 0.1650390625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.98046875,
      "step": 4238
    },
    {
      "epoch": 0.9510881759030738,
      "grad_norm": 0.6931283473968506,
      "learning_rate": 0.0003995647729094516,
      "loss": 0.1425,
      "step": 4239
    },
    {
      "epoch": 0.9510881759030738,
      "gripper_loss": 0.0213623046875,
      "loss": 0.08251953125,
      "pos_loss": 0.76171875,
      "rot_loss": 0.0263671875,
      "step": 4239
    },
    {
      "epoch": 0.951312542068656,
      "grad_norm": 0.5828346610069275,
      "learning_rate": 0.00039951624190521254,
      "loss": 0.1096,
      "step": 4240
    },
    {
      "epoch": 0.951312542068656,
      "gripper_loss": 0.76171875,
      "loss": 0.038818359375,
      "pos_loss": 0.052490234375,
      "rot_loss": 0.022216796875,
      "step": 4240
    },
    {
      "epoch": 0.9515369082342383,
      "grad_norm": 0.6492894887924194,
      "learning_rate": 0.0003994677021274279,
      "loss": 0.0604,
      "step": 4241
    },
    {
      "epoch": 0.9515369082342383,
      "gripper_loss": 1.953125,
      "loss": 0.2431640625,
      "pos_loss": 0.82421875,
      "rot_loss": 0.220703125,
      "step": 4241
    },
    {
      "epoch": 0.9517612743998205,
      "grad_norm": 1.3596646785736084,
      "learning_rate": 0.000399419153578946,
      "loss": 0.225,
      "step": 4242
    },
    {
      "epoch": 0.9517612743998205,
      "gripper_loss": 1.015625,
      "loss": 0.0498046875,
      "pos_loss": 0.057373046875,
      "rot_loss": 0.057861328125,
      "step": 4242
    },
    {
      "epoch": 0.9519856405654027,
      "grad_norm": 0.7265417575836182,
      "learning_rate": 0.0003993705962626157,
      "loss": 0.104,
      "step": 4243
    },
    {
      "epoch": 0.9519856405654027,
      "gripper_loss": 0.3203125,
      "loss": 0.06298828125,
      "pos_loss": 0.447265625,
      "rot_loss": 0.031982421875,
      "step": 4243
    },
    {
      "epoch": 0.952210006730985,
      "grad_norm": 0.5265554189682007,
      "learning_rate": 0.0003993220301812862,
      "loss": 0.0695,
      "step": 4244
    },
    {
      "epoch": 0.952210006730985,
      "gripper_loss": 0.1513671875,
      "loss": 0.1318359375,
      "pos_loss": 0.466796875,
      "rot_loss": 0.396484375,
      "step": 4244
    },
    {
      "epoch": 0.9524343728965672,
      "grad_norm": 1.270941138267517,
      "learning_rate": 0.00039927345533780745,
      "loss": 0.1844,
      "step": 4245
    },
    {
      "epoch": 0.9524343728965672,
      "gripper_loss": 0.51953125,
      "loss": 0.10107421875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.1513671875,
      "step": 4245
    },
    {
      "epoch": 0.9526587390621494,
      "grad_norm": 0.6872962713241577,
      "learning_rate": 0.00039922487173502975,
      "loss": 0.0888,
      "step": 4246
    },
    {
      "epoch": 0.9526587390621494,
      "gripper_loss": 1.6953125,
      "loss": 0.1103515625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.134765625,
      "step": 4246
    },
    {
      "epoch": 0.9528831052277317,
      "grad_norm": 0.5903233289718628,
      "learning_rate": 0.0003991762793758039,
      "loss": 0.0755,
      "step": 4247
    },
    {
      "epoch": 0.9528831052277317,
      "gripper_loss": 0.0771484375,
      "loss": 0.10107421875,
      "pos_loss": 0.6953125,
      "rot_loss": 0.26953125,
      "step": 4247
    },
    {
      "epoch": 0.9531074713933139,
      "grad_norm": 0.5760430097579956,
      "learning_rate": 0.00039912767826298147,
      "loss": 0.1258,
      "step": 4248
    },
    {
      "epoch": 0.9531074713933139,
      "gripper_loss": 0.038330078125,
      "loss": 0.038818359375,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.2236328125,
      "step": 4248
    },
    {
      "epoch": 0.9533318375588962,
      "grad_norm": 0.4812673330307007,
      "learning_rate": 0.0003990790683994141,
      "loss": 0.0524,
      "step": 4249
    },
    {
      "epoch": 0.9533318375588962,
      "gripper_loss": 0.41796875,
      "loss": 0.1845703125,
      "pos_loss": 0.5625,
      "rot_loss": 0.322265625,
      "step": 4249
    },
    {
      "epoch": 0.9535562037244784,
      "grad_norm": 1.1647120714187622,
      "learning_rate": 0.0003990304497879544,
      "loss": 0.1353,
      "step": 4250
    },
    {
      "epoch": 0.9535562037244784,
      "gripper_loss": 0.6484375,
      "loss": 0.0888671875,
      "pos_loss": 0.298828125,
      "rot_loss": 0.318359375,
      "step": 4250
    },
    {
      "epoch": 0.9537805698900605,
      "grad_norm": 0.790040135383606,
      "learning_rate": 0.0003989818224314552,
      "loss": 0.1256,
      "step": 4251
    },
    {
      "epoch": 0.9537805698900605,
      "gripper_loss": 0.11181640625,
      "loss": 0.03857421875,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.1396484375,
      "step": 4251
    },
    {
      "epoch": 0.9540049360556428,
      "grad_norm": 0.764556884765625,
      "learning_rate": 0.00039893318633277,
      "loss": 0.124,
      "step": 4252
    },
    {
      "epoch": 0.9540049360556428,
      "gripper_loss": 1.1875,
      "loss": 0.09765625,
      "pos_loss": 0.1953125,
      "rot_loss": 0.2890625,
      "step": 4252
    },
    {
      "epoch": 0.954229302221225,
      "grad_norm": 0.7488717436790466,
      "learning_rate": 0.0003988845414947526,
      "loss": 0.1219,
      "step": 4253
    },
    {
      "epoch": 0.954229302221225,
      "gripper_loss": 0.1767578125,
      "loss": 0.087890625,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.267578125,
      "step": 4253
    },
    {
      "epoch": 0.9544536683868072,
      "grad_norm": 1.1115062236785889,
      "learning_rate": 0.0003988358879202576,
      "loss": 0.1125,
      "step": 4254
    },
    {
      "epoch": 0.9544536683868072,
      "gripper_loss": 0.244140625,
      "loss": 0.26171875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.546875,
      "step": 4254
    },
    {
      "epoch": 0.9546780345523895,
      "grad_norm": 1.4743828773498535,
      "learning_rate": 0.0003987872256121398,
      "loss": 0.2476,
      "step": 4255
    },
    {
      "epoch": 0.9546780345523895,
      "gripper_loss": 0.341796875,
      "loss": 0.224609375,
      "pos_loss": 0.953125,
      "rot_loss": 0.43359375,
      "step": 4255
    },
    {
      "epoch": 0.9549024007179717,
      "grad_norm": 1.6196491718292236,
      "learning_rate": 0.00039873855457325493,
      "loss": 0.233,
      "step": 4256
    },
    {
      "epoch": 0.9549024007179717,
      "gripper_loss": 1.3984375,
      "loss": 0.267578125,
      "pos_loss": 2.03125,
      "rot_loss": 0.259765625,
      "step": 4256
    },
    {
      "epoch": 0.9551267668835539,
      "grad_norm": 0.731373131275177,
      "learning_rate": 0.0003986898748064588,
      "loss": 0.1087,
      "step": 4257
    },
    {
      "epoch": 0.9551267668835539,
      "gripper_loss": 0.0849609375,
      "loss": 0.054931640625,
      "pos_loss": 0.15234375,
      "rot_loss": 0.19140625,
      "step": 4257
    },
    {
      "epoch": 0.9553511330491362,
      "grad_norm": 0.9351226091384888,
      "learning_rate": 0.00039864118631460793,
      "loss": 0.0912,
      "step": 4258
    },
    {
      "epoch": 0.9553511330491362,
      "gripper_loss": 0.265625,
      "loss": 0.0869140625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.12109375,
      "step": 4258
    },
    {
      "epoch": 0.9555754992147184,
      "grad_norm": 0.7431418299674988,
      "learning_rate": 0.0003985924891005594,
      "loss": 0.1102,
      "step": 4259
    },
    {
      "epoch": 0.9555754992147184,
      "gripper_loss": 0.1806640625,
      "loss": 0.1669921875,
      "pos_loss": 0.201171875,
      "rot_loss": 0.328125,
      "step": 4259
    },
    {
      "epoch": 0.9557998653803007,
      "grad_norm": 1.5315669775009155,
      "learning_rate": 0.0003985437831671707,
      "loss": 0.1995,
      "step": 4260
    },
    {
      "epoch": 0.9557998653803007,
      "gripper_loss": 0.1318359375,
      "loss": 0.07275390625,
      "pos_loss": 0.23828125,
      "rot_loss": 0.251953125,
      "step": 4260
    },
    {
      "epoch": 0.9560242315458829,
      "grad_norm": 0.9725183248519897,
      "learning_rate": 0.00039849506851729986,
      "loss": 0.1157,
      "step": 4261
    },
    {
      "epoch": 0.9560242315458829,
      "gripper_loss": 0.314453125,
      "loss": 0.07470703125,
      "pos_loss": 0.224609375,
      "rot_loss": 0.37109375,
      "step": 4261
    },
    {
      "epoch": 0.9562485977114651,
      "grad_norm": 0.6255907416343689,
      "learning_rate": 0.00039844634515380555,
      "loss": 0.09,
      "step": 4262
    },
    {
      "epoch": 0.9562485977114651,
      "gripper_loss": 1.109375,
      "loss": 0.0732421875,
      "pos_loss": 0.224609375,
      "rot_loss": 0.11767578125,
      "step": 4262
    },
    {
      "epoch": 0.9564729638770474,
      "grad_norm": 0.6843588352203369,
      "learning_rate": 0.00039839761307954675,
      "loss": 0.1265,
      "step": 4263
    },
    {
      "epoch": 0.9564729638770474,
      "gripper_loss": 0.59765625,
      "loss": 0.220703125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.423828125,
      "step": 4263
    },
    {
      "epoch": 0.9566973300426296,
      "grad_norm": 1.1941487789154053,
      "learning_rate": 0.0003983488722973829,
      "loss": 0.1854,
      "step": 4264
    },
    {
      "epoch": 0.9566973300426296,
      "gripper_loss": 0.2578125,
      "loss": 0.0869140625,
      "pos_loss": 0.16015625,
      "rot_loss": 0.46484375,
      "step": 4264
    },
    {
      "epoch": 0.9569216962082118,
      "grad_norm": 0.7676075100898743,
      "learning_rate": 0.00039830012281017433,
      "loss": 0.0967,
      "step": 4265
    },
    {
      "epoch": 0.9569216962082118,
      "gripper_loss": 0.7734375,
      "loss": 0.16015625,
      "pos_loss": 1.28125,
      "rot_loss": 0.040771484375,
      "step": 4265
    },
    {
      "epoch": 0.9571460623737941,
      "grad_norm": 0.9523012042045593,
      "learning_rate": 0.00039825136462078156,
      "loss": 0.1019,
      "step": 4266
    },
    {
      "epoch": 0.9571460623737941,
      "gripper_loss": 0.5234375,
      "loss": 0.12255859375,
      "pos_loss": 0.8203125,
      "rot_loss": 0.1171875,
      "step": 4266
    },
    {
      "epoch": 0.9573704285393763,
      "grad_norm": 0.7756680250167847,
      "learning_rate": 0.00039820259773206557,
      "loss": 0.0853,
      "step": 4267
    },
    {
      "epoch": 0.9573704285393763,
      "gripper_loss": 0.1279296875,
      "loss": 0.1572265625,
      "pos_loss": 0.96875,
      "rot_loss": 0.376953125,
      "step": 4267
    },
    {
      "epoch": 0.9575947947049585,
      "grad_norm": 0.784321129322052,
      "learning_rate": 0.00039815382214688816,
      "loss": 0.119,
      "step": 4268
    },
    {
      "epoch": 0.9575947947049585,
      "gripper_loss": 0.158203125,
      "loss": 0.08447265625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.16015625,
      "step": 4268
    },
    {
      "epoch": 0.9578191608705408,
      "grad_norm": 0.9190898537635803,
      "learning_rate": 0.00039810503786811137,
      "loss": 0.1163,
      "step": 4269
    },
    {
      "epoch": 0.9578191608705408,
      "gripper_loss": 0.0478515625,
      "loss": 0.14453125,
      "pos_loss": 1.125,
      "rot_loss": 0.298828125,
      "step": 4269
    },
    {
      "epoch": 0.9580435270361229,
      "grad_norm": 0.8519006371498108,
      "learning_rate": 0.0003980562448985977,
      "loss": 0.135,
      "step": 4270
    },
    {
      "epoch": 0.9580435270361229,
      "gripper_loss": 0.248046875,
      "loss": 0.09130859375,
      "pos_loss": 0.4609375,
      "rot_loss": 0.283203125,
      "step": 4270
    },
    {
      "epoch": 0.9582678932017051,
      "grad_norm": 0.8446066975593567,
      "learning_rate": 0.00039800744324121063,
      "loss": 0.0978,
      "step": 4271
    },
    {
      "epoch": 0.9582678932017051,
      "gripper_loss": 0.14453125,
      "loss": 0.09326171875,
      "pos_loss": 0.7890625,
      "rot_loss": 0.0625,
      "step": 4271
    },
    {
      "epoch": 0.9584922593672874,
      "grad_norm": 0.6495792865753174,
      "learning_rate": 0.0003979586328988135,
      "loss": 0.1017,
      "step": 4272
    },
    {
      "epoch": 0.9584922593672874,
      "gripper_loss": 0.1044921875,
      "loss": 0.1982421875,
      "pos_loss": 1.828125,
      "rot_loss": 0.1533203125,
      "step": 4272
    },
    {
      "epoch": 0.9587166255328696,
      "grad_norm": 0.4840785264968872,
      "learning_rate": 0.0003979098138742707,
      "loss": 0.089,
      "step": 4273
    },
    {
      "epoch": 0.9587166255328696,
      "gripper_loss": 0.166015625,
      "loss": 0.1103515625,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.69140625,
      "step": 4273
    },
    {
      "epoch": 0.9589409916984519,
      "grad_norm": 0.7531595230102539,
      "learning_rate": 0.0003978609861704467,
      "loss": 0.0945,
      "step": 4274
    },
    {
      "epoch": 0.9589409916984519,
      "gripper_loss": 0.4765625,
      "loss": 0.06787109375,
      "pos_loss": 0.37890625,
      "rot_loss": 0.0908203125,
      "step": 4274
    },
    {
      "epoch": 0.9591653578640341,
      "grad_norm": 0.7026615142822266,
      "learning_rate": 0.000397812149790207,
      "loss": 0.1017,
      "step": 4275
    },
    {
      "epoch": 0.9591653578640341,
      "gripper_loss": 0.3515625,
      "loss": 0.052001953125,
      "pos_loss": 0.125,
      "rot_loss": 0.23046875,
      "step": 4275
    },
    {
      "epoch": 0.9593897240296163,
      "grad_norm": 0.6227630376815796,
      "learning_rate": 0.00039776330473641696,
      "loss": 0.0819,
      "step": 4276
    },
    {
      "epoch": 0.9593897240296163,
      "gripper_loss": 0.027587890625,
      "loss": 0.1650390625,
      "pos_loss": 1.265625,
      "rot_loss": 0.3828125,
      "step": 4276
    },
    {
      "epoch": 0.9596140901951986,
      "grad_norm": 0.7900766134262085,
      "learning_rate": 0.00039771445101194293,
      "loss": 0.1056,
      "step": 4277
    },
    {
      "epoch": 0.9596140901951986,
      "gripper_loss": 0.33203125,
      "loss": 0.400390625,
      "pos_loss": 0.49609375,
      "rot_loss": 0.6640625,
      "step": 4277
    },
    {
      "epoch": 0.9598384563607808,
      "grad_norm": 1.7721894979476929,
      "learning_rate": 0.00039766558861965167,
      "loss": 0.4036,
      "step": 4278
    },
    {
      "epoch": 0.9598384563607808,
      "gripper_loss": 0.154296875,
      "loss": 0.04248046875,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.14453125,
      "step": 4278
    },
    {
      "epoch": 0.960062822526363,
      "grad_norm": 0.5527145862579346,
      "learning_rate": 0.00039761671756241037,
      "loss": 0.0794,
      "step": 4279
    },
    {
      "epoch": 0.960062822526363,
      "gripper_loss": 0.1728515625,
      "loss": 0.193359375,
      "pos_loss": 1.7890625,
      "rot_loss": 0.07568359375,
      "step": 4279
    },
    {
      "epoch": 0.9602871886919453,
      "grad_norm": 0.6952676177024841,
      "learning_rate": 0.0003975678378430867,
      "loss": 0.1201,
      "step": 4280
    },
    {
      "epoch": 0.9602871886919453,
      "gripper_loss": 0.06103515625,
      "loss": 0.125,
      "pos_loss": 0.375,
      "rot_loss": 0.83984375,
      "step": 4280
    },
    {
      "epoch": 0.9605115548575275,
      "grad_norm": 0.8495689630508423,
      "learning_rate": 0.0003975189494645489,
      "loss": 0.1312,
      "step": 4281
    },
    {
      "epoch": 0.9605115548575275,
      "gripper_loss": 0.328125,
      "loss": 0.337890625,
      "pos_loss": 0.34375,
      "rot_loss": 0.40234375,
      "step": 4281
    },
    {
      "epoch": 0.9607359210231097,
      "grad_norm": 1.416489839553833,
      "learning_rate": 0.00039747005242966594,
      "loss": 0.3945,
      "step": 4282
    },
    {
      "epoch": 0.9607359210231097,
      "gripper_loss": 0.1982421875,
      "loss": 0.1962890625,
      "pos_loss": 0.60546875,
      "rot_loss": 0.484375,
      "step": 4282
    },
    {
      "epoch": 0.960960287188692,
      "grad_norm": 1.4718379974365234,
      "learning_rate": 0.00039742114674130673,
      "loss": 0.1859,
      "step": 4283
    },
    {
      "epoch": 0.960960287188692,
      "gripper_loss": 0.84765625,
      "loss": 0.08740234375,
      "pos_loss": 0.37890625,
      "rot_loss": 0.10986328125,
      "step": 4283
    },
    {
      "epoch": 0.9611846533542742,
      "grad_norm": 0.7654629945755005,
      "learning_rate": 0.00039737223240234135,
      "loss": 0.0879,
      "step": 4284
    },
    {
      "epoch": 0.9611846533542742,
      "gripper_loss": 0.09619140625,
      "loss": 0.1484375,
      "pos_loss": 0.73828125,
      "rot_loss": 0.51171875,
      "step": 4284
    },
    {
      "epoch": 0.9614090195198564,
      "grad_norm": 1.036386489868164,
      "learning_rate": 0.00039732330941563975,
      "loss": 0.1604,
      "step": 4285
    },
    {
      "epoch": 0.9614090195198564,
      "gripper_loss": 0.03857421875,
      "loss": 0.126953125,
      "pos_loss": 1.015625,
      "rot_loss": 0.1875,
      "step": 4285
    },
    {
      "epoch": 0.9616333856854387,
      "grad_norm": 0.7695779204368591,
      "learning_rate": 0.00039727437778407305,
      "loss": 0.123,
      "step": 4286
    },
    {
      "epoch": 0.9616333856854387,
      "gripper_loss": 0.03369140625,
      "loss": 0.08447265625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.37890625,
      "step": 4286
    },
    {
      "epoch": 0.9618577518510208,
      "grad_norm": 0.7001385688781738,
      "learning_rate": 0.0003972254375105123,
      "loss": 0.1129,
      "step": 4287
    },
    {
      "epoch": 0.9618577518510208,
      "gripper_loss": 0.6796875,
      "loss": 0.08056640625,
      "pos_loss": 0.458984375,
      "rot_loss": 0.083984375,
      "step": 4287
    },
    {
      "epoch": 0.9620821180166031,
      "grad_norm": 0.7224636077880859,
      "learning_rate": 0.0003971764885978294,
      "loss": 0.1335,
      "step": 4288
    },
    {
      "epoch": 0.9620821180166031,
      "gripper_loss": 0.8515625,
      "loss": 0.05615234375,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.1552734375,
      "step": 4288
    },
    {
      "epoch": 0.9623064841821853,
      "grad_norm": 1.0542826652526855,
      "learning_rate": 0.0003971275310488966,
      "loss": 0.1115,
      "step": 4289
    },
    {
      "epoch": 0.9623064841821853,
      "gripper_loss": 0.78125,
      "loss": 0.1357421875,
      "pos_loss": 0.8828125,
      "rot_loss": 0.208984375,
      "step": 4289
    },
    {
      "epoch": 0.9625308503477675,
      "grad_norm": 0.7000444531440735,
      "learning_rate": 0.0003970785648665867,
      "loss": 0.0896,
      "step": 4290
    },
    {
      "epoch": 0.9625308503477675,
      "gripper_loss": 0.162109375,
      "loss": 0.0615234375,
      "pos_loss": 0.234375,
      "rot_loss": 0.2236328125,
      "step": 4290
    },
    {
      "epoch": 0.9627552165133498,
      "grad_norm": 0.7505248188972473,
      "learning_rate": 0.00039702959005377306,
      "loss": 0.0841,
      "step": 4291
    },
    {
      "epoch": 0.9627552165133498,
      "gripper_loss": 0.5625,
      "loss": 0.0869140625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.1806640625,
      "step": 4291
    },
    {
      "epoch": 0.962979582678932,
      "grad_norm": 0.7271531820297241,
      "learning_rate": 0.00039698060661332946,
      "loss": 0.1221,
      "step": 4292
    },
    {
      "epoch": 0.962979582678932,
      "gripper_loss": 0.0791015625,
      "loss": 0.25390625,
      "pos_loss": 1.34375,
      "rot_loss": 1.203125,
      "step": 4292
    },
    {
      "epoch": 0.9632039488445142,
      "grad_norm": 0.7921097874641418,
      "learning_rate": 0.0003969316145481302,
      "loss": 0.1342,
      "step": 4293
    },
    {
      "epoch": 0.9632039488445142,
      "gripper_loss": 0.08544921875,
      "loss": 0.09716796875,
      "pos_loss": 0.578125,
      "rot_loss": 0.1689453125,
      "step": 4293
    },
    {
      "epoch": 0.9634283150100965,
      "grad_norm": 0.6850137114524841,
      "learning_rate": 0.0003968826138610502,
      "loss": 0.1337,
      "step": 4294
    },
    {
      "epoch": 0.9634283150100965,
      "gripper_loss": 0.08984375,
      "loss": 0.154296875,
      "pos_loss": 0.515625,
      "rot_loss": 0.9921875,
      "step": 4294
    },
    {
      "epoch": 0.9636526811756787,
      "grad_norm": 0.7991585731506348,
      "learning_rate": 0.0003968336045549648,
      "loss": 0.1008,
      "step": 4295
    },
    {
      "epoch": 0.9636526811756787,
      "gripper_loss": 0.0732421875,
      "loss": 0.30078125,
      "pos_loss": 1.5390625,
      "rot_loss": 1.4765625,
      "step": 4295
    },
    {
      "epoch": 0.9638770473412609,
      "grad_norm": 0.8484466075897217,
      "learning_rate": 0.00039678458663274977,
      "loss": 0.1333,
      "step": 4296
    },
    {
      "epoch": 0.9638770473412609,
      "gripper_loss": 0.251953125,
      "loss": 0.1865234375,
      "pos_loss": 0.6953125,
      "rot_loss": 0.486328125,
      "step": 4296
    },
    {
      "epoch": 0.9641014135068432,
      "grad_norm": 1.2832741737365723,
      "learning_rate": 0.00039673556009728144,
      "loss": 0.2206,
      "step": 4297
    },
    {
      "epoch": 0.9641014135068432,
      "gripper_loss": 0.1103515625,
      "loss": 0.150390625,
      "pos_loss": 0.62890625,
      "rot_loss": 0.375,
      "step": 4297
    },
    {
      "epoch": 0.9643257796724254,
      "grad_norm": 1.015702724456787,
      "learning_rate": 0.00039668652495143675,
      "loss": 0.1606,
      "step": 4298
    },
    {
      "epoch": 0.9643257796724254,
      "gripper_loss": 0.076171875,
      "loss": 0.1689453125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.451171875,
      "step": 4298
    },
    {
      "epoch": 0.9645501458380076,
      "grad_norm": 0.8167382478713989,
      "learning_rate": 0.000396637481198093,
      "loss": 0.1097,
      "step": 4299
    },
    {
      "epoch": 0.9645501458380076,
      "gripper_loss": 0.08544921875,
      "loss": 0.0859375,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.55078125,
      "step": 4299
    },
    {
      "epoch": 0.9647745120035899,
      "grad_norm": 0.836073100566864,
      "learning_rate": 0.0003965884288401281,
      "loss": 0.0919,
      "step": 4300
    },
    {
      "epoch": 0.9647745120035899,
      "gripper_loss": 0.87109375,
      "loss": 0.10986328125,
      "pos_loss": 0.65234375,
      "rot_loss": 0.1337890625,
      "step": 4300
    },
    {
      "epoch": 0.9649988781691721,
      "grad_norm": 0.8065337538719177,
      "learning_rate": 0.0003965393678804203,
      "loss": 0.0925,
      "step": 4301
    },
    {
      "epoch": 0.9649988781691721,
      "gripper_loss": 0.1396484375,
      "loss": 0.0771484375,
      "pos_loss": 0.515625,
      "rot_loss": 0.130859375,
      "step": 4301
    },
    {
      "epoch": 0.9652232443347544,
      "grad_norm": 0.5327057242393494,
      "learning_rate": 0.00039649029832184866,
      "loss": 0.0771,
      "step": 4302
    },
    {
      "epoch": 0.9652232443347544,
      "gripper_loss": 0.033447265625,
      "loss": 0.0693359375,
      "pos_loss": 0.443359375,
      "rot_loss": 0.11767578125,
      "step": 4302
    },
    {
      "epoch": 0.9654476105003366,
      "grad_norm": 0.5101195573806763,
      "learning_rate": 0.0003964412201672926,
      "loss": 0.0577,
      "step": 4303
    },
    {
      "epoch": 0.9654476105003366,
      "gripper_loss": 0.053466796875,
      "loss": 0.07958984375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.11474609375,
      "step": 4303
    },
    {
      "epoch": 0.9656719766659188,
      "grad_norm": 0.5456231832504272,
      "learning_rate": 0.00039639213341963165,
      "loss": 0.0908,
      "step": 4304
    },
    {
      "epoch": 0.9656719766659188,
      "gripper_loss": 0.56640625,
      "loss": 0.1005859375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.2099609375,
      "step": 4304
    },
    {
      "epoch": 0.965896342831501,
      "grad_norm": 0.5060500502586365,
      "learning_rate": 0.00039634303808174653,
      "loss": 0.0835,
      "step": 4305
    },
    {
      "epoch": 0.965896342831501,
      "gripper_loss": 1.34375,
      "loss": 0.26953125,
      "pos_loss": 0.76953125,
      "rot_loss": 0.578125,
      "step": 4305
    },
    {
      "epoch": 0.9661207089970832,
      "grad_norm": 1.8700408935546875,
      "learning_rate": 0.00039629393415651796,
      "loss": 0.2162,
      "step": 4306
    },
    {
      "epoch": 0.9661207089970832,
      "gripper_loss": 0.064453125,
      "loss": 0.11376953125,
      "pos_loss": 0.8359375,
      "rot_loss": 0.177734375,
      "step": 4306
    },
    {
      "epoch": 0.9663450751626654,
      "grad_norm": 0.6350988745689392,
      "learning_rate": 0.00039624482164682753,
      "loss": 0.0498,
      "step": 4307
    },
    {
      "epoch": 0.9663450751626654,
      "gripper_loss": 0.25390625,
      "loss": 0.1845703125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.66015625,
      "step": 4307
    },
    {
      "epoch": 0.9665694413282477,
      "grad_norm": 1.1476086378097534,
      "learning_rate": 0.0003961957005555569,
      "loss": 0.1814,
      "step": 4308
    },
    {
      "epoch": 0.9665694413282477,
      "gripper_loss": 0.490234375,
      "loss": 0.0380859375,
      "pos_loss": 0.041015625,
      "rot_loss": 0.06884765625,
      "step": 4308
    },
    {
      "epoch": 0.9667938074938299,
      "grad_norm": 0.7847169041633606,
      "learning_rate": 0.0003961465708855886,
      "loss": 0.0951,
      "step": 4309
    },
    {
      "epoch": 0.9667938074938299,
      "gripper_loss": 0.185546875,
      "loss": 0.3125,
      "pos_loss": 1.25,
      "rot_loss": 0.875,
      "step": 4309
    },
    {
      "epoch": 0.9670181736594121,
      "grad_norm": 0.9662253856658936,
      "learning_rate": 0.0003960974326398056,
      "loss": 0.1566,
      "step": 4310
    },
    {
      "epoch": 0.9670181736594121,
      "gripper_loss": 0.047607421875,
      "loss": 0.080078125,
      "pos_loss": 0.640625,
      "rot_loss": 0.08349609375,
      "step": 4310
    },
    {
      "epoch": 0.9672425398249944,
      "grad_norm": 0.7872007489204407,
      "learning_rate": 0.0003960482858210911,
      "loss": 0.1012,
      "step": 4311
    },
    {
      "epoch": 0.9672425398249944,
      "gripper_loss": 0.26171875,
      "loss": 0.0634765625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.08056640625,
      "step": 4311
    },
    {
      "epoch": 0.9674669059905766,
      "grad_norm": 0.8422073125839233,
      "learning_rate": 0.0003959991304323293,
      "loss": 0.1047,
      "step": 4312
    },
    {
      "epoch": 0.9674669059905766,
      "gripper_loss": 0.04052734375,
      "loss": 0.09375,
      "pos_loss": 0.84765625,
      "rot_loss": 0.0279541015625,
      "step": 4312
    },
    {
      "epoch": 0.9676912721561588,
      "grad_norm": 0.7376943826675415,
      "learning_rate": 0.0003959499664764043,
      "loss": 0.1023,
      "step": 4313
    },
    {
      "epoch": 0.9676912721561588,
      "gripper_loss": 0.2734375,
      "loss": 0.0517578125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.146484375,
      "step": 4313
    },
    {
      "epoch": 0.9679156383217411,
      "grad_norm": 0.5030110478401184,
      "learning_rate": 0.00039590079395620127,
      "loss": 0.0998,
      "step": 4314
    },
    {
      "epoch": 0.9679156383217411,
      "gripper_loss": 0.0478515625,
      "loss": 0.2119140625,
      "pos_loss": 1.390625,
      "rot_loss": 0.5625,
      "step": 4314
    },
    {
      "epoch": 0.9681400044873233,
      "grad_norm": 0.7591937184333801,
      "learning_rate": 0.00039585161287460546,
      "loss": 0.1362,
      "step": 4315
    },
    {
      "epoch": 0.9681400044873233,
      "gripper_loss": 0.361328125,
      "loss": 0.16015625,
      "pos_loss": 0.6875,
      "rot_loss": 0.353515625,
      "step": 4315
    },
    {
      "epoch": 0.9683643706529056,
      "grad_norm": 1.2194392681121826,
      "learning_rate": 0.000395802423234503,
      "loss": 0.1691,
      "step": 4316
    },
    {
      "epoch": 0.9683643706529056,
      "gripper_loss": 0.337890625,
      "loss": 0.5546875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.734375,
      "step": 4316
    },
    {
      "epoch": 0.9685887368184878,
      "grad_norm": 2.350367784500122,
      "learning_rate": 0.00039575322503878014,
      "loss": 0.4495,
      "step": 4317
    },
    {
      "epoch": 0.9685887368184878,
      "gripper_loss": 0.080078125,
      "loss": 0.12255859375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.6328125,
      "step": 4317
    },
    {
      "epoch": 0.96881310298407,
      "grad_norm": 0.6345252394676208,
      "learning_rate": 0.0003957040182903239,
      "loss": 0.0943,
      "step": 4318
    },
    {
      "epoch": 0.96881310298407,
      "gripper_loss": 0.2734375,
      "loss": 0.062255859375,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.14453125,
      "step": 4318
    },
    {
      "epoch": 0.9690374691496523,
      "grad_norm": 0.7156875729560852,
      "learning_rate": 0.00039565480299202157,
      "loss": 0.0848,
      "step": 4319
    },
    {
      "epoch": 0.9690374691496523,
      "gripper_loss": 0.1142578125,
      "loss": 0.150390625,
      "pos_loss": 0.41015625,
      "rot_loss": 1.046875,
      "step": 4319
    },
    {
      "epoch": 0.9692618353152345,
      "grad_norm": 0.9610370397567749,
      "learning_rate": 0.0003956055791467612,
      "loss": 0.1067,
      "step": 4320
    },
    {
      "epoch": 0.9692618353152345,
      "gripper_loss": 0.435546875,
      "loss": 0.0712890625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.1728515625,
      "step": 4320
    },
    {
      "epoch": 0.9694862014808167,
      "grad_norm": 0.8855725526809692,
      "learning_rate": 0.00039555634675743123,
      "loss": 0.0856,
      "step": 4321
    },
    {
      "epoch": 0.9694862014808167,
      "gripper_loss": 0.21875,
      "loss": 0.058837890625,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.1591796875,
      "step": 4321
    },
    {
      "epoch": 0.969710567646399,
      "grad_norm": 1.0747981071472168,
      "learning_rate": 0.00039550710582692054,
      "loss": 0.0963,
      "step": 4322
    },
    {
      "epoch": 0.969710567646399,
      "gripper_loss": 0.0859375,
      "loss": 0.080078125,
      "pos_loss": 0.60546875,
      "rot_loss": 0.1103515625,
      "step": 4322
    },
    {
      "epoch": 0.9699349338119811,
      "grad_norm": 0.5625094175338745,
      "learning_rate": 0.0003954578563581187,
      "loss": 0.0967,
      "step": 4323
    },
    {
      "epoch": 0.9699349338119811,
      "gripper_loss": 0.84375,
      "loss": 0.1767578125,
      "pos_loss": 0.98828125,
      "rot_loss": 0.51953125,
      "step": 4323
    },
    {
      "epoch": 0.9701592999775633,
      "grad_norm": 0.6751846075057983,
      "learning_rate": 0.0003954085983539154,
      "loss": 0.1414,
      "step": 4324
    },
    {
      "epoch": 0.9701592999775633,
      "gripper_loss": 0.12890625,
      "loss": 0.0361328125,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.1513671875,
      "step": 4324
    },
    {
      "epoch": 0.9703836661431456,
      "grad_norm": 0.716552197933197,
      "learning_rate": 0.0003953593318172013,
      "loss": 0.0698,
      "step": 4325
    },
    {
      "epoch": 0.9703836661431456,
      "gripper_loss": 0.251953125,
      "loss": 0.2314453125,
      "pos_loss": 0.75,
      "rot_loss": 1.5234375,
      "step": 4325
    },
    {
      "epoch": 0.9706080323087278,
      "grad_norm": 0.8930785059928894,
      "learning_rate": 0.00039531005675086725,
      "loss": 0.0987,
      "step": 4326
    },
    {
      "epoch": 0.9706080323087278,
      "gripper_loss": 0.1396484375,
      "loss": 0.2099609375,
      "pos_loss": 1.53125,
      "rot_loss": 0.5546875,
      "step": 4326
    },
    {
      "epoch": 0.97083239847431,
      "grad_norm": 0.8323118090629578,
      "learning_rate": 0.0003952607731578047,
      "loss": 0.1387,
      "step": 4327
    },
    {
      "epoch": 0.97083239847431,
      "gripper_loss": 0.423828125,
      "loss": 0.0771484375,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.2421875,
      "step": 4327
    },
    {
      "epoch": 0.9710567646398923,
      "grad_norm": 1.333703875541687,
      "learning_rate": 0.00039521148104090554,
      "loss": 0.1288,
      "step": 4328
    },
    {
      "epoch": 0.9710567646398923,
      "gripper_loss": 0.04638671875,
      "loss": 0.03076171875,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.12353515625,
      "step": 4328
    },
    {
      "epoch": 0.9712811308054745,
      "grad_norm": 1.1120638847351074,
      "learning_rate": 0.0003951621804030623,
      "loss": 0.1425,
      "step": 4329
    },
    {
      "epoch": 0.9712811308054745,
      "gripper_loss": 0.43359375,
      "loss": 0.05078125,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.08349609375,
      "step": 4329
    },
    {
      "epoch": 0.9715054969710568,
      "grad_norm": 0.8009974360466003,
      "learning_rate": 0.00039511287124716776,
      "loss": 0.1109,
      "step": 4330
    },
    {
      "epoch": 0.9715054969710568,
      "gripper_loss": 0.13671875,
      "loss": 0.095703125,
      "pos_loss": 0.80859375,
      "rot_loss": 0.0927734375,
      "step": 4330
    },
    {
      "epoch": 0.971729863136639,
      "grad_norm": 0.6688352227210999,
      "learning_rate": 0.0003950635535761156,
      "loss": 0.1077,
      "step": 4331
    },
    {
      "epoch": 0.971729863136639,
      "gripper_loss": 0.1845703125,
      "loss": 0.0306396484375,
      "pos_loss": 0.140625,
      "rot_loss": 0.045654296875,
      "step": 4331
    },
    {
      "epoch": 0.9719542293022212,
      "grad_norm": 0.587071418762207,
      "learning_rate": 0.0003950142273927996,
      "loss": 0.0858,
      "step": 4332
    },
    {
      "epoch": 0.9719542293022212,
      "gripper_loss": 0.03857421875,
      "loss": 0.1298828125,
      "pos_loss": 0.5,
      "rot_loss": 0.80859375,
      "step": 4332
    },
    {
      "epoch": 0.9721785954678035,
      "grad_norm": 0.548313558101654,
      "learning_rate": 0.00039496489270011417,
      "loss": 0.0626,
      "step": 4333
    },
    {
      "epoch": 0.9721785954678035,
      "gripper_loss": 0.205078125,
      "loss": 0.1279296875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.21875,
      "step": 4333
    },
    {
      "epoch": 0.9724029616333857,
      "grad_norm": 1.2413278818130493,
      "learning_rate": 0.0003949155495009543,
      "loss": 0.1753,
      "step": 4334
    },
    {
      "epoch": 0.9724029616333857,
      "gripper_loss": 0.11328125,
      "loss": 0.049560546875,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.1923828125,
      "step": 4334
    },
    {
      "epoch": 0.9726273277989679,
      "grad_norm": 0.8243508338928223,
      "learning_rate": 0.00039486619779821553,
      "loss": 0.0694,
      "step": 4335
    },
    {
      "epoch": 0.9726273277989679,
      "gripper_loss": 0.043701171875,
      "loss": 0.0947265625,
      "pos_loss": 0.7734375,
      "rot_loss": 0.146484375,
      "step": 4335
    },
    {
      "epoch": 0.9728516939645502,
      "grad_norm": 0.7977935075759888,
      "learning_rate": 0.0003948168375947936,
      "loss": 0.0932,
      "step": 4336
    },
    {
      "epoch": 0.9728516939645502,
      "gripper_loss": 0.2890625,
      "loss": 0.08154296875,
      "pos_loss": 0.578125,
      "rot_loss": 0.107421875,
      "step": 4336
    },
    {
      "epoch": 0.9730760601301324,
      "grad_norm": 0.7228877544403076,
      "learning_rate": 0.00039476746889358506,
      "loss": 0.1519,
      "step": 4337
    },
    {
      "epoch": 0.9730760601301324,
      "gripper_loss": 0.08056640625,
      "loss": 0.07373046875,
      "pos_loss": 0.498046875,
      "rot_loss": 0.12255859375,
      "step": 4337
    },
    {
      "epoch": 0.9733004262957146,
      "grad_norm": 0.7802766561508179,
      "learning_rate": 0.00039471809169748685,
      "loss": 0.1037,
      "step": 4338
    },
    {
      "epoch": 0.9733004262957146,
      "gripper_loss": 0.08740234375,
      "loss": 0.08349609375,
      "pos_loss": 0.26953125,
      "rot_loss": 0.326171875,
      "step": 4338
    },
    {
      "epoch": 0.9735247924612969,
      "grad_norm": 0.886690616607666,
      "learning_rate": 0.0003946687060093964,
      "loss": 0.0989,
      "step": 4339
    },
    {
      "epoch": 0.9735247924612969,
      "gripper_loss": 0.34765625,
      "loss": 0.072265625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.11181640625,
      "step": 4339
    },
    {
      "epoch": 0.973749158626879,
      "grad_norm": 0.5932219624519348,
      "learning_rate": 0.00039461931183221155,
      "loss": 0.0933,
      "step": 4340
    },
    {
      "epoch": 0.973749158626879,
      "gripper_loss": 0.7109375,
      "loss": 0.03369140625,
      "pos_loss": 0.0213623046875,
      "rot_loss": 0.0223388671875,
      "step": 4340
    },
    {
      "epoch": 0.9739735247924612,
      "grad_norm": 0.6696344614028931,
      "learning_rate": 0.0003945699091688308,
      "loss": 0.0861,
      "step": 4341
    },
    {
      "epoch": 0.9739735247924612,
      "gripper_loss": 0.1083984375,
      "loss": 0.11767578125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.216796875,
      "step": 4341
    },
    {
      "epoch": 0.9741978909580435,
      "grad_norm": 0.9939961433410645,
      "learning_rate": 0.0003945204980221532,
      "loss": 0.1437,
      "step": 4342
    },
    {
      "epoch": 0.9741978909580435,
      "gripper_loss": 0.3359375,
      "loss": 0.142578125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.265625,
      "step": 4342
    },
    {
      "epoch": 0.9744222571236257,
      "grad_norm": 0.7900472283363342,
      "learning_rate": 0.00039447107839507784,
      "loss": 0.1041,
      "step": 4343
    },
    {
      "epoch": 0.9744222571236257,
      "gripper_loss": 0.05810546875,
      "loss": 0.033203125,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.1240234375,
      "step": 4343
    },
    {
      "epoch": 0.974646623289208,
      "grad_norm": 0.7322242856025696,
      "learning_rate": 0.000394421650290505,
      "loss": 0.1014,
      "step": 4344
    },
    {
      "epoch": 0.974646623289208,
      "gripper_loss": 0.349609375,
      "loss": 0.1455078125,
      "pos_loss": 0.87109375,
      "rot_loss": 0.4375,
      "step": 4344
    },
    {
      "epoch": 0.9748709894547902,
      "grad_norm": 0.6152861714363098,
      "learning_rate": 0.00039437221371133485,
      "loss": 0.1373,
      "step": 4345
    },
    {
      "epoch": 0.9748709894547902,
      "gripper_loss": 0.015380859375,
      "loss": 0.0703125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.15234375,
      "step": 4345
    },
    {
      "epoch": 0.9750953556203724,
      "grad_norm": 0.6757476925849915,
      "learning_rate": 0.00039432276866046846,
      "loss": 0.075,
      "step": 4346
    },
    {
      "epoch": 0.9750953556203724,
      "gripper_loss": 0.328125,
      "loss": 0.1435546875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.37109375,
      "step": 4346
    },
    {
      "epoch": 0.9753197217859547,
      "grad_norm": 1.187829852104187,
      "learning_rate": 0.0003942733151408071,
      "loss": 0.1309,
      "step": 4347
    },
    {
      "epoch": 0.9753197217859547,
      "gripper_loss": 0.357421875,
      "loss": 0.38671875,
      "pos_loss": 1.3359375,
      "rot_loss": 0.6953125,
      "step": 4347
    },
    {
      "epoch": 0.9755440879515369,
      "grad_norm": 1.5956844091415405,
      "learning_rate": 0.0003942238531552529,
      "loss": 0.3276,
      "step": 4348
    },
    {
      "epoch": 0.9755440879515369,
      "gripper_loss": 0.197265625,
      "loss": 0.034912109375,
      "pos_loss": 0.078125,
      "rot_loss": 0.146484375,
      "step": 4348
    },
    {
      "epoch": 0.9757684541171191,
      "grad_norm": 0.6120885014533997,
      "learning_rate": 0.000394174382706708,
      "loss": 0.0809,
      "step": 4349
    },
    {
      "epoch": 0.9757684541171191,
      "gripper_loss": 0.1025390625,
      "loss": 0.0272216796875,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.07373046875,
      "step": 4349
    },
    {
      "epoch": 0.9759928202827014,
      "grad_norm": 0.6637991666793823,
      "learning_rate": 0.00039412490379807553,
      "loss": 0.0762,
      "step": 4350
    },
    {
      "epoch": 0.9759928202827014,
      "gripper_loss": 0.041259765625,
      "loss": 0.06884765625,
      "pos_loss": 0.33203125,
      "rot_loss": 0.298828125,
      "step": 4350
    },
    {
      "epoch": 0.9762171864482836,
      "grad_norm": 0.6041082143783569,
      "learning_rate": 0.0003940754164322587,
      "loss": 0.0963,
      "step": 4351
    },
    {
      "epoch": 0.9762171864482836,
      "gripper_loss": 0.47265625,
      "loss": 0.130859375,
      "pos_loss": 0.203125,
      "rot_loss": 0.1845703125,
      "step": 4351
    },
    {
      "epoch": 0.9764415526138658,
      "grad_norm": 1.5127699375152588,
      "learning_rate": 0.00039402592061216153,
      "loss": 0.2177,
      "step": 4352
    },
    {
      "epoch": 0.9764415526138658,
      "gripper_loss": 0.34375,
      "loss": 0.142578125,
      "pos_loss": 1.1171875,
      "rot_loss": 0.203125,
      "step": 4352
    },
    {
      "epoch": 0.9766659187794481,
      "grad_norm": 0.7411600351333618,
      "learning_rate": 0.00039397641634068836,
      "loss": 0.1274,
      "step": 4353
    },
    {
      "epoch": 0.9766659187794481,
      "gripper_loss": 0.0693359375,
      "loss": 0.037109375,
      "pos_loss": 0.265625,
      "rot_loss": 0.042236328125,
      "step": 4353
    },
    {
      "epoch": 0.9768902849450303,
      "grad_norm": 0.5476893782615662,
      "learning_rate": 0.00039392690362074416,
      "loss": 0.1128,
      "step": 4354
    },
    {
      "epoch": 0.9768902849450303,
      "gripper_loss": 0.034912109375,
      "loss": 0.12353515625,
      "pos_loss": 0.83203125,
      "rot_loss": 0.349609375,
      "step": 4354
    },
    {
      "epoch": 0.9771146511106125,
      "grad_norm": 0.6434354186058044,
      "learning_rate": 0.0003938773824552343,
      "loss": 0.0839,
      "step": 4355
    },
    {
      "epoch": 0.9771146511106125,
      "gripper_loss": 0.34375,
      "loss": 0.2138671875,
      "pos_loss": 1.9296875,
      "rot_loss": 0.142578125,
      "step": 4355
    },
    {
      "epoch": 0.9773390172761948,
      "grad_norm": 0.6339547038078308,
      "learning_rate": 0.00039382785284706453,
      "loss": 0.0953,
      "step": 4356
    },
    {
      "epoch": 0.9773390172761948,
      "gripper_loss": 0.53125,
      "loss": 0.06494140625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.0791015625,
      "step": 4356
    },
    {
      "epoch": 0.977563383441777,
      "grad_norm": 0.8395656943321228,
      "learning_rate": 0.00039377831479914135,
      "loss": 0.128,
      "step": 4357
    },
    {
      "epoch": 0.977563383441777,
      "gripper_loss": 0.447265625,
      "loss": 0.04736328125,
      "pos_loss": 0.224609375,
      "rot_loss": 0.054931640625,
      "step": 4357
    },
    {
      "epoch": 0.9777877496073593,
      "grad_norm": 0.5787389874458313,
      "learning_rate": 0.0003937287683143715,
      "loss": 0.0836,
      "step": 4358
    },
    {
      "epoch": 0.9777877496073593,
      "gripper_loss": 1.5,
      "loss": 0.08349609375,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.060546875,
      "step": 4358
    },
    {
      "epoch": 0.9780121157729414,
      "grad_norm": 0.6248021125793457,
      "learning_rate": 0.00039367921339566255,
      "loss": 0.1036,
      "step": 4359
    },
    {
      "epoch": 0.9780121157729414,
      "gripper_loss": 0.048583984375,
      "loss": 0.11572265625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.08642578125,
      "step": 4359
    },
    {
      "epoch": 0.9782364819385236,
      "grad_norm": 0.5708283185958862,
      "learning_rate": 0.00039362965004592214,
      "loss": 0.1047,
      "step": 4360
    },
    {
      "epoch": 0.9782364819385236,
      "gripper_loss": 0.388671875,
      "loss": 0.037109375,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.125,
      "step": 4360
    },
    {
      "epoch": 0.9784608481041059,
      "grad_norm": 0.5387330651283264,
      "learning_rate": 0.00039358007826805885,
      "loss": 0.0915,
      "step": 4361
    },
    {
      "epoch": 0.9784608481041059,
      "gripper_loss": 0.052978515625,
      "loss": 0.11328125,
      "pos_loss": 1.0078125,
      "rot_loss": 0.0654296875,
      "step": 4361
    },
    {
      "epoch": 0.9786852142696881,
      "grad_norm": 0.5459399223327637,
      "learning_rate": 0.0003935304980649813,
      "loss": 0.0995,
      "step": 4362
    },
    {
      "epoch": 0.9786852142696881,
      "gripper_loss": 0.06640625,
      "loss": 0.0908203125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.287109375,
      "step": 4362
    },
    {
      "epoch": 0.9789095804352703,
      "grad_norm": 0.6210988163948059,
      "learning_rate": 0.000393480909439599,
      "loss": 0.0748,
      "step": 4363
    },
    {
      "epoch": 0.9789095804352703,
      "gripper_loss": 0.044677734375,
      "loss": 0.07958984375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.2333984375,
      "step": 4363
    },
    {
      "epoch": 0.9791339466008526,
      "grad_norm": 0.4892823398113251,
      "learning_rate": 0.00039343131239482173,
      "loss": 0.0976,
      "step": 4364
    },
    {
      "epoch": 0.9791339466008526,
      "gripper_loss": 0.1650390625,
      "loss": 0.201171875,
      "pos_loss": 1.5078125,
      "rot_loss": 0.515625,
      "step": 4364
    },
    {
      "epoch": 0.9793583127664348,
      "grad_norm": 0.6802687048912048,
      "learning_rate": 0.0003933817069335598,
      "loss": 0.1182,
      "step": 4365
    },
    {
      "epoch": 0.9793583127664348,
      "gripper_loss": 0.09619140625,
      "loss": 0.05029296875,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.189453125,
      "step": 4365
    },
    {
      "epoch": 0.979582678932017,
      "grad_norm": 0.4992096424102783,
      "learning_rate": 0.00039333209305872406,
      "loss": 0.0836,
      "step": 4366
    },
    {
      "epoch": 0.979582678932017,
      "gripper_loss": 0.2001953125,
      "loss": 0.142578125,
      "pos_loss": 1.109375,
      "rot_loss": 0.22265625,
      "step": 4366
    },
    {
      "epoch": 0.9798070450975993,
      "grad_norm": 0.4937347173690796,
      "learning_rate": 0.00039328247077322586,
      "loss": 0.0912,
      "step": 4367
    },
    {
      "epoch": 0.9798070450975993,
      "gripper_loss": 0.0308837890625,
      "loss": 0.2158203125,
      "pos_loss": 1.7578125,
      "rot_loss": 0.43359375,
      "step": 4367
    },
    {
      "epoch": 0.9800314112631815,
      "grad_norm": 0.5233592391014099,
      "learning_rate": 0.00039323284007997697,
      "loss": 0.1542,
      "step": 4368
    },
    {
      "epoch": 0.9800314112631815,
      "gripper_loss": 0.984375,
      "loss": 0.08740234375,
      "pos_loss": 0.482421875,
      "rot_loss": 0.06005859375,
      "step": 4368
    },
    {
      "epoch": 0.9802557774287638,
      "grad_norm": 0.4055575132369995,
      "learning_rate": 0.0003931832009818897,
      "loss": 0.0811,
      "step": 4369
    },
    {
      "epoch": 0.9802557774287638,
      "gripper_loss": 0.0712890625,
      "loss": 0.1171875,
      "pos_loss": 0.326171875,
      "rot_loss": 0.64453125,
      "step": 4369
    },
    {
      "epoch": 0.980480143594346,
      "grad_norm": 0.7466360926628113,
      "learning_rate": 0.00039313355348187686,
      "loss": 0.0983,
      "step": 4370
    },
    {
      "epoch": 0.980480143594346,
      "gripper_loss": 0.8203125,
      "loss": 0.0634765625,
      "pos_loss": 0.2421875,
      "rot_loss": 0.0986328125,
      "step": 4370
    },
    {
      "epoch": 0.9807045097599282,
      "grad_norm": 0.4978911578655243,
      "learning_rate": 0.0003930838975828518,
      "loss": 0.0674,
      "step": 4371
    },
    {
      "epoch": 0.9807045097599282,
      "gripper_loss": 0.034423828125,
      "loss": 0.0267333984375,
      "pos_loss": 0.1328125,
      "rot_loss": 0.07763671875,
      "step": 4371
    },
    {
      "epoch": 0.9809288759255105,
      "grad_norm": 0.44093021750450134,
      "learning_rate": 0.0003930342332877281,
      "loss": 0.0701,
      "step": 4372
    },
    {
      "epoch": 0.9809288759255105,
      "gripper_loss": 0.01531982421875,
      "loss": 0.1884765625,
      "pos_loss": 1.1484375,
      "rot_loss": 0.796875,
      "step": 4372
    },
    {
      "epoch": 0.9811532420910927,
      "grad_norm": 0.7013021111488342,
      "learning_rate": 0.0003929845605994203,
      "loss": 0.1257,
      "step": 4373
    },
    {
      "epoch": 0.9811532420910927,
      "gripper_loss": 0.01116943359375,
      "loss": 0.09765625,
      "pos_loss": 0.478515625,
      "rot_loss": 0.482421875,
      "step": 4373
    },
    {
      "epoch": 0.9813776082566749,
      "grad_norm": 0.5332356095314026,
      "learning_rate": 0.00039293487952084304,
      "loss": 0.0919,
      "step": 4374
    },
    {
      "epoch": 0.9813776082566749,
      "gripper_loss": 0.10009765625,
      "loss": 0.146484375,
      "pos_loss": 1.0390625,
      "rot_loss": 0.328125,
      "step": 4374
    },
    {
      "epoch": 0.9816019744222572,
      "grad_norm": 0.7532598376274109,
      "learning_rate": 0.00039288519005491163,
      "loss": 0.1177,
      "step": 4375
    },
    {
      "epoch": 0.9816019744222572,
      "gripper_loss": 0.263671875,
      "loss": 0.033935546875,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.08642578125,
      "step": 4375
    },
    {
      "epoch": 0.9818263405878394,
      "grad_norm": 0.3701647222042084,
      "learning_rate": 0.0003928354922045418,
      "loss": 0.0673,
      "step": 4376
    },
    {
      "epoch": 0.9818263405878394,
      "gripper_loss": 0.52734375,
      "loss": 0.05126953125,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.1943359375,
      "step": 4376
    },
    {
      "epoch": 0.9820507067534215,
      "grad_norm": 0.40126892924308777,
      "learning_rate": 0.00039278578597264974,
      "loss": 0.0932,
      "step": 4377
    },
    {
      "epoch": 0.9820507067534215,
      "gripper_loss": 0.0576171875,
      "loss": 0.051513671875,
      "pos_loss": 0.375,
      "rot_loss": 0.09033203125,
      "step": 4377
    },
    {
      "epoch": 0.9822750729190038,
      "grad_norm": 0.33691975474357605,
      "learning_rate": 0.0003927360713621523,
      "loss": 0.0814,
      "step": 4378
    },
    {
      "epoch": 0.9822750729190038,
      "gripper_loss": 0.1826171875,
      "loss": 0.07568359375,
      "pos_loss": 0.208984375,
      "rot_loss": 0.4453125,
      "step": 4378
    },
    {
      "epoch": 0.982499439084586,
      "grad_norm": 0.5943832397460938,
      "learning_rate": 0.0003926863483759666,
      "loss": 0.0919,
      "step": 4379
    },
    {
      "epoch": 0.982499439084586,
      "gripper_loss": 0.041748046875,
      "loss": 0.06396484375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.216796875,
      "step": 4379
    },
    {
      "epoch": 0.9827238052501682,
      "grad_norm": 0.49260076880455017,
      "learning_rate": 0.00039263661701701043,
      "loss": 0.1522,
      "step": 4380
    },
    {
      "epoch": 0.9827238052501682,
      "gripper_loss": 0.0274658203125,
      "loss": 0.162109375,
      "pos_loss": 0.80078125,
      "rot_loss": 0.8671875,
      "step": 4380
    },
    {
      "epoch": 0.9829481714157505,
      "grad_norm": 0.5803238749504089,
      "learning_rate": 0.000392586877288202,
      "loss": 0.0891,
      "step": 4381
    },
    {
      "epoch": 0.9829481714157505,
      "gripper_loss": 0.08837890625,
      "loss": 0.013427734375,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.0206298828125,
      "step": 4381
    },
    {
      "epoch": 0.9831725375813327,
      "grad_norm": 0.4213930666446686,
      "learning_rate": 0.00039253712919245994,
      "loss": 0.0648,
      "step": 4382
    },
    {
      "epoch": 0.9831725375813327,
      "gripper_loss": 0.038330078125,
      "loss": 0.0830078125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.423828125,
      "step": 4382
    },
    {
      "epoch": 0.983396903746915,
      "grad_norm": 0.5600000023841858,
      "learning_rate": 0.00039248737273270365,
      "loss": 0.0859,
      "step": 4383
    },
    {
      "epoch": 0.983396903746915,
      "gripper_loss": 0.09228515625,
      "loss": 0.1005859375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.31640625,
      "step": 4383
    },
    {
      "epoch": 0.9836212699124972,
      "grad_norm": 0.6204530596733093,
      "learning_rate": 0.0003924376079118525,
      "loss": 0.0999,
      "step": 4384
    },
    {
      "epoch": 0.9836212699124972,
      "gripper_loss": 0.6875,
      "loss": 0.09521484375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.314453125,
      "step": 4384
    },
    {
      "epoch": 0.9838456360780794,
      "grad_norm": 0.8594721555709839,
      "learning_rate": 0.000392387834732827,
      "loss": 0.1486,
      "step": 4385
    },
    {
      "epoch": 0.9838456360780794,
      "gripper_loss": 0.0732421875,
      "loss": 0.09912109375,
      "pos_loss": 0.69140625,
      "rot_loss": 0.294921875,
      "step": 4385
    },
    {
      "epoch": 0.9840700022436617,
      "grad_norm": 0.5120044350624084,
      "learning_rate": 0.00039233805319854756,
      "loss": 0.1012,
      "step": 4386
    },
    {
      "epoch": 0.9840700022436617,
      "gripper_loss": 1.15625,
      "loss": 0.171875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.7421875,
      "step": 4386
    },
    {
      "epoch": 0.9842943684092439,
      "grad_norm": 0.5141628980636597,
      "learning_rate": 0.00039228826331193543,
      "loss": 0.1093,
      "step": 4387
    },
    {
      "epoch": 0.9842943684092439,
      "gripper_loss": 0.034912109375,
      "loss": 0.087890625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.22265625,
      "step": 4387
    },
    {
      "epoch": 0.9845187345748261,
      "grad_norm": 0.5297587513923645,
      "learning_rate": 0.00039223846507591235,
      "loss": 0.0885,
      "step": 4388
    },
    {
      "epoch": 0.9845187345748261,
      "gripper_loss": 0.1279296875,
      "loss": 0.10888671875,
      "pos_loss": 0.734375,
      "rot_loss": 0.287109375,
      "step": 4388
    },
    {
      "epoch": 0.9847431007404084,
      "grad_norm": 0.5553624629974365,
      "learning_rate": 0.00039218865849340034,
      "loss": 0.0925,
      "step": 4389
    },
    {
      "epoch": 0.9847431007404084,
      "gripper_loss": 0.0810546875,
      "loss": 0.046142578125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.07421875,
      "step": 4389
    },
    {
      "epoch": 0.9849674669059906,
      "grad_norm": 0.6132492423057556,
      "learning_rate": 0.0003921388435673221,
      "loss": 0.0914,
      "step": 4390
    },
    {
      "epoch": 0.9849674669059906,
      "gripper_loss": 0.0277099609375,
      "loss": 0.0673828125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.04541015625,
      "step": 4390
    },
    {
      "epoch": 0.9851918330715728,
      "grad_norm": 0.5523136854171753,
      "learning_rate": 0.0003920890203006007,
      "loss": 0.096,
      "step": 4391
    },
    {
      "epoch": 0.9851918330715728,
      "gripper_loss": 3.6875,
      "loss": 0.1337890625,
      "pos_loss": 0.107421875,
      "rot_loss": 0.032470703125,
      "step": 4391
    },
    {
      "epoch": 0.9854161992371551,
      "grad_norm": 0.6256444454193115,
      "learning_rate": 0.0003920391886961597,
      "loss": 0.1002,
      "step": 4392
    },
    {
      "epoch": 0.9854161992371551,
      "gripper_loss": 0.31640625,
      "loss": 0.1513671875,
      "pos_loss": 1.3984375,
      "rot_loss": 0.0537109375,
      "step": 4392
    },
    {
      "epoch": 0.9856405654027373,
      "grad_norm": 0.5471998453140259,
      "learning_rate": 0.0003919893487569233,
      "loss": 0.0896,
      "step": 4393
    },
    {
      "epoch": 0.9856405654027373,
      "gripper_loss": 0.0654296875,
      "loss": 0.10400390625,
      "pos_loss": 0.34375,
      "rot_loss": 0.6640625,
      "step": 4393
    },
    {
      "epoch": 0.9858649315683194,
      "grad_norm": 0.5313372015953064,
      "learning_rate": 0.000391939500485816,
      "loss": 0.0863,
      "step": 4394
    },
    {
      "epoch": 0.9858649315683194,
      "gripper_loss": 0.018310546875,
      "loss": 0.04345703125,
      "pos_loss": 0.3359375,
      "rot_loss": 0.053466796875,
      "step": 4394
    },
    {
      "epoch": 0.9860892977339017,
      "grad_norm": 0.5989204049110413,
      "learning_rate": 0.000391889643885763,
      "loss": 0.0734,
      "step": 4395
    },
    {
      "epoch": 0.9860892977339017,
      "gripper_loss": 0.1484375,
      "loss": 0.0291748046875,
      "pos_loss": 0.12109375,
      "rot_loss": 0.0751953125,
      "step": 4395
    },
    {
      "epoch": 0.9863136638994839,
      "grad_norm": 0.3981713056564331,
      "learning_rate": 0.0003918397789596897,
      "loss": 0.058,
      "step": 4396
    },
    {
      "epoch": 0.9863136638994839,
      "gripper_loss": 0.05419921875,
      "loss": 0.06494140625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.2734375,
      "step": 4396
    },
    {
      "epoch": 0.9865380300650662,
      "grad_norm": 0.5826959609985352,
      "learning_rate": 0.0003917899057105222,
      "loss": 0.085,
      "step": 4397
    },
    {
      "epoch": 0.9865380300650662,
      "gripper_loss": 0.04541015625,
      "loss": 0.0859375,
      "pos_loss": 0.8046875,
      "rot_loss": 0.042236328125,
      "step": 4397
    },
    {
      "epoch": 0.9867623962306484,
      "grad_norm": 0.496080219745636,
      "learning_rate": 0.00039174002414118716,
      "loss": 0.0857,
      "step": 4398
    },
    {
      "epoch": 0.9867623962306484,
      "gripper_loss": 0.0167236328125,
      "loss": 0.11962890625,
      "pos_loss": 0.447265625,
      "rot_loss": 0.7734375,
      "step": 4398
    },
    {
      "epoch": 0.9869867623962306,
      "grad_norm": 0.5254497528076172,
      "learning_rate": 0.00039169013425461143,
      "loss": 0.0819,
      "step": 4399
    },
    {
      "epoch": 0.9869867623962306,
      "gripper_loss": 0.038818359375,
      "loss": 0.037109375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.10546875,
      "step": 4399
    },
    {
      "epoch": 0.9872111285618129,
      "grad_norm": 0.6242187023162842,
      "learning_rate": 0.0003916402360537227,
      "loss": 0.078,
      "step": 4400
    },
    {
      "epoch": 0.9872111285618129,
      "gripper_loss": 0.09912109375,
      "loss": 0.02294921875,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.0625,
      "step": 4400
    },
    {
      "epoch": 0.9874354947273951,
      "grad_norm": 0.43609580397605896,
      "learning_rate": 0.0003915903295414488,
      "loss": 0.0629,
      "step": 4401
    },
    {
      "epoch": 0.9874354947273951,
      "gripper_loss": 0.08251953125,
      "loss": 0.10205078125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.12890625,
      "step": 4401
    },
    {
      "epoch": 0.9876598608929773,
      "grad_norm": 0.3877808749675751,
      "learning_rate": 0.00039154041472071833,
      "loss": 0.0672,
      "step": 4402
    },
    {
      "epoch": 0.9876598608929773,
      "gripper_loss": 0.19140625,
      "loss": 0.2177734375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.24609375,
      "step": 4402
    },
    {
      "epoch": 0.9878842270585596,
      "grad_norm": 1.2981358766555786,
      "learning_rate": 0.0003914904915944602,
      "loss": 0.2396,
      "step": 4403
    },
    {
      "epoch": 0.9878842270585596,
      "gripper_loss": 0.0289306640625,
      "loss": 0.2421875,
      "pos_loss": 2.046875,
      "rot_loss": 0.486328125,
      "step": 4403
    },
    {
      "epoch": 0.9881085932241418,
      "grad_norm": 0.5845939517021179,
      "learning_rate": 0.000391440560165604,
      "loss": 0.1296,
      "step": 4404
    },
    {
      "epoch": 0.9881085932241418,
      "gripper_loss": 0.1220703125,
      "loss": 0.0771484375,
      "pos_loss": 0.63671875,
      "rot_loss": 0.0751953125,
      "step": 4404
    },
    {
      "epoch": 0.988332959389724,
      "grad_norm": 0.7399537563323975,
      "learning_rate": 0.00039139062043707957,
      "loss": 0.0776,
      "step": 4405
    },
    {
      "epoch": 0.988332959389724,
      "gripper_loss": 0.71484375,
      "loss": 0.10400390625,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.43359375,
      "step": 4405
    },
    {
      "epoch": 0.9885573255553063,
      "grad_norm": 1.3243080377578735,
      "learning_rate": 0.0003913406724118174,
      "loss": 0.1478,
      "step": 4406
    },
    {
      "epoch": 0.9885573255553063,
      "gripper_loss": 0.034423828125,
      "loss": 0.09716796875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.349609375,
      "step": 4406
    },
    {
      "epoch": 0.9887816917208885,
      "grad_norm": 0.6645101308822632,
      "learning_rate": 0.0003912907160927484,
      "loss": 0.1115,
      "step": 4407
    },
    {
      "epoch": 0.9887816917208885,
      "gripper_loss": 0.050537109375,
      "loss": 0.2890625,
      "pos_loss": 0.7890625,
      "rot_loss": 0.5625,
      "step": 4407
    },
    {
      "epoch": 0.9890060578864707,
      "grad_norm": 1.4473429918289185,
      "learning_rate": 0.00039124075148280405,
      "loss": 0.226,
      "step": 4408
    },
    {
      "epoch": 0.9890060578864707,
      "gripper_loss": 0.0235595703125,
      "loss": 0.255859375,
      "pos_loss": 2.59375,
      "rot_loss": 0.05517578125,
      "step": 4408
    },
    {
      "epoch": 0.989230424052053,
      "grad_norm": 0.7089719176292419,
      "learning_rate": 0.000391190778584916,
      "loss": 0.1077,
      "step": 4409
    },
    {
      "epoch": 0.989230424052053,
      "gripper_loss": 0.03564453125,
      "loss": 0.10400390625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.58984375,
      "step": 4409
    },
    {
      "epoch": 0.9894547902176352,
      "grad_norm": 0.5209826231002808,
      "learning_rate": 0.00039114079740201703,
      "loss": 0.0922,
      "step": 4410
    },
    {
      "epoch": 0.9894547902176352,
      "gripper_loss": 0.298828125,
      "loss": 0.1533203125,
      "pos_loss": 1.2421875,
      "rot_loss": 0.2080078125,
      "step": 4410
    },
    {
      "epoch": 0.9896791563832175,
      "grad_norm": 0.7109613418579102,
      "learning_rate": 0.0003910908079370397,
      "loss": 0.1017,
      "step": 4411
    },
    {
      "epoch": 0.9896791563832175,
      "gripper_loss": 0.1171875,
      "loss": 0.1630859375,
      "pos_loss": 1.1328125,
      "rot_loss": 0.265625,
      "step": 4411
    },
    {
      "epoch": 0.9899035225487997,
      "grad_norm": 1.1877751350402832,
      "learning_rate": 0.0003910408101929175,
      "loss": 0.1136,
      "step": 4412
    },
    {
      "epoch": 0.9899035225487997,
      "gripper_loss": 0.050048828125,
      "loss": 0.11962890625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.181640625,
      "step": 4412
    },
    {
      "epoch": 0.9901278887143818,
      "grad_norm": 0.5221723318099976,
      "learning_rate": 0.00039099080417258434,
      "loss": 0.085,
      "step": 4413
    },
    {
      "epoch": 0.9901278887143818,
      "gripper_loss": 0.1435546875,
      "loss": 0.028564453125,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.06591796875,
      "step": 4413
    },
    {
      "epoch": 0.9903522548799641,
      "grad_norm": 0.5692188143730164,
      "learning_rate": 0.0003909407898789743,
      "loss": 0.0756,
      "step": 4414
    },
    {
      "epoch": 0.9903522548799641,
      "gripper_loss": 0.625,
      "loss": 0.12890625,
      "pos_loss": 0.87890625,
      "rot_loss": 0.201171875,
      "step": 4414
    },
    {
      "epoch": 0.9905766210455463,
      "grad_norm": 0.671410858631134,
      "learning_rate": 0.00039089076731502247,
      "loss": 0.124,
      "step": 4415
    },
    {
      "epoch": 0.9905766210455463,
      "gripper_loss": 0.0181884765625,
      "loss": 0.142578125,
      "pos_loss": 0.81640625,
      "rot_loss": 0.6015625,
      "step": 4415
    },
    {
      "epoch": 0.9908009872111285,
      "grad_norm": 0.5227411985397339,
      "learning_rate": 0.00039084073648366403,
      "loss": 0.0837,
      "step": 4416
    },
    {
      "epoch": 0.9908009872111285,
      "gripper_loss": 0.039306640625,
      "loss": 0.08251953125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.06982421875,
      "step": 4416
    },
    {
      "epoch": 0.9910253533767108,
      "grad_norm": 0.6357702612876892,
      "learning_rate": 0.0003907906973878348,
      "loss": 0.0708,
      "step": 4417
    },
    {
      "epoch": 0.9910253533767108,
      "gripper_loss": 0.111328125,
      "loss": 0.16015625,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.154296875,
      "step": 4417
    },
    {
      "epoch": 0.991249719542293,
      "grad_norm": 1.6398578882217407,
      "learning_rate": 0.000390740650030471,
      "loss": 0.2302,
      "step": 4418
    },
    {
      "epoch": 0.991249719542293,
      "gripper_loss": 0.98046875,
      "loss": 0.0712890625,
      "pos_loss": 0.26953125,
      "rot_loss": 0.0986328125,
      "step": 4418
    },
    {
      "epoch": 0.9914740857078752,
      "grad_norm": 0.7124080657958984,
      "learning_rate": 0.0003906905944145094,
      "loss": 0.0782,
      "step": 4419
    },
    {
      "epoch": 0.9914740857078752,
      "gripper_loss": 0.271484375,
      "loss": 0.15625,
      "pos_loss": 0.63671875,
      "rot_loss": 0.86328125,
      "step": 4419
    },
    {
      "epoch": 0.9916984518734575,
      "grad_norm": 0.6449836492538452,
      "learning_rate": 0.0003906405305428872,
      "loss": 0.1172,
      "step": 4420
    },
    {
      "epoch": 0.9916984518734575,
      "gripper_loss": 0.30078125,
      "loss": 0.0235595703125,
      "pos_loss": 0.028076171875,
      "rot_loss": 0.06591796875,
      "step": 4420
    },
    {
      "epoch": 0.9919228180390397,
      "grad_norm": 0.6456336379051208,
      "learning_rate": 0.00039059045841854234,
      "loss": 0.0897,
      "step": 4421
    },
    {
      "epoch": 0.9919228180390397,
      "gripper_loss": 0.474609375,
      "loss": 0.326171875,
      "pos_loss": 2.265625,
      "rot_loss": 0.26171875,
      "step": 4421
    },
    {
      "epoch": 0.9921471842046219,
      "grad_norm": 1.5428829193115234,
      "learning_rate": 0.00039054037804441276,
      "loss": 0.252,
      "step": 4422
    },
    {
      "epoch": 0.9921471842046219,
      "gripper_loss": 0.78515625,
      "loss": 0.142578125,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.275390625,
      "step": 4422
    },
    {
      "epoch": 0.9923715503702042,
      "grad_norm": 1.2320148944854736,
      "learning_rate": 0.0003904902894234373,
      "loss": 0.2038,
      "step": 4423
    },
    {
      "epoch": 0.9923715503702042,
      "gripper_loss": 0.06494140625,
      "loss": 0.125,
      "pos_loss": 0.96875,
      "rot_loss": 0.263671875,
      "step": 4423
    },
    {
      "epoch": 0.9925959165357864,
      "grad_norm": 0.6610724925994873,
      "learning_rate": 0.00039044019255855513,
      "loss": 0.0872,
      "step": 4424
    },
    {
      "epoch": 0.9925959165357864,
      "gripper_loss": 0.494140625,
      "loss": 0.21875,
      "pos_loss": 0.9375,
      "rot_loss": 0.373046875,
      "step": 4424
    },
    {
      "epoch": 0.9928202827013687,
      "grad_norm": 1.3562510013580322,
      "learning_rate": 0.00039039008745270584,
      "loss": 0.2001,
      "step": 4425
    },
    {
      "epoch": 0.9928202827013687,
      "gripper_loss": 2.21875,
      "loss": 0.150390625,
      "pos_loss": 0.375,
      "rot_loss": 0.25390625,
      "step": 4425
    },
    {
      "epoch": 0.9930446488669509,
      "grad_norm": 0.7737206220626831,
      "learning_rate": 0.0003903399741088296,
      "loss": 0.1219,
      "step": 4426
    },
    {
      "epoch": 0.9930446488669509,
      "gripper_loss": 0.2412109375,
      "loss": 0.25390625,
      "pos_loss": 1.140625,
      "rot_loss": 0.55078125,
      "step": 4426
    },
    {
      "epoch": 0.9932690150325331,
      "grad_norm": 1.4152418375015259,
      "learning_rate": 0.0003902898525298671,
      "loss": 0.1984,
      "step": 4427
    },
    {
      "epoch": 0.9932690150325331,
      "gripper_loss": 0.04931640625,
      "loss": 0.06787109375,
      "pos_loss": 0.4375,
      "rot_loss": 0.0947265625,
      "step": 4427
    },
    {
      "epoch": 0.9934933811981154,
      "grad_norm": 0.8376335501670837,
      "learning_rate": 0.0003902397227187594,
      "loss": 0.1049,
      "step": 4428
    },
    {
      "epoch": 0.9934933811981154,
      "gripper_loss": 0.59765625,
      "loss": 0.080078125,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.34375,
      "step": 4428
    },
    {
      "epoch": 0.9937177473636976,
      "grad_norm": 0.7647848129272461,
      "learning_rate": 0.00039018958467844806,
      "loss": 0.1085,
      "step": 4429
    },
    {
      "epoch": 0.9937177473636976,
      "gripper_loss": 0.201171875,
      "loss": 0.08837890625,
      "pos_loss": 0.65625,
      "rot_loss": 0.0810546875,
      "step": 4429
    },
    {
      "epoch": 0.9939421135292797,
      "grad_norm": 0.872542142868042,
      "learning_rate": 0.0003901394384118753,
      "loss": 0.1123,
      "step": 4430
    },
    {
      "epoch": 0.9939421135292797,
      "gripper_loss": 0.8125,
      "loss": 0.28515625,
      "pos_loss": 0.62109375,
      "rot_loss": 0.423828125,
      "step": 4430
    },
    {
      "epoch": 0.994166479694862,
      "grad_norm": 1.915238857269287,
      "learning_rate": 0.0003900892839219835,
      "loss": 0.29,
      "step": 4431
    },
    {
      "epoch": 0.994166479694862,
      "gripper_loss": 0.6875,
      "loss": 0.0595703125,
      "pos_loss": 0.07275390625,
      "rot_loss": 0.1884765625,
      "step": 4431
    },
    {
      "epoch": 0.9943908458604442,
      "grad_norm": 0.7507548332214355,
      "learning_rate": 0.0003900391212117158,
      "loss": 0.1114,
      "step": 4432
    },
    {
      "epoch": 0.9943908458604442,
      "gripper_loss": 0.27734375,
      "loss": 0.2109375,
      "pos_loss": 0.50390625,
      "rot_loss": 0.53515625,
      "step": 4432
    },
    {
      "epoch": 0.9946152120260264,
      "grad_norm": 1.193222165107727,
      "learning_rate": 0.0003899889502840157,
      "loss": 0.1627,
      "step": 4433
    },
    {
      "epoch": 0.9946152120260264,
      "gripper_loss": 0.1982421875,
      "loss": 0.134765625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.384765625,
      "step": 4433
    },
    {
      "epoch": 0.9948395781916087,
      "grad_norm": 1.0792075395584106,
      "learning_rate": 0.0003899387711418273,
      "loss": 0.1249,
      "step": 4434
    },
    {
      "epoch": 0.9948395781916087,
      "gripper_loss": 0.490234375,
      "loss": 0.1123046875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.28515625,
      "step": 4434
    },
    {
      "epoch": 0.9950639443571909,
      "grad_norm": 0.8982837200164795,
      "learning_rate": 0.00038988858378809487,
      "loss": 0.1011,
      "step": 4435
    },
    {
      "epoch": 0.9950639443571909,
      "gripper_loss": 0.8984375,
      "loss": 0.0751953125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.140625,
      "step": 4435
    },
    {
      "epoch": 0.9952883105227731,
      "grad_norm": 1.0460008382797241,
      "learning_rate": 0.00038983838822576365,
      "loss": 0.1605,
      "step": 4436
    },
    {
      "epoch": 0.9952883105227731,
      "gripper_loss": 0.07470703125,
      "loss": 0.107421875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.1494140625,
      "step": 4436
    },
    {
      "epoch": 0.9955126766883554,
      "grad_norm": 0.8881750702857971,
      "learning_rate": 0.0003897881844577789,
      "loss": 0.1037,
      "step": 4437
    },
    {
      "epoch": 0.9955126766883554,
      "gripper_loss": 0.234375,
      "loss": 0.11669921875,
      "pos_loss": 0.3125,
      "rot_loss": 0.7421875,
      "step": 4437
    },
    {
      "epoch": 0.9957370428539376,
      "grad_norm": 0.945359468460083,
      "learning_rate": 0.00038973797248708665,
      "loss": 0.105,
      "step": 4438
    },
    {
      "epoch": 0.9957370428539376,
      "gripper_loss": 0.193359375,
      "loss": 0.05078125,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.197265625,
      "step": 4438
    },
    {
      "epoch": 0.9959614090195199,
      "grad_norm": 0.592250406742096,
      "learning_rate": 0.00038968775231663325,
      "loss": 0.0793,
      "step": 4439
    },
    {
      "epoch": 0.9959614090195199,
      "gripper_loss": 0.65625,
      "loss": 0.1748046875,
      "pos_loss": 0.447265625,
      "rot_loss": 0.333984375,
      "step": 4439
    },
    {
      "epoch": 0.9961857751851021,
      "grad_norm": 1.4621927738189697,
      "learning_rate": 0.00038963752394936563,
      "loss": 0.222,
      "step": 4440
    },
    {
      "epoch": 0.9961857751851021,
      "gripper_loss": 0.10498046875,
      "loss": 0.0458984375,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.130859375,
      "step": 4440
    },
    {
      "epoch": 0.9964101413506843,
      "grad_norm": 0.5820651054382324,
      "learning_rate": 0.0003895872873882311,
      "loss": 0.067,
      "step": 4441
    },
    {
      "epoch": 0.9964101413506843,
      "gripper_loss": 0.115234375,
      "loss": 0.25,
      "pos_loss": 1.4140625,
      "rot_loss": 0.2255859375,
      "step": 4441
    },
    {
      "epoch": 0.9966345075162666,
      "grad_norm": 1.6637221574783325,
      "learning_rate": 0.0003895370426361777,
      "loss": 0.2098,
      "step": 4442
    },
    {
      "epoch": 0.9966345075162666,
      "gripper_loss": 0.30078125,
      "loss": 0.0306396484375,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.03759765625,
      "step": 4442
    },
    {
      "epoch": 0.9968588736818488,
      "grad_norm": 0.9110493063926697,
      "learning_rate": 0.0003894867896961536,
      "loss": 0.1415,
      "step": 4443
    },
    {
      "epoch": 0.9968588736818488,
      "gripper_loss": 0.76953125,
      "loss": 0.1201171875,
      "pos_loss": 0.77734375,
      "rot_loss": 0.1142578125,
      "step": 4443
    },
    {
      "epoch": 0.997083239847431,
      "grad_norm": 0.6977799534797668,
      "learning_rate": 0.0003894365285711077,
      "loss": 0.1307,
      "step": 4444
    },
    {
      "epoch": 0.997083239847431,
      "gripper_loss": 0.11279296875,
      "loss": 0.0966796875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.28515625,
      "step": 4444
    },
    {
      "epoch": 0.9973076060130133,
      "grad_norm": 1.0700385570526123,
      "learning_rate": 0.0003893862592639893,
      "loss": 0.0894,
      "step": 4445
    },
    {
      "epoch": 0.9973076060130133,
      "gripper_loss": 0.06396484375,
      "loss": 0.08544921875,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.365234375,
      "step": 4445
    },
    {
      "epoch": 0.9975319721785955,
      "grad_norm": 0.9839155673980713,
      "learning_rate": 0.0003893359817777481,
      "loss": 0.1181,
      "step": 4446
    },
    {
      "epoch": 0.9975319721785955,
      "gripper_loss": 0.0123291015625,
      "loss": 0.140625,
      "pos_loss": 1.1171875,
      "rot_loss": 0.2421875,
      "step": 4446
    },
    {
      "epoch": 0.9977563383441777,
      "grad_norm": 0.5700705051422119,
      "learning_rate": 0.0003892856961153344,
      "loss": 0.104,
      "step": 4447
    },
    {
      "epoch": 0.9977563383441777,
      "gripper_loss": 0.125,
      "loss": 0.0625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.208984375,
      "step": 4447
    },
    {
      "epoch": 0.99798070450976,
      "grad_norm": 0.4578663408756256,
      "learning_rate": 0.000389235402279699,
      "loss": 0.0702,
      "step": 4448
    },
    {
      "epoch": 0.99798070450976,
      "gripper_loss": 0.1650390625,
      "loss": 0.054443359375,
      "pos_loss": 0.26953125,
      "rot_loss": 0.169921875,
      "step": 4448
    },
    {
      "epoch": 0.9982050706753421,
      "grad_norm": 0.628951370716095,
      "learning_rate": 0.0003891851002737931,
      "loss": 0.1059,
      "step": 4449
    },
    {
      "epoch": 0.9982050706753421,
      "gripper_loss": 0.171875,
      "loss": 0.103515625,
      "pos_loss": 0.53125,
      "rot_loss": 0.40625,
      "step": 4449
    },
    {
      "epoch": 0.9984294368409243,
      "grad_norm": 0.8778373599052429,
      "learning_rate": 0.00038913479010056827,
      "loss": 0.1665,
      "step": 4450
    },
    {
      "epoch": 0.9984294368409243,
      "gripper_loss": 0.0108642578125,
      "loss": 0.05224609375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.14453125,
      "step": 4450
    },
    {
      "epoch": 0.9986538030065066,
      "grad_norm": 0.6239662766456604,
      "learning_rate": 0.00038908447176297687,
      "loss": 0.0747,
      "step": 4451
    },
    {
      "epoch": 0.9986538030065066,
      "gripper_loss": 0.0155029296875,
      "loss": 0.01708984375,
      "pos_loss": 0.030029296875,
      "rot_loss": 0.0230712890625,
      "step": 4451
    },
    {
      "epoch": 0.9988781691720888,
      "grad_norm": 0.6487199068069458,
      "learning_rate": 0.0003890341452639714,
      "loss": 0.0824,
      "step": 4452
    },
    {
      "epoch": 0.9988781691720888,
      "gripper_loss": 0.0751953125,
      "loss": 0.0693359375,
      "pos_loss": 0.484375,
      "rot_loss": 0.07958984375,
      "step": 4452
    },
    {
      "epoch": 0.9991025353376711,
      "grad_norm": 0.6068342924118042,
      "learning_rate": 0.00038898381060650523,
      "loss": 0.0946,
      "step": 4453
    },
    {
      "epoch": 0.9991025353376711,
      "gripper_loss": 0.177734375,
      "loss": 0.1259765625,
      "pos_loss": 1.1328125,
      "rot_loss": 0.04345703125,
      "step": 4453
    },
    {
      "epoch": 0.9993269015032533,
      "grad_norm": 0.5734909176826477,
      "learning_rate": 0.00038893346779353167,
      "loss": 0.0854,
      "step": 4454
    },
    {
      "epoch": 0.9993269015032533,
      "gripper_loss": 0.1259765625,
      "loss": 0.1630859375,
      "pos_loss": 0.73828125,
      "rot_loss": 0.57421875,
      "step": 4454
    },
    {
      "epoch": 0.9995512676688355,
      "grad_norm": 0.8894652128219604,
      "learning_rate": 0.00038888311682800503,
      "loss": 0.1301,
      "step": 4455
    },
    {
      "epoch": 0.9995512676688355,
      "gripper_loss": 0.09228515625,
      "loss": 0.07568359375,
      "pos_loss": 0.28515625,
      "rot_loss": 0.396484375,
      "step": 4455
    },
    {
      "epoch": 0.9997756338344178,
      "grad_norm": 0.6726401448249817,
      "learning_rate": 0.0003888327577128798,
      "loss": 0.0751,
      "step": 4456
    },
    {
      "epoch": 0.9997756338344178,
      "gripper_loss": 0.0167236328125,
      "loss": 0.1357421875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.337890625,
      "step": 4456
    },
    {
      "epoch": 1.0,
      "grad_norm": 0.5856558680534363,
      "learning_rate": 0.00038878239045111106,
      "loss": 0.1104,
      "step": 4457
    },
    {
      "epoch": 1.0,
      "gripper_loss": 0.0169677734375,
      "loss": 0.19140625,
      "pos_loss": 0.9765625,
      "rot_loss": 0.92578125,
      "step": 4457
    },
    {
      "epoch": 1.0002243661655823,
      "grad_norm": 0.7542928457260132,
      "learning_rate": 0.0003887320150456543,
      "loss": 0.0972,
      "step": 4458
    },
    {
      "epoch": 1.0002243661655823,
      "gripper_loss": 0.08740234375,
      "loss": 0.062255859375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.078125,
      "step": 4458
    },
    {
      "epoch": 1.0004487323311644,
      "grad_norm": 0.5930439829826355,
      "learning_rate": 0.00038868163149946555,
      "loss": 0.1051,
      "step": 4459
    },
    {
      "epoch": 1.0004487323311644,
      "gripper_loss": 0.0400390625,
      "loss": 0.058837890625,
      "pos_loss": 0.359375,
      "rot_loss": 0.1240234375,
      "step": 4459
    },
    {
      "epoch": 1.0006730984967467,
      "grad_norm": 0.6227925419807434,
      "learning_rate": 0.00038863123981550135,
      "loss": 0.0771,
      "step": 4460
    },
    {
      "epoch": 1.0006730984967467,
      "gripper_loss": 0.5859375,
      "loss": 0.039306640625,
      "pos_loss": 0.0556640625,
      "rot_loss": 0.07763671875,
      "step": 4460
    },
    {
      "epoch": 1.000897464662329,
      "grad_norm": 0.7455212473869324,
      "learning_rate": 0.0003885808399967186,
      "loss": 0.0778,
      "step": 4461
    },
    {
      "epoch": 1.000897464662329,
      "gripper_loss": 0.671875,
      "loss": 0.365234375,
      "pos_loss": 0.625,
      "rot_loss": 0.97265625,
      "step": 4461
    },
    {
      "epoch": 1.001121830827911,
      "grad_norm": 1.5871714353561401,
      "learning_rate": 0.00038853043204607464,
      "loss": 0.318,
      "step": 4462
    },
    {
      "epoch": 1.001121830827911,
      "gripper_loss": 0.045166015625,
      "loss": 0.07275390625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.314453125,
      "step": 4462
    },
    {
      "epoch": 1.0013461969934934,
      "grad_norm": 0.6207315325737,
      "learning_rate": 0.0003884800159665276,
      "loss": 0.072,
      "step": 4463
    },
    {
      "epoch": 1.0013461969934934,
      "gripper_loss": 0.26953125,
      "loss": 0.35546875,
      "pos_loss": 1.671875,
      "rot_loss": 0.7109375,
      "step": 4463
    },
    {
      "epoch": 1.0015705631590757,
      "grad_norm": 1.7205160856246948,
      "learning_rate": 0.0003884295917610357,
      "loss": 0.2266,
      "step": 4464
    },
    {
      "epoch": 1.0015705631590757,
      "gripper_loss": 0.21875,
      "loss": 0.06640625,
      "pos_loss": 0.20703125,
      "rot_loss": 0.232421875,
      "step": 4464
    },
    {
      "epoch": 1.0017949293246577,
      "grad_norm": 0.8554172515869141,
      "learning_rate": 0.00038837915943255787,
      "loss": 0.0804,
      "step": 4465
    },
    {
      "epoch": 1.0017949293246577,
      "gripper_loss": 0.12060546875,
      "loss": 0.177734375,
      "pos_loss": 1.125,
      "rot_loss": 0.53515625,
      "step": 4465
    },
    {
      "epoch": 1.00201929549024,
      "grad_norm": 0.8235220313072205,
      "learning_rate": 0.0003883287189840535,
      "loss": 0.1107,
      "step": 4466
    },
    {
      "epoch": 1.00201929549024,
      "gripper_loss": 0.06591796875,
      "loss": 0.07080078125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.341796875,
      "step": 4466
    },
    {
      "epoch": 1.0022436616558223,
      "grad_norm": 0.48411235213279724,
      "learning_rate": 0.00038827827041848235,
      "loss": 0.0722,
      "step": 4467
    },
    {
      "epoch": 1.0022436616558223,
      "gripper_loss": 0.328125,
      "loss": 0.482421875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.7578125,
      "step": 4467
    },
    {
      "epoch": 1.0024680278214044,
      "grad_norm": 1.466213583946228,
      "learning_rate": 0.0003882278137388048,
      "loss": 0.5054,
      "step": 4468
    },
    {
      "epoch": 1.0024680278214044,
      "gripper_loss": 0.2080078125,
      "loss": 0.1689453125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.5625,
      "step": 4468
    },
    {
      "epoch": 1.0026923939869867,
      "grad_norm": 0.7516868710517883,
      "learning_rate": 0.0003881773489479815,
      "loss": 0.1487,
      "step": 4469
    },
    {
      "epoch": 1.0026923939869867,
      "gripper_loss": 0.1396484375,
      "loss": 0.05419921875,
      "pos_loss": 0.123046875,
      "rot_loss": 0.27734375,
      "step": 4469
    },
    {
      "epoch": 1.002916760152569,
      "grad_norm": 0.7006635665893555,
      "learning_rate": 0.00038812687604897374,
      "loss": 0.0892,
      "step": 4470
    },
    {
      "epoch": 1.002916760152569,
      "gripper_loss": 0.5078125,
      "loss": 0.10888671875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.2001953125,
      "step": 4470
    },
    {
      "epoch": 1.0031411263181513,
      "grad_norm": 0.753288745880127,
      "learning_rate": 0.0003880763950447433,
      "loss": 0.1105,
      "step": 4471
    },
    {
      "epoch": 1.0031411263181513,
      "gripper_loss": 1.1875,
      "loss": 0.0947265625,
      "pos_loss": 0.421875,
      "rot_loss": 0.0546875,
      "step": 4471
    },
    {
      "epoch": 1.0033654924837334,
      "grad_norm": 0.7299564480781555,
      "learning_rate": 0.0003880259059382524,
      "loss": 0.1024,
      "step": 4472
    },
    {
      "epoch": 1.0033654924837334,
      "gripper_loss": 1.1484375,
      "loss": 0.11279296875,
      "pos_loss": 0.3984375,
      "rot_loss": 0.3515625,
      "step": 4472
    },
    {
      "epoch": 1.0035898586493157,
      "grad_norm": 0.5240086913108826,
      "learning_rate": 0.0003879754087324636,
      "loss": 0.1095,
      "step": 4473
    },
    {
      "epoch": 1.0035898586493157,
      "gripper_loss": 0.7265625,
      "loss": 0.06494140625,
      "pos_loss": 0.287109375,
      "rot_loss": 0.091796875,
      "step": 4473
    },
    {
      "epoch": 1.003814224814898,
      "grad_norm": 0.4915509819984436,
      "learning_rate": 0.00038792490343034014,
      "loss": 0.0689,
      "step": 4474
    },
    {
      "epoch": 1.003814224814898,
      "gripper_loss": 0.10498046875,
      "loss": 0.087890625,
      "pos_loss": 0.7578125,
      "rot_loss": 0.0537109375,
      "step": 4474
    },
    {
      "epoch": 1.00403859098048,
      "grad_norm": 0.7526125907897949,
      "learning_rate": 0.0003878743900348457,
      "loss": 0.0973,
      "step": 4475
    },
    {
      "epoch": 1.00403859098048,
      "gripper_loss": 0.02587890625,
      "loss": 0.107421875,
      "pos_loss": 0.80078125,
      "rot_loss": 0.251953125,
      "step": 4475
    },
    {
      "epoch": 1.0042629571460624,
      "grad_norm": 0.4927152693271637,
      "learning_rate": 0.0003878238685489442,
      "loss": 0.0891,
      "step": 4476
    },
    {
      "epoch": 1.0042629571460624,
      "gripper_loss": 0.353515625,
      "loss": 0.055419921875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.07763671875,
      "step": 4476
    },
    {
      "epoch": 1.0044873233116447,
      "grad_norm": 0.5640397667884827,
      "learning_rate": 0.0003877733389756004,
      "loss": 0.0846,
      "step": 4477
    },
    {
      "epoch": 1.0044873233116447,
      "gripper_loss": 0.09228515625,
      "loss": 0.12353515625,
      "pos_loss": 0.80859375,
      "rot_loss": 0.2041015625,
      "step": 4477
    },
    {
      "epoch": 1.0047116894772268,
      "grad_norm": 0.7035163044929504,
      "learning_rate": 0.00038772280131777934,
      "loss": 0.097,
      "step": 4478
    },
    {
      "epoch": 1.0047116894772268,
      "gripper_loss": 1.078125,
      "loss": 0.10205078125,
      "pos_loss": 0.13671875,
      "rot_loss": 0.51171875,
      "step": 4478
    },
    {
      "epoch": 1.004936055642809,
      "grad_norm": 0.6897172331809998,
      "learning_rate": 0.0003876722555784464,
      "loss": 0.0801,
      "step": 4479
    },
    {
      "epoch": 1.004936055642809,
      "gripper_loss": 0.08642578125,
      "loss": 0.044921875,
      "pos_loss": 0.337890625,
      "rot_loss": 0.038330078125,
      "step": 4479
    },
    {
      "epoch": 1.0051604218083914,
      "grad_norm": 0.5051468014717102,
      "learning_rate": 0.0003876217017605678,
      "loss": 0.0847,
      "step": 4480
    },
    {
      "epoch": 1.0051604218083914,
      "gripper_loss": 0.044921875,
      "loss": 0.1982421875,
      "pos_loss": 1.578125,
      "rot_loss": 0.45703125,
      "step": 4480
    },
    {
      "epoch": 1.0053847879739735,
      "grad_norm": 0.6027861833572388,
      "learning_rate": 0.0003875711398671098,
      "loss": 0.1096,
      "step": 4481
    },
    {
      "epoch": 1.0053847879739735,
      "gripper_loss": 0.038330078125,
      "loss": 0.14453125,
      "pos_loss": 1.34375,
      "rot_loss": 0.09765625,
      "step": 4481
    },
    {
      "epoch": 1.0056091541395558,
      "grad_norm": 0.46490398049354553,
      "learning_rate": 0.0003875205699010395,
      "loss": 0.0707,
      "step": 4482
    },
    {
      "epoch": 1.0056091541395558,
      "gripper_loss": 0.2109375,
      "loss": 0.0693359375,
      "pos_loss": 0.3984375,
      "rot_loss": 0.1591796875,
      "step": 4482
    },
    {
      "epoch": 1.005833520305138,
      "grad_norm": 0.5634132623672485,
      "learning_rate": 0.0003874699918653242,
      "loss": 0.1038,
      "step": 4483
    },
    {
      "epoch": 1.005833520305138,
      "gripper_loss": 0.08251953125,
      "loss": 0.1376953125,
      "pos_loss": 0.8359375,
      "rot_loss": 0.3046875,
      "step": 4483
    },
    {
      "epoch": 1.0060578864707201,
      "grad_norm": 0.8737679123878479,
      "learning_rate": 0.0003874194057629319,
      "loss": 0.1269,
      "step": 4484
    },
    {
      "epoch": 1.0060578864707201,
      "gripper_loss": 0.07470703125,
      "loss": 0.10693359375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.263671875,
      "step": 4484
    },
    {
      "epoch": 1.0062822526363024,
      "grad_norm": 0.5234424471855164,
      "learning_rate": 0.0003873688115968309,
      "loss": 0.0865,
      "step": 4485
    },
    {
      "epoch": 1.0062822526363024,
      "gripper_loss": 0.244140625,
      "loss": 0.0299072265625,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.0203857421875,
      "step": 4485
    },
    {
      "epoch": 1.0065066188018847,
      "grad_norm": 0.6248138546943665,
      "learning_rate": 0.0003873182093699901,
      "loss": 0.0457,
      "step": 4486
    },
    {
      "epoch": 1.0065066188018847,
      "gripper_loss": 0.1640625,
      "loss": 0.016845703125,
      "pos_loss": 0.04052734375,
      "rot_loss": 0.030517578125,
      "step": 4486
    },
    {
      "epoch": 1.0067309849674668,
      "grad_norm": 0.4043276607990265,
      "learning_rate": 0.0003872675990853788,
      "loss": 0.0916,
      "step": 4487
    },
    {
      "epoch": 1.0067309849674668,
      "gripper_loss": 0.2431640625,
      "loss": 0.0712890625,
      "pos_loss": 0.58203125,
      "rot_loss": 0.0322265625,
      "step": 4487
    },
    {
      "epoch": 1.0069553511330491,
      "grad_norm": 0.5995664000511169,
      "learning_rate": 0.0003872169807459667,
      "loss": 0.179,
      "step": 4488
    },
    {
      "epoch": 1.0069553511330491,
      "gripper_loss": 0.478515625,
      "loss": 0.259765625,
      "pos_loss": 1.1015625,
      "rot_loss": 0.2412109375,
      "step": 4488
    },
    {
      "epoch": 1.0071797172986314,
      "grad_norm": 1.761989712715149,
      "learning_rate": 0.00038716635435472426,
      "loss": 0.2716,
      "step": 4489
    },
    {
      "epoch": 1.0071797172986314,
      "gripper_loss": 0.016845703125,
      "loss": 0.1083984375,
      "pos_loss": 0.62890625,
      "rot_loss": 0.462890625,
      "step": 4489
    },
    {
      "epoch": 1.0074040834642135,
      "grad_norm": 0.717002272605896,
      "learning_rate": 0.000387115719914622,
      "loss": 0.0912,
      "step": 4490
    },
    {
      "epoch": 1.0074040834642135,
      "gripper_loss": 2.53125,
      "loss": 0.15234375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.1025390625,
      "step": 4490
    },
    {
      "epoch": 1.0076284496297958,
      "grad_norm": 0.5911842584609985,
      "learning_rate": 0.00038706507742863124,
      "loss": 0.1127,
      "step": 4491
    },
    {
      "epoch": 1.0076284496297958,
      "gripper_loss": 0.08349609375,
      "loss": 0.0830078125,
      "pos_loss": 0.462890625,
      "rot_loss": 0.3203125,
      "step": 4491
    },
    {
      "epoch": 1.007852815795378,
      "grad_norm": 0.48639509081840515,
      "learning_rate": 0.00038701442689972367,
      "loss": 0.0779,
      "step": 4492
    },
    {
      "epoch": 1.007852815795378,
      "gripper_loss": 0.205078125,
      "loss": 0.1357421875,
      "pos_loss": 0.55078125,
      "rot_loss": 0.494140625,
      "step": 4492
    },
    {
      "epoch": 1.0080771819609602,
      "grad_norm": 1.1054608821868896,
      "learning_rate": 0.0003869637683308713,
      "loss": 0.1496,
      "step": 4493
    },
    {
      "epoch": 1.0080771819609602,
      "gripper_loss": 0.10107421875,
      "loss": 0.033203125,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.05029296875,
      "step": 4493
    },
    {
      "epoch": 1.0083015481265425,
      "grad_norm": 0.6410834193229675,
      "learning_rate": 0.000386913101725047,
      "loss": 0.0895,
      "step": 4494
    },
    {
      "epoch": 1.0083015481265425,
      "gripper_loss": 0.1748046875,
      "loss": 0.1318359375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.486328125,
      "step": 4494
    },
    {
      "epoch": 1.0085259142921248,
      "grad_norm": 0.7930462956428528,
      "learning_rate": 0.00038686242708522366,
      "loss": 0.151,
      "step": 4495
    },
    {
      "epoch": 1.0085259142921248,
      "gripper_loss": 0.2265625,
      "loss": 0.0296630859375,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.06982421875,
      "step": 4495
    },
    {
      "epoch": 1.0087502804577069,
      "grad_norm": 0.688687801361084,
      "learning_rate": 0.00038681174441437496,
      "loss": 0.0893,
      "step": 4496
    },
    {
      "epoch": 1.0087502804577069,
      "gripper_loss": 0.11962890625,
      "loss": 0.061279296875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.1259765625,
      "step": 4496
    },
    {
      "epoch": 1.0089746466232892,
      "grad_norm": 0.6162716746330261,
      "learning_rate": 0.0003867610537154748,
      "loss": 0.1023,
      "step": 4497
    },
    {
      "epoch": 1.0089746466232892,
      "gripper_loss": 0.03369140625,
      "loss": 0.0751953125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.337890625,
      "step": 4497
    },
    {
      "epoch": 1.0091990127888715,
      "grad_norm": 0.6429861187934875,
      "learning_rate": 0.0003867103549914978,
      "loss": 0.0887,
      "step": 4498
    },
    {
      "epoch": 1.0091990127888715,
      "gripper_loss": 0.060791015625,
      "loss": 0.1240234375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.404296875,
      "step": 4498
    },
    {
      "epoch": 1.0094233789544538,
      "grad_norm": 0.5173222422599792,
      "learning_rate": 0.0003866596482454189,
      "loss": 0.1045,
      "step": 4499
    },
    {
      "epoch": 1.0094233789544538,
      "gripper_loss": 0.0478515625,
      "loss": 0.2451171875,
      "pos_loss": 0.86328125,
      "rot_loss": 1.515625,
      "step": 4499
    },
    {
      "epoch": 1.0096477451200359,
      "grad_norm": 0.7816666960716248,
      "learning_rate": 0.0003866089334802136,
      "loss": 0.1302,
      "step": 4500
    },
    {
      "epoch": 1.0096477451200359,
      "gripper_loss": 0.0380859375,
      "loss": 0.07666015625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.059814453125,
      "step": 4500
    },
    {
      "epoch": 1.0098721112856182,
      "grad_norm": 0.6998564004898071,
      "learning_rate": 0.00038655821069885773,
      "loss": 0.1021,
      "step": 4501
    },
    {
      "epoch": 1.0098721112856182,
      "gripper_loss": 0.2216796875,
      "loss": 0.056396484375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.0869140625,
      "step": 4501
    },
    {
      "epoch": 1.0100964774512005,
      "grad_norm": 0.6668224930763245,
      "learning_rate": 0.0003865074799043278,
      "loss": 0.0891,
      "step": 4502
    },
    {
      "epoch": 1.0100964774512005,
      "gripper_loss": 1.5625,
      "loss": 0.10009765625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.09228515625,
      "step": 4502
    },
    {
      "epoch": 1.0103208436167825,
      "grad_norm": 0.6401661038398743,
      "learning_rate": 0.0003864567410996005,
      "loss": 0.0944,
      "step": 4503
    },
    {
      "epoch": 1.0103208436167825,
      "gripper_loss": 0.44140625,
      "loss": 0.029296875,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.027587890625,
      "step": 4503
    },
    {
      "epoch": 1.0105452097823648,
      "grad_norm": 0.659648060798645,
      "learning_rate": 0.0003864059942876532,
      "loss": 0.103,
      "step": 4504
    },
    {
      "epoch": 1.0105452097823648,
      "gripper_loss": 0.54296875,
      "loss": 0.04541015625,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.052978515625,
      "step": 4504
    },
    {
      "epoch": 1.0107695759479471,
      "grad_norm": 0.6074983477592468,
      "learning_rate": 0.0003863552394714639,
      "loss": 0.0786,
      "step": 4505
    },
    {
      "epoch": 1.0107695759479471,
      "gripper_loss": 0.357421875,
      "loss": 0.21875,
      "pos_loss": 0.60546875,
      "rot_loss": 0.2314453125,
      "step": 4505
    },
    {
      "epoch": 1.0109939421135292,
      "grad_norm": 1.860949158668518,
      "learning_rate": 0.0003863044766540107,
      "loss": 0.2665,
      "step": 4506
    },
    {
      "epoch": 1.0109939421135292,
      "gripper_loss": 0.0167236328125,
      "loss": 0.1162109375,
      "pos_loss": 1.046875,
      "rot_loss": 0.08447265625,
      "step": 4506
    },
    {
      "epoch": 1.0112183082791115,
      "grad_norm": 0.5973166823387146,
      "learning_rate": 0.00038625370583827235,
      "loss": 0.1047,
      "step": 4507
    },
    {
      "epoch": 1.0112183082791115,
      "gripper_loss": 0.375,
      "loss": 0.07080078125,
      "pos_loss": 0.302734375,
      "rot_loss": 0.12353515625,
      "step": 4507
    },
    {
      "epoch": 1.0114426744446938,
      "grad_norm": 0.8968228101730347,
      "learning_rate": 0.000386202927027228,
      "loss": 0.1041,
      "step": 4508
    },
    {
      "epoch": 1.0114426744446938,
      "gripper_loss": 0.0203857421875,
      "loss": 0.09228515625,
      "pos_loss": 0.8359375,
      "rot_loss": 0.052734375,
      "step": 4508
    },
    {
      "epoch": 1.011667040610276,
      "grad_norm": 0.5123589038848877,
      "learning_rate": 0.0003861521402238576,
      "loss": 0.0915,
      "step": 4509
    },
    {
      "epoch": 1.011667040610276,
      "gripper_loss": 0.1767578125,
      "loss": 0.08984375,
      "pos_loss": 0.67578125,
      "rot_loss": 0.1142578125,
      "step": 4509
    },
    {
      "epoch": 1.0118914067758582,
      "grad_norm": 0.774729311466217,
      "learning_rate": 0.00038610134543114096,
      "loss": 0.0858,
      "step": 4510
    },
    {
      "epoch": 1.0118914067758582,
      "gripper_loss": 0.09033203125,
      "loss": 0.228515625,
      "pos_loss": 1.6953125,
      "rot_loss": 0.546875,
      "step": 4510
    },
    {
      "epoch": 1.0121157729414405,
      "grad_norm": 1.0109795331954956,
      "learning_rate": 0.00038605054265205885,
      "loss": 0.1202,
      "step": 4511
    },
    {
      "epoch": 1.0121157729414405,
      "gripper_loss": 0.07177734375,
      "loss": 0.109375,
      "pos_loss": 0.8515625,
      "rot_loss": 0.21875,
      "step": 4511
    },
    {
      "epoch": 1.0123401391070226,
      "grad_norm": 0.5665645599365234,
      "learning_rate": 0.0003859997318895924,
      "loss": 0.1084,
      "step": 4512
    },
    {
      "epoch": 1.0123401391070226,
      "gripper_loss": 1.15625,
      "loss": 0.53125,
      "pos_loss": 1.078125,
      "rot_loss": 1.0078125,
      "step": 4512
    },
    {
      "epoch": 1.0125645052726049,
      "grad_norm": 2.1473593711853027,
      "learning_rate": 0.000385948913146723,
      "loss": 0.4731,
      "step": 4513
    },
    {
      "epoch": 1.0125645052726049,
      "gripper_loss": 0.0201416015625,
      "loss": 0.2099609375,
      "pos_loss": 1.40625,
      "rot_loss": 0.72265625,
      "step": 4513
    },
    {
      "epoch": 1.0127888714381872,
      "grad_norm": 0.5925403237342834,
      "learning_rate": 0.00038589808642643277,
      "loss": 0.0983,
      "step": 4514
    },
    {
      "epoch": 1.0127888714381872,
      "gripper_loss": 0.03271484375,
      "loss": 0.1279296875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.609375,
      "step": 4514
    },
    {
      "epoch": 1.0130132376037693,
      "grad_norm": 0.5602312684059143,
      "learning_rate": 0.00038584725173170426,
      "loss": 0.106,
      "step": 4515
    },
    {
      "epoch": 1.0130132376037693,
      "gripper_loss": 0.033447265625,
      "loss": 0.057861328125,
      "pos_loss": 0.376953125,
      "rot_loss": 0.0830078125,
      "step": 4515
    },
    {
      "epoch": 1.0132376037693516,
      "grad_norm": 0.649054765701294,
      "learning_rate": 0.0003857964090655204,
      "loss": 0.0633,
      "step": 4516
    },
    {
      "epoch": 1.0132376037693516,
      "gripper_loss": 0.1376953125,
      "loss": 0.060302734375,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.322265625,
      "step": 4516
    },
    {
      "epoch": 1.0134619699349339,
      "grad_norm": 0.7137686014175415,
      "learning_rate": 0.0003857455584308645,
      "loss": 0.0966,
      "step": 4517
    },
    {
      "epoch": 1.0134619699349339,
      "gripper_loss": 0.3203125,
      "loss": 0.1279296875,
      "pos_loss": 0.453125,
      "rot_loss": 0.73828125,
      "step": 4517
    },
    {
      "epoch": 1.013686336100516,
      "grad_norm": 0.5761590600013733,
      "learning_rate": 0.00038569469983072057,
      "loss": 0.1041,
      "step": 4518
    },
    {
      "epoch": 1.013686336100516,
      "gripper_loss": 0.07080078125,
      "loss": 0.1533203125,
      "pos_loss": 1.21875,
      "rot_loss": 0.3125,
      "step": 4518
    },
    {
      "epoch": 1.0139107022660983,
      "grad_norm": 0.4877227246761322,
      "learning_rate": 0.00038564383326807294,
      "loss": 0.0857,
      "step": 4519
    },
    {
      "epoch": 1.0139107022660983,
      "gripper_loss": 0.028076171875,
      "loss": 0.05810546875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.09619140625,
      "step": 4519
    },
    {
      "epoch": 1.0141350684316806,
      "grad_norm": 0.34791162610054016,
      "learning_rate": 0.0003855929587459064,
      "loss": 0.0659,
      "step": 4520
    },
    {
      "epoch": 1.0141350684316806,
      "gripper_loss": 0.2734375,
      "loss": 0.1748046875,
      "pos_loss": 0.3828125,
      "rot_loss": 0.318359375,
      "step": 4520
    },
    {
      "epoch": 1.0143594345972626,
      "grad_norm": 1.4038182497024536,
      "learning_rate": 0.0003855420762672063,
      "loss": 0.2119,
      "step": 4521
    },
    {
      "epoch": 1.0143594345972626,
      "gripper_loss": 0.07470703125,
      "loss": 0.10986328125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.30078125,
      "step": 4521
    },
    {
      "epoch": 1.014583800762845,
      "grad_norm": 0.6638243198394775,
      "learning_rate": 0.00038549118583495844,
      "loss": 0.0875,
      "step": 4522
    },
    {
      "epoch": 1.014583800762845,
      "gripper_loss": 0.02880859375,
      "loss": 0.046630859375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.1650390625,
      "step": 4522
    },
    {
      "epoch": 1.0148081669284272,
      "grad_norm": 0.8067108392715454,
      "learning_rate": 0.00038544028745214886,
      "loss": 0.1322,
      "step": 4523
    },
    {
      "epoch": 1.0148081669284272,
      "gripper_loss": 0.2099609375,
      "loss": 0.0179443359375,
      "pos_loss": 0.02978515625,
      "rot_loss": 0.0252685546875,
      "step": 4523
    },
    {
      "epoch": 1.0150325330940093,
      "grad_norm": 0.6913386583328247,
      "learning_rate": 0.00038538938112176444,
      "loss": 0.1421,
      "step": 4524
    },
    {
      "epoch": 1.0150325330940093,
      "gripper_loss": 0.78515625,
      "loss": 0.09619140625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.126953125,
      "step": 4524
    },
    {
      "epoch": 1.0152568992595916,
      "grad_norm": 0.8228121995925903,
      "learning_rate": 0.0003853384668467923,
      "loss": 0.1315,
      "step": 4525
    },
    {
      "epoch": 1.0152568992595916,
      "gripper_loss": 0.1904296875,
      "loss": 0.040771484375,
      "pos_loss": 0.185546875,
      "rot_loss": 0.1123046875,
      "step": 4525
    },
    {
      "epoch": 1.015481265425174,
      "grad_norm": 0.48779359459877014,
      "learning_rate": 0.0003852875446302201,
      "loss": 0.0694,
      "step": 4526
    },
    {
      "epoch": 1.015481265425174,
      "gripper_loss": 0.04541015625,
      "loss": 0.068359375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.275390625,
      "step": 4526
    },
    {
      "epoch": 1.0157056315907562,
      "grad_norm": 0.46152663230895996,
      "learning_rate": 0.00038523661447503575,
      "loss": 0.0799,
      "step": 4527
    },
    {
      "epoch": 1.0157056315907562,
      "gripper_loss": 0.52734375,
      "loss": 0.1259765625,
      "pos_loss": 0.318359375,
      "rot_loss": 0.1953125,
      "step": 4527
    },
    {
      "epoch": 1.0159299977563383,
      "grad_norm": 0.9482429027557373,
      "learning_rate": 0.00038518567638422805,
      "loss": 0.1188,
      "step": 4528
    },
    {
      "epoch": 1.0159299977563383,
      "gripper_loss": 0.33203125,
      "loss": 0.15234375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.87109375,
      "step": 4528
    },
    {
      "epoch": 1.0161543639219206,
      "grad_norm": 0.6484854817390442,
      "learning_rate": 0.0003851347303607858,
      "loss": 0.1005,
      "step": 4529
    },
    {
      "epoch": 1.0161543639219206,
      "gripper_loss": 0.8203125,
      "loss": 0.041015625,
      "pos_loss": 0.03466796875,
      "rot_loss": 0.04296875,
      "step": 4529
    },
    {
      "epoch": 1.016378730087503,
      "grad_norm": 0.8095105886459351,
      "learning_rate": 0.0003850837764076987,
      "loss": 0.1156,
      "step": 4530
    },
    {
      "epoch": 1.016378730087503,
      "gripper_loss": 0.01409912109375,
      "loss": 0.11962890625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.625,
      "step": 4530
    },
    {
      "epoch": 1.016603096253085,
      "grad_norm": 0.7763800621032715,
      "learning_rate": 0.0003850328145279566,
      "loss": 0.1164,
      "step": 4531
    },
    {
      "epoch": 1.016603096253085,
      "gripper_loss": 0.035400390625,
      "loss": 0.0849609375,
      "pos_loss": 0.59375,
      "rot_loss": 0.11572265625,
      "step": 4531
    },
    {
      "epoch": 1.0168274624186673,
      "grad_norm": 0.7464250922203064,
      "learning_rate": 0.00038498184472454986,
      "loss": 0.0854,
      "step": 4532
    },
    {
      "epoch": 1.0168274624186673,
      "gripper_loss": 0.251953125,
      "loss": 0.6171875,
      "pos_loss": 1.8671875,
      "rot_loss": 0.78515625,
      "step": 4532
    },
    {
      "epoch": 1.0170518285842496,
      "grad_norm": 1.8440827131271362,
      "learning_rate": 0.0003849308670004694,
      "loss": 0.5002,
      "step": 4533
    },
    {
      "epoch": 1.0170518285842496,
      "gripper_loss": 1.1484375,
      "loss": 0.09716796875,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.400390625,
      "step": 4533
    },
    {
      "epoch": 1.0172761947498317,
      "grad_norm": 0.4801804721355438,
      "learning_rate": 0.0003848798813587067,
      "loss": 0.0875,
      "step": 4534
    },
    {
      "epoch": 1.0172761947498317,
      "gripper_loss": 0.016357421875,
      "loss": 0.134765625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.625,
      "step": 4534
    },
    {
      "epoch": 1.017500560915414,
      "grad_norm": 0.5077822208404541,
      "learning_rate": 0.00038482888780225346,
      "loss": 0.098,
      "step": 4535
    },
    {
      "epoch": 1.017500560915414,
      "gripper_loss": 0.38671875,
      "loss": 0.04541015625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0274658203125,
      "step": 4535
    },
    {
      "epoch": 1.0177249270809963,
      "grad_norm": 0.44514724612236023,
      "learning_rate": 0.0003847778863341019,
      "loss": 0.0565,
      "step": 4536
    },
    {
      "epoch": 1.0177249270809963,
      "gripper_loss": 1.7265625,
      "loss": 0.10791015625,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.26953125,
      "step": 4536
    },
    {
      "epoch": 1.0179492932465783,
      "grad_norm": 0.6336227059364319,
      "learning_rate": 0.00038472687695724494,
      "loss": 0.0969,
      "step": 4537
    },
    {
      "epoch": 1.0179492932465783,
      "gripper_loss": 0.14453125,
      "loss": 0.17578125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.6875,
      "step": 4537
    },
    {
      "epoch": 1.0181736594121606,
      "grad_norm": 0.9734234809875488,
      "learning_rate": 0.0003846758596746756,
      "loss": 0.1226,
      "step": 4538
    },
    {
      "epoch": 1.0181736594121606,
      "gripper_loss": 0.921875,
      "loss": 0.1103515625,
      "pos_loss": 0.6953125,
      "rot_loss": 0.10693359375,
      "step": 4538
    },
    {
      "epoch": 1.018398025577743,
      "grad_norm": 0.5533378720283508,
      "learning_rate": 0.00038462483448938766,
      "loss": 0.0987,
      "step": 4539
    },
    {
      "epoch": 1.018398025577743,
      "gripper_loss": 0.5,
      "loss": 0.33203125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.498046875,
      "step": 4539
    },
    {
      "epoch": 1.018622391743325,
      "grad_norm": 1.8399230241775513,
      "learning_rate": 0.00038457380140437524,
      "loss": 0.4031,
      "step": 4540
    },
    {
      "epoch": 1.018622391743325,
      "gripper_loss": 0.01123046875,
      "loss": 0.1416015625,
      "pos_loss": 1.4140625,
      "rot_loss": 0.019287109375,
      "step": 4540
    },
    {
      "epoch": 1.0188467579089073,
      "grad_norm": 0.6291213035583496,
      "learning_rate": 0.000384522760422633,
      "loss": 0.1281,
      "step": 4541
    },
    {
      "epoch": 1.0188467579089073,
      "gripper_loss": 0.205078125,
      "loss": 0.037353515625,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.130859375,
      "step": 4541
    },
    {
      "epoch": 1.0190711240744896,
      "grad_norm": 0.4463522732257843,
      "learning_rate": 0.00038447171154715583,
      "loss": 0.0579,
      "step": 4542
    },
    {
      "epoch": 1.0190711240744896,
      "gripper_loss": 0.02197265625,
      "loss": 0.125,
      "pos_loss": 1.1796875,
      "rot_loss": 0.068359375,
      "step": 4542
    },
    {
      "epoch": 1.0192954902400717,
      "grad_norm": 0.5190528631210327,
      "learning_rate": 0.00038442065478093933,
      "loss": 0.087,
      "step": 4543
    },
    {
      "epoch": 1.0192954902400717,
      "gripper_loss": 0.1513671875,
      "loss": 0.150390625,
      "pos_loss": 1.375,
      "rot_loss": 0.1005859375,
      "step": 4543
    },
    {
      "epoch": 1.019519856405654,
      "grad_norm": 0.627105176448822,
      "learning_rate": 0.0003843695901269796,
      "loss": 0.1357,
      "step": 4544
    },
    {
      "epoch": 1.019519856405654,
      "gripper_loss": 0.06396484375,
      "loss": 0.0830078125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.26953125,
      "step": 4544
    },
    {
      "epoch": 1.0197442225712363,
      "grad_norm": 0.621813952922821,
      "learning_rate": 0.00038431851758827294,
      "loss": 0.0769,
      "step": 4545
    },
    {
      "epoch": 1.0197442225712363,
      "gripper_loss": 1.1484375,
      "loss": 0.08740234375,
      "pos_loss": 0.396484375,
      "rot_loss": 0.048828125,
      "step": 4545
    },
    {
      "epoch": 1.0199685887368184,
      "grad_norm": 0.6379727721214294,
      "learning_rate": 0.0003842674371678164,
      "loss": 0.077,
      "step": 4546
    },
    {
      "epoch": 1.0199685887368184,
      "gripper_loss": 0.240234375,
      "loss": 0.197265625,
      "pos_loss": 0.96484375,
      "rot_loss": 1.0,
      "step": 4546
    },
    {
      "epoch": 1.0201929549024007,
      "grad_norm": 0.44505664706230164,
      "learning_rate": 0.00038421634886860723,
      "loss": 0.1006,
      "step": 4547
    },
    {
      "epoch": 1.0201929549024007,
      "gripper_loss": 0.21875,
      "loss": 0.09521484375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.291015625,
      "step": 4547
    },
    {
      "epoch": 1.020417321067983,
      "grad_norm": 0.5223010778427124,
      "learning_rate": 0.0003841652526936433,
      "loss": 0.0943,
      "step": 4548
    },
    {
      "epoch": 1.020417321067983,
      "gripper_loss": 0.8984375,
      "loss": 0.103515625,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.609375,
      "step": 4548
    },
    {
      "epoch": 1.020641687233565,
      "grad_norm": 0.43169212341308594,
      "learning_rate": 0.00038411414864592295,
      "loss": 0.0858,
      "step": 4549
    },
    {
      "epoch": 1.020641687233565,
      "gripper_loss": 0.042724609375,
      "loss": 0.03955078125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0771484375,
      "step": 4549
    },
    {
      "epoch": 1.0208660533991474,
      "grad_norm": 0.4821648895740509,
      "learning_rate": 0.000384063036728445,
      "loss": 0.0844,
      "step": 4550
    },
    {
      "epoch": 1.0208660533991474,
      "gripper_loss": 0.3828125,
      "loss": 0.0311279296875,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.047607421875,
      "step": 4550
    },
    {
      "epoch": 1.0210904195647297,
      "grad_norm": 0.4462876319885254,
      "learning_rate": 0.0003840119169442085,
      "loss": 0.0728,
      "step": 4551
    },
    {
      "epoch": 1.0210904195647297,
      "gripper_loss": 2.109375,
      "loss": 0.453125,
      "pos_loss": 0.466796875,
      "rot_loss": 1.4375,
      "step": 4551
    },
    {
      "epoch": 1.0213147857303118,
      "grad_norm": 1.8107815980911255,
      "learning_rate": 0.0003839607892962134,
      "loss": 0.4294,
      "step": 4552
    },
    {
      "epoch": 1.0213147857303118,
      "gripper_loss": 0.337890625,
      "loss": 0.224609375,
      "pos_loss": 1.296875,
      "rot_loss": 0.28515625,
      "step": 4552
    },
    {
      "epoch": 1.021539151895894,
      "grad_norm": 1.3656139373779297,
      "learning_rate": 0.00038390965378745943,
      "loss": 0.1945,
      "step": 4553
    },
    {
      "epoch": 1.021539151895894,
      "gripper_loss": 0.443359375,
      "loss": 0.0888671875,
      "pos_loss": 0.466796875,
      "rot_loss": 0.224609375,
      "step": 4553
    },
    {
      "epoch": 1.0217635180614764,
      "grad_norm": 0.7000420689582825,
      "learning_rate": 0.00038385851042094764,
      "loss": 0.0927,
      "step": 4554
    },
    {
      "epoch": 1.0217635180614764,
      "gripper_loss": 0.03076171875,
      "loss": 0.115234375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.5078125,
      "step": 4554
    },
    {
      "epoch": 1.0219878842270587,
      "grad_norm": 0.8689519166946411,
      "learning_rate": 0.0003838073591996788,
      "loss": 0.1527,
      "step": 4555
    },
    {
      "epoch": 1.0219878842270587,
      "gripper_loss": 0.92578125,
      "loss": 0.0693359375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.045166015625,
      "step": 4555
    },
    {
      "epoch": 1.0222122503926407,
      "grad_norm": 0.6584705710411072,
      "learning_rate": 0.00038375620012665463,
      "loss": 0.0726,
      "step": 4556
    },
    {
      "epoch": 1.0222122503926407,
      "gripper_loss": 0.58984375,
      "loss": 0.138671875,
      "pos_loss": 0.48046875,
      "rot_loss": 0.703125,
      "step": 4556
    },
    {
      "epoch": 1.022436616558223,
      "grad_norm": 0.6793028712272644,
      "learning_rate": 0.00038370503320487697,
      "loss": 0.1127,
      "step": 4557
    },
    {
      "epoch": 1.022436616558223,
      "gripper_loss": 0.37109375,
      "loss": 0.2412109375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.8125,
      "step": 4557
    },
    {
      "epoch": 1.0226609827238053,
      "grad_norm": 1.699982762336731,
      "learning_rate": 0.00038365385843734846,
      "loss": 0.217,
      "step": 4558
    },
    {
      "epoch": 1.0226609827238053,
      "gripper_loss": 0.013916015625,
      "loss": 0.11767578125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.73828125,
      "step": 4558
    },
    {
      "epoch": 1.0228853488893874,
      "grad_norm": 0.4598333537578583,
      "learning_rate": 0.00038360267582707175,
      "loss": 0.0746,
      "step": 4559
    },
    {
      "epoch": 1.0228853488893874,
      "gripper_loss": 0.703125,
      "loss": 0.5625,
      "pos_loss": 1.40625,
      "rot_loss": 0.62109375,
      "step": 4559
    },
    {
      "epoch": 1.0231097150549697,
      "grad_norm": 1.8279781341552734,
      "learning_rate": 0.0003835514853770505,
      "loss": 0.5247,
      "step": 4560
    },
    {
      "epoch": 1.0231097150549697,
      "gripper_loss": 0.9375,
      "loss": 0.09033203125,
      "pos_loss": 0.25390625,
      "rot_loss": 0.29296875,
      "step": 4560
    },
    {
      "epoch": 1.023334081220552,
      "grad_norm": 0.7076919078826904,
      "learning_rate": 0.0003835002870902883,
      "loss": 0.0858,
      "step": 4561
    },
    {
      "epoch": 1.023334081220552,
      "gripper_loss": 0.1630859375,
      "loss": 0.09619140625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.046142578125,
      "step": 4561
    },
    {
      "epoch": 1.023558447386134,
      "grad_norm": 0.6434566378593445,
      "learning_rate": 0.0003834490809697896,
      "loss": 0.0776,
      "step": 4562
    },
    {
      "epoch": 1.023558447386134,
      "gripper_loss": 0.12158203125,
      "loss": 0.051513671875,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.12060546875,
      "step": 4562
    },
    {
      "epoch": 1.0237828135517164,
      "grad_norm": 0.8854884505271912,
      "learning_rate": 0.00038339786701855905,
      "loss": 0.094,
      "step": 4563
    },
    {
      "epoch": 1.0237828135517164,
      "gripper_loss": 0.88671875,
      "loss": 0.04248046875,
      "pos_loss": 0.0302734375,
      "rot_loss": 0.0306396484375,
      "step": 4563
    },
    {
      "epoch": 1.0240071797172987,
      "grad_norm": 0.6971221566200256,
      "learning_rate": 0.00038334664523960194,
      "loss": 0.0815,
      "step": 4564
    },
    {
      "epoch": 1.0240071797172987,
      "gripper_loss": 0.024658203125,
      "loss": 0.142578125,
      "pos_loss": 0.921875,
      "rot_loss": 0.474609375,
      "step": 4564
    },
    {
      "epoch": 1.0242315458828808,
      "grad_norm": 0.6301341652870178,
      "learning_rate": 0.00038329541563592387,
      "loss": 0.108,
      "step": 4565
    },
    {
      "epoch": 1.0242315458828808,
      "gripper_loss": 0.3359375,
      "loss": 0.14453125,
      "pos_loss": 0.36328125,
      "rot_loss": 0.3671875,
      "step": 4565
    },
    {
      "epoch": 1.024455912048463,
      "grad_norm": 1.428470253944397,
      "learning_rate": 0.00038324417821053105,
      "loss": 0.1504,
      "step": 4566
    },
    {
      "epoch": 1.024455912048463,
      "gripper_loss": 0.0252685546875,
      "loss": 0.1669921875,
      "pos_loss": 0.57421875,
      "rot_loss": 1.09375,
      "step": 4566
    },
    {
      "epoch": 1.0246802782140454,
      "grad_norm": 0.5933873057365417,
      "learning_rate": 0.00038319293296643,
      "loss": 0.1041,
      "step": 4567
    },
    {
      "epoch": 1.0246802782140454,
      "gripper_loss": 0.1279296875,
      "loss": 0.05517578125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.1005859375,
      "step": 4567
    },
    {
      "epoch": 1.0249046443796275,
      "grad_norm": 0.6911628246307373,
      "learning_rate": 0.0003831416799066277,
      "loss": 0.091,
      "step": 4568
    },
    {
      "epoch": 1.0249046443796275,
      "gripper_loss": 0.271484375,
      "loss": 0.046630859375,
      "pos_loss": 0.22265625,
      "rot_loss": 0.08984375,
      "step": 4568
    },
    {
      "epoch": 1.0251290105452098,
      "grad_norm": 0.686866283416748,
      "learning_rate": 0.00038309041903413193,
      "loss": 0.1,
      "step": 4569
    },
    {
      "epoch": 1.0251290105452098,
      "gripper_loss": 0.765625,
      "loss": 0.11083984375,
      "pos_loss": 0.73828125,
      "rot_loss": 0.0791015625,
      "step": 4569
    },
    {
      "epoch": 1.025353376710792,
      "grad_norm": 0.6938900351524353,
      "learning_rate": 0.00038303915035195046,
      "loss": 0.0794,
      "step": 4570
    },
    {
      "epoch": 1.025353376710792,
      "gripper_loss": 0.0537109375,
      "loss": 0.111328125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.33984375,
      "step": 4570
    },
    {
      "epoch": 1.0255777428763742,
      "grad_norm": 0.4713954031467438,
      "learning_rate": 0.00038298787386309164,
      "loss": 0.0882,
      "step": 4571
    },
    {
      "epoch": 1.0255777428763742,
      "gripper_loss": 0.8515625,
      "loss": 0.1044921875,
      "pos_loss": 0.6015625,
      "rot_loss": 0.138671875,
      "step": 4571
    },
    {
      "epoch": 1.0258021090419565,
      "grad_norm": 0.5044409036636353,
      "learning_rate": 0.00038293658957056447,
      "loss": 0.1033,
      "step": 4572
    },
    {
      "epoch": 1.0258021090419565,
      "gripper_loss": 0.0986328125,
      "loss": 0.0703125,
      "pos_loss": 0.390625,
      "rot_loss": 0.2578125,
      "step": 4572
    },
    {
      "epoch": 1.0260264752075388,
      "grad_norm": 0.5434356331825256,
      "learning_rate": 0.0003828852974773783,
      "loss": 0.0751,
      "step": 4573
    },
    {
      "epoch": 1.0260264752075388,
      "gripper_loss": 0.01458740234375,
      "loss": 0.06884765625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.061767578125,
      "step": 4573
    },
    {
      "epoch": 1.0262508413731208,
      "grad_norm": 0.7035391330718994,
      "learning_rate": 0.0003828339975865428,
      "loss": 0.1283,
      "step": 4574
    },
    {
      "epoch": 1.0262508413731208,
      "gripper_loss": 0.11962890625,
      "loss": 0.056884765625,
      "pos_loss": 0.265625,
      "rot_loss": 0.1298828125,
      "step": 4574
    },
    {
      "epoch": 1.0264752075387031,
      "grad_norm": 0.6816208958625793,
      "learning_rate": 0.00038278268990106837,
      "loss": 0.0896,
      "step": 4575
    },
    {
      "epoch": 1.0264752075387031,
      "gripper_loss": 0.255859375,
      "loss": 0.208984375,
      "pos_loss": 0.875,
      "rot_loss": 0.2158203125,
      "step": 4575
    },
    {
      "epoch": 1.0266995737042854,
      "grad_norm": 1.5142053365707397,
      "learning_rate": 0.00038273137442396566,
      "loss": 0.2455,
      "step": 4576
    },
    {
      "epoch": 1.0266995737042854,
      "gripper_loss": 0.012939453125,
      "loss": 0.126953125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.0262451171875,
      "step": 4576
    },
    {
      "epoch": 1.0269239398698675,
      "grad_norm": 0.6671842336654663,
      "learning_rate": 0.00038268005115824587,
      "loss": 0.1252,
      "step": 4577
    },
    {
      "epoch": 1.0269239398698675,
      "gripper_loss": 0.212890625,
      "loss": 0.059326171875,
      "pos_loss": 0.341796875,
      "rot_loss": 0.16015625,
      "step": 4577
    },
    {
      "epoch": 1.0271483060354498,
      "grad_norm": 0.517562747001648,
      "learning_rate": 0.00038262872010692053,
      "loss": 0.0809,
      "step": 4578
    },
    {
      "epoch": 1.0271483060354498,
      "gripper_loss": 0.0810546875,
      "loss": 0.09228515625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.57421875,
      "step": 4578
    },
    {
      "epoch": 1.0273726722010321,
      "grad_norm": 0.7062118649482727,
      "learning_rate": 0.00038257738127300177,
      "loss": 0.1425,
      "step": 4579
    },
    {
      "epoch": 1.0273726722010321,
      "gripper_loss": 0.130859375,
      "loss": 0.376953125,
      "pos_loss": 1.5703125,
      "rot_loss": 0.73828125,
      "step": 4579
    },
    {
      "epoch": 1.0275970383666144,
      "grad_norm": 1.3343052864074707,
      "learning_rate": 0.00038252603465950227,
      "loss": 0.2767,
      "step": 4580
    },
    {
      "epoch": 1.0275970383666144,
      "gripper_loss": 0.11572265625,
      "loss": 0.046630859375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.0830078125,
      "step": 4580
    },
    {
      "epoch": 1.0278214045321965,
      "grad_norm": 0.8406944274902344,
      "learning_rate": 0.00038247468026943486,
      "loss": 0.0754,
      "step": 4581
    },
    {
      "epoch": 1.0278214045321965,
      "gripper_loss": 0.080078125,
      "loss": 0.08935546875,
      "pos_loss": 0.466796875,
      "rot_loss": 0.30859375,
      "step": 4581
    },
    {
      "epoch": 1.0280457706977788,
      "grad_norm": 0.700386106967926,
      "learning_rate": 0.00038242331810581297,
      "loss": 0.1307,
      "step": 4582
    },
    {
      "epoch": 1.0280457706977788,
      "gripper_loss": 0.0203857421875,
      "loss": 0.1337890625,
      "pos_loss": 0.65625,
      "rot_loss": 0.67578125,
      "step": 4582
    },
    {
      "epoch": 1.028270136863361,
      "grad_norm": 0.4799836575984955,
      "learning_rate": 0.0003823719481716507,
      "loss": 0.0954,
      "step": 4583
    },
    {
      "epoch": 1.028270136863361,
      "gripper_loss": 0.04052734375,
      "loss": 0.06787109375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.0255126953125,
      "step": 4583
    },
    {
      "epoch": 1.0284945030289432,
      "grad_norm": 0.5762144923210144,
      "learning_rate": 0.00038232057046996213,
      "loss": 0.0822,
      "step": 4584
    },
    {
      "epoch": 1.0284945030289432,
      "gripper_loss": 0.059814453125,
      "loss": 0.119140625,
      "pos_loss": 1.015625,
      "rot_loss": 0.1416015625,
      "step": 4584
    },
    {
      "epoch": 1.0287188691945255,
      "grad_norm": 0.4819595515727997,
      "learning_rate": 0.00038226918500376233,
      "loss": 0.0827,
      "step": 4585
    },
    {
      "epoch": 1.0287188691945255,
      "gripper_loss": 0.97265625,
      "loss": 0.267578125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.392578125,
      "step": 4585
    },
    {
      "epoch": 1.0289432353601078,
      "grad_norm": 1.7381043434143066,
      "learning_rate": 0.00038221779177606655,
      "loss": 0.2974,
      "step": 4586
    },
    {
      "epoch": 1.0289432353601078,
      "gripper_loss": 0.50390625,
      "loss": 0.0859375,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.5234375,
      "step": 4586
    },
    {
      "epoch": 1.0291676015256899,
      "grad_norm": 0.815036416053772,
      "learning_rate": 0.00038216639078989033,
      "loss": 0.1251,
      "step": 4587
    },
    {
      "epoch": 1.0291676015256899,
      "gripper_loss": 0.1943359375,
      "loss": 0.1865234375,
      "pos_loss": 0.453125,
      "rot_loss": 0.421875,
      "step": 4587
    },
    {
      "epoch": 1.0293919676912722,
      "grad_norm": 1.3459091186523438,
      "learning_rate": 0.00038211498204825014,
      "loss": 0.243,
      "step": 4588
    },
    {
      "epoch": 1.0293919676912722,
      "gripper_loss": 0.55078125,
      "loss": 0.1259765625,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.130859375,
      "step": 4588
    },
    {
      "epoch": 1.0296163338568545,
      "grad_norm": 1.4879653453826904,
      "learning_rate": 0.00038206356555416234,
      "loss": 0.2484,
      "step": 4589
    },
    {
      "epoch": 1.0296163338568545,
      "gripper_loss": 0.640625,
      "loss": 0.08154296875,
      "pos_loss": 0.359375,
      "rot_loss": 0.177734375,
      "step": 4589
    },
    {
      "epoch": 1.0298407000224366,
      "grad_norm": 0.642501175403595,
      "learning_rate": 0.0003820121413106442,
      "loss": 0.1184,
      "step": 4590
    },
    {
      "epoch": 1.0298407000224366,
      "gripper_loss": 0.3515625,
      "loss": 0.1708984375,
      "pos_loss": 0.140625,
      "rot_loss": 1.125,
      "step": 4590
    },
    {
      "epoch": 1.0300650661880189,
      "grad_norm": 1.1639912128448486,
      "learning_rate": 0.00038196070932071326,
      "loss": 0.1627,
      "step": 4591
    },
    {
      "epoch": 1.0300650661880189,
      "gripper_loss": 1.546875,
      "loss": 0.2060546875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.98828125,
      "step": 4591
    },
    {
      "epoch": 1.0302894323536012,
      "grad_norm": 0.8624603152275085,
      "learning_rate": 0.0003819092695873874,
      "loss": 0.1002,
      "step": 4592
    },
    {
      "epoch": 1.0302894323536012,
      "gripper_loss": 0.1337890625,
      "loss": 0.10498046875,
      "pos_loss": 0.74609375,
      "rot_loss": 0.177734375,
      "step": 4592
    },
    {
      "epoch": 1.0305137985191832,
      "grad_norm": 1.0802665948867798,
      "learning_rate": 0.0003818578221136853,
      "loss": 0.0942,
      "step": 4593
    },
    {
      "epoch": 1.0305137985191832,
      "gripper_loss": 0.42578125,
      "loss": 0.283203125,
      "pos_loss": 0.85546875,
      "rot_loss": 0.6640625,
      "step": 4593
    },
    {
      "epoch": 1.0307381646847655,
      "grad_norm": 1.3978958129882812,
      "learning_rate": 0.00038180636690262563,
      "loss": 0.2354,
      "step": 4594
    },
    {
      "epoch": 1.0307381646847655,
      "gripper_loss": 0.373046875,
      "loss": 0.0556640625,
      "pos_loss": 0.333984375,
      "rot_loss": 0.044189453125,
      "step": 4594
    },
    {
      "epoch": 1.0309625308503478,
      "grad_norm": 0.5863716006278992,
      "learning_rate": 0.0003817549039572279,
      "loss": 0.0699,
      "step": 4595
    },
    {
      "epoch": 1.0309625308503478,
      "gripper_loss": 0.0242919921875,
      "loss": 0.0771484375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.11572265625,
      "step": 4595
    },
    {
      "epoch": 1.03118689701593,
      "grad_norm": 0.766991376876831,
      "learning_rate": 0.00038170343328051195,
      "loss": 0.1418,
      "step": 4596
    },
    {
      "epoch": 1.03118689701593,
      "gripper_loss": 0.04150390625,
      "loss": 0.1279296875,
      "pos_loss": 0.7421875,
      "rot_loss": 0.337890625,
      "step": 4596
    },
    {
      "epoch": 1.0314112631815122,
      "grad_norm": 0.9108270406723022,
      "learning_rate": 0.00038165195487549795,
      "loss": 0.0957,
      "step": 4597
    },
    {
      "epoch": 1.0314112631815122,
      "gripper_loss": 1.4609375,
      "loss": 0.10693359375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.181640625,
      "step": 4597
    },
    {
      "epoch": 1.0316356293470945,
      "grad_norm": 0.8498833775520325,
      "learning_rate": 0.0003816004687452067,
      "loss": 0.1017,
      "step": 4598
    },
    {
      "epoch": 1.0316356293470945,
      "gripper_loss": 0.03271484375,
      "loss": 0.423828125,
      "pos_loss": 1.1796875,
      "rot_loss": 3.203125,
      "step": 4598
    },
    {
      "epoch": 1.0318599955126766,
      "grad_norm": 0.8367450833320618,
      "learning_rate": 0.0003815489748926595,
      "loss": 0.1552,
      "step": 4599
    },
    {
      "epoch": 1.0318599955126766,
      "gripper_loss": 0.1923828125,
      "loss": 0.1357421875,
      "pos_loss": 0.45703125,
      "rot_loss": 0.41796875,
      "step": 4599
    },
    {
      "epoch": 1.032084361678259,
      "grad_norm": 1.0589046478271484,
      "learning_rate": 0.00038149747332087773,
      "loss": 0.1452,
      "step": 4600
    },
    {
      "epoch": 1.032084361678259,
      "gripper_loss": 0.19140625,
      "loss": 0.05419921875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.1962890625,
      "step": 4600
    },
    {
      "epoch": 1.0323087278438412,
      "grad_norm": 0.7666473388671875,
      "learning_rate": 0.0003814459640328837,
      "loss": 0.0995,
      "step": 4601
    },
    {
      "epoch": 1.0323087278438412,
      "gripper_loss": 0.71875,
      "loss": 0.203125,
      "pos_loss": 1.0546875,
      "rot_loss": 0.765625,
      "step": 4601
    },
    {
      "epoch": 1.0325330940094233,
      "grad_norm": 0.8323817253112793,
      "learning_rate": 0.0003813944470316998,
      "loss": 0.0792,
      "step": 4602
    },
    {
      "epoch": 1.0325330940094233,
      "gripper_loss": 0.08447265625,
      "loss": 0.07275390625,
      "pos_loss": 0.46875,
      "rot_loss": 0.1474609375,
      "step": 4602
    },
    {
      "epoch": 1.0327574601750056,
      "grad_norm": 0.7416715025901794,
      "learning_rate": 0.00038134292232034906,
      "loss": 0.0833,
      "step": 4603
    },
    {
      "epoch": 1.0327574601750056,
      "gripper_loss": 0.03125,
      "loss": 0.220703125,
      "pos_loss": 1.7109375,
      "rot_loss": 0.5234375,
      "step": 4603
    },
    {
      "epoch": 1.0329818263405879,
      "grad_norm": 0.8492208123207092,
      "learning_rate": 0.00038129138990185496,
      "loss": 0.1201,
      "step": 4604
    },
    {
      "epoch": 1.0329818263405879,
      "gripper_loss": 0.447265625,
      "loss": 0.2470703125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.388671875,
      "step": 4604
    },
    {
      "epoch": 1.03320619250617,
      "grad_norm": 2.0029423236846924,
      "learning_rate": 0.0003812398497792415,
      "loss": 0.3036,
      "step": 4605
    },
    {
      "epoch": 1.03320619250617,
      "gripper_loss": 0.053466796875,
      "loss": 0.0791015625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.38671875,
      "step": 4605
    },
    {
      "epoch": 1.0334305586717523,
      "grad_norm": 0.6921627521514893,
      "learning_rate": 0.00038118830195553287,
      "loss": 0.0779,
      "step": 4606
    },
    {
      "epoch": 1.0334305586717523,
      "gripper_loss": 0.08984375,
      "loss": 0.04150390625,
      "pos_loss": 0.294921875,
      "rot_loss": 0.029052734375,
      "step": 4606
    },
    {
      "epoch": 1.0336549248373346,
      "grad_norm": 0.5927281379699707,
      "learning_rate": 0.00038113674643375396,
      "loss": 0.0953,
      "step": 4607
    },
    {
      "epoch": 1.0336549248373346,
      "gripper_loss": 0.5703125,
      "loss": 0.041259765625,
      "pos_loss": 0.107421875,
      "rot_loss": 0.041015625,
      "step": 4607
    },
    {
      "epoch": 1.0338792910029169,
      "grad_norm": 0.7306473255157471,
      "learning_rate": 0.0003810851832169299,
      "loss": 0.1158,
      "step": 4608
    },
    {
      "epoch": 1.0338792910029169,
      "gripper_loss": 0.5078125,
      "loss": 0.055908203125,
      "pos_loss": 0.115234375,
      "rot_loss": 0.2001953125,
      "step": 4608
    },
    {
      "epoch": 1.034103657168499,
      "grad_norm": 0.9051527976989746,
      "learning_rate": 0.00038103361230808647,
      "loss": 0.0887,
      "step": 4609
    },
    {
      "epoch": 1.034103657168499,
      "gripper_loss": 0.7421875,
      "loss": 0.056884765625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.08251953125,
      "step": 4609
    },
    {
      "epoch": 1.0343280233340812,
      "grad_norm": 0.5406783819198608,
      "learning_rate": 0.00038098203371024996,
      "loss": 0.0881,
      "step": 4610
    },
    {
      "epoch": 1.0343280233340812,
      "gripper_loss": 0.060791015625,
      "loss": 0.15625,
      "pos_loss": 1.0625,
      "rot_loss": 0.447265625,
      "step": 4610
    },
    {
      "epoch": 1.0345523894996635,
      "grad_norm": 0.7248488068580627,
      "learning_rate": 0.0003809304474264468,
      "loss": 0.0962,
      "step": 4611
    },
    {
      "epoch": 1.0345523894996635,
      "gripper_loss": 0.005859375,
      "loss": 0.04052734375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.025634765625,
      "step": 4611
    },
    {
      "epoch": 1.0347767556652456,
      "grad_norm": 0.7848992347717285,
      "learning_rate": 0.0003808788534597042,
      "loss": 0.1212,
      "step": 4612
    },
    {
      "epoch": 1.0347767556652456,
      "gripper_loss": 0.126953125,
      "loss": 0.103515625,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.8828125,
      "step": 4612
    },
    {
      "epoch": 1.035001121830828,
      "grad_norm": 0.6270140409469604,
      "learning_rate": 0.00038082725181304945,
      "loss": 0.0945,
      "step": 4613
    },
    {
      "epoch": 1.035001121830828,
      "gripper_loss": 0.029052734375,
      "loss": 0.2060546875,
      "pos_loss": 1.3125,
      "rot_loss": 0.78515625,
      "step": 4613
    },
    {
      "epoch": 1.0352254879964102,
      "grad_norm": 0.722262978553772,
      "learning_rate": 0.0003807756424895107,
      "loss": 0.0995,
      "step": 4614
    },
    {
      "epoch": 1.0352254879964102,
      "gripper_loss": 0.1904296875,
      "loss": 0.10400390625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.4296875,
      "step": 4614
    },
    {
      "epoch": 1.0354498541619923,
      "grad_norm": 0.7417172789573669,
      "learning_rate": 0.00038072402549211627,
      "loss": 0.0741,
      "step": 4615
    },
    {
      "epoch": 1.0354498541619923,
      "gripper_loss": 0.8203125,
      "loss": 0.048583984375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.05322265625,
      "step": 4615
    },
    {
      "epoch": 1.0356742203275746,
      "grad_norm": 0.4509800374507904,
      "learning_rate": 0.00038067240082389516,
      "loss": 0.0757,
      "step": 4616
    },
    {
      "epoch": 1.0356742203275746,
      "gripper_loss": 0.1494140625,
      "loss": 0.09130859375,
      "pos_loss": 0.77734375,
      "rot_loss": 0.061279296875,
      "step": 4616
    },
    {
      "epoch": 1.035898586493157,
      "grad_norm": 0.5770317912101746,
      "learning_rate": 0.00038062076848787655,
      "loss": 0.0675,
      "step": 4617
    },
    {
      "epoch": 1.035898586493157,
      "gripper_loss": 0.33203125,
      "loss": 0.046142578125,
      "pos_loss": 0.291015625,
      "rot_loss": 0.0301513671875,
      "step": 4617
    },
    {
      "epoch": 1.036122952658739,
      "grad_norm": 0.49720245599746704,
      "learning_rate": 0.00038056912848709025,
      "loss": 0.0698,
      "step": 4618
    },
    {
      "epoch": 1.036122952658739,
      "gripper_loss": 0.04833984375,
      "loss": 0.064453125,
      "pos_loss": 0.28125,
      "rot_loss": 0.1552734375,
      "step": 4618
    },
    {
      "epoch": 1.0363473188243213,
      "grad_norm": 0.9457883834838867,
      "learning_rate": 0.0003805174808245664,
      "loss": 0.1191,
      "step": 4619
    },
    {
      "epoch": 1.0363473188243213,
      "gripper_loss": 1.3984375,
      "loss": 0.1875,
      "pos_loss": 1.2421875,
      "rot_loss": 0.2099609375,
      "step": 4619
    },
    {
      "epoch": 1.0365716849899036,
      "grad_norm": 0.704472541809082,
      "learning_rate": 0.00038046582550333574,
      "loss": 0.1288,
      "step": 4620
    },
    {
      "epoch": 1.0365716849899036,
      "gripper_loss": 0.046630859375,
      "loss": 0.05078125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.10498046875,
      "step": 4620
    },
    {
      "epoch": 1.0367960511554857,
      "grad_norm": 0.45838090777397156,
      "learning_rate": 0.00038041416252642936,
      "loss": 0.0717,
      "step": 4621
    },
    {
      "epoch": 1.0367960511554857,
      "gripper_loss": 0.4921875,
      "loss": 0.029541015625,
      "pos_loss": 0.045654296875,
      "rot_loss": 0.033447265625,
      "step": 4621
    },
    {
      "epoch": 1.037020417321068,
      "grad_norm": 0.6128180623054504,
      "learning_rate": 0.0003803624918968788,
      "loss": 0.1153,
      "step": 4622
    },
    {
      "epoch": 1.037020417321068,
      "gripper_loss": 0.306640625,
      "loss": 0.1708984375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.4140625,
      "step": 4622
    },
    {
      "epoch": 1.0372447834866503,
      "grad_norm": 1.5729471445083618,
      "learning_rate": 0.00038031081361771614,
      "loss": 0.2039,
      "step": 4623
    },
    {
      "epoch": 1.0372447834866503,
      "gripper_loss": 0.275390625,
      "loss": 0.07177734375,
      "pos_loss": 0.486328125,
      "rot_loss": 0.107421875,
      "step": 4623
    },
    {
      "epoch": 1.0374691496522324,
      "grad_norm": 0.5729299783706665,
      "learning_rate": 0.0003802591276919738,
      "loss": 0.079,
      "step": 4624
    },
    {
      "epoch": 1.0374691496522324,
      "gripper_loss": 0.52734375,
      "loss": 0.05126953125,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.10986328125,
      "step": 4624
    },
    {
      "epoch": 1.0376935158178147,
      "grad_norm": 0.4729171097278595,
      "learning_rate": 0.00038020743412268455,
      "loss": 0.0837,
      "step": 4625
    },
    {
      "epoch": 1.0376935158178147,
      "gripper_loss": 0.1904296875,
      "loss": 0.1923828125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.451171875,
      "step": 4625
    },
    {
      "epoch": 1.037917881983397,
      "grad_norm": 1.4178617000579834,
      "learning_rate": 0.000380155732912882,
      "loss": 0.2108,
      "step": 4626
    },
    {
      "epoch": 1.037917881983397,
      "gripper_loss": 0.08740234375,
      "loss": 0.07373046875,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.51171875,
      "step": 4626
    },
    {
      "epoch": 1.038142248148979,
      "grad_norm": 0.4473396837711334,
      "learning_rate": 0.00038010402406559975,
      "loss": 0.0807,
      "step": 4627
    },
    {
      "epoch": 1.038142248148979,
      "gripper_loss": 0.173828125,
      "loss": 0.1201171875,
      "pos_loss": 0.7421875,
      "rot_loss": 0.1142578125,
      "step": 4627
    },
    {
      "epoch": 1.0383666143145613,
      "grad_norm": 0.8356868624687195,
      "learning_rate": 0.0003800523075838721,
      "loss": 0.1526,
      "step": 4628
    },
    {
      "epoch": 1.0383666143145613,
      "gripper_loss": 0.828125,
      "loss": 0.0751953125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.08642578125,
      "step": 4628
    },
    {
      "epoch": 1.0385909804801436,
      "grad_norm": 0.5891848206520081,
      "learning_rate": 0.0003800005834707338,
      "loss": 0.0872,
      "step": 4629
    },
    {
      "epoch": 1.0385909804801436,
      "gripper_loss": 0.036865234375,
      "loss": 0.056396484375,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.37890625,
      "step": 4629
    },
    {
      "epoch": 1.0388153466457257,
      "grad_norm": 0.6469378471374512,
      "learning_rate": 0.00037994885172922,
      "loss": 0.0746,
      "step": 4630
    },
    {
      "epoch": 1.0388153466457257,
      "gripper_loss": 0.287109375,
      "loss": 0.1123046875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.23828125,
      "step": 4630
    },
    {
      "epoch": 1.039039712811308,
      "grad_norm": 1.0046597719192505,
      "learning_rate": 0.0003798971123623663,
      "loss": 0.1356,
      "step": 4631
    },
    {
      "epoch": 1.039039712811308,
      "gripper_loss": 0.322265625,
      "loss": 0.03857421875,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.10400390625,
      "step": 4631
    },
    {
      "epoch": 1.0392640789768903,
      "grad_norm": 0.6085724830627441,
      "learning_rate": 0.00037984536537320865,
      "loss": 0.0792,
      "step": 4632
    },
    {
      "epoch": 1.0392640789768903,
      "gripper_loss": 0.7421875,
      "loss": 0.037109375,
      "pos_loss": 0.0308837890625,
      "rot_loss": 0.057373046875,
      "step": 4632
    },
    {
      "epoch": 1.0394884451424726,
      "grad_norm": 0.40261098742485046,
      "learning_rate": 0.00037979361076478365,
      "loss": 0.083,
      "step": 4633
    },
    {
      "epoch": 1.0394884451424726,
      "gripper_loss": 0.515625,
      "loss": 0.2314453125,
      "pos_loss": 1.3515625,
      "rot_loss": 0.85546875,
      "step": 4633
    },
    {
      "epoch": 1.0397128113080547,
      "grad_norm": 0.3750287592411041,
      "learning_rate": 0.00037974184854012814,
      "loss": 0.1003,
      "step": 4634
    },
    {
      "epoch": 1.0397128113080547,
      "gripper_loss": 0.9453125,
      "loss": 0.337890625,
      "pos_loss": 0.625,
      "rot_loss": 0.59375,
      "step": 4634
    },
    {
      "epoch": 1.039937177473637,
      "grad_norm": 1.4166876077651978,
      "learning_rate": 0.0003796900787022796,
      "loss": 0.3513,
      "step": 4635
    },
    {
      "epoch": 1.039937177473637,
      "gripper_loss": 0.048095703125,
      "loss": 0.08935546875,
      "pos_loss": 0.55078125,
      "rot_loss": 0.306640625,
      "step": 4635
    },
    {
      "epoch": 1.0401615436392193,
      "grad_norm": 0.5733416676521301,
      "learning_rate": 0.0003796383012542757,
      "loss": 0.0757,
      "step": 4636
    },
    {
      "epoch": 1.0401615436392193,
      "gripper_loss": 0.0233154296875,
      "loss": 0.0306396484375,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.146484375,
      "step": 4636
    },
    {
      "epoch": 1.0403859098048014,
      "grad_norm": 0.5358997583389282,
      "learning_rate": 0.000379586516199155,
      "loss": 0.1013,
      "step": 4637
    },
    {
      "epoch": 1.0403859098048014,
      "gripper_loss": 0.73828125,
      "loss": 0.07421875,
      "pos_loss": 0.375,
      "rot_loss": 0.0927734375,
      "step": 4637
    },
    {
      "epoch": 1.0406102759703837,
      "grad_norm": 0.6124212145805359,
      "learning_rate": 0.00037953472353995587,
      "loss": 0.1019,
      "step": 4638
    },
    {
      "epoch": 1.0406102759703837,
      "gripper_loss": 0.1865234375,
      "loss": 0.0223388671875,
      "pos_loss": 0.01806640625,
      "rot_loss": 0.072265625,
      "step": 4638
    },
    {
      "epoch": 1.040834642135966,
      "grad_norm": 0.474457323551178,
      "learning_rate": 0.00037948292327971776,
      "loss": 0.0855,
      "step": 4639
    },
    {
      "epoch": 1.040834642135966,
      "gripper_loss": 0.09326171875,
      "loss": 0.06640625,
      "pos_loss": 0.59765625,
      "rot_loss": 0.03173828125,
      "step": 4639
    },
    {
      "epoch": 1.041059008301548,
      "grad_norm": 0.4004666209220886,
      "learning_rate": 0.0003794311154214802,
      "loss": 0.0733,
      "step": 4640
    },
    {
      "epoch": 1.041059008301548,
      "gripper_loss": 0.05029296875,
      "loss": 0.11572265625,
      "pos_loss": 0.5625,
      "rot_loss": 0.390625,
      "step": 4640
    },
    {
      "epoch": 1.0412833744671304,
      "grad_norm": 0.6776103973388672,
      "learning_rate": 0.0003793792999682832,
      "loss": 0.0982,
      "step": 4641
    },
    {
      "epoch": 1.0412833744671304,
      "gripper_loss": 0.267578125,
      "loss": 0.11474609375,
      "pos_loss": 1.015625,
      "rot_loss": 0.056884765625,
      "step": 4641
    },
    {
      "epoch": 1.0415077406327127,
      "grad_norm": 0.6222320795059204,
      "learning_rate": 0.00037932747692316735,
      "loss": 0.0999,
      "step": 4642
    },
    {
      "epoch": 1.0415077406327127,
      "gripper_loss": 0.5390625,
      "loss": 0.02880859375,
      "pos_loss": 0.0478515625,
      "rot_loss": 0.026611328125,
      "step": 4642
    },
    {
      "epoch": 1.0417321067982948,
      "grad_norm": 0.4446558356285095,
      "learning_rate": 0.0003792756462891734,
      "loss": 0.0822,
      "step": 4643
    },
    {
      "epoch": 1.0417321067982948,
      "gripper_loss": 0.212890625,
      "loss": 0.193359375,
      "pos_loss": 0.80859375,
      "rot_loss": 0.66015625,
      "step": 4643
    },
    {
      "epoch": 1.041956472963877,
      "grad_norm": 0.9129912853240967,
      "learning_rate": 0.0003792238080693431,
      "loss": 0.1244,
      "step": 4644
    },
    {
      "epoch": 1.041956472963877,
      "gripper_loss": 0.015380859375,
      "loss": 0.060302734375,
      "pos_loss": 0.482421875,
      "rot_loss": 0.08837890625,
      "step": 4644
    },
    {
      "epoch": 1.0421808391294594,
      "grad_norm": 0.614152193069458,
      "learning_rate": 0.000379171962266718,
      "loss": 0.0712,
      "step": 4645
    },
    {
      "epoch": 1.0421808391294594,
      "gripper_loss": 0.306640625,
      "loss": 0.042236328125,
      "pos_loss": 0.138671875,
      "rot_loss": 0.138671875,
      "step": 4645
    },
    {
      "epoch": 1.0424052052950414,
      "grad_norm": 0.6166601181030273,
      "learning_rate": 0.00037912010888434066,
      "loss": 0.099,
      "step": 4646
    },
    {
      "epoch": 1.0424052052950414,
      "gripper_loss": 0.67578125,
      "loss": 0.044921875,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.055908203125,
      "step": 4646
    },
    {
      "epoch": 1.0426295714606237,
      "grad_norm": 0.7384544610977173,
      "learning_rate": 0.00037906824792525344,
      "loss": 0.0883,
      "step": 4647
    },
    {
      "epoch": 1.0426295714606237,
      "gripper_loss": 0.9375,
      "loss": 0.04833984375,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.044677734375,
      "step": 4647
    },
    {
      "epoch": 1.042853937626206,
      "grad_norm": 0.5034938454627991,
      "learning_rate": 0.0003790163793924998,
      "loss": 0.0923,
      "step": 4648
    },
    {
      "epoch": 1.042853937626206,
      "gripper_loss": 0.462890625,
      "loss": 0.07177734375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.016357421875,
      "step": 4648
    },
    {
      "epoch": 1.0430783037917881,
      "grad_norm": 0.4895434081554413,
      "learning_rate": 0.00037896450328912324,
      "loss": 0.0927,
      "step": 4649
    },
    {
      "epoch": 1.0430783037917881,
      "gripper_loss": 0.97265625,
      "loss": 0.07470703125,
      "pos_loss": 0.37890625,
      "rot_loss": 0.03759765625,
      "step": 4649
    },
    {
      "epoch": 1.0433026699573704,
      "grad_norm": 0.3649478256702423,
      "learning_rate": 0.00037891261961816794,
      "loss": 0.0669,
      "step": 4650
    },
    {
      "epoch": 1.0433026699573704,
      "gripper_loss": 0.0341796875,
      "loss": 0.046875,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.275390625,
      "step": 4650
    },
    {
      "epoch": 1.0435270361229527,
      "grad_norm": 0.4528364837169647,
      "learning_rate": 0.00037886072838267824,
      "loss": 0.0601,
      "step": 4651
    },
    {
      "epoch": 1.0435270361229527,
      "gripper_loss": 0.1865234375,
      "loss": 0.1171875,
      "pos_loss": 0.65625,
      "rot_loss": 0.37890625,
      "step": 4651
    },
    {
      "epoch": 1.0437514022885348,
      "grad_norm": 0.709224283695221,
      "learning_rate": 0.0003788088295856993,
      "loss": 0.1152,
      "step": 4652
    },
    {
      "epoch": 1.0437514022885348,
      "gripper_loss": 0.255859375,
      "loss": 0.07421875,
      "pos_loss": 0.470703125,
      "rot_loss": 0.1162109375,
      "step": 4652
    },
    {
      "epoch": 1.043975768454117,
      "grad_norm": 0.634993314743042,
      "learning_rate": 0.00037875692323027647,
      "loss": 0.1251,
      "step": 4653
    },
    {
      "epoch": 1.043975768454117,
      "gripper_loss": 0.27734375,
      "loss": 0.09375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.03564453125,
      "step": 4653
    },
    {
      "epoch": 1.0442001346196994,
      "grad_norm": 0.6824601888656616,
      "learning_rate": 0.0003787050093194554,
      "loss": 0.1091,
      "step": 4654
    },
    {
      "epoch": 1.0442001346196994,
      "gripper_loss": 0.0206298828125,
      "loss": 0.1640625,
      "pos_loss": 1.609375,
      "rot_loss": 0.0703125,
      "step": 4654
    },
    {
      "epoch": 1.0444245007852815,
      "grad_norm": 0.46849653124809265,
      "learning_rate": 0.0003786530878562825,
      "loss": 0.1196,
      "step": 4655
    },
    {
      "epoch": 1.0444245007852815,
      "gripper_loss": 0.2060546875,
      "loss": 0.203125,
      "pos_loss": 1.296875,
      "rot_loss": 0.72265625,
      "step": 4655
    },
    {
      "epoch": 1.0446488669508638,
      "grad_norm": 0.5553451180458069,
      "learning_rate": 0.00037860115884380454,
      "loss": 0.0907,
      "step": 4656
    },
    {
      "epoch": 1.0446488669508638,
      "gripper_loss": 0.34375,
      "loss": 0.043701171875,
      "pos_loss": 0.18359375,
      "rot_loss": 0.076171875,
      "step": 4656
    },
    {
      "epoch": 1.044873233116446,
      "grad_norm": 0.4690306782722473,
      "learning_rate": 0.0003785492222850686,
      "loss": 0.0757,
      "step": 4657
    },
    {
      "epoch": 1.044873233116446,
      "gripper_loss": 0.0771484375,
      "loss": 0.1171875,
      "pos_loss": 0.59375,
      "rot_loss": 0.5390625,
      "step": 4657
    },
    {
      "epoch": 1.0450975992820282,
      "grad_norm": 0.4846104681491852,
      "learning_rate": 0.00037849727818312247,
      "loss": 0.0974,
      "step": 4658
    },
    {
      "epoch": 1.0450975992820282,
      "gripper_loss": 0.0361328125,
      "loss": 0.166015625,
      "pos_loss": 1.5546875,
      "rot_loss": 0.1455078125,
      "step": 4658
    },
    {
      "epoch": 1.0453219654476105,
      "grad_norm": 0.39615723490715027,
      "learning_rate": 0.00037844532654101405,
      "loss": 0.0849,
      "step": 4659
    },
    {
      "epoch": 1.0453219654476105,
      "gripper_loss": 0.3359375,
      "loss": 0.251953125,
      "pos_loss": 0.8671875,
      "rot_loss": 0.546875,
      "step": 4659
    },
    {
      "epoch": 1.0455463316131928,
      "grad_norm": 1.5984652042388916,
      "learning_rate": 0.00037839336736179185,
      "loss": 0.2106,
      "step": 4660
    },
    {
      "epoch": 1.0455463316131928,
      "gripper_loss": 0.1767578125,
      "loss": 0.044189453125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.0888671875,
      "step": 4660
    },
    {
      "epoch": 1.0457706977787748,
      "grad_norm": 0.6270661354064941,
      "learning_rate": 0.00037834140064850485,
      "loss": 0.0753,
      "step": 4661
    },
    {
      "epoch": 1.0457706977787748,
      "gripper_loss": 1.1015625,
      "loss": 0.1455078125,
      "pos_loss": 0.93359375,
      "rot_loss": 0.1103515625,
      "step": 4661
    },
    {
      "epoch": 1.0459950639443572,
      "grad_norm": 0.7614271640777588,
      "learning_rate": 0.0003782894264042024,
      "loss": 0.1107,
      "step": 4662
    },
    {
      "epoch": 1.0459950639443572,
      "gripper_loss": 0.0211181640625,
      "loss": 0.072265625,
      "pos_loss": 0.462890625,
      "rot_loss": 0.224609375,
      "step": 4662
    },
    {
      "epoch": 1.0462194301099395,
      "grad_norm": 0.574370265007019,
      "learning_rate": 0.0003782374446319343,
      "loss": 0.0829,
      "step": 4663
    },
    {
      "epoch": 1.0462194301099395,
      "gripper_loss": 0.33203125,
      "loss": 0.126953125,
      "pos_loss": 0.546875,
      "rot_loss": 0.2392578125,
      "step": 4663
    },
    {
      "epoch": 1.0464437962755218,
      "grad_norm": 0.9102132320404053,
      "learning_rate": 0.00037818545533475104,
      "loss": 0.1121,
      "step": 4664
    },
    {
      "epoch": 1.0464437962755218,
      "gripper_loss": 0.01422119140625,
      "loss": 0.055419921875,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.283203125,
      "step": 4664
    },
    {
      "epoch": 1.0466681624411038,
      "grad_norm": 0.5452037453651428,
      "learning_rate": 0.000378133458515703,
      "loss": 0.1046,
      "step": 4665
    },
    {
      "epoch": 1.0466681624411038,
      "gripper_loss": 0.02001953125,
      "loss": 0.1357421875,
      "pos_loss": 1.3359375,
      "rot_loss": 0.04541015625,
      "step": 4665
    },
    {
      "epoch": 1.0468925286066861,
      "grad_norm": 0.9000751376152039,
      "learning_rate": 0.00037808145417784144,
      "loss": 0.118,
      "step": 4666
    },
    {
      "epoch": 1.0468925286066861,
      "gripper_loss": 0.0240478515625,
      "loss": 0.0625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.0311279296875,
      "step": 4666
    },
    {
      "epoch": 1.0471168947722684,
      "grad_norm": 0.6065096259117126,
      "learning_rate": 0.0003780294423242181,
      "loss": 0.1174,
      "step": 4667
    },
    {
      "epoch": 1.0471168947722684,
      "gripper_loss": 0.080078125,
      "loss": 0.11865234375,
      "pos_loss": 0.22265625,
      "rot_loss": 0.34765625,
      "step": 4667
    },
    {
      "epoch": 1.0473412609378505,
      "grad_norm": 1.3043044805526733,
      "learning_rate": 0.00037797742295788485,
      "loss": 0.1548,
      "step": 4668
    },
    {
      "epoch": 1.0473412609378505,
      "gripper_loss": 0.45703125,
      "loss": 0.2080078125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.419921875,
      "step": 4668
    },
    {
      "epoch": 1.0475656271034328,
      "grad_norm": 1.0960197448730469,
      "learning_rate": 0.00037792539608189426,
      "loss": 0.1891,
      "step": 4669
    },
    {
      "epoch": 1.0475656271034328,
      "gripper_loss": 1.3828125,
      "loss": 0.11279296875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.08056640625,
      "step": 4669
    },
    {
      "epoch": 1.0477899932690151,
      "grad_norm": 0.6905413866043091,
      "learning_rate": 0.0003778733616992992,
      "loss": 0.0903,
      "step": 4670
    },
    {
      "epoch": 1.0477899932690151,
      "gripper_loss": 0.0260009765625,
      "loss": 0.07080078125,
      "pos_loss": 0.408203125,
      "rot_loss": 0.1650390625,
      "step": 4670
    },
    {
      "epoch": 1.0480143594345972,
      "grad_norm": 0.9364888668060303,
      "learning_rate": 0.00037782131981315293,
      "loss": 0.1049,
      "step": 4671
    },
    {
      "epoch": 1.0480143594345972,
      "gripper_loss": 0.1884765625,
      "loss": 0.0869140625,
      "pos_loss": 0.365234375,
      "rot_loss": 0.18359375,
      "step": 4671
    },
    {
      "epoch": 1.0482387256001795,
      "grad_norm": 1.0896198749542236,
      "learning_rate": 0.00037776927042650944,
      "loss": 0.1282,
      "step": 4672
    },
    {
      "epoch": 1.0482387256001795,
      "gripper_loss": 0.50390625,
      "loss": 0.39453125,
      "pos_loss": 0.7265625,
      "rot_loss": 0.7421875,
      "step": 4672
    },
    {
      "epoch": 1.0484630917657618,
      "grad_norm": 2.145142078399658,
      "learning_rate": 0.00037771721354242286,
      "loss": 0.3225,
      "step": 4673
    },
    {
      "epoch": 1.0484630917657618,
      "gripper_loss": 0.158203125,
      "loss": 0.029296875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.0264892578125,
      "step": 4673
    },
    {
      "epoch": 1.0486874579313439,
      "grad_norm": 0.7322554588317871,
      "learning_rate": 0.0003776651491639478,
      "loss": 0.0898,
      "step": 4674
    },
    {
      "epoch": 1.0486874579313439,
      "gripper_loss": 0.0203857421875,
      "loss": 0.197265625,
      "pos_loss": 1.359375,
      "rot_loss": 0.55859375,
      "step": 4674
    },
    {
      "epoch": 1.0489118240969262,
      "grad_norm": 0.9147094488143921,
      "learning_rate": 0.0003776130772941395,
      "loss": 0.1214,
      "step": 4675
    },
    {
      "epoch": 1.0489118240969262,
      "gripper_loss": 0.01141357421875,
      "loss": 0.111328125,
      "pos_loss": 0.84375,
      "rot_loss": 0.2333984375,
      "step": 4675
    },
    {
      "epoch": 1.0491361902625085,
      "grad_norm": 0.815068244934082,
      "learning_rate": 0.0003775609979360535,
      "loss": 0.1117,
      "step": 4676
    },
    {
      "epoch": 1.0491361902625085,
      "gripper_loss": 0.2578125,
      "loss": 0.07666015625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.056640625,
      "step": 4676
    },
    {
      "epoch": 1.0493605564280906,
      "grad_norm": 0.45114052295684814,
      "learning_rate": 0.0003775089110927456,
      "loss": 0.0798,
      "step": 4677
    },
    {
      "epoch": 1.0493605564280906,
      "gripper_loss": 1.28125,
      "loss": 0.15625,
      "pos_loss": 0.73046875,
      "rot_loss": 0.3984375,
      "step": 4677
    },
    {
      "epoch": 1.0495849225936729,
      "grad_norm": 0.8215608596801758,
      "learning_rate": 0.0003774568167672725,
      "loss": 0.1116,
      "step": 4678
    },
    {
      "epoch": 1.0495849225936729,
      "gripper_loss": 0.056396484375,
      "loss": 0.057861328125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.140625,
      "step": 4678
    },
    {
      "epoch": 1.0498092887592552,
      "grad_norm": 0.5314205884933472,
      "learning_rate": 0.0003774047149626909,
      "loss": 0.0572,
      "step": 4679
    },
    {
      "epoch": 1.0498092887592552,
      "gripper_loss": 0.5390625,
      "loss": 0.07275390625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.061279296875,
      "step": 4679
    },
    {
      "epoch": 1.0500336549248372,
      "grad_norm": 0.6223841309547424,
      "learning_rate": 0.0003773526056820582,
      "loss": 0.0829,
      "step": 4680
    },
    {
      "epoch": 1.0500336549248372,
      "gripper_loss": 0.12158203125,
      "loss": 0.055908203125,
      "pos_loss": 0.33203125,
      "rot_loss": 0.1103515625,
      "step": 4680
    },
    {
      "epoch": 1.0502580210904195,
      "grad_norm": 0.6375609040260315,
      "learning_rate": 0.00037730048892843204,
      "loss": 0.0901,
      "step": 4681
    },
    {
      "epoch": 1.0502580210904195,
      "gripper_loss": 0.0927734375,
      "loss": 0.0634765625,
      "pos_loss": 0.234375,
      "rot_loss": 0.251953125,
      "step": 4681
    },
    {
      "epoch": 1.0504823872560018,
      "grad_norm": 0.46737539768218994,
      "learning_rate": 0.0003772483647048708,
      "loss": 0.083,
      "step": 4682
    },
    {
      "epoch": 1.0504823872560018,
      "gripper_loss": 0.1572265625,
      "loss": 0.216796875,
      "pos_loss": 0.82421875,
      "rot_loss": 0.25390625,
      "step": 4682
    },
    {
      "epoch": 1.050706753421584,
      "grad_norm": 1.3788316249847412,
      "learning_rate": 0.0003771962330144329,
      "loss": 0.2581,
      "step": 4683
    },
    {
      "epoch": 1.050706753421584,
      "gripper_loss": 0.045654296875,
      "loss": 0.07666015625,
      "pos_loss": 0.427734375,
      "rot_loss": 0.2119140625,
      "step": 4683
    },
    {
      "epoch": 1.0509311195871662,
      "grad_norm": 0.5837459564208984,
      "learning_rate": 0.00037714409386017754,
      "loss": 0.0781,
      "step": 4684
    },
    {
      "epoch": 1.0509311195871662,
      "gripper_loss": 0.33203125,
      "loss": 0.0751953125,
      "pos_loss": 0.181640625,
      "rot_loss": 0.3671875,
      "step": 4684
    },
    {
      "epoch": 1.0511554857527485,
      "grad_norm": 0.7819572687149048,
      "learning_rate": 0.0003770919472451641,
      "loss": 0.0709,
      "step": 4685
    },
    {
      "epoch": 1.0511554857527485,
      "gripper_loss": 0.0322265625,
      "loss": 0.036865234375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.07861328125,
      "step": 4685
    },
    {
      "epoch": 1.0513798519183306,
      "grad_norm": 0.8582423329353333,
      "learning_rate": 0.00037703979317245265,
      "loss": 0.0813,
      "step": 4686
    },
    {
      "epoch": 1.0513798519183306,
      "gripper_loss": 0.01513671875,
      "loss": 0.095703125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.291015625,
      "step": 4686
    },
    {
      "epoch": 1.051604218083913,
      "grad_norm": 0.6674926280975342,
      "learning_rate": 0.00037698763164510353,
      "loss": 0.0854,
      "step": 4687
    },
    {
      "epoch": 1.051604218083913,
      "gripper_loss": 0.12890625,
      "loss": 0.044189453125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.0693359375,
      "step": 4687
    },
    {
      "epoch": 1.0518285842494952,
      "grad_norm": 0.515837550163269,
      "learning_rate": 0.00037693546266617746,
      "loss": 0.0936,
      "step": 4688
    },
    {
      "epoch": 1.0518285842494952,
      "gripper_loss": 0.011474609375,
      "loss": 0.08935546875,
      "pos_loss": 0.703125,
      "rot_loss": 0.1748046875,
      "step": 4688
    },
    {
      "epoch": 1.0520529504150775,
      "grad_norm": 0.4849267601966858,
      "learning_rate": 0.0003768832862387358,
      "loss": 0.0805,
      "step": 4689
    },
    {
      "epoch": 1.0520529504150775,
      "gripper_loss": 0.06298828125,
      "loss": 0.12890625,
      "pos_loss": 0.890625,
      "rot_loss": 0.365234375,
      "step": 4689
    },
    {
      "epoch": 1.0522773165806596,
      "grad_norm": 0.6005278825759888,
      "learning_rate": 0.0003768311023658402,
      "loss": 0.076,
      "step": 4690
    },
    {
      "epoch": 1.0522773165806596,
      "gripper_loss": 0.88671875,
      "loss": 0.09765625,
      "pos_loss": 0.625,
      "rot_loss": 0.049072265625,
      "step": 4690
    },
    {
      "epoch": 1.052501682746242,
      "grad_norm": 0.6151094436645508,
      "learning_rate": 0.00037677891105055285,
      "loss": 0.1149,
      "step": 4691
    },
    {
      "epoch": 1.052501682746242,
      "gripper_loss": 0.353515625,
      "loss": 0.0634765625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.1484375,
      "step": 4691
    },
    {
      "epoch": 1.0527260489118242,
      "grad_norm": 0.6766799092292786,
      "learning_rate": 0.0003767267122959361,
      "loss": 0.0822,
      "step": 4692
    },
    {
      "epoch": 1.0527260489118242,
      "gripper_loss": 0.56640625,
      "loss": 0.04052734375,
      "pos_loss": 0.095703125,
      "rot_loss": 0.058837890625,
      "step": 4692
    },
    {
      "epoch": 1.0529504150774063,
      "grad_norm": 0.7013657689094543,
      "learning_rate": 0.0003766745061050533,
      "loss": 0.0991,
      "step": 4693
    },
    {
      "epoch": 1.0529504150774063,
      "gripper_loss": 0.283203125,
      "loss": 0.03369140625,
      "pos_loss": 0.166015625,
      "rot_loss": 0.0299072265625,
      "step": 4693
    },
    {
      "epoch": 1.0531747812429886,
      "grad_norm": 0.5135141015052795,
      "learning_rate": 0.0003766222924809676,
      "loss": 0.0547,
      "step": 4694
    },
    {
      "epoch": 1.0531747812429886,
      "gripper_loss": 0.0294189453125,
      "loss": 0.09033203125,
      "pos_loss": 0.80078125,
      "rot_loss": 0.07958984375,
      "step": 4694
    },
    {
      "epoch": 1.0533991474085709,
      "grad_norm": 0.4702886939048767,
      "learning_rate": 0.00037657007142674295,
      "loss": 0.0927,
      "step": 4695
    },
    {
      "epoch": 1.0533991474085709,
      "gripper_loss": 0.0306396484375,
      "loss": 0.1728515625,
      "pos_loss": 1.4765625,
      "rot_loss": 0.150390625,
      "step": 4695
    },
    {
      "epoch": 1.053623513574153,
      "grad_norm": 0.47040292620658875,
      "learning_rate": 0.0003765178429454437,
      "loss": 0.0947,
      "step": 4696
    },
    {
      "epoch": 1.053623513574153,
      "gripper_loss": 0.345703125,
      "loss": 0.1416015625,
      "pos_loss": 1.234375,
      "rot_loss": 0.10107421875,
      "step": 4696
    },
    {
      "epoch": 1.0538478797397353,
      "grad_norm": 0.5777539014816284,
      "learning_rate": 0.00037646560704013456,
      "loss": 0.1036,
      "step": 4697
    },
    {
      "epoch": 1.0538478797397353,
      "gripper_loss": 0.578125,
      "loss": 0.03369140625,
      "pos_loss": 0.040283203125,
      "rot_loss": 0.0693359375,
      "step": 4697
    },
    {
      "epoch": 1.0540722459053176,
      "grad_norm": 0.405475914478302,
      "learning_rate": 0.00037641336371388055,
      "loss": 0.0563,
      "step": 4698
    },
    {
      "epoch": 1.0540722459053176,
      "gripper_loss": 0.470703125,
      "loss": 0.1015625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.23046875,
      "step": 4698
    },
    {
      "epoch": 1.0542966120708996,
      "grad_norm": 0.514015257358551,
      "learning_rate": 0.0003763611129697477,
      "loss": 0.083,
      "step": 4699
    },
    {
      "epoch": 1.0542966120708996,
      "gripper_loss": 0.2216796875,
      "loss": 0.03125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.028564453125,
      "step": 4699
    },
    {
      "epoch": 1.054520978236482,
      "grad_norm": 0.5554110407829285,
      "learning_rate": 0.0003763088548108017,
      "loss": 0.0969,
      "step": 4700
    },
    {
      "epoch": 1.054520978236482,
      "gripper_loss": 0.037109375,
      "loss": 0.1435546875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.81640625,
      "step": 4700
    },
    {
      "epoch": 1.0547453444020642,
      "grad_norm": 0.4783138930797577,
      "learning_rate": 0.00037625658924010907,
      "loss": 0.0912,
      "step": 4701
    },
    {
      "epoch": 1.0547453444020642,
      "gripper_loss": 0.306640625,
      "loss": 0.034912109375,
      "pos_loss": 0.0712890625,
      "rot_loss": 0.10107421875,
      "step": 4701
    },
    {
      "epoch": 1.0549697105676463,
      "grad_norm": 0.6274673342704773,
      "learning_rate": 0.00037620431626073694,
      "loss": 0.0714,
      "step": 4702
    },
    {
      "epoch": 1.0549697105676463,
      "gripper_loss": 0.01019287109375,
      "loss": 0.123046875,
      "pos_loss": 0.84765625,
      "rot_loss": 0.40234375,
      "step": 4702
    },
    {
      "epoch": 1.0551940767332286,
      "grad_norm": 0.5564444661140442,
      "learning_rate": 0.00037615203587575244,
      "loss": 0.1024,
      "step": 4703
    },
    {
      "epoch": 1.0551940767332286,
      "gripper_loss": 0.017333984375,
      "loss": 0.0634765625,
      "pos_loss": 0.484375,
      "rot_loss": 0.11328125,
      "step": 4703
    },
    {
      "epoch": 1.055418442898811,
      "grad_norm": 0.4794577658176422,
      "learning_rate": 0.00037609974808822344,
      "loss": 0.0872,
      "step": 4704
    },
    {
      "epoch": 1.055418442898811,
      "gripper_loss": 0.91015625,
      "loss": 0.052978515625,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.0279541015625,
      "step": 4704
    },
    {
      "epoch": 1.055642809064393,
      "grad_norm": 0.39113959670066833,
      "learning_rate": 0.0003760474529012182,
      "loss": 0.0745,
      "step": 4705
    },
    {
      "epoch": 1.055642809064393,
      "gripper_loss": 0.0272216796875,
      "loss": 0.087890625,
      "pos_loss": 0.453125,
      "rot_loss": 0.373046875,
      "step": 4705
    },
    {
      "epoch": 1.0558671752299753,
      "grad_norm": 0.4523688554763794,
      "learning_rate": 0.0003759951503178054,
      "loss": 0.0959,
      "step": 4706
    },
    {
      "epoch": 1.0558671752299753,
      "gripper_loss": 0.09423828125,
      "loss": 0.203125,
      "pos_loss": 0.96484375,
      "rot_loss": 0.462890625,
      "step": 4706
    },
    {
      "epoch": 1.0560915413955576,
      "grad_norm": 1.3124070167541504,
      "learning_rate": 0.00037594284034105394,
      "loss": 0.1794,
      "step": 4707
    },
    {
      "epoch": 1.0560915413955576,
      "gripper_loss": 0.5390625,
      "loss": 0.06591796875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.1923828125,
      "step": 4707
    },
    {
      "epoch": 1.0563159075611397,
      "grad_norm": 0.4472299814224243,
      "learning_rate": 0.0003758905229740336,
      "loss": 0.0742,
      "step": 4708
    },
    {
      "epoch": 1.0563159075611397,
      "gripper_loss": 0.11962890625,
      "loss": 0.08642578125,
      "pos_loss": 0.7265625,
      "rot_loss": 0.07958984375,
      "step": 4708
    },
    {
      "epoch": 1.056540273726722,
      "grad_norm": 0.7243769764900208,
      "learning_rate": 0.0003758381982198142,
      "loss": 0.1234,
      "step": 4709
    },
    {
      "epoch": 1.056540273726722,
      "gripper_loss": 0.0272216796875,
      "loss": 0.0947265625,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.75390625,
      "step": 4709
    },
    {
      "epoch": 1.0567646398923043,
      "grad_norm": 0.3738328814506531,
      "learning_rate": 0.00037578586608146616,
      "loss": 0.0769,
      "step": 4710
    },
    {
      "epoch": 1.0567646398923043,
      "gripper_loss": 0.07080078125,
      "loss": 0.11669921875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.59765625,
      "step": 4710
    },
    {
      "epoch": 1.0569890060578864,
      "grad_norm": 0.8683403134346008,
      "learning_rate": 0.0003757335265620603,
      "loss": 0.1349,
      "step": 4711
    },
    {
      "epoch": 1.0569890060578864,
      "gripper_loss": 0.045654296875,
      "loss": 0.07080078125,
      "pos_loss": 0.61328125,
      "rot_loss": 0.044677734375,
      "step": 4711
    },
    {
      "epoch": 1.0572133722234687,
      "grad_norm": 0.5764923691749573,
      "learning_rate": 0.0003756811796646679,
      "loss": 0.0772,
      "step": 4712
    },
    {
      "epoch": 1.0572133722234687,
      "gripper_loss": 0.11962890625,
      "loss": 0.177734375,
      "pos_loss": 1.6953125,
      "rot_loss": 0.0966796875,
      "step": 4712
    },
    {
      "epoch": 1.057437738389051,
      "grad_norm": 0.5423938035964966,
      "learning_rate": 0.0003756288253923606,
      "loss": 0.0923,
      "step": 4713
    },
    {
      "epoch": 1.057437738389051,
      "gripper_loss": 0.0517578125,
      "loss": 0.044677734375,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.19921875,
      "step": 4713
    },
    {
      "epoch": 1.057662104554633,
      "grad_norm": 0.5703057646751404,
      "learning_rate": 0.0003755764637482106,
      "loss": 0.0621,
      "step": 4714
    },
    {
      "epoch": 1.057662104554633,
      "gripper_loss": 0.546875,
      "loss": 0.07080078125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.119140625,
      "step": 4714
    },
    {
      "epoch": 1.0578864707202154,
      "grad_norm": 0.7165027260780334,
      "learning_rate": 0.0003755240947352904,
      "loss": 0.0844,
      "step": 4715
    },
    {
      "epoch": 1.0578864707202154,
      "gripper_loss": 0.018798828125,
      "loss": 0.07568359375,
      "pos_loss": 0.49609375,
      "rot_loss": 0.25390625,
      "step": 4715
    },
    {
      "epoch": 1.0581108368857977,
      "grad_norm": 0.5152864456176758,
      "learning_rate": 0.00037547171835667297,
      "loss": 0.0917,
      "step": 4716
    },
    {
      "epoch": 1.0581108368857977,
      "gripper_loss": 0.1982421875,
      "loss": 0.040771484375,
      "pos_loss": 0.296875,
      "rot_loss": 0.0181884765625,
      "step": 4716
    },
    {
      "epoch": 1.05833520305138,
      "grad_norm": 0.5128829479217529,
      "learning_rate": 0.00037541933461543187,
      "loss": 0.0715,
      "step": 4717
    },
    {
      "epoch": 1.05833520305138,
      "gripper_loss": 0.478515625,
      "loss": 0.07275390625,
      "pos_loss": 0.412109375,
      "rot_loss": 0.126953125,
      "step": 4717
    },
    {
      "epoch": 1.058559569216962,
      "grad_norm": 0.5368123054504395,
      "learning_rate": 0.00037536694351464074,
      "loss": 0.0651,
      "step": 4718
    },
    {
      "epoch": 1.058559569216962,
      "gripper_loss": 0.80859375,
      "loss": 0.08935546875,
      "pos_loss": 0.150390625,
      "rot_loss": 0.37890625,
      "step": 4718
    },
    {
      "epoch": 1.0587839353825443,
      "grad_norm": 0.8846011161804199,
      "learning_rate": 0.00037531454505737404,
      "loss": 0.0712,
      "step": 4719
    },
    {
      "epoch": 1.0587839353825443,
      "gripper_loss": 0.0264892578125,
      "loss": 0.220703125,
      "pos_loss": 1.8046875,
      "rot_loss": 0.44140625,
      "step": 4719
    },
    {
      "epoch": 1.0590083015481266,
      "grad_norm": 0.7498785853385925,
      "learning_rate": 0.00037526213924670636,
      "loss": 0.1244,
      "step": 4720
    },
    {
      "epoch": 1.0590083015481266,
      "gripper_loss": 0.10888671875,
      "loss": 0.1572265625,
      "pos_loss": 0.47265625,
      "rot_loss": 1.109375,
      "step": 4720
    },
    {
      "epoch": 1.0592326677137087,
      "grad_norm": 0.5975733995437622,
      "learning_rate": 0.00037520972608571303,
      "loss": 0.0765,
      "step": 4721
    },
    {
      "epoch": 1.0592326677137087,
      "gripper_loss": 0.08642578125,
      "loss": 0.033935546875,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.166015625,
      "step": 4721
    },
    {
      "epoch": 1.059457033879291,
      "grad_norm": 0.5267908573150635,
      "learning_rate": 0.0003751573055774695,
      "loss": 0.0821,
      "step": 4722
    },
    {
      "epoch": 1.059457033879291,
      "gripper_loss": 0.07080078125,
      "loss": 0.1318359375,
      "pos_loss": 0.41015625,
      "rot_loss": 0.8984375,
      "step": 4722
    },
    {
      "epoch": 1.0596814000448733,
      "grad_norm": 0.6745083332061768,
      "learning_rate": 0.0003751048777250518,
      "loss": 0.1218,
      "step": 4723
    },
    {
      "epoch": 1.0596814000448733,
      "gripper_loss": 0.0233154296875,
      "loss": 0.3125,
      "pos_loss": 0.59765625,
      "rot_loss": 2.671875,
      "step": 4723
    },
    {
      "epoch": 1.0599057662104554,
      "grad_norm": 1.074607491493225,
      "learning_rate": 0.00037505244253153633,
      "loss": 0.1521,
      "step": 4724
    },
    {
      "epoch": 1.0599057662104554,
      "gripper_loss": 0.212890625,
      "loss": 0.1455078125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.2255859375,
      "step": 4724
    },
    {
      "epoch": 1.0601301323760377,
      "grad_norm": 0.6793162822723389,
      "learning_rate": 0.000375,
      "loss": 0.1055,
      "step": 4725
    },
    {
      "epoch": 1.0601301323760377,
      "gripper_loss": 0.6328125,
      "loss": 0.498046875,
      "pos_loss": 1.2578125,
      "rot_loss": 0.8125,
      "step": 4725
    },
    {
      "epoch": 1.06035449854162,
      "grad_norm": 2.111603260040283,
      "learning_rate": 0.00037494755013352016,
      "loss": 0.4565,
      "step": 4726
    },
    {
      "epoch": 1.06035449854162,
      "gripper_loss": 0.0208740234375,
      "loss": 0.05078125,
      "pos_loss": 0.265625,
      "rot_loss": 0.216796875,
      "step": 4726
    },
    {
      "epoch": 1.060578864707202,
      "grad_norm": 0.6150714755058289,
      "learning_rate": 0.0003748950929351745,
      "loss": 0.0857,
      "step": 4727
    },
    {
      "epoch": 1.060578864707202,
      "gripper_loss": 0.189453125,
      "loss": 0.09814453125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.46484375,
      "step": 4727
    },
    {
      "epoch": 1.0608032308727844,
      "grad_norm": 0.5522527694702148,
      "learning_rate": 0.00037484262840804117,
      "loss": 0.0886,
      "step": 4728
    },
    {
      "epoch": 1.0608032308727844,
      "gripper_loss": 1.03125,
      "loss": 0.12890625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.234375,
      "step": 4728
    },
    {
      "epoch": 1.0610275970383667,
      "grad_norm": 0.626737654209137,
      "learning_rate": 0.0003747901565551989,
      "loss": 0.0891,
      "step": 4729
    },
    {
      "epoch": 1.0610275970383667,
      "gripper_loss": 0.0830078125,
      "loss": 0.04052734375,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.2412109375,
      "step": 4729
    },
    {
      "epoch": 1.0612519632039488,
      "grad_norm": 0.6143889427185059,
      "learning_rate": 0.0003747376773797264,
      "loss": 0.0524,
      "step": 4730
    },
    {
      "epoch": 1.0612519632039488,
      "gripper_loss": 0.271484375,
      "loss": 0.07861328125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.142578125,
      "step": 4730
    },
    {
      "epoch": 1.061476329369531,
      "grad_norm": 0.9511849880218506,
      "learning_rate": 0.0003746851908847034,
      "loss": 0.0847,
      "step": 4731
    },
    {
      "epoch": 1.061476329369531,
      "gripper_loss": 0.1669921875,
      "loss": 0.09375,
      "pos_loss": 0.462890625,
      "rot_loss": 0.3984375,
      "step": 4731
    },
    {
      "epoch": 1.0617006955351134,
      "grad_norm": 0.8679579496383667,
      "learning_rate": 0.0003746326970732097,
      "loss": 0.1219,
      "step": 4732
    },
    {
      "epoch": 1.0617006955351134,
      "gripper_loss": 0.546875,
      "loss": 0.06591796875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.0673828125,
      "step": 4732
    },
    {
      "epoch": 1.0619250617006954,
      "grad_norm": 0.4397898316383362,
      "learning_rate": 0.0003745801959483257,
      "loss": 0.0692,
      "step": 4733
    },
    {
      "epoch": 1.0619250617006954,
      "gripper_loss": 0.08837890625,
      "loss": 0.052978515625,
      "pos_loss": 0.41015625,
      "rot_loss": 0.037109375,
      "step": 4733
    },
    {
      "epoch": 1.0621494278662778,
      "grad_norm": 0.7278518676757812,
      "learning_rate": 0.000374527687513132,
      "loss": 0.0875,
      "step": 4734
    },
    {
      "epoch": 1.0621494278662778,
      "gripper_loss": 0.06201171875,
      "loss": 0.06494140625,
      "pos_loss": 0.412109375,
      "rot_loss": 0.1474609375,
      "step": 4734
    },
    {
      "epoch": 1.06237379403186,
      "grad_norm": 0.6697577834129333,
      "learning_rate": 0.0003744751717707099,
      "loss": 0.1318,
      "step": 4735
    },
    {
      "epoch": 1.06237379403186,
      "gripper_loss": 0.78125,
      "loss": 0.0478515625,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.09619140625,
      "step": 4735
    },
    {
      "epoch": 1.0625981601974421,
      "grad_norm": 0.5401757955551147,
      "learning_rate": 0.0003744226487241409,
      "loss": 0.0815,
      "step": 4736
    },
    {
      "epoch": 1.0625981601974421,
      "gripper_loss": 0.2119140625,
      "loss": 0.150390625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.79296875,
      "step": 4736
    },
    {
      "epoch": 1.0628225263630244,
      "grad_norm": 0.7020435929298401,
      "learning_rate": 0.000374370118376507,
      "loss": 0.1124,
      "step": 4737
    },
    {
      "epoch": 1.0628225263630244,
      "gripper_loss": 0.419921875,
      "loss": 0.0341796875,
      "pos_loss": 0.048095703125,
      "rot_loss": 0.08154296875,
      "step": 4737
    },
    {
      "epoch": 1.0630468925286067,
      "grad_norm": 0.9271746277809143,
      "learning_rate": 0.00037431758073089077,
      "loss": 0.0989,
      "step": 4738
    },
    {
      "epoch": 1.0630468925286067,
      "gripper_loss": 0.5,
      "loss": 0.357421875,
      "pos_loss": 0.78515625,
      "rot_loss": 1.234375,
      "step": 4738
    },
    {
      "epoch": 1.0632712586941888,
      "grad_norm": 1.6399149894714355,
      "learning_rate": 0.00037426503579037504,
      "loss": 0.3062,
      "step": 4739
    },
    {
      "epoch": 1.0632712586941888,
      "gripper_loss": 0.1630859375,
      "loss": 0.03564453125,
      "pos_loss": 0.0654296875,
      "rot_loss": 0.193359375,
      "step": 4739
    },
    {
      "epoch": 1.0634956248597711,
      "grad_norm": 0.5931217670440674,
      "learning_rate": 0.0003742124835580432,
      "loss": 0.0835,
      "step": 4740
    },
    {
      "epoch": 1.0634956248597711,
      "gripper_loss": 0.0306396484375,
      "loss": 0.0703125,
      "pos_loss": 0.3671875,
      "rot_loss": 0.31640625,
      "step": 4740
    },
    {
      "epoch": 1.0637199910253534,
      "grad_norm": 0.6672401428222656,
      "learning_rate": 0.0003741599240369788,
      "loss": 0.1136,
      "step": 4741
    },
    {
      "epoch": 1.0637199910253534,
      "gripper_loss": 0.80078125,
      "loss": 0.06591796875,
      "pos_loss": 0.248046875,
      "rot_loss": 0.1181640625,
      "step": 4741
    },
    {
      "epoch": 1.0639443571909357,
      "grad_norm": 0.5885748863220215,
      "learning_rate": 0.00037410735723026624,
      "loss": 0.0892,
      "step": 4742
    },
    {
      "epoch": 1.0639443571909357,
      "gripper_loss": 0.140625,
      "loss": 0.05078125,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.2578125,
      "step": 4742
    },
    {
      "epoch": 1.0641687233565178,
      "grad_norm": 0.7739949822425842,
      "learning_rate": 0.0003740547831409899,
      "loss": 0.0678,
      "step": 4743
    },
    {
      "epoch": 1.0641687233565178,
      "gripper_loss": 1.0390625,
      "loss": 0.27734375,
      "pos_loss": 0.53125,
      "rot_loss": 0.328125,
      "step": 4743
    },
    {
      "epoch": 1.0643930895221,
      "grad_norm": 1.4686616659164429,
      "learning_rate": 0.000374002201772235,
      "loss": 0.2999,
      "step": 4744
    },
    {
      "epoch": 1.0643930895221,
      "gripper_loss": 0.057373046875,
      "loss": 0.09814453125,
      "pos_loss": 0.828125,
      "rot_loss": 0.13671875,
      "step": 4744
    },
    {
      "epoch": 1.0646174556876824,
      "grad_norm": 0.3957223892211914,
      "learning_rate": 0.0003739496131270868,
      "loss": 0.0735,
      "step": 4745
    },
    {
      "epoch": 1.0646174556876824,
      "gripper_loss": 0.0208740234375,
      "loss": 0.08544921875,
      "pos_loss": 0.78125,
      "rot_loss": 0.0634765625,
      "step": 4745
    },
    {
      "epoch": 1.0648418218532645,
      "grad_norm": 0.7230899333953857,
      "learning_rate": 0.0003738970172086313,
      "loss": 0.1243,
      "step": 4746
    },
    {
      "epoch": 1.0648418218532645,
      "gripper_loss": 0.1865234375,
      "loss": 0.06396484375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.33984375,
      "step": 4746
    },
    {
      "epoch": 1.0650661880188468,
      "grad_norm": 0.5067433714866638,
      "learning_rate": 0.0003738444140199549,
      "loss": 0.0827,
      "step": 4747
    },
    {
      "epoch": 1.0650661880188468,
      "gripper_loss": 0.2314453125,
      "loss": 0.06787109375,
      "pos_loss": 0.462890625,
      "rot_loss": 0.09130859375,
      "step": 4747
    },
    {
      "epoch": 1.065290554184429,
      "grad_norm": 0.5625973343849182,
      "learning_rate": 0.0003737918035641441,
      "loss": 0.0788,
      "step": 4748
    },
    {
      "epoch": 1.065290554184429,
      "gripper_loss": 0.03759765625,
      "loss": 0.0908203125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.287109375,
      "step": 4748
    },
    {
      "epoch": 1.0655149203500112,
      "grad_norm": 0.5560787320137024,
      "learning_rate": 0.00037373918584428624,
      "loss": 0.0775,
      "step": 4749
    },
    {
      "epoch": 1.0655149203500112,
      "gripper_loss": 0.0908203125,
      "loss": 0.0439453125,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.181640625,
      "step": 4749
    },
    {
      "epoch": 1.0657392865155935,
      "grad_norm": 0.5736747980117798,
      "learning_rate": 0.00037368656086346876,
      "loss": 0.0831,
      "step": 4750
    },
    {
      "epoch": 1.0657392865155935,
      "gripper_loss": 0.076171875,
      "loss": 0.0732421875,
      "pos_loss": 0.5625,
      "rot_loss": 0.056884765625,
      "step": 4750
    },
    {
      "epoch": 1.0659636526811758,
      "grad_norm": 0.5641056895256042,
      "learning_rate": 0.00037363392862477983,
      "loss": 0.0793,
      "step": 4751
    },
    {
      "epoch": 1.0659636526811758,
      "gripper_loss": 0.25390625,
      "loss": 0.0289306640625,
      "pos_loss": 0.09375,
      "rot_loss": 0.076171875,
      "step": 4751
    },
    {
      "epoch": 1.0661880188467578,
      "grad_norm": 0.5057744979858398,
      "learning_rate": 0.00037358128913130776,
      "loss": 0.0877,
      "step": 4752
    },
    {
      "epoch": 1.0661880188467578,
      "gripper_loss": 1.078125,
      "loss": 0.1044921875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.10546875,
      "step": 4752
    },
    {
      "epoch": 1.0664123850123401,
      "grad_norm": 0.6012458801269531,
      "learning_rate": 0.0003735286423861415,
      "loss": 0.0889,
      "step": 4753
    },
    {
      "epoch": 1.0664123850123401,
      "gripper_loss": 0.07763671875,
      "loss": 0.12353515625,
      "pos_loss": 0.62890625,
      "rot_loss": 0.58984375,
      "step": 4753
    },
    {
      "epoch": 1.0666367511779224,
      "grad_norm": 0.41505756974220276,
      "learning_rate": 0.0003734759883923702,
      "loss": 0.0867,
      "step": 4754
    },
    {
      "epoch": 1.0666367511779224,
      "gripper_loss": 0.388671875,
      "loss": 0.05419921875,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.236328125,
      "step": 4754
    },
    {
      "epoch": 1.0668611173435045,
      "grad_norm": 0.5037074685096741,
      "learning_rate": 0.00037342332715308376,
      "loss": 0.0873,
      "step": 4755
    },
    {
      "epoch": 1.0668611173435045,
      "gripper_loss": 1.2421875,
      "loss": 0.08544921875,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.322265625,
      "step": 4755
    },
    {
      "epoch": 1.0670854835090868,
      "grad_norm": 0.6368626952171326,
      "learning_rate": 0.0003733706586713721,
      "loss": 0.0986,
      "step": 4756
    },
    {
      "epoch": 1.0670854835090868,
      "gripper_loss": 0.11962890625,
      "loss": 0.10400390625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.42578125,
      "step": 4756
    },
    {
      "epoch": 1.0673098496746691,
      "grad_norm": 0.603496789932251,
      "learning_rate": 0.000373317982950326,
      "loss": 0.0662,
      "step": 4757
    },
    {
      "epoch": 1.0673098496746691,
      "gripper_loss": 0.034423828125,
      "loss": 0.099609375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.34765625,
      "step": 4757
    },
    {
      "epoch": 1.0675342158402512,
      "grad_norm": 0.6389199495315552,
      "learning_rate": 0.0003732652999930364,
      "loss": 0.1081,
      "step": 4758
    },
    {
      "epoch": 1.0675342158402512,
      "gripper_loss": 0.4375,
      "loss": 0.11474609375,
      "pos_loss": 0.37109375,
      "rot_loss": 0.3125,
      "step": 4758
    },
    {
      "epoch": 1.0677585820058335,
      "grad_norm": 1.3231768608093262,
      "learning_rate": 0.0003732126098025946,
      "loss": 0.1196,
      "step": 4759
    },
    {
      "epoch": 1.0677585820058335,
      "gripper_loss": 0.10009765625,
      "loss": 0.11279296875,
      "pos_loss": 0.5,
      "rot_loss": 0.62890625,
      "step": 4759
    },
    {
      "epoch": 1.0679829481714158,
      "grad_norm": 0.5611833333969116,
      "learning_rate": 0.0003731599123820925,
      "loss": 0.0806,
      "step": 4760
    },
    {
      "epoch": 1.0679829481714158,
      "gripper_loss": 0.04345703125,
      "loss": 0.11181640625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.162109375,
      "step": 4760
    },
    {
      "epoch": 1.068207314336998,
      "grad_norm": 0.5611308217048645,
      "learning_rate": 0.00037310720773462233,
      "loss": 0.1008,
      "step": 4761
    },
    {
      "epoch": 1.068207314336998,
      "gripper_loss": 0.63671875,
      "loss": 0.05712890625,
      "pos_loss": 0.171875,
      "rot_loss": 0.16015625,
      "step": 4761
    },
    {
      "epoch": 1.0684316805025802,
      "grad_norm": 0.679721474647522,
      "learning_rate": 0.0003730544958632768,
      "loss": 0.0877,
      "step": 4762
    },
    {
      "epoch": 1.0684316805025802,
      "gripper_loss": 0.11865234375,
      "loss": 0.05712890625,
      "pos_loss": 0.40625,
      "rot_loss": 0.07373046875,
      "step": 4762
    },
    {
      "epoch": 1.0686560466681625,
      "grad_norm": 0.642857551574707,
      "learning_rate": 0.0003730017767711491,
      "loss": 0.0925,
      "step": 4763
    },
    {
      "epoch": 1.0686560466681625,
      "gripper_loss": 0.044921875,
      "loss": 0.015869140625,
      "pos_loss": 0.06103515625,
      "rot_loss": 0.03173828125,
      "step": 4763
    },
    {
      "epoch": 1.0688804128337446,
      "grad_norm": 0.47859621047973633,
      "learning_rate": 0.00037294905046133267,
      "loss": 0.0675,
      "step": 4764
    },
    {
      "epoch": 1.0688804128337446,
      "gripper_loss": 0.09521484375,
      "loss": 0.1572265625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.44140625,
      "step": 4764
    },
    {
      "epoch": 1.0691047789993269,
      "grad_norm": 1.0248428583145142,
      "learning_rate": 0.0003728963169369214,
      "loss": 0.1237,
      "step": 4765
    },
    {
      "epoch": 1.0691047789993269,
      "gripper_loss": 0.0517578125,
      "loss": 0.107421875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.2890625,
      "step": 4765
    },
    {
      "epoch": 1.0693291451649092,
      "grad_norm": 0.6638059020042419,
      "learning_rate": 0.0003728435762010099,
      "loss": 0.0699,
      "step": 4766
    },
    {
      "epoch": 1.0693291451649092,
      "gripper_loss": 0.0247802734375,
      "loss": 0.06884765625,
      "pos_loss": 0.375,
      "rot_loss": 0.271484375,
      "step": 4766
    },
    {
      "epoch": 1.0695535113304913,
      "grad_norm": 0.4830966889858246,
      "learning_rate": 0.0003727908282566927,
      "loss": 0.0866,
      "step": 4767
    },
    {
      "epoch": 1.0695535113304913,
      "gripper_loss": 0.0220947265625,
      "loss": 0.140625,
      "pos_loss": 1.265625,
      "rot_loss": 0.138671875,
      "step": 4767
    },
    {
      "epoch": 1.0697778774960736,
      "grad_norm": 0.5016769170761108,
      "learning_rate": 0.0003727380731070652,
      "loss": 0.0702,
      "step": 4768
    },
    {
      "epoch": 1.0697778774960736,
      "gripper_loss": 0.0546875,
      "loss": 0.115234375,
      "pos_loss": 0.890625,
      "rot_loss": 0.2451171875,
      "step": 4768
    },
    {
      "epoch": 1.0700022436616559,
      "grad_norm": 0.6113449931144714,
      "learning_rate": 0.00037268531075522303,
      "loss": 0.0938,
      "step": 4769
    },
    {
      "epoch": 1.0700022436616559,
      "gripper_loss": 0.034423828125,
      "loss": 0.11865234375,
      "pos_loss": 0.625,
      "rot_loss": 0.486328125,
      "step": 4769
    },
    {
      "epoch": 1.070226609827238,
      "grad_norm": 0.501469612121582,
      "learning_rate": 0.0003726325412042622,
      "loss": 0.0834,
      "step": 4770
    },
    {
      "epoch": 1.070226609827238,
      "gripper_loss": 0.055419921875,
      "loss": 0.197265625,
      "pos_loss": 1.109375,
      "rot_loss": 0.85546875,
      "step": 4770
    },
    {
      "epoch": 1.0704509759928202,
      "grad_norm": 0.7302297353744507,
      "learning_rate": 0.0003725797644572792,
      "loss": 0.1079,
      "step": 4771
    },
    {
      "epoch": 1.0704509759928202,
      "gripper_loss": 0.1884765625,
      "loss": 0.1572265625,
      "pos_loss": 0.90234375,
      "rot_loss": 0.482421875,
      "step": 4771
    },
    {
      "epoch": 1.0706753421584025,
      "grad_norm": 0.6992206573486328,
      "learning_rate": 0.00037252698051737105,
      "loss": 0.1024,
      "step": 4772
    },
    {
      "epoch": 1.0706753421584025,
      "gripper_loss": 0.12451171875,
      "loss": 0.047607421875,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.1630859375,
      "step": 4772
    },
    {
      "epoch": 1.0708997083239848,
      "grad_norm": 0.680339515209198,
      "learning_rate": 0.00037247418938763494,
      "loss": 0.0623,
      "step": 4773
    },
    {
      "epoch": 1.0708997083239848,
      "gripper_loss": 0.0771484375,
      "loss": 0.0654296875,
      "pos_loss": 0.53125,
      "rot_loss": 0.068359375,
      "step": 4773
    },
    {
      "epoch": 1.071124074489567,
      "grad_norm": 0.7610213756561279,
      "learning_rate": 0.0003724213910711688,
      "loss": 0.0946,
      "step": 4774
    },
    {
      "epoch": 1.071124074489567,
      "gripper_loss": 0.166015625,
      "loss": 0.138671875,
      "pos_loss": 1.3203125,
      "rot_loss": 0.03515625,
      "step": 4774
    },
    {
      "epoch": 1.0713484406551492,
      "grad_norm": 0.46878597140312195,
      "learning_rate": 0.0003723685855710707,
      "loss": 0.0771,
      "step": 4775
    },
    {
      "epoch": 1.0713484406551492,
      "gripper_loss": 0.279296875,
      "loss": 0.0751953125,
      "pos_loss": 0.5625,
      "rot_loss": 0.08203125,
      "step": 4775
    },
    {
      "epoch": 1.0715728068207315,
      "grad_norm": 0.6045278310775757,
      "learning_rate": 0.00037231577289043916,
      "loss": 0.1096,
      "step": 4776
    },
    {
      "epoch": 1.0715728068207315,
      "gripper_loss": 0.035400390625,
      "loss": 0.046630859375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.1416015625,
      "step": 4776
    },
    {
      "epoch": 1.0717971729863136,
      "grad_norm": 0.569132924079895,
      "learning_rate": 0.0003722629530323734,
      "loss": 0.1099,
      "step": 4777
    },
    {
      "epoch": 1.0717971729863136,
      "gripper_loss": 0.09716796875,
      "loss": 0.061767578125,
      "pos_loss": 0.244140625,
      "rot_loss": 0.33203125,
      "step": 4777
    },
    {
      "epoch": 1.072021539151896,
      "grad_norm": 0.507581353187561,
      "learning_rate": 0.0003722101259999727,
      "loss": 0.0991,
      "step": 4778
    },
    {
      "epoch": 1.072021539151896,
      "gripper_loss": 0.294921875,
      "loss": 0.08154296875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.224609375,
      "step": 4778
    },
    {
      "epoch": 1.0722459053174782,
      "grad_norm": 0.4419989585876465,
      "learning_rate": 0.00037215729179633706,
      "loss": 0.0839,
      "step": 4779
    },
    {
      "epoch": 1.0722459053174782,
      "gripper_loss": 0.05859375,
      "loss": 0.055419921875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.275390625,
      "step": 4779
    },
    {
      "epoch": 1.0724702714830603,
      "grad_norm": 0.7334304451942444,
      "learning_rate": 0.0003721044504245666,
      "loss": 0.0739,
      "step": 4780
    },
    {
      "epoch": 1.0724702714830603,
      "gripper_loss": 0.1357421875,
      "loss": 0.078125,
      "pos_loss": 0.4140625,
      "rot_loss": 0.294921875,
      "step": 4780
    },
    {
      "epoch": 1.0726946376486426,
      "grad_norm": 0.4751683473587036,
      "learning_rate": 0.0003720516018877623,
      "loss": 0.0936,
      "step": 4781
    },
    {
      "epoch": 1.0726946376486426,
      "gripper_loss": 0.0595703125,
      "loss": 0.0693359375,
      "pos_loss": 0.359375,
      "rot_loss": 0.271484375,
      "step": 4781
    },
    {
      "epoch": 1.072919003814225,
      "grad_norm": 0.7117326259613037,
      "learning_rate": 0.0003719987461890251,
      "loss": 0.077,
      "step": 4782
    },
    {
      "epoch": 1.072919003814225,
      "gripper_loss": 0.080078125,
      "loss": 0.068359375,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.427734375,
      "step": 4782
    },
    {
      "epoch": 1.073143369979807,
      "grad_norm": 0.6443286538124084,
      "learning_rate": 0.00037194588333145653,
      "loss": 0.0913,
      "step": 4783
    },
    {
      "epoch": 1.073143369979807,
      "gripper_loss": 0.921875,
      "loss": 0.142578125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.080078125,
      "step": 4783
    },
    {
      "epoch": 1.0733677361453893,
      "grad_norm": 0.456759512424469,
      "learning_rate": 0.0003718930133181585,
      "loss": 0.0869,
      "step": 4784
    },
    {
      "epoch": 1.0733677361453893,
      "gripper_loss": 0.1162109375,
      "loss": 0.068359375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.150390625,
      "step": 4784
    },
    {
      "epoch": 1.0735921023109716,
      "grad_norm": 0.9289811253547668,
      "learning_rate": 0.0003718401361522336,
      "loss": 0.1093,
      "step": 4785
    },
    {
      "epoch": 1.0735921023109716,
      "gripper_loss": 0.064453125,
      "loss": 0.099609375,
      "pos_loss": 0.640625,
      "rot_loss": 0.310546875,
      "step": 4785
    },
    {
      "epoch": 1.0738164684765537,
      "grad_norm": 0.551252543926239,
      "learning_rate": 0.00037178725183678444,
      "loss": 0.1018,
      "step": 4786
    },
    {
      "epoch": 1.0738164684765537,
      "gripper_loss": 0.0400390625,
      "loss": 0.041259765625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.0830078125,
      "step": 4786
    },
    {
      "epoch": 1.074040834642136,
      "grad_norm": 0.5757253766059875,
      "learning_rate": 0.00037173436037491446,
      "loss": 0.1018,
      "step": 4787
    },
    {
      "epoch": 1.074040834642136,
      "gripper_loss": 0.10107421875,
      "loss": 0.12353515625,
      "pos_loss": 0.76953125,
      "rot_loss": 0.275390625,
      "step": 4787
    },
    {
      "epoch": 1.0742652008077183,
      "grad_norm": 1.041515827178955,
      "learning_rate": 0.0003716814617697272,
      "loss": 0.1168,
      "step": 4788
    },
    {
      "epoch": 1.0742652008077183,
      "gripper_loss": 0.02685546875,
      "loss": 0.09716796875,
      "pos_loss": 0.87890625,
      "rot_loss": 0.0810546875,
      "step": 4788
    },
    {
      "epoch": 1.0744895669733003,
      "grad_norm": 0.6535691618919373,
      "learning_rate": 0.00037162855602432667,
      "loss": 0.0999,
      "step": 4789
    },
    {
      "epoch": 1.0744895669733003,
      "gripper_loss": 0.07861328125,
      "loss": 0.027587890625,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.0184326171875,
      "step": 4789
    },
    {
      "epoch": 1.0747139331388826,
      "grad_norm": 0.7035998106002808,
      "learning_rate": 0.00037157564314181733,
      "loss": 0.0876,
      "step": 4790
    },
    {
      "epoch": 1.0747139331388826,
      "gripper_loss": 0.09228515625,
      "loss": 0.048583984375,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.2314453125,
      "step": 4790
    },
    {
      "epoch": 1.074938299304465,
      "grad_norm": 0.712472140789032,
      "learning_rate": 0.0003715227231253042,
      "loss": 0.1023,
      "step": 4791
    },
    {
      "epoch": 1.074938299304465,
      "gripper_loss": 0.2275390625,
      "loss": 0.0791015625,
      "pos_loss": 0.609375,
      "rot_loss": 0.053955078125,
      "step": 4791
    },
    {
      "epoch": 1.075162665470047,
      "grad_norm": 0.5895037651062012,
      "learning_rate": 0.0003714697959778926,
      "loss": 0.0928,
      "step": 4792
    },
    {
      "epoch": 1.075162665470047,
      "gripper_loss": 0.2265625,
      "loss": 0.1220703125,
      "pos_loss": 0.490234375,
      "rot_loss": 0.220703125,
      "step": 4792
    },
    {
      "epoch": 1.0753870316356293,
      "grad_norm": 1.1336901187896729,
      "learning_rate": 0.00037141686170268816,
      "loss": 0.1817,
      "step": 4793
    },
    {
      "epoch": 1.0753870316356293,
      "gripper_loss": 0.4609375,
      "loss": 0.036376953125,
      "pos_loss": 0.107421875,
      "rot_loss": 0.07080078125,
      "step": 4793
    },
    {
      "epoch": 1.0756113978012116,
      "grad_norm": 0.6326899528503418,
      "learning_rate": 0.0003713639203027972,
      "loss": 0.0656,
      "step": 4794
    },
    {
      "epoch": 1.0756113978012116,
      "gripper_loss": 0.043701171875,
      "loss": 0.095703125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.20703125,
      "step": 4794
    },
    {
      "epoch": 1.075835763966794,
      "grad_norm": 1.2458778619766235,
      "learning_rate": 0.0003713109717813261,
      "loss": 0.1654,
      "step": 4795
    },
    {
      "epoch": 1.075835763966794,
      "gripper_loss": 0.7578125,
      "loss": 0.1298828125,
      "pos_loss": 0.302734375,
      "rot_loss": 0.765625,
      "step": 4795
    },
    {
      "epoch": 1.076060130132376,
      "grad_norm": 0.5427365899085999,
      "learning_rate": 0.0003712580161413821,
      "loss": 0.0836,
      "step": 4796
    },
    {
      "epoch": 1.076060130132376,
      "gripper_loss": 0.74609375,
      "loss": 0.291015625,
      "pos_loss": 0.8515625,
      "rot_loss": 0.25,
      "step": 4796
    },
    {
      "epoch": 1.0762844962979583,
      "grad_norm": 1.9088672399520874,
      "learning_rate": 0.00037120505338607236,
      "loss": 0.3152,
      "step": 4797
    },
    {
      "epoch": 1.0762844962979583,
      "gripper_loss": 0.314453125,
      "loss": 0.1123046875,
      "pos_loss": 0.404296875,
      "rot_loss": 0.150390625,
      "step": 4797
    },
    {
      "epoch": 1.0765088624635406,
      "grad_norm": 1.1770471334457397,
      "learning_rate": 0.0003711520835185048,
      "loss": 0.1779,
      "step": 4798
    },
    {
      "epoch": 1.0765088624635406,
      "gripper_loss": 1.28125,
      "loss": 0.072265625,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.058349609375,
      "step": 4798
    },
    {
      "epoch": 1.0767332286291227,
      "grad_norm": 0.592432975769043,
      "learning_rate": 0.0003710991065417878,
      "loss": 0.0908,
      "step": 4799
    },
    {
      "epoch": 1.0767332286291227,
      "gripper_loss": 0.30859375,
      "loss": 0.2177734375,
      "pos_loss": 0.54296875,
      "rot_loss": 0.46484375,
      "step": 4799
    },
    {
      "epoch": 1.076957594794705,
      "grad_norm": 1.4990041255950928,
      "learning_rate": 0.00037104612245902993,
      "loss": 0.2499,
      "step": 4800
    },
    {
      "epoch": 1.076957594794705,
      "gripper_loss": 0.79296875,
      "loss": 0.11279296875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.16015625,
      "step": 4800
    },
    {
      "epoch": 1.0771819609602873,
      "grad_norm": 1.1558767557144165,
      "learning_rate": 0.0003709931312733401,
      "loss": 0.1371,
      "step": 4801
    },
    {
      "epoch": 1.0771819609602873,
      "gripper_loss": 0.4765625,
      "loss": 0.142578125,
      "pos_loss": 1.2421875,
      "rot_loss": 0.04931640625,
      "step": 4801
    },
    {
      "epoch": 1.0774063271258694,
      "grad_norm": 0.777531623840332,
      "learning_rate": 0.00037094013298782816,
      "loss": 0.1105,
      "step": 4802
    },
    {
      "epoch": 1.0774063271258694,
      "gripper_loss": 2.4375,
      "loss": 0.11376953125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.06103515625,
      "step": 4802
    },
    {
      "epoch": 1.0776306932914517,
      "grad_norm": 0.6636121273040771,
      "learning_rate": 0.0003708871276056037,
      "loss": 0.1014,
      "step": 4803
    },
    {
      "epoch": 1.0776306932914517,
      "gripper_loss": 0.185546875,
      "loss": 0.18359375,
      "pos_loss": 0.78515625,
      "rot_loss": 0.359375,
      "step": 4803
    },
    {
      "epoch": 1.077855059457034,
      "grad_norm": 1.3341827392578125,
      "learning_rate": 0.0003708341151297772,
      "loss": 0.133,
      "step": 4804
    },
    {
      "epoch": 1.077855059457034,
      "gripper_loss": 1.296875,
      "loss": 0.1591796875,
      "pos_loss": 1.0546875,
      "rot_loss": 0.12255859375,
      "step": 4804
    },
    {
      "epoch": 1.078079425622616,
      "grad_norm": 0.63385009765625,
      "learning_rate": 0.0003707810955634595,
      "loss": 0.1094,
      "step": 4805
    },
    {
      "epoch": 1.078079425622616,
      "gripper_loss": 0.384765625,
      "loss": 0.416015625,
      "pos_loss": 0.60546875,
      "rot_loss": 0.333984375,
      "step": 4805
    },
    {
      "epoch": 1.0783037917881984,
      "grad_norm": 2.2651703357696533,
      "learning_rate": 0.00037072806890976154,
      "loss": 0.4536,
      "step": 4806
    },
    {
      "epoch": 1.0783037917881984,
      "gripper_loss": 0.310546875,
      "loss": 0.072265625,
      "pos_loss": 0.21875,
      "rot_loss": 0.1708984375,
      "step": 4806
    },
    {
      "epoch": 1.0785281579537807,
      "grad_norm": 0.8496385216712952,
      "learning_rate": 0.000370675035171795,
      "loss": 0.0976,
      "step": 4807
    },
    {
      "epoch": 1.0785281579537807,
      "gripper_loss": 0.7265625,
      "loss": 0.07421875,
      "pos_loss": 0.16796875,
      "rot_loss": 0.22265625,
      "step": 4807
    },
    {
      "epoch": 1.0787525241193627,
      "grad_norm": 0.6585697531700134,
      "learning_rate": 0.00037062199435267194,
      "loss": 0.0708,
      "step": 4808
    },
    {
      "epoch": 1.0787525241193627,
      "gripper_loss": 0.154296875,
      "loss": 0.0751953125,
      "pos_loss": 0.421875,
      "rot_loss": 0.04345703125,
      "step": 4808
    },
    {
      "epoch": 1.078976890284945,
      "grad_norm": 0.8422837257385254,
      "learning_rate": 0.0003705689464555048,
      "loss": 0.1288,
      "step": 4809
    },
    {
      "epoch": 1.078976890284945,
      "gripper_loss": 2.03125,
      "loss": 0.1083984375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.07763671875,
      "step": 4809
    },
    {
      "epoch": 1.0792012564505273,
      "grad_norm": 0.9491806626319885,
      "learning_rate": 0.0003705158914834063,
      "loss": 0.1232,
      "step": 4810
    },
    {
      "epoch": 1.0792012564505273,
      "gripper_loss": 0.064453125,
      "loss": 0.057861328125,
      "pos_loss": 0.11865234375,
      "rot_loss": 0.072265625,
      "step": 4810
    },
    {
      "epoch": 1.0794256226161094,
      "grad_norm": 0.9934921860694885,
      "learning_rate": 0.00037046282943948964,
      "loss": 0.1097,
      "step": 4811
    },
    {
      "epoch": 1.0794256226161094,
      "gripper_loss": 0.0299072265625,
      "loss": 0.11865234375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.6875,
      "step": 4811
    },
    {
      "epoch": 1.0796499887816917,
      "grad_norm": 0.5874752998352051,
      "learning_rate": 0.00037040976032686856,
      "loss": 0.0904,
      "step": 4812
    },
    {
      "epoch": 1.0796499887816917,
      "gripper_loss": 0.01318359375,
      "loss": 0.048828125,
      "pos_loss": 0.236328125,
      "rot_loss": 0.1748046875,
      "step": 4812
    },
    {
      "epoch": 1.079874354947274,
      "grad_norm": 0.6880512237548828,
      "learning_rate": 0.0003703566841486572,
      "loss": 0.0759,
      "step": 4813
    },
    {
      "epoch": 1.079874354947274,
      "gripper_loss": 2.328125,
      "loss": 0.216796875,
      "pos_loss": 0.4765625,
      "rot_loss": 0.39453125,
      "step": 4813
    },
    {
      "epoch": 1.080098721112856,
      "grad_norm": 1.095004677772522,
      "learning_rate": 0.00037030360090796986,
      "loss": 0.1948,
      "step": 4814
    },
    {
      "epoch": 1.080098721112856,
      "gripper_loss": 1.171875,
      "loss": 0.1044921875,
      "pos_loss": 0.486328125,
      "rot_loss": 0.10546875,
      "step": 4814
    },
    {
      "epoch": 1.0803230872784384,
      "grad_norm": 0.7818586826324463,
      "learning_rate": 0.0003702505106079217,
      "loss": 0.0965,
      "step": 4815
    },
    {
      "epoch": 1.0803230872784384,
      "gripper_loss": 0.3828125,
      "loss": 0.326171875,
      "pos_loss": 0.640625,
      "rot_loss": 0.890625,
      "step": 4815
    },
    {
      "epoch": 1.0805474534440207,
      "grad_norm": 1.6225694417953491,
      "learning_rate": 0.0003701974132516278,
      "loss": 0.3547,
      "step": 4816
    },
    {
      "epoch": 1.0805474534440207,
      "gripper_loss": 0.37890625,
      "loss": 0.1162109375,
      "pos_loss": 0.83984375,
      "rot_loss": 0.0986328125,
      "step": 4816
    },
    {
      "epoch": 1.0807718196096028,
      "grad_norm": 0.907993495464325,
      "learning_rate": 0.00037014430884220397,
      "loss": 0.1017,
      "step": 4817
    },
    {
      "epoch": 1.0807718196096028,
      "gripper_loss": 0.1494140625,
      "loss": 0.255859375,
      "pos_loss": 0.55078125,
      "rot_loss": 0.61328125,
      "step": 4817
    },
    {
      "epoch": 1.080996185775185,
      "grad_norm": 1.580572485923767,
      "learning_rate": 0.0003700911973827663,
      "loss": 0.2351,
      "step": 4818
    },
    {
      "epoch": 1.080996185775185,
      "gripper_loss": 0.04931640625,
      "loss": 0.2236328125,
      "pos_loss": 1.4609375,
      "rot_loss": 0.75390625,
      "step": 4818
    },
    {
      "epoch": 1.0812205519407674,
      "grad_norm": 0.8210015296936035,
      "learning_rate": 0.0003700380788764315,
      "loss": 0.0938,
      "step": 4819
    },
    {
      "epoch": 1.0812205519407674,
      "gripper_loss": 0.7109375,
      "loss": 0.07958984375,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.470703125,
      "step": 4819
    },
    {
      "epoch": 1.0814449181063495,
      "grad_norm": 0.8365166187286377,
      "learning_rate": 0.0003699849533263164,
      "loss": 0.0823,
      "step": 4820
    },
    {
      "epoch": 1.0814449181063495,
      "gripper_loss": 0.61328125,
      "loss": 0.08984375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.049560546875,
      "step": 4820
    },
    {
      "epoch": 1.0816692842719318,
      "grad_norm": 0.5944948196411133,
      "learning_rate": 0.0003699318207355384,
      "loss": 0.0736,
      "step": 4821
    },
    {
      "epoch": 1.0816692842719318,
      "gripper_loss": 0.1328125,
      "loss": 0.09814453125,
      "pos_loss": 0.7890625,
      "rot_loss": 0.083984375,
      "step": 4821
    },
    {
      "epoch": 1.081893650437514,
      "grad_norm": 0.6968480348587036,
      "learning_rate": 0.0003698786811072154,
      "loss": 0.0735,
      "step": 4822
    },
    {
      "epoch": 1.081893650437514,
      "gripper_loss": 0.4453125,
      "loss": 0.10888671875,
      "pos_loss": 0.45703125,
      "rot_loss": 0.1484375,
      "step": 4822
    },
    {
      "epoch": 1.0821180166030961,
      "grad_norm": 1.189178705215454,
      "learning_rate": 0.0003698255344444654,
      "loss": 0.1425,
      "step": 4823
    },
    {
      "epoch": 1.0821180166030961,
      "gripper_loss": 0.2001953125,
      "loss": 0.1708984375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.357421875,
      "step": 4823
    },
    {
      "epoch": 1.0823423827686784,
      "grad_norm": 1.3836075067520142,
      "learning_rate": 0.0003697723807504073,
      "loss": 0.1412,
      "step": 4824
    },
    {
      "epoch": 1.0823423827686784,
      "gripper_loss": 0.1318359375,
      "loss": 0.09375,
      "pos_loss": 0.73828125,
      "rot_loss": 0.0986328125,
      "step": 4824
    },
    {
      "epoch": 1.0825667489342607,
      "grad_norm": 0.6487537622451782,
      "learning_rate": 0.0003697192200281599,
      "loss": 0.0852,
      "step": 4825
    },
    {
      "epoch": 1.0825667489342607,
      "gripper_loss": 0.4296875,
      "loss": 0.099609375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.06298828125,
      "step": 4825
    },
    {
      "epoch": 1.0827911150998428,
      "grad_norm": 0.8589767813682556,
      "learning_rate": 0.0003696660522808428,
      "loss": 0.1076,
      "step": 4826
    },
    {
      "epoch": 1.0827911150998428,
      "gripper_loss": 0.01483154296875,
      "loss": 0.05078125,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.162109375,
      "step": 4826
    },
    {
      "epoch": 1.0830154812654251,
      "grad_norm": 0.7561894059181213,
      "learning_rate": 0.0003696128775115757,
      "loss": 0.0668,
      "step": 4827
    },
    {
      "epoch": 1.0830154812654251,
      "gripper_loss": 0.048583984375,
      "loss": 0.11083984375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.1572265625,
      "step": 4827
    },
    {
      "epoch": 1.0832398474310074,
      "grad_norm": 0.9218730330467224,
      "learning_rate": 0.00036955969572347903,
      "loss": 0.0916,
      "step": 4828
    },
    {
      "epoch": 1.0832398474310074,
      "gripper_loss": 0.032470703125,
      "loss": 0.07177734375,
      "pos_loss": 0.478515625,
      "rot_loss": 0.1689453125,
      "step": 4828
    },
    {
      "epoch": 1.0834642135965897,
      "grad_norm": 0.7152183055877686,
      "learning_rate": 0.0003695065069196734,
      "loss": 0.0945,
      "step": 4829
    },
    {
      "epoch": 1.0834642135965897,
      "gripper_loss": 0.028076171875,
      "loss": 0.11181640625,
      "pos_loss": 0.98828125,
      "rot_loss": 0.059814453125,
      "step": 4829
    },
    {
      "epoch": 1.0836885797621718,
      "grad_norm": 0.5844662189483643,
      "learning_rate": 0.00036945331110327997,
      "loss": 0.0987,
      "step": 4830
    },
    {
      "epoch": 1.0836885797621718,
      "gripper_loss": 0.26953125,
      "loss": 0.08642578125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.2275390625,
      "step": 4830
    },
    {
      "epoch": 1.0839129459277541,
      "grad_norm": 0.49266332387924194,
      "learning_rate": 0.00036940010827742005,
      "loss": 0.0696,
      "step": 4831
    },
    {
      "epoch": 1.0839129459277541,
      "gripper_loss": 3.75,
      "loss": 0.1640625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.0791015625,
      "step": 4831
    },
    {
      "epoch": 1.0841373120933364,
      "grad_norm": 0.5831993818283081,
      "learning_rate": 0.0003693468984452158,
      "loss": 0.101,
      "step": 4832
    },
    {
      "epoch": 1.0841373120933364,
      "gripper_loss": 0.014892578125,
      "loss": 0.2490234375,
      "pos_loss": 1.625,
      "rot_loss": 0.9609375,
      "step": 4832
    },
    {
      "epoch": 1.0843616782589185,
      "grad_norm": 0.7291584610939026,
      "learning_rate": 0.00036929368160978937,
      "loss": 0.1115,
      "step": 4833
    },
    {
      "epoch": 1.0843616782589185,
      "gripper_loss": 0.62890625,
      "loss": 0.044921875,
      "pos_loss": 0.146484375,
      "rot_loss": 0.033935546875,
      "step": 4833
    },
    {
      "epoch": 1.0845860444245008,
      "grad_norm": 0.6548687815666199,
      "learning_rate": 0.0003692404577742637,
      "loss": 0.0992,
      "step": 4834
    },
    {
      "epoch": 1.0845860444245008,
      "gripper_loss": 1.15625,
      "loss": 0.055908203125,
      "pos_loss": 0.05029296875,
      "rot_loss": 0.08251953125,
      "step": 4834
    },
    {
      "epoch": 1.084810410590083,
      "grad_norm": 0.5631000399589539,
      "learning_rate": 0.00036918722694176176,
      "loss": 0.0779,
      "step": 4835
    },
    {
      "epoch": 1.084810410590083,
      "gripper_loss": 0.357421875,
      "loss": 0.11083984375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.46484375,
      "step": 4835
    },
    {
      "epoch": 1.0850347767556652,
      "grad_norm": 0.5377951264381409,
      "learning_rate": 0.00036913398911540715,
      "loss": 0.0942,
      "step": 4836
    },
    {
      "epoch": 1.0850347767556652,
      "gripper_loss": 0.443359375,
      "loss": 0.0703125,
      "pos_loss": 0.15625,
      "rot_loss": 0.09521484375,
      "step": 4836
    },
    {
      "epoch": 1.0852591429212475,
      "grad_norm": 0.7761377692222595,
      "learning_rate": 0.00036908074429832386,
      "loss": 0.1209,
      "step": 4837
    },
    {
      "epoch": 1.0852591429212475,
      "gripper_loss": 0.1337890625,
      "loss": 0.0927734375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.203125,
      "step": 4837
    },
    {
      "epoch": 1.0854835090868298,
      "grad_norm": 0.6084933280944824,
      "learning_rate": 0.0003690274924936363,
      "loss": 0.0966,
      "step": 4838
    },
    {
      "epoch": 1.0854835090868298,
      "gripper_loss": 0.1796875,
      "loss": 0.1591796875,
      "pos_loss": 0.74609375,
      "rot_loss": 0.333984375,
      "step": 4838
    },
    {
      "epoch": 1.0857078752524119,
      "grad_norm": 1.0903624296188354,
      "learning_rate": 0.0003689742337044692,
      "loss": 0.183,
      "step": 4839
    },
    {
      "epoch": 1.0857078752524119,
      "gripper_loss": 0.09521484375,
      "loss": 0.1982421875,
      "pos_loss": 0.46875,
      "rot_loss": 0.404296875,
      "step": 4839
    },
    {
      "epoch": 1.0859322414179942,
      "grad_norm": 1.8702751398086548,
      "learning_rate": 0.0003689209679339478,
      "loss": 0.2235,
      "step": 4840
    },
    {
      "epoch": 1.0859322414179942,
      "gripper_loss": 0.0299072265625,
      "loss": 0.06298828125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.02783203125,
      "step": 4840
    },
    {
      "epoch": 1.0861566075835765,
      "grad_norm": 0.5412328839302063,
      "learning_rate": 0.0003688676951851978,
      "loss": 0.0865,
      "step": 4841
    },
    {
      "epoch": 1.0861566075835765,
      "gripper_loss": 0.44140625,
      "loss": 0.06298828125,
      "pos_loss": 0.291015625,
      "rot_loss": 0.10986328125,
      "step": 4841
    },
    {
      "epoch": 1.0863809737491585,
      "grad_norm": 0.7380446791648865,
      "learning_rate": 0.000368814415461345,
      "loss": 0.1321,
      "step": 4842
    },
    {
      "epoch": 1.0863809737491585,
      "gripper_loss": 0.609375,
      "loss": 0.07763671875,
      "pos_loss": 0.458984375,
      "rot_loss": 0.025146484375,
      "step": 4842
    },
    {
      "epoch": 1.0866053399147408,
      "grad_norm": 0.6581302881240845,
      "learning_rate": 0.00036876112876551605,
      "loss": 0.1056,
      "step": 4843
    },
    {
      "epoch": 1.0866053399147408,
      "gripper_loss": 0.287109375,
      "loss": 0.0693359375,
      "pos_loss": 0.384765625,
      "rot_loss": 0.15234375,
      "step": 4843
    },
    {
      "epoch": 1.0868297060803231,
      "grad_norm": 0.548055112361908,
      "learning_rate": 0.0003687078351008376,
      "loss": 0.076,
      "step": 4844
    },
    {
      "epoch": 1.0868297060803231,
      "gripper_loss": 0.37109375,
      "loss": 0.0673828125,
      "pos_loss": 0.455078125,
      "rot_loss": 0.05712890625,
      "step": 4844
    },
    {
      "epoch": 1.0870540722459052,
      "grad_norm": 0.6220774054527283,
      "learning_rate": 0.0003686545344704371,
      "loss": 0.0872,
      "step": 4845
    },
    {
      "epoch": 1.0870540722459052,
      "gripper_loss": 0.06591796875,
      "loss": 0.1796875,
      "pos_loss": 1.328125,
      "rot_loss": 0.478515625,
      "step": 4845
    },
    {
      "epoch": 1.0872784384114875,
      "grad_norm": 0.5250852108001709,
      "learning_rate": 0.000368601226877442,
      "loss": 0.1132,
      "step": 4846
    },
    {
      "epoch": 1.0872784384114875,
      "gripper_loss": 0.208984375,
      "loss": 0.06689453125,
      "pos_loss": 0.43359375,
      "rot_loss": 0.1357421875,
      "step": 4846
    },
    {
      "epoch": 1.0875028045770698,
      "grad_norm": 0.4629881978034973,
      "learning_rate": 0.0003685479123249806,
      "loss": 0.0858,
      "step": 4847
    },
    {
      "epoch": 1.0875028045770698,
      "gripper_loss": 0.0830078125,
      "loss": 0.016845703125,
      "pos_loss": 0.0625,
      "rot_loss": 0.01312255859375,
      "step": 4847
    },
    {
      "epoch": 1.087727170742652,
      "grad_norm": 0.43720486760139465,
      "learning_rate": 0.00036849459081618116,
      "loss": 0.0793,
      "step": 4848
    },
    {
      "epoch": 1.087727170742652,
      "gripper_loss": 0.67578125,
      "loss": 0.08203125,
      "pos_loss": 0.3828125,
      "rot_loss": 0.111328125,
      "step": 4848
    },
    {
      "epoch": 1.0879515369082342,
      "grad_norm": 0.9505969285964966,
      "learning_rate": 0.0003684412623541726,
      "loss": 0.119,
      "step": 4849
    },
    {
      "epoch": 1.0879515369082342,
      "gripper_loss": 0.43359375,
      "loss": 0.1416015625,
      "pos_loss": 0.82421875,
      "rot_loss": 0.1572265625,
      "step": 4849
    },
    {
      "epoch": 1.0881759030738165,
      "grad_norm": 1.1952720880508423,
      "learning_rate": 0.00036838792694208436,
      "loss": 0.1467,
      "step": 4850
    },
    {
      "epoch": 1.0881759030738165,
      "gripper_loss": 0.0380859375,
      "loss": 0.1748046875,
      "pos_loss": 1.484375,
      "rot_loss": 0.26953125,
      "step": 4850
    },
    {
      "epoch": 1.0884002692393988,
      "grad_norm": 0.6827462911605835,
      "learning_rate": 0.000368334584583046,
      "loss": 0.1012,
      "step": 4851
    },
    {
      "epoch": 1.0884002692393988,
      "gripper_loss": 0.1708984375,
      "loss": 0.341796875,
      "pos_loss": 1.171875,
      "rot_loss": 1.140625,
      "step": 4851
    },
    {
      "epoch": 1.088624635404981,
      "grad_norm": 1.3619575500488281,
      "learning_rate": 0.0003682812352801876,
      "loss": 0.277,
      "step": 4852
    },
    {
      "epoch": 1.088624635404981,
      "gripper_loss": 0.2421875,
      "loss": 0.08935546875,
      "pos_loss": 0.396484375,
      "rot_loss": 0.345703125,
      "step": 4852
    },
    {
      "epoch": 1.0888490015705632,
      "grad_norm": 0.8923763036727905,
      "learning_rate": 0.00036822787903663975,
      "loss": 0.0722,
      "step": 4853
    },
    {
      "epoch": 1.0888490015705632,
      "gripper_loss": 0.1337890625,
      "loss": 0.1240234375,
      "pos_loss": 1.046875,
      "rot_loss": 0.0615234375,
      "step": 4853
    },
    {
      "epoch": 1.0890733677361455,
      "grad_norm": 0.951202392578125,
      "learning_rate": 0.0003681745158555334,
      "loss": 0.1246,
      "step": 4854
    },
    {
      "epoch": 1.0890733677361455,
      "gripper_loss": 0.6953125,
      "loss": 0.1318359375,
      "pos_loss": 0.32421875,
      "rot_loss": 0.390625,
      "step": 4854
    },
    {
      "epoch": 1.0892977339017276,
      "grad_norm": 1.1244285106658936,
      "learning_rate": 0.0003681211457399998,
      "loss": 0.162,
      "step": 4855
    },
    {
      "epoch": 1.0892977339017276,
      "gripper_loss": 0.055908203125,
      "loss": 0.061279296875,
      "pos_loss": 0.435546875,
      "rot_loss": 0.052734375,
      "step": 4855
    },
    {
      "epoch": 1.0895221000673099,
      "grad_norm": 0.8843546509742737,
      "learning_rate": 0.0003680677686931707,
      "loss": 0.0767,
      "step": 4856
    },
    {
      "epoch": 1.0895221000673099,
      "gripper_loss": 0.2255859375,
      "loss": 0.091796875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.4375,
      "step": 4856
    },
    {
      "epoch": 1.0897464662328922,
      "grad_norm": 1.000544548034668,
      "learning_rate": 0.00036801438471817827,
      "loss": 0.0924,
      "step": 4857
    },
    {
      "epoch": 1.0897464662328922,
      "gripper_loss": 0.055908203125,
      "loss": 0.046142578125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.03662109375,
      "step": 4857
    },
    {
      "epoch": 1.0899708323984743,
      "grad_norm": 0.9951207637786865,
      "learning_rate": 0.00036796099381815507,
      "loss": 0.1189,
      "step": 4858
    },
    {
      "epoch": 1.0899708323984743,
      "gripper_loss": 1.015625,
      "loss": 0.051025390625,
      "pos_loss": 0.0859375,
      "rot_loss": 0.0283203125,
      "step": 4858
    },
    {
      "epoch": 1.0901951985640566,
      "grad_norm": 0.5019361972808838,
      "learning_rate": 0.0003679075959962339,
      "loss": 0.0747,
      "step": 4859
    },
    {
      "epoch": 1.0901951985640566,
      "gripper_loss": 0.5859375,
      "loss": 0.11962890625,
      "pos_loss": 0.703125,
      "rot_loss": 0.28125,
      "step": 4859
    },
    {
      "epoch": 1.0904195647296389,
      "grad_norm": 0.716882586479187,
      "learning_rate": 0.00036785419125554843,
      "loss": 0.1124,
      "step": 4860
    },
    {
      "epoch": 1.0904195647296389,
      "gripper_loss": 0.1171875,
      "loss": 0.057861328125,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.1142578125,
      "step": 4860
    },
    {
      "epoch": 1.090643930895221,
      "grad_norm": 0.9083141088485718,
      "learning_rate": 0.00036780077959923206,
      "loss": 0.1137,
      "step": 4861
    },
    {
      "epoch": 1.090643930895221,
      "gripper_loss": 0.2099609375,
      "loss": 0.0693359375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.0830078125,
      "step": 4861
    },
    {
      "epoch": 1.0908682970608032,
      "grad_norm": 0.9161701798439026,
      "learning_rate": 0.0003677473610304193,
      "loss": 0.1016,
      "step": 4862
    },
    {
      "epoch": 1.0908682970608032,
      "gripper_loss": 0.13671875,
      "loss": 0.201171875,
      "pos_loss": 0.98828125,
      "rot_loss": 0.84765625,
      "step": 4862
    },
    {
      "epoch": 1.0910926632263855,
      "grad_norm": 0.6364084482192993,
      "learning_rate": 0.0003676939355522445,
      "loss": 0.1144,
      "step": 4863
    },
    {
      "epoch": 1.0910926632263855,
      "gripper_loss": 0.25,
      "loss": 0.0859375,
      "pos_loss": 0.6953125,
      "rot_loss": 0.044677734375,
      "step": 4863
    },
    {
      "epoch": 1.0913170293919676,
      "grad_norm": 0.7972989678382874,
      "learning_rate": 0.0003676405031678427,
      "loss": 0.1002,
      "step": 4864
    },
    {
      "epoch": 1.0913170293919676,
      "gripper_loss": 0.064453125,
      "loss": 0.09521484375,
      "pos_loss": 0.46875,
      "rot_loss": 0.330078125,
      "step": 4864
    },
    {
      "epoch": 1.09154139555755,
      "grad_norm": 0.9027866125106812,
      "learning_rate": 0.00036758706388034936,
      "loss": 0.0872,
      "step": 4865
    },
    {
      "epoch": 1.09154139555755,
      "gripper_loss": 0.298828125,
      "loss": 0.10009765625,
      "pos_loss": 0.45703125,
      "rot_loss": 0.337890625,
      "step": 4865
    },
    {
      "epoch": 1.0917657617231322,
      "grad_norm": 0.9712729454040527,
      "learning_rate": 0.00036753361769290016,
      "loss": 0.076,
      "step": 4866
    },
    {
      "epoch": 1.0917657617231322,
      "gripper_loss": 0.267578125,
      "loss": 0.04833984375,
      "pos_loss": 0.205078125,
      "rot_loss": 0.08447265625,
      "step": 4866
    },
    {
      "epoch": 1.0919901278887143,
      "grad_norm": 0.801645040512085,
      "learning_rate": 0.0003674801646086313,
      "loss": 0.1018,
      "step": 4867
    },
    {
      "epoch": 1.0919901278887143,
      "gripper_loss": 0.0274658203125,
      "loss": 0.224609375,
      "pos_loss": 1.65625,
      "rot_loss": 0.58984375,
      "step": 4867
    },
    {
      "epoch": 1.0922144940542966,
      "grad_norm": 0.6707130670547485,
      "learning_rate": 0.0003674267046306795,
      "loss": 0.1091,
      "step": 4868
    },
    {
      "epoch": 1.0922144940542966,
      "gripper_loss": 0.032958984375,
      "loss": 0.2109375,
      "pos_loss": 1.8828125,
      "rot_loss": 0.19921875,
      "step": 4868
    },
    {
      "epoch": 1.092438860219879,
      "grad_norm": 0.5987794995307922,
      "learning_rate": 0.0003673732377621817,
      "loss": 0.1069,
      "step": 4869
    },
    {
      "epoch": 1.092438860219879,
      "gripper_loss": 0.7890625,
      "loss": 0.1298828125,
      "pos_loss": 0.5703125,
      "rot_loss": 0.2353515625,
      "step": 4869
    },
    {
      "epoch": 1.092663226385461,
      "grad_norm": 0.8826603889465332,
      "learning_rate": 0.00036731976400627536,
      "loss": 0.1219,
      "step": 4870
    },
    {
      "epoch": 1.092663226385461,
      "gripper_loss": 0.294921875,
      "loss": 0.03955078125,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.0654296875,
      "step": 4870
    },
    {
      "epoch": 1.0928875925510433,
      "grad_norm": 0.5169990658760071,
      "learning_rate": 0.00036726628336609826,
      "loss": 0.0598,
      "step": 4871
    },
    {
      "epoch": 1.0928875925510433,
      "gripper_loss": 0.046630859375,
      "loss": 0.056884765625,
      "pos_loss": 0.1484375,
      "rot_loss": 0.3515625,
      "step": 4871
    },
    {
      "epoch": 1.0931119587166256,
      "grad_norm": 0.5701137781143188,
      "learning_rate": 0.0003672127958447885,
      "loss": 0.0889,
      "step": 4872
    },
    {
      "epoch": 1.0931119587166256,
      "gripper_loss": 0.8046875,
      "loss": 0.043701171875,
      "pos_loss": 0.044189453125,
      "rot_loss": 0.07666015625,
      "step": 4872
    },
    {
      "epoch": 1.0933363248822077,
      "grad_norm": 0.39242982864379883,
      "learning_rate": 0.0003671593014454849,
      "loss": 0.0579,
      "step": 4873
    },
    {
      "epoch": 1.0933363248822077,
      "gripper_loss": 0.80859375,
      "loss": 0.1240234375,
      "pos_loss": 0.8515625,
      "rot_loss": 0.10986328125,
      "step": 4873
    },
    {
      "epoch": 1.09356069104779,
      "grad_norm": 0.5911847352981567,
      "learning_rate": 0.00036710580017132634,
      "loss": 0.0855,
      "step": 4874
    },
    {
      "epoch": 1.09356069104779,
      "gripper_loss": 0.71484375,
      "loss": 0.037841796875,
      "pos_loss": 0.07275390625,
      "rot_loss": 0.0322265625,
      "step": 4874
    },
    {
      "epoch": 1.0937850572133723,
      "grad_norm": 0.39700308442115784,
      "learning_rate": 0.00036705229202545236,
      "loss": 0.0728,
      "step": 4875
    },
    {
      "epoch": 1.0937850572133723,
      "gripper_loss": 0.36328125,
      "loss": 0.12109375,
      "pos_loss": 0.384765625,
      "rot_loss": 0.54296875,
      "step": 4875
    },
    {
      "epoch": 1.0940094233789543,
      "grad_norm": 0.803231418132782,
      "learning_rate": 0.00036699877701100274,
      "loss": 0.1206,
      "step": 4876
    },
    {
      "epoch": 1.0940094233789543,
      "gripper_loss": 0.0303955078125,
      "loss": 0.0986328125,
      "pos_loss": 0.88671875,
      "rot_loss": 0.0888671875,
      "step": 4876
    },
    {
      "epoch": 1.0942337895445367,
      "grad_norm": 0.579023003578186,
      "learning_rate": 0.00036694525513111776,
      "loss": 0.1001,
      "step": 4877
    },
    {
      "epoch": 1.0942337895445367,
      "gripper_loss": 0.006500244140625,
      "loss": 0.037109375,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.09228515625,
      "step": 4877
    },
    {
      "epoch": 1.094458155710119,
      "grad_norm": 0.42533397674560547,
      "learning_rate": 0.000366891726388938,
      "loss": 0.0438,
      "step": 4878
    },
    {
      "epoch": 1.094458155710119,
      "gripper_loss": 0.037841796875,
      "loss": 0.0615234375,
      "pos_loss": 0.462890625,
      "rot_loss": 0.0859375,
      "step": 4878
    },
    {
      "epoch": 1.094682521875701,
      "grad_norm": 0.5063195824623108,
      "learning_rate": 0.0003668381907876045,
      "loss": 0.0677,
      "step": 4879
    },
    {
      "epoch": 1.094682521875701,
      "gripper_loss": 0.6640625,
      "loss": 0.470703125,
      "pos_loss": 0.63671875,
      "rot_loss": 0.55859375,
      "step": 4879
    },
    {
      "epoch": 1.0949068880412833,
      "grad_norm": 2.0513463020324707,
      "learning_rate": 0.00036678464833025866,
      "loss": 0.5139,
      "step": 4880
    },
    {
      "epoch": 1.0949068880412833,
      "gripper_loss": 0.4140625,
      "loss": 0.251953125,
      "pos_loss": 1.859375,
      "rot_loss": 0.22265625,
      "step": 4880
    },
    {
      "epoch": 1.0951312542068656,
      "grad_norm": 0.8379071354866028,
      "learning_rate": 0.0003667310990200425,
      "loss": 0.1726,
      "step": 4881
    },
    {
      "epoch": 1.0951312542068656,
      "gripper_loss": 0.365234375,
      "loss": 0.029541015625,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.04052734375,
      "step": 4881
    },
    {
      "epoch": 1.095355620372448,
      "grad_norm": 0.5569636225700378,
      "learning_rate": 0.0003666775428600981,
      "loss": 0.0743,
      "step": 4882
    },
    {
      "epoch": 1.095355620372448,
      "gripper_loss": 0.01092529296875,
      "loss": 0.048095703125,
      "pos_loss": 0.359375,
      "rot_loss": 0.062255859375,
      "step": 4882
    },
    {
      "epoch": 1.09557998653803,
      "grad_norm": 0.6498631238937378,
      "learning_rate": 0.00036662397985356824,
      "loss": 0.0909,
      "step": 4883
    },
    {
      "epoch": 1.09557998653803,
      "gripper_loss": 0.5078125,
      "loss": 0.271484375,
      "pos_loss": 0.8125,
      "rot_loss": 0.4765625,
      "step": 4883
    },
    {
      "epoch": 1.0958043527036123,
      "grad_norm": 1.3812955617904663,
      "learning_rate": 0.00036657041000359594,
      "loss": 0.281,
      "step": 4884
    },
    {
      "epoch": 1.0958043527036123,
      "gripper_loss": 0.78515625,
      "loss": 0.421875,
      "pos_loss": 1.015625,
      "rot_loss": 0.75,
      "step": 4884
    },
    {
      "epoch": 1.0960287188691946,
      "grad_norm": 1.759251356124878,
      "learning_rate": 0.00036651683331332454,
      "loss": 0.3381,
      "step": 4885
    },
    {
      "epoch": 1.0960287188691946,
      "gripper_loss": 0.03857421875,
      "loss": 0.1435546875,
      "pos_loss": 1.0546875,
      "rot_loss": 0.400390625,
      "step": 4885
    },
    {
      "epoch": 1.0962530850347767,
      "grad_norm": 0.8234885334968567,
      "learning_rate": 0.000366463249785898,
      "loss": 0.1206,
      "step": 4886
    },
    {
      "epoch": 1.0962530850347767,
      "gripper_loss": 0.0189208984375,
      "loss": 0.1767578125,
      "pos_loss": 1.0625,
      "rot_loss": 0.734375,
      "step": 4886
    },
    {
      "epoch": 1.096477451200359,
      "grad_norm": 0.5857811570167542,
      "learning_rate": 0.00036640965942446056,
      "loss": 0.0767,
      "step": 4887
    },
    {
      "epoch": 1.096477451200359,
      "gripper_loss": 1.0625,
      "loss": 0.1259765625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.431640625,
      "step": 4887
    },
    {
      "epoch": 1.0967018173659413,
      "grad_norm": 1.1209827661514282,
      "learning_rate": 0.00036635606223215696,
      "loss": 0.1498,
      "step": 4888
    },
    {
      "epoch": 1.0967018173659413,
      "gripper_loss": 0.21875,
      "loss": 0.027099609375,
      "pos_loss": 0.09765625,
      "rot_loss": 0.03466796875,
      "step": 4888
    },
    {
      "epoch": 1.0969261835315234,
      "grad_norm": 0.5959439277648926,
      "learning_rate": 0.000366302458212132,
      "loss": 0.0845,
      "step": 4889
    },
    {
      "epoch": 1.0969261835315234,
      "gripper_loss": 0.640625,
      "loss": 0.1279296875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.169921875,
      "step": 4889
    },
    {
      "epoch": 1.0971505496971057,
      "grad_norm": 0.848828911781311,
      "learning_rate": 0.0003662488473675315,
      "loss": 0.1062,
      "step": 4890
    },
    {
      "epoch": 1.0971505496971057,
      "gripper_loss": 0.057861328125,
      "loss": 0.06298828125,
      "pos_loss": 0.451171875,
      "rot_loss": 0.05126953125,
      "step": 4890
    },
    {
      "epoch": 1.097374915862688,
      "grad_norm": 0.520496666431427,
      "learning_rate": 0.000366195229701501,
      "loss": 0.0896,
      "step": 4891
    },
    {
      "epoch": 1.097374915862688,
      "gripper_loss": 0.042724609375,
      "loss": 0.1142578125,
      "pos_loss": 0.435546875,
      "rot_loss": 0.6875,
      "step": 4891
    },
    {
      "epoch": 1.09759928202827,
      "grad_norm": 0.4735751152038574,
      "learning_rate": 0.00036614160521718697,
      "loss": 0.1301,
      "step": 4892
    },
    {
      "epoch": 1.09759928202827,
      "gripper_loss": 0.27734375,
      "loss": 0.0277099609375,
      "pos_loss": 0.068359375,
      "rot_loss": 0.060546875,
      "step": 4892
    },
    {
      "epoch": 1.0978236481938524,
      "grad_norm": 0.4304942190647125,
      "learning_rate": 0.0003660879739177361,
      "loss": 0.0485,
      "step": 4893
    },
    {
      "epoch": 1.0978236481938524,
      "gripper_loss": 0.3203125,
      "loss": 0.031005859375,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.05908203125,
      "step": 4893
    },
    {
      "epoch": 1.0980480143594347,
      "grad_norm": 0.5337724685668945,
      "learning_rate": 0.0003660343358062952,
      "loss": 0.0754,
      "step": 4894
    },
    {
      "epoch": 1.0980480143594347,
      "gripper_loss": 0.4140625,
      "loss": 0.1162109375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.30859375,
      "step": 4894
    },
    {
      "epoch": 1.0982723805250167,
      "grad_norm": 0.9330241680145264,
      "learning_rate": 0.0003659806908860119,
      "loss": 0.1183,
      "step": 4895
    },
    {
      "epoch": 1.0982723805250167,
      "gripper_loss": 0.55859375,
      "loss": 0.0703125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.029541015625,
      "step": 4895
    },
    {
      "epoch": 1.098496746690599,
      "grad_norm": 0.5798335671424866,
      "learning_rate": 0.000365927039160034,
      "loss": 0.0664,
      "step": 4896
    },
    {
      "epoch": 1.098496746690599,
      "gripper_loss": 0.53125,
      "loss": 0.146484375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.375,
      "step": 4896
    },
    {
      "epoch": 1.0987211128561813,
      "grad_norm": 1.0753390789031982,
      "learning_rate": 0.00036587338063150983,
      "loss": 0.183,
      "step": 4897
    },
    {
      "epoch": 1.0987211128561813,
      "gripper_loss": 1.140625,
      "loss": 0.06103515625,
      "pos_loss": 0.1171875,
      "rot_loss": 0.0615234375,
      "step": 4897
    },
    {
      "epoch": 1.0989454790217634,
      "grad_norm": 0.6159734725952148,
      "learning_rate": 0.00036581971530358804,
      "loss": 0.0959,
      "step": 4898
    },
    {
      "epoch": 1.0989454790217634,
      "gripper_loss": 0.40234375,
      "loss": 0.0673828125,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.33984375,
      "step": 4898
    },
    {
      "epoch": 1.0991698451873457,
      "grad_norm": 0.6510912775993347,
      "learning_rate": 0.0003657660431794176,
      "loss": 0.0894,
      "step": 4899
    },
    {
      "epoch": 1.0991698451873457,
      "gripper_loss": 0.078125,
      "loss": 0.193359375,
      "pos_loss": 1.171875,
      "rot_loss": 0.384765625,
      "step": 4899
    },
    {
      "epoch": 1.099394211352928,
      "grad_norm": 1.166025161743164,
      "learning_rate": 0.0003657123642621481,
      "loss": 0.1432,
      "step": 4900
    },
    {
      "epoch": 1.099394211352928,
      "gripper_loss": 0.25,
      "loss": 0.0279541015625,
      "pos_loss": 0.042236328125,
      "rot_loss": 0.09375,
      "step": 4900
    },
    {
      "epoch": 1.09961857751851,
      "grad_norm": 0.5112728476524353,
      "learning_rate": 0.0003656586785549293,
      "loss": 0.0561,
      "step": 4901
    },
    {
      "epoch": 1.09961857751851,
      "gripper_loss": 0.1552734375,
      "loss": 0.021240234375,
      "pos_loss": 0.076171875,
      "rot_loss": 0.03271484375,
      "step": 4901
    },
    {
      "epoch": 1.0998429436840924,
      "grad_norm": 0.5977644920349121,
      "learning_rate": 0.0003656049860609115,
      "loss": 0.071,
      "step": 4902
    },
    {
      "epoch": 1.0998429436840924,
      "gripper_loss": 0.028076171875,
      "loss": 0.1923828125,
      "pos_loss": 1.296875,
      "rot_loss": 0.6328125,
      "step": 4902
    },
    {
      "epoch": 1.1000673098496747,
      "grad_norm": 0.5081142783164978,
      "learning_rate": 0.0003655512867832453,
      "loss": 0.101,
      "step": 4903
    },
    {
      "epoch": 1.1000673098496747,
      "gripper_loss": 0.01220703125,
      "loss": 0.08447265625,
      "pos_loss": 0.515625,
      "rot_loss": 0.275390625,
      "step": 4903
    },
    {
      "epoch": 1.100291676015257,
      "grad_norm": 0.5442776083946228,
      "learning_rate": 0.0003654975807250818,
      "loss": 0.0829,
      "step": 4904
    },
    {
      "epoch": 1.100291676015257,
      "gripper_loss": 0.79296875,
      "loss": 0.08740234375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.1552734375,
      "step": 4904
    },
    {
      "epoch": 1.100516042180839,
      "grad_norm": 0.5739744305610657,
      "learning_rate": 0.00036544386788957235,
      "loss": 0.1105,
      "step": 4905
    },
    {
      "epoch": 1.100516042180839,
      "gripper_loss": 0.0263671875,
      "loss": 0.0986328125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.361328125,
      "step": 4905
    },
    {
      "epoch": 1.1007404083464214,
      "grad_norm": 0.5520336627960205,
      "learning_rate": 0.0003653901482798689,
      "loss": 0.0868,
      "step": 4906
    },
    {
      "epoch": 1.1007404083464214,
      "gripper_loss": 0.055908203125,
      "loss": 0.1611328125,
      "pos_loss": 0.9453125,
      "rot_loss": 0.66796875,
      "step": 4906
    },
    {
      "epoch": 1.1009647745120037,
      "grad_norm": 0.5469567775726318,
      "learning_rate": 0.00036533642189912367,
      "loss": 0.1012,
      "step": 4907
    },
    {
      "epoch": 1.1009647745120037,
      "gripper_loss": 0.2294921875,
      "loss": 0.035400390625,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.10595703125,
      "step": 4907
    },
    {
      "epoch": 1.1011891406775858,
      "grad_norm": 0.6004350185394287,
      "learning_rate": 0.0003652826887504893,
      "loss": 0.0905,
      "step": 4908
    },
    {
      "epoch": 1.1011891406775858,
      "gripper_loss": 0.08251953125,
      "loss": 0.1015625,
      "pos_loss": 0.625,
      "rot_loss": 0.33984375,
      "step": 4908
    },
    {
      "epoch": 1.101413506843168,
      "grad_norm": 0.520702600479126,
      "learning_rate": 0.00036522894883711884,
      "loss": 0.0719,
      "step": 4909
    },
    {
      "epoch": 1.101413506843168,
      "gripper_loss": 0.038818359375,
      "loss": 0.068359375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.158203125,
      "step": 4909
    },
    {
      "epoch": 1.1016378730087504,
      "grad_norm": 0.4327855110168457,
      "learning_rate": 0.00036517520216216567,
      "loss": 0.0828,
      "step": 4910
    },
    {
      "epoch": 1.1016378730087504,
      "gripper_loss": 0.0186767578125,
      "loss": 0.287109375,
      "pos_loss": 0.87109375,
      "rot_loss": 2.078125,
      "step": 4910
    },
    {
      "epoch": 1.1018622391743325,
      "grad_norm": 0.5020409226417542,
      "learning_rate": 0.00036512144872878367,
      "loss": 0.1044,
      "step": 4911
    },
    {
      "epoch": 1.1018622391743325,
      "gripper_loss": 0.0284423828125,
      "loss": 0.07373046875,
      "pos_loss": 0.609375,
      "rot_loss": 0.08740234375,
      "step": 4911
    },
    {
      "epoch": 1.1020866053399148,
      "grad_norm": 0.48970603942871094,
      "learning_rate": 0.00036506768854012694,
      "loss": 0.06,
      "step": 4912
    },
    {
      "epoch": 1.1020866053399148,
      "gripper_loss": 0.41796875,
      "loss": 0.0272216796875,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.0185546875,
      "step": 4912
    },
    {
      "epoch": 1.102310971505497,
      "grad_norm": 0.5735267400741577,
      "learning_rate": 0.0003650139215993503,
      "loss": 0.0797,
      "step": 4913
    },
    {
      "epoch": 1.102310971505497,
      "gripper_loss": 0.0184326171875,
      "loss": 0.0703125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.38671875,
      "step": 4913
    },
    {
      "epoch": 1.1025353376710791,
      "grad_norm": 0.585913360118866,
      "learning_rate": 0.0003649601479096087,
      "loss": 0.0923,
      "step": 4914
    },
    {
      "epoch": 1.1025353376710791,
      "gripper_loss": 0.142578125,
      "loss": 0.107421875,
      "pos_loss": 0.330078125,
      "rot_loss": 0.400390625,
      "step": 4914
    },
    {
      "epoch": 1.1027597038366614,
      "grad_norm": 1.1588138341903687,
      "learning_rate": 0.0003649063674740575,
      "loss": 0.1348,
      "step": 4915
    },
    {
      "epoch": 1.1027597038366614,
      "gripper_loss": 0.04150390625,
      "loss": 0.0166015625,
      "pos_loss": 0.07080078125,
      "rot_loss": 0.0234375,
      "step": 4915
    },
    {
      "epoch": 1.1029840700022437,
      "grad_norm": 0.3677055239677429,
      "learning_rate": 0.0003648525802958526,
      "loss": 0.0536,
      "step": 4916
    },
    {
      "epoch": 1.1029840700022437,
      "gripper_loss": 0.283203125,
      "loss": 0.130859375,
      "pos_loss": 0.921875,
      "rot_loss": 0.17578125,
      "step": 4916
    },
    {
      "epoch": 1.1032084361678258,
      "grad_norm": 0.7604024410247803,
      "learning_rate": 0.0003647987863781501,
      "loss": 0.1099,
      "step": 4917
    },
    {
      "epoch": 1.1032084361678258,
      "gripper_loss": 0.1669921875,
      "loss": 0.03125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.0712890625,
      "step": 4917
    },
    {
      "epoch": 1.1034328023334081,
      "grad_norm": 0.5479280948638916,
      "learning_rate": 0.00036474498572410674,
      "loss": 0.0842,
      "step": 4918
    },
    {
      "epoch": 1.1034328023334081,
      "gripper_loss": 0.1630859375,
      "loss": 0.0673828125,
      "pos_loss": 0.28125,
      "rot_loss": 0.138671875,
      "step": 4918
    },
    {
      "epoch": 1.1036571684989904,
      "grad_norm": 0.8002356886863708,
      "learning_rate": 0.0003646911783368794,
      "loss": 0.093,
      "step": 4919
    },
    {
      "epoch": 1.1036571684989904,
      "gripper_loss": 0.0169677734375,
      "loss": 0.043701171875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.0216064453125,
      "step": 4919
    },
    {
      "epoch": 1.1038815346645725,
      "grad_norm": 0.732180655002594,
      "learning_rate": 0.00036463736421962545,
      "loss": 0.1096,
      "step": 4920
    },
    {
      "epoch": 1.1038815346645725,
      "gripper_loss": 0.76953125,
      "loss": 0.07666015625,
      "pos_loss": 0.17578125,
      "rot_loss": 0.1591796875,
      "step": 4920
    },
    {
      "epoch": 1.1041059008301548,
      "grad_norm": 0.9264215230941772,
      "learning_rate": 0.0003645835433755028,
      "loss": 0.1287,
      "step": 4921
    },
    {
      "epoch": 1.1041059008301548,
      "gripper_loss": 0.0299072265625,
      "loss": 0.040771484375,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.12060546875,
      "step": 4921
    },
    {
      "epoch": 1.104330266995737,
      "grad_norm": 0.7052784562110901,
      "learning_rate": 0.0003645297158076696,
      "loss": 0.0941,
      "step": 4922
    },
    {
      "epoch": 1.104330266995737,
      "gripper_loss": 0.46875,
      "loss": 0.140625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.72265625,
      "step": 4922
    },
    {
      "epoch": 1.1045546331613192,
      "grad_norm": 0.4273225963115692,
      "learning_rate": 0.00036447588151928434,
      "loss": 0.0668,
      "step": 4923
    },
    {
      "epoch": 1.1045546331613192,
      "gripper_loss": 0.255859375,
      "loss": 0.047607421875,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.2021484375,
      "step": 4923
    },
    {
      "epoch": 1.1047789993269015,
      "grad_norm": 0.5464223027229309,
      "learning_rate": 0.00036442204051350606,
      "loss": 0.0784,
      "step": 4924
    },
    {
      "epoch": 1.1047789993269015,
      "gripper_loss": 0.384765625,
      "loss": 0.3125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.486328125,
      "step": 4924
    },
    {
      "epoch": 1.1050033654924838,
      "grad_norm": 1.8176548480987549,
      "learning_rate": 0.00036436819279349407,
      "loss": 0.2692,
      "step": 4925
    },
    {
      "epoch": 1.1050033654924838,
      "gripper_loss": 0.052978515625,
      "loss": 0.06982421875,
      "pos_loss": 0.421875,
      "rot_loss": 0.212890625,
      "step": 4925
    },
    {
      "epoch": 1.1052277316580659,
      "grad_norm": 0.4903962314128876,
      "learning_rate": 0.0003643143383624083,
      "loss": 0.0616,
      "step": 4926
    },
    {
      "epoch": 1.1052277316580659,
      "gripper_loss": 0.33984375,
      "loss": 0.1875,
      "pos_loss": 0.9921875,
      "rot_loss": 0.2470703125,
      "step": 4926
    },
    {
      "epoch": 1.1054520978236482,
      "grad_norm": 1.165902018547058,
      "learning_rate": 0.0003642604772234087,
      "loss": 0.1399,
      "step": 4927
    },
    {
      "epoch": 1.1054520978236482,
      "gripper_loss": 0.2314453125,
      "loss": 0.26171875,
      "pos_loss": 0.376953125,
      "rot_loss": 0.478515625,
      "step": 4927
    },
    {
      "epoch": 1.1056764639892305,
      "grad_norm": 1.696260690689087,
      "learning_rate": 0.0003642066093796559,
      "loss": 0.2654,
      "step": 4928
    },
    {
      "epoch": 1.1056764639892305,
      "gripper_loss": 0.0224609375,
      "loss": 0.251953125,
      "pos_loss": 0.9453125,
      "rot_loss": 1.6171875,
      "step": 4928
    },
    {
      "epoch": 1.1059008301548126,
      "grad_norm": 0.6593743562698364,
      "learning_rate": 0.0003641527348343109,
      "loss": 0.0829,
      "step": 4929
    },
    {
      "epoch": 1.1059008301548126,
      "gripper_loss": 0.1455078125,
      "loss": 0.049560546875,
      "pos_loss": 0.248046875,
      "rot_loss": 0.037109375,
      "step": 4929
    },
    {
      "epoch": 1.1061251963203949,
      "grad_norm": 0.8662804365158081,
      "learning_rate": 0.0003640988535905348,
      "loss": 0.0853,
      "step": 4930
    },
    {
      "epoch": 1.1061251963203949,
      "gripper_loss": 0.314453125,
      "loss": 0.046630859375,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.13671875,
      "step": 4930
    },
    {
      "epoch": 1.1063495624859772,
      "grad_norm": 0.6806191802024841,
      "learning_rate": 0.0003640449656514897,
      "loss": 0.0923,
      "step": 4931
    },
    {
      "epoch": 1.1063495624859772,
      "gripper_loss": 0.134765625,
      "loss": 0.06640625,
      "pos_loss": 0.216796875,
      "rot_loss": 0.162109375,
      "step": 4931
    },
    {
      "epoch": 1.1065739286515592,
      "grad_norm": 1.1359179019927979,
      "learning_rate": 0.00036399107102033743,
      "loss": 0.1137,
      "step": 4932
    },
    {
      "epoch": 1.1065739286515592,
      "gripper_loss": 0.043701171875,
      "loss": 0.09375,
      "pos_loss": 0.68359375,
      "rot_loss": 0.2236328125,
      "step": 4932
    },
    {
      "epoch": 1.1067982948171415,
      "grad_norm": 0.7338245511054993,
      "learning_rate": 0.0003639371697002406,
      "loss": 0.1093,
      "step": 4933
    },
    {
      "epoch": 1.1067982948171415,
      "gripper_loss": 0.1103515625,
      "loss": 0.06787109375,
      "pos_loss": 0.166015625,
      "rot_loss": 0.1533203125,
      "step": 4933
    },
    {
      "epoch": 1.1070226609827238,
      "grad_norm": 0.8261078000068665,
      "learning_rate": 0.00036388326169436216,
      "loss": 0.1287,
      "step": 4934
    },
    {
      "epoch": 1.1070226609827238,
      "gripper_loss": 0.033935546875,
      "loss": 0.1201171875,
      "pos_loss": 0.94140625,
      "rot_loss": 0.251953125,
      "step": 4934
    },
    {
      "epoch": 1.107247027148306,
      "grad_norm": 0.5140950679779053,
      "learning_rate": 0.00036382934700586526,
      "loss": 0.0814,
      "step": 4935
    },
    {
      "epoch": 1.107247027148306,
      "gripper_loss": 0.30078125,
      "loss": 0.0859375,
      "pos_loss": 0.65625,
      "rot_loss": 0.0220947265625,
      "step": 4935
    },
    {
      "epoch": 1.1074713933138882,
      "grad_norm": 0.7512662410736084,
      "learning_rate": 0.0003637754256379138,
      "loss": 0.0925,
      "step": 4936
    },
    {
      "epoch": 1.1074713933138882,
      "gripper_loss": 0.08203125,
      "loss": 0.0419921875,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.07568359375,
      "step": 4936
    },
    {
      "epoch": 1.1076957594794705,
      "grad_norm": 0.8103559017181396,
      "learning_rate": 0.0003637214975936716,
      "loss": 0.1007,
      "step": 4937
    },
    {
      "epoch": 1.1076957594794705,
      "gripper_loss": 0.76953125,
      "loss": 0.52734375,
      "pos_loss": 0.8984375,
      "rot_loss": 0.64453125,
      "step": 4937
    },
    {
      "epoch": 1.1079201256450528,
      "grad_norm": 1.3436235189437866,
      "learning_rate": 0.0003636675628763034,
      "loss": 0.4258,
      "step": 4938
    },
    {
      "epoch": 1.1079201256450528,
      "gripper_loss": 0.173828125,
      "loss": 0.09228515625,
      "pos_loss": 0.302734375,
      "rot_loss": 0.337890625,
      "step": 4938
    },
    {
      "epoch": 1.108144491810635,
      "grad_norm": 0.7799875140190125,
      "learning_rate": 0.0003636136214889739,
      "loss": 0.1156,
      "step": 4939
    },
    {
      "epoch": 1.108144491810635,
      "gripper_loss": 0.2431640625,
      "loss": 0.09814453125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.49609375,
      "step": 4939
    },
    {
      "epoch": 1.1083688579762172,
      "grad_norm": 0.7631394863128662,
      "learning_rate": 0.0003635596734348484,
      "loss": 0.0793,
      "step": 4940
    },
    {
      "epoch": 1.1083688579762172,
      "gripper_loss": 0.07568359375,
      "loss": 0.043701171875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.031494140625,
      "step": 4940
    },
    {
      "epoch": 1.1085932241417995,
      "grad_norm": 0.9588318467140198,
      "learning_rate": 0.00036350571871709254,
      "loss": 0.1031,
      "step": 4941
    },
    {
      "epoch": 1.1085932241417995,
      "gripper_loss": 0.8671875,
      "loss": 0.1533203125,
      "pos_loss": 0.79296875,
      "rot_loss": 0.388671875,
      "step": 4941
    },
    {
      "epoch": 1.1088175903073816,
      "grad_norm": 0.802932858467102,
      "learning_rate": 0.0003634517573388724,
      "loss": 0.1125,
      "step": 4942
    },
    {
      "epoch": 1.1088175903073816,
      "gripper_loss": 1.1015625,
      "loss": 0.05126953125,
      "pos_loss": 0.0234375,
      "rot_loss": 0.076171875,
      "step": 4942
    },
    {
      "epoch": 1.1090419564729639,
      "grad_norm": 0.5600751042366028,
      "learning_rate": 0.0003633977893033543,
      "loss": 0.0592,
      "step": 4943
    },
    {
      "epoch": 1.1090419564729639,
      "gripper_loss": 0.052734375,
      "loss": 0.09130859375,
      "pos_loss": 0.83203125,
      "rot_loss": 0.041259765625,
      "step": 4943
    },
    {
      "epoch": 1.1092663226385462,
      "grad_norm": 0.682692289352417,
      "learning_rate": 0.0003633438146137051,
      "loss": 0.1163,
      "step": 4944
    },
    {
      "epoch": 1.1092663226385462,
      "gripper_loss": 0.70703125,
      "loss": 0.0361328125,
      "pos_loss": 0.052734375,
      "rot_loss": 0.0291748046875,
      "step": 4944
    },
    {
      "epoch": 1.1094906888041283,
      "grad_norm": 0.4049396216869354,
      "learning_rate": 0.0003632898332730922,
      "loss": 0.0913,
      "step": 4945
    },
    {
      "epoch": 1.1094906888041283,
      "gripper_loss": 0.056396484375,
      "loss": 0.015380859375,
      "pos_loss": 0.051025390625,
      "rot_loss": 0.0257568359375,
      "step": 4945
    },
    {
      "epoch": 1.1097150549697106,
      "grad_norm": 0.6102429032325745,
      "learning_rate": 0.000363235845284683,
      "loss": 0.1053,
      "step": 4946
    },
    {
      "epoch": 1.1097150549697106,
      "gripper_loss": 0.46875,
      "loss": 0.08935546875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.10009765625,
      "step": 4946
    },
    {
      "epoch": 1.1099394211352929,
      "grad_norm": 0.474818617105484,
      "learning_rate": 0.0003631818506516455,
      "loss": 0.104,
      "step": 4947
    },
    {
      "epoch": 1.1099394211352929,
      "gripper_loss": 0.13671875,
      "loss": 0.10107421875,
      "pos_loss": 0.431640625,
      "rot_loss": 0.439453125,
      "step": 4947
    },
    {
      "epoch": 1.110163787300875,
      "grad_norm": 0.541891872882843,
      "learning_rate": 0.00036312784937714813,
      "loss": 0.1074,
      "step": 4948
    },
    {
      "epoch": 1.110163787300875,
      "gripper_loss": 0.0791015625,
      "loss": 0.1357421875,
      "pos_loss": 0.45703125,
      "rot_loss": 0.80859375,
      "step": 4948
    },
    {
      "epoch": 1.1103881534664573,
      "grad_norm": 0.6757868528366089,
      "learning_rate": 0.0003630738414643596,
      "loss": 0.1198,
      "step": 4949
    },
    {
      "epoch": 1.1103881534664573,
      "gripper_loss": 0.52734375,
      "loss": 0.052978515625,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.119140625,
      "step": 4949
    },
    {
      "epoch": 1.1106125196320396,
      "grad_norm": 0.6307206153869629,
      "learning_rate": 0.0003630198269164492,
      "loss": 0.0912,
      "step": 4950
    },
    {
      "epoch": 1.1106125196320396,
      "gripper_loss": 0.034912109375,
      "loss": 0.04052734375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.0673828125,
      "step": 4950
    },
    {
      "epoch": 1.1108368857976216,
      "grad_norm": 0.564940333366394,
      "learning_rate": 0.00036296580573658637,
      "loss": 0.09,
      "step": 4951
    },
    {
      "epoch": 1.1108368857976216,
      "gripper_loss": 1.2265625,
      "loss": 0.0927734375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.1484375,
      "step": 4951
    },
    {
      "epoch": 1.111061251963204,
      "grad_norm": 0.4828786253929138,
      "learning_rate": 0.00036291177792794114,
      "loss": 0.0594,
      "step": 4952
    },
    {
      "epoch": 1.111061251963204,
      "gripper_loss": 0.27734375,
      "loss": 0.1181640625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.2353515625,
      "step": 4952
    },
    {
      "epoch": 1.1112856181287862,
      "grad_norm": 0.7377617359161377,
      "learning_rate": 0.0003628577434936836,
      "loss": 0.0901,
      "step": 4953
    },
    {
      "epoch": 1.1112856181287862,
      "gripper_loss": 0.044189453125,
      "loss": 0.07421875,
      "pos_loss": 0.314453125,
      "rot_loss": 0.291015625,
      "step": 4953
    },
    {
      "epoch": 1.1115099842943683,
      "grad_norm": 0.4643903076648712,
      "learning_rate": 0.0003628037024369848,
      "loss": 0.0897,
      "step": 4954
    },
    {
      "epoch": 1.1115099842943683,
      "gripper_loss": 1.4296875,
      "loss": 0.08203125,
      "pos_loss": 0.048828125,
      "rot_loss": 0.25390625,
      "step": 4954
    },
    {
      "epoch": 1.1117343504599506,
      "grad_norm": 0.4495156407356262,
      "learning_rate": 0.00036274965476101563,
      "loss": 0.0692,
      "step": 4955
    },
    {
      "epoch": 1.1117343504599506,
      "gripper_loss": 0.0791015625,
      "loss": 0.201171875,
      "pos_loss": 1.4296875,
      "rot_loss": 0.125,
      "step": 4955
    },
    {
      "epoch": 1.111958716625533,
      "grad_norm": 0.9851587414741516,
      "learning_rate": 0.00036269560046894763,
      "loss": 0.1556,
      "step": 4956
    },
    {
      "epoch": 1.111958716625533,
      "gripper_loss": 0.44140625,
      "loss": 0.06396484375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.07666015625,
      "step": 4956
    },
    {
      "epoch": 1.112183082791115,
      "grad_norm": 0.5047220587730408,
      "learning_rate": 0.0003626415395639526,
      "loss": 0.073,
      "step": 4957
    },
    {
      "epoch": 1.112183082791115,
      "gripper_loss": 0.0220947265625,
      "loss": 0.2197265625,
      "pos_loss": 1.484375,
      "rot_loss": 0.7734375,
      "step": 4957
    },
    {
      "epoch": 1.1124074489566973,
      "grad_norm": 0.7027034163475037,
      "learning_rate": 0.00036258747204920305,
      "loss": 0.1068,
      "step": 4958
    },
    {
      "epoch": 1.1124074489566973,
      "gripper_loss": 0.0947265625,
      "loss": 0.1484375,
      "pos_loss": 1.2109375,
      "rot_loss": 0.10986328125,
      "step": 4958
    },
    {
      "epoch": 1.1126318151222796,
      "grad_norm": 0.6695439219474792,
      "learning_rate": 0.00036253339792787143,
      "loss": 0.083,
      "step": 4959
    },
    {
      "epoch": 1.1126318151222796,
      "gripper_loss": 0.369140625,
      "loss": 0.0703125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.050048828125,
      "step": 4959
    },
    {
      "epoch": 1.112856181287862,
      "grad_norm": 0.43372005224227905,
      "learning_rate": 0.0003624793172031308,
      "loss": 0.0589,
      "step": 4960
    },
    {
      "epoch": 1.112856181287862,
      "gripper_loss": 0.040771484375,
      "loss": 0.052978515625,
      "pos_loss": 0.2734375,
      "rot_loss": 0.185546875,
      "step": 4960
    },
    {
      "epoch": 1.113080547453444,
      "grad_norm": 0.5025784969329834,
      "learning_rate": 0.00036242522987815475,
      "loss": 0.0835,
      "step": 4961
    },
    {
      "epoch": 1.113080547453444,
      "gripper_loss": 0.251953125,
      "loss": 0.130859375,
      "pos_loss": 1.171875,
      "rot_loss": 0.03759765625,
      "step": 4961
    },
    {
      "epoch": 1.1133049136190263,
      "grad_norm": 0.3935379087924957,
      "learning_rate": 0.0003623711359561168,
      "loss": 0.1042,
      "step": 4962
    },
    {
      "epoch": 1.1133049136190263,
      "gripper_loss": 0.73828125,
      "loss": 0.054931640625,
      "pos_loss": 0.263671875,
      "rot_loss": 0.02685546875,
      "step": 4962
    },
    {
      "epoch": 1.1135292797846086,
      "grad_norm": 0.5223463773727417,
      "learning_rate": 0.0003623170354401915,
      "loss": 0.078,
      "step": 4963
    },
    {
      "epoch": 1.1135292797846086,
      "gripper_loss": 1.1328125,
      "loss": 0.07373046875,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.1923828125,
      "step": 4963
    },
    {
      "epoch": 1.1137536459501907,
      "grad_norm": 0.542617678642273,
      "learning_rate": 0.0003622629283335532,
      "loss": 0.0665,
      "step": 4964
    },
    {
      "epoch": 1.1137536459501907,
      "gripper_loss": 0.03466796875,
      "loss": 0.11328125,
      "pos_loss": 0.70703125,
      "rot_loss": 0.263671875,
      "step": 4964
    },
    {
      "epoch": 1.113978012115773,
      "grad_norm": 0.5099913477897644,
      "learning_rate": 0.00036220881463937705,
      "loss": 0.0742,
      "step": 4965
    },
    {
      "epoch": 1.113978012115773,
      "gripper_loss": 0.439453125,
      "loss": 0.09033203125,
      "pos_loss": 0.453125,
      "rot_loss": 0.298828125,
      "step": 4965
    },
    {
      "epoch": 1.1142023782813553,
      "grad_norm": 0.5140383243560791,
      "learning_rate": 0.00036215469436083825,
      "loss": 0.0798,
      "step": 4966
    },
    {
      "epoch": 1.1142023782813553,
      "gripper_loss": 0.022216796875,
      "loss": 0.224609375,
      "pos_loss": 0.72265625,
      "rot_loss": 1.5859375,
      "step": 4966
    },
    {
      "epoch": 1.1144267444469373,
      "grad_norm": 0.5288358330726624,
      "learning_rate": 0.0003621005675011127,
      "loss": 0.1272,
      "step": 4967
    },
    {
      "epoch": 1.1144267444469373,
      "gripper_loss": 0.052734375,
      "loss": 0.10693359375,
      "pos_loss": 0.609375,
      "rot_loss": 0.4375,
      "step": 4967
    },
    {
      "epoch": 1.1146511106125196,
      "grad_norm": 0.4676564931869507,
      "learning_rate": 0.00036204643406337637,
      "loss": 0.088,
      "step": 4968
    },
    {
      "epoch": 1.1146511106125196,
      "gripper_loss": 0.01904296875,
      "loss": 0.09912109375,
      "pos_loss": 0.83203125,
      "rot_loss": 0.1328125,
      "step": 4968
    },
    {
      "epoch": 1.114875476778102,
      "grad_norm": 0.6672635674476624,
      "learning_rate": 0.000361992294050806,
      "loss": 0.097,
      "step": 4969
    },
    {
      "epoch": 1.114875476778102,
      "gripper_loss": 1.171875,
      "loss": 0.212890625,
      "pos_loss": 1.6796875,
      "rot_loss": 0.10107421875,
      "step": 4969
    },
    {
      "epoch": 1.115099842943684,
      "grad_norm": 0.6228836178779602,
      "learning_rate": 0.0003619381474665784,
      "loss": 0.0869,
      "step": 4970
    },
    {
      "epoch": 1.115099842943684,
      "gripper_loss": 0.0654296875,
      "loss": 0.12353515625,
      "pos_loss": 0.96875,
      "rot_loss": 0.208984375,
      "step": 4970
    },
    {
      "epoch": 1.1153242091092663,
      "grad_norm": 0.6642164587974548,
      "learning_rate": 0.0003618839943138708,
      "loss": 0.0838,
      "step": 4971
    },
    {
      "epoch": 1.1153242091092663,
      "gripper_loss": 0.263671875,
      "loss": 0.09326171875,
      "pos_loss": 0.189453125,
      "rot_loss": 0.48828125,
      "step": 4971
    },
    {
      "epoch": 1.1155485752748486,
      "grad_norm": 0.6856302618980408,
      "learning_rate": 0.00036182983459586094,
      "loss": 0.1136,
      "step": 4972
    },
    {
      "epoch": 1.1155485752748486,
      "gripper_loss": 0.0240478515625,
      "loss": 0.08154296875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.1572265625,
      "step": 4972
    },
    {
      "epoch": 1.1157729414404307,
      "grad_norm": 0.3780478835105896,
      "learning_rate": 0.0003617756683157268,
      "loss": 0.0573,
      "step": 4973
    },
    {
      "epoch": 1.1157729414404307,
      "gripper_loss": 0.62109375,
      "loss": 0.03564453125,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.0228271484375,
      "step": 4973
    },
    {
      "epoch": 1.115997307606013,
      "grad_norm": 0.40264827013015747,
      "learning_rate": 0.0003617214954766471,
      "loss": 0.0611,
      "step": 4974
    },
    {
      "epoch": 1.115997307606013,
      "gripper_loss": 0.359375,
      "loss": 0.099609375,
      "pos_loss": 0.287109375,
      "rot_loss": 0.609375,
      "step": 4974
    },
    {
      "epoch": 1.1162216737715953,
      "grad_norm": 0.39815112948417664,
      "learning_rate": 0.0003616673160818004,
      "loss": 0.0916,
      "step": 4975
    },
    {
      "epoch": 1.1162216737715953,
      "gripper_loss": 0.05517578125,
      "loss": 0.0291748046875,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.07568359375,
      "step": 4975
    },
    {
      "epoch": 1.1164460399371774,
      "grad_norm": 0.5463458299636841,
      "learning_rate": 0.00036161313013436606,
      "loss": 0.0735,
      "step": 4976
    },
    {
      "epoch": 1.1164460399371774,
      "gripper_loss": 0.02099609375,
      "loss": 0.0859375,
      "pos_loss": 0.455078125,
      "rot_loss": 0.326171875,
      "step": 4976
    },
    {
      "epoch": 1.1166704061027597,
      "grad_norm": 0.6762953996658325,
      "learning_rate": 0.0003615589376375236,
      "loss": 0.0859,
      "step": 4977
    },
    {
      "epoch": 1.1166704061027597,
      "gripper_loss": 0.1328125,
      "loss": 0.087890625,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.19140625,
      "step": 4977
    },
    {
      "epoch": 1.116894772268342,
      "grad_norm": 1.274635910987854,
      "learning_rate": 0.0003615047385944531,
      "loss": 0.1537,
      "step": 4978
    },
    {
      "epoch": 1.116894772268342,
      "gripper_loss": 0.01416015625,
      "loss": 0.11572265625,
      "pos_loss": 0.8359375,
      "rot_loss": 0.32421875,
      "step": 4978
    },
    {
      "epoch": 1.117119138433924,
      "grad_norm": 0.6193026900291443,
      "learning_rate": 0.0003614505330083349,
      "loss": 0.0944,
      "step": 4979
    },
    {
      "epoch": 1.117119138433924,
      "gripper_loss": 0.6796875,
      "loss": 0.048828125,
      "pos_loss": 0.134765625,
      "rot_loss": 0.08935546875,
      "step": 4979
    },
    {
      "epoch": 1.1173435045995064,
      "grad_norm": 0.703710675239563,
      "learning_rate": 0.00036139632088234976,
      "loss": 0.0879,
      "step": 4980
    },
    {
      "epoch": 1.1173435045995064,
      "gripper_loss": 0.4140625,
      "loss": 0.032470703125,
      "pos_loss": 0.10693359375,
      "rot_loss": 0.0224609375,
      "step": 4980
    },
    {
      "epoch": 1.1175678707650887,
      "grad_norm": 0.5084483027458191,
      "learning_rate": 0.0003613421022196788,
      "loss": 0.0662,
      "step": 4981
    },
    {
      "epoch": 1.1175678707650887,
      "gripper_loss": 0.0595703125,
      "loss": 0.16015625,
      "pos_loss": 0.875,
      "rot_loss": 0.6953125,
      "step": 4981
    },
    {
      "epoch": 1.1177922369306708,
      "grad_norm": 0.8927658796310425,
      "learning_rate": 0.00036128787702350364,
      "loss": 0.1148,
      "step": 4982
    },
    {
      "epoch": 1.1177922369306708,
      "gripper_loss": 0.0211181640625,
      "loss": 0.06640625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.07470703125,
      "step": 4982
    },
    {
      "epoch": 1.118016603096253,
      "grad_norm": 0.49219706654548645,
      "learning_rate": 0.00036123364529700596,
      "loss": 0.0599,
      "step": 4983
    },
    {
      "epoch": 1.118016603096253,
      "gripper_loss": 0.04638671875,
      "loss": 0.0341796875,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.037353515625,
      "step": 4983
    },
    {
      "epoch": 1.1182409692618354,
      "grad_norm": 0.5205698013305664,
      "learning_rate": 0.00036117940704336835,
      "loss": 0.0957,
      "step": 4984
    },
    {
      "epoch": 1.1182409692618354,
      "gripper_loss": 0.039306640625,
      "loss": 0.107421875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.3203125,
      "step": 4984
    },
    {
      "epoch": 1.1184653354274174,
      "grad_norm": 0.46585679054260254,
      "learning_rate": 0.00036112516226577326,
      "loss": 0.0727,
      "step": 4985
    },
    {
      "epoch": 1.1184653354274174,
      "gripper_loss": 0.2353515625,
      "loss": 0.055419921875,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.349609375,
      "step": 4985
    },
    {
      "epoch": 1.1186897015929997,
      "grad_norm": 0.6423079967498779,
      "learning_rate": 0.00036107091096740384,
      "loss": 0.0938,
      "step": 4986
    },
    {
      "epoch": 1.1186897015929997,
      "gripper_loss": 0.27734375,
      "loss": 0.061279296875,
      "pos_loss": 0.35546875,
      "rot_loss": 0.150390625,
      "step": 4986
    },
    {
      "epoch": 1.118914067758582,
      "grad_norm": 0.6690895557403564,
      "learning_rate": 0.00036101665315144355,
      "loss": 0.0699,
      "step": 4987
    },
    {
      "epoch": 1.118914067758582,
      "gripper_loss": 3.15625,
      "loss": 0.1416015625,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.1787109375,
      "step": 4987
    },
    {
      "epoch": 1.1191384339241641,
      "grad_norm": 0.5000069737434387,
      "learning_rate": 0.0003609623888210762,
      "loss": 0.0883,
      "step": 4988
    },
    {
      "epoch": 1.1191384339241641,
      "gripper_loss": 0.1630859375,
      "loss": 0.07568359375,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.37890625,
      "step": 4988
    },
    {
      "epoch": 1.1193628000897464,
      "grad_norm": 0.5624575614929199,
      "learning_rate": 0.000360908117979486,
      "loss": 0.0782,
      "step": 4989
    },
    {
      "epoch": 1.1193628000897464,
      "gripper_loss": 0.06396484375,
      "loss": 0.126953125,
      "pos_loss": 0.98828125,
      "rot_loss": 0.2421875,
      "step": 4989
    },
    {
      "epoch": 1.1195871662553287,
      "grad_norm": 0.4676556885242462,
      "learning_rate": 0.00036085384062985745,
      "loss": 0.0811,
      "step": 4990
    },
    {
      "epoch": 1.1195871662553287,
      "gripper_loss": 0.06787109375,
      "loss": 0.126953125,
      "pos_loss": 1.1796875,
      "rot_loss": 0.1015625,
      "step": 4990
    },
    {
      "epoch": 1.119811532420911,
      "grad_norm": 0.49094995856285095,
      "learning_rate": 0.0003607995567753756,
      "loss": 0.1032,
      "step": 4991
    },
    {
      "epoch": 1.119811532420911,
      "gripper_loss": 1.2421875,
      "loss": 0.06396484375,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.12060546875,
      "step": 4991
    },
    {
      "epoch": 1.120035898586493,
      "grad_norm": 0.6443955302238464,
      "learning_rate": 0.0003607452664192259,
      "loss": 0.0974,
      "step": 4992
    },
    {
      "epoch": 1.120035898586493,
      "gripper_loss": 0.2021484375,
      "loss": 0.1982421875,
      "pos_loss": 0.9765625,
      "rot_loss": 0.96484375,
      "step": 4992
    },
    {
      "epoch": 1.1202602647520754,
      "grad_norm": 0.5168643593788147,
      "learning_rate": 0.0003606909695645939,
      "loss": 0.0889,
      "step": 4993
    },
    {
      "epoch": 1.1202602647520754,
      "gripper_loss": 0.2109375,
      "loss": 0.07177734375,
      "pos_loss": 0.578125,
      "rot_loss": 0.06689453125,
      "step": 4993
    },
    {
      "epoch": 1.1204846309176577,
      "grad_norm": 0.6793386936187744,
      "learning_rate": 0.0003606366662146658,
      "loss": 0.0829,
      "step": 4994
    },
    {
      "epoch": 1.1204846309176577,
      "gripper_loss": 0.640625,
      "loss": 0.0517578125,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.07861328125,
      "step": 4994
    },
    {
      "epoch": 1.1207089970832398,
      "grad_norm": 1.1058733463287354,
      "learning_rate": 0.00036058235637262816,
      "loss": 0.1309,
      "step": 4995
    },
    {
      "epoch": 1.1207089970832398,
      "gripper_loss": 2.09375,
      "loss": 0.2060546875,
      "pos_loss": 0.2734375,
      "rot_loss": 0.27734375,
      "step": 4995
    },
    {
      "epoch": 1.120933363248822,
      "grad_norm": 1.6811251640319824,
      "learning_rate": 0.00036052804004166767,
      "loss": 0.2012,
      "step": 4996
    },
    {
      "epoch": 1.120933363248822,
      "gripper_loss": 0.0947265625,
      "loss": 0.1337890625,
      "pos_loss": 0.796875,
      "rot_loss": 0.34375,
      "step": 4996
    },
    {
      "epoch": 1.1211577294144044,
      "grad_norm": 0.9002094268798828,
      "learning_rate": 0.0003604737172249718,
      "loss": 0.1336,
      "step": 4997
    },
    {
      "epoch": 1.1211577294144044,
      "gripper_loss": 0.1884765625,
      "loss": 0.1669921875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.298828125,
      "step": 4997
    },
    {
      "epoch": 1.1213820955799865,
      "grad_norm": 0.9481396675109863,
      "learning_rate": 0.00036041938792572806,
      "loss": 0.1654,
      "step": 4998
    },
    {
      "epoch": 1.1213820955799865,
      "gripper_loss": 0.037353515625,
      "loss": 0.18359375,
      "pos_loss": 0.859375,
      "rot_loss": 0.99609375,
      "step": 4998
    },
    {
      "epoch": 1.1216064617455688,
      "grad_norm": 0.8701668977737427,
      "learning_rate": 0.00036036505214712453,
      "loss": 0.1323,
      "step": 4999
    },
    {
      "epoch": 1.1216064617455688,
      "gripper_loss": 0.1396484375,
      "loss": 0.032470703125,
      "pos_loss": 0.10400390625,
      "rot_loss": 0.048095703125,
      "step": 4999
    },
    {
      "epoch": 1.121830827911151,
      "grad_norm": 0.7487466335296631,
      "learning_rate": 0.00036031070989234946,
      "loss": 0.0659,
      "step": 5000
    },
    {
      "epoch": 1.121830827911151,
      "gripper_loss": 0.296875,
      "loss": 0.1259765625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.24609375,
      "step": 5000
    },
    {
      "epoch": 1.1220551940767332,
      "grad_norm": 1.0135313272476196,
      "learning_rate": 0.00036025636116459193,
      "loss": 0.1303,
      "step": 5001
    },
    {
      "epoch": 1.1220551940767332,
      "gripper_loss": 0.58203125,
      "loss": 0.091796875,
      "pos_loss": 0.298828125,
      "rot_loss": 0.361328125,
      "step": 5001
    },
    {
      "epoch": 1.1222795602423155,
      "grad_norm": 0.6493963003158569,
      "learning_rate": 0.0003602020059670408,
      "loss": 0.0853,
      "step": 5002
    },
    {
      "epoch": 1.1222795602423155,
      "gripper_loss": 0.408203125,
      "loss": 0.232421875,
      "pos_loss": 0.66796875,
      "rot_loss": 0.7109375,
      "step": 5002
    },
    {
      "epoch": 1.1225039264078978,
      "grad_norm": 1.5852047204971313,
      "learning_rate": 0.00036014764430288574,
      "loss": 0.1752,
      "step": 5003
    },
    {
      "epoch": 1.1225039264078978,
      "gripper_loss": 1.25,
      "loss": 0.099609375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.271484375,
      "step": 5003
    },
    {
      "epoch": 1.1227282925734798,
      "grad_norm": 0.44410762190818787,
      "learning_rate": 0.0003600932761753167,
      "loss": 0.0772,
      "step": 5004
    },
    {
      "epoch": 1.1227282925734798,
      "gripper_loss": 0.08349609375,
      "loss": 0.1171875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.515625,
      "step": 5004
    },
    {
      "epoch": 1.1229526587390621,
      "grad_norm": 0.5891678333282471,
      "learning_rate": 0.0003600389015875239,
      "loss": 0.0787,
      "step": 5005
    },
    {
      "epoch": 1.1229526587390621,
      "gripper_loss": 0.0191650390625,
      "loss": 0.0693359375,
      "pos_loss": 0.59375,
      "rot_loss": 0.042236328125,
      "step": 5005
    },
    {
      "epoch": 1.1231770249046444,
      "grad_norm": 0.684783399105072,
      "learning_rate": 0.00035998452054269807,
      "loss": 0.1018,
      "step": 5006
    },
    {
      "epoch": 1.1231770249046444,
      "gripper_loss": 0.5390625,
      "loss": 0.12109375,
      "pos_loss": 0.5625,
      "rot_loss": 0.3828125,
      "step": 5006
    },
    {
      "epoch": 1.1234013910702265,
      "grad_norm": 0.5717580318450928,
      "learning_rate": 0.0003599301330440302,
      "loss": 0.1004,
      "step": 5007
    },
    {
      "epoch": 1.1234013910702265,
      "gripper_loss": 0.384765625,
      "loss": 0.162109375,
      "pos_loss": 1.0703125,
      "rot_loss": 0.2216796875,
      "step": 5007
    },
    {
      "epoch": 1.1236257572358088,
      "grad_norm": 0.8408399820327759,
      "learning_rate": 0.0003598757390947118,
      "loss": 0.1322,
      "step": 5008
    },
    {
      "epoch": 1.1236257572358088,
      "gripper_loss": 0.0228271484375,
      "loss": 0.0361328125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.0546875,
      "step": 5008
    },
    {
      "epoch": 1.1238501234013911,
      "grad_norm": 0.680024266242981,
      "learning_rate": 0.00035982133869793463,
      "loss": 0.0776,
      "step": 5009
    },
    {
      "epoch": 1.1238501234013911,
      "gripper_loss": 0.2470703125,
      "loss": 0.224609375,
      "pos_loss": 0.875,
      "rot_loss": 0.375,
      "step": 5009
    },
    {
      "epoch": 1.1240744895669732,
      "grad_norm": 1.4019339084625244,
      "learning_rate": 0.00035976693185689105,
      "loss": 0.2887,
      "step": 5010
    },
    {
      "epoch": 1.1240744895669732,
      "gripper_loss": 0.1796875,
      "loss": 0.051513671875,
      "pos_loss": 0.318359375,
      "rot_loss": 0.051513671875,
      "step": 5010
    },
    {
      "epoch": 1.1242988557325555,
      "grad_norm": 0.8287938237190247,
      "learning_rate": 0.00035971251857477333,
      "loss": 0.0835,
      "step": 5011
    },
    {
      "epoch": 1.1242988557325555,
      "gripper_loss": 0.2255859375,
      "loss": 0.09521484375,
      "pos_loss": 0.68359375,
      "rot_loss": 0.1259765625,
      "step": 5011
    },
    {
      "epoch": 1.1245232218981378,
      "grad_norm": 0.6953041553497314,
      "learning_rate": 0.00035965809885477463,
      "loss": 0.0756,
      "step": 5012
    },
    {
      "epoch": 1.1245232218981378,
      "gripper_loss": 0.0439453125,
      "loss": 0.043212890625,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.158203125,
      "step": 5012
    },
    {
      "epoch": 1.12474758806372,
      "grad_norm": 0.9003983736038208,
      "learning_rate": 0.00035960367270008813,
      "loss": 0.0886,
      "step": 5013
    },
    {
      "epoch": 1.12474758806372,
      "gripper_loss": 0.7265625,
      "loss": 0.046875,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.059814453125,
      "step": 5013
    },
    {
      "epoch": 1.1249719542293022,
      "grad_norm": 1.043773889541626,
      "learning_rate": 0.0003595492401139077,
      "loss": 0.1084,
      "step": 5014
    },
    {
      "epoch": 1.1249719542293022,
      "gripper_loss": 0.1650390625,
      "loss": 0.06298828125,
      "pos_loss": 0.40625,
      "rot_loss": 0.1396484375,
      "step": 5014
    },
    {
      "epoch": 1.1251963203948845,
      "grad_norm": 0.6711561679840088,
      "learning_rate": 0.0003594948010994272,
      "loss": 0.0758,
      "step": 5015
    },
    {
      "epoch": 1.1251963203948845,
      "gripper_loss": 1.84375,
      "loss": 0.09326171875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.1318359375,
      "step": 5015
    },
    {
      "epoch": 1.1254206865604668,
      "grad_norm": 0.462162584066391,
      "learning_rate": 0.0003594403556598414,
      "loss": 0.106,
      "step": 5016
    },
    {
      "epoch": 1.1254206865604668,
      "gripper_loss": 0.26953125,
      "loss": 0.072265625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.1435546875,
      "step": 5016
    },
    {
      "epoch": 1.1256450527260489,
      "grad_norm": 0.7974001169204712,
      "learning_rate": 0.0003593859037983449,
      "loss": 0.0965,
      "step": 5017
    },
    {
      "epoch": 1.1256450527260489,
      "gripper_loss": 0.059326171875,
      "loss": 0.06591796875,
      "pos_loss": 0.515625,
      "rot_loss": 0.0478515625,
      "step": 5017
    },
    {
      "epoch": 1.1258694188916312,
      "grad_norm": 0.5024133920669556,
      "learning_rate": 0.0003593314455181329,
      "loss": 0.0754,
      "step": 5018
    },
    {
      "epoch": 1.1258694188916312,
      "gripper_loss": 0.380859375,
      "loss": 0.10107421875,
      "pos_loss": 0.77734375,
      "rot_loss": 0.08740234375,
      "step": 5018
    },
    {
      "epoch": 1.1260937850572135,
      "grad_norm": 0.4966088533401489,
      "learning_rate": 0.0003592769808224011,
      "loss": 0.0708,
      "step": 5019
    },
    {
      "epoch": 1.1260937850572135,
      "gripper_loss": 0.0303955078125,
      "loss": 0.0228271484375,
      "pos_loss": 0.1328125,
      "rot_loss": 0.0244140625,
      "step": 5019
    },
    {
      "epoch": 1.1263181512227955,
      "grad_norm": 0.5496793985366821,
      "learning_rate": 0.0003592225097143454,
      "loss": 0.1109,
      "step": 5020
    },
    {
      "epoch": 1.1263181512227955,
      "gripper_loss": 0.466796875,
      "loss": 0.10205078125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.328125,
      "step": 5020
    },
    {
      "epoch": 1.1265425173883779,
      "grad_norm": 0.9253162145614624,
      "learning_rate": 0.00035916803219716213,
      "loss": 0.1267,
      "step": 5021
    },
    {
      "epoch": 1.1265425173883779,
      "gripper_loss": 0.125,
      "loss": 0.0791015625,
      "pos_loss": 0.38671875,
      "rot_loss": 0.330078125,
      "step": 5021
    },
    {
      "epoch": 1.1267668835539602,
      "grad_norm": 0.6711783409118652,
      "learning_rate": 0.0003591135482740481,
      "loss": 0.0957,
      "step": 5022
    },
    {
      "epoch": 1.1267668835539602,
      "gripper_loss": 0.115234375,
      "loss": 0.10009765625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.380859375,
      "step": 5022
    },
    {
      "epoch": 1.1269912497195422,
      "grad_norm": 0.5548413991928101,
      "learning_rate": 0.00035905905794820033,
      "loss": 0.0746,
      "step": 5023
    },
    {
      "epoch": 1.1269912497195422,
      "gripper_loss": 0.353515625,
      "loss": 0.033447265625,
      "pos_loss": 0.15234375,
      "rot_loss": 0.0174560546875,
      "step": 5023
    },
    {
      "epoch": 1.1272156158851245,
      "grad_norm": 0.44099515676498413,
      "learning_rate": 0.0003590045612228162,
      "loss": 0.0517,
      "step": 5024
    },
    {
      "epoch": 1.1272156158851245,
      "gripper_loss": 0.267578125,
      "loss": 0.0693359375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.1953125,
      "step": 5024
    },
    {
      "epoch": 1.1274399820507068,
      "grad_norm": 0.6058847904205322,
      "learning_rate": 0.0003589500581010938,
      "loss": 0.0862,
      "step": 5025
    },
    {
      "epoch": 1.1274399820507068,
      "gripper_loss": 0.62890625,
      "loss": 0.08544921875,
      "pos_loss": 0.578125,
      "rot_loss": 0.06689453125,
      "step": 5025
    },
    {
      "epoch": 1.127664348216289,
      "grad_norm": 0.37162795662879944,
      "learning_rate": 0.00035889554858623105,
      "loss": 0.0794,
      "step": 5026
    },
    {
      "epoch": 1.127664348216289,
      "gripper_loss": 0.380859375,
      "loss": 0.038330078125,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.09228515625,
      "step": 5026
    },
    {
      "epoch": 1.1278887143818712,
      "grad_norm": 0.6539084315299988,
      "learning_rate": 0.0003588410326814267,
      "loss": 0.0812,
      "step": 5027
    },
    {
      "epoch": 1.1278887143818712,
      "gripper_loss": 0.208984375,
      "loss": 0.06640625,
      "pos_loss": 0.333984375,
      "rot_loss": 0.16015625,
      "step": 5027
    },
    {
      "epoch": 1.1281130805474535,
      "grad_norm": 0.6501404047012329,
      "learning_rate": 0.00035878651038987976,
      "loss": 0.1022,
      "step": 5028
    },
    {
      "epoch": 1.1281130805474535,
      "gripper_loss": 0.515625,
      "loss": 0.035888671875,
      "pos_loss": 0.05322265625,
      "rot_loss": 0.0947265625,
      "step": 5028
    },
    {
      "epoch": 1.1283374467130356,
      "grad_norm": 0.5889437794685364,
      "learning_rate": 0.00035873198171478953,
      "loss": 0.0771,
      "step": 5029
    },
    {
      "epoch": 1.1283374467130356,
      "gripper_loss": 0.0400390625,
      "loss": 0.0732421875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.0419921875,
      "step": 5029
    },
    {
      "epoch": 1.128561812878618,
      "grad_norm": 0.5182123780250549,
      "learning_rate": 0.00035867744665935567,
      "loss": 0.0748,
      "step": 5030
    },
    {
      "epoch": 1.128561812878618,
      "gripper_loss": 0.032958984375,
      "loss": 0.09375,
      "pos_loss": 0.81640625,
      "rot_loss": 0.111328125,
      "step": 5030
    },
    {
      "epoch": 1.1287861790442002,
      "grad_norm": 0.5642604827880859,
      "learning_rate": 0.00035862290522677837,
      "loss": 0.1042,
      "step": 5031
    },
    {
      "epoch": 1.1287861790442002,
      "gripper_loss": 0.55859375,
      "loss": 0.059326171875,
      "pos_loss": 0.25390625,
      "rot_loss": 0.12060546875,
      "step": 5031
    },
    {
      "epoch": 1.1290105452097823,
      "grad_norm": 0.6031166911125183,
      "learning_rate": 0.00035856835742025797,
      "loss": 0.0802,
      "step": 5032
    },
    {
      "epoch": 1.1290105452097823,
      "gripper_loss": 0.05029296875,
      "loss": 0.162109375,
      "pos_loss": 0.40625,
      "rot_loss": 1.21875,
      "step": 5032
    },
    {
      "epoch": 1.1292349113753646,
      "grad_norm": 0.8608402609825134,
      "learning_rate": 0.0003585138032429954,
      "loss": 0.1185,
      "step": 5033
    },
    {
      "epoch": 1.1292349113753646,
      "gripper_loss": 0.5859375,
      "loss": 0.13671875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.6875,
      "step": 5033
    },
    {
      "epoch": 1.1294592775409469,
      "grad_norm": 0.5696847438812256,
      "learning_rate": 0.000358459242698192,
      "loss": 0.114,
      "step": 5034
    },
    {
      "epoch": 1.1294592775409469,
      "gripper_loss": 0.55859375,
      "loss": 0.08251953125,
      "pos_loss": 0.447265625,
      "rot_loss": 0.14453125,
      "step": 5034
    },
    {
      "epoch": 1.129683643706529,
      "grad_norm": 0.500434398651123,
      "learning_rate": 0.00035840467578904906,
      "loss": 0.0887,
      "step": 5035
    },
    {
      "epoch": 1.129683643706529,
      "gripper_loss": 0.33203125,
      "loss": 0.291015625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.48046875,
      "step": 5035
    },
    {
      "epoch": 1.1299080098721113,
      "grad_norm": 1.6740365028381348,
      "learning_rate": 0.00035835010251876877,
      "loss": 0.2546,
      "step": 5036
    },
    {
      "epoch": 1.1299080098721113,
      "gripper_loss": 1.0,
      "loss": 0.30859375,
      "pos_loss": 1.09375,
      "rot_loss": 0.294921875,
      "step": 5036
    },
    {
      "epoch": 1.1301323760376936,
      "grad_norm": 1.8508574962615967,
      "learning_rate": 0.00035829552289055335,
      "loss": 0.2765,
      "step": 5037
    },
    {
      "epoch": 1.1301323760376936,
      "gripper_loss": 0.5546875,
      "loss": 0.05078125,
      "pos_loss": 0.2265625,
      "rot_loss": 0.057861328125,
      "step": 5037
    },
    {
      "epoch": 1.1303567422032756,
      "grad_norm": 0.6367263793945312,
      "learning_rate": 0.0003582409369076056,
      "loss": 0.1035,
      "step": 5038
    },
    {
      "epoch": 1.1303567422032756,
      "gripper_loss": 0.11669921875,
      "loss": 0.09814453125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.2734375,
      "step": 5038
    },
    {
      "epoch": 1.130581108368858,
      "grad_norm": 0.7101923823356628,
      "learning_rate": 0.0003581863445731285,
      "loss": 0.0874,
      "step": 5039
    },
    {
      "epoch": 1.130581108368858,
      "gripper_loss": 0.07275390625,
      "loss": 0.2177734375,
      "pos_loss": 1.8125,
      "rot_loss": 0.359375,
      "step": 5039
    },
    {
      "epoch": 1.1308054745344402,
      "grad_norm": 0.7154589891433716,
      "learning_rate": 0.0003581317458903257,
      "loss": 0.1095,
      "step": 5040
    },
    {
      "epoch": 1.1308054745344402,
      "gripper_loss": 0.1494140625,
      "loss": 0.1318359375,
      "pos_loss": 0.119140625,
      "rot_loss": 1.1640625,
      "step": 5040
    },
    {
      "epoch": 1.1310298407000223,
      "grad_norm": 0.8622395992279053,
      "learning_rate": 0.00035807714086240073,
      "loss": 0.1382,
      "step": 5041
    },
    {
      "epoch": 1.1310298407000223,
      "gripper_loss": 0.33984375,
      "loss": 0.1494140625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.2490234375,
      "step": 5041
    },
    {
      "epoch": 1.1312542068656046,
      "grad_norm": 0.9194824695587158,
      "learning_rate": 0.00035802252949255803,
      "loss": 0.1211,
      "step": 5042
    },
    {
      "epoch": 1.1312542068656046,
      "gripper_loss": 0.1533203125,
      "loss": 0.1494140625,
      "pos_loss": 0.8359375,
      "rot_loss": 0.373046875,
      "step": 5042
    },
    {
      "epoch": 1.131478573031187,
      "grad_norm": 1.0060604810714722,
      "learning_rate": 0.00035796791178400203,
      "loss": 0.1515,
      "step": 5043
    },
    {
      "epoch": 1.131478573031187,
      "gripper_loss": 0.71484375,
      "loss": 0.036865234375,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.0177001953125,
      "step": 5043
    },
    {
      "epoch": 1.131702939196769,
      "grad_norm": 0.6862642168998718,
      "learning_rate": 0.00035791328773993774,
      "loss": 0.1436,
      "step": 5044
    },
    {
      "epoch": 1.131702939196769,
      "gripper_loss": 0.189453125,
      "loss": 0.0517578125,
      "pos_loss": 0.234375,
      "rot_loss": 0.181640625,
      "step": 5044
    },
    {
      "epoch": 1.1319273053623513,
      "grad_norm": 0.631456732749939,
      "learning_rate": 0.0003578586573635705,
      "loss": 0.0766,
      "step": 5045
    },
    {
      "epoch": 1.1319273053623513,
      "gripper_loss": 0.51953125,
      "loss": 0.0791015625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.171875,
      "step": 5045
    },
    {
      "epoch": 1.1321516715279336,
      "grad_norm": 0.5557068586349487,
      "learning_rate": 0.0003578040206581059,
      "loss": 0.0797,
      "step": 5046
    },
    {
      "epoch": 1.1321516715279336,
      "gripper_loss": 0.4296875,
      "loss": 0.15234375,
      "pos_loss": 0.546875,
      "rot_loss": 0.83984375,
      "step": 5046
    },
    {
      "epoch": 1.132376037693516,
      "grad_norm": 0.7572040557861328,
      "learning_rate": 0.0003577493776267501,
      "loss": 0.0847,
      "step": 5047
    },
    {
      "epoch": 1.132376037693516,
      "gripper_loss": 0.18359375,
      "loss": 0.1474609375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.326171875,
      "step": 5047
    },
    {
      "epoch": 1.132600403859098,
      "grad_norm": 1.7896466255187988,
      "learning_rate": 0.0003576947282727094,
      "loss": 0.1632,
      "step": 5048
    },
    {
      "epoch": 1.132600403859098,
      "gripper_loss": 0.361328125,
      "loss": 0.111328125,
      "pos_loss": 0.8359375,
      "rot_loss": 0.11474609375,
      "step": 5048
    },
    {
      "epoch": 1.1328247700246803,
      "grad_norm": 0.5480542182922363,
      "learning_rate": 0.0003576400725991907,
      "loss": 0.0857,
      "step": 5049
    },
    {
      "epoch": 1.1328247700246803,
      "gripper_loss": 0.90625,
      "loss": 0.1337890625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.2890625,
      "step": 5049
    },
    {
      "epoch": 1.1330491361902626,
      "grad_norm": 0.8237851858139038,
      "learning_rate": 0.0003575854106094012,
      "loss": 0.1164,
      "step": 5050
    },
    {
      "epoch": 1.1330491361902626,
      "gripper_loss": 0.099609375,
      "loss": 0.1474609375,
      "pos_loss": 0.98046875,
      "rot_loss": 0.4375,
      "step": 5050
    },
    {
      "epoch": 1.1332735023558447,
      "grad_norm": 0.6775947213172913,
      "learning_rate": 0.0003575307423065484,
      "loss": 0.1087,
      "step": 5051
    },
    {
      "epoch": 1.1332735023558447,
      "gripper_loss": 0.06982421875,
      "loss": 0.16015625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.94140625,
      "step": 5051
    },
    {
      "epoch": 1.133497868521427,
      "grad_norm": 1.102236270904541,
      "learning_rate": 0.00035747606769384024,
      "loss": 0.1271,
      "step": 5052
    },
    {
      "epoch": 1.133497868521427,
      "gripper_loss": 0.0712890625,
      "loss": 0.09521484375,
      "pos_loss": 0.72265625,
      "rot_loss": 0.1689453125,
      "step": 5052
    },
    {
      "epoch": 1.1337222346870093,
      "grad_norm": 0.6618330478668213,
      "learning_rate": 0.00035742138677448485,
      "loss": 0.085,
      "step": 5053
    },
    {
      "epoch": 1.1337222346870093,
      "gripper_loss": 0.2275390625,
      "loss": 0.0306396484375,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.0537109375,
      "step": 5053
    },
    {
      "epoch": 1.1339466008525914,
      "grad_norm": 0.6188915967941284,
      "learning_rate": 0.0003573666995516911,
      "loss": 0.081,
      "step": 5054
    },
    {
      "epoch": 1.1339466008525914,
      "gripper_loss": 0.0303955078125,
      "loss": 0.2265625,
      "pos_loss": 1.046875,
      "rot_loss": 1.2734375,
      "step": 5054
    },
    {
      "epoch": 1.1341709670181737,
      "grad_norm": 0.7989119291305542,
      "learning_rate": 0.0003573120060286679,
      "loss": 0.1024,
      "step": 5055
    },
    {
      "epoch": 1.1341709670181737,
      "gripper_loss": 0.047607421875,
      "loss": 0.064453125,
      "pos_loss": 0.427734375,
      "rot_loss": 0.1318359375,
      "step": 5055
    },
    {
      "epoch": 1.134395333183756,
      "grad_norm": 0.39607661962509155,
      "learning_rate": 0.0003572573062086246,
      "loss": 0.0668,
      "step": 5056
    },
    {
      "epoch": 1.134395333183756,
      "gripper_loss": 0.021728515625,
      "loss": 0.09765625,
      "pos_loss": 0.80078125,
      "rot_loss": 0.1376953125,
      "step": 5056
    },
    {
      "epoch": 1.134619699349338,
      "grad_norm": 0.6345791816711426,
      "learning_rate": 0.000357202600094771,
      "loss": 0.0944,
      "step": 5057
    },
    {
      "epoch": 1.134619699349338,
      "gripper_loss": 0.59375,
      "loss": 0.0390625,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.050537109375,
      "step": 5057
    },
    {
      "epoch": 1.1348440655149203,
      "grad_norm": 0.5304791927337646,
      "learning_rate": 0.0003571478876903173,
      "loss": 0.1087,
      "step": 5058
    },
    {
      "epoch": 1.1348440655149203,
      "gripper_loss": 0.1669921875,
      "loss": 0.04638671875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.02880859375,
      "step": 5058
    },
    {
      "epoch": 1.1350684316805026,
      "grad_norm": 0.40408316254615784,
      "learning_rate": 0.00035709316899847386,
      "loss": 0.0451,
      "step": 5059
    },
    {
      "epoch": 1.1350684316805026,
      "gripper_loss": 0.040771484375,
      "loss": 0.16796875,
      "pos_loss": 1.328125,
      "rot_loss": 0.373046875,
      "step": 5059
    },
    {
      "epoch": 1.1352927978460847,
      "grad_norm": 0.6899863481521606,
      "learning_rate": 0.0003570384440224517,
      "loss": 0.0817,
      "step": 5060
    },
    {
      "epoch": 1.1352927978460847,
      "gripper_loss": 0.18359375,
      "loss": 0.05908203125,
      "pos_loss": 0.34375,
      "rot_loss": 0.1650390625,
      "step": 5060
    },
    {
      "epoch": 1.135517164011667,
      "grad_norm": 0.4989227056503296,
      "learning_rate": 0.000356983712765462,
      "loss": 0.1233,
      "step": 5061
    },
    {
      "epoch": 1.135517164011667,
      "gripper_loss": 1.171875,
      "loss": 0.06201171875,
      "pos_loss": 0.13671875,
      "rot_loss": 0.053466796875,
      "step": 5061
    },
    {
      "epoch": 1.1357415301772493,
      "grad_norm": 0.6439911723136902,
      "learning_rate": 0.0003569289752307163,
      "loss": 0.1328,
      "step": 5062
    },
    {
      "epoch": 1.1357415301772493,
      "gripper_loss": 0.1416015625,
      "loss": 0.0810546875,
      "pos_loss": 0.5078125,
      "rot_loss": 0.1748046875,
      "step": 5062
    },
    {
      "epoch": 1.1359658963428314,
      "grad_norm": 0.621786892414093,
      "learning_rate": 0.0003568742314214266,
      "loss": 0.1047,
      "step": 5063
    },
    {
      "epoch": 1.1359658963428314,
      "gripper_loss": 0.58984375,
      "loss": 0.05224609375,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.1181640625,
      "step": 5063
    },
    {
      "epoch": 1.1361902625084137,
      "grad_norm": 0.6626978516578674,
      "learning_rate": 0.00035681948134080535,
      "loss": 0.0793,
      "step": 5064
    },
    {
      "epoch": 1.1361902625084137,
      "gripper_loss": 0.0211181640625,
      "loss": 0.0751953125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.048583984375,
      "step": 5064
    },
    {
      "epoch": 1.136414628673996,
      "grad_norm": 0.5990774035453796,
      "learning_rate": 0.000356764724992065,
      "loss": 0.0752,
      "step": 5065
    },
    {
      "epoch": 1.136414628673996,
      "gripper_loss": 0.181640625,
      "loss": 0.1015625,
      "pos_loss": 0.365234375,
      "rot_loss": 0.59375,
      "step": 5065
    },
    {
      "epoch": 1.1366389948395783,
      "grad_norm": 0.4897751808166504,
      "learning_rate": 0.000356709962378419,
      "loss": 0.0605,
      "step": 5066
    },
    {
      "epoch": 1.1366389948395783,
      "gripper_loss": 0.0196533203125,
      "loss": 0.1220703125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.6328125,
      "step": 5066
    },
    {
      "epoch": 1.1368633610051604,
      "grad_norm": 0.5235671997070312,
      "learning_rate": 0.0003566551935030805,
      "loss": 0.1122,
      "step": 5067
    },
    {
      "epoch": 1.1368633610051604,
      "gripper_loss": 0.78515625,
      "loss": 0.146484375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.51171875,
      "step": 5067
    },
    {
      "epoch": 1.1370877271707427,
      "grad_norm": 0.9321190714836121,
      "learning_rate": 0.00035660041836926344,
      "loss": 0.1409,
      "step": 5068
    },
    {
      "epoch": 1.1370877271707427,
      "gripper_loss": 0.4453125,
      "loss": 0.06787109375,
      "pos_loss": 0.125,
      "rot_loss": 0.384765625,
      "step": 5068
    },
    {
      "epoch": 1.137312093336325,
      "grad_norm": 0.5351889729499817,
      "learning_rate": 0.000356545636980182,
      "loss": 0.0814,
      "step": 5069
    },
    {
      "epoch": 1.137312093336325,
      "gripper_loss": 0.08544921875,
      "loss": 0.042724609375,
      "pos_loss": 0.185546875,
      "rot_loss": 0.1416015625,
      "step": 5069
    },
    {
      "epoch": 1.137536459501907,
      "grad_norm": 0.44011786580085754,
      "learning_rate": 0.0003564908493390507,
      "loss": 0.0846,
      "step": 5070
    },
    {
      "epoch": 1.137536459501907,
      "gripper_loss": 0.30859375,
      "loss": 0.076171875,
      "pos_loss": 0.6171875,
      "rot_loss": 0.038330078125,
      "step": 5070
    },
    {
      "epoch": 1.1377608256674894,
      "grad_norm": 0.4519549608230591,
      "learning_rate": 0.00035643605544908436,
      "loss": 0.0768,
      "step": 5071
    },
    {
      "epoch": 1.1377608256674894,
      "gripper_loss": 0.255859375,
      "loss": 0.04541015625,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.08837890625,
      "step": 5071
    },
    {
      "epoch": 1.1379851918330717,
      "grad_norm": 0.4909858703613281,
      "learning_rate": 0.00035638125531349844,
      "loss": 0.1238,
      "step": 5072
    },
    {
      "epoch": 1.1379851918330717,
      "gripper_loss": 0.123046875,
      "loss": 0.0732421875,
      "pos_loss": 0.248046875,
      "rot_loss": 0.38671875,
      "step": 5072
    },
    {
      "epoch": 1.1382095579986538,
      "grad_norm": 0.6000242233276367,
      "learning_rate": 0.00035632644893550847,
      "loss": 0.1069,
      "step": 5073
    },
    {
      "epoch": 1.1382095579986538,
      "gripper_loss": 0.1953125,
      "loss": 0.07421875,
      "pos_loss": 0.466796875,
      "rot_loss": 0.1865234375,
      "step": 5073
    },
    {
      "epoch": 1.138433924164236,
      "grad_norm": 0.4559932053089142,
      "learning_rate": 0.00035627163631833046,
      "loss": 0.0914,
      "step": 5074
    },
    {
      "epoch": 1.138433924164236,
      "gripper_loss": 0.0308837890625,
      "loss": 0.07861328125,
      "pos_loss": 0.478515625,
      "rot_loss": 0.2490234375,
      "step": 5074
    },
    {
      "epoch": 1.1386582903298184,
      "grad_norm": 0.6582008600234985,
      "learning_rate": 0.0003562168174651809,
      "loss": 0.1253,
      "step": 5075
    },
    {
      "epoch": 1.1386582903298184,
      "gripper_loss": 0.1884765625,
      "loss": 0.05908203125,
      "pos_loss": 0.40625,
      "rot_loss": 0.0595703125,
      "step": 5075
    },
    {
      "epoch": 1.1388826564954004,
      "grad_norm": 0.6634919047355652,
      "learning_rate": 0.0003561619923792765,
      "loss": 0.0933,
      "step": 5076
    },
    {
      "epoch": 1.1388826564954004,
      "gripper_loss": 0.029541015625,
      "loss": 0.1318359375,
      "pos_loss": 0.8671875,
      "rot_loss": 0.443359375,
      "step": 5076
    },
    {
      "epoch": 1.1391070226609827,
      "grad_norm": 0.45898574590682983,
      "learning_rate": 0.00035610716106383424,
      "loss": 0.0917,
      "step": 5077
    },
    {
      "epoch": 1.1391070226609827,
      "gripper_loss": 0.6328125,
      "loss": 0.031982421875,
      "pos_loss": 0.06103515625,
      "rot_loss": 0.01092529296875,
      "step": 5077
    },
    {
      "epoch": 1.139331388826565,
      "grad_norm": 0.3922201991081238,
      "learning_rate": 0.0003560523235220717,
      "loss": 0.0585,
      "step": 5078
    },
    {
      "epoch": 1.139331388826565,
      "gripper_loss": 0.287109375,
      "loss": 0.115234375,
      "pos_loss": 0.81640625,
      "rot_loss": 0.2236328125,
      "step": 5078
    },
    {
      "epoch": 1.1395557549921471,
      "grad_norm": 0.5392512083053589,
      "learning_rate": 0.00035599747975720666,
      "loss": 0.1097,
      "step": 5079
    },
    {
      "epoch": 1.1395557549921471,
      "gripper_loss": 0.1875,
      "loss": 0.07470703125,
      "pos_loss": 0.37109375,
      "rot_loss": 0.28125,
      "step": 5079
    },
    {
      "epoch": 1.1397801211577294,
      "grad_norm": 0.41287270188331604,
      "learning_rate": 0.0003559426297724574,
      "loss": 0.0767,
      "step": 5080
    },
    {
      "epoch": 1.1397801211577294,
      "gripper_loss": 1.5078125,
      "loss": 0.10595703125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.310546875,
      "step": 5080
    },
    {
      "epoch": 1.1400044873233117,
      "grad_norm": 0.5268313884735107,
      "learning_rate": 0.00035588777357104255,
      "loss": 0.0906,
      "step": 5081
    },
    {
      "epoch": 1.1400044873233117,
      "gripper_loss": 0.1650390625,
      "loss": 0.0673828125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.08837890625,
      "step": 5081
    },
    {
      "epoch": 1.1402288534888938,
      "grad_norm": 0.765659511089325,
      "learning_rate": 0.0003558329111561809,
      "loss": 0.091,
      "step": 5082
    },
    {
      "epoch": 1.1402288534888938,
      "gripper_loss": 0.09716796875,
      "loss": 0.11767578125,
      "pos_loss": 1.015625,
      "rot_loss": 0.15625,
      "step": 5082
    },
    {
      "epoch": 1.140453219654476,
      "grad_norm": 0.8899455070495605,
      "learning_rate": 0.0003557780425310919,
      "loss": 0.1183,
      "step": 5083
    },
    {
      "epoch": 1.140453219654476,
      "gripper_loss": 0.0654296875,
      "loss": 0.142578125,
      "pos_loss": 0.765625,
      "rot_loss": 0.49609375,
      "step": 5083
    },
    {
      "epoch": 1.1406775858200584,
      "grad_norm": 0.886927604675293,
      "learning_rate": 0.00035572316769899505,
      "loss": 0.1005,
      "step": 5084
    },
    {
      "epoch": 1.1406775858200584,
      "gripper_loss": 0.1005859375,
      "loss": 0.060546875,
      "pos_loss": 0.244140625,
      "rot_loss": 0.279296875,
      "step": 5084
    },
    {
      "epoch": 1.1409019519856405,
      "grad_norm": 0.5776820182800293,
      "learning_rate": 0.00035566828666311047,
      "loss": 0.0927,
      "step": 5085
    },
    {
      "epoch": 1.1409019519856405,
      "gripper_loss": 0.037353515625,
      "loss": 0.125,
      "pos_loss": 0.87890625,
      "rot_loss": 0.30859375,
      "step": 5085
    },
    {
      "epoch": 1.1411263181512228,
      "grad_norm": 0.8017358183860779,
      "learning_rate": 0.0003556133994266586,
      "loss": 0.0942,
      "step": 5086
    },
    {
      "epoch": 1.1411263181512228,
      "gripper_loss": 0.345703125,
      "loss": 0.052734375,
      "pos_loss": 0.22265625,
      "rot_loss": 0.11865234375,
      "step": 5086
    },
    {
      "epoch": 1.141350684316805,
      "grad_norm": 0.456631600856781,
      "learning_rate": 0.0003555585059928601,
      "loss": 0.0527,
      "step": 5087
    },
    {
      "epoch": 1.141350684316805,
      "gripper_loss": 0.703125,
      "loss": 0.1982421875,
      "pos_loss": 0.82421875,
      "rot_loss": 1.015625,
      "step": 5087
    },
    {
      "epoch": 1.1415750504823872,
      "grad_norm": 0.5105416178703308,
      "learning_rate": 0.00035550360636493614,
      "loss": 0.1077,
      "step": 5088
    },
    {
      "epoch": 1.1415750504823872,
      "gripper_loss": 0.2421875,
      "loss": 0.373046875,
      "pos_loss": 0.84375,
      "rot_loss": 0.91796875,
      "step": 5088
    },
    {
      "epoch": 1.1417994166479695,
      "grad_norm": 1.7360997200012207,
      "learning_rate": 0.0003554487005461082,
      "loss": 0.3638,
      "step": 5089
    },
    {
      "epoch": 1.1417994166479695,
      "gripper_loss": 1.2109375,
      "loss": 0.051513671875,
      "pos_loss": 0.0291748046875,
      "rot_loss": 0.072265625,
      "step": 5089
    },
    {
      "epoch": 1.1420237828135518,
      "grad_norm": 0.5991296768188477,
      "learning_rate": 0.00035539378853959816,
      "loss": 0.0991,
      "step": 5090
    },
    {
      "epoch": 1.1420237828135518,
      "gripper_loss": 0.71484375,
      "loss": 0.1279296875,
      "pos_loss": 0.66796875,
      "rot_loss": 0.29296875,
      "step": 5090
    },
    {
      "epoch": 1.1422481489791338,
      "grad_norm": 0.7726735472679138,
      "learning_rate": 0.0003553388703486282,
      "loss": 0.103,
      "step": 5091
    },
    {
      "epoch": 1.1422481489791338,
      "gripper_loss": 0.09130859375,
      "loss": 0.040771484375,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.07861328125,
      "step": 5091
    },
    {
      "epoch": 1.1424725151447161,
      "grad_norm": 0.7204331159591675,
      "learning_rate": 0.00035528394597642086,
      "loss": 0.1043,
      "step": 5092
    },
    {
      "epoch": 1.1424725151447161,
      "gripper_loss": 0.005706787109375,
      "loss": 0.0634765625,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.39453125,
      "step": 5092
    },
    {
      "epoch": 1.1426968813102985,
      "grad_norm": 0.7306795716285706,
      "learning_rate": 0.00035522901542619926,
      "loss": 0.0633,
      "step": 5093
    },
    {
      "epoch": 1.1426968813102985,
      "gripper_loss": 0.13671875,
      "loss": 0.038818359375,
      "pos_loss": 0.203125,
      "rot_loss": 0.0517578125,
      "step": 5093
    },
    {
      "epoch": 1.1429212474758805,
      "grad_norm": 0.5167971253395081,
      "learning_rate": 0.0003551740787011864,
      "loss": 0.0641,
      "step": 5094
    },
    {
      "epoch": 1.1429212474758805,
      "gripper_loss": 0.05029296875,
      "loss": 0.06787109375,
      "pos_loss": 0.375,
      "rot_loss": 0.2490234375,
      "step": 5094
    },
    {
      "epoch": 1.1431456136414628,
      "grad_norm": 0.6276161074638367,
      "learning_rate": 0.00035511913580460615,
      "loss": 0.08,
      "step": 5095
    },
    {
      "epoch": 1.1431456136414628,
      "gripper_loss": 0.02587890625,
      "loss": 0.169921875,
      "pos_loss": 1.5390625,
      "rot_loss": 0.1943359375,
      "step": 5095
    },
    {
      "epoch": 1.1433699798070451,
      "grad_norm": 0.5386056900024414,
      "learning_rate": 0.0003550641867396825,
      "loss": 0.0785,
      "step": 5096
    },
    {
      "epoch": 1.1433699798070451,
      "gripper_loss": 0.04248046875,
      "loss": 0.09228515625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.32421875,
      "step": 5096
    },
    {
      "epoch": 1.1435943459726272,
      "grad_norm": 0.7231544852256775,
      "learning_rate": 0.0003550092315096398,
      "loss": 0.1062,
      "step": 5097
    },
    {
      "epoch": 1.1435943459726272,
      "gripper_loss": 0.0201416015625,
      "loss": 0.06298828125,
      "pos_loss": 0.380859375,
      "rot_loss": 0.1923828125,
      "step": 5097
    },
    {
      "epoch": 1.1438187121382095,
      "grad_norm": 0.42847323417663574,
      "learning_rate": 0.0003549542701177028,
      "loss": 0.0516,
      "step": 5098
    },
    {
      "epoch": 1.1438187121382095,
      "gripper_loss": 0.03515625,
      "loss": 0.10302734375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.212890625,
      "step": 5098
    },
    {
      "epoch": 1.1440430783037918,
      "grad_norm": 0.5596182942390442,
      "learning_rate": 0.0003548993025670967,
      "loss": 0.0772,
      "step": 5099
    },
    {
      "epoch": 1.1440430783037918,
      "gripper_loss": 0.0194091796875,
      "loss": 0.08642578125,
      "pos_loss": 0.63671875,
      "rot_loss": 0.216796875,
      "step": 5099
    },
    {
      "epoch": 1.144267444469374,
      "grad_norm": 0.6643827557563782,
      "learning_rate": 0.00035484432886104684,
      "loss": 0.1156,
      "step": 5100
    },
    {
      "epoch": 1.144267444469374,
      "gripper_loss": 0.012939453125,
      "loss": 0.0712890625,
      "pos_loss": 0.62890625,
      "rot_loss": 0.07568359375,
      "step": 5100
    },
    {
      "epoch": 1.1444918106349562,
      "grad_norm": 0.6530721187591553,
      "learning_rate": 0.0003547893490027791,
      "loss": 0.0884,
      "step": 5101
    },
    {
      "epoch": 1.1444918106349562,
      "gripper_loss": 0.0211181640625,
      "loss": 0.1572265625,
      "pos_loss": 1.5078125,
      "rot_loss": 0.08203125,
      "step": 5101
    },
    {
      "epoch": 1.1447161768005385,
      "grad_norm": 0.5423291325569153,
      "learning_rate": 0.00035473436299551976,
      "loss": 0.0787,
      "step": 5102
    },
    {
      "epoch": 1.1447161768005385,
      "gripper_loss": 0.15234375,
      "loss": 0.0302734375,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.123046875,
      "step": 5102
    },
    {
      "epoch": 1.1449405429661208,
      "grad_norm": 0.4775051474571228,
      "learning_rate": 0.00035467937084249516,
      "loss": 0.0809,
      "step": 5103
    },
    {
      "epoch": 1.1449405429661208,
      "gripper_loss": 0.08154296875,
      "loss": 0.05029296875,
      "pos_loss": 0.37109375,
      "rot_loss": 0.0859375,
      "step": 5103
    },
    {
      "epoch": 1.1451649091317029,
      "grad_norm": 0.45734477043151855,
      "learning_rate": 0.0003546243725469325,
      "loss": 0.0941,
      "step": 5104
    },
    {
      "epoch": 1.1451649091317029,
      "gripper_loss": 0.5859375,
      "loss": 0.31640625,
      "pos_loss": 0.765625,
      "rot_loss": 0.73828125,
      "step": 5104
    },
    {
      "epoch": 1.1453892752972852,
      "grad_norm": 1.8578288555145264,
      "learning_rate": 0.00035456936811205885,
      "loss": 0.2991,
      "step": 5105
    },
    {
      "epoch": 1.1453892752972852,
      "gripper_loss": 0.32421875,
      "loss": 0.1728515625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.451171875,
      "step": 5105
    },
    {
      "epoch": 1.1456136414628675,
      "grad_norm": 1.1586991548538208,
      "learning_rate": 0.0003545143575411019,
      "loss": 0.1951,
      "step": 5106
    },
    {
      "epoch": 1.1456136414628675,
      "gripper_loss": 0.1103515625,
      "loss": 0.0306396484375,
      "pos_loss": 0.1015625,
      "rot_loss": 0.1220703125,
      "step": 5106
    },
    {
      "epoch": 1.1458380076284496,
      "grad_norm": 0.5339635014533997,
      "learning_rate": 0.00035445934083728966,
      "loss": 0.0675,
      "step": 5107
    },
    {
      "epoch": 1.1458380076284496,
      "gripper_loss": 0.486328125,
      "loss": 0.056396484375,
      "pos_loss": 0.072265625,
      "rot_loss": 0.279296875,
      "step": 5107
    },
    {
      "epoch": 1.1460623737940319,
      "grad_norm": 0.7075067162513733,
      "learning_rate": 0.00035440431800385047,
      "loss": 0.0857,
      "step": 5108
    },
    {
      "epoch": 1.1460623737940319,
      "gripper_loss": 0.06787109375,
      "loss": 0.1328125,
      "pos_loss": 0.73828125,
      "rot_loss": 0.421875,
      "step": 5108
    },
    {
      "epoch": 1.1462867399596142,
      "grad_norm": 0.8379784822463989,
      "learning_rate": 0.00035434928904401296,
      "loss": 0.093,
      "step": 5109
    },
    {
      "epoch": 1.1462867399596142,
      "gripper_loss": 0.056884765625,
      "loss": 0.158203125,
      "pos_loss": 1.15625,
      "rot_loss": 0.33203125,
      "step": 5109
    },
    {
      "epoch": 1.1465111061251962,
      "grad_norm": 0.6430767774581909,
      "learning_rate": 0.0003542942539610065,
      "loss": 0.0989,
      "step": 5110
    },
    {
      "epoch": 1.1465111061251962,
      "gripper_loss": 0.025634765625,
      "loss": 0.11767578125,
      "pos_loss": 1.0703125,
      "rot_loss": 0.0966796875,
      "step": 5110
    },
    {
      "epoch": 1.1467354722907785,
      "grad_norm": 0.5194912552833557,
      "learning_rate": 0.00035423921275806015,
      "loss": 0.0833,
      "step": 5111
    },
    {
      "epoch": 1.1467354722907785,
      "gripper_loss": 0.2216796875,
      "loss": 0.0301513671875,
      "pos_loss": 0.1015625,
      "rot_loss": 0.0869140625,
      "step": 5111
    },
    {
      "epoch": 1.1469598384563608,
      "grad_norm": 0.40121906995773315,
      "learning_rate": 0.0003541841654384039,
      "loss": 0.0658,
      "step": 5112
    },
    {
      "epoch": 1.1469598384563608,
      "gripper_loss": 0.1611328125,
      "loss": 0.11328125,
      "pos_loss": 0.64453125,
      "rot_loss": 0.435546875,
      "step": 5112
    },
    {
      "epoch": 1.147184204621943,
      "grad_norm": 0.6644949316978455,
      "learning_rate": 0.0003541291120052679,
      "loss": 0.1177,
      "step": 5113
    },
    {
      "epoch": 1.147184204621943,
      "gripper_loss": 0.0286865234375,
      "loss": 0.1533203125,
      "pos_loss": 1.390625,
      "rot_loss": 0.1591796875,
      "step": 5113
    },
    {
      "epoch": 1.1474085707875252,
      "grad_norm": 0.5596395134925842,
      "learning_rate": 0.0003540740524618826,
      "loss": 0.081,
      "step": 5114
    },
    {
      "epoch": 1.1474085707875252,
      "gripper_loss": 0.16796875,
      "loss": 0.0654296875,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.34765625,
      "step": 5114
    },
    {
      "epoch": 1.1476329369531075,
      "grad_norm": 0.5322820544242859,
      "learning_rate": 0.00035401898681147894,
      "loss": 0.0785,
      "step": 5115
    },
    {
      "epoch": 1.1476329369531075,
      "gripper_loss": 0.13671875,
      "loss": 0.036865234375,
      "pos_loss": 0.08984375,
      "rot_loss": 0.10693359375,
      "step": 5115
    },
    {
      "epoch": 1.1478573031186896,
      "grad_norm": 0.7818043231964111,
      "learning_rate": 0.00035396391505728813,
      "loss": 0.0792,
      "step": 5116
    },
    {
      "epoch": 1.1478573031186896,
      "gripper_loss": 0.43359375,
      "loss": 0.0576171875,
      "pos_loss": 0.2890625,
      "rot_loss": 0.1103515625,
      "step": 5116
    },
    {
      "epoch": 1.148081669284272,
      "grad_norm": 0.4529724419116974,
      "learning_rate": 0.0003539088372025417,
      "loss": 0.092,
      "step": 5117
    },
    {
      "epoch": 1.148081669284272,
      "gripper_loss": 0.07470703125,
      "loss": 0.1376953125,
      "pos_loss": 0.75,
      "rot_loss": 0.54296875,
      "step": 5117
    },
    {
      "epoch": 1.1483060354498542,
      "grad_norm": 0.7676514387130737,
      "learning_rate": 0.00035385375325047166,
      "loss": 0.1134,
      "step": 5118
    },
    {
      "epoch": 1.1483060354498542,
      "gripper_loss": 0.0244140625,
      "loss": 0.1416015625,
      "pos_loss": 1.234375,
      "rot_loss": 0.203125,
      "step": 5118
    },
    {
      "epoch": 1.1485304016154365,
      "grad_norm": 0.5222952365875244,
      "learning_rate": 0.0003537986632043102,
      "loss": 0.0732,
      "step": 5119
    },
    {
      "epoch": 1.1485304016154365,
      "gripper_loss": 0.01556396484375,
      "loss": 0.05419921875,
      "pos_loss": 0.482421875,
      "rot_loss": 0.03564453125,
      "step": 5119
    },
    {
      "epoch": 1.1487547677810186,
      "grad_norm": 0.39990338683128357,
      "learning_rate": 0.0003537435670672901,
      "loss": 0.0716,
      "step": 5120
    },
    {
      "epoch": 1.1487547677810186,
      "gripper_loss": 0.0537109375,
      "loss": 0.048583984375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.0322265625,
      "step": 5120
    },
    {
      "epoch": 1.148979133946601,
      "grad_norm": 0.36031046509742737,
      "learning_rate": 0.00035368846484264436,
      "loss": 0.062,
      "step": 5121
    },
    {
      "epoch": 1.148979133946601,
      "gripper_loss": 0.322265625,
      "loss": 0.20703125,
      "pos_loss": 0.34375,
      "rot_loss": 0.279296875,
      "step": 5121
    },
    {
      "epoch": 1.1492035001121832,
      "grad_norm": 1.4237784147262573,
      "learning_rate": 0.00035363335653360636,
      "loss": 0.2352,
      "step": 5122
    },
    {
      "epoch": 1.1492035001121832,
      "gripper_loss": 0.0272216796875,
      "loss": 0.1357421875,
      "pos_loss": 1.171875,
      "rot_loss": 0.177734375,
      "step": 5122
    },
    {
      "epoch": 1.1494278662777653,
      "grad_norm": 0.5499789714813232,
      "learning_rate": 0.00035357824214340977,
      "loss": 0.1,
      "step": 5123
    },
    {
      "epoch": 1.1494278662777653,
      "gripper_loss": 0.09716796875,
      "loss": 0.058349609375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.2578125,
      "step": 5123
    },
    {
      "epoch": 1.1496522324433476,
      "grad_norm": 0.7933347821235657,
      "learning_rate": 0.00035352312167528867,
      "loss": 0.1214,
      "step": 5124
    },
    {
      "epoch": 1.1496522324433476,
      "gripper_loss": 0.439453125,
      "loss": 0.05712890625,
      "pos_loss": 0.265625,
      "rot_loss": 0.126953125,
      "step": 5124
    },
    {
      "epoch": 1.1498765986089299,
      "grad_norm": 0.41450297832489014,
      "learning_rate": 0.0003534679951324775,
      "loss": 0.0945,
      "step": 5125
    },
    {
      "epoch": 1.1498765986089299,
      "gripper_loss": 0.0264892578125,
      "loss": 0.169921875,
      "pos_loss": 1.3359375,
      "rot_loss": 0.39453125,
      "step": 5125
    },
    {
      "epoch": 1.150100964774512,
      "grad_norm": 0.47995874285697937,
      "learning_rate": 0.00035341286251821126,
      "loss": 0.1024,
      "step": 5126
    },
    {
      "epoch": 1.150100964774512,
      "gripper_loss": 0.58984375,
      "loss": 0.055908203125,
      "pos_loss": 0.29296875,
      "rot_loss": 0.048095703125,
      "step": 5126
    },
    {
      "epoch": 1.1503253309400943,
      "grad_norm": 0.49368953704833984,
      "learning_rate": 0.00035335772383572486,
      "loss": 0.0797,
      "step": 5127
    },
    {
      "epoch": 1.1503253309400943,
      "gripper_loss": 0.0439453125,
      "loss": 0.09423828125,
      "pos_loss": 0.8125,
      "rot_loss": 0.052490234375,
      "step": 5127
    },
    {
      "epoch": 1.1505496971056766,
      "grad_norm": 0.602354884147644,
      "learning_rate": 0.0003533025790882539,
      "loss": 0.0702,
      "step": 5128
    },
    {
      "epoch": 1.1505496971056766,
      "gripper_loss": 0.1943359375,
      "loss": 0.2041015625,
      "pos_loss": 0.609375,
      "rot_loss": 0.5078125,
      "step": 5128
    },
    {
      "epoch": 1.1507740632712586,
      "grad_norm": 1.6235467195510864,
      "learning_rate": 0.0003532474282790342,
      "loss": 0.2227,
      "step": 5129
    },
    {
      "epoch": 1.1507740632712586,
      "gripper_loss": 0.02001953125,
      "loss": 0.07568359375,
      "pos_loss": 0.7109375,
      "rot_loss": 0.03076171875,
      "step": 5129
    },
    {
      "epoch": 1.150998429436841,
      "grad_norm": 0.4847085475921631,
      "learning_rate": 0.0003531922714113022,
      "loss": 0.0943,
      "step": 5130
    },
    {
      "epoch": 1.150998429436841,
      "gripper_loss": 0.90234375,
      "loss": 0.0537109375,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.1103515625,
      "step": 5130
    },
    {
      "epoch": 1.1512227956024232,
      "grad_norm": 0.42873939871788025,
      "learning_rate": 0.00035313710848829414,
      "loss": 0.0699,
      "step": 5131
    },
    {
      "epoch": 1.1512227956024232,
      "gripper_loss": 0.0223388671875,
      "loss": 0.1259765625,
      "pos_loss": 0.828125,
      "rot_loss": 0.416015625,
      "step": 5131
    },
    {
      "epoch": 1.1514471617680053,
      "grad_norm": 0.5585960745811462,
      "learning_rate": 0.0003530819395132472,
      "loss": 0.1159,
      "step": 5132
    },
    {
      "epoch": 1.1514471617680053,
      "gripper_loss": 0.041259765625,
      "loss": 0.01458740234375,
      "pos_loss": 0.059814453125,
      "rot_loss": 0.0189208984375,
      "step": 5132
    },
    {
      "epoch": 1.1516715279335876,
      "grad_norm": 0.4172496199607849,
      "learning_rate": 0.00035302676448939864,
      "loss": 0.059,
      "step": 5133
    },
    {
      "epoch": 1.1516715279335876,
      "gripper_loss": 0.30078125,
      "loss": 0.041259765625,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.06591796875,
      "step": 5133
    },
    {
      "epoch": 1.15189589409917,
      "grad_norm": 0.5455451011657715,
      "learning_rate": 0.00035297158341998603,
      "loss": 0.0758,
      "step": 5134
    },
    {
      "epoch": 1.15189589409917,
      "gripper_loss": 0.037109375,
      "loss": 0.16796875,
      "pos_loss": 0.6171875,
      "rot_loss": 0.90625,
      "step": 5134
    },
    {
      "epoch": 1.152120260264752,
      "grad_norm": 0.8403663039207458,
      "learning_rate": 0.0003529163963082474,
      "loss": 0.1204,
      "step": 5135
    },
    {
      "epoch": 1.152120260264752,
      "gripper_loss": 0.1162109375,
      "loss": 0.1298828125,
      "pos_loss": 0.6875,
      "rot_loss": 0.296875,
      "step": 5135
    },
    {
      "epoch": 1.1523446264303343,
      "grad_norm": 1.14927077293396,
      "learning_rate": 0.00035286120315742117,
      "loss": 0.1411,
      "step": 5136
    },
    {
      "epoch": 1.1523446264303343,
      "gripper_loss": 0.0162353515625,
      "loss": 0.0537109375,
      "pos_loss": 0.35546875,
      "rot_loss": 0.1259765625,
      "step": 5136
    },
    {
      "epoch": 1.1525689925959166,
      "grad_norm": 0.5096778273582458,
      "learning_rate": 0.0003528060039707459,
      "loss": 0.0709,
      "step": 5137
    },
    {
      "epoch": 1.1525689925959166,
      "gripper_loss": 0.35546875,
      "loss": 0.1142578125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.1865234375,
      "step": 5137
    },
    {
      "epoch": 1.1527933587614987,
      "grad_norm": 1.0317256450653076,
      "learning_rate": 0.0003527507987514608,
      "loss": 0.1389,
      "step": 5138
    },
    {
      "epoch": 1.1527933587614987,
      "gripper_loss": 0.083984375,
      "loss": 0.1015625,
      "pos_loss": 0.298828125,
      "rot_loss": 0.29296875,
      "step": 5138
    },
    {
      "epoch": 1.153017724927081,
      "grad_norm": 0.8018631339073181,
      "learning_rate": 0.0003526955875028052,
      "loss": 0.1281,
      "step": 5139
    },
    {
      "epoch": 1.153017724927081,
      "gripper_loss": 0.6640625,
      "loss": 0.06494140625,
      "pos_loss": 0.173828125,
      "rot_loss": 0.1767578125,
      "step": 5139
    },
    {
      "epoch": 1.1532420910926633,
      "grad_norm": 0.6269453763961792,
      "learning_rate": 0.0003526403702280189,
      "loss": 0.0806,
      "step": 5140
    },
    {
      "epoch": 1.1532420910926633,
      "gripper_loss": 0.049072265625,
      "loss": 0.043701171875,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.0732421875,
      "step": 5140
    },
    {
      "epoch": 1.1534664572582454,
      "grad_norm": 1.0563321113586426,
      "learning_rate": 0.0003525851469303421,
      "loss": 0.1069,
      "step": 5141
    },
    {
      "epoch": 1.1534664572582454,
      "gripper_loss": 0.02685546875,
      "loss": 0.10205078125,
      "pos_loss": 0.77734375,
      "rot_loss": 0.15625,
      "step": 5141
    },
    {
      "epoch": 1.1536908234238277,
      "grad_norm": 1.0048882961273193,
      "learning_rate": 0.0003525299176130151,
      "loss": 0.151,
      "step": 5142
    },
    {
      "epoch": 1.1536908234238277,
      "gripper_loss": 0.068359375,
      "loss": 0.07177734375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.1796875,
      "step": 5142
    },
    {
      "epoch": 1.15391518958941,
      "grad_norm": 0.5936487913131714,
      "learning_rate": 0.00035247468227927895,
      "loss": 0.0635,
      "step": 5143
    },
    {
      "epoch": 1.15391518958941,
      "gripper_loss": 0.1357421875,
      "loss": 0.1220703125,
      "pos_loss": 0.87109375,
      "rot_loss": 0.1435546875,
      "step": 5143
    },
    {
      "epoch": 1.154139555754992,
      "grad_norm": 0.6805587410926819,
      "learning_rate": 0.0003524194409323747,
      "loss": 0.1114,
      "step": 5144
    },
    {
      "epoch": 1.154139555754992,
      "gripper_loss": 0.24609375,
      "loss": 0.0849609375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.197265625,
      "step": 5144
    },
    {
      "epoch": 1.1543639219205744,
      "grad_norm": 0.43842068314552307,
      "learning_rate": 0.0003523641935755438,
      "loss": 0.09,
      "step": 5145
    },
    {
      "epoch": 1.1543639219205744,
      "gripper_loss": 0.06884765625,
      "loss": 0.0771484375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.08544921875,
      "step": 5145
    },
    {
      "epoch": 1.1545882880861567,
      "grad_norm": 0.6422014832496643,
      "learning_rate": 0.00035230894021202837,
      "loss": 0.0729,
      "step": 5146
    },
    {
      "epoch": 1.1545882880861567,
      "gripper_loss": 0.2158203125,
      "loss": 0.08154296875,
      "pos_loss": 0.68359375,
      "rot_loss": 0.0537109375,
      "step": 5146
    },
    {
      "epoch": 1.1548126542517387,
      "grad_norm": 0.4373776614665985,
      "learning_rate": 0.00035225368084507055,
      "loss": 0.0967,
      "step": 5147
    },
    {
      "epoch": 1.1548126542517387,
      "gripper_loss": 0.251953125,
      "loss": 0.318359375,
      "pos_loss": 1.0703125,
      "rot_loss": 2.171875,
      "step": 5147
    },
    {
      "epoch": 1.155037020417321,
      "grad_norm": 0.8319156169891357,
      "learning_rate": 0.00035219841547791283,
      "loss": 0.1213,
      "step": 5148
    },
    {
      "epoch": 1.155037020417321,
      "gripper_loss": 0.30078125,
      "loss": 0.07373046875,
      "pos_loss": 0.5,
      "rot_loss": 0.07080078125,
      "step": 5148
    },
    {
      "epoch": 1.1552613865829033,
      "grad_norm": 0.5249779224395752,
      "learning_rate": 0.0003521431441137983,
      "loss": 0.0785,
      "step": 5149
    },
    {
      "epoch": 1.1552613865829033,
      "gripper_loss": 0.08447265625,
      "loss": 0.125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.72265625,
      "step": 5149
    },
    {
      "epoch": 1.1554857527484854,
      "grad_norm": 0.6053693890571594,
      "learning_rate": 0.0003520878667559701,
      "loss": 0.082,
      "step": 5150
    },
    {
      "epoch": 1.1554857527484854,
      "gripper_loss": 0.0673828125,
      "loss": 0.06982421875,
      "pos_loss": 0.169921875,
      "rot_loss": 0.404296875,
      "step": 5150
    },
    {
      "epoch": 1.1557101189140677,
      "grad_norm": 0.8497214317321777,
      "learning_rate": 0.00035203258340767206,
      "loss": 0.0939,
      "step": 5151
    },
    {
      "epoch": 1.1557101189140677,
      "gripper_loss": 0.0089111328125,
      "loss": 0.0947265625,
      "pos_loss": 0.890625,
      "rot_loss": 0.052978515625,
      "step": 5151
    },
    {
      "epoch": 1.15593448507965,
      "grad_norm": 0.47649064660072327,
      "learning_rate": 0.0003519772940721482,
      "loss": 0.0569,
      "step": 5152
    },
    {
      "epoch": 1.15593448507965,
      "gripper_loss": 0.0166015625,
      "loss": 0.09130859375,
      "pos_loss": 0.625,
      "rot_loss": 0.267578125,
      "step": 5152
    },
    {
      "epoch": 1.156158851245232,
      "grad_norm": 0.5898754000663757,
      "learning_rate": 0.00035192199875264265,
      "loss": 0.0746,
      "step": 5153
    },
    {
      "epoch": 1.156158851245232,
      "gripper_loss": 0.5,
      "loss": 0.07861328125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.310546875,
      "step": 5153
    },
    {
      "epoch": 1.1563832174108144,
      "grad_norm": 0.4950658977031708,
      "learning_rate": 0.00035186669745240024,
      "loss": 0.0697,
      "step": 5154
    },
    {
      "epoch": 1.1563832174108144,
      "gripper_loss": 0.05126953125,
      "loss": 0.08984375,
      "pos_loss": 0.470703125,
      "rot_loss": 0.380859375,
      "step": 5154
    },
    {
      "epoch": 1.1566075835763967,
      "grad_norm": 0.5164654850959778,
      "learning_rate": 0.000351811390174666,
      "loss": 0.0958,
      "step": 5155
    },
    {
      "epoch": 1.1566075835763967,
      "gripper_loss": 0.01263427734375,
      "loss": 0.1201171875,
      "pos_loss": 1.09375,
      "rot_loss": 0.10986328125,
      "step": 5155
    },
    {
      "epoch": 1.156831949741979,
      "grad_norm": 0.38471537828445435,
      "learning_rate": 0.00035175607692268545,
      "loss": 0.0642,
      "step": 5156
    },
    {
      "epoch": 1.156831949741979,
      "gripper_loss": 0.0205078125,
      "loss": 0.1982421875,
      "pos_loss": 1.8203125,
      "rot_loss": 0.2236328125,
      "step": 5156
    },
    {
      "epoch": 1.157056315907561,
      "grad_norm": 0.4060261845588684,
      "learning_rate": 0.0003517007576997043,
      "loss": 0.0999,
      "step": 5157
    },
    {
      "epoch": 1.157056315907561,
      "gripper_loss": 0.0208740234375,
      "loss": 0.1181640625,
      "pos_loss": 0.8984375,
      "rot_loss": 0.255859375,
      "step": 5157
    },
    {
      "epoch": 1.1572806820731434,
      "grad_norm": 0.46688711643218994,
      "learning_rate": 0.0003516454325089685,
      "loss": 0.0951,
      "step": 5158
    },
    {
      "epoch": 1.1572806820731434,
      "gripper_loss": 0.0240478515625,
      "loss": 0.2119140625,
      "pos_loss": 1.8046875,
      "rot_loss": 0.359375,
      "step": 5158
    },
    {
      "epoch": 1.1575050482387257,
      "grad_norm": 0.45818984508514404,
      "learning_rate": 0.0003515901013537247,
      "loss": 0.1296,
      "step": 5159
    },
    {
      "epoch": 1.1575050482387257,
      "gripper_loss": 0.30859375,
      "loss": 0.0830078125,
      "pos_loss": 0.68359375,
      "rot_loss": 0.035888671875,
      "step": 5159
    },
    {
      "epoch": 1.1577294144043078,
      "grad_norm": 0.47442758083343506,
      "learning_rate": 0.00035153476423721965,
      "loss": 0.0792,
      "step": 5160
    },
    {
      "epoch": 1.1577294144043078,
      "gripper_loss": 0.45703125,
      "loss": 0.10107421875,
      "pos_loss": 0.640625,
      "rot_loss": 0.197265625,
      "step": 5160
    },
    {
      "epoch": 1.15795378056989,
      "grad_norm": 0.5164411067962646,
      "learning_rate": 0.0003514794211627004,
      "loss": 0.0993,
      "step": 5161
    },
    {
      "epoch": 1.15795378056989,
      "gripper_loss": 0.0810546875,
      "loss": 0.11083984375,
      "pos_loss": 0.291015625,
      "rot_loss": 0.416015625,
      "step": 5161
    },
    {
      "epoch": 1.1581781467354724,
      "grad_norm": 0.9690913558006287,
      "learning_rate": 0.0003514240721334146,
      "loss": 0.1219,
      "step": 5162
    },
    {
      "epoch": 1.1581781467354724,
      "gripper_loss": 0.044921875,
      "loss": 0.0281982421875,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.076171875,
      "step": 5162
    },
    {
      "epoch": 1.1584025129010544,
      "grad_norm": 0.56851726770401,
      "learning_rate": 0.0003513687171526101,
      "loss": 0.0951,
      "step": 5163
    },
    {
      "epoch": 1.1584025129010544,
      "gripper_loss": 0.2392578125,
      "loss": 0.0390625,
      "pos_loss": 0.2265625,
      "rot_loss": 0.041259765625,
      "step": 5163
    },
    {
      "epoch": 1.1586268790666368,
      "grad_norm": 0.5372229218482971,
      "learning_rate": 0.000351313356223535,
      "loss": 0.1017,
      "step": 5164
    },
    {
      "epoch": 1.1586268790666368,
      "gripper_loss": 0.02001953125,
      "loss": 0.0673828125,
      "pos_loss": 0.4375,
      "rot_loss": 0.2080078125,
      "step": 5164
    },
    {
      "epoch": 1.158851245232219,
      "grad_norm": 0.542618453502655,
      "learning_rate": 0.0003512579893494379,
      "loss": 0.0692,
      "step": 5165
    },
    {
      "epoch": 1.158851245232219,
      "gripper_loss": 0.1455078125,
      "loss": 0.06787109375,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.2314453125,
      "step": 5165
    },
    {
      "epoch": 1.1590756113978011,
      "grad_norm": 1.0051084756851196,
      "learning_rate": 0.00035120261653356775,
      "loss": 0.1456,
      "step": 5166
    },
    {
      "epoch": 1.1590756113978011,
      "gripper_loss": 0.64453125,
      "loss": 0.1279296875,
      "pos_loss": 0.76953125,
      "rot_loss": 0.28125,
      "step": 5166
    },
    {
      "epoch": 1.1592999775633834,
      "grad_norm": 0.6186733841896057,
      "learning_rate": 0.0003511472377791737,
      "loss": 0.0892,
      "step": 5167
    },
    {
      "epoch": 1.1592999775633834,
      "gripper_loss": 0.02685546875,
      "loss": 0.2158203125,
      "pos_loss": 1.2890625,
      "rot_loss": 0.921875,
      "step": 5167
    },
    {
      "epoch": 1.1595243437289657,
      "grad_norm": 0.5203083157539368,
      "learning_rate": 0.00035109185308950544,
      "loss": 0.1089,
      "step": 5168
    },
    {
      "epoch": 1.1595243437289657,
      "gripper_loss": 0.023193359375,
      "loss": 0.09521484375,
      "pos_loss": 0.5703125,
      "rot_loss": 0.375,
      "step": 5168
    },
    {
      "epoch": 1.1597487098945478,
      "grad_norm": 0.39325571060180664,
      "learning_rate": 0.00035103646246781295,
      "loss": 0.074,
      "step": 5169
    },
    {
      "epoch": 1.1597487098945478,
      "gripper_loss": 1.375,
      "loss": 0.057861328125,
      "pos_loss": 0.0703125,
      "rot_loss": 0.042236328125,
      "step": 5169
    },
    {
      "epoch": 1.1599730760601301,
      "grad_norm": 0.5036388635635376,
      "learning_rate": 0.0003509810659173464,
      "loss": 0.0924,
      "step": 5170
    },
    {
      "epoch": 1.1599730760601301,
      "gripper_loss": 0.62109375,
      "loss": 0.08154296875,
      "pos_loss": 0.478515625,
      "rot_loss": 0.1025390625,
      "step": 5170
    },
    {
      "epoch": 1.1601974422257124,
      "grad_norm": 0.6549834609031677,
      "learning_rate": 0.00035092566344135657,
      "loss": 0.0704,
      "step": 5171
    },
    {
      "epoch": 1.1601974422257124,
      "gripper_loss": 0.53125,
      "loss": 0.08203125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.08447265625,
      "step": 5171
    },
    {
      "epoch": 1.1604218083912945,
      "grad_norm": 0.5239238142967224,
      "learning_rate": 0.0003508702550430943,
      "loss": 0.0937,
      "step": 5172
    },
    {
      "epoch": 1.1604218083912945,
      "gripper_loss": 0.047119140625,
      "loss": 0.1552734375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.37890625,
      "step": 5172
    },
    {
      "epoch": 1.1606461745568768,
      "grad_norm": 0.8957628607749939,
      "learning_rate": 0.0003508148407258111,
      "loss": 0.137,
      "step": 5173
    },
    {
      "epoch": 1.1606461745568768,
      "gripper_loss": 0.11279296875,
      "loss": 0.055419921875,
      "pos_loss": 0.458984375,
      "rot_loss": 0.01556396484375,
      "step": 5173
    },
    {
      "epoch": 1.160870540722459,
      "grad_norm": 0.4523557424545288,
      "learning_rate": 0.0003507594204927585,
      "loss": 0.0769,
      "step": 5174
    },
    {
      "epoch": 1.160870540722459,
      "gripper_loss": 1.1171875,
      "loss": 0.1943359375,
      "pos_loss": 0.50390625,
      "rot_loss": 0.51953125,
      "step": 5174
    },
    {
      "epoch": 1.1610949068880414,
      "grad_norm": 0.9372515082359314,
      "learning_rate": 0.00035070399434718874,
      "loss": 0.1614,
      "step": 5175
    },
    {
      "epoch": 1.1610949068880414,
      "gripper_loss": 0.06640625,
      "loss": 0.041015625,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.1357421875,
      "step": 5175
    },
    {
      "epoch": 1.1613192730536235,
      "grad_norm": 0.5588294863700867,
      "learning_rate": 0.00035064856229235396,
      "loss": 0.1005,
      "step": 5176
    },
    {
      "epoch": 1.1613192730536235,
      "gripper_loss": 0.5234375,
      "loss": 0.07421875,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.330078125,
      "step": 5176
    },
    {
      "epoch": 1.1615436392192058,
      "grad_norm": 0.5734728574752808,
      "learning_rate": 0.00035059312433150707,
      "loss": 0.0778,
      "step": 5177
    },
    {
      "epoch": 1.1615436392192058,
      "gripper_loss": 0.0189208984375,
      "loss": 0.048828125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.251953125,
      "step": 5177
    },
    {
      "epoch": 1.161768005384788,
      "grad_norm": 0.709297776222229,
      "learning_rate": 0.00035053768046790104,
      "loss": 0.1328,
      "step": 5178
    },
    {
      "epoch": 1.161768005384788,
      "gripper_loss": 0.2080078125,
      "loss": 0.126953125,
      "pos_loss": 0.486328125,
      "rot_loss": 0.369140625,
      "step": 5178
    },
    {
      "epoch": 1.1619923715503702,
      "grad_norm": 1.0477689504623413,
      "learning_rate": 0.0003504822307047893,
      "loss": 0.1259,
      "step": 5179
    },
    {
      "epoch": 1.1619923715503702,
      "gripper_loss": 0.197265625,
      "loss": 0.0703125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.30078125,
      "step": 5179
    },
    {
      "epoch": 1.1622167377159525,
      "grad_norm": 0.48933833837509155,
      "learning_rate": 0.00035042677504542566,
      "loss": 0.0668,
      "step": 5180
    },
    {
      "epoch": 1.1622167377159525,
      "gripper_loss": 0.5390625,
      "loss": 0.058349609375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.0262451171875,
      "step": 5180
    },
    {
      "epoch": 1.1624411038815348,
      "grad_norm": 0.5789391994476318,
      "learning_rate": 0.0003503713134930643,
      "loss": 0.0916,
      "step": 5181
    },
    {
      "epoch": 1.1624411038815348,
      "gripper_loss": 0.0233154296875,
      "loss": 0.1962890625,
      "pos_loss": 1.4140625,
      "rot_loss": 0.53515625,
      "step": 5181
    },
    {
      "epoch": 1.1626654700471168,
      "grad_norm": 0.4854729175567627,
      "learning_rate": 0.00035031584605095946,
      "loss": 0.0778,
      "step": 5182
    },
    {
      "epoch": 1.1626654700471168,
      "gripper_loss": 0.45703125,
      "loss": 0.0517578125,
      "pos_loss": 0.169921875,
      "rot_loss": 0.07080078125,
      "step": 5182
    },
    {
      "epoch": 1.1628898362126991,
      "grad_norm": 0.6036894917488098,
      "learning_rate": 0.0003502603727223661,
      "loss": 0.1124,
      "step": 5183
    },
    {
      "epoch": 1.1628898362126991,
      "gripper_loss": 0.049560546875,
      "loss": 0.119140625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.1123046875,
      "step": 5183
    },
    {
      "epoch": 1.1631142023782814,
      "grad_norm": 0.6018504500389099,
      "learning_rate": 0.0003502048935105394,
      "loss": 0.1022,
      "step": 5184
    },
    {
      "epoch": 1.1631142023782814,
      "gripper_loss": 0.255859375,
      "loss": 0.05029296875,
      "pos_loss": 0.220703125,
      "rot_loss": 0.1474609375,
      "step": 5184
    },
    {
      "epoch": 1.1633385685438635,
      "grad_norm": 0.6908003091812134,
      "learning_rate": 0.0003501494084187347,
      "loss": 0.0769,
      "step": 5185
    },
    {
      "epoch": 1.1633385685438635,
      "gripper_loss": 0.29296875,
      "loss": 0.1513671875,
      "pos_loss": 0.462890625,
      "rot_loss": 0.6875,
      "step": 5185
    },
    {
      "epoch": 1.1635629347094458,
      "grad_norm": 0.9792203307151794,
      "learning_rate": 0.00035009391745020803,
      "loss": 0.1235,
      "step": 5186
    },
    {
      "epoch": 1.1635629347094458,
      "gripper_loss": 0.019287109375,
      "loss": 0.1923828125,
      "pos_loss": 1.828125,
      "rot_loss": 0.11279296875,
      "step": 5186
    },
    {
      "epoch": 1.1637873008750281,
      "grad_norm": 0.8227108120918274,
      "learning_rate": 0.0003500384206082155,
      "loss": 0.1125,
      "step": 5187
    },
    {
      "epoch": 1.1637873008750281,
      "gripper_loss": 0.0294189453125,
      "loss": 0.055419921875,
      "pos_loss": 0.3125,
      "rot_loss": 0.1416015625,
      "step": 5187
    },
    {
      "epoch": 1.1640116670406102,
      "grad_norm": 0.763894259929657,
      "learning_rate": 0.00034998291789601363,
      "loss": 0.0993,
      "step": 5188
    },
    {
      "epoch": 1.1640116670406102,
      "gripper_loss": 0.0294189453125,
      "loss": 0.06591796875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.39453125,
      "step": 5188
    },
    {
      "epoch": 1.1642360332061925,
      "grad_norm": 0.5934621691703796,
      "learning_rate": 0.00034992740931685926,
      "loss": 0.0937,
      "step": 5189
    },
    {
      "epoch": 1.1642360332061925,
      "gripper_loss": 0.1064453125,
      "loss": 0.1162109375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.52734375,
      "step": 5189
    },
    {
      "epoch": 1.1644603993717748,
      "grad_norm": 0.5837829113006592,
      "learning_rate": 0.0003498718948740096,
      "loss": 0.0657,
      "step": 5190
    },
    {
      "epoch": 1.1644603993717748,
      "gripper_loss": 1.0234375,
      "loss": 0.1455078125,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.396484375,
      "step": 5190
    },
    {
      "epoch": 1.164684765537357,
      "grad_norm": 1.459135890007019,
      "learning_rate": 0.0003498163745707223,
      "loss": 0.172,
      "step": 5191
    },
    {
      "epoch": 1.164684765537357,
      "gripper_loss": 0.0279541015625,
      "loss": 0.15234375,
      "pos_loss": 1.1875,
      "rot_loss": 0.35546875,
      "step": 5191
    },
    {
      "epoch": 1.1649091317029392,
      "grad_norm": 0.585114598274231,
      "learning_rate": 0.00034976084841025526,
      "loss": 0.0943,
      "step": 5192
    },
    {
      "epoch": 1.1649091317029392,
      "gripper_loss": 0.42578125,
      "loss": 0.035888671875,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.09375,
      "step": 5192
    },
    {
      "epoch": 1.1651334978685215,
      "grad_norm": 0.5787053108215332,
      "learning_rate": 0.0003497053163958666,
      "loss": 0.069,
      "step": 5193
    },
    {
      "epoch": 1.1651334978685215,
      "gripper_loss": 0.9453125,
      "loss": 0.0595703125,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.04296875,
      "step": 5193
    },
    {
      "epoch": 1.1653578640341036,
      "grad_norm": 0.6896857619285583,
      "learning_rate": 0.00034964977853081506,
      "loss": 0.0811,
      "step": 5194
    },
    {
      "epoch": 1.1653578640341036,
      "gripper_loss": 0.08740234375,
      "loss": 0.051513671875,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.275390625,
      "step": 5194
    },
    {
      "epoch": 1.1655822301996859,
      "grad_norm": 0.5328834056854248,
      "learning_rate": 0.00034959423481835953,
      "loss": 0.076,
      "step": 5195
    },
    {
      "epoch": 1.1655822301996859,
      "gripper_loss": 0.0140380859375,
      "loss": 0.15234375,
      "pos_loss": 0.98828125,
      "rot_loss": 0.546875,
      "step": 5195
    },
    {
      "epoch": 1.1658065963652682,
      "grad_norm": 0.5560542941093445,
      "learning_rate": 0.00034953868526175927,
      "loss": 0.1004,
      "step": 5196
    },
    {
      "epoch": 1.1658065963652682,
      "gripper_loss": 0.01458740234375,
      "loss": 0.03369140625,
      "pos_loss": 0.2734375,
      "rot_loss": 0.01080322265625,
      "step": 5196
    },
    {
      "epoch": 1.1660309625308503,
      "grad_norm": 0.4852570593357086,
      "learning_rate": 0.00034948312986427384,
      "loss": 0.0815,
      "step": 5197
    },
    {
      "epoch": 1.1660309625308503,
      "gripper_loss": 0.018310546875,
      "loss": 0.08837890625,
      "pos_loss": 0.58984375,
      "rot_loss": 0.25390625,
      "step": 5197
    },
    {
      "epoch": 1.1662553286964326,
      "grad_norm": 0.5399428606033325,
      "learning_rate": 0.0003494275686291633,
      "loss": 0.0645,
      "step": 5198
    },
    {
      "epoch": 1.1662553286964326,
      "gripper_loss": 0.142578125,
      "loss": 0.0703125,
      "pos_loss": 0.56640625,
      "rot_loss": 0.0693359375,
      "step": 5198
    },
    {
      "epoch": 1.1664796948620149,
      "grad_norm": 0.46684202551841736,
      "learning_rate": 0.000349372001559688,
      "loss": 0.0545,
      "step": 5199
    },
    {
      "epoch": 1.1664796948620149,
      "gripper_loss": 0.1494140625,
      "loss": 0.031005859375,
      "pos_loss": 0.15625,
      "rot_loss": 0.049072265625,
      "step": 5199
    },
    {
      "epoch": 1.166704061027597,
      "grad_norm": 0.43944767117500305,
      "learning_rate": 0.00034931642865910844,
      "loss": 0.0589,
      "step": 5200
    },
    {
      "epoch": 1.166704061027597,
      "gripper_loss": 0.337890625,
      "loss": 0.03662109375,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.024169921875,
      "step": 5200
    },
    {
      "epoch": 1.1669284271931792,
      "grad_norm": 0.631217360496521,
      "learning_rate": 0.0003492608499306858,
      "loss": 0.0964,
      "step": 5201
    },
    {
      "epoch": 1.1669284271931792,
      "gripper_loss": 0.0419921875,
      "loss": 0.08935546875,
      "pos_loss": 0.83984375,
      "rot_loss": 0.03955078125,
      "step": 5201
    },
    {
      "epoch": 1.1671527933587615,
      "grad_norm": 0.731715738773346,
      "learning_rate": 0.0003492052653776812,
      "loss": 0.0951,
      "step": 5202
    },
    {
      "epoch": 1.1671527933587615,
      "gripper_loss": 0.57421875,
      "loss": 0.06884765625,
      "pos_loss": 0.373046875,
      "rot_loss": 0.1142578125,
      "step": 5202
    },
    {
      "epoch": 1.1673771595243436,
      "grad_norm": 0.5551298260688782,
      "learning_rate": 0.00034914967500335653,
      "loss": 0.0922,
      "step": 5203
    },
    {
      "epoch": 1.1673771595243436,
      "gripper_loss": 0.01611328125,
      "loss": 0.302734375,
      "pos_loss": 1.6484375,
      "rot_loss": 1.5234375,
      "step": 5203
    },
    {
      "epoch": 1.167601525689926,
      "grad_norm": 0.6886091232299805,
      "learning_rate": 0.00034909407881097374,
      "loss": 0.1153,
      "step": 5204
    },
    {
      "epoch": 1.167601525689926,
      "gripper_loss": 0.017822265625,
      "loss": 0.058837890625,
      "pos_loss": 0.515625,
      "rot_loss": 0.052490234375,
      "step": 5204
    },
    {
      "epoch": 1.1678258918555082,
      "grad_norm": 0.7403005957603455,
      "learning_rate": 0.0003490384768037951,
      "loss": 0.1137,
      "step": 5205
    },
    {
      "epoch": 1.1678258918555082,
      "gripper_loss": 0.06005859375,
      "loss": 0.02978515625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.04541015625,
      "step": 5205
    },
    {
      "epoch": 1.1680502580210903,
      "grad_norm": 0.5645846128463745,
      "learning_rate": 0.0003489828689850833,
      "loss": 0.087,
      "step": 5206
    },
    {
      "epoch": 1.1680502580210903,
      "gripper_loss": 0.1669921875,
      "loss": 0.062255859375,
      "pos_loss": 0.46484375,
      "rot_loss": 0.08544921875,
      "step": 5206
    },
    {
      "epoch": 1.1682746241866726,
      "grad_norm": 0.43202969431877136,
      "learning_rate": 0.0003489272553581015,
      "loss": 0.079,
      "step": 5207
    },
    {
      "epoch": 1.1682746241866726,
      "gripper_loss": 0.5078125,
      "loss": 0.050048828125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.1318359375,
      "step": 5207
    },
    {
      "epoch": 1.168498990352255,
      "grad_norm": 0.4313151240348816,
      "learning_rate": 0.00034887163592611304,
      "loss": 0.095,
      "step": 5208
    },
    {
      "epoch": 1.168498990352255,
      "gripper_loss": 0.65625,
      "loss": 0.045166015625,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.04052734375,
      "step": 5208
    },
    {
      "epoch": 1.168723356517837,
      "grad_norm": 0.420448899269104,
      "learning_rate": 0.0003488160106923816,
      "loss": 0.0846,
      "step": 5209
    },
    {
      "epoch": 1.168723356517837,
      "gripper_loss": 0.0147705078125,
      "loss": 0.46875,
      "pos_loss": 2.140625,
      "rot_loss": 2.796875,
      "step": 5209
    },
    {
      "epoch": 1.1689477226834193,
      "grad_norm": 0.7875183820724487,
      "learning_rate": 0.0003487603796601714,
      "loss": 0.1205,
      "step": 5210
    },
    {
      "epoch": 1.1689477226834193,
      "gripper_loss": 0.82421875,
      "loss": 0.173828125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.3828125,
      "step": 5210
    },
    {
      "epoch": 1.1691720888490016,
      "grad_norm": 0.852478563785553,
      "learning_rate": 0.0003487047428327466,
      "loss": 0.1355,
      "step": 5211
    },
    {
      "epoch": 1.1691720888490016,
      "gripper_loss": 0.462890625,
      "loss": 0.11572265625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.2099609375,
      "step": 5211
    },
    {
      "epoch": 1.169396455014584,
      "grad_norm": 0.5353585481643677,
      "learning_rate": 0.0003486491002133721,
      "loss": 0.1008,
      "step": 5212
    },
    {
      "epoch": 1.169396455014584,
      "gripper_loss": 0.6484375,
      "loss": 0.2421875,
      "pos_loss": 0.46484375,
      "rot_loss": 0.455078125,
      "step": 5212
    },
    {
      "epoch": 1.169620821180166,
      "grad_norm": 1.6019726991653442,
      "learning_rate": 0.00034859345180531296,
      "loss": 0.3512,
      "step": 5213
    },
    {
      "epoch": 1.169620821180166,
      "gripper_loss": 0.142578125,
      "loss": 0.087890625,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.5078125,
      "step": 5213
    },
    {
      "epoch": 1.1698451873457483,
      "grad_norm": 0.6783279776573181,
      "learning_rate": 0.0003485377976118346,
      "loss": 0.0781,
      "step": 5214
    },
    {
      "epoch": 1.1698451873457483,
      "gripper_loss": 0.322265625,
      "loss": 0.134765625,
      "pos_loss": 1.0,
      "rot_loss": 0.279296875,
      "step": 5214
    },
    {
      "epoch": 1.1700695535113306,
      "grad_norm": 0.4608869254589081,
      "learning_rate": 0.00034848213763620273,
      "loss": 0.0991,
      "step": 5215
    },
    {
      "epoch": 1.1700695535113306,
      "gripper_loss": 0.33203125,
      "loss": 0.09814453125,
      "pos_loss": 0.671875,
      "rot_loss": 0.20703125,
      "step": 5215
    },
    {
      "epoch": 1.1702939196769127,
      "grad_norm": 0.47099170088768005,
      "learning_rate": 0.0003484264718816835,
      "loss": 0.1046,
      "step": 5216
    },
    {
      "epoch": 1.1702939196769127,
      "gripper_loss": 0.09033203125,
      "loss": 0.138671875,
      "pos_loss": 0.486328125,
      "rot_loss": 0.259765625,
      "step": 5216
    },
    {
      "epoch": 1.170518285842495,
      "grad_norm": 1.1658611297607422,
      "learning_rate": 0.00034837080035154337,
      "loss": 0.1602,
      "step": 5217
    },
    {
      "epoch": 1.170518285842495,
      "gripper_loss": 0.2490234375,
      "loss": 0.06591796875,
      "pos_loss": 0.25,
      "rot_loss": 0.251953125,
      "step": 5217
    },
    {
      "epoch": 1.1707426520080773,
      "grad_norm": 0.5508071780204773,
      "learning_rate": 0.00034831512304904917,
      "loss": 0.0963,
      "step": 5218
    },
    {
      "epoch": 1.1707426520080773,
      "gripper_loss": 0.03125,
      "loss": 0.06884765625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.271484375,
      "step": 5218
    },
    {
      "epoch": 1.1709670181736593,
      "grad_norm": 0.53322434425354,
      "learning_rate": 0.00034825943997746783,
      "loss": 0.0609,
      "step": 5219
    },
    {
      "epoch": 1.1709670181736593,
      "gripper_loss": 0.57421875,
      "loss": 0.05810546875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.10693359375,
      "step": 5219
    },
    {
      "epoch": 1.1711913843392416,
      "grad_norm": 0.8412797451019287,
      "learning_rate": 0.00034820375114006703,
      "loss": 0.1371,
      "step": 5220
    },
    {
      "epoch": 1.1711913843392416,
      "gripper_loss": 0.2421875,
      "loss": 0.0279541015625,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.0546875,
      "step": 5220
    },
    {
      "epoch": 1.171415750504824,
      "grad_norm": 0.562923789024353,
      "learning_rate": 0.00034814805654011444,
      "loss": 0.0905,
      "step": 5221
    },
    {
      "epoch": 1.171415750504824,
      "gripper_loss": 0.2451171875,
      "loss": 0.1591796875,
      "pos_loss": 0.796875,
      "rot_loss": 0.478515625,
      "step": 5221
    },
    {
      "epoch": 1.171640116670406,
      "grad_norm": 1.0716118812561035,
      "learning_rate": 0.0003480923561808782,
      "loss": 0.1388,
      "step": 5222
    },
    {
      "epoch": 1.171640116670406,
      "gripper_loss": 0.045166015625,
      "loss": 0.05859375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.12353515625,
      "step": 5222
    },
    {
      "epoch": 1.1718644828359883,
      "grad_norm": 0.7985922694206238,
      "learning_rate": 0.0003480366500656268,
      "loss": 0.1097,
      "step": 5223
    },
    {
      "epoch": 1.1718644828359883,
      "gripper_loss": 0.0291748046875,
      "loss": 0.0556640625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.056396484375,
      "step": 5223
    },
    {
      "epoch": 1.1720888490015706,
      "grad_norm": 0.5104016065597534,
      "learning_rate": 0.00034798093819762903,
      "loss": 0.0639,
      "step": 5224
    },
    {
      "epoch": 1.1720888490015706,
      "gripper_loss": 0.0556640625,
      "loss": 0.04345703125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.08544921875,
      "step": 5224
    },
    {
      "epoch": 1.1723132151671527,
      "grad_norm": 0.6877416372299194,
      "learning_rate": 0.0003479252205801541,
      "loss": 0.0814,
      "step": 5225
    },
    {
      "epoch": 1.1723132151671527,
      "gripper_loss": 0.0224609375,
      "loss": 0.1484375,
      "pos_loss": 0.484375,
      "rot_loss": 1.015625,
      "step": 5225
    },
    {
      "epoch": 1.172537581332735,
      "grad_norm": 0.6868386268615723,
      "learning_rate": 0.00034786949721647145,
      "loss": 0.1148,
      "step": 5226
    },
    {
      "epoch": 1.172537581332735,
      "gripper_loss": 0.04736328125,
      "loss": 0.1376953125,
      "pos_loss": 0.91015625,
      "rot_loss": 0.35546875,
      "step": 5226
    },
    {
      "epoch": 1.1727619474983173,
      "grad_norm": 0.7435150146484375,
      "learning_rate": 0.0003478137681098508,
      "loss": 0.0898,
      "step": 5227
    },
    {
      "epoch": 1.1727619474983173,
      "gripper_loss": 0.018798828125,
      "loss": 0.034912109375,
      "pos_loss": 0.224609375,
      "rot_loss": 0.05419921875,
      "step": 5227
    },
    {
      "epoch": 1.1729863136638996,
      "grad_norm": 0.5474694967269897,
      "learning_rate": 0.0003477580332635625,
      "loss": 0.0895,
      "step": 5228
    },
    {
      "epoch": 1.1729863136638996,
      "gripper_loss": 0.037353515625,
      "loss": 0.19140625,
      "pos_loss": 0.82421875,
      "rot_loss": 1.125,
      "step": 5228
    },
    {
      "epoch": 1.1732106798294817,
      "grad_norm": 0.6662887334823608,
      "learning_rate": 0.00034770229268087696,
      "loss": 0.1018,
      "step": 5229
    },
    {
      "epoch": 1.1732106798294817,
      "gripper_loss": 0.03271484375,
      "loss": 0.058837890625,
      "pos_loss": 0.412109375,
      "rot_loss": 0.14453125,
      "step": 5229
    },
    {
      "epoch": 1.173435045995064,
      "grad_norm": 0.462540864944458,
      "learning_rate": 0.00034764654636506496,
      "loss": 0.0714,
      "step": 5230
    },
    {
      "epoch": 1.173435045995064,
      "gripper_loss": 0.05712890625,
      "loss": 0.09326171875,
      "pos_loss": 0.8125,
      "rot_loss": 0.11669921875,
      "step": 5230
    },
    {
      "epoch": 1.1736594121606463,
      "grad_norm": 0.5496371388435364,
      "learning_rate": 0.0003475907943193978,
      "loss": 0.0937,
      "step": 5231
    },
    {
      "epoch": 1.1736594121606463,
      "gripper_loss": 0.11572265625,
      "loss": 0.1884765625,
      "pos_loss": 0.8828125,
      "rot_loss": 0.94921875,
      "step": 5231
    },
    {
      "epoch": 1.1738837783262284,
      "grad_norm": 0.6366434693336487,
      "learning_rate": 0.0003475350365471468,
      "loss": 0.1006,
      "step": 5232
    },
    {
      "epoch": 1.1738837783262284,
      "gripper_loss": 0.0169677734375,
      "loss": 0.052001953125,
      "pos_loss": 0.3203125,
      "rot_loss": 0.1455078125,
      "step": 5232
    },
    {
      "epoch": 1.1741081444918107,
      "grad_norm": 0.4631020724773407,
      "learning_rate": 0.00034747927305158393,
      "loss": 0.0805,
      "step": 5233
    },
    {
      "epoch": 1.1741081444918107,
      "gripper_loss": 0.09033203125,
      "loss": 0.032470703125,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.1376953125,
      "step": 5233
    },
    {
      "epoch": 1.174332510657393,
      "grad_norm": 0.7102808356285095,
      "learning_rate": 0.0003474235038359814,
      "loss": 0.1133,
      "step": 5234
    },
    {
      "epoch": 1.174332510657393,
      "gripper_loss": 0.0213623046875,
      "loss": 0.0849609375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.22265625,
      "step": 5234
    },
    {
      "epoch": 1.174556876822975,
      "grad_norm": 0.6113619804382324,
      "learning_rate": 0.0003473677289036117,
      "loss": 0.1041,
      "step": 5235
    },
    {
      "epoch": 1.174556876822975,
      "gripper_loss": 0.05615234375,
      "loss": 0.11181640625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.16796875,
      "step": 5235
    },
    {
      "epoch": 1.1747812429885574,
      "grad_norm": 0.8125261664390564,
      "learning_rate": 0.0003473119482577475,
      "loss": 0.1022,
      "step": 5236
    },
    {
      "epoch": 1.1747812429885574,
      "gripper_loss": 0.03515625,
      "loss": 0.0281982421875,
      "pos_loss": 0.20703125,
      "rot_loss": 0.0235595703125,
      "step": 5236
    },
    {
      "epoch": 1.1750056091541397,
      "grad_norm": 0.47312042117118835,
      "learning_rate": 0.0003472561619016622,
      "loss": 0.088,
      "step": 5237
    },
    {
      "epoch": 1.1750056091541397,
      "gripper_loss": 0.078125,
      "loss": 0.05224609375,
      "pos_loss": 0.28125,
      "rot_loss": 0.193359375,
      "step": 5237
    },
    {
      "epoch": 1.1752299753197217,
      "grad_norm": 0.4600253701210022,
      "learning_rate": 0.0003472003698386292,
      "loss": 0.0636,
      "step": 5238
    },
    {
      "epoch": 1.1752299753197217,
      "gripper_loss": 0.1044921875,
      "loss": 0.09765625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.546875,
      "step": 5238
    },
    {
      "epoch": 1.175454341485304,
      "grad_norm": 0.5405726432800293,
      "learning_rate": 0.00034714457207192246,
      "loss": 0.078,
      "step": 5239
    },
    {
      "epoch": 1.175454341485304,
      "gripper_loss": 0.59375,
      "loss": 0.177734375,
      "pos_loss": 0.53125,
      "rot_loss": 1.078125,
      "step": 5239
    },
    {
      "epoch": 1.1756787076508863,
      "grad_norm": 0.6070936918258667,
      "learning_rate": 0.0003470887686048161,
      "loss": 0.1445,
      "step": 5240
    },
    {
      "epoch": 1.1756787076508863,
      "gripper_loss": 0.91796875,
      "loss": 0.038818359375,
      "pos_loss": 0.0223388671875,
      "rot_loss": 0.029541015625,
      "step": 5240
    },
    {
      "epoch": 1.1759030738164684,
      "grad_norm": 0.4160662591457367,
      "learning_rate": 0.0003470329594405846,
      "loss": 0.0714,
      "step": 5241
    },
    {
      "epoch": 1.1759030738164684,
      "gripper_loss": 0.158203125,
      "loss": 0.06591796875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.1767578125,
      "step": 5241
    },
    {
      "epoch": 1.1761274399820507,
      "grad_norm": 0.45128145813941956,
      "learning_rate": 0.00034697714458250287,
      "loss": 0.0971,
      "step": 5242
    },
    {
      "epoch": 1.1761274399820507,
      "gripper_loss": 0.033447265625,
      "loss": 0.1923828125,
      "pos_loss": 0.7890625,
      "rot_loss": 1.1875,
      "step": 5242
    },
    {
      "epoch": 1.176351806147633,
      "grad_norm": 0.755858838558197,
      "learning_rate": 0.0003469213240338461,
      "loss": 0.1162,
      "step": 5243
    },
    {
      "epoch": 1.176351806147633,
      "gripper_loss": 0.1943359375,
      "loss": 0.034912109375,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.064453125,
      "step": 5243
    },
    {
      "epoch": 1.176576172313215,
      "grad_norm": 0.6221587657928467,
      "learning_rate": 0.0003468654977978898,
      "loss": 0.0785,
      "step": 5244
    },
    {
      "epoch": 1.176576172313215,
      "gripper_loss": 0.072265625,
      "loss": 0.11669921875,
      "pos_loss": 0.8046875,
      "rot_loss": 0.27734375,
      "step": 5244
    },
    {
      "epoch": 1.1768005384787974,
      "grad_norm": 0.6308932304382324,
      "learning_rate": 0.00034680966587790984,
      "loss": 0.1168,
      "step": 5245
    },
    {
      "epoch": 1.1768005384787974,
      "gripper_loss": 1.2265625,
      "loss": 0.10595703125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.1240234375,
      "step": 5245
    },
    {
      "epoch": 1.1770249046443797,
      "grad_norm": 0.49661487340927124,
      "learning_rate": 0.00034675382827718246,
      "loss": 0.064,
      "step": 5246
    },
    {
      "epoch": 1.1770249046443797,
      "gripper_loss": 0.12890625,
      "loss": 0.119140625,
      "pos_loss": 0.486328125,
      "rot_loss": 0.466796875,
      "step": 5246
    },
    {
      "epoch": 1.1772492708099618,
      "grad_norm": 0.5225468873977661,
      "learning_rate": 0.000346697984998984,
      "loss": 0.1019,
      "step": 5247
    },
    {
      "epoch": 1.1772492708099618,
      "gripper_loss": 0.06396484375,
      "loss": 0.03759765625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.04833984375,
      "step": 5247
    },
    {
      "epoch": 1.177473636975544,
      "grad_norm": 0.6909204721450806,
      "learning_rate": 0.00034664213604659156,
      "loss": 0.1138,
      "step": 5248
    },
    {
      "epoch": 1.177473636975544,
      "gripper_loss": 0.15234375,
      "loss": 0.07373046875,
      "pos_loss": 0.32421875,
      "rot_loss": 0.3359375,
      "step": 5248
    },
    {
      "epoch": 1.1776980031411264,
      "grad_norm": 0.5024800300598145,
      "learning_rate": 0.00034658628142328216,
      "loss": 0.0958,
      "step": 5249
    },
    {
      "epoch": 1.1776980031411264,
      "gripper_loss": 0.0169677734375,
      "loss": 0.037109375,
      "pos_loss": 0.322265625,
      "rot_loss": 0.0208740234375,
      "step": 5249
    },
    {
      "epoch": 1.1779223693067085,
      "grad_norm": 0.48967188596725464,
      "learning_rate": 0.0003465304211323334,
      "loss": 0.0999,
      "step": 5250
    },
    {
      "epoch": 1.1779223693067085,
      "gripper_loss": 0.0230712890625,
      "loss": 0.07568359375,
      "pos_loss": 0.671875,
      "rot_loss": 0.06982421875,
      "step": 5250
    },
    {
      "epoch": 1.1781467354722908,
      "grad_norm": 0.4947138726711273,
      "learning_rate": 0.0003464745551770232,
      "loss": 0.0696,
      "step": 5251
    },
    {
      "epoch": 1.1781467354722908,
      "gripper_loss": 0.07763671875,
      "loss": 0.1005859375,
      "pos_loss": 0.84375,
      "rot_loss": 0.1357421875,
      "step": 5251
    },
    {
      "epoch": 1.178371101637873,
      "grad_norm": 0.6446924805641174,
      "learning_rate": 0.0003464186835606296,
      "loss": 0.0819,
      "step": 5252
    },
    {
      "epoch": 1.178371101637873,
      "gripper_loss": 0.08203125,
      "loss": 0.0869140625,
      "pos_loss": 0.59375,
      "rot_loss": 0.1865234375,
      "step": 5252
    },
    {
      "epoch": 1.1785954678034551,
      "grad_norm": 0.6842783689498901,
      "learning_rate": 0.0003463628062864312,
      "loss": 0.0879,
      "step": 5253
    },
    {
      "epoch": 1.1785954678034551,
      "gripper_loss": 1.3984375,
      "loss": 0.10986328125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.1943359375,
      "step": 5253
    },
    {
      "epoch": 1.1788198339690374,
      "grad_norm": 0.45063522458076477,
      "learning_rate": 0.00034630692335770686,
      "loss": 0.0819,
      "step": 5254
    },
    {
      "epoch": 1.1788198339690374,
      "gripper_loss": 0.1728515625,
      "loss": 0.0625,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.291015625,
      "step": 5254
    },
    {
      "epoch": 1.1790442001346197,
      "grad_norm": 0.4590977728366852,
      "learning_rate": 0.00034625103477773565,
      "loss": 0.0724,
      "step": 5255
    },
    {
      "epoch": 1.1790442001346197,
      "gripper_loss": 0.490234375,
      "loss": 0.07080078125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.018798828125,
      "step": 5255
    },
    {
      "epoch": 1.1792685663002018,
      "grad_norm": 0.5288987755775452,
      "learning_rate": 0.0003461951405497973,
      "loss": 0.0937,
      "step": 5256
    },
    {
      "epoch": 1.1792685663002018,
      "gripper_loss": 0.02001953125,
      "loss": 0.057373046875,
      "pos_loss": 0.439453125,
      "rot_loss": 0.1162109375,
      "step": 5256
    },
    {
      "epoch": 1.1794929324657841,
      "grad_norm": 0.3677671551704407,
      "learning_rate": 0.0003461392406771716,
      "loss": 0.0743,
      "step": 5257
    },
    {
      "epoch": 1.1794929324657841,
      "gripper_loss": 0.026611328125,
      "loss": 0.038818359375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.078125,
      "step": 5257
    },
    {
      "epoch": 1.1797172986313664,
      "grad_norm": 0.5345535278320312,
      "learning_rate": 0.0003460833351631386,
      "loss": 0.075,
      "step": 5258
    },
    {
      "epoch": 1.1797172986313664,
      "gripper_loss": 0.034423828125,
      "loss": 0.1787109375,
      "pos_loss": 0.353515625,
      "rot_loss": 1.4765625,
      "step": 5258
    },
    {
      "epoch": 1.1799416647969485,
      "grad_norm": 0.4501519203186035,
      "learning_rate": 0.00034602742401097883,
      "loss": 0.0841,
      "step": 5259
    },
    {
      "epoch": 1.1799416647969485,
      "gripper_loss": 0.025390625,
      "loss": 0.103515625,
      "pos_loss": 0.640625,
      "rot_loss": 0.38671875,
      "step": 5259
    },
    {
      "epoch": 1.1801660309625308,
      "grad_norm": 0.701138436794281,
      "learning_rate": 0.0003459715072239732,
      "loss": 0.0944,
      "step": 5260
    },
    {
      "epoch": 1.1801660309625308,
      "gripper_loss": 0.06982421875,
      "loss": 0.09716796875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.3828125,
      "step": 5260
    },
    {
      "epoch": 1.1803903971281131,
      "grad_norm": 0.40653195977211,
      "learning_rate": 0.0003459155848054029,
      "loss": 0.0958,
      "step": 5261
    },
    {
      "epoch": 1.1803903971281131,
      "gripper_loss": 0.14453125,
      "loss": 0.0238037109375,
      "pos_loss": 0.0859375,
      "rot_loss": 0.07763671875,
      "step": 5261
    },
    {
      "epoch": 1.1806147632936952,
      "grad_norm": 0.32264432311058044,
      "learning_rate": 0.0003458596567585494,
      "loss": 0.064,
      "step": 5262
    },
    {
      "epoch": 1.1806147632936952,
      "gripper_loss": 0.1396484375,
      "loss": 0.09423828125,
      "pos_loss": 0.357421875,
      "rot_loss": 0.15234375,
      "step": 5262
    },
    {
      "epoch": 1.1808391294592775,
      "grad_norm": 0.8841853737831116,
      "learning_rate": 0.00034580372308669463,
      "loss": 0.0991,
      "step": 5263
    },
    {
      "epoch": 1.1808391294592775,
      "gripper_loss": 1.1015625,
      "loss": 0.25390625,
      "pos_loss": 0.40625,
      "rot_loss": 0.38671875,
      "step": 5263
    },
    {
      "epoch": 1.1810634956248598,
      "grad_norm": 1.7105042934417725,
      "learning_rate": 0.0003457477837931205,
      "loss": 0.3679,
      "step": 5264
    },
    {
      "epoch": 1.1810634956248598,
      "gripper_loss": 1.71875,
      "loss": 0.1689453125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.30859375,
      "step": 5264
    },
    {
      "epoch": 1.181287861790442,
      "grad_norm": 0.7619310617446899,
      "learning_rate": 0.0003456918388811097,
      "loss": 0.1334,
      "step": 5265
    },
    {
      "epoch": 1.181287861790442,
      "gripper_loss": 0.01611328125,
      "loss": 0.123046875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.71484375,
      "step": 5265
    },
    {
      "epoch": 1.1815122279560242,
      "grad_norm": 0.6930992603302002,
      "learning_rate": 0.000345635888353945,
      "loss": 0.0792,
      "step": 5266
    },
    {
      "epoch": 1.1815122279560242,
      "gripper_loss": 0.0111083984375,
      "loss": 0.1640625,
      "pos_loss": 1.578125,
      "rot_loss": 0.07763671875,
      "step": 5266
    },
    {
      "epoch": 1.1817365941216065,
      "grad_norm": 0.6971908211708069,
      "learning_rate": 0.00034557993221490964,
      "loss": 0.1032,
      "step": 5267
    },
    {
      "epoch": 1.1817365941216065,
      "gripper_loss": 0.034912109375,
      "loss": 0.018798828125,
      "pos_loss": 0.06396484375,
      "rot_loss": 0.0255126953125,
      "step": 5267
    },
    {
      "epoch": 1.1819609602871888,
      "grad_norm": 0.6524595022201538,
      "learning_rate": 0.0003455239704672869,
      "loss": 0.0481,
      "step": 5268
    },
    {
      "epoch": 1.1819609602871888,
      "gripper_loss": 0.37890625,
      "loss": 0.2392578125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.6328125,
      "step": 5268
    },
    {
      "epoch": 1.1821853264527709,
      "grad_norm": 1.4164085388183594,
      "learning_rate": 0.0003454680031143609,
      "loss": 0.188,
      "step": 5269
    },
    {
      "epoch": 1.1821853264527709,
      "gripper_loss": 0.029052734375,
      "loss": 0.076171875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.380859375,
      "step": 5269
    },
    {
      "epoch": 1.1824096926183532,
      "grad_norm": 0.634311318397522,
      "learning_rate": 0.0003454120301594154,
      "loss": 0.1003,
      "step": 5270
    },
    {
      "epoch": 1.1824096926183532,
      "gripper_loss": 0.5390625,
      "loss": 0.125,
      "pos_loss": 0.6953125,
      "rot_loss": 0.251953125,
      "step": 5270
    },
    {
      "epoch": 1.1826340587839355,
      "grad_norm": 0.5996515154838562,
      "learning_rate": 0.00034535605160573515,
      "loss": 0.1156,
      "step": 5271
    },
    {
      "epoch": 1.1826340587839355,
      "gripper_loss": 0.1962890625,
      "loss": 0.0478515625,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.294921875,
      "step": 5271
    },
    {
      "epoch": 1.1828584249495175,
      "grad_norm": 0.5966997146606445,
      "learning_rate": 0.0003453000674566048,
      "loss": 0.0787,
      "step": 5272
    },
    {
      "epoch": 1.1828584249495175,
      "gripper_loss": 1.2734375,
      "loss": 0.048828125,
      "pos_loss": 0.01513671875,
      "rot_loss": 0.0184326171875,
      "step": 5272
    },
    {
      "epoch": 1.1830827911150998,
      "grad_norm": 0.4794985055923462,
      "learning_rate": 0.00034524407771530964,
      "loss": 0.0746,
      "step": 5273
    },
    {
      "epoch": 1.1830827911150998,
      "gripper_loss": 0.050048828125,
      "loss": 0.0537109375,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.248046875,
      "step": 5273
    },
    {
      "epoch": 1.1833071572806821,
      "grad_norm": 0.5923592448234558,
      "learning_rate": 0.00034518808238513486,
      "loss": 0.0724,
      "step": 5274
    },
    {
      "epoch": 1.1833071572806821,
      "gripper_loss": 0.083984375,
      "loss": 0.1259765625,
      "pos_loss": 0.8046875,
      "rot_loss": 0.390625,
      "step": 5274
    },
    {
      "epoch": 1.1835315234462642,
      "grad_norm": 0.7049388885498047,
      "learning_rate": 0.0003451320814693665,
      "loss": 0.1014,
      "step": 5275
    },
    {
      "epoch": 1.1835315234462642,
      "gripper_loss": 0.08349609375,
      "loss": 0.263671875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.515625,
      "step": 5275
    },
    {
      "epoch": 1.1837558896118465,
      "grad_norm": 1.701296091079712,
      "learning_rate": 0.00034507607497129056,
      "loss": 0.281,
      "step": 5276
    },
    {
      "epoch": 1.1837558896118465,
      "gripper_loss": 0.1669921875,
      "loss": 0.171875,
      "pos_loss": 1.3203125,
      "rot_loss": 0.330078125,
      "step": 5276
    },
    {
      "epoch": 1.1839802557774288,
      "grad_norm": 0.7245737314224243,
      "learning_rate": 0.00034502006289419346,
      "loss": 0.0938,
      "step": 5277
    },
    {
      "epoch": 1.1839802557774288,
      "gripper_loss": 0.400390625,
      "loss": 0.1279296875,
      "pos_loss": 0.734375,
      "rot_loss": 0.3125,
      "step": 5277
    },
    {
      "epoch": 1.184204621943011,
      "grad_norm": 0.8111348748207092,
      "learning_rate": 0.000344964045241362,
      "loss": 0.0937,
      "step": 5278
    },
    {
      "epoch": 1.184204621943011,
      "gripper_loss": 0.06103515625,
      "loss": 0.1435546875,
      "pos_loss": 1.2109375,
      "rot_loss": 0.10205078125,
      "step": 5278
    },
    {
      "epoch": 1.1844289881085932,
      "grad_norm": 0.834793210029602,
      "learning_rate": 0.0003449080220160832,
      "loss": 0.1136,
      "step": 5279
    },
    {
      "epoch": 1.1844289881085932,
      "gripper_loss": 0.0439453125,
      "loss": 0.0693359375,
      "pos_loss": 0.470703125,
      "rot_loss": 0.1591796875,
      "step": 5279
    },
    {
      "epoch": 1.1846533542741755,
      "grad_norm": 0.5408728718757629,
      "learning_rate": 0.00034485199322164455,
      "loss": 0.0571,
      "step": 5280
    },
    {
      "epoch": 1.1846533542741755,
      "gripper_loss": 1.1171875,
      "loss": 0.072265625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.044189453125,
      "step": 5280
    },
    {
      "epoch": 1.1848777204397578,
      "grad_norm": 0.4942803382873535,
      "learning_rate": 0.0003447959588613338,
      "loss": 0.0672,
      "step": 5281
    },
    {
      "epoch": 1.1848777204397578,
      "gripper_loss": 0.1533203125,
      "loss": 0.07958984375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.3671875,
      "step": 5281
    },
    {
      "epoch": 1.1851020866053399,
      "grad_norm": 0.7378079891204834,
      "learning_rate": 0.000344739918938439,
      "loss": 0.0956,
      "step": 5282
    },
    {
      "epoch": 1.1851020866053399,
      "gripper_loss": 0.036376953125,
      "loss": 0.024169921875,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.08447265625,
      "step": 5282
    },
    {
      "epoch": 1.1853264527709222,
      "grad_norm": 0.5127148032188416,
      "learning_rate": 0.0003446838734562485,
      "loss": 0.0763,
      "step": 5283
    },
    {
      "epoch": 1.1853264527709222,
      "gripper_loss": 0.27734375,
      "loss": 0.1298828125,
      "pos_loss": 0.302734375,
      "rot_loss": 0.7421875,
      "step": 5283
    },
    {
      "epoch": 1.1855508189365045,
      "grad_norm": 0.8026151061058044,
      "learning_rate": 0.0003446278224180511,
      "loss": 0.1154,
      "step": 5284
    },
    {
      "epoch": 1.1855508189365045,
      "gripper_loss": 0.11767578125,
      "loss": 0.08349609375,
      "pos_loss": 0.40234375,
      "rot_loss": 0.361328125,
      "step": 5284
    },
    {
      "epoch": 1.1857751851020866,
      "grad_norm": 0.586854100227356,
      "learning_rate": 0.00034457176582713576,
      "loss": 0.0773,
      "step": 5285
    },
    {
      "epoch": 1.1857751851020866,
      "gripper_loss": 0.19140625,
      "loss": 0.11962890625,
      "pos_loss": 0.88671875,
      "rot_loss": 0.2197265625,
      "step": 5285
    },
    {
      "epoch": 1.1859995512676689,
      "grad_norm": 0.6098746657371521,
      "learning_rate": 0.000344515703686792,
      "loss": 0.1052,
      "step": 5286
    },
    {
      "epoch": 1.1859995512676689,
      "gripper_loss": 0.039794921875,
      "loss": 0.08447265625,
      "pos_loss": 0.44140625,
      "rot_loss": 0.365234375,
      "step": 5286
    },
    {
      "epoch": 1.1862239174332512,
      "grad_norm": 0.6710447669029236,
      "learning_rate": 0.00034445963600030936,
      "loss": 0.1107,
      "step": 5287
    },
    {
      "epoch": 1.1862239174332512,
      "gripper_loss": 0.26171875,
      "loss": 0.11767578125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.318359375,
      "step": 5287
    },
    {
      "epoch": 1.1864482835988333,
      "grad_norm": 0.6163902878761292,
      "learning_rate": 0.000344403562770978,
      "loss": 0.0743,
      "step": 5288
    },
    {
      "epoch": 1.1864482835988333,
      "gripper_loss": 0.021240234375,
      "loss": 0.1123046875,
      "pos_loss": 0.90625,
      "rot_loss": 0.2021484375,
      "step": 5288
    },
    {
      "epoch": 1.1866726497644156,
      "grad_norm": 0.6043350696563721,
      "learning_rate": 0.00034434748400208814,
      "loss": 0.0748,
      "step": 5289
    },
    {
      "epoch": 1.1866726497644156,
      "gripper_loss": 0.392578125,
      "loss": 0.029052734375,
      "pos_loss": 0.09033203125,
      "rot_loss": 0.019287109375,
      "step": 5289
    },
    {
      "epoch": 1.1868970159299979,
      "grad_norm": 0.5228846073150635,
      "learning_rate": 0.0003442913996969306,
      "loss": 0.0843,
      "step": 5290
    },
    {
      "epoch": 1.1868970159299979,
      "gripper_loss": 0.345703125,
      "loss": 0.0341796875,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.0380859375,
      "step": 5290
    },
    {
      "epoch": 1.18712138209558,
      "grad_norm": 0.4581669270992279,
      "learning_rate": 0.00034423530985879625,
      "loss": 0.0648,
      "step": 5291
    },
    {
      "epoch": 1.18712138209558,
      "gripper_loss": 0.6328125,
      "loss": 0.044921875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.09619140625,
      "step": 5291
    },
    {
      "epoch": 1.1873457482611622,
      "grad_norm": 0.4040018618106842,
      "learning_rate": 0.0003441792144909765,
      "loss": 0.1055,
      "step": 5292
    },
    {
      "epoch": 1.1873457482611622,
      "gripper_loss": 0.023193359375,
      "loss": 0.1591796875,
      "pos_loss": 1.2890625,
      "rot_loss": 0.26953125,
      "step": 5292
    },
    {
      "epoch": 1.1875701144267445,
      "grad_norm": 0.7418609857559204,
      "learning_rate": 0.000344123113596763,
      "loss": 0.0889,
      "step": 5293
    },
    {
      "epoch": 1.1875701144267445,
      "gripper_loss": 0.09912109375,
      "loss": 0.11572265625,
      "pos_loss": 0.7890625,
      "rot_loss": 0.349609375,
      "step": 5293
    },
    {
      "epoch": 1.1877944805923266,
      "grad_norm": 0.6134904623031616,
      "learning_rate": 0.0003440670071794476,
      "loss": 0.0875,
      "step": 5294
    },
    {
      "epoch": 1.1877944805923266,
      "gripper_loss": 0.0654296875,
      "loss": 0.07080078125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.1318359375,
      "step": 5294
    },
    {
      "epoch": 1.188018846757909,
      "grad_norm": 0.6367042064666748,
      "learning_rate": 0.00034401089524232283,
      "loss": 0.0871,
      "step": 5295
    },
    {
      "epoch": 1.188018846757909,
      "gripper_loss": 0.83984375,
      "loss": 0.07666015625,
      "pos_loss": 0.34375,
      "rot_loss": 0.1318359375,
      "step": 5295
    },
    {
      "epoch": 1.1882432129234912,
      "grad_norm": 0.5529265403747559,
      "learning_rate": 0.0003439547777886811,
      "loss": 0.0691,
      "step": 5296
    },
    {
      "epoch": 1.1882432129234912,
      "gripper_loss": 0.3359375,
      "loss": 0.055908203125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.17578125,
      "step": 5296
    },
    {
      "epoch": 1.1884675790890733,
      "grad_norm": 0.4911864995956421,
      "learning_rate": 0.00034389865482181546,
      "loss": 0.0819,
      "step": 5297
    },
    {
      "epoch": 1.1884675790890733,
      "gripper_loss": 0.022705078125,
      "loss": 0.0986328125,
      "pos_loss": 0.69140625,
      "rot_loss": 0.291015625,
      "step": 5297
    },
    {
      "epoch": 1.1886919452546556,
      "grad_norm": 0.7079842686653137,
      "learning_rate": 0.00034384252634501924,
      "loss": 0.1081,
      "step": 5298
    },
    {
      "epoch": 1.1886919452546556,
      "gripper_loss": 0.158203125,
      "loss": 0.10107421875,
      "pos_loss": 0.640625,
      "rot_loss": 0.326171875,
      "step": 5298
    },
    {
      "epoch": 1.188916311420238,
      "grad_norm": 0.686446487903595,
      "learning_rate": 0.0003437863923615859,
      "loss": 0.068,
      "step": 5299
    },
    {
      "epoch": 1.188916311420238,
      "gripper_loss": 0.2333984375,
      "loss": 0.0654296875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.0203857421875,
      "step": 5299
    },
    {
      "epoch": 1.18914067758582,
      "grad_norm": 0.5400846600532532,
      "learning_rate": 0.0003437302528748093,
      "loss": 0.0506,
      "step": 5300
    },
    {
      "epoch": 1.18914067758582,
      "gripper_loss": 0.83203125,
      "loss": 0.0576171875,
      "pos_loss": 0.1796875,
      "rot_loss": 0.10302734375,
      "step": 5300
    },
    {
      "epoch": 1.1893650437514023,
      "grad_norm": 0.5070958137512207,
      "learning_rate": 0.0003436741078879839,
      "loss": 0.0681,
      "step": 5301
    },
    {
      "epoch": 1.1893650437514023,
      "gripper_loss": 0.00732421875,
      "loss": 0.0673828125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.01544189453125,
      "step": 5301
    },
    {
      "epoch": 1.1895894099169846,
      "grad_norm": 0.40432682633399963,
      "learning_rate": 0.0003436179574044042,
      "loss": 0.0785,
      "step": 5302
    },
    {
      "epoch": 1.1895894099169846,
      "gripper_loss": 0.0390625,
      "loss": 0.1328125,
      "pos_loss": 0.859375,
      "rot_loss": 0.4921875,
      "step": 5302
    },
    {
      "epoch": 1.1898137760825667,
      "grad_norm": 0.7338905334472656,
      "learning_rate": 0.00034356180142736494,
      "loss": 0.1439,
      "step": 5303
    },
    {
      "epoch": 1.1898137760825667,
      "gripper_loss": 0.67578125,
      "loss": 0.09423828125,
      "pos_loss": 0.375,
      "rot_loss": 0.2490234375,
      "step": 5303
    },
    {
      "epoch": 1.190038142248149,
      "grad_norm": 0.8641761541366577,
      "learning_rate": 0.0003435056399601615,
      "loss": 0.1081,
      "step": 5304
    },
    {
      "epoch": 1.190038142248149,
      "gripper_loss": 0.158203125,
      "loss": 0.0291748046875,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.1435546875,
      "step": 5304
    },
    {
      "epoch": 1.1902625084137313,
      "grad_norm": 0.46923738718032837,
      "learning_rate": 0.00034344947300608933,
      "loss": 0.073,
      "step": 5305
    },
    {
      "epoch": 1.1902625084137313,
      "gripper_loss": 0.80859375,
      "loss": 0.07763671875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.087890625,
      "step": 5305
    },
    {
      "epoch": 1.1904868745793133,
      "grad_norm": 0.3664298355579376,
      "learning_rate": 0.0003433933005684442,
      "loss": 0.0935,
      "step": 5306
    },
    {
      "epoch": 1.1904868745793133,
      "gripper_loss": 0.19921875,
      "loss": 0.076171875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.1708984375,
      "step": 5306
    },
    {
      "epoch": 1.1907112407448956,
      "grad_norm": 0.604240357875824,
      "learning_rate": 0.00034333712265052237,
      "loss": 0.0722,
      "step": 5307
    },
    {
      "epoch": 1.1907112407448956,
      "gripper_loss": 0.04345703125,
      "loss": 0.0556640625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.26171875,
      "step": 5307
    },
    {
      "epoch": 1.190935606910478,
      "grad_norm": 0.6657609343528748,
      "learning_rate": 0.00034328093925562044,
      "loss": 0.1085,
      "step": 5308
    },
    {
      "epoch": 1.190935606910478,
      "gripper_loss": 0.01031494140625,
      "loss": 0.146484375,
      "pos_loss": 0.9921875,
      "rot_loss": 0.50390625,
      "step": 5308
    },
    {
      "epoch": 1.19115997307606,
      "grad_norm": 0.4968833029270172,
      "learning_rate": 0.00034322475038703505,
      "loss": 0.0639,
      "step": 5309
    },
    {
      "epoch": 1.19115997307606,
      "gripper_loss": 0.04296875,
      "loss": 0.1787109375,
      "pos_loss": 0.78125,
      "rot_loss": 0.6015625,
      "step": 5309
    },
    {
      "epoch": 1.1913843392416423,
      "grad_norm": 0.9128721356391907,
      "learning_rate": 0.0003431685560480635,
      "loss": 0.1567,
      "step": 5310
    },
    {
      "epoch": 1.1913843392416423,
      "gripper_loss": 0.294921875,
      "loss": 0.06689453125,
      "pos_loss": 0.251953125,
      "rot_loss": 0.3125,
      "step": 5310
    },
    {
      "epoch": 1.1916087054072246,
      "grad_norm": 0.6591388583183289,
      "learning_rate": 0.000343112356242003,
      "loss": 0.0878,
      "step": 5311
    },
    {
      "epoch": 1.1916087054072246,
      "gripper_loss": 1.2109375,
      "loss": 0.09912109375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.318359375,
      "step": 5311
    },
    {
      "epoch": 1.1918330715728067,
      "grad_norm": 0.5336103439331055,
      "learning_rate": 0.0003430561509721516,
      "loss": 0.1232,
      "step": 5312
    },
    {
      "epoch": 1.1918330715728067,
      "gripper_loss": 0.0380859375,
      "loss": 0.087890625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.341796875,
      "step": 5312
    },
    {
      "epoch": 1.192057437738389,
      "grad_norm": 0.5855897068977356,
      "learning_rate": 0.00034299994024180724,
      "loss": 0.0573,
      "step": 5313
    },
    {
      "epoch": 1.192057437738389,
      "gripper_loss": 0.0201416015625,
      "loss": 0.1064453125,
      "pos_loss": 0.953125,
      "rot_loss": 0.119140625,
      "step": 5313
    },
    {
      "epoch": 1.1922818039039713,
      "grad_norm": 0.6175290942192078,
      "learning_rate": 0.00034294372405426843,
      "loss": 0.1015,
      "step": 5314
    },
    {
      "epoch": 1.1922818039039713,
      "gripper_loss": 0.45703125,
      "loss": 0.08447265625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.15625,
      "step": 5314
    },
    {
      "epoch": 1.1925061700695534,
      "grad_norm": 1.177876591682434,
      "learning_rate": 0.0003428875024128338,
      "loss": 0.144,
      "step": 5315
    },
    {
      "epoch": 1.1925061700695534,
      "gripper_loss": 0.765625,
      "loss": 0.038818359375,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.0147705078125,
      "step": 5315
    },
    {
      "epoch": 1.1927305362351357,
      "grad_norm": 0.4144449830055237,
      "learning_rate": 0.0003428312753208026,
      "loss": 0.0936,
      "step": 5316
    },
    {
      "epoch": 1.1927305362351357,
      "gripper_loss": 0.2314453125,
      "loss": 0.07861328125,
      "pos_loss": 0.25390625,
      "rot_loss": 0.400390625,
      "step": 5316
    },
    {
      "epoch": 1.192954902400718,
      "grad_norm": 0.42416831851005554,
      "learning_rate": 0.00034277504278147397,
      "loss": 0.0841,
      "step": 5317
    },
    {
      "epoch": 1.192954902400718,
      "gripper_loss": 0.197265625,
      "loss": 0.07861328125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.169921875,
      "step": 5317
    },
    {
      "epoch": 1.1931792685663,
      "grad_norm": 0.5621649026870728,
      "learning_rate": 0.00034271880479814777,
      "loss": 0.0809,
      "step": 5318
    },
    {
      "epoch": 1.1931792685663,
      "gripper_loss": 0.026123046875,
      "loss": 0.07763671875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.0264892578125,
      "step": 5318
    },
    {
      "epoch": 1.1934036347318824,
      "grad_norm": 0.525736391544342,
      "learning_rate": 0.0003426625613741239,
      "loss": 0.0847,
      "step": 5319
    },
    {
      "epoch": 1.1934036347318824,
      "gripper_loss": 0.025146484375,
      "loss": 0.0419921875,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.138671875,
      "step": 5319
    },
    {
      "epoch": 1.1936280008974647,
      "grad_norm": 0.6469330191612244,
      "learning_rate": 0.0003426063125127029,
      "loss": 0.0863,
      "step": 5320
    },
    {
      "epoch": 1.1936280008974647,
      "gripper_loss": 0.462890625,
      "loss": 0.20703125,
      "pos_loss": 1.125,
      "rot_loss": 0.859375,
      "step": 5320
    },
    {
      "epoch": 1.193852367063047,
      "grad_norm": 0.42771032452583313,
      "learning_rate": 0.0003425500582171852,
      "loss": 0.1052,
      "step": 5321
    },
    {
      "epoch": 1.193852367063047,
      "gripper_loss": 0.021728515625,
      "loss": 0.0167236328125,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.018798828125,
      "step": 5321
    },
    {
      "epoch": 1.194076733228629,
      "grad_norm": 0.4149322807788849,
      "learning_rate": 0.000342493798490872,
      "loss": 0.0731,
      "step": 5322
    },
    {
      "epoch": 1.194076733228629,
      "gripper_loss": 0.376953125,
      "loss": 0.20703125,
      "pos_loss": 1.1875,
      "rot_loss": 0.83203125,
      "step": 5322
    },
    {
      "epoch": 1.1943010993942114,
      "grad_norm": 0.5699959397315979,
      "learning_rate": 0.0003424375333370644,
      "loss": 0.0949,
      "step": 5323
    },
    {
      "epoch": 1.1943010993942114,
      "gripper_loss": 0.0869140625,
      "loss": 0.0703125,
      "pos_loss": 0.478515625,
      "rot_loss": 0.1826171875,
      "step": 5323
    },
    {
      "epoch": 1.1945254655597937,
      "grad_norm": 0.5111451148986816,
      "learning_rate": 0.0003423812627590641,
      "loss": 0.0945,
      "step": 5324
    },
    {
      "epoch": 1.1945254655597937,
      "gripper_loss": 0.34765625,
      "loss": 0.06689453125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.07373046875,
      "step": 5324
    },
    {
      "epoch": 1.1947498317253757,
      "grad_norm": 0.34308359026908875,
      "learning_rate": 0.000342324986760173,
      "loss": 0.0818,
      "step": 5325
    },
    {
      "epoch": 1.1947498317253757,
      "gripper_loss": 0.03369140625,
      "loss": 0.051025390625,
      "pos_loss": 0.265625,
      "rot_loss": 0.2236328125,
      "step": 5325
    },
    {
      "epoch": 1.194974197890958,
      "grad_norm": 0.7991619110107422,
      "learning_rate": 0.00034226870534369335,
      "loss": 0.067,
      "step": 5326
    },
    {
      "epoch": 1.194974197890958,
      "gripper_loss": 0.67578125,
      "loss": 0.11083984375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.11962890625,
      "step": 5326
    },
    {
      "epoch": 1.1951985640565403,
      "grad_norm": 0.5082510113716125,
      "learning_rate": 0.00034221241851292776,
      "loss": 0.1176,
      "step": 5327
    },
    {
      "epoch": 1.1951985640565403,
      "gripper_loss": 0.03759765625,
      "loss": 0.12451171875,
      "pos_loss": 0.115234375,
      "rot_loss": 1.1171875,
      "step": 5327
    },
    {
      "epoch": 1.1954229302221224,
      "grad_norm": 0.4686192274093628,
      "learning_rate": 0.0003421561262711792,
      "loss": 0.1078,
      "step": 5328
    },
    {
      "epoch": 1.1954229302221224,
      "gripper_loss": 0.169921875,
      "loss": 0.06884765625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.068359375,
      "step": 5328
    },
    {
      "epoch": 1.1956472963877047,
      "grad_norm": 0.3698708117008209,
      "learning_rate": 0.0003420998286217507,
      "loss": 0.0547,
      "step": 5329
    },
    {
      "epoch": 1.1956472963877047,
      "gripper_loss": 0.17578125,
      "loss": 0.06298828125,
      "pos_loss": 0.41796875,
      "rot_loss": 0.1435546875,
      "step": 5329
    },
    {
      "epoch": 1.195871662553287,
      "grad_norm": 0.3971591591835022,
      "learning_rate": 0.00034204352556794576,
      "loss": 0.0659,
      "step": 5330
    },
    {
      "epoch": 1.195871662553287,
      "gripper_loss": 0.15234375,
      "loss": 0.0322265625,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.1279296875,
      "step": 5330
    },
    {
      "epoch": 1.196096028718869,
      "grad_norm": 0.44445791840553284,
      "learning_rate": 0.0003419872171130684,
      "loss": 0.0892,
      "step": 5331
    },
    {
      "epoch": 1.196096028718869,
      "gripper_loss": 0.0166015625,
      "loss": 0.048828125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.0194091796875,
      "step": 5331
    },
    {
      "epoch": 1.1963203948844514,
      "grad_norm": 1.015958309173584,
      "learning_rate": 0.0003419309032604226,
      "loss": 0.1652,
      "step": 5332
    },
    {
      "epoch": 1.1963203948844514,
      "gripper_loss": 0.052734375,
      "loss": 0.06884765625,
      "pos_loss": 0.314453125,
      "rot_loss": 0.2421875,
      "step": 5332
    },
    {
      "epoch": 1.1965447610500337,
      "grad_norm": 0.6177850365638733,
      "learning_rate": 0.00034187458401331307,
      "loss": 0.1061,
      "step": 5333
    },
    {
      "epoch": 1.1965447610500337,
      "gripper_loss": 0.041259765625,
      "loss": 0.0245361328125,
      "pos_loss": 0.1328125,
      "rot_loss": 0.06591796875,
      "step": 5333
    },
    {
      "epoch": 1.1967691272156158,
      "grad_norm": 0.35445356369018555,
      "learning_rate": 0.00034181825937504436,
      "loss": 0.0491,
      "step": 5334
    },
    {
      "epoch": 1.1967691272156158,
      "gripper_loss": 0.734375,
      "loss": 0.045654296875,
      "pos_loss": 0.087890625,
      "rot_loss": 0.11572265625,
      "step": 5334
    },
    {
      "epoch": 1.196993493381198,
      "grad_norm": 0.3065377473831177,
      "learning_rate": 0.00034176192934892165,
      "loss": 0.0679,
      "step": 5335
    },
    {
      "epoch": 1.196993493381198,
      "gripper_loss": 0.07666015625,
      "loss": 0.0771484375,
      "pos_loss": 0.365234375,
      "rot_loss": 0.390625,
      "step": 5335
    },
    {
      "epoch": 1.1972178595467804,
      "grad_norm": 0.45053160190582275,
      "learning_rate": 0.00034170559393825034,
      "loss": 0.1192,
      "step": 5336
    },
    {
      "epoch": 1.1972178595467804,
      "gripper_loss": 0.037841796875,
      "loss": 0.1728515625,
      "pos_loss": 1.328125,
      "rot_loss": 0.44140625,
      "step": 5336
    },
    {
      "epoch": 1.1974422257123627,
      "grad_norm": 0.5245523452758789,
      "learning_rate": 0.0003416492531463362,
      "loss": 0.076,
      "step": 5337
    },
    {
      "epoch": 1.1974422257123627,
      "gripper_loss": 0.1845703125,
      "loss": 0.0240478515625,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.0220947265625,
      "step": 5337
    },
    {
      "epoch": 1.1976665918779448,
      "grad_norm": 0.3068026900291443,
      "learning_rate": 0.0003415929069764853,
      "loss": 0.0491,
      "step": 5338
    },
    {
      "epoch": 1.1976665918779448,
      "gripper_loss": 0.3203125,
      "loss": 0.0595703125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.0634765625,
      "step": 5338
    },
    {
      "epoch": 1.197890958043527,
      "grad_norm": 0.5727267265319824,
      "learning_rate": 0.000341536555432004,
      "loss": 0.083,
      "step": 5339
    },
    {
      "epoch": 1.197890958043527,
      "gripper_loss": 0.01348876953125,
      "loss": 0.06982421875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.11279296875,
      "step": 5339
    },
    {
      "epoch": 1.1981153242091094,
      "grad_norm": 0.6598548293113708,
      "learning_rate": 0.00034148019851619894,
      "loss": 0.0796,
      "step": 5340
    },
    {
      "epoch": 1.1981153242091094,
      "gripper_loss": 0.287109375,
      "loss": 0.047119140625,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.240234375,
      "step": 5340
    },
    {
      "epoch": 1.1983396903746915,
      "grad_norm": 0.4949552118778229,
      "learning_rate": 0.0003414238362323771,
      "loss": 0.0803,
      "step": 5341
    },
    {
      "epoch": 1.1983396903746915,
      "gripper_loss": 0.030517578125,
      "loss": 0.06201171875,
      "pos_loss": 0.494140625,
      "rot_loss": 0.08056640625,
      "step": 5341
    },
    {
      "epoch": 1.1985640565402738,
      "grad_norm": 0.3562878966331482,
      "learning_rate": 0.0003413674685838459,
      "loss": 0.0861,
      "step": 5342
    },
    {
      "epoch": 1.1985640565402738,
      "gripper_loss": 0.259765625,
      "loss": 0.314453125,
      "pos_loss": 1.171875,
      "rot_loss": 0.39453125,
      "step": 5342
    },
    {
      "epoch": 1.198788422705856,
      "grad_norm": 1.946946144104004,
      "learning_rate": 0.0003413110955739129,
      "loss": 0.2954,
      "step": 5343
    },
    {
      "epoch": 1.198788422705856,
      "gripper_loss": 0.2294921875,
      "loss": 0.0247802734375,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.060302734375,
      "step": 5343
    },
    {
      "epoch": 1.1990127888714381,
      "grad_norm": 0.3448735177516937,
      "learning_rate": 0.000341254717205886,
      "loss": 0.0626,
      "step": 5344
    },
    {
      "epoch": 1.1990127888714381,
      "gripper_loss": 0.013427734375,
      "loss": 0.115234375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.1533203125,
      "step": 5344
    },
    {
      "epoch": 1.1992371550370204,
      "grad_norm": 0.4909696877002716,
      "learning_rate": 0.0003411983334830736,
      "loss": 0.1182,
      "step": 5345
    },
    {
      "epoch": 1.1992371550370204,
      "gripper_loss": 0.625,
      "loss": 0.1328125,
      "pos_loss": 1.09375,
      "rot_loss": 0.050537109375,
      "step": 5345
    },
    {
      "epoch": 1.1994615212026027,
      "grad_norm": 0.6234296560287476,
      "learning_rate": 0.0003411419444087841,
      "loss": 0.0993,
      "step": 5346
    },
    {
      "epoch": 1.1994615212026027,
      "gripper_loss": 0.031982421875,
      "loss": 0.1103515625,
      "pos_loss": 0.80078125,
      "rot_loss": 0.3125,
      "step": 5346
    },
    {
      "epoch": 1.1996858873681848,
      "grad_norm": 0.5035391449928284,
      "learning_rate": 0.0003410855499863265,
      "loss": 0.0733,
      "step": 5347
    },
    {
      "epoch": 1.1996858873681848,
      "gripper_loss": 0.04443359375,
      "loss": 0.1220703125,
      "pos_loss": 0.8125,
      "rot_loss": 0.337890625,
      "step": 5347
    },
    {
      "epoch": 1.1999102535337671,
      "grad_norm": 0.7703237533569336,
      "learning_rate": 0.00034102915021900994,
      "loss": 0.0936,
      "step": 5348
    },
    {
      "epoch": 1.1999102535337671,
      "gripper_loss": 0.396484375,
      "loss": 0.0242919921875,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.045166015625,
      "step": 5348
    },
    {
      "epoch": 1.2001346196993494,
      "grad_norm": 0.4740341901779175,
      "learning_rate": 0.00034097274511014393,
      "loss": 0.0744,
      "step": 5349
    },
    {
      "epoch": 1.2001346196993494,
      "gripper_loss": 0.138671875,
      "loss": 0.1298828125,
      "pos_loss": 0.74609375,
      "rot_loss": 0.404296875,
      "step": 5349
    },
    {
      "epoch": 1.2003589858649315,
      "grad_norm": 0.9472015500068665,
      "learning_rate": 0.0003409163346630384,
      "loss": 0.1154,
      "step": 5350
    },
    {
      "epoch": 1.2003589858649315,
      "gripper_loss": 0.0220947265625,
      "loss": 0.0189208984375,
      "pos_loss": 0.0751953125,
      "rot_loss": 0.07958984375,
      "step": 5350
    },
    {
      "epoch": 1.2005833520305138,
      "grad_norm": 0.3728580176830292,
      "learning_rate": 0.0003408599188810033,
      "loss": 0.0727,
      "step": 5351
    },
    {
      "epoch": 1.2005833520305138,
      "gripper_loss": 0.0167236328125,
      "loss": 0.138671875,
      "pos_loss": 0.73828125,
      "rot_loss": 0.65234375,
      "step": 5351
    },
    {
      "epoch": 1.200807718196096,
      "grad_norm": 0.4341554641723633,
      "learning_rate": 0.00034080349776734924,
      "loss": 0.0872,
      "step": 5352
    },
    {
      "epoch": 1.200807718196096,
      "gripper_loss": 0.44921875,
      "loss": 0.0751953125,
      "pos_loss": 0.1015625,
      "rot_loss": 0.4453125,
      "step": 5352
    },
    {
      "epoch": 1.2010320843616782,
      "grad_norm": 0.6142690181732178,
      "learning_rate": 0.000340747071325387,
      "loss": 0.0983,
      "step": 5353
    },
    {
      "epoch": 1.2010320843616782,
      "gripper_loss": 0.014892578125,
      "loss": 0.01904296875,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.0194091796875,
      "step": 5353
    },
    {
      "epoch": 1.2012564505272605,
      "grad_norm": 0.4856203496456146,
      "learning_rate": 0.0003406906395584275,
      "loss": 0.0688,
      "step": 5354
    },
    {
      "epoch": 1.2012564505272605,
      "gripper_loss": 0.3125,
      "loss": 0.05078125,
      "pos_loss": 0.212890625,
      "rot_loss": 0.126953125,
      "step": 5354
    },
    {
      "epoch": 1.2014808166928428,
      "grad_norm": 0.6789069771766663,
      "learning_rate": 0.00034063420246978235,
      "loss": 0.0582,
      "step": 5355
    },
    {
      "epoch": 1.2014808166928428,
      "gripper_loss": 0.02880859375,
      "loss": 0.04443359375,
      "pos_loss": 0.3828125,
      "rot_loss": 0.014892578125,
      "step": 5355
    },
    {
      "epoch": 1.2017051828584249,
      "grad_norm": 0.6701899170875549,
      "learning_rate": 0.000340577760062763,
      "loss": 0.1039,
      "step": 5356
    },
    {
      "epoch": 1.2017051828584249,
      "gripper_loss": 0.1669921875,
      "loss": 0.146484375,
      "pos_loss": 1.2890625,
      "rot_loss": 0.12109375,
      "step": 5356
    },
    {
      "epoch": 1.2019295490240072,
      "grad_norm": 0.5629002451896667,
      "learning_rate": 0.00034052131234068174,
      "loss": 0.0766,
      "step": 5357
    },
    {
      "epoch": 1.2019295490240072,
      "gripper_loss": 0.059326171875,
      "loss": 0.08935546875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.1953125,
      "step": 5357
    },
    {
      "epoch": 1.2021539151895895,
      "grad_norm": 0.6993723511695862,
      "learning_rate": 0.0003404648593068506,
      "loss": 0.0857,
      "step": 5358
    },
    {
      "epoch": 1.2021539151895895,
      "gripper_loss": 0.396484375,
      "loss": 0.0380859375,
      "pos_loss": 0.091796875,
      "rot_loss": 0.1337890625,
      "step": 5358
    },
    {
      "epoch": 1.2023782813551716,
      "grad_norm": 0.5775921940803528,
      "learning_rate": 0.0003404084009645825,
      "loss": 0.0901,
      "step": 5359
    },
    {
      "epoch": 1.2023782813551716,
      "gripper_loss": 0.02197265625,
      "loss": 0.2431640625,
      "pos_loss": 1.78125,
      "rot_loss": 0.7421875,
      "step": 5359
    },
    {
      "epoch": 1.2026026475207539,
      "grad_norm": 0.5341737270355225,
      "learning_rate": 0.00034035193731719014,
      "loss": 0.132,
      "step": 5360
    },
    {
      "epoch": 1.2026026475207539,
      "gripper_loss": 0.205078125,
      "loss": 0.07666015625,
      "pos_loss": 0.298828125,
      "rot_loss": 0.115234375,
      "step": 5360
    },
    {
      "epoch": 1.2028270136863362,
      "grad_norm": 0.9964152574539185,
      "learning_rate": 0.000340295468367987,
      "loss": 0.0772,
      "step": 5361
    },
    {
      "epoch": 1.2028270136863362,
      "gripper_loss": 0.294921875,
      "loss": 0.240234375,
      "pos_loss": 0.63671875,
      "rot_loss": 0.984375,
      "step": 5361
    },
    {
      "epoch": 1.2030513798519182,
      "grad_norm": 1.0031012296676636,
      "learning_rate": 0.00034023899412028645,
      "loss": 0.1508,
      "step": 5362
    },
    {
      "epoch": 1.2030513798519182,
      "gripper_loss": 0.1357421875,
      "loss": 0.09716796875,
      "pos_loss": 0.796875,
      "rot_loss": 0.05078125,
      "step": 5362
    },
    {
      "epoch": 1.2032757460175005,
      "grad_norm": 0.717460036277771,
      "learning_rate": 0.0003401825145774026,
      "loss": 0.109,
      "step": 5363
    },
    {
      "epoch": 1.2032757460175005,
      "gripper_loss": 0.263671875,
      "loss": 0.1123046875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.55859375,
      "step": 5363
    },
    {
      "epoch": 1.2035001121830828,
      "grad_norm": 0.5207397937774658,
      "learning_rate": 0.0003401260297426494,
      "loss": 0.0663,
      "step": 5364
    },
    {
      "epoch": 1.2035001121830828,
      "gripper_loss": 0.91015625,
      "loss": 0.10400390625,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.44140625,
      "step": 5364
    },
    {
      "epoch": 1.203724478348665,
      "grad_norm": 0.6599387526512146,
      "learning_rate": 0.00034006953961934164,
      "loss": 0.0953,
      "step": 5365
    },
    {
      "epoch": 1.203724478348665,
      "gripper_loss": 0.03369140625,
      "loss": 0.14453125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.1962890625,
      "step": 5365
    },
    {
      "epoch": 1.2039488445142472,
      "grad_norm": 0.47990041971206665,
      "learning_rate": 0.00034001304421079384,
      "loss": 0.0826,
      "step": 5366
    },
    {
      "epoch": 1.2039488445142472,
      "gripper_loss": 0.04638671875,
      "loss": 0.193359375,
      "pos_loss": 1.765625,
      "rot_loss": 0.09716796875,
      "step": 5366
    },
    {
      "epoch": 1.2041732106798295,
      "grad_norm": 0.8049849271774292,
      "learning_rate": 0.00033995654352032123,
      "loss": 0.1055,
      "step": 5367
    },
    {
      "epoch": 1.2041732106798295,
      "gripper_loss": 0.1357421875,
      "loss": 0.08984375,
      "pos_loss": 0.36328125,
      "rot_loss": 0.22265625,
      "step": 5367
    },
    {
      "epoch": 1.2043975768454116,
      "grad_norm": 0.9756839275360107,
      "learning_rate": 0.0003399000375512393,
      "loss": 0.1163,
      "step": 5368
    },
    {
      "epoch": 1.2043975768454116,
      "gripper_loss": 0.70703125,
      "loss": 0.1787109375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.337890625,
      "step": 5368
    },
    {
      "epoch": 1.204621943010994,
      "grad_norm": 1.2295266389846802,
      "learning_rate": 0.00033984352630686386,
      "loss": 0.1323,
      "step": 5369
    },
    {
      "epoch": 1.204621943010994,
      "gripper_loss": 0.2890625,
      "loss": 0.0439453125,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.1044921875,
      "step": 5369
    },
    {
      "epoch": 1.2048463091765762,
      "grad_norm": 0.6736470460891724,
      "learning_rate": 0.0003397870097905109,
      "loss": 0.0814,
      "step": 5370
    },
    {
      "epoch": 1.2048463091765762,
      "gripper_loss": 1.890625,
      "loss": 0.173828125,
      "pos_loss": 0.84375,
      "rot_loss": 0.1982421875,
      "step": 5370
    },
    {
      "epoch": 1.2050706753421583,
      "grad_norm": 0.9788773059844971,
      "learning_rate": 0.00033973048800549653,
      "loss": 0.0869,
      "step": 5371
    },
    {
      "epoch": 1.2050706753421583,
      "gripper_loss": 0.3984375,
      "loss": 0.0712890625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.1337890625,
      "step": 5371
    },
    {
      "epoch": 1.2052950415077406,
      "grad_norm": 0.776616096496582,
      "learning_rate": 0.0003396739609551378,
      "loss": 0.0877,
      "step": 5372
    },
    {
      "epoch": 1.2052950415077406,
      "gripper_loss": 0.2021484375,
      "loss": 0.04345703125,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.0289306640625,
      "step": 5372
    },
    {
      "epoch": 1.2055194076733229,
      "grad_norm": 0.779121994972229,
      "learning_rate": 0.0003396174286427515,
      "loss": 0.0719,
      "step": 5373
    },
    {
      "epoch": 1.2055194076733229,
      "gripper_loss": 0.2734375,
      "loss": 0.134765625,
      "pos_loss": 1.21875,
      "rot_loss": 0.0281982421875,
      "step": 5373
    },
    {
      "epoch": 1.2057437738389052,
      "grad_norm": 0.6505746841430664,
      "learning_rate": 0.000339560891071655,
      "loss": 0.0866,
      "step": 5374
    },
    {
      "epoch": 1.2057437738389052,
      "gripper_loss": 0.08251953125,
      "loss": 0.05517578125,
      "pos_loss": 0.380859375,
      "rot_loss": 0.08544921875,
      "step": 5374
    },
    {
      "epoch": 1.2059681400044873,
      "grad_norm": 0.707364022731781,
      "learning_rate": 0.00033950434824516585,
      "loss": 0.1186,
      "step": 5375
    },
    {
      "epoch": 1.2059681400044873,
      "gripper_loss": 0.205078125,
      "loss": 0.033447265625,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.07177734375,
      "step": 5375
    },
    {
      "epoch": 1.2061925061700696,
      "grad_norm": 0.6389018297195435,
      "learning_rate": 0.00033944780016660197,
      "loss": 0.1083,
      "step": 5376
    },
    {
      "epoch": 1.2061925061700696,
      "gripper_loss": 1.421875,
      "loss": 0.0908203125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.030517578125,
      "step": 5376
    },
    {
      "epoch": 1.2064168723356519,
      "grad_norm": 0.49917617440223694,
      "learning_rate": 0.0003393912468392816,
      "loss": 0.0707,
      "step": 5377
    },
    {
      "epoch": 1.2064168723356519,
      "gripper_loss": 0.07666015625,
      "loss": 0.0174560546875,
      "pos_loss": 0.06494140625,
      "rot_loss": 0.024169921875,
      "step": 5377
    },
    {
      "epoch": 1.206641238501234,
      "grad_norm": 0.5184251666069031,
      "learning_rate": 0.00033933468826652315,
      "loss": 0.0698,
      "step": 5378
    },
    {
      "epoch": 1.206641238501234,
      "gripper_loss": 0.91015625,
      "loss": 0.06591796875,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.06591796875,
      "step": 5378
    },
    {
      "epoch": 1.2068656046668162,
      "grad_norm": 0.5789985060691833,
      "learning_rate": 0.00033927812445164554,
      "loss": 0.0515,
      "step": 5379
    },
    {
      "epoch": 1.2068656046668162,
      "gripper_loss": 0.146484375,
      "loss": 0.1416015625,
      "pos_loss": 0.9765625,
      "rot_loss": 0.384765625,
      "step": 5379
    },
    {
      "epoch": 1.2070899708323986,
      "grad_norm": 0.598206639289856,
      "learning_rate": 0.00033922155539796797,
      "loss": 0.0851,
      "step": 5380
    },
    {
      "epoch": 1.2070899708323986,
      "gripper_loss": 0.1279296875,
      "loss": 0.08056640625,
      "pos_loss": 0.59765625,
      "rot_loss": 0.1435546875,
      "step": 5380
    },
    {
      "epoch": 1.2073143369979806,
      "grad_norm": 0.5383066534996033,
      "learning_rate": 0.00033916498110880984,
      "loss": 0.0703,
      "step": 5381
    },
    {
      "epoch": 1.2073143369979806,
      "gripper_loss": 0.43359375,
      "loss": 0.1474609375,
      "pos_loss": 1.1796875,
      "rot_loss": 0.1494140625,
      "step": 5381
    },
    {
      "epoch": 1.207538703163563,
      "grad_norm": 0.7168946862220764,
      "learning_rate": 0.00033910840158749077,
      "loss": 0.0885,
      "step": 5382
    },
    {
      "epoch": 1.207538703163563,
      "gripper_loss": 0.1689453125,
      "loss": 0.1318359375,
      "pos_loss": 0.75390625,
      "rot_loss": 0.404296875,
      "step": 5382
    },
    {
      "epoch": 1.2077630693291452,
      "grad_norm": 0.5980358123779297,
      "learning_rate": 0.00033905181683733105,
      "loss": 0.1035,
      "step": 5383
    },
    {
      "epoch": 1.2077630693291452,
      "gripper_loss": 0.040283203125,
      "loss": 0.1865234375,
      "pos_loss": 1.2421875,
      "rot_loss": 0.67578125,
      "step": 5383
    },
    {
      "epoch": 1.2079874354947273,
      "grad_norm": 0.4762478172779083,
      "learning_rate": 0.00033899522686165086,
      "loss": 0.1119,
      "step": 5384
    },
    {
      "epoch": 1.2079874354947273,
      "gripper_loss": 0.66796875,
      "loss": 0.53125,
      "pos_loss": 1.0234375,
      "rot_loss": 2.171875,
      "step": 5384
    },
    {
      "epoch": 1.2082118016603096,
      "grad_norm": 1.5617865324020386,
      "learning_rate": 0.00033893863166377104,
      "loss": 0.4167,
      "step": 5385
    },
    {
      "epoch": 1.2082118016603096,
      "gripper_loss": 0.50390625,
      "loss": 0.09228515625,
      "pos_loss": 0.546875,
      "rot_loss": 0.203125,
      "step": 5385
    },
    {
      "epoch": 1.208436167825892,
      "grad_norm": 0.52924644947052,
      "learning_rate": 0.0003388820312470124,
      "loss": 0.0901,
      "step": 5386
    },
    {
      "epoch": 1.208436167825892,
      "gripper_loss": 0.92578125,
      "loss": 0.1083984375,
      "pos_loss": 0.7109375,
      "rot_loss": 0.0625,
      "step": 5386
    },
    {
      "epoch": 1.208660533991474,
      "grad_norm": 0.5659078359603882,
      "learning_rate": 0.0003388254256146964,
      "loss": 0.1047,
      "step": 5387
    },
    {
      "epoch": 1.208660533991474,
      "gripper_loss": 0.0181884765625,
      "loss": 0.333984375,
      "pos_loss": 2.046875,
      "rot_loss": 1.4609375,
      "step": 5387
    },
    {
      "epoch": 1.2088849001570563,
      "grad_norm": 0.6868104338645935,
      "learning_rate": 0.0003387688147701444,
      "loss": 0.1101,
      "step": 5388
    },
    {
      "epoch": 1.2088849001570563,
      "gripper_loss": 0.0311279296875,
      "loss": 0.09228515625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.251953125,
      "step": 5388
    },
    {
      "epoch": 1.2091092663226386,
      "grad_norm": 0.5416480898857117,
      "learning_rate": 0.00033871219871667855,
      "loss": 0.0784,
      "step": 5389
    },
    {
      "epoch": 1.2091092663226386,
      "gripper_loss": 0.1259765625,
      "loss": 0.07568359375,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.298828125,
      "step": 5389
    },
    {
      "epoch": 1.209333632488221,
      "grad_norm": 0.8142048716545105,
      "learning_rate": 0.0003386555774576208,
      "loss": 0.1326,
      "step": 5390
    },
    {
      "epoch": 1.209333632488221,
      "gripper_loss": 1.3359375,
      "loss": 0.1708984375,
      "pos_loss": 0.9453125,
      "rot_loss": 0.310546875,
      "step": 5390
    },
    {
      "epoch": 1.209557998653803,
      "grad_norm": 0.5898198485374451,
      "learning_rate": 0.00033859895099629393,
      "loss": 0.0788,
      "step": 5391
    },
    {
      "epoch": 1.209557998653803,
      "gripper_loss": 0.0306396484375,
      "loss": 0.1318359375,
      "pos_loss": 0.73046875,
      "rot_loss": 0.609375,
      "step": 5391
    },
    {
      "epoch": 1.2097823648193853,
      "grad_norm": 0.5590202808380127,
      "learning_rate": 0.0003385423193360206,
      "loss": 0.0792,
      "step": 5392
    },
    {
      "epoch": 1.2097823648193853,
      "gripper_loss": 0.474609375,
      "loss": 0.494140625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.32421875,
      "step": 5392
    },
    {
      "epoch": 1.2100067309849676,
      "grad_norm": 1.3316782712936401,
      "learning_rate": 0.00033848568248012403,
      "loss": 0.5007,
      "step": 5393
    },
    {
      "epoch": 1.2100067309849676,
      "gripper_loss": 0.08251953125,
      "loss": 0.07373046875,
      "pos_loss": 0.453125,
      "rot_loss": 0.1787109375,
      "step": 5393
    },
    {
      "epoch": 1.2102310971505497,
      "grad_norm": 0.5898423790931702,
      "learning_rate": 0.00033842904043192745,
      "loss": 0.0695,
      "step": 5394
    },
    {
      "epoch": 1.2102310971505497,
      "gripper_loss": 0.291015625,
      "loss": 0.02001953125,
      "pos_loss": 0.03271484375,
      "rot_loss": 0.01385498046875,
      "step": 5394
    },
    {
      "epoch": 1.210455463316132,
      "grad_norm": 0.554286003112793,
      "learning_rate": 0.0003383723931947548,
      "loss": 0.0716,
      "step": 5395
    },
    {
      "epoch": 1.210455463316132,
      "gripper_loss": 0.087890625,
      "loss": 0.150390625,
      "pos_loss": 1.2265625,
      "rot_loss": 0.24609375,
      "step": 5395
    },
    {
      "epoch": 1.2106798294817143,
      "grad_norm": 0.867201566696167,
      "learning_rate": 0.00033831574077192996,
      "loss": 0.1084,
      "step": 5396
    },
    {
      "epoch": 1.2106798294817143,
      "gripper_loss": 0.13671875,
      "loss": 0.0703125,
      "pos_loss": 0.126953125,
      "rot_loss": 0.50390625,
      "step": 5396
    },
    {
      "epoch": 1.2109041956472963,
      "grad_norm": 0.7025285363197327,
      "learning_rate": 0.0003382590831667774,
      "loss": 0.0885,
      "step": 5397
    },
    {
      "epoch": 1.2109041956472963,
      "gripper_loss": 0.6796875,
      "loss": 0.038818359375,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.05908203125,
      "step": 5397
    },
    {
      "epoch": 1.2111285618128786,
      "grad_norm": 0.640974223613739,
      "learning_rate": 0.0003382024203826217,
      "loss": 0.0915,
      "step": 5398
    },
    {
      "epoch": 1.2111285618128786,
      "gripper_loss": 0.037109375,
      "loss": 0.0859375,
      "pos_loss": 0.6640625,
      "rot_loss": 0.1611328125,
      "step": 5398
    },
    {
      "epoch": 1.211352927978461,
      "grad_norm": 1.0393706560134888,
      "learning_rate": 0.0003381457524227877,
      "loss": 0.0966,
      "step": 5399
    },
    {
      "epoch": 1.211352927978461,
      "gripper_loss": 0.03271484375,
      "loss": 0.10546875,
      "pos_loss": 0.93359375,
      "rot_loss": 0.056640625,
      "step": 5399
    },
    {
      "epoch": 1.211577294144043,
      "grad_norm": 0.4139760732650757,
      "learning_rate": 0.00033808907929060085,
      "loss": 0.0945,
      "step": 5400
    },
    {
      "epoch": 1.211577294144043,
      "gripper_loss": 0.828125,
      "loss": 0.10400390625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.2001953125,
      "step": 5400
    },
    {
      "epoch": 1.2118016603096253,
      "grad_norm": 0.5521308183670044,
      "learning_rate": 0.00033803240098938654,
      "loss": 0.0765,
      "step": 5401
    },
    {
      "epoch": 1.2118016603096253,
      "gripper_loss": 0.06201171875,
      "loss": 0.059814453125,
      "pos_loss": 0.53125,
      "rot_loss": 0.037841796875,
      "step": 5401
    },
    {
      "epoch": 1.2120260264752076,
      "grad_norm": 0.49188992381095886,
      "learning_rate": 0.00033797571752247076,
      "loss": 0.0633,
      "step": 5402
    },
    {
      "epoch": 1.2120260264752076,
      "gripper_loss": 0.01153564453125,
      "loss": 0.06982421875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.4140625,
      "step": 5402
    },
    {
      "epoch": 1.2122503926407897,
      "grad_norm": 0.7546752691268921,
      "learning_rate": 0.00033791902889317957,
      "loss": 0.0835,
      "step": 5403
    },
    {
      "epoch": 1.2122503926407897,
      "gripper_loss": 0.81640625,
      "loss": 0.09033203125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.185546875,
      "step": 5403
    },
    {
      "epoch": 1.212474758806372,
      "grad_norm": 0.7244915962219238,
      "learning_rate": 0.0003378623351048396,
      "loss": 0.0975,
      "step": 5404
    },
    {
      "epoch": 1.212474758806372,
      "gripper_loss": 0.90625,
      "loss": 0.10546875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.05224609375,
      "step": 5404
    },
    {
      "epoch": 1.2126991249719543,
      "grad_norm": 0.7772594690322876,
      "learning_rate": 0.0003378056361607773,
      "loss": 0.1098,
      "step": 5405
    },
    {
      "epoch": 1.2126991249719543,
      "gripper_loss": 0.73828125,
      "loss": 0.055908203125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.1328125,
      "step": 5405
    },
    {
      "epoch": 1.2129234911375364,
      "grad_norm": 0.5320044755935669,
      "learning_rate": 0.00033774893206432,
      "loss": 0.0845,
      "step": 5406
    },
    {
      "epoch": 1.2129234911375364,
      "gripper_loss": 0.44140625,
      "loss": 0.109375,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.2431640625,
      "step": 5406
    },
    {
      "epoch": 1.2131478573031187,
      "grad_norm": 1.0340808629989624,
      "learning_rate": 0.000337692222818795,
      "loss": 0.1381,
      "step": 5407
    },
    {
      "epoch": 1.2131478573031187,
      "gripper_loss": 0.01116943359375,
      "loss": 0.04541015625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.0966796875,
      "step": 5407
    },
    {
      "epoch": 1.213372223468701,
      "grad_norm": 0.4343443810939789,
      "learning_rate": 0.0003376355084275299,
      "loss": 0.0842,
      "step": 5408
    },
    {
      "epoch": 1.213372223468701,
      "gripper_loss": 0.033935546875,
      "loss": 0.1572265625,
      "pos_loss": 1.46875,
      "rot_loss": 0.10107421875,
      "step": 5408
    },
    {
      "epoch": 1.213596589634283,
      "grad_norm": 0.5641146898269653,
      "learning_rate": 0.0003375787888938528,
      "loss": 0.1084,
      "step": 5409
    },
    {
      "epoch": 1.213596589634283,
      "gripper_loss": 0.035888671875,
      "loss": 0.05126953125,
      "pos_loss": 0.408203125,
      "rot_loss": 0.0625,
      "step": 5409
    },
    {
      "epoch": 1.2138209557998654,
      "grad_norm": 0.5836067795753479,
      "learning_rate": 0.00033752206422109197,
      "loss": 0.1056,
      "step": 5410
    },
    {
      "epoch": 1.2138209557998654,
      "gripper_loss": 0.052734375,
      "loss": 0.205078125,
      "pos_loss": 0.97265625,
      "rot_loss": 1.125,
      "step": 5410
    },
    {
      "epoch": 1.2140453219654477,
      "grad_norm": 0.7368979454040527,
      "learning_rate": 0.0003374653344125759,
      "loss": 0.1142,
      "step": 5411
    },
    {
      "epoch": 1.2140453219654477,
      "gripper_loss": 0.244140625,
      "loss": 0.1484375,
      "pos_loss": 0.546875,
      "rot_loss": 0.11962890625,
      "step": 5411
    },
    {
      "epoch": 1.2142696881310298,
      "grad_norm": 1.213096022605896,
      "learning_rate": 0.00033740859947163344,
      "loss": 0.1313,
      "step": 5412
    },
    {
      "epoch": 1.2142696881310298,
      "gripper_loss": 0.84765625,
      "loss": 0.07861328125,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.39453125,
      "step": 5412
    },
    {
      "epoch": 1.214494054296612,
      "grad_norm": 0.5439359545707703,
      "learning_rate": 0.00033735185940159395,
      "loss": 0.0829,
      "step": 5413
    },
    {
      "epoch": 1.214494054296612,
      "gripper_loss": 0.1650390625,
      "loss": 0.03759765625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.04248046875,
      "step": 5413
    },
    {
      "epoch": 1.2147184204621944,
      "grad_norm": 0.6104059815406799,
      "learning_rate": 0.0003372951142057867,
      "loss": 0.0832,
      "step": 5414
    },
    {
      "epoch": 1.2147184204621944,
      "gripper_loss": 0.07177734375,
      "loss": 0.10302734375,
      "pos_loss": 0.625,
      "rot_loss": 0.26953125,
      "step": 5414
    },
    {
      "epoch": 1.2149427866277764,
      "grad_norm": 0.859889030456543,
      "learning_rate": 0.00033723836388754164,
      "loss": 0.1009,
      "step": 5415
    },
    {
      "epoch": 1.2149427866277764,
      "gripper_loss": 0.6484375,
      "loss": 0.056396484375,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.1591796875,
      "step": 5415
    },
    {
      "epoch": 1.2151671527933587,
      "grad_norm": 0.4843389093875885,
      "learning_rate": 0.00033718160845018876,
      "loss": 0.0789,
      "step": 5416
    },
    {
      "epoch": 1.2151671527933587,
      "gripper_loss": 0.01904296875,
      "loss": 0.087890625,
      "pos_loss": 0.30078125,
      "rot_loss": 0.51953125,
      "step": 5416
    },
    {
      "epoch": 1.215391518958941,
      "grad_norm": 0.7040773034095764,
      "learning_rate": 0.0003371248478970585,
      "loss": 0.085,
      "step": 5417
    },
    {
      "epoch": 1.215391518958941,
      "gripper_loss": 0.138671875,
      "loss": 0.1591796875,
      "pos_loss": 1.1796875,
      "rot_loss": 0.298828125,
      "step": 5417
    },
    {
      "epoch": 1.2156158851245231,
      "grad_norm": 0.7321911454200745,
      "learning_rate": 0.00033706808223148144,
      "loss": 0.1019,
      "step": 5418
    },
    {
      "epoch": 1.2156158851245231,
      "gripper_loss": 0.296875,
      "loss": 0.08056640625,
      "pos_loss": 0.62109375,
      "rot_loss": 0.07421875,
      "step": 5418
    },
    {
      "epoch": 1.2158402512901054,
      "grad_norm": 0.5376049876213074,
      "learning_rate": 0.0003370113114567887,
      "loss": 0.0826,
      "step": 5419
    },
    {
      "epoch": 1.2158402512901054,
      "gripper_loss": 0.271484375,
      "loss": 0.2060546875,
      "pos_loss": 1.046875,
      "rot_loss": 0.49609375,
      "step": 5419
    },
    {
      "epoch": 1.2160646174556877,
      "grad_norm": 1.0992839336395264,
      "learning_rate": 0.0003369545355763115,
      "loss": 0.1663,
      "step": 5420
    },
    {
      "epoch": 1.2160646174556877,
      "gripper_loss": 1.1484375,
      "loss": 0.11669921875,
      "pos_loss": 0.310546875,
      "rot_loss": 0.396484375,
      "step": 5420
    },
    {
      "epoch": 1.2162889836212698,
      "grad_norm": 0.7988881468772888,
      "learning_rate": 0.00033689775459338133,
      "loss": 0.1169,
      "step": 5421
    },
    {
      "epoch": 1.2162889836212698,
      "gripper_loss": 0.025634765625,
      "loss": 0.056396484375,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.2421875,
      "step": 5421
    },
    {
      "epoch": 1.216513349786852,
      "grad_norm": 0.6201891899108887,
      "learning_rate": 0.0003368409685113303,
      "loss": 0.1158,
      "step": 5422
    },
    {
      "epoch": 1.216513349786852,
      "gripper_loss": 0.036865234375,
      "loss": 0.205078125,
      "pos_loss": 1.34375,
      "rot_loss": 0.7265625,
      "step": 5422
    },
    {
      "epoch": 1.2167377159524344,
      "grad_norm": 0.7664451003074646,
      "learning_rate": 0.00033678417733349036,
      "loss": 0.1018,
      "step": 5423
    },
    {
      "epoch": 1.2167377159524344,
      "gripper_loss": 0.0174560546875,
      "loss": 0.09228515625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.4765625,
      "step": 5423
    },
    {
      "epoch": 1.2169620821180165,
      "grad_norm": 0.7228435277938843,
      "learning_rate": 0.0003367273810631941,
      "loss": 0.0928,
      "step": 5424
    },
    {
      "epoch": 1.2169620821180165,
      "gripper_loss": 0.11572265625,
      "loss": 0.02685546875,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.0625,
      "step": 5424
    },
    {
      "epoch": 1.2171864482835988,
      "grad_norm": 0.6239580512046814,
      "learning_rate": 0.00033667057970377436,
      "loss": 0.0849,
      "step": 5425
    },
    {
      "epoch": 1.2171864482835988,
      "gripper_loss": 0.02099609375,
      "loss": 0.11865234375,
      "pos_loss": 0.82421875,
      "rot_loss": 0.357421875,
      "step": 5425
    },
    {
      "epoch": 1.217410814449181,
      "grad_norm": 0.6866642236709595,
      "learning_rate": 0.000336613773258564,
      "loss": 0.0992,
      "step": 5426
    },
    {
      "epoch": 1.217410814449181,
      "gripper_loss": 0.197265625,
      "loss": 0.1982421875,
      "pos_loss": 1.09375,
      "rot_loss": 0.75,
      "step": 5426
    },
    {
      "epoch": 1.2176351806147634,
      "grad_norm": 0.8747408986091614,
      "learning_rate": 0.0003365569617308967,
      "loss": 0.1256,
      "step": 5427
    },
    {
      "epoch": 1.2176351806147634,
      "gripper_loss": 0.72265625,
      "loss": 0.052490234375,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.09521484375,
      "step": 5427
    },
    {
      "epoch": 1.2178595467803455,
      "grad_norm": 0.4981927275657654,
      "learning_rate": 0.00033650014512410587,
      "loss": 0.0543,
      "step": 5428
    },
    {
      "epoch": 1.2178595467803455,
      "gripper_loss": 0.55859375,
      "loss": 0.034423828125,
      "pos_loss": 0.08203125,
      "rot_loss": 0.035888671875,
      "step": 5428
    },
    {
      "epoch": 1.2180839129459278,
      "grad_norm": 0.4394553601741791,
      "learning_rate": 0.00033644332344152564,
      "loss": 0.0658,
      "step": 5429
    },
    {
      "epoch": 1.2180839129459278,
      "gripper_loss": 0.265625,
      "loss": 0.07275390625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.2080078125,
      "step": 5429
    },
    {
      "epoch": 1.21830827911151,
      "grad_norm": 0.7675918936729431,
      "learning_rate": 0.0003363864966864902,
      "loss": 0.0986,
      "step": 5430
    },
    {
      "epoch": 1.21830827911151,
      "gripper_loss": 0.0888671875,
      "loss": 0.1455078125,
      "pos_loss": 0.79296875,
      "rot_loss": 0.279296875,
      "step": 5430
    },
    {
      "epoch": 1.2185326452770922,
      "grad_norm": 1.1322846412658691,
      "learning_rate": 0.0003363296648623341,
      "loss": 0.1063,
      "step": 5431
    },
    {
      "epoch": 1.2185326452770922,
      "gripper_loss": 0.08349609375,
      "loss": 0.0908203125,
      "pos_loss": 0.546875,
      "rot_loss": 0.28515625,
      "step": 5431
    },
    {
      "epoch": 1.2187570114426745,
      "grad_norm": 0.552550196647644,
      "learning_rate": 0.00033627282797239234,
      "loss": 0.0651,
      "step": 5432
    },
    {
      "epoch": 1.2187570114426745,
      "gripper_loss": 0.06396484375,
      "loss": 0.060302734375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.06591796875,
      "step": 5432
    },
    {
      "epoch": 1.2189813776082568,
      "grad_norm": 0.8578405976295471,
      "learning_rate": 0.00033621598602,
      "loss": 0.095,
      "step": 5433
    },
    {
      "epoch": 1.2189813776082568,
      "gripper_loss": 0.39453125,
      "loss": 0.10546875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.271484375,
      "step": 5433
    },
    {
      "epoch": 1.2192057437738388,
      "grad_norm": 0.8748388886451721,
      "learning_rate": 0.0003361591390084925,
      "loss": 0.1052,
      "step": 5434
    },
    {
      "epoch": 1.2192057437738388,
      "gripper_loss": 0.275390625,
      "loss": 0.08251953125,
      "pos_loss": 0.5859375,
      "rot_loss": 0.0625,
      "step": 5434
    },
    {
      "epoch": 1.2194301099394211,
      "grad_norm": 0.7707170248031616,
      "learning_rate": 0.00033610228694120557,
      "loss": 0.0772,
      "step": 5435
    },
    {
      "epoch": 1.2194301099394211,
      "gripper_loss": 0.07275390625,
      "loss": 0.06640625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.1025390625,
      "step": 5435
    },
    {
      "epoch": 1.2196544761050034,
      "grad_norm": 0.7128289341926575,
      "learning_rate": 0.00033604542982147543,
      "loss": 0.0652,
      "step": 5436
    },
    {
      "epoch": 1.2196544761050034,
      "gripper_loss": 0.2041015625,
      "loss": 0.024169921875,
      "pos_loss": 0.0498046875,
      "rot_loss": 0.05517578125,
      "step": 5436
    },
    {
      "epoch": 1.2198788422705855,
      "grad_norm": 0.626013994216919,
      "learning_rate": 0.0003359885676526383,
      "loss": 0.0775,
      "step": 5437
    },
    {
      "epoch": 1.2198788422705855,
      "gripper_loss": 0.65234375,
      "loss": 0.279296875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.859375,
      "step": 5437
    },
    {
      "epoch": 1.2201032084361678,
      "grad_norm": 1.3048903942108154,
      "learning_rate": 0.00033593170043803085,
      "loss": 0.2445,
      "step": 5438
    },
    {
      "epoch": 1.2201032084361678,
      "gripper_loss": 0.1669921875,
      "loss": 0.10693359375,
      "pos_loss": 0.23828125,
      "rot_loss": 0.3359375,
      "step": 5438
    },
    {
      "epoch": 1.2203275746017501,
      "grad_norm": 1.0231997966766357,
      "learning_rate": 0.00033587482818099004,
      "loss": 0.1515,
      "step": 5439
    },
    {
      "epoch": 1.2203275746017501,
      "gripper_loss": 0.041748046875,
      "loss": 0.049560546875,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.298828125,
      "step": 5439
    },
    {
      "epoch": 1.2205519407673322,
      "grad_norm": 0.5363473296165466,
      "learning_rate": 0.0003358179508848531,
      "loss": 0.0744,
      "step": 5440
    },
    {
      "epoch": 1.2205519407673322,
      "gripper_loss": 0.0859375,
      "loss": 0.059814453125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.07861328125,
      "step": 5440
    },
    {
      "epoch": 1.2207763069329145,
      "grad_norm": 0.7933125495910645,
      "learning_rate": 0.0003357610685529575,
      "loss": 0.1275,
      "step": 5441
    },
    {
      "epoch": 1.2207763069329145,
      "gripper_loss": 0.08056640625,
      "loss": 0.130859375,
      "pos_loss": 1.0,
      "rot_loss": 0.267578125,
      "step": 5441
    },
    {
      "epoch": 1.2210006730984968,
      "grad_norm": 0.6385868191719055,
      "learning_rate": 0.0003357041811886411,
      "loss": 0.1,
      "step": 5442
    },
    {
      "epoch": 1.2210006730984968,
      "gripper_loss": 0.0250244140625,
      "loss": 0.107421875,
      "pos_loss": 0.7890625,
      "rot_loss": 0.212890625,
      "step": 5442
    },
    {
      "epoch": 1.2212250392640789,
      "grad_norm": 0.5804657340049744,
      "learning_rate": 0.0003356472887952421,
      "loss": 0.0754,
      "step": 5443
    },
    {
      "epoch": 1.2212250392640789,
      "gripper_loss": 0.05322265625,
      "loss": 0.0673828125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.25390625,
      "step": 5443
    },
    {
      "epoch": 1.2214494054296612,
      "grad_norm": 0.5721885561943054,
      "learning_rate": 0.0003355903913760989,
      "loss": 0.0965,
      "step": 5444
    },
    {
      "epoch": 1.2214494054296612,
      "gripper_loss": 0.02880859375,
      "loss": 0.02880859375,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.11767578125,
      "step": 5444
    },
    {
      "epoch": 1.2216737715952435,
      "grad_norm": 0.6611214876174927,
      "learning_rate": 0.00033553348893455024,
      "loss": 0.0666,
      "step": 5445
    },
    {
      "epoch": 1.2216737715952435,
      "gripper_loss": 0.25390625,
      "loss": 0.18359375,
      "pos_loss": 0.5625,
      "rot_loss": 0.66796875,
      "step": 5445
    },
    {
      "epoch": 1.2218981377608258,
      "grad_norm": 1.1092694997787476,
      "learning_rate": 0.00033547658147393494,
      "loss": 0.1573,
      "step": 5446
    },
    {
      "epoch": 1.2218981377608258,
      "gripper_loss": 1.453125,
      "loss": 0.158203125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.193359375,
      "step": 5446
    },
    {
      "epoch": 1.2221225039264079,
      "grad_norm": 0.5441544651985168,
      "learning_rate": 0.00033541966899759256,
      "loss": 0.0821,
      "step": 5447
    },
    {
      "epoch": 1.2221225039264079,
      "gripper_loss": 0.46875,
      "loss": 0.0576171875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.048828125,
      "step": 5447
    },
    {
      "epoch": 1.2223468700919902,
      "grad_norm": 0.7745509743690491,
      "learning_rate": 0.00033536275150886254,
      "loss": 0.1018,
      "step": 5448
    },
    {
      "epoch": 1.2223468700919902,
      "gripper_loss": 0.279296875,
      "loss": 0.033203125,
      "pos_loss": 0.1484375,
      "rot_loss": 0.024658203125,
      "step": 5448
    },
    {
      "epoch": 1.2225712362575725,
      "grad_norm": 0.6577933430671692,
      "learning_rate": 0.00033530582901108476,
      "loss": 0.0844,
      "step": 5449
    },
    {
      "epoch": 1.2225712362575725,
      "gripper_loss": 0.28515625,
      "loss": 0.0947265625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.19140625,
      "step": 5449
    },
    {
      "epoch": 1.2227956024231545,
      "grad_norm": 0.7161952257156372,
      "learning_rate": 0.00033524890150759943,
      "loss": 0.0764,
      "step": 5450
    },
    {
      "epoch": 1.2227956024231545,
      "gripper_loss": 0.06396484375,
      "loss": 0.057861328125,
      "pos_loss": 0.30078125,
      "rot_loss": 0.1591796875,
      "step": 5450
    },
    {
      "epoch": 1.2230199685887368,
      "grad_norm": 0.7304654717445374,
      "learning_rate": 0.00033519196900174726,
      "loss": 0.1014,
      "step": 5451
    },
    {
      "epoch": 1.2230199685887368,
      "gripper_loss": 0.044189453125,
      "loss": 0.044921875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.1416015625,
      "step": 5451
    },
    {
      "epoch": 1.2232443347543192,
      "grad_norm": 0.6310789585113525,
      "learning_rate": 0.0003351350314968686,
      "loss": 0.093,
      "step": 5452
    },
    {
      "epoch": 1.2232443347543192,
      "gripper_loss": 0.2412109375,
      "loss": 0.039306640625,
      "pos_loss": 0.162109375,
      "rot_loss": 0.11328125,
      "step": 5452
    },
    {
      "epoch": 1.2234687009199012,
      "grad_norm": 0.4436497688293457,
      "learning_rate": 0.00033507808899630495,
      "loss": 0.0727,
      "step": 5453
    },
    {
      "epoch": 1.2234687009199012,
      "gripper_loss": 0.296875,
      "loss": 0.119140625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.2412109375,
      "step": 5453
    },
    {
      "epoch": 1.2236930670854835,
      "grad_norm": 0.490320086479187,
      "learning_rate": 0.00033502114150339723,
      "loss": 0.079,
      "step": 5454
    },
    {
      "epoch": 1.2236930670854835,
      "gripper_loss": 0.65234375,
      "loss": 0.1630859375,
      "pos_loss": 1.375,
      "rot_loss": 0.09326171875,
      "step": 5454
    },
    {
      "epoch": 1.2239174332510658,
      "grad_norm": 0.436639666557312,
      "learning_rate": 0.0003349641890214875,
      "loss": 0.0741,
      "step": 5455
    },
    {
      "epoch": 1.2239174332510658,
      "gripper_loss": 0.859375,
      "loss": 0.1357421875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.181640625,
      "step": 5455
    },
    {
      "epoch": 1.224141799416648,
      "grad_norm": 0.788006603717804,
      "learning_rate": 0.00033490723155391744,
      "loss": 0.1054,
      "step": 5456
    },
    {
      "epoch": 1.224141799416648,
      "gripper_loss": 0.03173828125,
      "loss": 0.07568359375,
      "pos_loss": 0.458984375,
      "rot_loss": 0.267578125,
      "step": 5456
    },
    {
      "epoch": 1.2243661655822302,
      "grad_norm": 0.5370804071426392,
      "learning_rate": 0.0003348502691040294,
      "loss": 0.0675,
      "step": 5457
    },
    {
      "epoch": 1.2243661655822302,
      "gripper_loss": 0.07275390625,
      "loss": 0.043701171875,
      "pos_loss": 0.275390625,
      "rot_loss": 0.09716796875,
      "step": 5457
    },
    {
      "epoch": 1.2245905317478125,
      "grad_norm": 0.73261958360672,
      "learning_rate": 0.0003347933016751659,
      "loss": 0.0933,
      "step": 5458
    },
    {
      "epoch": 1.2245905317478125,
      "gripper_loss": 0.014892578125,
      "loss": 0.080078125,
      "pos_loss": 0.625,
      "rot_loss": 0.1298828125,
      "step": 5458
    },
    {
      "epoch": 1.2248148979133946,
      "grad_norm": 0.44460734724998474,
      "learning_rate": 0.00033473632927066973,
      "loss": 0.0767,
      "step": 5459
    },
    {
      "epoch": 1.2248148979133946,
      "gripper_loss": 0.043212890625,
      "loss": 0.0869140625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.10546875,
      "step": 5459
    },
    {
      "epoch": 1.225039264078977,
      "grad_norm": 0.545586109161377,
      "learning_rate": 0.00033467935189388404,
      "loss": 0.1075,
      "step": 5460
    },
    {
      "epoch": 1.225039264078977,
      "gripper_loss": 0.578125,
      "loss": 0.1279296875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.828125,
      "step": 5460
    },
    {
      "epoch": 1.2252636302445592,
      "grad_norm": 0.48041704297065735,
      "learning_rate": 0.00033462236954815225,
      "loss": 0.0907,
      "step": 5461
    },
    {
      "epoch": 1.2252636302445592,
      "gripper_loss": 0.388671875,
      "loss": 0.126953125,
      "pos_loss": 0.96484375,
      "rot_loss": 0.193359375,
      "step": 5461
    },
    {
      "epoch": 1.2254879964101413,
      "grad_norm": 0.4966232180595398,
      "learning_rate": 0.000334565382236818,
      "loss": 0.0778,
      "step": 5462
    },
    {
      "epoch": 1.2254879964101413,
      "gripper_loss": 0.0615234375,
      "loss": 0.0810546875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.1943359375,
      "step": 5462
    },
    {
      "epoch": 1.2257123625757236,
      "grad_norm": 0.4647124707698822,
      "learning_rate": 0.0003345083899632253,
      "loss": 0.0645,
      "step": 5463
    },
    {
      "epoch": 1.2257123625757236,
      "gripper_loss": 2.28125,
      "loss": 0.1259765625,
      "pos_loss": 0.40234375,
      "rot_loss": 0.111328125,
      "step": 5463
    },
    {
      "epoch": 1.2259367287413059,
      "grad_norm": 0.5550311207771301,
      "learning_rate": 0.0003344513927307185,
      "loss": 0.0869,
      "step": 5464
    },
    {
      "epoch": 1.2259367287413059,
      "gripper_loss": 0.017578125,
      "loss": 0.10888671875,
      "pos_loss": 0.828125,
      "rot_loss": 0.271484375,
      "step": 5464
    },
    {
      "epoch": 1.226161094906888,
      "grad_norm": 0.5229936242103577,
      "learning_rate": 0.000334394390542642,
      "loss": 0.0706,
      "step": 5465
    },
    {
      "epoch": 1.226161094906888,
      "gripper_loss": 1.2265625,
      "loss": 0.047607421875,
      "pos_loss": 0.02783203125,
      "rot_loss": 0.025634765625,
      "step": 5465
    },
    {
      "epoch": 1.2263854610724703,
      "grad_norm": 0.6823935508728027,
      "learning_rate": 0.0003343373834023409,
      "loss": 0.0943,
      "step": 5466
    },
    {
      "epoch": 1.2263854610724703,
      "gripper_loss": 0.1181640625,
      "loss": 0.0732421875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.154296875,
      "step": 5466
    },
    {
      "epoch": 1.2266098272380526,
      "grad_norm": 0.6833921670913696,
      "learning_rate": 0.00033428037131316013,
      "loss": 0.1187,
      "step": 5467
    },
    {
      "epoch": 1.2266098272380526,
      "gripper_loss": 0.03125,
      "loss": 0.126953125,
      "pos_loss": 1.1796875,
      "rot_loss": 0.1171875,
      "step": 5467
    },
    {
      "epoch": 1.2268341934036346,
      "grad_norm": 0.6434644460678101,
      "learning_rate": 0.0003342233542784453,
      "loss": 0.0999,
      "step": 5468
    },
    {
      "epoch": 1.2268341934036346,
      "gripper_loss": 0.37109375,
      "loss": 0.02099609375,
      "pos_loss": 0.0306396484375,
      "rot_loss": 0.0208740234375,
      "step": 5468
    },
    {
      "epoch": 1.227058559569217,
      "grad_norm": 0.32825928926467896,
      "learning_rate": 0.0003341663323015421,
      "loss": 0.0674,
      "step": 5469
    },
    {
      "epoch": 1.227058559569217,
      "gripper_loss": 0.09033203125,
      "loss": 0.2216796875,
      "pos_loss": 1.015625,
      "rot_loss": 1.265625,
      "step": 5469
    },
    {
      "epoch": 1.2272829257347992,
      "grad_norm": 0.5688720941543579,
      "learning_rate": 0.0003341093053857965,
      "loss": 0.1006,
      "step": 5470
    },
    {
      "epoch": 1.2272829257347992,
      "gripper_loss": 0.419921875,
      "loss": 0.1259765625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.435546875,
      "step": 5470
    },
    {
      "epoch": 1.2275072919003813,
      "grad_norm": 1.0038130283355713,
      "learning_rate": 0.0003340522735345548,
      "loss": 0.1374,
      "step": 5471
    },
    {
      "epoch": 1.2275072919003813,
      "gripper_loss": 0.060302734375,
      "loss": 0.1318359375,
      "pos_loss": 1.1875,
      "rot_loss": 0.1279296875,
      "step": 5471
    },
    {
      "epoch": 1.2277316580659636,
      "grad_norm": 0.5662312507629395,
      "learning_rate": 0.0003339952367511636,
      "loss": 0.1,
      "step": 5472
    },
    {
      "epoch": 1.2277316580659636,
      "gripper_loss": 0.05615234375,
      "loss": 0.080078125,
      "pos_loss": 0.408203125,
      "rot_loss": 0.37109375,
      "step": 5472
    },
    {
      "epoch": 1.227956024231546,
      "grad_norm": 0.514034628868103,
      "learning_rate": 0.00033393819503896993,
      "loss": 0.0966,
      "step": 5473
    },
    {
      "epoch": 1.227956024231546,
      "gripper_loss": 0.7421875,
      "loss": 0.0308837890625,
      "pos_loss": 0.0162353515625,
      "rot_loss": 0.0126953125,
      "step": 5473
    },
    {
      "epoch": 1.228180390397128,
      "grad_norm": 0.5212000608444214,
      "learning_rate": 0.00033388114840132086,
      "loss": 0.1099,
      "step": 5474
    },
    {
      "epoch": 1.228180390397128,
      "gripper_loss": 0.478515625,
      "loss": 0.052001953125,
      "pos_loss": 0.326171875,
      "rot_loss": 0.01397705078125,
      "step": 5474
    },
    {
      "epoch": 1.2284047565627103,
      "grad_norm": 0.40779009461402893,
      "learning_rate": 0.000333824096841564,
      "loss": 0.0614,
      "step": 5475
    },
    {
      "epoch": 1.2284047565627103,
      "gripper_loss": 0.1318359375,
      "loss": 0.0595703125,
      "pos_loss": 0.3125,
      "rot_loss": 0.22265625,
      "step": 5475
    },
    {
      "epoch": 1.2286291227282926,
      "grad_norm": 0.6805387735366821,
      "learning_rate": 0.00033376704036304684,
      "loss": 0.1119,
      "step": 5476
    },
    {
      "epoch": 1.2286291227282926,
      "gripper_loss": 0.55078125,
      "loss": 0.052734375,
      "pos_loss": 0.2265625,
      "rot_loss": 0.07421875,
      "step": 5476
    },
    {
      "epoch": 1.2288534888938747,
      "grad_norm": 0.8215305209159851,
      "learning_rate": 0.00033370997896911764,
      "loss": 0.0794,
      "step": 5477
    },
    {
      "epoch": 1.2288534888938747,
      "gripper_loss": 0.5625,
      "loss": 0.10205078125,
      "pos_loss": 0.609375,
      "rot_loss": 0.1416015625,
      "step": 5477
    },
    {
      "epoch": 1.229077855059457,
      "grad_norm": 1.140599012374878,
      "learning_rate": 0.00033365291266312464,
      "loss": 0.0961,
      "step": 5478
    },
    {
      "epoch": 1.229077855059457,
      "gripper_loss": 0.2275390625,
      "loss": 0.10205078125,
      "pos_loss": 0.6640625,
      "rot_loss": 0.1845703125,
      "step": 5478
    },
    {
      "epoch": 1.2293022212250393,
      "grad_norm": 0.5250858068466187,
      "learning_rate": 0.00033359584144841654,
      "loss": 0.0566,
      "step": 5479
    },
    {
      "epoch": 1.2293022212250393,
      "gripper_loss": 0.036865234375,
      "loss": 0.043701171875,
      "pos_loss": 0.322265625,
      "rot_loss": 0.054931640625,
      "step": 5479
    },
    {
      "epoch": 1.2295265873906214,
      "grad_norm": 0.4983155429363251,
      "learning_rate": 0.0003335387653283423,
      "loss": 0.0541,
      "step": 5480
    },
    {
      "epoch": 1.2295265873906214,
      "gripper_loss": 0.06005859375,
      "loss": 0.061279296875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.1494140625,
      "step": 5480
    },
    {
      "epoch": 1.2297509535562037,
      "grad_norm": 0.550390899181366,
      "learning_rate": 0.00033348168430625093,
      "loss": 0.0678,
      "step": 5481
    },
    {
      "epoch": 1.2297509535562037,
      "gripper_loss": 0.05224609375,
      "loss": 0.26171875,
      "pos_loss": 1.1796875,
      "rot_loss": 1.515625,
      "step": 5481
    },
    {
      "epoch": 1.229975319721786,
      "grad_norm": 0.799741804599762,
      "learning_rate": 0.000333424598385492,
      "loss": 0.1322,
      "step": 5482
    },
    {
      "epoch": 1.229975319721786,
      "gripper_loss": 1.0546875,
      "loss": 0.05908203125,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.146484375,
      "step": 5482
    },
    {
      "epoch": 1.2301996858873683,
      "grad_norm": 0.7939674854278564,
      "learning_rate": 0.00033336750756941537,
      "loss": 0.0952,
      "step": 5483
    },
    {
      "epoch": 1.2301996858873683,
      "gripper_loss": 0.12158203125,
      "loss": 0.2412109375,
      "pos_loss": 1.1796875,
      "rot_loss": 1.2890625,
      "step": 5483
    },
    {
      "epoch": 1.2304240520529504,
      "grad_norm": 0.7711969017982483,
      "learning_rate": 0.00033331041186137104,
      "loss": 0.1017,
      "step": 5484
    },
    {
      "epoch": 1.2304240520529504,
      "gripper_loss": 0.419921875,
      "loss": 0.045654296875,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.10595703125,
      "step": 5484
    },
    {
      "epoch": 1.2306484182185327,
      "grad_norm": 0.5087930560112,
      "learning_rate": 0.0003332533112647093,
      "loss": 0.0717,
      "step": 5485
    },
    {
      "epoch": 1.2306484182185327,
      "gripper_loss": 1.75,
      "loss": 0.09912109375,
      "pos_loss": 0.251953125,
      "rot_loss": 0.1669921875,
      "step": 5485
    },
    {
      "epoch": 1.230872784384115,
      "grad_norm": 0.5646671056747437,
      "learning_rate": 0.0003331962057827809,
      "loss": 0.0573,
      "step": 5486
    },
    {
      "epoch": 1.230872784384115,
      "gripper_loss": 1.2734375,
      "loss": 0.1162109375,
      "pos_loss": 0.287109375,
      "rot_loss": 0.310546875,
      "step": 5486
    },
    {
      "epoch": 1.231097150549697,
      "grad_norm": 1.0718401670455933,
      "learning_rate": 0.00033313909541893673,
      "loss": 0.1158,
      "step": 5487
    },
    {
      "epoch": 1.231097150549697,
      "gripper_loss": 0.0159912109375,
      "loss": 0.047607421875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1259765625,
      "step": 5487
    },
    {
      "epoch": 1.2313215167152793,
      "grad_norm": 0.4797566533088684,
      "learning_rate": 0.00033308198017652804,
      "loss": 0.0592,
      "step": 5488
    },
    {
      "epoch": 1.2313215167152793,
      "gripper_loss": 0.37890625,
      "loss": 0.10400390625,
      "pos_loss": 0.63671875,
      "rot_loss": 0.275390625,
      "step": 5488
    },
    {
      "epoch": 1.2315458828808616,
      "grad_norm": 0.6783708333969116,
      "learning_rate": 0.00033302486005890616,
      "loss": 0.0652,
      "step": 5489
    },
    {
      "epoch": 1.2315458828808616,
      "gripper_loss": 0.0537109375,
      "loss": 0.125,
      "pos_loss": 0.8515625,
      "rot_loss": 0.39453125,
      "step": 5489
    },
    {
      "epoch": 1.2317702490464437,
      "grad_norm": 0.6737259030342102,
      "learning_rate": 0.00033296773506942307,
      "loss": 0.12,
      "step": 5490
    },
    {
      "epoch": 1.2317702490464437,
      "gripper_loss": 0.2392578125,
      "loss": 0.04150390625,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.1611328125,
      "step": 5490
    },
    {
      "epoch": 1.231994615212026,
      "grad_norm": 0.7585441470146179,
      "learning_rate": 0.0003329106052114307,
      "loss": 0.0629,
      "step": 5491
    },
    {
      "epoch": 1.231994615212026,
      "gripper_loss": 0.031982421875,
      "loss": 0.12451171875,
      "pos_loss": 1.203125,
      "rot_loss": 0.055419921875,
      "step": 5491
    },
    {
      "epoch": 1.2322189813776083,
      "grad_norm": 0.5915888547897339,
      "learning_rate": 0.0003328534704882815,
      "loss": 0.068,
      "step": 5492
    },
    {
      "epoch": 1.2322189813776083,
      "gripper_loss": 0.15234375,
      "loss": 0.1708984375,
      "pos_loss": 0.51171875,
      "rot_loss": 1.1015625,
      "step": 5492
    },
    {
      "epoch": 1.2324433475431904,
      "grad_norm": 0.5375484824180603,
      "learning_rate": 0.00033279633090332807,
      "loss": 0.1019,
      "step": 5493
    },
    {
      "epoch": 1.2324433475431904,
      "gripper_loss": 0.08447265625,
      "loss": 0.036865234375,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.10400390625,
      "step": 5493
    },
    {
      "epoch": 1.2326677137087727,
      "grad_norm": 0.35262489318847656,
      "learning_rate": 0.0003327391864599234,
      "loss": 0.0549,
      "step": 5494
    },
    {
      "epoch": 1.2326677137087727,
      "gripper_loss": 0.2353515625,
      "loss": 0.038330078125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.09716796875,
      "step": 5494
    },
    {
      "epoch": 1.232892079874355,
      "grad_norm": 0.453891783952713,
      "learning_rate": 0.0003326820371614205,
      "loss": 0.0759,
      "step": 5495
    },
    {
      "epoch": 1.232892079874355,
      "gripper_loss": 0.1611328125,
      "loss": 0.06982421875,
      "pos_loss": 0.478515625,
      "rot_loss": 0.11572265625,
      "step": 5495
    },
    {
      "epoch": 1.233116446039937,
      "grad_norm": 0.5739248991012573,
      "learning_rate": 0.00033262488301117303,
      "loss": 0.1299,
      "step": 5496
    },
    {
      "epoch": 1.233116446039937,
      "gripper_loss": 0.80859375,
      "loss": 0.04052734375,
      "pos_loss": 0.083984375,
      "rot_loss": 0.0230712890625,
      "step": 5496
    },
    {
      "epoch": 1.2333408122055194,
      "grad_norm": 0.4006028473377228,
      "learning_rate": 0.00033256772401253474,
      "loss": 0.0507,
      "step": 5497
    },
    {
      "epoch": 1.2333408122055194,
      "gripper_loss": 0.13671875,
      "loss": 0.1220703125,
      "pos_loss": 0.83984375,
      "rot_loss": 0.349609375,
      "step": 5497
    },
    {
      "epoch": 1.2335651783711017,
      "grad_norm": 0.6759116053581238,
      "learning_rate": 0.00033251056016885976,
      "loss": 0.0975,
      "step": 5498
    },
    {
      "epoch": 1.2335651783711017,
      "gripper_loss": 0.1298828125,
      "loss": 0.0625,
      "pos_loss": 0.42578125,
      "rot_loss": 0.1435546875,
      "step": 5498
    },
    {
      "epoch": 1.233789544536684,
      "grad_norm": 0.5163965225219727,
      "learning_rate": 0.0003324533914835023,
      "loss": 0.0803,
      "step": 5499
    },
    {
      "epoch": 1.233789544536684,
      "gripper_loss": 0.3671875,
      "loss": 0.051513671875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.0286865234375,
      "step": 5499
    },
    {
      "epoch": 1.234013910702266,
      "grad_norm": 0.47581130266189575,
      "learning_rate": 0.0003323962179598171,
      "loss": 0.0724,
      "step": 5500
    },
    {
      "epoch": 1.234013910702266,
      "gripper_loss": 0.431640625,
      "loss": 0.07177734375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.23828125,
      "step": 5500
    },
    {
      "epoch": 1.2342382768678484,
      "grad_norm": 0.5249292850494385,
      "learning_rate": 0.00033233903960115907,
      "loss": 0.075,
      "step": 5501
    },
    {
      "epoch": 1.2342382768678484,
      "gripper_loss": 0.051513671875,
      "loss": 0.068359375,
      "pos_loss": 0.578125,
      "rot_loss": 0.07275390625,
      "step": 5501
    },
    {
      "epoch": 1.2344626430334307,
      "grad_norm": 0.48345452547073364,
      "learning_rate": 0.00033228185641088326,
      "loss": 0.0546,
      "step": 5502
    },
    {
      "epoch": 1.2344626430334307,
      "gripper_loss": 0.65625,
      "loss": 0.08154296875,
      "pos_loss": 0.4765625,
      "rot_loss": 0.09423828125,
      "step": 5502
    },
    {
      "epoch": 1.2346870091990128,
      "grad_norm": 0.37761756777763367,
      "learning_rate": 0.00033222466839234543,
      "loss": 0.0553,
      "step": 5503
    },
    {
      "epoch": 1.2346870091990128,
      "gripper_loss": 0.2353515625,
      "loss": 0.060791015625,
      "pos_loss": 0.431640625,
      "rot_loss": 0.08203125,
      "step": 5503
    },
    {
      "epoch": 1.234911375364595,
      "grad_norm": 0.515004575252533,
      "learning_rate": 0.00033216747554890117,
      "loss": 0.0755,
      "step": 5504
    },
    {
      "epoch": 1.234911375364595,
      "gripper_loss": 0.017578125,
      "loss": 0.248046875,
      "pos_loss": 1.6015625,
      "rot_loss": 0.984375,
      "step": 5504
    },
    {
      "epoch": 1.2351357415301774,
      "grad_norm": 0.804972767829895,
      "learning_rate": 0.00033211027788390647,
      "loss": 0.1199,
      "step": 5505
    },
    {
      "epoch": 1.2351357415301774,
      "gripper_loss": 0.022216796875,
      "loss": 0.1142578125,
      "pos_loss": 1.09375,
      "rot_loss": 0.06884765625,
      "step": 5505
    },
    {
      "epoch": 1.2353601076957594,
      "grad_norm": 0.5283986330032349,
      "learning_rate": 0.0003320530754007178,
      "loss": 0.1183,
      "step": 5506
    },
    {
      "epoch": 1.2353601076957594,
      "gripper_loss": 0.2099609375,
      "loss": 0.034423828125,
      "pos_loss": 0.138671875,
      "rot_loss": 0.11328125,
      "step": 5506
    },
    {
      "epoch": 1.2355844738613417,
      "grad_norm": 0.49921470880508423,
      "learning_rate": 0.00033199586810269164,
      "loss": 0.0677,
      "step": 5507
    },
    {
      "epoch": 1.2355844738613417,
      "gripper_loss": 0.04248046875,
      "loss": 0.09521484375,
      "pos_loss": 0.765625,
      "rot_loss": 0.1669921875,
      "step": 5507
    },
    {
      "epoch": 1.235808840026924,
      "grad_norm": 0.3794584572315216,
      "learning_rate": 0.00033193865599318506,
      "loss": 0.0629,
      "step": 5508
    },
    {
      "epoch": 1.235808840026924,
      "gripper_loss": 0.027099609375,
      "loss": 0.16796875,
      "pos_loss": 1.5390625,
      "rot_loss": 0.17578125,
      "step": 5508
    },
    {
      "epoch": 1.2360332061925061,
      "grad_norm": 0.44357040524482727,
      "learning_rate": 0.0003318814390755551,
      "loss": 0.1002,
      "step": 5509
    },
    {
      "epoch": 1.2360332061925061,
      "gripper_loss": 1.1484375,
      "loss": 0.0771484375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.0869140625,
      "step": 5509
    },
    {
      "epoch": 1.2362575723580884,
      "grad_norm": 0.6331603527069092,
      "learning_rate": 0.0003318242173531594,
      "loss": 0.0783,
      "step": 5510
    },
    {
      "epoch": 1.2362575723580884,
      "gripper_loss": 0.373046875,
      "loss": 0.08935546875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.2001953125,
      "step": 5510
    },
    {
      "epoch": 1.2364819385236707,
      "grad_norm": 0.5014552474021912,
      "learning_rate": 0.00033176699082935546,
      "loss": 0.0969,
      "step": 5511
    },
    {
      "epoch": 1.2364819385236707,
      "gripper_loss": 0.0162353515625,
      "loss": 0.0299072265625,
      "pos_loss": 0.2265625,
      "rot_loss": 0.039794921875,
      "step": 5511
    },
    {
      "epoch": 1.2367063046892528,
      "grad_norm": 0.3048904836177826,
      "learning_rate": 0.0003317097595075014,
      "loss": 0.0505,
      "step": 5512
    },
    {
      "epoch": 1.2367063046892528,
      "gripper_loss": 0.11962890625,
      "loss": 0.0380859375,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.08544921875,
      "step": 5512
    },
    {
      "epoch": 1.236930670854835,
      "grad_norm": 0.5445057153701782,
      "learning_rate": 0.0003316525233909556,
      "loss": 0.0976,
      "step": 5513
    },
    {
      "epoch": 1.236930670854835,
      "gripper_loss": 0.1484375,
      "loss": 0.0634765625,
      "pos_loss": 0.458984375,
      "rot_loss": 0.11279296875,
      "step": 5513
    },
    {
      "epoch": 1.2371550370204174,
      "grad_norm": 0.39690250158309937,
      "learning_rate": 0.0003315952824830766,
      "loss": 0.0565,
      "step": 5514
    },
    {
      "epoch": 1.2371550370204174,
      "gripper_loss": 0.55859375,
      "loss": 0.08984375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.024658203125,
      "step": 5514
    },
    {
      "epoch": 1.2373794031859995,
      "grad_norm": 0.4634948968887329,
      "learning_rate": 0.00033153803678722326,
      "loss": 0.0916,
      "step": 5515
    },
    {
      "epoch": 1.2373794031859995,
      "gripper_loss": 0.26953125,
      "loss": 0.0361328125,
      "pos_loss": 0.173828125,
      "rot_loss": 0.07666015625,
      "step": 5515
    },
    {
      "epoch": 1.2376037693515818,
      "grad_norm": 0.4716145694255829,
      "learning_rate": 0.00033148078630675483,
      "loss": 0.0926,
      "step": 5516
    },
    {
      "epoch": 1.2376037693515818,
      "gripper_loss": 0.55078125,
      "loss": 0.11083984375,
      "pos_loss": 0.7109375,
      "rot_loss": 0.2265625,
      "step": 5516
    },
    {
      "epoch": 1.237828135517164,
      "grad_norm": 0.47479385137557983,
      "learning_rate": 0.00033142353104503056,
      "loss": 0.0958,
      "step": 5517
    },
    {
      "epoch": 1.237828135517164,
      "gripper_loss": 0.1875,
      "loss": 0.10546875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.28125,
      "step": 5517
    },
    {
      "epoch": 1.2380525016827462,
      "grad_norm": 0.6949250102043152,
      "learning_rate": 0.00033136627100541026,
      "loss": 0.0932,
      "step": 5518
    },
    {
      "epoch": 1.2380525016827462,
      "gripper_loss": 0.0240478515625,
      "loss": 0.09619140625,
      "pos_loss": 0.828125,
      "rot_loss": 0.1337890625,
      "step": 5518
    },
    {
      "epoch": 1.2382768678483285,
      "grad_norm": 0.40439316630363464,
      "learning_rate": 0.0003313090061912539,
      "loss": 0.0798,
      "step": 5519
    },
    {
      "epoch": 1.2382768678483285,
      "gripper_loss": 0.12890625,
      "loss": 0.043212890625,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.212890625,
      "step": 5519
    },
    {
      "epoch": 1.2385012340139108,
      "grad_norm": 0.477322518825531,
      "learning_rate": 0.00033125173660592184,
      "loss": 0.1015,
      "step": 5520
    },
    {
      "epoch": 1.2385012340139108,
      "gripper_loss": 0.3671875,
      "loss": 0.1416015625,
      "pos_loss": 0.8359375,
      "rot_loss": 0.5078125,
      "step": 5520
    },
    {
      "epoch": 1.2387256001794928,
      "grad_norm": 0.43324223160743713,
      "learning_rate": 0.0003311944622527746,
      "loss": 0.1026,
      "step": 5521
    },
    {
      "epoch": 1.2387256001794928,
      "gripper_loss": 0.255859375,
      "loss": 0.09619140625,
      "pos_loss": 0.34375,
      "rot_loss": 0.55859375,
      "step": 5521
    },
    {
      "epoch": 1.2389499663450751,
      "grad_norm": 0.47926512360572815,
      "learning_rate": 0.00033113718313517294,
      "loss": 0.0667,
      "step": 5522
    },
    {
      "epoch": 1.2389499663450751,
      "gripper_loss": 0.020751953125,
      "loss": 0.11083984375,
      "pos_loss": 0.98828125,
      "rot_loss": 0.1416015625,
      "step": 5522
    },
    {
      "epoch": 1.2391743325106575,
      "grad_norm": 0.3942587375640869,
      "learning_rate": 0.00033107989925647795,
      "loss": 0.0558,
      "step": 5523
    },
    {
      "epoch": 1.2391743325106575,
      "gripper_loss": 0.2158203125,
      "loss": 0.040771484375,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.08984375,
      "step": 5523
    },
    {
      "epoch": 1.2393986986762395,
      "grad_norm": 0.5207319855690002,
      "learning_rate": 0.0003310226106200512,
      "loss": 0.0956,
      "step": 5524
    },
    {
      "epoch": 1.2393986986762395,
      "gripper_loss": 0.037353515625,
      "loss": 0.1298828125,
      "pos_loss": 0.96875,
      "rot_loss": 0.35546875,
      "step": 5524
    },
    {
      "epoch": 1.2396230648418218,
      "grad_norm": 0.7042356133460999,
      "learning_rate": 0.00033096531722925416,
      "loss": 0.1041,
      "step": 5525
    },
    {
      "epoch": 1.2396230648418218,
      "gripper_loss": 0.059326171875,
      "loss": 0.0712890625,
      "pos_loss": 0.4765625,
      "rot_loss": 0.2216796875,
      "step": 5525
    },
    {
      "epoch": 1.2398474310074041,
      "grad_norm": 0.5709494948387146,
      "learning_rate": 0.00033090801908744894,
      "loss": 0.1158,
      "step": 5526
    },
    {
      "epoch": 1.2398474310074041,
      "gripper_loss": 0.54296875,
      "loss": 0.2158203125,
      "pos_loss": 1.3046875,
      "rot_loss": 0.4453125,
      "step": 5526
    },
    {
      "epoch": 1.2400717971729862,
      "grad_norm": 0.8400819897651672,
      "learning_rate": 0.00033085071619799766,
      "loss": 0.1281,
      "step": 5527
    },
    {
      "epoch": 1.2400717971729862,
      "gripper_loss": 0.042236328125,
      "loss": 0.146484375,
      "pos_loss": 1.328125,
      "rot_loss": 0.1630859375,
      "step": 5527
    },
    {
      "epoch": 1.2402961633385685,
      "grad_norm": 0.3481667637825012,
      "learning_rate": 0.00033079340856426295,
      "loss": 0.1038,
      "step": 5528
    },
    {
      "epoch": 1.2402961633385685,
      "gripper_loss": 0.0654296875,
      "loss": 0.107421875,
      "pos_loss": 0.92578125,
      "rot_loss": 0.125,
      "step": 5528
    },
    {
      "epoch": 1.2405205295041508,
      "grad_norm": 0.5671361684799194,
      "learning_rate": 0.00033073609618960737,
      "loss": 0.0823,
      "step": 5529
    },
    {
      "epoch": 1.2405205295041508,
      "gripper_loss": 0.6953125,
      "loss": 0.0849609375,
      "pos_loss": 0.27734375,
      "rot_loss": 0.322265625,
      "step": 5529
    },
    {
      "epoch": 1.240744895669733,
      "grad_norm": 0.4521341919898987,
      "learning_rate": 0.00033067877907739417,
      "loss": 0.071,
      "step": 5530
    },
    {
      "epoch": 1.240744895669733,
      "gripper_loss": 0.0172119140625,
      "loss": 0.115234375,
      "pos_loss": 1.1015625,
      "rot_loss": 0.0439453125,
      "step": 5530
    },
    {
      "epoch": 1.2409692618353152,
      "grad_norm": 0.4558473825454712,
      "learning_rate": 0.0003306214572309867,
      "loss": 0.0967,
      "step": 5531
    },
    {
      "epoch": 1.2409692618353152,
      "gripper_loss": 1.0625,
      "loss": 0.1513671875,
      "pos_loss": 0.24609375,
      "rot_loss": 0.26171875,
      "step": 5531
    },
    {
      "epoch": 1.2411936280008975,
      "grad_norm": 1.2118651866912842,
      "learning_rate": 0.0003305641306537485,
      "loss": 0.1394,
      "step": 5532
    },
    {
      "epoch": 1.2411936280008975,
      "gripper_loss": 1.9609375,
      "loss": 0.1416015625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1484375,
      "step": 5532
    },
    {
      "epoch": 1.2414179941664796,
      "grad_norm": 0.7432328462600708,
      "learning_rate": 0.00033050679934904355,
      "loss": 0.116,
      "step": 5533
    },
    {
      "epoch": 1.2414179941664796,
      "gripper_loss": 0.07568359375,
      "loss": 0.1171875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.58984375,
      "step": 5533
    },
    {
      "epoch": 1.2416423603320619,
      "grad_norm": 0.4600839614868164,
      "learning_rate": 0.0003304494633202358,
      "loss": 0.0721,
      "step": 5534
    },
    {
      "epoch": 1.2416423603320619,
      "gripper_loss": 0.98046875,
      "loss": 0.0712890625,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.255859375,
      "step": 5534
    },
    {
      "epoch": 1.2418667264976442,
      "grad_norm": 0.5360367298126221,
      "learning_rate": 0.0003303921225706901,
      "loss": 0.0784,
      "step": 5535
    },
    {
      "epoch": 1.2418667264976442,
      "gripper_loss": 0.1318359375,
      "loss": 0.068359375,
      "pos_loss": 0.423828125,
      "rot_loss": 0.1318359375,
      "step": 5535
    },
    {
      "epoch": 1.2420910926632265,
      "grad_norm": 0.5438176393508911,
      "learning_rate": 0.0003303347771037708,
      "loss": 0.0711,
      "step": 5536
    },
    {
      "epoch": 1.2420910926632265,
      "gripper_loss": 0.042724609375,
      "loss": 0.08837890625,
      "pos_loss": 0.73046875,
      "rot_loss": 0.09912109375,
      "step": 5536
    },
    {
      "epoch": 1.2423154588288086,
      "grad_norm": 0.6466538906097412,
      "learning_rate": 0.00033027742692284313,
      "loss": 0.0877,
      "step": 5537
    },
    {
      "epoch": 1.2423154588288086,
      "gripper_loss": 0.054931640625,
      "loss": 0.05908203125,
      "pos_loss": 0.236328125,
      "rot_loss": 0.181640625,
      "step": 5537
    },
    {
      "epoch": 1.2425398249943909,
      "grad_norm": 0.9557052850723267,
      "learning_rate": 0.00033022007203127227,
      "loss": 0.1046,
      "step": 5538
    },
    {
      "epoch": 1.2425398249943909,
      "gripper_loss": 0.0262451171875,
      "loss": 0.09423828125,
      "pos_loss": 0.859375,
      "rot_loss": 0.08837890625,
      "step": 5538
    },
    {
      "epoch": 1.2427641911599732,
      "grad_norm": 0.7036576271057129,
      "learning_rate": 0.00033016271243242393,
      "loss": 0.0785,
      "step": 5539
    },
    {
      "epoch": 1.2427641911599732,
      "gripper_loss": 0.15234375,
      "loss": 0.031982421875,
      "pos_loss": 0.138671875,
      "rot_loss": 0.1015625,
      "step": 5539
    },
    {
      "epoch": 1.2429885573255552,
      "grad_norm": 0.4758307933807373,
      "learning_rate": 0.00033010534812966363,
      "loss": 0.0725,
      "step": 5540
    },
    {
      "epoch": 1.2429885573255552,
      "gripper_loss": 0.32421875,
      "loss": 0.12158203125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.6875,
      "step": 5540
    },
    {
      "epoch": 1.2432129234911375,
      "grad_norm": 0.7603670358657837,
      "learning_rate": 0.0003300479791263578,
      "loss": 0.0673,
      "step": 5541
    },
    {
      "epoch": 1.2432129234911375,
      "gripper_loss": 0.2177734375,
      "loss": 0.1328125,
      "pos_loss": 1.015625,
      "rot_loss": 0.25390625,
      "step": 5541
    },
    {
      "epoch": 1.2434372896567198,
      "grad_norm": 0.4417897164821625,
      "learning_rate": 0.00032999060542587263,
      "loss": 0.0614,
      "step": 5542
    },
    {
      "epoch": 1.2434372896567198,
      "gripper_loss": 0.0703125,
      "loss": 0.059814453125,
      "pos_loss": 0.341796875,
      "rot_loss": 0.1533203125,
      "step": 5542
    },
    {
      "epoch": 1.243661655822302,
      "grad_norm": 0.7077416777610779,
      "learning_rate": 0.00032993322703157494,
      "loss": 0.1027,
      "step": 5543
    },
    {
      "epoch": 1.243661655822302,
      "gripper_loss": 0.08203125,
      "loss": 0.06591796875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.109375,
      "step": 5543
    },
    {
      "epoch": 1.2438860219878842,
      "grad_norm": 0.8931683897972107,
      "learning_rate": 0.0003298758439468315,
      "loss": 0.0991,
      "step": 5544
    },
    {
      "epoch": 1.2438860219878842,
      "gripper_loss": 0.048828125,
      "loss": 0.0303955078125,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.054443359375,
      "step": 5544
    },
    {
      "epoch": 1.2441103881534665,
      "grad_norm": 0.5841155052185059,
      "learning_rate": 0.0003298184561750097,
      "loss": 0.0932,
      "step": 5545
    },
    {
      "epoch": 1.2441103881534665,
      "gripper_loss": 0.05224609375,
      "loss": 0.031494140625,
      "pos_loss": 0.173828125,
      "rot_loss": 0.09716796875,
      "step": 5545
    },
    {
      "epoch": 1.2443347543190486,
      "grad_norm": 0.40852344036102295,
      "learning_rate": 0.0003297610637194769,
      "loss": 0.075,
      "step": 5546
    },
    {
      "epoch": 1.2443347543190486,
      "gripper_loss": 0.0272216796875,
      "loss": 0.0556640625,
      "pos_loss": 0.158203125,
      "rot_loss": 0.357421875,
      "step": 5546
    },
    {
      "epoch": 1.244559120484631,
      "grad_norm": 0.4399036467075348,
      "learning_rate": 0.0003297036665836009,
      "loss": 0.0819,
      "step": 5547
    },
    {
      "epoch": 1.244559120484631,
      "gripper_loss": 0.078125,
      "loss": 0.012939453125,
      "pos_loss": 0.03564453125,
      "rot_loss": 0.01165771484375,
      "step": 5547
    },
    {
      "epoch": 1.2447834866502132,
      "grad_norm": 0.49255988001823425,
      "learning_rate": 0.0003296462647707497,
      "loss": 0.0741,
      "step": 5548
    },
    {
      "epoch": 1.2447834866502132,
      "gripper_loss": 0.020751953125,
      "loss": 0.0732421875,
      "pos_loss": 0.173828125,
      "rot_loss": 0.515625,
      "step": 5548
    },
    {
      "epoch": 1.2450078528157953,
      "grad_norm": 0.5746439099311829,
      "learning_rate": 0.0003295888582842917,
      "loss": 0.0855,
      "step": 5549
    },
    {
      "epoch": 1.2450078528157953,
      "gripper_loss": 0.12451171875,
      "loss": 0.04638671875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.0361328125,
      "step": 5549
    },
    {
      "epoch": 1.2452322189813776,
      "grad_norm": 0.4528830945491791,
      "learning_rate": 0.0003295314471275954,
      "loss": 0.0614,
      "step": 5550
    },
    {
      "epoch": 1.2452322189813776,
      "gripper_loss": 0.09326171875,
      "loss": 0.049560546875,
      "pos_loss": 0.150390625,
      "rot_loss": 0.189453125,
      "step": 5550
    },
    {
      "epoch": 1.24545658514696,
      "grad_norm": 0.7558385729789734,
      "learning_rate": 0.00032947403130402975,
      "loss": 0.0746,
      "step": 5551
    },
    {
      "epoch": 1.24545658514696,
      "gripper_loss": 0.236328125,
      "loss": 0.07080078125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.06689453125,
      "step": 5551
    },
    {
      "epoch": 1.245680951312542,
      "grad_norm": 0.4866975247859955,
      "learning_rate": 0.0003294166108169638,
      "loss": 0.0852,
      "step": 5552
    },
    {
      "epoch": 1.245680951312542,
      "gripper_loss": 0.0289306640625,
      "loss": 0.15625,
      "pos_loss": 0.85546875,
      "rot_loss": 0.73046875,
      "step": 5552
    },
    {
      "epoch": 1.2459053174781243,
      "grad_norm": 0.47928178310394287,
      "learning_rate": 0.00032935918566976704,
      "loss": 0.0931,
      "step": 5553
    },
    {
      "epoch": 1.2459053174781243,
      "gripper_loss": 0.12353515625,
      "loss": 0.02392578125,
      "pos_loss": 0.053466796875,
      "rot_loss": 0.09326171875,
      "step": 5553
    },
    {
      "epoch": 1.2461296836437066,
      "grad_norm": 0.6064475774765015,
      "learning_rate": 0.00032930175586580907,
      "loss": 0.0724,
      "step": 5554
    },
    {
      "epoch": 1.2461296836437066,
      "gripper_loss": 0.04541015625,
      "loss": 0.044677734375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.09228515625,
      "step": 5554
    },
    {
      "epoch": 1.2463540498092889,
      "grad_norm": 0.6584763526916504,
      "learning_rate": 0.0003292443214084598,
      "loss": 0.0696,
      "step": 5555
    },
    {
      "epoch": 1.2463540498092889,
      "gripper_loss": 0.578125,
      "loss": 0.1044921875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.08935546875,
      "step": 5555
    },
    {
      "epoch": 1.246578415974871,
      "grad_norm": 0.5985980033874512,
      "learning_rate": 0.00032918688230108975,
      "loss": 0.0863,
      "step": 5556
    },
    {
      "epoch": 1.246578415974871,
      "gripper_loss": 0.072265625,
      "loss": 0.0810546875,
      "pos_loss": 0.443359375,
      "rot_loss": 0.2578125,
      "step": 5556
    },
    {
      "epoch": 1.2468027821404533,
      "grad_norm": 0.6152083873748779,
      "learning_rate": 0.00032912943854706905,
      "loss": 0.0963,
      "step": 5557
    },
    {
      "epoch": 1.2468027821404533,
      "gripper_loss": 0.193359375,
      "loss": 0.1728515625,
      "pos_loss": 0.76953125,
      "rot_loss": 0.578125,
      "step": 5557
    },
    {
      "epoch": 1.2470271483060356,
      "grad_norm": 0.9562384486198425,
      "learning_rate": 0.00032907199014976866,
      "loss": 0.1526,
      "step": 5558
    },
    {
      "epoch": 1.2470271483060356,
      "gripper_loss": 0.0223388671875,
      "loss": 0.0810546875,
      "pos_loss": 0.68359375,
      "rot_loss": 0.1181640625,
      "step": 5558
    },
    {
      "epoch": 1.2472515144716176,
      "grad_norm": 0.5385627746582031,
      "learning_rate": 0.0003290145371125596,
      "loss": 0.0955,
      "step": 5559
    },
    {
      "epoch": 1.2472515144716176,
      "gripper_loss": 0.06396484375,
      "loss": 0.171875,
      "pos_loss": 0.2041015625,
      "rot_loss": 1.53125,
      "step": 5559
    },
    {
      "epoch": 1.2474758806372,
      "grad_norm": 0.6253980994224548,
      "learning_rate": 0.00032895707943881317,
      "loss": 0.0739,
      "step": 5560
    },
    {
      "epoch": 1.2474758806372,
      "gripper_loss": 0.08837890625,
      "loss": 0.12255859375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.333984375,
      "step": 5560
    },
    {
      "epoch": 1.2477002468027822,
      "grad_norm": 0.8885218501091003,
      "learning_rate": 0.000328899617131901,
      "loss": 0.1095,
      "step": 5561
    },
    {
      "epoch": 1.2477002468027822,
      "gripper_loss": 0.056884765625,
      "loss": 0.228515625,
      "pos_loss": 1.4296875,
      "rot_loss": 0.90625,
      "step": 5561
    },
    {
      "epoch": 1.2479246129683643,
      "grad_norm": 0.7210959196090698,
      "learning_rate": 0.0003288421501951949,
      "loss": 0.1259,
      "step": 5562
    },
    {
      "epoch": 1.2479246129683643,
      "gripper_loss": 0.34375,
      "loss": 0.0203857421875,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.0205078125,
      "step": 5562
    },
    {
      "epoch": 1.2481489791339466,
      "grad_norm": 0.41556981205940247,
      "learning_rate": 0.0003287846786320671,
      "loss": 0.0735,
      "step": 5563
    },
    {
      "epoch": 1.2481489791339466,
      "gripper_loss": 0.048095703125,
      "loss": 0.041259765625,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.1484375,
      "step": 5563
    },
    {
      "epoch": 1.248373345299529,
      "grad_norm": 0.5920156836509705,
      "learning_rate": 0.0003287272024458898,
      "loss": 0.0783,
      "step": 5564
    },
    {
      "epoch": 1.248373345299529,
      "gripper_loss": 0.439453125,
      "loss": 0.02685546875,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.0205078125,
      "step": 5564
    },
    {
      "epoch": 1.248597711465111,
      "grad_norm": 0.33575254678726196,
      "learning_rate": 0.00032866972164003594,
      "loss": 0.0605,
      "step": 5565
    },
    {
      "epoch": 1.248597711465111,
      "gripper_loss": 1.125,
      "loss": 0.08984375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.10791015625,
      "step": 5565
    },
    {
      "epoch": 1.2488220776306933,
      "grad_norm": 0.6147181987762451,
      "learning_rate": 0.00032861223621787826,
      "loss": 0.0797,
      "step": 5566
    },
    {
      "epoch": 1.2488220776306933,
      "gripper_loss": 0.048583984375,
      "loss": 0.05322265625,
      "pos_loss": 0.431640625,
      "rot_loss": 0.05419921875,
      "step": 5566
    },
    {
      "epoch": 1.2490464437962756,
      "grad_norm": 0.47522568702697754,
      "learning_rate": 0.00032855474618279014,
      "loss": 0.0966,
      "step": 5567
    },
    {
      "epoch": 1.2490464437962756,
      "gripper_loss": 0.06591796875,
      "loss": 0.040771484375,
      "pos_loss": 0.166015625,
      "rot_loss": 0.1806640625,
      "step": 5567
    },
    {
      "epoch": 1.2492708099618577,
      "grad_norm": 0.5571191310882568,
      "learning_rate": 0.000328497251538145,
      "loss": 0.0603,
      "step": 5568
    },
    {
      "epoch": 1.2492708099618577,
      "gripper_loss": 0.032470703125,
      "loss": 0.05712890625,
      "pos_loss": 0.48046875,
      "rot_loss": 0.06640625,
      "step": 5568
    },
    {
      "epoch": 1.24949517612744,
      "grad_norm": 0.5608332753181458,
      "learning_rate": 0.00032843975228731657,
      "loss": 0.059,
      "step": 5569
    },
    {
      "epoch": 1.24949517612744,
      "gripper_loss": 0.369140625,
      "loss": 0.1787109375,
      "pos_loss": 1.2265625,
      "rot_loss": 0.494140625,
      "step": 5569
    },
    {
      "epoch": 1.2497195422930223,
      "grad_norm": 0.8331384062767029,
      "learning_rate": 0.0003283822484336788,
      "loss": 0.1063,
      "step": 5570
    },
    {
      "epoch": 1.2497195422930223,
      "gripper_loss": 0.0703125,
      "loss": 0.072265625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.1005859375,
      "step": 5570
    },
    {
      "epoch": 1.2499439084586044,
      "grad_norm": 0.4453851282596588,
      "learning_rate": 0.0003283247399806062,
      "loss": 0.0866,
      "step": 5571
    },
    {
      "epoch": 1.2499439084586044,
      "gripper_loss": 0.01397705078125,
      "loss": 0.04931640625,
      "pos_loss": 0.443359375,
      "rot_loss": 0.032958984375,
      "step": 5571
    },
    {
      "epoch": 1.2501682746241867,
      "grad_norm": 0.38030099868774414,
      "learning_rate": 0.00032826722693147316,
      "loss": 0.0791,
      "step": 5572
    },
    {
      "epoch": 1.2501682746241867,
      "gripper_loss": 0.1259765625,
      "loss": 0.036865234375,
      "pos_loss": 0.07421875,
      "rot_loss": 0.23046875,
      "step": 5572
    },
    {
      "epoch": 1.250392640789769,
      "grad_norm": 0.37308207154273987,
      "learning_rate": 0.00032820970928965467,
      "loss": 0.0602,
      "step": 5573
    },
    {
      "epoch": 1.250392640789769,
      "gripper_loss": 0.58984375,
      "loss": 0.032958984375,
      "pos_loss": 0.078125,
      "rot_loss": 0.021240234375,
      "step": 5573
    },
    {
      "epoch": 1.250617006955351,
      "grad_norm": 0.45724326372146606,
      "learning_rate": 0.0003281521870585257,
      "loss": 0.0522,
      "step": 5574
    },
    {
      "epoch": 1.250617006955351,
      "gripper_loss": 0.0177001953125,
      "loss": 0.05224609375,
      "pos_loss": 0.40625,
      "rot_loss": 0.08642578125,
      "step": 5574
    },
    {
      "epoch": 1.2508413731209334,
      "grad_norm": 0.6230047345161438,
      "learning_rate": 0.00032809466024146173,
      "loss": 0.0873,
      "step": 5575
    },
    {
      "epoch": 1.2508413731209334,
      "gripper_loss": 0.05029296875,
      "loss": 0.126953125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.265625,
      "step": 5575
    },
    {
      "epoch": 1.2510657392865157,
      "grad_norm": 0.41854479908943176,
      "learning_rate": 0.0003280371288418383,
      "loss": 0.0963,
      "step": 5576
    },
    {
      "epoch": 1.2510657392865157,
      "gripper_loss": 0.02880859375,
      "loss": 0.2275390625,
      "pos_loss": 1.3203125,
      "rot_loss": 1.046875,
      "step": 5576
    },
    {
      "epoch": 1.2512901054520977,
      "grad_norm": 0.790738046169281,
      "learning_rate": 0.00032797959286303145,
      "loss": 0.1245,
      "step": 5577
    },
    {
      "epoch": 1.2512901054520977,
      "gripper_loss": 0.458984375,
      "loss": 0.0230712890625,
      "pos_loss": 0.027099609375,
      "rot_loss": 0.014892578125,
      "step": 5577
    },
    {
      "epoch": 1.25151447161768,
      "grad_norm": 0.4236034154891968,
      "learning_rate": 0.0003279220523084173,
      "loss": 0.0779,
      "step": 5578
    },
    {
      "epoch": 1.25151447161768,
      "gripper_loss": 0.0162353515625,
      "loss": 0.09130859375,
      "pos_loss": 0.625,
      "rot_loss": 0.296875,
      "step": 5578
    },
    {
      "epoch": 1.2517388377832623,
      "grad_norm": 0.6772584319114685,
      "learning_rate": 0.00032786450718137223,
      "loss": 0.1006,
      "step": 5579
    },
    {
      "epoch": 1.2517388377832623,
      "gripper_loss": 0.015869140625,
      "loss": 0.1259765625,
      "pos_loss": 1.2109375,
      "rot_loss": 0.08251953125,
      "step": 5579
    },
    {
      "epoch": 1.2519632039488444,
      "grad_norm": 0.7278004288673401,
      "learning_rate": 0.0003278069574852732,
      "loss": 0.0917,
      "step": 5580
    },
    {
      "epoch": 1.2519632039488444,
      "gripper_loss": 0.6640625,
      "loss": 0.0751953125,
      "pos_loss": 0.142578125,
      "rot_loss": 0.15234375,
      "step": 5580
    },
    {
      "epoch": 1.2521875701144267,
      "grad_norm": 1.0570131540298462,
      "learning_rate": 0.00032774940322349686,
      "loss": 0.1682,
      "step": 5581
    },
    {
      "epoch": 1.2521875701144267,
      "gripper_loss": 0.0264892578125,
      "loss": 0.1904296875,
      "pos_loss": 0.50390625,
      "rot_loss": 1.4765625,
      "step": 5581
    },
    {
      "epoch": 1.252411936280009,
      "grad_norm": 0.6192520260810852,
      "learning_rate": 0.0003276918443994208,
      "loss": 0.1157,
      "step": 5582
    },
    {
      "epoch": 1.252411936280009,
      "gripper_loss": 0.02734375,
      "loss": 0.138671875,
      "pos_loss": 1.0859375,
      "rot_loss": 0.330078125,
      "step": 5582
    },
    {
      "epoch": 1.252636302445591,
      "grad_norm": 0.6174691915512085,
      "learning_rate": 0.00032763428101642236,
      "loss": 0.1132,
      "step": 5583
    },
    {
      "epoch": 1.252636302445591,
      "gripper_loss": 0.474609375,
      "loss": 0.039306640625,
      "pos_loss": 0.032958984375,
      "rot_loss": 0.1435546875,
      "step": 5583
    },
    {
      "epoch": 1.2528606686111734,
      "grad_norm": 0.5649548768997192,
      "learning_rate": 0.00032757671307787935,
      "loss": 0.0692,
      "step": 5584
    },
    {
      "epoch": 1.2528606686111734,
      "gripper_loss": 0.0234375,
      "loss": 0.1689453125,
      "pos_loss": 0.55078125,
      "rot_loss": 1.1640625,
      "step": 5584
    },
    {
      "epoch": 1.2530850347767557,
      "grad_norm": 0.5894057154655457,
      "learning_rate": 0.0003275191405871698,
      "loss": 0.0844,
      "step": 5585
    },
    {
      "epoch": 1.2530850347767557,
      "gripper_loss": 0.0390625,
      "loss": 0.041015625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.224609375,
      "step": 5585
    },
    {
      "epoch": 1.2533094009423378,
      "grad_norm": 0.44255179166793823,
      "learning_rate": 0.0003274615635476722,
      "loss": 0.0598,
      "step": 5586
    },
    {
      "epoch": 1.2533094009423378,
      "gripper_loss": 0.49609375,
      "loss": 0.02490234375,
      "pos_loss": 0.036865234375,
      "rot_loss": 0.0125732421875,
      "step": 5586
    },
    {
      "epoch": 1.25353376710792,
      "grad_norm": 0.7440078258514404,
      "learning_rate": 0.00032740398196276494,
      "loss": 0.1135,
      "step": 5587
    },
    {
      "epoch": 1.25353376710792,
      "gripper_loss": 0.025390625,
      "loss": 0.078125,
      "pos_loss": 0.7578125,
      "rot_loss": 0.0185546875,
      "step": 5587
    },
    {
      "epoch": 1.2537581332735024,
      "grad_norm": 0.3929378390312195,
      "learning_rate": 0.000327346395835827,
      "loss": 0.0688,
      "step": 5588
    },
    {
      "epoch": 1.2537581332735024,
      "gripper_loss": 0.09814453125,
      "loss": 0.083984375,
      "pos_loss": 0.671875,
      "rot_loss": 0.1455078125,
      "step": 5588
    },
    {
      "epoch": 1.2539824994390845,
      "grad_norm": 0.5472993850708008,
      "learning_rate": 0.0003272888051702375,
      "loss": 0.0709,
      "step": 5589
    },
    {
      "epoch": 1.2539824994390845,
      "gripper_loss": 0.04931640625,
      "loss": 0.1455078125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.78125,
      "step": 5589
    },
    {
      "epoch": 1.2542068656046668,
      "grad_norm": 0.826953649520874,
      "learning_rate": 0.00032723120996937586,
      "loss": 0.1303,
      "step": 5590
    },
    {
      "epoch": 1.2542068656046668,
      "gripper_loss": 0.146484375,
      "loss": 0.031982421875,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.162109375,
      "step": 5590
    },
    {
      "epoch": 1.254431231770249,
      "grad_norm": 0.575799822807312,
      "learning_rate": 0.00032717361023662164,
      "loss": 0.1003,
      "step": 5591
    },
    {
      "epoch": 1.254431231770249,
      "gripper_loss": 1.21875,
      "loss": 0.083984375,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.1865234375,
      "step": 5591
    },
    {
      "epoch": 1.2546555979358311,
      "grad_norm": 0.7080892324447632,
      "learning_rate": 0.00032711600597535483,
      "loss": 0.1028,
      "step": 5592
    },
    {
      "epoch": 1.2546555979358311,
      "gripper_loss": 0.9375,
      "loss": 0.1806640625,
      "pos_loss": 0.62109375,
      "rot_loss": 0.408203125,
      "step": 5592
    },
    {
      "epoch": 1.2548799641014134,
      "grad_norm": 1.258790135383606,
      "learning_rate": 0.0003270583971889556,
      "loss": 0.1646,
      "step": 5593
    },
    {
      "epoch": 1.2548799641014134,
      "gripper_loss": 0.6015625,
      "loss": 0.03466796875,
      "pos_loss": 0.032958984375,
      "rot_loss": 0.0771484375,
      "step": 5593
    },
    {
      "epoch": 1.2551043302669957,
      "grad_norm": 0.5010831356048584,
      "learning_rate": 0.00032700078388080443,
      "loss": 0.0934,
      "step": 5594
    },
    {
      "epoch": 1.2551043302669957,
      "gripper_loss": 1.09375,
      "loss": 0.0947265625,
      "pos_loss": 0.0703125,
      "rot_loss": 0.494140625,
      "step": 5594
    },
    {
      "epoch": 1.2553286964325778,
      "grad_norm": 0.7276256680488586,
      "learning_rate": 0.0003269431660542821,
      "loss": 0.1158,
      "step": 5595
    },
    {
      "epoch": 1.2553286964325778,
      "gripper_loss": 0.0830078125,
      "loss": 0.08837890625,
      "pos_loss": 0.5,
      "rot_loss": 0.28515625,
      "step": 5595
    },
    {
      "epoch": 1.2555530625981601,
      "grad_norm": 0.7639475464820862,
      "learning_rate": 0.0003268855437127694,
      "loss": 0.0998,
      "step": 5596
    },
    {
      "epoch": 1.2555530625981601,
      "gripper_loss": 0.09228515625,
      "loss": 0.10400390625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.33203125,
      "step": 5596
    },
    {
      "epoch": 1.2557774287637424,
      "grad_norm": 0.967443585395813,
      "learning_rate": 0.00032682791685964785,
      "loss": 0.1176,
      "step": 5597
    },
    {
      "epoch": 1.2557774287637424,
      "gripper_loss": 0.1484375,
      "loss": 0.1328125,
      "pos_loss": 0.349609375,
      "rot_loss": 0.62890625,
      "step": 5597
    },
    {
      "epoch": 1.2560017949293247,
      "grad_norm": 0.8421921730041504,
      "learning_rate": 0.00032677028549829877,
      "loss": 0.126,
      "step": 5598
    },
    {
      "epoch": 1.2560017949293247,
      "gripper_loss": 0.2353515625,
      "loss": 0.04248046875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.07080078125,
      "step": 5598
    },
    {
      "epoch": 1.2562261610949068,
      "grad_norm": 0.8220211863517761,
      "learning_rate": 0.0003267126496321041,
      "loss": 0.1292,
      "step": 5599
    },
    {
      "epoch": 1.2562261610949068,
      "gripper_loss": 0.92578125,
      "loss": 0.0771484375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.0986328125,
      "step": 5599
    },
    {
      "epoch": 1.2564505272604891,
      "grad_norm": 0.47431546449661255,
      "learning_rate": 0.0003266550092644456,
      "loss": 0.0966,
      "step": 5600
    },
    {
      "epoch": 1.2564505272604891,
      "gripper_loss": 0.48046875,
      "loss": 0.0859375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.111328125,
      "step": 5600
    },
    {
      "epoch": 1.2566748934260714,
      "grad_norm": 0.4320429265499115,
      "learning_rate": 0.00032659736439870596,
      "loss": 0.058,
      "step": 5601
    },
    {
      "epoch": 1.2566748934260714,
      "gripper_loss": 0.0177001953125,
      "loss": 0.1533203125,
      "pos_loss": 0.796875,
      "rot_loss": 0.73828125,
      "step": 5601
    },
    {
      "epoch": 1.2568992595916537,
      "grad_norm": 0.5665705800056458,
      "learning_rate": 0.00032653971503826746,
      "loss": 0.0937,
      "step": 5602
    },
    {
      "epoch": 1.2568992595916537,
      "gripper_loss": 0.1220703125,
      "loss": 0.09521484375,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.73046875,
      "step": 5602
    },
    {
      "epoch": 1.2571236257572358,
      "grad_norm": 0.6435860395431519,
      "learning_rate": 0.00032648206118651306,
      "loss": 0.0562,
      "step": 5603
    },
    {
      "epoch": 1.2571236257572358,
      "gripper_loss": 0.0264892578125,
      "loss": 0.0869140625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.0576171875,
      "step": 5603
    },
    {
      "epoch": 1.257347991922818,
      "grad_norm": 0.4813852310180664,
      "learning_rate": 0.00032642440284682596,
      "loss": 0.0722,
      "step": 5604
    },
    {
      "epoch": 1.257347991922818,
      "gripper_loss": 0.56640625,
      "loss": 0.044677734375,
      "pos_loss": 0.1220703125,
      "rot_loss": 0.107421875,
      "step": 5604
    },
    {
      "epoch": 1.2575723580884004,
      "grad_norm": 0.5518060922622681,
      "learning_rate": 0.0003263667400225893,
      "loss": 0.0763,
      "step": 5605
    },
    {
      "epoch": 1.2575723580884004,
      "gripper_loss": 0.058349609375,
      "loss": 0.028076171875,
      "pos_loss": 0.19921875,
      "rot_loss": 0.0264892578125,
      "step": 5605
    },
    {
      "epoch": 1.2577967242539825,
      "grad_norm": 0.42568713426589966,
      "learning_rate": 0.00032630907271718687,
      "loss": 0.0796,
      "step": 5606
    },
    {
      "epoch": 1.2577967242539825,
      "gripper_loss": 0.05859375,
      "loss": 0.08251953125,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.55859375,
      "step": 5606
    },
    {
      "epoch": 1.2580210904195648,
      "grad_norm": 0.44559505581855774,
      "learning_rate": 0.00032625140093400253,
      "loss": 0.0769,
      "step": 5607
    },
    {
      "epoch": 1.2580210904195648,
      "gripper_loss": 0.05712890625,
      "loss": 0.06591796875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.08544921875,
      "step": 5607
    },
    {
      "epoch": 1.258245456585147,
      "grad_norm": 0.5794882774353027,
      "learning_rate": 0.00032619372467642034,
      "loss": 0.0816,
      "step": 5608
    },
    {
      "epoch": 1.258245456585147,
      "gripper_loss": 0.1162109375,
      "loss": 0.1767578125,
      "pos_loss": 0.87890625,
      "rot_loss": 0.5859375,
      "step": 5608
    },
    {
      "epoch": 1.2584698227507292,
      "grad_norm": 0.7863105535507202,
      "learning_rate": 0.00032613604394782485,
      "loss": 0.1341,
      "step": 5609
    },
    {
      "epoch": 1.2584698227507292,
      "gripper_loss": 0.02490234375,
      "loss": 0.06787109375,
      "pos_loss": 0.486328125,
      "rot_loss": 0.1533203125,
      "step": 5609
    },
    {
      "epoch": 1.2586941889163115,
      "grad_norm": 0.44056084752082825,
      "learning_rate": 0.0003260783587516007,
      "loss": 0.0609,
      "step": 5610
    },
    {
      "epoch": 1.2586941889163115,
      "gripper_loss": 0.5703125,
      "loss": 0.37890625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.6328125,
      "step": 5610
    },
    {
      "epoch": 1.2589185550818938,
      "grad_norm": 1.8821032047271729,
      "learning_rate": 0.00032602066909113276,
      "loss": 0.4495,
      "step": 5611
    },
    {
      "epoch": 1.2589185550818938,
      "gripper_loss": 0.03271484375,
      "loss": 0.08740234375,
      "pos_loss": 0.578125,
      "rot_loss": 0.2373046875,
      "step": 5611
    },
    {
      "epoch": 1.2591429212474758,
      "grad_norm": 0.8554224967956543,
      "learning_rate": 0.00032596297496980634,
      "loss": 0.0659,
      "step": 5612
    },
    {
      "epoch": 1.2591429212474758,
      "gripper_loss": 0.01318359375,
      "loss": 0.09716796875,
      "pos_loss": 0.91796875,
      "rot_loss": 0.020263671875,
      "step": 5612
    },
    {
      "epoch": 1.2593672874130581,
      "grad_norm": 0.6982221007347107,
      "learning_rate": 0.0003259052763910068,
      "loss": 0.0776,
      "step": 5613
    },
    {
      "epoch": 1.2593672874130581,
      "gripper_loss": 0.0159912109375,
      "loss": 0.1796875,
      "pos_loss": 0.78125,
      "rot_loss": 0.9921875,
      "step": 5613
    },
    {
      "epoch": 1.2595916535786404,
      "grad_norm": 0.6803798079490662,
      "learning_rate": 0.00032584757335812,
      "loss": 0.0831,
      "step": 5614
    },
    {
      "epoch": 1.2595916535786404,
      "gripper_loss": 0.037353515625,
      "loss": 0.0966796875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.26171875,
      "step": 5614
    },
    {
      "epoch": 1.2598160197442225,
      "grad_norm": 0.5694392323493958,
      "learning_rate": 0.00032578986587453185,
      "loss": 0.0888,
      "step": 5615
    },
    {
      "epoch": 1.2598160197442225,
      "gripper_loss": 0.2890625,
      "loss": 0.037841796875,
      "pos_loss": 0.076171875,
      "rot_loss": 0.1650390625,
      "step": 5615
    },
    {
      "epoch": 1.2600403859098048,
      "grad_norm": 0.45017826557159424,
      "learning_rate": 0.00032573215394362853,
      "loss": 0.0512,
      "step": 5616
    },
    {
      "epoch": 1.2600403859098048,
      "gripper_loss": 0.171875,
      "loss": 0.08349609375,
      "pos_loss": 0.466796875,
      "rot_loss": 0.251953125,
      "step": 5616
    },
    {
      "epoch": 1.2602647520753871,
      "grad_norm": 0.5360780954360962,
      "learning_rate": 0.00032567443756879665,
      "loss": 0.082,
      "step": 5617
    },
    {
      "epoch": 1.2602647520753871,
      "gripper_loss": 0.408203125,
      "loss": 0.1318359375,
      "pos_loss": 0.7109375,
      "rot_loss": 0.259765625,
      "step": 5617
    },
    {
      "epoch": 1.2604891182409692,
      "grad_norm": 0.8294802308082581,
      "learning_rate": 0.000325616716753423,
      "loss": 0.1129,
      "step": 5618
    },
    {
      "epoch": 1.2604891182409692,
      "gripper_loss": 0.1064453125,
      "loss": 0.10888671875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.33984375,
      "step": 5618
    },
    {
      "epoch": 1.2607134844065515,
      "grad_norm": 0.5379525423049927,
      "learning_rate": 0.0003255589915008944,
      "loss": 0.0883,
      "step": 5619
    },
    {
      "epoch": 1.2607134844065515,
      "gripper_loss": 0.083984375,
      "loss": 0.05126953125,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.2119140625,
      "step": 5619
    },
    {
      "epoch": 1.2609378505721338,
      "grad_norm": 0.6470864415168762,
      "learning_rate": 0.00032550126181459844,
      "loss": 0.1087,
      "step": 5620
    },
    {
      "epoch": 1.2609378505721338,
      "gripper_loss": 0.1337890625,
      "loss": 0.0286865234375,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.047607421875,
      "step": 5620
    },
    {
      "epoch": 1.261162216737716,
      "grad_norm": 0.7473167181015015,
      "learning_rate": 0.0003254435276979225,
      "loss": 0.0866,
      "step": 5621
    },
    {
      "epoch": 1.261162216737716,
      "gripper_loss": 0.291015625,
      "loss": 0.0927734375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1298828125,
      "step": 5621
    },
    {
      "epoch": 1.2613865829032982,
      "grad_norm": 1.1298551559448242,
      "learning_rate": 0.0003253857891542545,
      "loss": 0.1415,
      "step": 5622
    },
    {
      "epoch": 1.2613865829032982,
      "gripper_loss": 0.01806640625,
      "loss": 0.11376953125,
      "pos_loss": 1.015625,
      "rot_loss": 0.052734375,
      "step": 5622
    },
    {
      "epoch": 1.2616109490688805,
      "grad_norm": 0.6580361723899841,
      "learning_rate": 0.0003253280461869823,
      "loss": 0.0974,
      "step": 5623
    },
    {
      "epoch": 1.2616109490688805,
      "gripper_loss": 1.2265625,
      "loss": 0.10400390625,
      "pos_loss": 0.087890625,
      "rot_loss": 0.2734375,
      "step": 5623
    },
    {
      "epoch": 1.2618353152344626,
      "grad_norm": 0.8417788743972778,
      "learning_rate": 0.00032527029879949443,
      "loss": 0.0952,
      "step": 5624
    },
    {
      "epoch": 1.2618353152344626,
      "gripper_loss": 0.61328125,
      "loss": 0.080078125,
      "pos_loss": 0.439453125,
      "rot_loss": 0.07958984375,
      "step": 5624
    },
    {
      "epoch": 1.2620596814000449,
      "grad_norm": 0.6856880187988281,
      "learning_rate": 0.0003252125469951794,
      "loss": 0.0771,
      "step": 5625
    },
    {
      "epoch": 1.2620596814000449,
      "gripper_loss": 0.30078125,
      "loss": 0.0595703125,
      "pos_loss": 0.275390625,
      "rot_loss": 0.1181640625,
      "step": 5625
    },
    {
      "epoch": 1.2622840475656272,
      "grad_norm": 0.7833715677261353,
      "learning_rate": 0.0003251547907774261,
      "loss": 0.1134,
      "step": 5626
    },
    {
      "epoch": 1.2622840475656272,
      "gripper_loss": 0.0291748046875,
      "loss": 0.1298828125,
      "pos_loss": 0.859375,
      "rot_loss": 0.33984375,
      "step": 5626
    },
    {
      "epoch": 1.2625084137312093,
      "grad_norm": 0.8004360795021057,
      "learning_rate": 0.0003250970301496237,
      "loss": 0.0879,
      "step": 5627
    },
    {
      "epoch": 1.2625084137312093,
      "gripper_loss": 0.0654296875,
      "loss": 0.07421875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.2060546875,
      "step": 5627
    },
    {
      "epoch": 1.2627327798967916,
      "grad_norm": 0.4781753420829773,
      "learning_rate": 0.0003250392651151613,
      "loss": 0.07,
      "step": 5628
    },
    {
      "epoch": 1.2627327798967916,
      "gripper_loss": 0.5546875,
      "loss": 0.03515625,
      "pos_loss": 0.0615234375,
      "rot_loss": 0.05078125,
      "step": 5628
    },
    {
      "epoch": 1.2629571460623739,
      "grad_norm": 0.5636641383171082,
      "learning_rate": 0.0003249814956774289,
      "loss": 0.079,
      "step": 5629
    },
    {
      "epoch": 1.2629571460623739,
      "gripper_loss": 0.0128173828125,
      "loss": 0.08642578125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.08642578125,
      "step": 5629
    },
    {
      "epoch": 1.263181512227956,
      "grad_norm": 0.47843921184539795,
      "learning_rate": 0.0003249237218398161,
      "loss": 0.0813,
      "step": 5630
    },
    {
      "epoch": 1.263181512227956,
      "gripper_loss": 0.478515625,
      "loss": 0.058837890625,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.1826171875,
      "step": 5630
    },
    {
      "epoch": 1.2634058783935382,
      "grad_norm": 0.6210961937904358,
      "learning_rate": 0.0003248659436057131,
      "loss": 0.1039,
      "step": 5631
    },
    {
      "epoch": 1.2634058783935382,
      "gripper_loss": 2.234375,
      "loss": 0.08154296875,
      "pos_loss": 0.0458984375,
      "rot_loss": 0.0115966796875,
      "step": 5631
    },
    {
      "epoch": 1.2636302445591205,
      "grad_norm": 0.5094822645187378,
      "learning_rate": 0.0003248081609785104,
      "loss": 0.0896,
      "step": 5632
    },
    {
      "epoch": 1.2636302445591205,
      "gripper_loss": 0.62890625,
      "loss": 0.1103515625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.40625,
      "step": 5632
    },
    {
      "epoch": 1.2638546107247026,
      "grad_norm": 0.5668325424194336,
      "learning_rate": 0.00032475037396159867,
      "loss": 0.0862,
      "step": 5633
    },
    {
      "epoch": 1.2638546107247026,
      "gripper_loss": 0.16015625,
      "loss": 0.01544189453125,
      "pos_loss": 0.027587890625,
      "rot_loss": 0.012451171875,
      "step": 5633
    },
    {
      "epoch": 1.264078976890285,
      "grad_norm": 0.7336450815200806,
      "learning_rate": 0.00032469258255836864,
      "loss": 0.1105,
      "step": 5634
    },
    {
      "epoch": 1.264078976890285,
      "gripper_loss": 0.69921875,
      "loss": 0.1513671875,
      "pos_loss": 1.2109375,
      "rot_loss": 0.0947265625,
      "step": 5634
    },
    {
      "epoch": 1.2643033430558672,
      "grad_norm": 0.43130913376808167,
      "learning_rate": 0.00032463478677221164,
      "loss": 0.0926,
      "step": 5635
    },
    {
      "epoch": 1.2643033430558672,
      "gripper_loss": 0.5625,
      "loss": 0.0546875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.0478515625,
      "step": 5635
    },
    {
      "epoch": 1.2645277092214493,
      "grad_norm": 0.4571155309677124,
      "learning_rate": 0.000324576986606519,
      "loss": 0.098,
      "step": 5636
    },
    {
      "epoch": 1.2645277092214493,
      "gripper_loss": 0.0380859375,
      "loss": 0.05078125,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.314453125,
      "step": 5636
    },
    {
      "epoch": 1.2647520753870316,
      "grad_norm": 0.5213801264762878,
      "learning_rate": 0.00032451918206468256,
      "loss": 0.0785,
      "step": 5637
    },
    {
      "epoch": 1.2647520753870316,
      "gripper_loss": 1.0703125,
      "loss": 0.1455078125,
      "pos_loss": 0.59375,
      "rot_loss": 0.5546875,
      "step": 5637
    },
    {
      "epoch": 1.264976441552614,
      "grad_norm": 0.41044503450393677,
      "learning_rate": 0.00032446137315009406,
      "loss": 0.0901,
      "step": 5638
    },
    {
      "epoch": 1.264976441552614,
      "gripper_loss": 0.051513671875,
      "loss": 0.08837890625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.1279296875,
      "step": 5638
    },
    {
      "epoch": 1.265200807718196,
      "grad_norm": 0.5591675639152527,
      "learning_rate": 0.00032440355986614587,
      "loss": 0.076,
      "step": 5639
    },
    {
      "epoch": 1.265200807718196,
      "gripper_loss": 0.2236328125,
      "loss": 0.033447265625,
      "pos_loss": 0.02587890625,
      "rot_loss": 0.2021484375,
      "step": 5639
    },
    {
      "epoch": 1.2654251738837783,
      "grad_norm": 0.3754991292953491,
      "learning_rate": 0.00032434574221623045,
      "loss": 0.0689,
      "step": 5640
    },
    {
      "epoch": 1.2654251738837783,
      "gripper_loss": 0.361328125,
      "loss": 0.02099609375,
      "pos_loss": 0.01904296875,
      "rot_loss": 0.01904296875,
      "step": 5640
    },
    {
      "epoch": 1.2656495400493606,
      "grad_norm": 0.4059000015258789,
      "learning_rate": 0.0003242879202037404,
      "loss": 0.0661,
      "step": 5641
    },
    {
      "epoch": 1.2656495400493606,
      "gripper_loss": 0.02392578125,
      "loss": 0.1875,
      "pos_loss": 0.70703125,
      "rot_loss": 1.2265625,
      "step": 5641
    },
    {
      "epoch": 1.2658739062149427,
      "grad_norm": 0.6623092889785767,
      "learning_rate": 0.00032423009383206875,
      "loss": 0.0959,
      "step": 5642
    },
    {
      "epoch": 1.2658739062149427,
      "gripper_loss": 0.080078125,
      "loss": 0.0830078125,
      "pos_loss": 0.61328125,
      "rot_loss": 0.169921875,
      "step": 5642
    },
    {
      "epoch": 1.266098272380525,
      "grad_norm": 0.4402823746204376,
      "learning_rate": 0.0003241722631046087,
      "loss": 0.0702,
      "step": 5643
    },
    {
      "epoch": 1.266098272380525,
      "gripper_loss": 0.1044921875,
      "loss": 0.11376953125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.353515625,
      "step": 5643
    },
    {
      "epoch": 1.2663226385461073,
      "grad_norm": 0.779286801815033,
      "learning_rate": 0.00032411442802475374,
      "loss": 0.0846,
      "step": 5644
    },
    {
      "epoch": 1.2663226385461073,
      "gripper_loss": 0.038330078125,
      "loss": 0.0615234375,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.326171875,
      "step": 5644
    },
    {
      "epoch": 1.2665470047116894,
      "grad_norm": 0.6366846561431885,
      "learning_rate": 0.00032405658859589764,
      "loss": 0.1074,
      "step": 5645
    },
    {
      "epoch": 1.2665470047116894,
      "gripper_loss": 0.39453125,
      "loss": 0.1025390625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.298828125,
      "step": 5645
    },
    {
      "epoch": 1.2667713708772717,
      "grad_norm": 0.41096577048301697,
      "learning_rate": 0.0003239987448214344,
      "loss": 0.0768,
      "step": 5646
    },
    {
      "epoch": 1.2667713708772717,
      "gripper_loss": 0.265625,
      "loss": 0.134765625,
      "pos_loss": 0.78515625,
      "rot_loss": 0.23828125,
      "step": 5646
    },
    {
      "epoch": 1.266995737042854,
      "grad_norm": 0.8259695768356323,
      "learning_rate": 0.00032394089670475813,
      "loss": 0.123,
      "step": 5647
    },
    {
      "epoch": 1.266995737042854,
      "gripper_loss": 0.031494140625,
      "loss": 0.07666015625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.30859375,
      "step": 5647
    },
    {
      "epoch": 1.267220103208436,
      "grad_norm": 0.44060301780700684,
      "learning_rate": 0.0003238830442492635,
      "loss": 0.0666,
      "step": 5648
    },
    {
      "epoch": 1.267220103208436,
      "gripper_loss": 0.578125,
      "loss": 0.0537109375,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.146484375,
      "step": 5648
    },
    {
      "epoch": 1.2674444693740183,
      "grad_norm": 0.4476442337036133,
      "learning_rate": 0.00032382518745834515,
      "loss": 0.0505,
      "step": 5649
    },
    {
      "epoch": 1.2674444693740183,
      "gripper_loss": 0.181640625,
      "loss": 0.0283203125,
      "pos_loss": 0.111328125,
      "rot_loss": 0.07373046875,
      "step": 5649
    },
    {
      "epoch": 1.2676688355396006,
      "grad_norm": 0.3354361951351166,
      "learning_rate": 0.0003237673263353982,
      "loss": 0.0717,
      "step": 5650
    },
    {
      "epoch": 1.2676688355396006,
      "gripper_loss": 0.255859375,
      "loss": 0.169921875,
      "pos_loss": 1.640625,
      "rot_loss": 0.037353515625,
      "step": 5650
    },
    {
      "epoch": 1.267893201705183,
      "grad_norm": 0.439357727766037,
      "learning_rate": 0.00032370946088381786,
      "loss": 0.079,
      "step": 5651
    },
    {
      "epoch": 1.267893201705183,
      "gripper_loss": 0.3828125,
      "loss": 0.0185546875,
      "pos_loss": 0.0177001953125,
      "rot_loss": 0.0166015625,
      "step": 5651
    },
    {
      "epoch": 1.268117567870765,
      "grad_norm": 0.5051769018173218,
      "learning_rate": 0.00032365159110699966,
      "loss": 0.0882,
      "step": 5652
    },
    {
      "epoch": 1.268117567870765,
      "gripper_loss": 0.10498046875,
      "loss": 0.12060546875,
      "pos_loss": 0.69921875,
      "rot_loss": 0.384765625,
      "step": 5652
    },
    {
      "epoch": 1.2683419340363473,
      "grad_norm": 0.7039070129394531,
      "learning_rate": 0.00032359371700833926,
      "loss": 0.083,
      "step": 5653
    },
    {
      "epoch": 1.2683419340363473,
      "gripper_loss": 0.0888671875,
      "loss": 0.10791015625,
      "pos_loss": 1.0078125,
      "rot_loss": 0.043212890625,
      "step": 5653
    },
    {
      "epoch": 1.2685663002019296,
      "grad_norm": 0.36280548572540283,
      "learning_rate": 0.0003235358385912328,
      "loss": 0.0861,
      "step": 5654
    },
    {
      "epoch": 1.2685663002019296,
      "gripper_loss": 0.48046875,
      "loss": 0.07763671875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.0908203125,
      "step": 5654
    },
    {
      "epoch": 1.2687906663675117,
      "grad_norm": 0.5309147834777832,
      "learning_rate": 0.0003234779558590766,
      "loss": 0.0964,
      "step": 5655
    },
    {
      "epoch": 1.2687906663675117,
      "gripper_loss": 0.04541015625,
      "loss": 0.1298828125,
      "pos_loss": 0.98828125,
      "rot_loss": 0.23828125,
      "step": 5655
    },
    {
      "epoch": 1.269015032533094,
      "grad_norm": 0.5425565838813782,
      "learning_rate": 0.00032342006881526717,
      "loss": 0.1007,
      "step": 5656
    },
    {
      "epoch": 1.269015032533094,
      "gripper_loss": 0.04736328125,
      "loss": 0.0693359375,
      "pos_loss": 0.4921875,
      "rot_loss": 0.1484375,
      "step": 5656
    },
    {
      "epoch": 1.2692393986986763,
      "grad_norm": 0.37708577513694763,
      "learning_rate": 0.0003233621774632012,
      "loss": 0.0652,
      "step": 5657
    },
    {
      "epoch": 1.2692393986986763,
      "gripper_loss": 0.043701171875,
      "loss": 0.1611328125,
      "pos_loss": 1.09375,
      "rot_loss": 0.51953125,
      "step": 5657
    },
    {
      "epoch": 1.2694637648642586,
      "grad_norm": 0.5429311394691467,
      "learning_rate": 0.00032330428180627575,
      "loss": 0.0784,
      "step": 5658
    },
    {
      "epoch": 1.2694637648642586,
      "gripper_loss": 1.125,
      "loss": 0.0673828125,
      "pos_loss": 0.1875,
      "rot_loss": 0.08984375,
      "step": 5658
    },
    {
      "epoch": 1.2696881310298407,
      "grad_norm": 0.6919580101966858,
      "learning_rate": 0.0003232463818478882,
      "loss": 0.0911,
      "step": 5659
    },
    {
      "epoch": 1.2696881310298407,
      "gripper_loss": 0.0216064453125,
      "loss": 0.0703125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.234375,
      "step": 5659
    },
    {
      "epoch": 1.269912497195423,
      "grad_norm": 0.635589599609375,
      "learning_rate": 0.000323188477591436,
      "loss": 0.1288,
      "step": 5660
    },
    {
      "epoch": 1.269912497195423,
      "gripper_loss": 0.166015625,
      "loss": 0.05615234375,
      "pos_loss": 0.162109375,
      "rot_loss": 0.31640625,
      "step": 5660
    },
    {
      "epoch": 1.2701368633610053,
      "grad_norm": 0.5777231454849243,
      "learning_rate": 0.000323130569040317,
      "loss": 0.0939,
      "step": 5661
    },
    {
      "epoch": 1.2701368633610053,
      "gripper_loss": 0.322265625,
      "loss": 0.044677734375,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.07470703125,
      "step": 5661
    },
    {
      "epoch": 1.2703612295265874,
      "grad_norm": 0.47053033113479614,
      "learning_rate": 0.00032307265619792926,
      "loss": 0.0903,
      "step": 5662
    },
    {
      "epoch": 1.2703612295265874,
      "gripper_loss": 0.07861328125,
      "loss": 0.02978515625,
      "pos_loss": 0.1796875,
      "rot_loss": 0.05615234375,
      "step": 5662
    },
    {
      "epoch": 1.2705855956921697,
      "grad_norm": 0.4393961429595947,
      "learning_rate": 0.0003230147390676711,
      "loss": 0.0809,
      "step": 5663
    },
    {
      "epoch": 1.2705855956921697,
      "gripper_loss": 0.25,
      "loss": 0.5234375,
      "pos_loss": 0.419921875,
      "rot_loss": 0.84375,
      "step": 5663
    },
    {
      "epoch": 1.270809961857752,
      "grad_norm": 1.889562726020813,
      "learning_rate": 0.00032295681765294096,
      "loss": 0.5054,
      "step": 5664
    },
    {
      "epoch": 1.270809961857752,
      "gripper_loss": 0.01318359375,
      "loss": 0.04736328125,
      "pos_loss": 0.376953125,
      "rot_loss": 0.053466796875,
      "step": 5664
    },
    {
      "epoch": 1.271034328023334,
      "grad_norm": 0.4591442048549652,
      "learning_rate": 0.0003228988919571377,
      "loss": 0.0824,
      "step": 5665
    },
    {
      "epoch": 1.271034328023334,
      "gripper_loss": 0.08056640625,
      "loss": 0.099609375,
      "pos_loss": 0.7109375,
      "rot_loss": 0.271484375,
      "step": 5665
    },
    {
      "epoch": 1.2712586941889163,
      "grad_norm": 0.5078464150428772,
      "learning_rate": 0.00032284096198366034,
      "loss": 0.0872,
      "step": 5666
    },
    {
      "epoch": 1.2712586941889163,
      "gripper_loss": 0.87109375,
      "loss": 0.0712890625,
      "pos_loss": 0.390625,
      "rot_loss": 0.0235595703125,
      "step": 5666
    },
    {
      "epoch": 1.2714830603544987,
      "grad_norm": 0.4466797411441803,
      "learning_rate": 0.00032278302773590834,
      "loss": 0.0825,
      "step": 5667
    },
    {
      "epoch": 1.2714830603544987,
      "gripper_loss": 0.64453125,
      "loss": 0.07763671875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.146484375,
      "step": 5667
    },
    {
      "epoch": 1.2717074265200807,
      "grad_norm": 0.6019957065582275,
      "learning_rate": 0.00032272508921728113,
      "loss": 0.0783,
      "step": 5668
    },
    {
      "epoch": 1.2717074265200807,
      "gripper_loss": 0.08642578125,
      "loss": 0.09423828125,
      "pos_loss": 0.435546875,
      "rot_loss": 0.44140625,
      "step": 5668
    },
    {
      "epoch": 1.271931792685663,
      "grad_norm": 0.607236921787262,
      "learning_rate": 0.00032266714643117844,
      "loss": 0.0985,
      "step": 5669
    },
    {
      "epoch": 1.271931792685663,
      "gripper_loss": 0.01806640625,
      "loss": 0.119140625,
      "pos_loss": 1.0625,
      "rot_loss": 0.1455078125,
      "step": 5669
    },
    {
      "epoch": 1.2721561588512453,
      "grad_norm": 0.4352414309978485,
      "learning_rate": 0.0003226091993810005,
      "loss": 0.0887,
      "step": 5670
    },
    {
      "epoch": 1.2721561588512453,
      "gripper_loss": 1.0390625,
      "loss": 0.07861328125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.0625,
      "step": 5670
    },
    {
      "epoch": 1.2723805250168274,
      "grad_norm": 0.6746951341629028,
      "learning_rate": 0.00032255124807014745,
      "loss": 0.101,
      "step": 5671
    },
    {
      "epoch": 1.2723805250168274,
      "gripper_loss": 0.04638671875,
      "loss": 0.11376953125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.0869140625,
      "step": 5671
    },
    {
      "epoch": 1.2726048911824097,
      "grad_norm": 0.6730133295059204,
      "learning_rate": 0.00032249329250202,
      "loss": 0.1055,
      "step": 5672
    },
    {
      "epoch": 1.2726048911824097,
      "gripper_loss": 0.040283203125,
      "loss": 0.03515625,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.13671875,
      "step": 5672
    },
    {
      "epoch": 1.272829257347992,
      "grad_norm": 0.42925119400024414,
      "learning_rate": 0.00032243533268001877,
      "loss": 0.0786,
      "step": 5673
    },
    {
      "epoch": 1.272829257347992,
      "gripper_loss": 0.0296630859375,
      "loss": 0.1025390625,
      "pos_loss": 0.71875,
      "rot_loss": 0.3046875,
      "step": 5673
    },
    {
      "epoch": 1.273053623513574,
      "grad_norm": 0.4124024510383606,
      "learning_rate": 0.00032237736860754514,
      "loss": 0.0598,
      "step": 5674
    },
    {
      "epoch": 1.273053623513574,
      "gripper_loss": 0.068359375,
      "loss": 0.0673828125,
      "pos_loss": 0.451171875,
      "rot_loss": 0.0693359375,
      "step": 5674
    },
    {
      "epoch": 1.2732779896791564,
      "grad_norm": 0.6449572443962097,
      "learning_rate": 0.000322319400288,
      "loss": 0.1002,
      "step": 5675
    },
    {
      "epoch": 1.2732779896791564,
      "gripper_loss": 0.255859375,
      "loss": 0.01904296875,
      "pos_loss": 0.03466796875,
      "rot_loss": 0.0177001953125,
      "step": 5675
    },
    {
      "epoch": 1.2735023558447387,
      "grad_norm": 0.542334258556366,
      "learning_rate": 0.00032226142772478523,
      "loss": 0.0673,
      "step": 5676
    },
    {
      "epoch": 1.2735023558447387,
      "gripper_loss": 0.08740234375,
      "loss": 0.1376953125,
      "pos_loss": 0.69140625,
      "rot_loss": 0.59375,
      "step": 5676
    },
    {
      "epoch": 1.2737267220103208,
      "grad_norm": 0.5776793360710144,
      "learning_rate": 0.00032220345092130243,
      "loss": 0.0994,
      "step": 5677
    },
    {
      "epoch": 1.2737267220103208,
      "gripper_loss": 0.0281982421875,
      "loss": 0.07763671875,
      "pos_loss": 0.609375,
      "rot_loss": 0.140625,
      "step": 5677
    },
    {
      "epoch": 1.273951088175903,
      "grad_norm": 0.5112136602401733,
      "learning_rate": 0.00032214546988095383,
      "loss": 0.1094,
      "step": 5678
    },
    {
      "epoch": 1.273951088175903,
      "gripper_loss": 0.39453125,
      "loss": 0.022705078125,
      "pos_loss": 0.0238037109375,
      "rot_loss": 0.0238037109375,
      "step": 5678
    },
    {
      "epoch": 1.2741754543414854,
      "grad_norm": 0.4497639834880829,
      "learning_rate": 0.00032208748460714156,
      "loss": 0.0797,
      "step": 5679
    },
    {
      "epoch": 1.2741754543414854,
      "gripper_loss": 0.259765625,
      "loss": 0.16015625,
      "pos_loss": 0.388671875,
      "rot_loss": 0.470703125,
      "step": 5679
    },
    {
      "epoch": 1.2743998205070675,
      "grad_norm": 1.1401073932647705,
      "learning_rate": 0.0003220294951032684,
      "loss": 0.1897,
      "step": 5680
    },
    {
      "epoch": 1.2743998205070675,
      "gripper_loss": 0.8203125,
      "loss": 0.0625,
      "pos_loss": 0.205078125,
      "rot_loss": 0.1396484375,
      "step": 5680
    },
    {
      "epoch": 1.2746241866726498,
      "grad_norm": 0.7260097861289978,
      "learning_rate": 0.0003219715013727368,
      "loss": 0.1143,
      "step": 5681
    },
    {
      "epoch": 1.2746241866726498,
      "gripper_loss": 0.02978515625,
      "loss": 0.11474609375,
      "pos_loss": 0.94921875,
      "rot_loss": 0.203125,
      "step": 5681
    },
    {
      "epoch": 1.274848552838232,
      "grad_norm": 0.5889219045639038,
      "learning_rate": 0.0003219135034189501,
      "loss": 0.0843,
      "step": 5682
    },
    {
      "epoch": 1.274848552838232,
      "gripper_loss": 0.04052734375,
      "loss": 0.083984375,
      "pos_loss": 0.45703125,
      "rot_loss": 0.341796875,
      "step": 5682
    },
    {
      "epoch": 1.2750729190038141,
      "grad_norm": 0.5145125389099121,
      "learning_rate": 0.0003218555012453115,
      "loss": 0.09,
      "step": 5683
    },
    {
      "epoch": 1.2750729190038141,
      "gripper_loss": 0.0206298828125,
      "loss": 0.08056640625,
      "pos_loss": 0.53125,
      "rot_loss": 0.2275390625,
      "step": 5683
    },
    {
      "epoch": 1.2752972851693964,
      "grad_norm": 0.4622083902359009,
      "learning_rate": 0.0003217974948552245,
      "loss": 0.086,
      "step": 5684
    },
    {
      "epoch": 1.2752972851693964,
      "gripper_loss": 0.052490234375,
      "loss": 0.1259765625,
      "pos_loss": 0.423828125,
      "rot_loss": 0.83203125,
      "step": 5684
    },
    {
      "epoch": 1.2755216513349787,
      "grad_norm": 0.603823184967041,
      "learning_rate": 0.00032173948425209294,
      "loss": 0.0708,
      "step": 5685
    },
    {
      "epoch": 1.2755216513349787,
      "gripper_loss": 0.130859375,
      "loss": 0.025634765625,
      "pos_loss": 0.025634765625,
      "rot_loss": 0.1552734375,
      "step": 5685
    },
    {
      "epoch": 1.2757460175005608,
      "grad_norm": 0.539215087890625,
      "learning_rate": 0.00032168146943932084,
      "loss": 0.0885,
      "step": 5686
    },
    {
      "epoch": 1.2757460175005608,
      "gripper_loss": 0.2138671875,
      "loss": 0.130859375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.6875,
      "step": 5686
    },
    {
      "epoch": 1.2759703836661431,
      "grad_norm": 0.9174985885620117,
      "learning_rate": 0.0003216234504203125,
      "loss": 0.119,
      "step": 5687
    },
    {
      "epoch": 1.2759703836661431,
      "gripper_loss": 0.011962890625,
      "loss": 0.048095703125,
      "pos_loss": 0.3828125,
      "rot_loss": 0.07470703125,
      "step": 5687
    },
    {
      "epoch": 1.2761947498317254,
      "grad_norm": 0.5030018091201782,
      "learning_rate": 0.0003215654271984724,
      "loss": 0.085,
      "step": 5688
    },
    {
      "epoch": 1.2761947498317254,
      "gripper_loss": 0.55859375,
      "loss": 0.0849609375,
      "pos_loss": 0.2109375,
      "rot_loss": 0.45703125,
      "step": 5688
    },
    {
      "epoch": 1.2764191159973075,
      "grad_norm": 0.5425146222114563,
      "learning_rate": 0.00032150739977720544,
      "loss": 0.0583,
      "step": 5689
    },
    {
      "epoch": 1.2764191159973075,
      "gripper_loss": 0.29296875,
      "loss": 0.06689453125,
      "pos_loss": 0.4609375,
      "rot_loss": 0.08837890625,
      "step": 5689
    },
    {
      "epoch": 1.2766434821628898,
      "grad_norm": 0.7251485586166382,
      "learning_rate": 0.0003214493681599164,
      "loss": 0.1023,
      "step": 5690
    },
    {
      "epoch": 1.2766434821628898,
      "gripper_loss": 0.029541015625,
      "loss": 0.0263671875,
      "pos_loss": 0.142578125,
      "rot_loss": 0.054443359375,
      "step": 5690
    },
    {
      "epoch": 1.276867848328472,
      "grad_norm": 0.4350315034389496,
      "learning_rate": 0.0003213913323500108,
      "loss": 0.0499,
      "step": 5691
    },
    {
      "epoch": 1.276867848328472,
      "gripper_loss": 0.01123046875,
      "loss": 0.0400390625,
      "pos_loss": 0.298828125,
      "rot_loss": 0.0634765625,
      "step": 5691
    },
    {
      "epoch": 1.2770922144940542,
      "grad_norm": 0.5369536280632019,
      "learning_rate": 0.0003213332923508941,
      "loss": 0.0651,
      "step": 5692
    },
    {
      "epoch": 1.2770922144940542,
      "gripper_loss": 0.1923828125,
      "loss": 0.0498046875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.275390625,
      "step": 5692
    },
    {
      "epoch": 1.2773165806596365,
      "grad_norm": 0.5389540791511536,
      "learning_rate": 0.00032127524816597203,
      "loss": 0.0903,
      "step": 5693
    },
    {
      "epoch": 1.2773165806596365,
      "gripper_loss": 0.2099609375,
      "loss": 0.0400390625,
      "pos_loss": 0.15625,
      "rot_loss": 0.142578125,
      "step": 5693
    },
    {
      "epoch": 1.2775409468252188,
      "grad_norm": 0.47318604588508606,
      "learning_rate": 0.0003212171997986505,
      "loss": 0.0689,
      "step": 5694
    },
    {
      "epoch": 1.2775409468252188,
      "gripper_loss": 0.470703125,
      "loss": 0.06005859375,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.322265625,
      "step": 5694
    },
    {
      "epoch": 1.2777653129908009,
      "grad_norm": 0.7459031939506531,
      "learning_rate": 0.00032115914725233593,
      "loss": 0.0576,
      "step": 5695
    },
    {
      "epoch": 1.2777653129908009,
      "gripper_loss": 0.89453125,
      "loss": 0.09716796875,
      "pos_loss": 0.484375,
      "rot_loss": 0.2041015625,
      "step": 5695
    },
    {
      "epoch": 1.2779896791563832,
      "grad_norm": 0.5696811676025391,
      "learning_rate": 0.0003211010905304346,
      "loss": 0.0818,
      "step": 5696
    },
    {
      "epoch": 1.2779896791563832,
      "gripper_loss": 0.1572265625,
      "loss": 0.0830078125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.04541015625,
      "step": 5696
    },
    {
      "epoch": 1.2782140453219655,
      "grad_norm": 0.3795628845691681,
      "learning_rate": 0.0003210430296363535,
      "loss": 0.0722,
      "step": 5697
    },
    {
      "epoch": 1.2782140453219655,
      "gripper_loss": 0.0272216796875,
      "loss": 0.111328125,
      "pos_loss": 0.275390625,
      "rot_loss": 0.84765625,
      "step": 5697
    },
    {
      "epoch": 1.2784384114875476,
      "grad_norm": 0.37077128887176514,
      "learning_rate": 0.00032098496457349954,
      "loss": 0.0641,
      "step": 5698
    },
    {
      "epoch": 1.2784384114875476,
      "gripper_loss": 0.2734375,
      "loss": 0.051025390625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.07275390625,
      "step": 5698
    },
    {
      "epoch": 1.2786627776531299,
      "grad_norm": 0.7832441329956055,
      "learning_rate": 0.0003209268953452798,
      "loss": 0.0801,
      "step": 5699
    },
    {
      "epoch": 1.2786627776531299,
      "gripper_loss": 0.5625,
      "loss": 0.21875,
      "pos_loss": 1.125,
      "rot_loss": 0.5390625,
      "step": 5699
    },
    {
      "epoch": 1.2788871438187122,
      "grad_norm": 1.1037278175354004,
      "learning_rate": 0.00032086882195510194,
      "loss": 0.1464,
      "step": 5700
    },
    {
      "epoch": 1.2788871438187122,
      "gripper_loss": 0.055419921875,
      "loss": 0.09228515625,
      "pos_loss": 0.84375,
      "rot_loss": 0.038330078125,
      "step": 5700
    },
    {
      "epoch": 1.2791115099842942,
      "grad_norm": 0.5754370093345642,
      "learning_rate": 0.0003208107444063736,
      "loss": 0.0986,
      "step": 5701
    },
    {
      "epoch": 1.2791115099842942,
      "gripper_loss": 0.0830078125,
      "loss": 0.0869140625,
      "pos_loss": 0.40625,
      "rot_loss": 0.43359375,
      "step": 5701
    },
    {
      "epoch": 1.2793358761498765,
      "grad_norm": 0.43141546845436096,
      "learning_rate": 0.00032075266270250273,
      "loss": 0.0851,
      "step": 5702
    },
    {
      "epoch": 1.2793358761498765,
      "gripper_loss": 0.0235595703125,
      "loss": 0.06298828125,
      "pos_loss": 0.3203125,
      "rot_loss": 0.2392578125,
      "step": 5702
    },
    {
      "epoch": 1.2795602423154588,
      "grad_norm": 0.6877705454826355,
      "learning_rate": 0.0003206945768468976,
      "loss": 0.0761,
      "step": 5703
    },
    {
      "epoch": 1.2795602423154588,
      "gripper_loss": 0.2578125,
      "loss": 0.0634765625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.00994873046875,
      "step": 5703
    },
    {
      "epoch": 1.2797846084810411,
      "grad_norm": 0.6958558559417725,
      "learning_rate": 0.00032063648684296667,
      "loss": 0.0626,
      "step": 5704
    },
    {
      "epoch": 1.2797846084810411,
      "gripper_loss": 0.28125,
      "loss": 0.07177734375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.2578125,
      "step": 5704
    },
    {
      "epoch": 1.2800089746466232,
      "grad_norm": 0.8981315493583679,
      "learning_rate": 0.00032057839269411856,
      "loss": 0.096,
      "step": 5705
    },
    {
      "epoch": 1.2800089746466232,
      "gripper_loss": 0.034423828125,
      "loss": 0.1611328125,
      "pos_loss": 1.4453125,
      "rot_loss": 0.18359375,
      "step": 5705
    },
    {
      "epoch": 1.2802333408122055,
      "grad_norm": 0.5623045563697815,
      "learning_rate": 0.0003205202944037622,
      "loss": 0.0915,
      "step": 5706
    },
    {
      "epoch": 1.2802333408122055,
      "gripper_loss": 0.25,
      "loss": 0.05322265625,
      "pos_loss": 0.21875,
      "rot_loss": 0.216796875,
      "step": 5706
    },
    {
      "epoch": 1.2804577069777878,
      "grad_norm": 0.5603556632995605,
      "learning_rate": 0.0003204621919753068,
      "loss": 0.0784,
      "step": 5707
    },
    {
      "epoch": 1.2804577069777878,
      "gripper_loss": 0.1005859375,
      "loss": 0.01446533203125,
      "pos_loss": 0.060546875,
      "rot_loss": 0.0172119140625,
      "step": 5707
    },
    {
      "epoch": 1.28068207314337,
      "grad_norm": 0.5470532774925232,
      "learning_rate": 0.00032040408541216187,
      "loss": 0.0644,
      "step": 5708
    },
    {
      "epoch": 1.28068207314337,
      "gripper_loss": 1.46875,
      "loss": 0.083984375,
      "pos_loss": 0.0556640625,
      "rot_loss": 0.30078125,
      "step": 5708
    },
    {
      "epoch": 1.2809064393089522,
      "grad_norm": 0.3896021544933319,
      "learning_rate": 0.00032034597471773695,
      "loss": 0.0484,
      "step": 5709
    },
    {
      "epoch": 1.2809064393089522,
      "gripper_loss": 0.2060546875,
      "loss": 0.1865234375,
      "pos_loss": 1.6171875,
      "rot_loss": 0.1494140625,
      "step": 5709
    },
    {
      "epoch": 1.2811308054745345,
      "grad_norm": 0.5596408843994141,
      "learning_rate": 0.00032028785989544206,
      "loss": 0.0969,
      "step": 5710
    },
    {
      "epoch": 1.2811308054745345,
      "gripper_loss": 0.1962890625,
      "loss": 0.026123046875,
      "pos_loss": 0.064453125,
      "rot_loss": 0.08740234375,
      "step": 5710
    },
    {
      "epoch": 1.2813551716401168,
      "grad_norm": 0.7094353437423706,
      "learning_rate": 0.0003202297409486872,
      "loss": 0.0754,
      "step": 5711
    },
    {
      "epoch": 1.2813551716401168,
      "gripper_loss": 0.408203125,
      "loss": 0.032470703125,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.0208740234375,
      "step": 5711
    },
    {
      "epoch": 1.2815795378056989,
      "grad_norm": 0.6154411435127258,
      "learning_rate": 0.00032017161788088297,
      "loss": 0.1023,
      "step": 5712
    },
    {
      "epoch": 1.2815795378056989,
      "gripper_loss": 0.1318359375,
      "loss": 0.0771484375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.41796875,
      "step": 5712
    },
    {
      "epoch": 1.2818039039712812,
      "grad_norm": 0.5297137498855591,
      "learning_rate": 0.00032011349069543976,
      "loss": 0.0854,
      "step": 5713
    },
    {
      "epoch": 1.2818039039712812,
      "gripper_loss": 0.734375,
      "loss": 0.05615234375,
      "pos_loss": 0.20703125,
      "rot_loss": 0.09033203125,
      "step": 5713
    },
    {
      "epoch": 1.2820282701368635,
      "grad_norm": 0.38808271288871765,
      "learning_rate": 0.00032005535939576865,
      "loss": 0.0684,
      "step": 5714
    },
    {
      "epoch": 1.2820282701368635,
      "gripper_loss": 0.043212890625,
      "loss": 0.0810546875,
      "pos_loss": 0.6171875,
      "rot_loss": 0.1845703125,
      "step": 5714
    },
    {
      "epoch": 1.2822526363024456,
      "grad_norm": 0.3969796299934387,
      "learning_rate": 0.00031999722398528077,
      "loss": 0.0704,
      "step": 5715
    },
    {
      "epoch": 1.2822526363024456,
      "gripper_loss": 0.1630859375,
      "loss": 0.0966796875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.1884765625,
      "step": 5715
    },
    {
      "epoch": 1.2824770024680279,
      "grad_norm": 0.4305061399936676,
      "learning_rate": 0.0003199390844673873,
      "loss": 0.084,
      "step": 5716
    },
    {
      "epoch": 1.2824770024680279,
      "gripper_loss": 0.049072265625,
      "loss": 0.05224609375,
      "pos_loss": 0.328125,
      "rot_loss": 0.126953125,
      "step": 5716
    },
    {
      "epoch": 1.2827013686336102,
      "grad_norm": 0.5467738509178162,
      "learning_rate": 0.00031988094084549996,
      "loss": 0.0874,
      "step": 5717
    },
    {
      "epoch": 1.2827013686336102,
      "gripper_loss": 0.412109375,
      "loss": 0.057373046875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.01904296875,
      "step": 5717
    },
    {
      "epoch": 1.2829257347991923,
      "grad_norm": 0.436313271522522,
      "learning_rate": 0.0003198227931230305,
      "loss": 0.0829,
      "step": 5718
    },
    {
      "epoch": 1.2829257347991923,
      "gripper_loss": 0.06591796875,
      "loss": 0.1328125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.15625,
      "step": 5718
    },
    {
      "epoch": 1.2831501009647746,
      "grad_norm": 0.6667031645774841,
      "learning_rate": 0.0003197646413033912,
      "loss": 0.1166,
      "step": 5719
    },
    {
      "epoch": 1.2831501009647746,
      "gripper_loss": 1.0078125,
      "loss": 0.07666015625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.107421875,
      "step": 5719
    },
    {
      "epoch": 1.2833744671303569,
      "grad_norm": 0.6639546155929565,
      "learning_rate": 0.00031970648538999415,
      "loss": 0.0948,
      "step": 5720
    },
    {
      "epoch": 1.2833744671303569,
      "gripper_loss": 0.035888671875,
      "loss": 0.1513671875,
      "pos_loss": 0.8828125,
      "rot_loss": 0.396484375,
      "step": 5720
    },
    {
      "epoch": 1.283598833295939,
      "grad_norm": 1.0029042959213257,
      "learning_rate": 0.0003196483253862521,
      "loss": 0.1334,
      "step": 5721
    },
    {
      "epoch": 1.283598833295939,
      "gripper_loss": 0.55078125,
      "loss": 0.16796875,
      "pos_loss": 1.2890625,
      "rot_loss": 0.279296875,
      "step": 5721
    },
    {
      "epoch": 1.2838231994615212,
      "grad_norm": 0.48522236943244934,
      "learning_rate": 0.0003195901612955777,
      "loss": 0.1011,
      "step": 5722
    },
    {
      "epoch": 1.2838231994615212,
      "gripper_loss": 0.11962890625,
      "loss": 0.0751953125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.357421875,
      "step": 5722
    },
    {
      "epoch": 1.2840475656271035,
      "grad_norm": 0.45850351452827454,
      "learning_rate": 0.00031953199312138413,
      "loss": 0.0576,
      "step": 5723
    },
    {
      "epoch": 1.2840475656271035,
      "gripper_loss": 0.087890625,
      "loss": 0.06689453125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.322265625,
      "step": 5723
    },
    {
      "epoch": 1.2842719317926856,
      "grad_norm": 0.590798556804657,
      "learning_rate": 0.00031947382086708456,
      "loss": 0.0866,
      "step": 5724
    },
    {
      "epoch": 1.2842719317926856,
      "gripper_loss": 0.06787109375,
      "loss": 0.1083984375,
      "pos_loss": 0.765625,
      "rot_loss": 0.248046875,
      "step": 5724
    },
    {
      "epoch": 1.284496297958268,
      "grad_norm": 0.71706622838974,
      "learning_rate": 0.00031941564453609255,
      "loss": 0.0892,
      "step": 5725
    },
    {
      "epoch": 1.284496297958268,
      "gripper_loss": 0.1650390625,
      "loss": 0.10595703125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.126953125,
      "step": 5725
    },
    {
      "epoch": 1.2847206641238502,
      "grad_norm": 0.49876776337623596,
      "learning_rate": 0.0003193574641318219,
      "loss": 0.0975,
      "step": 5726
    },
    {
      "epoch": 1.2847206641238502,
      "gripper_loss": 0.39453125,
      "loss": 0.0262451171875,
      "pos_loss": 0.07080078125,
      "rot_loss": 0.0289306640625,
      "step": 5726
    },
    {
      "epoch": 1.2849450302894323,
      "grad_norm": 0.4466988146305084,
      "learning_rate": 0.0003192992796576866,
      "loss": 0.0721,
      "step": 5727
    },
    {
      "epoch": 1.2849450302894323,
      "gripper_loss": 0.03857421875,
      "loss": 0.1611328125,
      "pos_loss": 1.3515625,
      "rot_loss": 0.2470703125,
      "step": 5727
    },
    {
      "epoch": 1.2851693964550146,
      "grad_norm": 0.46553871035575867,
      "learning_rate": 0.0003192410911171008,
      "loss": 0.0866,
      "step": 5728
    },
    {
      "epoch": 1.2851693964550146,
      "gripper_loss": 0.490234375,
      "loss": 0.14453125,
      "pos_loss": 0.9921875,
      "rot_loss": 0.31640625,
      "step": 5728
    },
    {
      "epoch": 1.285393762620597,
      "grad_norm": 0.6105032563209534,
      "learning_rate": 0.00031918289851347905,
      "loss": 0.1098,
      "step": 5729
    },
    {
      "epoch": 1.285393762620597,
      "gripper_loss": 0.046142578125,
      "loss": 0.1025390625,
      "pos_loss": 0.66015625,
      "rot_loss": 0.34765625,
      "step": 5729
    },
    {
      "epoch": 1.285618128786179,
      "grad_norm": 0.3836534023284912,
      "learning_rate": 0.00031912470185023613,
      "loss": 0.0557,
      "step": 5730
    },
    {
      "epoch": 1.285618128786179,
      "gripper_loss": 0.2294921875,
      "loss": 0.08203125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1611328125,
      "step": 5730
    },
    {
      "epoch": 1.2858424949517613,
      "grad_norm": 0.4453659653663635,
      "learning_rate": 0.0003190665011307868,
      "loss": 0.078,
      "step": 5731
    },
    {
      "epoch": 1.2858424949517613,
      "gripper_loss": 0.2734375,
      "loss": 0.087890625,
      "pos_loss": 0.609375,
      "rot_loss": 0.1455078125,
      "step": 5731
    },
    {
      "epoch": 1.2860668611173436,
      "grad_norm": 0.4596087634563446,
      "learning_rate": 0.00031900829635854645,
      "loss": 0.076,
      "step": 5732
    },
    {
      "epoch": 1.2860668611173436,
      "gripper_loss": 0.038330078125,
      "loss": 0.0390625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.04248046875,
      "step": 5732
    },
    {
      "epoch": 1.2862912272829257,
      "grad_norm": 0.34473615884780884,
      "learning_rate": 0.0003189500875369304,
      "loss": 0.0719,
      "step": 5733
    },
    {
      "epoch": 1.2862912272829257,
      "gripper_loss": 0.0296630859375,
      "loss": 0.0458984375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.061279296875,
      "step": 5733
    },
    {
      "epoch": 1.286515593448508,
      "grad_norm": 0.37423908710479736,
      "learning_rate": 0.0003188918746693545,
      "loss": 0.0607,
      "step": 5734
    },
    {
      "epoch": 1.286515593448508,
      "gripper_loss": 0.0242919921875,
      "loss": 0.028564453125,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.068359375,
      "step": 5734
    },
    {
      "epoch": 1.2867399596140903,
      "grad_norm": 0.46026235818862915,
      "learning_rate": 0.0003188336577592343,
      "loss": 0.0612,
      "step": 5735
    },
    {
      "epoch": 1.2867399596140903,
      "gripper_loss": 0.82421875,
      "loss": 0.0859375,
      "pos_loss": 0.55078125,
      "rot_loss": 0.040283203125,
      "step": 5735
    },
    {
      "epoch": 1.2869643257796723,
      "grad_norm": 0.4762449264526367,
      "learning_rate": 0.0003187754368099863,
      "loss": 0.0883,
      "step": 5736
    },
    {
      "epoch": 1.2869643257796723,
      "gripper_loss": 0.19140625,
      "loss": 0.07666015625,
      "pos_loss": 0.412109375,
      "rot_loss": 0.298828125,
      "step": 5736
    },
    {
      "epoch": 1.2871886919452546,
      "grad_norm": 0.5568150281906128,
      "learning_rate": 0.0003187172118250266,
      "loss": 0.1007,
      "step": 5737
    },
    {
      "epoch": 1.2871886919452546,
      "gripper_loss": 0.341796875,
      "loss": 0.1435546875,
      "pos_loss": 0.796875,
      "rot_loss": 0.365234375,
      "step": 5737
    },
    {
      "epoch": 1.287413058110837,
      "grad_norm": 0.8412005305290222,
      "learning_rate": 0.00031865898280777205,
      "loss": 0.0979,
      "step": 5738
    },
    {
      "epoch": 1.287413058110837,
      "gripper_loss": 0.59375,
      "loss": 0.109375,
      "pos_loss": 0.47265625,
      "rot_loss": 0.45703125,
      "step": 5738
    },
    {
      "epoch": 1.287637424276419,
      "grad_norm": 0.8280138969421387,
      "learning_rate": 0.0003186007497616394,
      "loss": 0.0812,
      "step": 5739
    },
    {
      "epoch": 1.287637424276419,
      "gripper_loss": 0.11572265625,
      "loss": 0.298828125,
      "pos_loss": 1.4765625,
      "rot_loss": 0.6015625,
      "step": 5739
    },
    {
      "epoch": 1.2878617904420013,
      "grad_norm": 1.0292795896530151,
      "learning_rate": 0.0003185425126900457,
      "loss": 0.22,
      "step": 5740
    },
    {
      "epoch": 1.2878617904420013,
      "gripper_loss": 0.341796875,
      "loss": 0.0286865234375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.02392578125,
      "step": 5740
    },
    {
      "epoch": 1.2880861566075836,
      "grad_norm": 0.3114420175552368,
      "learning_rate": 0.00031848427159640824,
      "loss": 0.0432,
      "step": 5741
    },
    {
      "epoch": 1.2880861566075836,
      "gripper_loss": 0.2041015625,
      "loss": 0.04345703125,
      "pos_loss": 0.23828125,
      "rot_loss": 0.0927734375,
      "step": 5741
    },
    {
      "epoch": 1.2883105227731657,
      "grad_norm": 0.5052077770233154,
      "learning_rate": 0.00031842602648414476,
      "loss": 0.0629,
      "step": 5742
    },
    {
      "epoch": 1.2883105227731657,
      "gripper_loss": 0.34375,
      "loss": 0.055908203125,
      "pos_loss": 0.2734375,
      "rot_loss": 0.1328125,
      "step": 5742
    },
    {
      "epoch": 1.288534888938748,
      "grad_norm": 0.546089768409729,
      "learning_rate": 0.00031836777735667286,
      "loss": 0.0844,
      "step": 5743
    },
    {
      "epoch": 1.288534888938748,
      "gripper_loss": 0.90625,
      "loss": 0.10693359375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.2001953125,
      "step": 5743
    },
    {
      "epoch": 1.2887592551043303,
      "grad_norm": 0.6132489442825317,
      "learning_rate": 0.0003183095242174107,
      "loss": 0.0669,
      "step": 5744
    },
    {
      "epoch": 1.2887592551043303,
      "gripper_loss": 0.62890625,
      "loss": 0.427734375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.58203125,
      "step": 5744
    },
    {
      "epoch": 1.2889836212699124,
      "grad_norm": 1.3314212560653687,
      "learning_rate": 0.0003182512670697766,
      "loss": 0.4382,
      "step": 5745
    },
    {
      "epoch": 1.2889836212699124,
      "gripper_loss": 0.73046875,
      "loss": 0.07177734375,
      "pos_loss": 0.279296875,
      "rot_loss": 0.1220703125,
      "step": 5745
    },
    {
      "epoch": 1.2892079874354947,
      "grad_norm": 0.5763397812843323,
      "learning_rate": 0.0003181930059171888,
      "loss": 0.0877,
      "step": 5746
    },
    {
      "epoch": 1.2892079874354947,
      "gripper_loss": 0.01190185546875,
      "loss": 0.1337890625,
      "pos_loss": 1.171875,
      "rot_loss": 0.185546875,
      "step": 5746
    },
    {
      "epoch": 1.289432353601077,
      "grad_norm": 0.4276571273803711,
      "learning_rate": 0.0003181347407630663,
      "loss": 0.0878,
      "step": 5747
    },
    {
      "epoch": 1.289432353601077,
      "gripper_loss": 0.1513671875,
      "loss": 0.0238037109375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.01092529296875,
      "step": 5747
    },
    {
      "epoch": 1.289656719766659,
      "grad_norm": 0.47701194882392883,
      "learning_rate": 0.00031807647161082795,
      "loss": 0.0805,
      "step": 5748
    },
    {
      "epoch": 1.289656719766659,
      "gripper_loss": 0.27734375,
      "loss": 0.095703125,
      "pos_loss": 0.451171875,
      "rot_loss": 0.353515625,
      "step": 5748
    },
    {
      "epoch": 1.2898810859322414,
      "grad_norm": 0.5294471979141235,
      "learning_rate": 0.00031801819846389304,
      "loss": 0.0932,
      "step": 5749
    },
    {
      "epoch": 1.2898810859322414,
      "gripper_loss": 0.220703125,
      "loss": 0.05029296875,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.322265625,
      "step": 5749
    },
    {
      "epoch": 1.2901054520978237,
      "grad_norm": 0.4779484272003174,
      "learning_rate": 0.000317959921325681,
      "loss": 0.0828,
      "step": 5750
    },
    {
      "epoch": 1.2901054520978237,
      "gripper_loss": 0.057373046875,
      "loss": 0.0859375,
      "pos_loss": 0.7265625,
      "rot_loss": 0.0791015625,
      "step": 5750
    },
    {
      "epoch": 1.2903298182634058,
      "grad_norm": 0.5244974493980408,
      "learning_rate": 0.00031790164019961136,
      "loss": 0.0959,
      "step": 5751
    },
    {
      "epoch": 1.2903298182634058,
      "gripper_loss": 0.0203857421875,
      "loss": 0.03857421875,
      "pos_loss": 0.263671875,
      "rot_loss": 0.05712890625,
      "step": 5751
    },
    {
      "epoch": 1.290554184428988,
      "grad_norm": 0.5719240307807922,
      "learning_rate": 0.00031784335508910417,
      "loss": 0.0838,
      "step": 5752
    },
    {
      "epoch": 1.290554184428988,
      "gripper_loss": 0.470703125,
      "loss": 0.083984375,
      "pos_loss": 0.4921875,
      "rot_loss": 0.15625,
      "step": 5752
    },
    {
      "epoch": 1.2907785505945704,
      "grad_norm": 0.6456159949302673,
      "learning_rate": 0.00031778506599757953,
      "loss": 0.0779,
      "step": 5753
    },
    {
      "epoch": 1.2907785505945704,
      "gripper_loss": 0.150390625,
      "loss": 0.05322265625,
      "pos_loss": 0.185546875,
      "rot_loss": 0.25390625,
      "step": 5753
    },
    {
      "epoch": 1.2910029167601524,
      "grad_norm": 0.5268776416778564,
      "learning_rate": 0.00031772677292845784,
      "loss": 0.083,
      "step": 5754
    },
    {
      "epoch": 1.2910029167601524,
      "gripper_loss": 0.306640625,
      "loss": 0.10595703125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.24609375,
      "step": 5754
    },
    {
      "epoch": 1.2912272829257347,
      "grad_norm": 0.7911359071731567,
      "learning_rate": 0.00031766847588515974,
      "loss": 0.1208,
      "step": 5755
    },
    {
      "epoch": 1.2912272829257347,
      "gripper_loss": 0.86328125,
      "loss": 0.07666015625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.0703125,
      "step": 5755
    },
    {
      "epoch": 1.291451649091317,
      "grad_norm": 0.6303583979606628,
      "learning_rate": 0.000317610174871106,
      "loss": 0.0842,
      "step": 5756
    },
    {
      "epoch": 1.291451649091317,
      "gripper_loss": 0.027099609375,
      "loss": 0.09033203125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.27734375,
      "step": 5756
    },
    {
      "epoch": 1.2916760152568991,
      "grad_norm": 0.6718898415565491,
      "learning_rate": 0.0003175518698897178,
      "loss": 0.1036,
      "step": 5757
    },
    {
      "epoch": 1.2916760152568991,
      "gripper_loss": 0.58203125,
      "loss": 0.1376953125,
      "pos_loss": 0.59375,
      "rot_loss": 0.61328125,
      "step": 5757
    },
    {
      "epoch": 1.2919003814224814,
      "grad_norm": 0.6834567785263062,
      "learning_rate": 0.00031749356094441626,
      "loss": 0.1039,
      "step": 5758
    },
    {
      "epoch": 1.2919003814224814,
      "gripper_loss": 0.056640625,
      "loss": 0.046142578125,
      "pos_loss": 0.16015625,
      "rot_loss": 0.111328125,
      "step": 5758
    },
    {
      "epoch": 1.2921247475880637,
      "grad_norm": 0.8028141260147095,
      "learning_rate": 0.00031743524803862314,
      "loss": 0.0893,
      "step": 5759
    },
    {
      "epoch": 1.2921247475880637,
      "gripper_loss": 0.054443359375,
      "loss": 0.0673828125,
      "pos_loss": 0.5625,
      "rot_loss": 0.06494140625,
      "step": 5759
    },
    {
      "epoch": 1.292349113753646,
      "grad_norm": 0.6354047060012817,
      "learning_rate": 0.00031737693117576005,
      "loss": 0.1079,
      "step": 5760
    },
    {
      "epoch": 1.292349113753646,
      "gripper_loss": 0.0081787109375,
      "loss": 0.06689453125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.205078125,
      "step": 5760
    },
    {
      "epoch": 1.292573479919228,
      "grad_norm": 0.45645731687545776,
      "learning_rate": 0.00031731861035924906,
      "loss": 0.0878,
      "step": 5761
    },
    {
      "epoch": 1.292573479919228,
      "gripper_loss": 0.1591796875,
      "loss": 0.0712890625,
      "pos_loss": 0.359375,
      "rot_loss": 0.244140625,
      "step": 5761
    },
    {
      "epoch": 1.2927978460848104,
      "grad_norm": 0.5099278092384338,
      "learning_rate": 0.0003172602855925125,
      "loss": 0.0732,
      "step": 5762
    },
    {
      "epoch": 1.2927978460848104,
      "gripper_loss": 0.0263671875,
      "loss": 0.0380859375,
      "pos_loss": 0.166015625,
      "rot_loss": 0.1396484375,
      "step": 5762
    },
    {
      "epoch": 1.2930222122503927,
      "grad_norm": 0.4279617965221405,
      "learning_rate": 0.00031720195687897273,
      "loss": 0.0781,
      "step": 5763
    },
    {
      "epoch": 1.2930222122503927,
      "gripper_loss": 0.07666015625,
      "loss": 0.134765625,
      "pos_loss": 0.28125,
      "rot_loss": 0.255859375,
      "step": 5763
    },
    {
      "epoch": 1.2932465784159748,
      "grad_norm": 0.9242526888847351,
      "learning_rate": 0.00031714362422205245,
      "loss": 0.1151,
      "step": 5764
    },
    {
      "epoch": 1.2932465784159748,
      "gripper_loss": 0.21875,
      "loss": 0.115234375,
      "pos_loss": 0.51171875,
      "rot_loss": 0.359375,
      "step": 5764
    },
    {
      "epoch": 1.293470944581557,
      "grad_norm": 0.9387869238853455,
      "learning_rate": 0.00031708528762517464,
      "loss": 0.1284,
      "step": 5765
    },
    {
      "epoch": 1.293470944581557,
      "gripper_loss": 0.412109375,
      "loss": 0.419921875,
      "pos_loss": 0.94921875,
      "rot_loss": 1.8984375,
      "step": 5765
    },
    {
      "epoch": 1.2936953107471394,
      "grad_norm": 1.4110432863235474,
      "learning_rate": 0.0003170269470917625,
      "loss": 0.2489,
      "step": 5766
    },
    {
      "epoch": 1.2936953107471394,
      "gripper_loss": 0.0419921875,
      "loss": 0.07080078125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.26171875,
      "step": 5766
    },
    {
      "epoch": 1.2939196769127217,
      "grad_norm": 0.6419210433959961,
      "learning_rate": 0.00031696860262523925,
      "loss": 0.0723,
      "step": 5767
    },
    {
      "epoch": 1.2939196769127217,
      "gripper_loss": 0.021240234375,
      "loss": 0.076171875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.080078125,
      "step": 5767
    },
    {
      "epoch": 1.2941440430783038,
      "grad_norm": 0.7830861210823059,
      "learning_rate": 0.0003169102542290288,
      "loss": 0.079,
      "step": 5768
    },
    {
      "epoch": 1.2941440430783038,
      "gripper_loss": 0.6328125,
      "loss": 0.171875,
      "pos_loss": 0.71875,
      "rot_loss": 0.275390625,
      "step": 5768
    },
    {
      "epoch": 1.294368409243886,
      "grad_norm": 1.122614860534668,
      "learning_rate": 0.0003168519019065547,
      "loss": 0.1625,
      "step": 5769
    },
    {
      "epoch": 1.294368409243886,
      "gripper_loss": 0.890625,
      "loss": 0.0712890625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.0966796875,
      "step": 5769
    },
    {
      "epoch": 1.2945927754094684,
      "grad_norm": 0.707356870174408,
      "learning_rate": 0.0003167935456612413,
      "loss": 0.084,
      "step": 5770
    },
    {
      "epoch": 1.2945927754094684,
      "gripper_loss": 0.1259765625,
      "loss": 0.15234375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.5390625,
      "step": 5770
    },
    {
      "epoch": 1.2948171415750505,
      "grad_norm": 0.7616932988166809,
      "learning_rate": 0.0003167351854965127,
      "loss": 0.0858,
      "step": 5771
    },
    {
      "epoch": 1.2948171415750505,
      "gripper_loss": 0.039306640625,
      "loss": 0.06884765625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.14453125,
      "step": 5771
    },
    {
      "epoch": 1.2950415077406328,
      "grad_norm": 0.5717059373855591,
      "learning_rate": 0.0003166768214157936,
      "loss": 0.0604,
      "step": 5772
    },
    {
      "epoch": 1.2950415077406328,
      "gripper_loss": 0.1650390625,
      "loss": 0.1533203125,
      "pos_loss": 0.361328125,
      "rot_loss": 0.54296875,
      "step": 5772
    },
    {
      "epoch": 1.295265873906215,
      "grad_norm": 1.176312804222107,
      "learning_rate": 0.0003166184534225087,
      "loss": 0.1409,
      "step": 5773
    },
    {
      "epoch": 1.295265873906215,
      "gripper_loss": 0.44140625,
      "loss": 0.11279296875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.34375,
      "step": 5773
    },
    {
      "epoch": 1.2954902400717971,
      "grad_norm": 0.6881913542747498,
      "learning_rate": 0.00031656008152008313,
      "loss": 0.1507,
      "step": 5774
    },
    {
      "epoch": 1.2954902400717971,
      "gripper_loss": 0.185546875,
      "loss": 0.10009765625,
      "pos_loss": 0.671875,
      "rot_loss": 0.162109375,
      "step": 5774
    },
    {
      "epoch": 1.2957146062373794,
      "grad_norm": 0.7837978005409241,
      "learning_rate": 0.000316501705711942,
      "loss": 0.0983,
      "step": 5775
    },
    {
      "epoch": 1.2957146062373794,
      "gripper_loss": 0.04052734375,
      "loss": 0.12255859375,
      "pos_loss": 0.66015625,
      "rot_loss": 0.41015625,
      "step": 5775
    },
    {
      "epoch": 1.2959389724029617,
      "grad_norm": 0.8151803016662598,
      "learning_rate": 0.00031644332600151075,
      "loss": 0.1037,
      "step": 5776
    },
    {
      "epoch": 1.2959389724029617,
      "gripper_loss": 0.375,
      "loss": 0.134765625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.49609375,
      "step": 5776
    },
    {
      "epoch": 1.2961633385685438,
      "grad_norm": 0.8052433729171753,
      "learning_rate": 0.0003163849423922152,
      "loss": 0.101,
      "step": 5777
    },
    {
      "epoch": 1.2961633385685438,
      "gripper_loss": 0.2158203125,
      "loss": 0.482421875,
      "pos_loss": 1.15625,
      "rot_loss": 1.0234375,
      "step": 5777
    },
    {
      "epoch": 1.2963877047341261,
      "grad_norm": 2.2890663146972656,
      "learning_rate": 0.0003163265548874812,
      "loss": 0.3503,
      "step": 5778
    },
    {
      "epoch": 1.2963877047341261,
      "gripper_loss": 1.40625,
      "loss": 0.09912109375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.2001953125,
      "step": 5778
    },
    {
      "epoch": 1.2966120708997084,
      "grad_norm": 0.6290177702903748,
      "learning_rate": 0.000316268163490735,
      "loss": 0.0871,
      "step": 5779
    },
    {
      "epoch": 1.2966120708997084,
      "gripper_loss": 0.08447265625,
      "loss": 0.06494140625,
      "pos_loss": 0.3984375,
      "rot_loss": 0.193359375,
      "step": 5779
    },
    {
      "epoch": 1.2968364370652905,
      "grad_norm": 0.7431223392486572,
      "learning_rate": 0.00031620976820540274,
      "loss": 0.1064,
      "step": 5780
    },
    {
      "epoch": 1.2968364370652905,
      "gripper_loss": 0.03466796875,
      "loss": 0.109375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.31640625,
      "step": 5780
    },
    {
      "epoch": 1.2970608032308728,
      "grad_norm": 0.7377392649650574,
      "learning_rate": 0.0003161513690349113,
      "loss": 0.0859,
      "step": 5781
    },
    {
      "epoch": 1.2970608032308728,
      "gripper_loss": 0.06494140625,
      "loss": 0.115234375,
      "pos_loss": 1.0,
      "rot_loss": 0.12890625,
      "step": 5781
    },
    {
      "epoch": 1.297285169396455,
      "grad_norm": 0.5441775321960449,
      "learning_rate": 0.00031609296598268725,
      "loss": 0.081,
      "step": 5782
    },
    {
      "epoch": 1.297285169396455,
      "gripper_loss": 0.057861328125,
      "loss": 0.05712890625,
      "pos_loss": 0.328125,
      "rot_loss": 0.1025390625,
      "step": 5782
    },
    {
      "epoch": 1.2975095355620372,
      "grad_norm": 0.4983068108558655,
      "learning_rate": 0.00031603455905215795,
      "loss": 0.0628,
      "step": 5783
    },
    {
      "epoch": 1.2975095355620372,
      "gripper_loss": 0.0291748046875,
      "loss": 0.193359375,
      "pos_loss": 1.578125,
      "rot_loss": 0.283203125,
      "step": 5783
    },
    {
      "epoch": 1.2977339017276195,
      "grad_norm": 0.5926064252853394,
      "learning_rate": 0.00031597614824675047,
      "loss": 0.1119,
      "step": 5784
    },
    {
      "epoch": 1.2977339017276195,
      "gripper_loss": 0.40625,
      "loss": 0.189453125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.2353515625,
      "step": 5784
    },
    {
      "epoch": 1.2979582678932018,
      "grad_norm": 1.473467230796814,
      "learning_rate": 0.0003159177335698924,
      "loss": 0.2412,
      "step": 5785
    },
    {
      "epoch": 1.2979582678932018,
      "gripper_loss": 0.07470703125,
      "loss": 0.1416015625,
      "pos_loss": 1.3671875,
      "rot_loss": 0.0380859375,
      "step": 5785
    },
    {
      "epoch": 1.2981826340587839,
      "grad_norm": 0.6015905141830444,
      "learning_rate": 0.0003158593150250116,
      "loss": 0.0876,
      "step": 5786
    },
    {
      "epoch": 1.2981826340587839,
      "gripper_loss": 0.9140625,
      "loss": 0.111328125,
      "pos_loss": 0.73828125,
      "rot_loss": 0.046630859375,
      "step": 5786
    },
    {
      "epoch": 1.2984070002243662,
      "grad_norm": 0.5897911190986633,
      "learning_rate": 0.0003158008926155358,
      "loss": 0.0642,
      "step": 5787
    },
    {
      "epoch": 1.2984070002243662,
      "gripper_loss": 0.1142578125,
      "loss": 0.039306640625,
      "pos_loss": 0.041015625,
      "rot_loss": 0.2177734375,
      "step": 5787
    },
    {
      "epoch": 1.2986313663899485,
      "grad_norm": 0.6190048456192017,
      "learning_rate": 0.0003157424663448934,
      "loss": 0.0976,
      "step": 5788
    },
    {
      "epoch": 1.2986313663899485,
      "gripper_loss": 0.341796875,
      "loss": 0.1064453125,
      "pos_loss": 0.80078125,
      "rot_loss": 0.11279296875,
      "step": 5788
    },
    {
      "epoch": 1.2988557325555306,
      "grad_norm": 0.6525253653526306,
      "learning_rate": 0.0003156840362165128,
      "loss": 0.0748,
      "step": 5789
    },
    {
      "epoch": 1.2988557325555306,
      "gripper_loss": 0.0263671875,
      "loss": 0.06787109375,
      "pos_loss": 0.59765625,
      "rot_loss": 0.021240234375,
      "step": 5789
    },
    {
      "epoch": 1.2990800987211129,
      "grad_norm": 0.8036433458328247,
      "learning_rate": 0.00031562560223382253,
      "loss": 0.0958,
      "step": 5790
    },
    {
      "epoch": 1.2990800987211129,
      "gripper_loss": 0.0625,
      "loss": 0.028076171875,
      "pos_loss": 0.10546875,
      "rot_loss": 0.09130859375,
      "step": 5790
    },
    {
      "epoch": 1.2993044648866952,
      "grad_norm": 0.4880746603012085,
      "learning_rate": 0.0003155671644002517,
      "loss": 0.0532,
      "step": 5791
    },
    {
      "epoch": 1.2993044648866952,
      "gripper_loss": 1.28125,
      "loss": 0.125,
      "pos_loss": 0.67578125,
      "rot_loss": 0.1044921875,
      "step": 5791
    },
    {
      "epoch": 1.2995288310522772,
      "grad_norm": 0.6480605006217957,
      "learning_rate": 0.0003155087227192291,
      "loss": 0.0982,
      "step": 5792
    },
    {
      "epoch": 1.2995288310522772,
      "gripper_loss": 0.296875,
      "loss": 0.034423828125,
      "pos_loss": 0.16015625,
      "rot_loss": 0.035400390625,
      "step": 5792
    },
    {
      "epoch": 1.2997531972178595,
      "grad_norm": 0.44779184460639954,
      "learning_rate": 0.0003154502771941843,
      "loss": 0.0904,
      "step": 5793
    },
    {
      "epoch": 1.2997531972178595,
      "gripper_loss": 0.6171875,
      "loss": 0.07421875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.1240234375,
      "step": 5793
    },
    {
      "epoch": 1.2999775633834418,
      "grad_norm": 0.48921188712120056,
      "learning_rate": 0.00031539182782854686,
      "loss": 0.0899,
      "step": 5794
    },
    {
      "epoch": 1.2999775633834418,
      "gripper_loss": 0.064453125,
      "loss": 0.07958984375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.06396484375,
      "step": 5794
    },
    {
      "epoch": 1.300201929549024,
      "grad_norm": 0.4395844638347626,
      "learning_rate": 0.0003153333746257464,
      "loss": 0.084,
      "step": 5795
    },
    {
      "epoch": 1.300201929549024,
      "gripper_loss": 0.13671875,
      "loss": 0.185546875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.59765625,
      "step": 5795
    },
    {
      "epoch": 1.3004262957146062,
      "grad_norm": 1.347537875175476,
      "learning_rate": 0.0003152749175892131,
      "loss": 0.2118,
      "step": 5796
    },
    {
      "epoch": 1.3004262957146062,
      "gripper_loss": 0.0712890625,
      "loss": 0.07080078125,
      "pos_loss": 0.4140625,
      "rot_loss": 0.2255859375,
      "step": 5796
    },
    {
      "epoch": 1.3006506618801885,
      "grad_norm": 0.5710707306861877,
      "learning_rate": 0.0003152164567223771,
      "loss": 0.0611,
      "step": 5797
    },
    {
      "epoch": 1.3006506618801885,
      "gripper_loss": 0.18359375,
      "loss": 0.08447265625,
      "pos_loss": 0.45703125,
      "rot_loss": 0.15234375,
      "step": 5797
    },
    {
      "epoch": 1.3008750280457706,
      "grad_norm": 0.6230788230895996,
      "learning_rate": 0.0003151579920286689,
      "loss": 0.0854,
      "step": 5798
    },
    {
      "epoch": 1.3008750280457706,
      "gripper_loss": 0.02099609375,
      "loss": 0.1708984375,
      "pos_loss": 1.578125,
      "rot_loss": 0.11767578125,
      "step": 5798
    },
    {
      "epoch": 1.301099394211353,
      "grad_norm": 0.6795962452888489,
      "learning_rate": 0.0003150995235115191,
      "loss": 0.091,
      "step": 5799
    },
    {
      "epoch": 1.301099394211353,
      "gripper_loss": 0.046875,
      "loss": 0.052734375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.326171875,
      "step": 5799
    },
    {
      "epoch": 1.3013237603769352,
      "grad_norm": 0.7357164025306702,
      "learning_rate": 0.00031504105117435865,
      "loss": 0.0956,
      "step": 5800
    },
    {
      "epoch": 1.3013237603769352,
      "gripper_loss": 0.06982421875,
      "loss": 0.119140625,
      "pos_loss": 0.5625,
      "rot_loss": 0.431640625,
      "step": 5800
    },
    {
      "epoch": 1.3015481265425173,
      "grad_norm": 0.7651821970939636,
      "learning_rate": 0.0003149825750206187,
      "loss": 0.107,
      "step": 5801
    },
    {
      "epoch": 1.3015481265425173,
      "gripper_loss": 0.765625,
      "loss": 0.05712890625,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.16015625,
      "step": 5801
    },
    {
      "epoch": 1.3017724927080996,
      "grad_norm": 0.49978721141815186,
      "learning_rate": 0.0003149240950537306,
      "loss": 0.0933,
      "step": 5802
    },
    {
      "epoch": 1.3017724927080996,
      "gripper_loss": 3.5625,
      "loss": 0.1318359375,
      "pos_loss": 0.047119140625,
      "rot_loss": 0.07763671875,
      "step": 5802
    },
    {
      "epoch": 1.3019968588736819,
      "grad_norm": 0.6703092455863953,
      "learning_rate": 0.0003148656112771259,
      "loss": 0.0996,
      "step": 5803
    },
    {
      "epoch": 1.3019968588736819,
      "gripper_loss": 0.57421875,
      "loss": 0.055908203125,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.15625,
      "step": 5803
    },
    {
      "epoch": 1.302221225039264,
      "grad_norm": 0.608095109462738,
      "learning_rate": 0.0003148071236942365,
      "loss": 0.0781,
      "step": 5804
    },
    {
      "epoch": 1.302221225039264,
      "gripper_loss": 0.0177001953125,
      "loss": 0.0172119140625,
      "pos_loss": 0.029541015625,
      "rot_loss": 0.0732421875,
      "step": 5804
    },
    {
      "epoch": 1.3024455912048463,
      "grad_norm": 0.4467729330062866,
      "learning_rate": 0.00031474863230849425,
      "loss": 0.0701,
      "step": 5805
    },
    {
      "epoch": 1.3024455912048463,
      "gripper_loss": 0.0771484375,
      "loss": 0.1845703125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.396484375,
      "step": 5805
    },
    {
      "epoch": 1.3026699573704286,
      "grad_norm": 1.4252322912216187,
      "learning_rate": 0.0003146901371233316,
      "loss": 0.2181,
      "step": 5806
    },
    {
      "epoch": 1.3026699573704286,
      "gripper_loss": 0.185546875,
      "loss": 0.040283203125,
      "pos_loss": 0.1953125,
      "rot_loss": 0.08740234375,
      "step": 5806
    },
    {
      "epoch": 1.3028943235360106,
      "grad_norm": 0.5761182308197021,
      "learning_rate": 0.0003146316381421808,
      "loss": 0.0811,
      "step": 5807
    },
    {
      "epoch": 1.3028943235360106,
      "gripper_loss": 0.09521484375,
      "loss": 0.08837890625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.43359375,
      "step": 5807
    },
    {
      "epoch": 1.303118689701593,
      "grad_norm": 0.685616135597229,
      "learning_rate": 0.0003145731353684747,
      "loss": 0.0811,
      "step": 5808
    },
    {
      "epoch": 1.303118689701593,
      "gripper_loss": 0.30859375,
      "loss": 0.0625,
      "pos_loss": 0.251953125,
      "rot_loss": 0.169921875,
      "step": 5808
    },
    {
      "epoch": 1.3033430558671752,
      "grad_norm": 0.6466199159622192,
      "learning_rate": 0.0003145146288056463,
      "loss": 0.0838,
      "step": 5809
    },
    {
      "epoch": 1.3033430558671752,
      "gripper_loss": 0.1455078125,
      "loss": 0.203125,
      "pos_loss": 0.53125,
      "rot_loss": 0.45703125,
      "step": 5809
    },
    {
      "epoch": 1.3035674220327573,
      "grad_norm": 1.2573868036270142,
      "learning_rate": 0.0003144561184571285,
      "loss": 0.2246,
      "step": 5810
    },
    {
      "epoch": 1.3035674220327573,
      "gripper_loss": 0.92578125,
      "loss": 0.06396484375,
      "pos_loss": 0.24609375,
      "rot_loss": 0.038818359375,
      "step": 5810
    },
    {
      "epoch": 1.3037917881983396,
      "grad_norm": 0.5747112035751343,
      "learning_rate": 0.0003143976043263548,
      "loss": 0.0742,
      "step": 5811
    },
    {
      "epoch": 1.3037917881983396,
      "gripper_loss": 0.423828125,
      "loss": 0.09423828125,
      "pos_loss": 0.333984375,
      "rot_loss": 0.427734375,
      "step": 5811
    },
    {
      "epoch": 1.304016154363922,
      "grad_norm": 0.5647826194763184,
      "learning_rate": 0.00031433908641675875,
      "loss": 0.0868,
      "step": 5812
    },
    {
      "epoch": 1.304016154363922,
      "gripper_loss": 0.056884765625,
      "loss": 0.047607421875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.059326171875,
      "step": 5812
    },
    {
      "epoch": 1.3042405205295042,
      "grad_norm": 0.606070876121521,
      "learning_rate": 0.0003142805647317742,
      "loss": 0.0767,
      "step": 5813
    },
    {
      "epoch": 1.3042405205295042,
      "gripper_loss": 0.014404296875,
      "loss": 0.04248046875,
      "pos_loss": 0.353515625,
      "rot_loss": 0.0169677734375,
      "step": 5813
    },
    {
      "epoch": 1.3044648866950863,
      "grad_norm": 0.7276641130447388,
      "learning_rate": 0.0003142220392748351,
      "loss": 0.119,
      "step": 5814
    },
    {
      "epoch": 1.3044648866950863,
      "gripper_loss": 0.216796875,
      "loss": 0.275390625,
      "pos_loss": 0.5703125,
      "rot_loss": 0.357421875,
      "step": 5814
    },
    {
      "epoch": 1.3046892528606686,
      "grad_norm": 1.4933398962020874,
      "learning_rate": 0.00031416351004937584,
      "loss": 0.3359,
      "step": 5815
    },
    {
      "epoch": 1.3046892528606686,
      "gripper_loss": 0.12451171875,
      "loss": 0.1171875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.291015625,
      "step": 5815
    },
    {
      "epoch": 1.304913619026251,
      "grad_norm": 0.720427393913269,
      "learning_rate": 0.0003141049770588306,
      "loss": 0.1095,
      "step": 5816
    },
    {
      "epoch": 1.304913619026251,
      "gripper_loss": 0.04345703125,
      "loss": 0.052978515625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.158203125,
      "step": 5816
    },
    {
      "epoch": 1.305137985191833,
      "grad_norm": 0.4612964987754822,
      "learning_rate": 0.0003140464403066344,
      "loss": 0.0685,
      "step": 5817
    },
    {
      "epoch": 1.305137985191833,
      "gripper_loss": 0.06982421875,
      "loss": 0.12890625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.80859375,
      "step": 5817
    },
    {
      "epoch": 1.3053623513574153,
      "grad_norm": 0.6683154702186584,
      "learning_rate": 0.00031398789979622196,
      "loss": 0.0809,
      "step": 5818
    },
    {
      "epoch": 1.3053623513574153,
      "gripper_loss": 0.4921875,
      "loss": 0.07568359375,
      "pos_loss": 0.248046875,
      "rot_loss": 0.314453125,
      "step": 5818
    },
    {
      "epoch": 1.3055867175229976,
      "grad_norm": 0.6225547194480896,
      "learning_rate": 0.00031392935553102845,
      "loss": 0.07,
      "step": 5819
    },
    {
      "epoch": 1.3055867175229976,
      "gripper_loss": 0.26171875,
      "loss": 0.05224609375,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.275390625,
      "step": 5819
    },
    {
      "epoch": 1.30581108368858,
      "grad_norm": 0.695259690284729,
      "learning_rate": 0.00031387080751448925,
      "loss": 0.0827,
      "step": 5820
    },
    {
      "epoch": 1.30581108368858,
      "gripper_loss": 0.4453125,
      "loss": 0.0751953125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.053955078125,
      "step": 5820
    },
    {
      "epoch": 1.306035449854162,
      "grad_norm": 0.62387615442276,
      "learning_rate": 0.0003138122557500399,
      "loss": 0.0726,
      "step": 5821
    },
    {
      "epoch": 1.306035449854162,
      "gripper_loss": 1.46875,
      "loss": 0.07470703125,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.0986328125,
      "step": 5821
    },
    {
      "epoch": 1.3062598160197443,
      "grad_norm": 0.5948980450630188,
      "learning_rate": 0.0003137537002411163,
      "loss": 0.0675,
      "step": 5822
    },
    {
      "epoch": 1.3062598160197443,
      "gripper_loss": 0.0140380859375,
      "loss": 0.12890625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.84375,
      "step": 5822
    },
    {
      "epoch": 1.3064841821853266,
      "grad_norm": 0.4657225012779236,
      "learning_rate": 0.00031369514099115415,
      "loss": 0.0856,
      "step": 5823
    },
    {
      "epoch": 1.3064841821853266,
      "gripper_loss": 0.10009765625,
      "loss": 0.0439453125,
      "pos_loss": 0.302734375,
      "rot_loss": 0.032958984375,
      "step": 5823
    },
    {
      "epoch": 1.3067085483509087,
      "grad_norm": 0.5933067202568054,
      "learning_rate": 0.00031363657800359004,
      "loss": 0.0797,
      "step": 5824
    },
    {
      "epoch": 1.3067085483509087,
      "gripper_loss": 0.1484375,
      "loss": 0.07373046875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.0238037109375,
      "step": 5824
    },
    {
      "epoch": 1.306932914516491,
      "grad_norm": 0.44166260957717896,
      "learning_rate": 0.0003135780112818602,
      "loss": 0.0854,
      "step": 5825
    },
    {
      "epoch": 1.306932914516491,
      "gripper_loss": 0.138671875,
      "loss": 0.051025390625,
      "pos_loss": 0.408203125,
      "rot_loss": 0.0322265625,
      "step": 5825
    },
    {
      "epoch": 1.3071572806820733,
      "grad_norm": 0.3471405506134033,
      "learning_rate": 0.0003135194408294014,
      "loss": 0.0762,
      "step": 5826
    },
    {
      "epoch": 1.3071572806820733,
      "gripper_loss": 0.5,
      "loss": 0.057373046875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.0380859375,
      "step": 5826
    },
    {
      "epoch": 1.3073816468476553,
      "grad_norm": 0.5574890971183777,
      "learning_rate": 0.0003134608666496506,
      "loss": 0.0804,
      "step": 5827
    },
    {
      "epoch": 1.3073816468476553,
      "gripper_loss": 0.11083984375,
      "loss": 0.1630859375,
      "pos_loss": 1.1796875,
      "rot_loss": 0.455078125,
      "step": 5827
    },
    {
      "epoch": 1.3076060130132376,
      "grad_norm": 0.6964730024337769,
      "learning_rate": 0.0003134022887460447,
      "loss": 0.1041,
      "step": 5828
    },
    {
      "epoch": 1.3076060130132376,
      "gripper_loss": 0.263671875,
      "loss": 0.09912109375,
      "pos_loss": 0.82421875,
      "rot_loss": 0.0849609375,
      "step": 5828
    },
    {
      "epoch": 1.30783037917882,
      "grad_norm": 0.5794926285743713,
      "learning_rate": 0.0003133437071220211,
      "loss": 0.1306,
      "step": 5829
    },
    {
      "epoch": 1.30783037917882,
      "gripper_loss": 0.01409912109375,
      "loss": 0.07177734375,
      "pos_loss": 0.546875,
      "rot_loss": 0.15625,
      "step": 5829
    },
    {
      "epoch": 1.308054745344402,
      "grad_norm": 0.482383668422699,
      "learning_rate": 0.0003132851217810174,
      "loss": 0.0657,
      "step": 5830
    },
    {
      "epoch": 1.308054745344402,
      "gripper_loss": 0.5234375,
      "loss": 0.265625,
      "pos_loss": 0.98828125,
      "rot_loss": 1.609375,
      "step": 5830
    },
    {
      "epoch": 1.3082791115099843,
      "grad_norm": 0.6199877262115479,
      "learning_rate": 0.0003132265327264714,
      "loss": 0.0877,
      "step": 5831
    },
    {
      "epoch": 1.3082791115099843,
      "gripper_loss": 0.2041015625,
      "loss": 0.0220947265625,
      "pos_loss": 0.08203125,
      "rot_loss": 0.029296875,
      "step": 5831
    },
    {
      "epoch": 1.3085034776755666,
      "grad_norm": 0.3531864285469055,
      "learning_rate": 0.000313167939961821,
      "loss": 0.0914,
      "step": 5832
    },
    {
      "epoch": 1.3085034776755666,
      "gripper_loss": 0.0439453125,
      "loss": 0.158203125,
      "pos_loss": 1.0625,
      "rot_loss": 0.54296875,
      "step": 5832
    },
    {
      "epoch": 1.3087278438411487,
      "grad_norm": 0.7646985054016113,
      "learning_rate": 0.0003131093434905043,
      "loss": 0.1069,
      "step": 5833
    },
    {
      "epoch": 1.3087278438411487,
      "gripper_loss": 0.08837890625,
      "loss": 0.080078125,
      "pos_loss": 0.5703125,
      "rot_loss": 0.1845703125,
      "step": 5833
    },
    {
      "epoch": 1.308952210006731,
      "grad_norm": 0.42761296033859253,
      "learning_rate": 0.00031305074331595994,
      "loss": 0.0636,
      "step": 5834
    },
    {
      "epoch": 1.308952210006731,
      "gripper_loss": 0.68359375,
      "loss": 0.11328125,
      "pos_loss": 0.375,
      "rot_loss": 0.1416015625,
      "step": 5834
    },
    {
      "epoch": 1.3091765761723133,
      "grad_norm": 0.9846940040588379,
      "learning_rate": 0.00031299213944162643,
      "loss": 0.1276,
      "step": 5835
    },
    {
      "epoch": 1.3091765761723133,
      "gripper_loss": 0.0478515625,
      "loss": 0.1396484375,
      "pos_loss": 1.3515625,
      "rot_loss": 0.054443359375,
      "step": 5835
    },
    {
      "epoch": 1.3094009423378954,
      "grad_norm": 0.6002883315086365,
      "learning_rate": 0.0003129335318709425,
      "loss": 0.1176,
      "step": 5836
    },
    {
      "epoch": 1.3094009423378954,
      "gripper_loss": 0.1923828125,
      "loss": 0.03955078125,
      "pos_loss": 0.197265625,
      "rot_loss": 0.10595703125,
      "step": 5836
    },
    {
      "epoch": 1.3096253085034777,
      "grad_norm": 0.5053191781044006,
      "learning_rate": 0.00031287492060734745,
      "loss": 0.0873,
      "step": 5837
    },
    {
      "epoch": 1.3096253085034777,
      "gripper_loss": 0.5625,
      "loss": 0.0311279296875,
      "pos_loss": 0.037353515625,
      "rot_loss": 0.0177001953125,
      "step": 5837
    },
    {
      "epoch": 1.30984967466906,
      "grad_norm": 0.7220295071601868,
      "learning_rate": 0.00031281630565428047,
      "loss": 0.0968,
      "step": 5838
    },
    {
      "epoch": 1.30984967466906,
      "gripper_loss": 0.1259765625,
      "loss": 0.037353515625,
      "pos_loss": 0.21484375,
      "rot_loss": 0.0732421875,
      "step": 5838
    },
    {
      "epoch": 1.310074040834642,
      "grad_norm": 0.5599446296691895,
      "learning_rate": 0.00031275768701518106,
      "loss": 0.074,
      "step": 5839
    },
    {
      "epoch": 1.310074040834642,
      "gripper_loss": 0.365234375,
      "loss": 0.033447265625,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.0732421875,
      "step": 5839
    },
    {
      "epoch": 1.3102984070002244,
      "grad_norm": 0.510478138923645,
      "learning_rate": 0.0003126990646934888,
      "loss": 0.0577,
      "step": 5840
    },
    {
      "epoch": 1.3102984070002244,
      "gripper_loss": 0.36328125,
      "loss": 0.4609375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.51953125,
      "step": 5840
    },
    {
      "epoch": 1.3105227731658067,
      "grad_norm": 1.5776348114013672,
      "learning_rate": 0.0003126404386926438,
      "loss": 0.5083,
      "step": 5841
    },
    {
      "epoch": 1.3105227731658067,
      "gripper_loss": 0.330078125,
      "loss": 0.04248046875,
      "pos_loss": 0.1083984375,
      "rot_loss": 0.193359375,
      "step": 5841
    },
    {
      "epoch": 1.3107471393313888,
      "grad_norm": 0.6053082346916199,
      "learning_rate": 0.00031258180901608615,
      "loss": 0.0689,
      "step": 5842
    },
    {
      "epoch": 1.3107471393313888,
      "gripper_loss": 0.3359375,
      "loss": 0.1025390625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.373046875,
      "step": 5842
    },
    {
      "epoch": 1.310971505496971,
      "grad_norm": 0.4546053111553192,
      "learning_rate": 0.00031252317566725623,
      "loss": 0.0844,
      "step": 5843
    },
    {
      "epoch": 1.310971505496971,
      "gripper_loss": 0.11767578125,
      "loss": 0.10595703125,
      "pos_loss": 0.875,
      "rot_loss": 0.095703125,
      "step": 5843
    },
    {
      "epoch": 1.3111958716625534,
      "grad_norm": 0.7016269564628601,
      "learning_rate": 0.00031246453864959464,
      "loss": 0.1112,
      "step": 5844
    },
    {
      "epoch": 1.3111958716625534,
      "gripper_loss": 0.03173828125,
      "loss": 0.1318359375,
      "pos_loss": 1.1328125,
      "rot_loss": 0.208984375,
      "step": 5844
    },
    {
      "epoch": 1.3114202378281354,
      "grad_norm": 0.8338138461112976,
      "learning_rate": 0.0003124058979665421,
      "loss": 0.1349,
      "step": 5845
    },
    {
      "epoch": 1.3114202378281354,
      "gripper_loss": 0.259765625,
      "loss": 0.2314453125,
      "pos_loss": 1.2421875,
      "rot_loss": 1.0859375,
      "step": 5845
    },
    {
      "epoch": 1.3116446039937177,
      "grad_norm": 0.46514075994491577,
      "learning_rate": 0.00031234725362153955,
      "loss": 0.1032,
      "step": 5846
    },
    {
      "epoch": 1.3116446039937177,
      "gripper_loss": 0.050537109375,
      "loss": 0.0966796875,
      "pos_loss": 0.1640625,
      "rot_loss": 0.54296875,
      "step": 5846
    },
    {
      "epoch": 1.3118689701593,
      "grad_norm": 0.8429682850837708,
      "learning_rate": 0.0003122886056180284,
      "loss": 0.0992,
      "step": 5847
    },
    {
      "epoch": 1.3118689701593,
      "gripper_loss": 0.0201416015625,
      "loss": 0.0830078125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.047119140625,
      "step": 5847
    },
    {
      "epoch": 1.3120933363248821,
      "grad_norm": 0.4477020502090454,
      "learning_rate": 0.00031222995395945,
      "loss": 0.094,
      "step": 5848
    },
    {
      "epoch": 1.3120933363248821,
      "gripper_loss": 1.71875,
      "loss": 0.06787109375,
      "pos_loss": 0.058349609375,
      "rot_loss": 0.0400390625,
      "step": 5848
    },
    {
      "epoch": 1.3123177024904644,
      "grad_norm": 0.5312973856925964,
      "learning_rate": 0.000312171298649246,
      "loss": 0.0793,
      "step": 5849
    },
    {
      "epoch": 1.3123177024904644,
      "gripper_loss": 0.0234375,
      "loss": 0.0751953125,
      "pos_loss": 0.474609375,
      "rot_loss": 0.2080078125,
      "step": 5849
    },
    {
      "epoch": 1.3125420686560467,
      "grad_norm": 0.5689119100570679,
      "learning_rate": 0.00031211263969085825,
      "loss": 0.0754,
      "step": 5850
    },
    {
      "epoch": 1.3125420686560467,
      "gripper_loss": 0.6328125,
      "loss": 0.045654296875,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.032958984375,
      "step": 5850
    },
    {
      "epoch": 1.3127664348216288,
      "grad_norm": 0.6132762432098389,
      "learning_rate": 0.0003120539770877289,
      "loss": 0.0607,
      "step": 5851
    },
    {
      "epoch": 1.3127664348216288,
      "gripper_loss": 1.1953125,
      "loss": 0.13671875,
      "pos_loss": 0.97265625,
      "rot_loss": 0.033447265625,
      "step": 5851
    },
    {
      "epoch": 1.312990800987211,
      "grad_norm": 0.634917140007019,
      "learning_rate": 0.0003119953108433001,
      "loss": 0.0833,
      "step": 5852
    },
    {
      "epoch": 1.312990800987211,
      "gripper_loss": 0.328125,
      "loss": 0.04296875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.02783203125,
      "step": 5852
    },
    {
      "epoch": 1.3132151671527934,
      "grad_norm": 0.4181031584739685,
      "learning_rate": 0.00031193664096101453,
      "loss": 0.0656,
      "step": 5853
    },
    {
      "epoch": 1.3132151671527934,
      "gripper_loss": 0.1767578125,
      "loss": 0.193359375,
      "pos_loss": 0.84375,
      "rot_loss": 0.22265625,
      "step": 5853
    },
    {
      "epoch": 1.3134395333183755,
      "grad_norm": 1.2697336673736572,
      "learning_rate": 0.0003118779674443148,
      "loss": 0.1691,
      "step": 5854
    },
    {
      "epoch": 1.3134395333183755,
      "gripper_loss": 0.068359375,
      "loss": 0.042724609375,
      "pos_loss": 0.140625,
      "rot_loss": 0.181640625,
      "step": 5854
    },
    {
      "epoch": 1.3136638994839578,
      "grad_norm": 0.5664306879043579,
      "learning_rate": 0.00031181929029664395,
      "loss": 0.0931,
      "step": 5855
    },
    {
      "epoch": 1.3136638994839578,
      "gripper_loss": 0.0245361328125,
      "loss": 0.1845703125,
      "pos_loss": 1.0625,
      "rot_loss": 0.828125,
      "step": 5855
    },
    {
      "epoch": 1.31388826564954,
      "grad_norm": 0.4410651624202728,
      "learning_rate": 0.0003117606095214451,
      "loss": 0.0808,
      "step": 5856
    },
    {
      "epoch": 1.31388826564954,
      "gripper_loss": 0.03125,
      "loss": 0.043701171875,
      "pos_loss": 0.328125,
      "rot_loss": 0.039794921875,
      "step": 5856
    },
    {
      "epoch": 1.3141126318151222,
      "grad_norm": 0.5594160556793213,
      "learning_rate": 0.0003117019251221615,
      "loss": 0.0675,
      "step": 5857
    },
    {
      "epoch": 1.3141126318151222,
      "gripper_loss": 0.057373046875,
      "loss": 0.0654296875,
      "pos_loss": 0.443359375,
      "rot_loss": 0.1640625,
      "step": 5857
    },
    {
      "epoch": 1.3143369979807045,
      "grad_norm": 0.5164564847946167,
      "learning_rate": 0.0003116432371022368,
      "loss": 0.0786,
      "step": 5858
    },
    {
      "epoch": 1.3143369979807045,
      "gripper_loss": 0.388671875,
      "loss": 0.0299072265625,
      "pos_loss": 0.02099609375,
      "rot_loss": 0.0888671875,
      "step": 5858
    },
    {
      "epoch": 1.3145613641462868,
      "grad_norm": 0.5078466534614563,
      "learning_rate": 0.00031158454546511476,
      "loss": 0.063,
      "step": 5859
    },
    {
      "epoch": 1.3145613641462868,
      "gripper_loss": 0.1455078125,
      "loss": 0.08056640625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.16796875,
      "step": 5859
    },
    {
      "epoch": 1.3147857303118688,
      "grad_norm": 0.5958560705184937,
      "learning_rate": 0.00031152585021423945,
      "loss": 0.102,
      "step": 5860
    },
    {
      "epoch": 1.3147857303118688,
      "gripper_loss": 0.55859375,
      "loss": 0.1826171875,
      "pos_loss": 0.419921875,
      "rot_loss": 0.71484375,
      "step": 5860
    },
    {
      "epoch": 1.3150100964774512,
      "grad_norm": 0.8506793975830078,
      "learning_rate": 0.00031146715135305504,
      "loss": 0.1827,
      "step": 5861
    },
    {
      "epoch": 1.3150100964774512,
      "gripper_loss": 0.0673828125,
      "loss": 0.1982421875,
      "pos_loss": 1.7578125,
      "rot_loss": 0.29296875,
      "step": 5861
    },
    {
      "epoch": 1.3152344626430335,
      "grad_norm": 0.5773183703422546,
      "learning_rate": 0.00031140844888500593,
      "loss": 0.095,
      "step": 5862
    },
    {
      "epoch": 1.3152344626430335,
      "gripper_loss": 0.3203125,
      "loss": 0.04541015625,
      "pos_loss": 0.16015625,
      "rot_loss": 0.154296875,
      "step": 5862
    },
    {
      "epoch": 1.3154588288086155,
      "grad_norm": 0.5587641596794128,
      "learning_rate": 0.0003113497428135368,
      "loss": 0.082,
      "step": 5863
    },
    {
      "epoch": 1.3154588288086155,
      "gripper_loss": 0.66796875,
      "loss": 0.1171875,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.81640625,
      "step": 5863
    },
    {
      "epoch": 1.3156831949741978,
      "grad_norm": 0.5346872806549072,
      "learning_rate": 0.0003112910331420925,
      "loss": 0.0725,
      "step": 5864
    },
    {
      "epoch": 1.3156831949741978,
      "gripper_loss": 0.0286865234375,
      "loss": 0.103515625,
      "pos_loss": 0.94140625,
      "rot_loss": 0.0966796875,
      "step": 5864
    },
    {
      "epoch": 1.3159075611397801,
      "grad_norm": 0.6302444934844971,
      "learning_rate": 0.0003112323198741179,
      "loss": 0.1018,
      "step": 5865
    },
    {
      "epoch": 1.3159075611397801,
      "gripper_loss": 0.357421875,
      "loss": 0.1083984375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.490234375,
      "step": 5865
    },
    {
      "epoch": 1.3161319273053622,
      "grad_norm": 0.3955594301223755,
      "learning_rate": 0.0003111736030130585,
      "loss": 0.074,
      "step": 5866
    },
    {
      "epoch": 1.3161319273053622,
      "gripper_loss": 0.482421875,
      "loss": 0.052734375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.07666015625,
      "step": 5866
    },
    {
      "epoch": 1.3163562934709445,
      "grad_norm": 0.4299718141555786,
      "learning_rate": 0.00031111488256235976,
      "loss": 0.0656,
      "step": 5867
    },
    {
      "epoch": 1.3163562934709445,
      "gripper_loss": 0.546875,
      "loss": 0.0986328125,
      "pos_loss": 0.384765625,
      "rot_loss": 0.435546875,
      "step": 5867
    },
    {
      "epoch": 1.3165806596365268,
      "grad_norm": 0.6871973276138306,
      "learning_rate": 0.00031105615852546726,
      "loss": 0.1045,
      "step": 5868
    },
    {
      "epoch": 1.3165806596365268,
      "gripper_loss": 0.0242919921875,
      "loss": 0.1591796875,
      "pos_loss": 1.5703125,
      "rot_loss": 0.03857421875,
      "step": 5868
    },
    {
      "epoch": 1.3168050258021091,
      "grad_norm": 0.6201315522193909,
      "learning_rate": 0.000310997430905827,
      "loss": 0.1144,
      "step": 5869
    },
    {
      "epoch": 1.3168050258021091,
      "gripper_loss": 0.6796875,
      "loss": 0.326171875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.7421875,
      "step": 5869
    },
    {
      "epoch": 1.3170293919676912,
      "grad_norm": 1.8517889976501465,
      "learning_rate": 0.000310938699706885,
      "loss": 0.3281,
      "step": 5870
    },
    {
      "epoch": 1.3170293919676912,
      "gripper_loss": 0.0615234375,
      "loss": 0.07861328125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.11767578125,
      "step": 5870
    },
    {
      "epoch": 1.3172537581332735,
      "grad_norm": 0.3771604597568512,
      "learning_rate": 0.0003108799649320876,
      "loss": 0.058,
      "step": 5871
    },
    {
      "epoch": 1.3172537581332735,
      "gripper_loss": 0.423828125,
      "loss": 0.08203125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.0272216796875,
      "step": 5871
    },
    {
      "epoch": 1.3174781242988558,
      "grad_norm": 0.6279767751693726,
      "learning_rate": 0.00031082122658488136,
      "loss": 0.0684,
      "step": 5872
    },
    {
      "epoch": 1.3174781242988558,
      "gripper_loss": 0.37109375,
      "loss": 0.205078125,
      "pos_loss": 1.078125,
      "rot_loss": 0.3984375,
      "step": 5872
    },
    {
      "epoch": 1.3177024904644379,
      "grad_norm": 1.338157296180725,
      "learning_rate": 0.00031076248466871306,
      "loss": 0.1547,
      "step": 5873
    },
    {
      "epoch": 1.3177024904644379,
      "gripper_loss": 0.09326171875,
      "loss": 0.11328125,
      "pos_loss": 0.53125,
      "rot_loss": 0.4375,
      "step": 5873
    },
    {
      "epoch": 1.3179268566300202,
      "grad_norm": 0.7677525281906128,
      "learning_rate": 0.0003107037391870296,
      "loss": 0.0941,
      "step": 5874
    },
    {
      "epoch": 1.3179268566300202,
      "gripper_loss": 0.498046875,
      "loss": 0.09521484375,
      "pos_loss": 0.470703125,
      "rot_loss": 0.27734375,
      "step": 5874
    },
    {
      "epoch": 1.3181512227956025,
      "grad_norm": 0.6051478385925293,
      "learning_rate": 0.00031064499014327813,
      "loss": 0.0656,
      "step": 5875
    },
    {
      "epoch": 1.3181512227956025,
      "gripper_loss": 0.3515625,
      "loss": 0.12060546875,
      "pos_loss": 0.9765625,
      "rot_loss": 0.07861328125,
      "step": 5875
    },
    {
      "epoch": 1.3183755889611848,
      "grad_norm": 0.8043881058692932,
      "learning_rate": 0.00031058623754090596,
      "loss": 0.0776,
      "step": 5876
    },
    {
      "epoch": 1.3183755889611848,
      "gripper_loss": 0.84765625,
      "loss": 0.041748046875,
      "pos_loss": 0.02197265625,
      "rot_loss": 0.03564453125,
      "step": 5876
    },
    {
      "epoch": 1.3185999551267669,
      "grad_norm": 0.6467751264572144,
      "learning_rate": 0.0003105274813833608,
      "loss": 0.0866,
      "step": 5877
    },
    {
      "epoch": 1.3185999551267669,
      "gripper_loss": 0.3984375,
      "loss": 0.05224609375,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.19921875,
      "step": 5877
    },
    {
      "epoch": 1.3188243212923492,
      "grad_norm": 0.50577712059021,
      "learning_rate": 0.00031046872167409033,
      "loss": 0.0851,
      "step": 5878
    },
    {
      "epoch": 1.3188243212923492,
      "gripper_loss": 0.017822265625,
      "loss": 0.1015625,
      "pos_loss": 0.9453125,
      "rot_loss": 0.048828125,
      "step": 5878
    },
    {
      "epoch": 1.3190486874579315,
      "grad_norm": 0.6591622829437256,
      "learning_rate": 0.0003104099584165426,
      "loss": 0.0882,
      "step": 5879
    },
    {
      "epoch": 1.3190486874579315,
      "gripper_loss": 0.0810546875,
      "loss": 0.0152587890625,
      "pos_loss": 0.05517578125,
      "rot_loss": 0.033447265625,
      "step": 5879
    },
    {
      "epoch": 1.3192730536235135,
      "grad_norm": 0.45650988817214966,
      "learning_rate": 0.00031035119161416583,
      "loss": 0.0655,
      "step": 5880
    },
    {
      "epoch": 1.3192730536235135,
      "gripper_loss": 0.2373046875,
      "loss": 0.0634765625,
      "pos_loss": 0.291015625,
      "rot_loss": 0.1103515625,
      "step": 5880
    },
    {
      "epoch": 1.3194974197890958,
      "grad_norm": 0.7456480860710144,
      "learning_rate": 0.0003102924212704083,
      "loss": 0.0791,
      "step": 5881
    },
    {
      "epoch": 1.3194974197890958,
      "gripper_loss": 0.03662109375,
      "loss": 0.03759765625,
      "pos_loss": 0.263671875,
      "rot_loss": 0.06005859375,
      "step": 5881
    },
    {
      "epoch": 1.3197217859546782,
      "grad_norm": 0.39429518580436707,
      "learning_rate": 0.0003102336473887188,
      "loss": 0.0864,
      "step": 5882
    },
    {
      "epoch": 1.3197217859546782,
      "gripper_loss": 0.1572265625,
      "loss": 0.1455078125,
      "pos_loss": 0.48828125,
      "rot_loss": 0.478515625,
      "step": 5882
    },
    {
      "epoch": 1.3199461521202602,
      "grad_norm": 1.0597002506256104,
      "learning_rate": 0.000310174869972546,
      "loss": 0.1364,
      "step": 5883
    },
    {
      "epoch": 1.3199461521202602,
      "gripper_loss": 0.240234375,
      "loss": 0.1669921875,
      "pos_loss": 0.365234375,
      "rot_loss": 1.265625,
      "step": 5883
    },
    {
      "epoch": 1.3201705182858425,
      "grad_norm": 0.7726292610168457,
      "learning_rate": 0.00031011608902533906,
      "loss": 0.1218,
      "step": 5884
    },
    {
      "epoch": 1.3201705182858425,
      "gripper_loss": 0.08203125,
      "loss": 0.2275390625,
      "pos_loss": 1.5390625,
      "rot_loss": 0.671875,
      "step": 5884
    },
    {
      "epoch": 1.3203948844514248,
      "grad_norm": 0.8587836027145386,
      "learning_rate": 0.0003100573045505472,
      "loss": 0.1196,
      "step": 5885
    },
    {
      "epoch": 1.3203948844514248,
      "gripper_loss": 0.21484375,
      "loss": 0.045166015625,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.181640625,
      "step": 5885
    },
    {
      "epoch": 1.320619250617007,
      "grad_norm": 0.4934711158275604,
      "learning_rate": 0.0003099985165516198,
      "loss": 0.0655,
      "step": 5886
    },
    {
      "epoch": 1.320619250617007,
      "gripper_loss": 0.0167236328125,
      "loss": 0.052490234375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.10302734375,
      "step": 5886
    },
    {
      "epoch": 1.3208436167825892,
      "grad_norm": 0.48395538330078125,
      "learning_rate": 0.0003099397250320065,
      "loss": 0.0667,
      "step": 5887
    },
    {
      "epoch": 1.3208436167825892,
      "gripper_loss": 0.291015625,
      "loss": 0.025634765625,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.02978515625,
      "step": 5887
    },
    {
      "epoch": 1.3210679829481715,
      "grad_norm": 0.523219883441925,
      "learning_rate": 0.0003098809299951573,
      "loss": 0.0869,
      "step": 5888
    },
    {
      "epoch": 1.3210679829481715,
      "gripper_loss": 0.09033203125,
      "loss": 0.193359375,
      "pos_loss": 0.73828125,
      "rot_loss": 0.84765625,
      "step": 5888
    },
    {
      "epoch": 1.3212923491137536,
      "grad_norm": 0.8909139037132263,
      "learning_rate": 0.000309822131444522,
      "loss": 0.1341,
      "step": 5889
    },
    {
      "epoch": 1.3212923491137536,
      "gripper_loss": 0.380859375,
      "loss": 0.0284423828125,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.0225830078125,
      "step": 5889
    },
    {
      "epoch": 1.321516715279336,
      "grad_norm": 0.4183739423751831,
      "learning_rate": 0.00030976332938355115,
      "loss": 0.0856,
      "step": 5890
    },
    {
      "epoch": 1.321516715279336,
      "gripper_loss": 0.263671875,
      "loss": 0.07958984375,
      "pos_loss": 0.494140625,
      "rot_loss": 0.1845703125,
      "step": 5890
    },
    {
      "epoch": 1.3217410814449182,
      "grad_norm": 0.4233373999595642,
      "learning_rate": 0.00030970452381569514,
      "loss": 0.0738,
      "step": 5891
    },
    {
      "epoch": 1.3217410814449182,
      "gripper_loss": 0.484375,
      "loss": 0.0498046875,
      "pos_loss": 0.134765625,
      "rot_loss": 0.1572265625,
      "step": 5891
    },
    {
      "epoch": 1.3219654476105003,
      "grad_norm": 0.4642479717731476,
      "learning_rate": 0.00030964571474440466,
      "loss": 0.0697,
      "step": 5892
    },
    {
      "epoch": 1.3219654476105003,
      "gripper_loss": 0.031005859375,
      "loss": 0.043701171875,
      "pos_loss": 0.333984375,
      "rot_loss": 0.04638671875,
      "step": 5892
    },
    {
      "epoch": 1.3221898137760826,
      "grad_norm": 0.47806254029273987,
      "learning_rate": 0.0003095869021731305,
      "loss": 0.063,
      "step": 5893
    },
    {
      "epoch": 1.3221898137760826,
      "gripper_loss": 0.025146484375,
      "loss": 0.1845703125,
      "pos_loss": 1.2421875,
      "rot_loss": 0.62109375,
      "step": 5893
    },
    {
      "epoch": 1.3224141799416649,
      "grad_norm": 0.4722957909107208,
      "learning_rate": 0.00030952808610532393,
      "loss": 0.1077,
      "step": 5894
    },
    {
      "epoch": 1.3224141799416649,
      "gripper_loss": 0.01385498046875,
      "loss": 0.08251953125,
      "pos_loss": 0.546875,
      "rot_loss": 0.26171875,
      "step": 5894
    },
    {
      "epoch": 1.322638546107247,
      "grad_norm": 0.5126577019691467,
      "learning_rate": 0.00030946926654443603,
      "loss": 0.0719,
      "step": 5895
    },
    {
      "epoch": 1.322638546107247,
      "gripper_loss": 0.01177978515625,
      "loss": 0.0673828125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.04345703125,
      "step": 5895
    },
    {
      "epoch": 1.3228629122728293,
      "grad_norm": 0.5514192581176758,
      "learning_rate": 0.0003094104434939184,
      "loss": 0.0955,
      "step": 5896
    },
    {
      "epoch": 1.3228629122728293,
      "gripper_loss": 0.0142822265625,
      "loss": 0.09912109375,
      "pos_loss": 0.88671875,
      "rot_loss": 0.0849609375,
      "step": 5896
    },
    {
      "epoch": 1.3230872784384116,
      "grad_norm": 0.4563589096069336,
      "learning_rate": 0.0003093516169572229,
      "loss": 0.0771,
      "step": 5897
    },
    {
      "epoch": 1.3230872784384116,
      "gripper_loss": 1.28125,
      "loss": 0.05029296875,
      "pos_loss": 0.02783203125,
      "rot_loss": 0.0257568359375,
      "step": 5897
    },
    {
      "epoch": 1.3233116446039936,
      "grad_norm": 0.43465813994407654,
      "learning_rate": 0.0003092927869378013,
      "loss": 0.0709,
      "step": 5898
    },
    {
      "epoch": 1.3233116446039936,
      "gripper_loss": 0.01171875,
      "loss": 0.055908203125,
      "pos_loss": 0.47265625,
      "rot_loss": 0.047119140625,
      "step": 5898
    },
    {
      "epoch": 1.323536010769576,
      "grad_norm": 0.39863210916519165,
      "learning_rate": 0.00030923395343910573,
      "loss": 0.0766,
      "step": 5899
    },
    {
      "epoch": 1.323536010769576,
      "gripper_loss": 0.2431640625,
      "loss": 0.052001953125,
      "pos_loss": 0.034423828125,
      "rot_loss": 0.37109375,
      "step": 5899
    },
    {
      "epoch": 1.3237603769351582,
      "grad_norm": 0.39360862970352173,
      "learning_rate": 0.0003091751164645885,
      "loss": 0.0486,
      "step": 5900
    },
    {
      "epoch": 1.3237603769351582,
      "gripper_loss": 0.01043701171875,
      "loss": 0.1689453125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.91796875,
      "step": 5900
    },
    {
      "epoch": 1.3239847431007403,
      "grad_norm": 0.37639957666397095,
      "learning_rate": 0.00030911627601770214,
      "loss": 0.0629,
      "step": 5901
    },
    {
      "epoch": 1.3239847431007403,
      "gripper_loss": 0.234375,
      "loss": 0.10986328125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.5625,
      "step": 5901
    },
    {
      "epoch": 1.3242091092663226,
      "grad_norm": 0.45993658900260925,
      "learning_rate": 0.0003090574321018994,
      "loss": 0.081,
      "step": 5902
    },
    {
      "epoch": 1.3242091092663226,
      "gripper_loss": 0.01507568359375,
      "loss": 0.07470703125,
      "pos_loss": 0.439453125,
      "rot_loss": 0.25390625,
      "step": 5902
    },
    {
      "epoch": 1.324433475431905,
      "grad_norm": 0.4559704661369324,
      "learning_rate": 0.0003089985847206333,
      "loss": 0.0516,
      "step": 5903
    },
    {
      "epoch": 1.324433475431905,
      "gripper_loss": 0.1572265625,
      "loss": 0.162109375,
      "pos_loss": 0.87890625,
      "rot_loss": 0.7578125,
      "step": 5903
    },
    {
      "epoch": 1.324657841597487,
      "grad_norm": 0.43209072947502136,
      "learning_rate": 0.0003089397338773569,
      "loss": 0.0808,
      "step": 5904
    },
    {
      "epoch": 1.324657841597487,
      "gripper_loss": 0.384765625,
      "loss": 0.0673828125,
      "pos_loss": 0.173828125,
      "rot_loss": 0.37109375,
      "step": 5904
    },
    {
      "epoch": 1.3248822077630693,
      "grad_norm": 0.37945660948753357,
      "learning_rate": 0.0003088808795755234,
      "loss": 0.0694,
      "step": 5905
    },
    {
      "epoch": 1.3248822077630693,
      "gripper_loss": 0.021240234375,
      "loss": 0.06787109375,
      "pos_loss": 0.28125,
      "rot_loss": 0.37109375,
      "step": 5905
    },
    {
      "epoch": 1.3251065739286516,
      "grad_norm": 0.42383086681365967,
      "learning_rate": 0.00030882202181858653,
      "loss": 0.0719,
      "step": 5906
    },
    {
      "epoch": 1.3251065739286516,
      "gripper_loss": 0.01043701171875,
      "loss": 0.07421875,
      "pos_loss": 0.466796875,
      "rot_loss": 0.275390625,
      "step": 5906
    },
    {
      "epoch": 1.3253309400942337,
      "grad_norm": 0.33523187041282654,
      "learning_rate": 0.00030876316061000006,
      "loss": 0.0608,
      "step": 5907
    },
    {
      "epoch": 1.3253309400942337,
      "gripper_loss": 0.01446533203125,
      "loss": 0.0634765625,
      "pos_loss": 0.578125,
      "rot_loss": 0.040283203125,
      "step": 5907
    },
    {
      "epoch": 1.325555306259816,
      "grad_norm": 0.47664675116539,
      "learning_rate": 0.00030870429595321775,
      "loss": 0.0717,
      "step": 5908
    },
    {
      "epoch": 1.325555306259816,
      "gripper_loss": 0.2353515625,
      "loss": 0.039306640625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.0291748046875,
      "step": 5908
    },
    {
      "epoch": 1.3257796724253983,
      "grad_norm": 0.33337265253067017,
      "learning_rate": 0.00030864542785169393,
      "loss": 0.0452,
      "step": 5909
    },
    {
      "epoch": 1.3257796724253983,
      "gripper_loss": 0.05517578125,
      "loss": 0.045166015625,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.28515625,
      "step": 5909
    },
    {
      "epoch": 1.3260040385909804,
      "grad_norm": 0.4865579307079315,
      "learning_rate": 0.0003085865563088829,
      "loss": 0.0901,
      "step": 5910
    },
    {
      "epoch": 1.3260040385909804,
      "gripper_loss": 0.490234375,
      "loss": 0.07177734375,
      "pos_loss": 0.380859375,
      "rot_loss": 0.1728515625,
      "step": 5910
    },
    {
      "epoch": 1.3262284047565627,
      "grad_norm": 0.40936020016670227,
      "learning_rate": 0.00030852768132823917,
      "loss": 0.0799,
      "step": 5911
    },
    {
      "epoch": 1.3262284047565627,
      "gripper_loss": 0.10400390625,
      "loss": 0.0869140625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.2314453125,
      "step": 5911
    },
    {
      "epoch": 1.326452770922145,
      "grad_norm": 0.40698686242103577,
      "learning_rate": 0.0003084688029132176,
      "loss": 0.0689,
      "step": 5912
    },
    {
      "epoch": 1.326452770922145,
      "gripper_loss": 0.251953125,
      "loss": 0.0517578125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.052734375,
      "step": 5912
    },
    {
      "epoch": 1.326677137087727,
      "grad_norm": 0.34157848358154297,
      "learning_rate": 0.00030840992106727296,
      "loss": 0.0971,
      "step": 5913
    },
    {
      "epoch": 1.326677137087727,
      "gripper_loss": 0.1396484375,
      "loss": 0.0419921875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.169921875,
      "step": 5913
    },
    {
      "epoch": 1.3269015032533094,
      "grad_norm": 0.4021160900592804,
      "learning_rate": 0.0003083510357938606,
      "loss": 0.0631,
      "step": 5914
    },
    {
      "epoch": 1.3269015032533094,
      "gripper_loss": 0.0380859375,
      "loss": 0.10498046875,
      "pos_loss": 0.671875,
      "rot_loss": 0.396484375,
      "step": 5914
    },
    {
      "epoch": 1.3271258694188917,
      "grad_norm": 0.39447644352912903,
      "learning_rate": 0.00030829214709643583,
      "loss": 0.0675,
      "step": 5915
    },
    {
      "epoch": 1.3271258694188917,
      "gripper_loss": 0.859375,
      "loss": 0.3046875,
      "pos_loss": 1.6015625,
      "rot_loss": 0.181640625,
      "step": 5915
    },
    {
      "epoch": 1.3273502355844737,
      "grad_norm": 1.2350070476531982,
      "learning_rate": 0.0003082332549784542,
      "loss": 0.2201,
      "step": 5916
    },
    {
      "epoch": 1.3273502355844737,
      "gripper_loss": 0.055419921875,
      "loss": 0.07177734375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.0791015625,
      "step": 5916
    },
    {
      "epoch": 1.327574601750056,
      "grad_norm": 0.43227419257164,
      "learning_rate": 0.0003081743594433714,
      "loss": 0.0754,
      "step": 5917
    },
    {
      "epoch": 1.327574601750056,
      "gripper_loss": 0.0771484375,
      "loss": 0.11083984375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.2099609375,
      "step": 5917
    },
    {
      "epoch": 1.3277989679156383,
      "grad_norm": 0.6866267323493958,
      "learning_rate": 0.00030811546049464353,
      "loss": 0.0817,
      "step": 5918
    },
    {
      "epoch": 1.3277989679156383,
      "gripper_loss": 0.11181640625,
      "loss": 0.3359375,
      "pos_loss": 1.65625,
      "rot_loss": 1.8046875,
      "step": 5918
    },
    {
      "epoch": 1.3280233340812204,
      "grad_norm": 0.6020103096961975,
      "learning_rate": 0.00030805655813572657,
      "loss": 0.0921,
      "step": 5919
    },
    {
      "epoch": 1.3280233340812204,
      "gripper_loss": 0.0137939453125,
      "loss": 0.0908203125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.359375,
      "step": 5919
    },
    {
      "epoch": 1.3282477002468027,
      "grad_norm": 0.4117676913738251,
      "learning_rate": 0.00030799765237007713,
      "loss": 0.0681,
      "step": 5920
    },
    {
      "epoch": 1.3282477002468027,
      "gripper_loss": 0.040771484375,
      "loss": 0.06884765625,
      "pos_loss": 0.427734375,
      "rot_loss": 0.2392578125,
      "step": 5920
    },
    {
      "epoch": 1.328472066412385,
      "grad_norm": 0.42303451895713806,
      "learning_rate": 0.0003079387432011516,
      "loss": 0.0907,
      "step": 5921
    },
    {
      "epoch": 1.328472066412385,
      "gripper_loss": 1.1953125,
      "loss": 0.11767578125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.2255859375,
      "step": 5921
    },
    {
      "epoch": 1.3286964325779673,
      "grad_norm": 0.5502123832702637,
      "learning_rate": 0.0003078798306324068,
      "loss": 0.0934,
      "step": 5922
    },
    {
      "epoch": 1.3286964325779673,
      "gripper_loss": 0.1943359375,
      "loss": 0.09228515625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.140625,
      "step": 5922
    },
    {
      "epoch": 1.3289207987435494,
      "grad_norm": 0.32608675956726074,
      "learning_rate": 0.00030782091466729963,
      "loss": 0.0695,
      "step": 5923
    },
    {
      "epoch": 1.3289207987435494,
      "gripper_loss": 0.796875,
      "loss": 0.1484375,
      "pos_loss": 0.703125,
      "rot_loss": 0.53125,
      "step": 5923
    },
    {
      "epoch": 1.3291451649091317,
      "grad_norm": 0.36887869238853455,
      "learning_rate": 0.00030776199530928734,
      "loss": 0.0862,
      "step": 5924
    },
    {
      "epoch": 1.3291451649091317,
      "gripper_loss": 0.1865234375,
      "loss": 0.158203125,
      "pos_loss": 1.2578125,
      "rot_loss": 0.326171875,
      "step": 5924
    },
    {
      "epoch": 1.329369531074714,
      "grad_norm": 0.5499628186225891,
      "learning_rate": 0.00030770307256182714,
      "loss": 0.0937,
      "step": 5925
    },
    {
      "epoch": 1.329369531074714,
      "gripper_loss": 0.025146484375,
      "loss": 0.09033203125,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.7265625,
      "step": 5925
    },
    {
      "epoch": 1.329593897240296,
      "grad_norm": 0.45694246888160706,
      "learning_rate": 0.00030764414642837684,
      "loss": 0.0828,
      "step": 5926
    },
    {
      "epoch": 1.329593897240296,
      "gripper_loss": 0.019775390625,
      "loss": 0.055908203125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.15625,
      "step": 5926
    },
    {
      "epoch": 1.3298182634058784,
      "grad_norm": 0.5138180255889893,
      "learning_rate": 0.00030758521691239406,
      "loss": 0.0721,
      "step": 5927
    },
    {
      "epoch": 1.3298182634058784,
      "gripper_loss": 0.2431640625,
      "loss": 0.046630859375,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.1435546875,
      "step": 5927
    },
    {
      "epoch": 1.3300426295714607,
      "grad_norm": 0.7281048893928528,
      "learning_rate": 0.0003075262840173367,
      "loss": 0.1028,
      "step": 5928
    },
    {
      "epoch": 1.3300426295714607,
      "gripper_loss": 0.038818359375,
      "loss": 0.0732421875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.12890625,
      "step": 5928
    },
    {
      "epoch": 1.330266995737043,
      "grad_norm": 0.4784857928752899,
      "learning_rate": 0.00030746734774666297,
      "loss": 0.0834,
      "step": 5929
    },
    {
      "epoch": 1.330266995737043,
      "gripper_loss": 0.0166015625,
      "loss": 0.051025390625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.054931640625,
      "step": 5929
    },
    {
      "epoch": 1.330491361902625,
      "grad_norm": 0.42683538794517517,
      "learning_rate": 0.00030740840810383123,
      "loss": 0.0575,
      "step": 5930
    },
    {
      "epoch": 1.330491361902625,
      "gripper_loss": 0.048095703125,
      "loss": 0.1181640625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.51953125,
      "step": 5930
    },
    {
      "epoch": 1.3307157280682074,
      "grad_norm": 0.5004437565803528,
      "learning_rate": 0.00030734946509230007,
      "loss": 0.0946,
      "step": 5931
    },
    {
      "epoch": 1.3307157280682074,
      "gripper_loss": 0.8359375,
      "loss": 0.0859375,
      "pos_loss": 0.1640625,
      "rot_loss": 0.3828125,
      "step": 5931
    },
    {
      "epoch": 1.3309400942337897,
      "grad_norm": 0.42752552032470703,
      "learning_rate": 0.00030729051871552815,
      "loss": 0.0709,
      "step": 5932
    },
    {
      "epoch": 1.3309400942337897,
      "gripper_loss": 0.349609375,
      "loss": 0.0478515625,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.1494140625,
      "step": 5932
    },
    {
      "epoch": 1.3311644603993718,
      "grad_norm": 0.3348004221916199,
      "learning_rate": 0.0003072315689769745,
      "loss": 0.0629,
      "step": 5933
    },
    {
      "epoch": 1.3311644603993718,
      "gripper_loss": 0.2138671875,
      "loss": 0.01507568359375,
      "pos_loss": 0.0167236328125,
      "rot_loss": 0.033203125,
      "step": 5933
    },
    {
      "epoch": 1.331388826564954,
      "grad_norm": 0.37771958112716675,
      "learning_rate": 0.0003071726158800982,
      "loss": 0.0691,
      "step": 5934
    },
    {
      "epoch": 1.331388826564954,
      "gripper_loss": 0.0264892578125,
      "loss": 0.0791015625,
      "pos_loss": 0.578125,
      "rot_loss": 0.208984375,
      "step": 5934
    },
    {
      "epoch": 1.3316131927305364,
      "grad_norm": 0.43736669421195984,
      "learning_rate": 0.0003071136594283587,
      "loss": 0.0573,
      "step": 5935
    },
    {
      "epoch": 1.3316131927305364,
      "gripper_loss": 0.1435546875,
      "loss": 0.0849609375,
      "pos_loss": 0.201171875,
      "rot_loss": 0.58984375,
      "step": 5935
    },
    {
      "epoch": 1.3318375588961184,
      "grad_norm": 0.4532507658004761,
      "learning_rate": 0.0003070546996252153,
      "loss": 0.0907,
      "step": 5936
    },
    {
      "epoch": 1.3318375588961184,
      "gripper_loss": 0.2099609375,
      "loss": 0.031494140625,
      "pos_loss": 0.09375,
      "rot_loss": 0.11181640625,
      "step": 5936
    },
    {
      "epoch": 1.3320619250617007,
      "grad_norm": 0.5179637670516968,
      "learning_rate": 0.00030699573647412806,
      "loss": 0.0837,
      "step": 5937
    },
    {
      "epoch": 1.3320619250617007,
      "gripper_loss": 0.263671875,
      "loss": 0.09228515625,
      "pos_loss": 0.087890625,
      "rot_loss": 0.1025390625,
      "step": 5937
    },
    {
      "epoch": 1.332286291227283,
      "grad_norm": 1.2830719947814941,
      "learning_rate": 0.00030693676997855667,
      "loss": 0.1752,
      "step": 5938
    },
    {
      "epoch": 1.332286291227283,
      "gripper_loss": 1.1484375,
      "loss": 0.15625,
      "pos_loss": 0.7578125,
      "rot_loss": 0.482421875,
      "step": 5938
    },
    {
      "epoch": 1.3325106573928651,
      "grad_norm": 0.45967912673950195,
      "learning_rate": 0.0003068778001419613,
      "loss": 0.0981,
      "step": 5939
    },
    {
      "epoch": 1.3325106573928651,
      "gripper_loss": 0.0169677734375,
      "loss": 0.08740234375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.32421875,
      "step": 5939
    },
    {
      "epoch": 1.3327350235584474,
      "grad_norm": 0.28207042813301086,
      "learning_rate": 0.00030681882696780233,
      "loss": 0.0571,
      "step": 5940
    },
    {
      "epoch": 1.3327350235584474,
      "gripper_loss": 0.0400390625,
      "loss": 0.036376953125,
      "pos_loss": 0.169921875,
      "rot_loss": 0.154296875,
      "step": 5940
    },
    {
      "epoch": 1.3329593897240297,
      "grad_norm": 0.4902347922325134,
      "learning_rate": 0.00030675985045954023,
      "loss": 0.0725,
      "step": 5941
    },
    {
      "epoch": 1.3329593897240297,
      "gripper_loss": 0.052001953125,
      "loss": 0.07958984375,
      "pos_loss": 0.640625,
      "rot_loss": 0.1328125,
      "step": 5941
    },
    {
      "epoch": 1.3331837558896118,
      "grad_norm": 0.5431984066963196,
      "learning_rate": 0.0003067008706206358,
      "loss": 0.0683,
      "step": 5942
    },
    {
      "epoch": 1.3331837558896118,
      "gripper_loss": 0.00982666015625,
      "loss": 0.1572265625,
      "pos_loss": 1.234375,
      "rot_loss": 0.37890625,
      "step": 5942
    },
    {
      "epoch": 1.333408122055194,
      "grad_norm": 0.661198616027832,
      "learning_rate": 0.0003066418874545498,
      "loss": 0.0886,
      "step": 5943
    },
    {
      "epoch": 1.333408122055194,
      "gripper_loss": 0.039794921875,
      "loss": 0.0947265625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.2314453125,
      "step": 5943
    },
    {
      "epoch": 1.3336324882207764,
      "grad_norm": 0.5644011497497559,
      "learning_rate": 0.0003065829009647436,
      "loss": 0.0638,
      "step": 5944
    },
    {
      "epoch": 1.3336324882207764,
      "gripper_loss": 0.90625,
      "loss": 0.0693359375,
      "pos_loss": 0.16015625,
      "rot_loss": 0.2373046875,
      "step": 5944
    },
    {
      "epoch": 1.3338568543863585,
      "grad_norm": 0.381503701210022,
      "learning_rate": 0.00030652391115467813,
      "loss": 0.0648,
      "step": 5945
    },
    {
      "epoch": 1.3338568543863585,
      "gripper_loss": 0.1416015625,
      "loss": 0.1591796875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.453125,
      "step": 5945
    },
    {
      "epoch": 1.3340812205519408,
      "grad_norm": 0.8129962086677551,
      "learning_rate": 0.00030646491802781517,
      "loss": 0.1035,
      "step": 5946
    },
    {
      "epoch": 1.3340812205519408,
      "gripper_loss": 0.07275390625,
      "loss": 0.061767578125,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.365234375,
      "step": 5946
    },
    {
      "epoch": 1.334305586717523,
      "grad_norm": 0.5048288702964783,
      "learning_rate": 0.00030640592158761627,
      "loss": 0.0568,
      "step": 5947
    },
    {
      "epoch": 1.334305586717523,
      "gripper_loss": 1.0,
      "loss": 0.0419921875,
      "pos_loss": 0.0213623046875,
      "rot_loss": 0.035400390625,
      "step": 5947
    },
    {
      "epoch": 1.3345299528831052,
      "grad_norm": 0.4908818304538727,
      "learning_rate": 0.0003063469218375434,
      "loss": 0.0753,
      "step": 5948
    },
    {
      "epoch": 1.3345299528831052,
      "gripper_loss": 0.07470703125,
      "loss": 0.130859375,
      "pos_loss": 0.87109375,
      "rot_loss": 0.1796875,
      "step": 5948
    },
    {
      "epoch": 1.3347543190486875,
      "grad_norm": 0.6797993183135986,
      "learning_rate": 0.0003062879187810586,
      "loss": 0.0956,
      "step": 5949
    },
    {
      "epoch": 1.3347543190486875,
      "gripper_loss": 0.0927734375,
      "loss": 0.03662109375,
      "pos_loss": 0.15625,
      "rot_loss": 0.10302734375,
      "step": 5949
    },
    {
      "epoch": 1.3349786852142698,
      "grad_norm": 0.6199222803115845,
      "learning_rate": 0.00030622891242162417,
      "loss": 0.0774,
      "step": 5950
    },
    {
      "epoch": 1.3349786852142698,
      "gripper_loss": 0.01495361328125,
      "loss": 0.0732421875,
      "pos_loss": 0.396484375,
      "rot_loss": 0.28125,
      "step": 5950
    },
    {
      "epoch": 1.3352030513798518,
      "grad_norm": 0.603751540184021,
      "learning_rate": 0.00030616990276270255,
      "loss": 0.0789,
      "step": 5951
    },
    {
      "epoch": 1.3352030513798518,
      "gripper_loss": 0.400390625,
      "loss": 0.025146484375,
      "pos_loss": 0.0303955078125,
      "rot_loss": 0.048095703125,
      "step": 5951
    },
    {
      "epoch": 1.3354274175454341,
      "grad_norm": 0.4977782070636749,
      "learning_rate": 0.0003061108898077564,
      "loss": 0.0582,
      "step": 5952
    },
    {
      "epoch": 1.3354274175454341,
      "gripper_loss": 0.0810546875,
      "loss": 0.046142578125,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.2294921875,
      "step": 5952
    },
    {
      "epoch": 1.3356517837110164,
      "grad_norm": 0.6271037459373474,
      "learning_rate": 0.00030605187356024855,
      "loss": 0.1057,
      "step": 5953
    },
    {
      "epoch": 1.3356517837110164,
      "gripper_loss": 0.1318359375,
      "loss": 0.1162109375,
      "pos_loss": 0.578125,
      "rot_loss": 0.498046875,
      "step": 5953
    },
    {
      "epoch": 1.3358761498765985,
      "grad_norm": 0.6011078953742981,
      "learning_rate": 0.00030599285402364205,
      "loss": 0.0895,
      "step": 5954
    },
    {
      "epoch": 1.3358761498765985,
      "gripper_loss": 1.25,
      "loss": 0.1279296875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.359375,
      "step": 5954
    },
    {
      "epoch": 1.3361005160421808,
      "grad_norm": 0.6414451003074646,
      "learning_rate": 0.0003059338312014002,
      "loss": 0.0808,
      "step": 5955
    },
    {
      "epoch": 1.3361005160421808,
      "gripper_loss": 0.12890625,
      "loss": 0.2265625,
      "pos_loss": 0.7890625,
      "rot_loss": 0.61328125,
      "step": 5955
    },
    {
      "epoch": 1.3363248822077631,
      "grad_norm": 1.2250545024871826,
      "learning_rate": 0.0003058748050969864,
      "loss": 0.204,
      "step": 5956
    },
    {
      "epoch": 1.3363248822077631,
      "gripper_loss": 0.0267333984375,
      "loss": 0.0849609375,
      "pos_loss": 0.453125,
      "rot_loss": 0.3125,
      "step": 5956
    },
    {
      "epoch": 1.3365492483733452,
      "grad_norm": 0.5373744368553162,
      "learning_rate": 0.00030581577571386426,
      "loss": 0.0891,
      "step": 5957
    },
    {
      "epoch": 1.3365492483733452,
      "gripper_loss": 0.515625,
      "loss": 0.06884765625,
      "pos_loss": 0.205078125,
      "rot_loss": 0.29296875,
      "step": 5957
    },
    {
      "epoch": 1.3367736145389275,
      "grad_norm": 0.5854460597038269,
      "learning_rate": 0.00030575674305549763,
      "loss": 0.0808,
      "step": 5958
    },
    {
      "epoch": 1.3367736145389275,
      "gripper_loss": 0.040283203125,
      "loss": 0.10009765625,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.8359375,
      "step": 5958
    },
    {
      "epoch": 1.3369979807045098,
      "grad_norm": 0.6661468148231506,
      "learning_rate": 0.0003056977071253504,
      "loss": 0.0597,
      "step": 5959
    },
    {
      "epoch": 1.3369979807045098,
      "gripper_loss": 0.01177978515625,
      "loss": 0.11328125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.05712890625,
      "step": 5959
    },
    {
      "epoch": 1.337222346870092,
      "grad_norm": 0.7053267359733582,
      "learning_rate": 0.000305638667926887,
      "loss": 0.1228,
      "step": 5960
    },
    {
      "epoch": 1.337222346870092,
      "gripper_loss": 0.0169677734375,
      "loss": 0.059814453125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.0791015625,
      "step": 5960
    },
    {
      "epoch": 1.3374467130356742,
      "grad_norm": 0.7169936299324036,
      "learning_rate": 0.00030557962546357166,
      "loss": 0.0712,
      "step": 5961
    },
    {
      "epoch": 1.3374467130356742,
      "gripper_loss": 0.016357421875,
      "loss": 0.1025390625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.54296875,
      "step": 5961
    },
    {
      "epoch": 1.3376710792012565,
      "grad_norm": 1.0462058782577515,
      "learning_rate": 0.000305520579738869,
      "loss": 0.1196,
      "step": 5962
    },
    {
      "epoch": 1.3376710792012565,
      "gripper_loss": 0.7421875,
      "loss": 0.058349609375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.0439453125,
      "step": 5962
    },
    {
      "epoch": 1.3378954453668386,
      "grad_norm": 0.5422437787055969,
      "learning_rate": 0.0003054615307562438,
      "loss": 0.0701,
      "step": 5963
    },
    {
      "epoch": 1.3378954453668386,
      "gripper_loss": 1.1484375,
      "loss": 0.072265625,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.11669921875,
      "step": 5963
    },
    {
      "epoch": 1.3381198115324209,
      "grad_norm": 0.4341483414173126,
      "learning_rate": 0.0003054024785191609,
      "loss": 0.0997,
      "step": 5964
    },
    {
      "epoch": 1.3381198115324209,
      "gripper_loss": 0.625,
      "loss": 0.0615234375,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.314453125,
      "step": 5964
    },
    {
      "epoch": 1.3383441776980032,
      "grad_norm": 0.6756991147994995,
      "learning_rate": 0.00030534342303108577,
      "loss": 0.083,
      "step": 5965
    },
    {
      "epoch": 1.3383441776980032,
      "gripper_loss": 0.0308837890625,
      "loss": 0.058837890625,
      "pos_loss": 0.21484375,
      "rot_loss": 0.091796875,
      "step": 5965
    },
    {
      "epoch": 1.3385685438635853,
      "grad_norm": 0.7963189482688904,
      "learning_rate": 0.0003052843642954834,
      "loss": 0.0907,
      "step": 5966
    },
    {
      "epoch": 1.3385685438635853,
      "gripper_loss": 0.0123291015625,
      "loss": 0.039794921875,
      "pos_loss": 0.314453125,
      "rot_loss": 0.0311279296875,
      "step": 5966
    },
    {
      "epoch": 1.3387929100291676,
      "grad_norm": 0.8145327568054199,
      "learning_rate": 0.0003052253023158196,
      "loss": 0.1299,
      "step": 5967
    },
    {
      "epoch": 1.3387929100291676,
      "gripper_loss": 0.244140625,
      "loss": 0.06591796875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.150390625,
      "step": 5967
    },
    {
      "epoch": 1.3390172761947499,
      "grad_norm": 0.7906718254089355,
      "learning_rate": 0.00030516623709556003,
      "loss": 0.069,
      "step": 5968
    },
    {
      "epoch": 1.3390172761947499,
      "gripper_loss": 0.048828125,
      "loss": 0.0615234375,
      "pos_loss": 0.447265625,
      "rot_loss": 0.09619140625,
      "step": 5968
    },
    {
      "epoch": 1.339241642360332,
      "grad_norm": 0.6987454891204834,
      "learning_rate": 0.00030510716863817053,
      "loss": 0.0909,
      "step": 5969
    },
    {
      "epoch": 1.339241642360332,
      "gripper_loss": 0.6171875,
      "loss": 0.08056640625,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.392578125,
      "step": 5969
    },
    {
      "epoch": 1.3394660085259142,
      "grad_norm": 0.872732400894165,
      "learning_rate": 0.0003050480969471172,
      "loss": 0.0826,
      "step": 5970
    },
    {
      "epoch": 1.3394660085259142,
      "gripper_loss": 0.033935546875,
      "loss": 0.06787109375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.2177734375,
      "step": 5970
    },
    {
      "epoch": 1.3396903746914965,
      "grad_norm": 0.628859281539917,
      "learning_rate": 0.0003049890220258664,
      "loss": 0.0776,
      "step": 5971
    },
    {
      "epoch": 1.3396903746914965,
      "gripper_loss": 0.2490234375,
      "loss": 0.055419921875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.140625,
      "step": 5971
    },
    {
      "epoch": 1.3399147408570786,
      "grad_norm": 0.7414304614067078,
      "learning_rate": 0.00030492994387788477,
      "loss": 0.0715,
      "step": 5972
    },
    {
      "epoch": 1.3399147408570786,
      "gripper_loss": 0.00946044921875,
      "loss": 0.126953125,
      "pos_loss": 0.984375,
      "rot_loss": 0.302734375,
      "step": 5972
    },
    {
      "epoch": 1.340139107022661,
      "grad_norm": 0.4905279874801636,
      "learning_rate": 0.00030487086250663876,
      "loss": 0.0738,
      "step": 5973
    },
    {
      "epoch": 1.340139107022661,
      "gripper_loss": 0.50390625,
      "loss": 0.0751953125,
      "pos_loss": 0.439453125,
      "rot_loss": 0.0771484375,
      "step": 5973
    },
    {
      "epoch": 1.3403634731882432,
      "grad_norm": 0.5627562403678894,
      "learning_rate": 0.0003048117779155953,
      "loss": 0.0822,
      "step": 5974
    },
    {
      "epoch": 1.3403634731882432,
      "gripper_loss": 0.251953125,
      "loss": 0.08056640625,
      "pos_loss": 0.58984375,
      "rot_loss": 0.07568359375,
      "step": 5974
    },
    {
      "epoch": 1.3405878393538253,
      "grad_norm": 0.6671843528747559,
      "learning_rate": 0.0003047526901082214,
      "loss": 0.0803,
      "step": 5975
    },
    {
      "epoch": 1.3405878393538253,
      "gripper_loss": 1.296875,
      "loss": 0.0791015625,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.1640625,
      "step": 5975
    },
    {
      "epoch": 1.3408122055194076,
      "grad_norm": 0.42211636900901794,
      "learning_rate": 0.0003046935990879845,
      "loss": 0.0839,
      "step": 5976
    },
    {
      "epoch": 1.3408122055194076,
      "gripper_loss": 0.490234375,
      "loss": 0.486328125,
      "pos_loss": 0.6796875,
      "rot_loss": 0.3671875,
      "step": 5976
    },
    {
      "epoch": 1.34103657168499,
      "grad_norm": 2.077385663986206,
      "learning_rate": 0.00030463450485835187,
      "loss": 0.521,
      "step": 5977
    },
    {
      "epoch": 1.34103657168499,
      "gripper_loss": 0.0191650390625,
      "loss": 0.0791015625,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.58984375,
      "step": 5977
    },
    {
      "epoch": 1.3412609378505722,
      "grad_norm": 0.5849205851554871,
      "learning_rate": 0.00030457540742279116,
      "loss": 0.0785,
      "step": 5978
    },
    {
      "epoch": 1.3412609378505722,
      "gripper_loss": 0.4453125,
      "loss": 0.06591796875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.10498046875,
      "step": 5978
    },
    {
      "epoch": 1.3414853040161543,
      "grad_norm": 0.674412727355957,
      "learning_rate": 0.0003045163067847702,
      "loss": 0.1003,
      "step": 5979
    },
    {
      "epoch": 1.3414853040161543,
      "gripper_loss": 0.6484375,
      "loss": 0.041015625,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.04345703125,
      "step": 5979
    },
    {
      "epoch": 1.3417096701817366,
      "grad_norm": 0.5394695401191711,
      "learning_rate": 0.00030445720294775696,
      "loss": 0.0586,
      "step": 5980
    },
    {
      "epoch": 1.3417096701817366,
      "gripper_loss": 0.01361083984375,
      "loss": 0.1083984375,
      "pos_loss": 0.59765625,
      "rot_loss": 0.4765625,
      "step": 5980
    },
    {
      "epoch": 1.341934036347319,
      "grad_norm": 0.5412911772727966,
      "learning_rate": 0.0003043980959152196,
      "loss": 0.0507,
      "step": 5981
    },
    {
      "epoch": 1.341934036347319,
      "gripper_loss": 0.026611328125,
      "loss": 0.041748046875,
      "pos_loss": 0.185546875,
      "rot_loss": 0.1865234375,
      "step": 5981
    },
    {
      "epoch": 1.342158402512901,
      "grad_norm": 0.382760226726532,
      "learning_rate": 0.00030433898569062664,
      "loss": 0.0419,
      "step": 5982
    },
    {
      "epoch": 1.342158402512901,
      "gripper_loss": 0.0771484375,
      "loss": 0.1884765625,
      "pos_loss": 1.2578125,
      "rot_loss": 0.67578125,
      "step": 5982
    },
    {
      "epoch": 1.3423827686784833,
      "grad_norm": 0.4505297541618347,
      "learning_rate": 0.0003042798722774464,
      "loss": 0.1137,
      "step": 5983
    },
    {
      "epoch": 1.3423827686784833,
      "gripper_loss": 0.2734375,
      "loss": 0.0284423828125,
      "pos_loss": 0.11279296875,
      "rot_loss": 0.040283203125,
      "step": 5983
    },
    {
      "epoch": 1.3426071348440656,
      "grad_norm": 0.3295620083808899,
      "learning_rate": 0.00030422075567914785,
      "loss": 0.0489,
      "step": 5984
    },
    {
      "epoch": 1.3426071348440656,
      "gripper_loss": 0.00946044921875,
      "loss": 0.16015625,
      "pos_loss": 1.5625,
      "rot_loss": 0.06982421875,
      "step": 5984
    },
    {
      "epoch": 1.3428315010096479,
      "grad_norm": 0.5035675168037415,
      "learning_rate": 0.0003041616358991999,
      "loss": 0.0808,
      "step": 5985
    },
    {
      "epoch": 1.3428315010096479,
      "gripper_loss": 0.02197265625,
      "loss": 0.0712890625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.2421875,
      "step": 5985
    },
    {
      "epoch": 1.34305586717523,
      "grad_norm": 0.3372643291950226,
      "learning_rate": 0.0003041025129410716,
      "loss": 0.0605,
      "step": 5986
    },
    {
      "epoch": 1.34305586717523,
      "gripper_loss": 0.0361328125,
      "loss": 0.095703125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.423828125,
      "step": 5986
    },
    {
      "epoch": 1.3432802333408123,
      "grad_norm": 0.535041868686676,
      "learning_rate": 0.0003040433868082322,
      "loss": 0.0889,
      "step": 5987
    },
    {
      "epoch": 1.3432802333408123,
      "gripper_loss": 0.087890625,
      "loss": 0.123046875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.2412109375,
      "step": 5987
    },
    {
      "epoch": 1.3435045995063946,
      "grad_norm": 1.3607935905456543,
      "learning_rate": 0.0003039842575041513,
      "loss": 0.2053,
      "step": 5988
    },
    {
      "epoch": 1.3435045995063946,
      "gripper_loss": 0.00994873046875,
      "loss": 0.07470703125,
      "pos_loss": 0.419921875,
      "rot_loss": 0.287109375,
      "step": 5988
    },
    {
      "epoch": 1.3437289656719766,
      "grad_norm": 0.5296878218650818,
      "learning_rate": 0.0003039251250322985,
      "loss": 0.0677,
      "step": 5989
    },
    {
      "epoch": 1.3437289656719766,
      "gripper_loss": 0.037353515625,
      "loss": 0.0264892578125,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.107421875,
      "step": 5989
    },
    {
      "epoch": 1.343953331837559,
      "grad_norm": 0.593562126159668,
      "learning_rate": 0.00030386598939614374,
      "loss": 0.0773,
      "step": 5990
    },
    {
      "epoch": 1.343953331837559,
      "gripper_loss": 0.154296875,
      "loss": 0.244140625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.361328125,
      "step": 5990
    },
    {
      "epoch": 1.3441776980031412,
      "grad_norm": 1.5229454040527344,
      "learning_rate": 0.00030380685059915713,
      "loss": 0.2874,
      "step": 5991
    },
    {
      "epoch": 1.3441776980031412,
      "gripper_loss": 0.01373291015625,
      "loss": 0.18359375,
      "pos_loss": 0.7578125,
      "rot_loss": 1.09375,
      "step": 5991
    },
    {
      "epoch": 1.3444020641687233,
      "grad_norm": 0.8779916763305664,
      "learning_rate": 0.0003037477086448088,
      "loss": 0.0974,
      "step": 5992
    },
    {
      "epoch": 1.3444020641687233,
      "gripper_loss": 0.330078125,
      "loss": 0.0306396484375,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.0283203125,
      "step": 5992
    },
    {
      "epoch": 1.3446264303343056,
      "grad_norm": 0.6440550088882446,
      "learning_rate": 0.00030368856353656917,
      "loss": 0.0537,
      "step": 5993
    },
    {
      "epoch": 1.3446264303343056,
      "gripper_loss": 0.8359375,
      "loss": 0.11572265625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.21875,
      "step": 5993
    },
    {
      "epoch": 1.344850796499888,
      "grad_norm": 0.6297392249107361,
      "learning_rate": 0.0003036294152779088,
      "loss": 0.0828,
      "step": 5994
    },
    {
      "epoch": 1.344850796499888,
      "gripper_loss": 0.08447265625,
      "loss": 0.1943359375,
      "pos_loss": 0.578125,
      "rot_loss": 0.51953125,
      "step": 5994
    },
    {
      "epoch": 1.34507516266547,
      "grad_norm": 0.9375084638595581,
      "learning_rate": 0.0003035702638722987,
      "loss": 0.1326,
      "step": 5995
    },
    {
      "epoch": 1.34507516266547,
      "gripper_loss": 0.41015625,
      "loss": 0.04638671875,
      "pos_loss": 0.142578125,
      "rot_loss": 0.130859375,
      "step": 5995
    },
    {
      "epoch": 1.3452995288310523,
      "grad_norm": 0.6290019154548645,
      "learning_rate": 0.0003035111093232096,
      "loss": 0.0806,
      "step": 5996
    },
    {
      "epoch": 1.3452995288310523,
      "gripper_loss": 0.455078125,
      "loss": 0.045166015625,
      "pos_loss": 0.24609375,
      "rot_loss": 0.035888671875,
      "step": 5996
    },
    {
      "epoch": 1.3455238949966346,
      "grad_norm": 0.5060712695121765,
      "learning_rate": 0.00030345195163411287,
      "loss": 0.0885,
      "step": 5997
    },
    {
      "epoch": 1.3455238949966346,
      "gripper_loss": 1.25,
      "loss": 0.12060546875,
      "pos_loss": 0.240234375,
      "rot_loss": 0.55859375,
      "step": 5997
    },
    {
      "epoch": 1.3457482611622167,
      "grad_norm": 0.37204709649086,
      "learning_rate": 0.0003033927908084797,
      "loss": 0.0615,
      "step": 5998
    },
    {
      "epoch": 1.3457482611622167,
      "gripper_loss": 0.0771484375,
      "loss": 0.047607421875,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.34765625,
      "step": 5998
    },
    {
      "epoch": 1.345972627327799,
      "grad_norm": 0.5768048167228699,
      "learning_rate": 0.0003033336268497817,
      "loss": 0.061,
      "step": 5999
    },
    {
      "epoch": 1.345972627327799,
      "gripper_loss": 0.0263671875,
      "loss": 0.06884765625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.1142578125,
      "step": 5999
    },
    {
      "epoch": 1.3461969934933813,
      "grad_norm": 0.46048206090927124,
      "learning_rate": 0.0003032744597614905,
      "loss": 0.0676,
      "step": 6000
    },
    {
      "epoch": 1.3461969934933813,
      "gripper_loss": 0.0791015625,
      "loss": 0.115234375,
      "pos_loss": 0.3125,
      "rot_loss": 0.765625,
      "step": 6000
    },
    {
      "epoch": 1.3464213596589634,
      "grad_norm": 0.6345753073692322,
      "learning_rate": 0.00030321528954707817,
      "loss": 0.1087,
      "step": 6001
    },
    {
      "epoch": 1.3464213596589634,
      "gripper_loss": 0.0294189453125,
      "loss": 0.03125,
      "pos_loss": 0.212890625,
      "rot_loss": 0.048583984375,
      "step": 6001
    },
    {
      "epoch": 1.3466457258245457,
      "grad_norm": 0.5619564056396484,
      "learning_rate": 0.0003031561162100166,
      "loss": 0.0759,
      "step": 6002
    },
    {
      "epoch": 1.3466457258245457,
      "gripper_loss": 0.28125,
      "loss": 0.0712890625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.30859375,
      "step": 6002
    },
    {
      "epoch": 1.346870091990128,
      "grad_norm": 0.44068822264671326,
      "learning_rate": 0.00030309693975377815,
      "loss": 0.0789,
      "step": 6003
    },
    {
      "epoch": 1.346870091990128,
      "gripper_loss": 0.06689453125,
      "loss": 0.046630859375,
      "pos_loss": 0.34375,
      "rot_loss": 0.059814453125,
      "step": 6003
    },
    {
      "epoch": 1.34709445815571,
      "grad_norm": 0.5334224700927734,
      "learning_rate": 0.00030303776018183526,
      "loss": 0.0522,
      "step": 6004
    },
    {
      "epoch": 1.34709445815571,
      "gripper_loss": 0.02392578125,
      "loss": 0.09423828125,
      "pos_loss": 0.61328125,
      "rot_loss": 0.318359375,
      "step": 6004
    },
    {
      "epoch": 1.3473188243212924,
      "grad_norm": 0.447338342666626,
      "learning_rate": 0.00030297857749766056,
      "loss": 0.0634,
      "step": 6005
    },
    {
      "epoch": 1.3473188243212924,
      "gripper_loss": 0.08642578125,
      "loss": 0.11474609375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.5078125,
      "step": 6005
    },
    {
      "epoch": 1.3475431904868747,
      "grad_norm": 0.4235105812549591,
      "learning_rate": 0.0003029193917047269,
      "loss": 0.0867,
      "step": 6006
    },
    {
      "epoch": 1.3475431904868747,
      "gripper_loss": 0.0247802734375,
      "loss": 0.1611328125,
      "pos_loss": 0.890625,
      "rot_loss": 0.7578125,
      "step": 6006
    },
    {
      "epoch": 1.3477675566524567,
      "grad_norm": 0.5413603186607361,
      "learning_rate": 0.0003028602028065071,
      "loss": 0.0789,
      "step": 6007
    },
    {
      "epoch": 1.3477675566524567,
      "gripper_loss": 0.033935546875,
      "loss": 0.07861328125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.2373046875,
      "step": 6007
    },
    {
      "epoch": 1.347991922818039,
      "grad_norm": 0.36414867639541626,
      "learning_rate": 0.0003028010108064746,
      "loss": 0.0563,
      "step": 6008
    },
    {
      "epoch": 1.347991922818039,
      "gripper_loss": 0.0196533203125,
      "loss": 0.1357421875,
      "pos_loss": 1.28125,
      "rot_loss": 0.0869140625,
      "step": 6008
    },
    {
      "epoch": 1.3482162889836213,
      "grad_norm": 0.40020784735679626,
      "learning_rate": 0.0003027418157081026,
      "loss": 0.0825,
      "step": 6009
    },
    {
      "epoch": 1.3482162889836213,
      "gripper_loss": 0.034912109375,
      "loss": 0.07568359375,
      "pos_loss": 0.51953125,
      "rot_loss": 0.130859375,
      "step": 6009
    },
    {
      "epoch": 1.3484406551492034,
      "grad_norm": 0.5990685820579529,
      "learning_rate": 0.0003026826175148647,
      "loss": 0.0712,
      "step": 6010
    },
    {
      "epoch": 1.3484406551492034,
      "gripper_loss": 0.1630859375,
      "loss": 0.11669921875,
      "pos_loss": 1.1015625,
      "rot_loss": 0.03466796875,
      "step": 6010
    },
    {
      "epoch": 1.3486650213147857,
      "grad_norm": 0.384869784116745,
      "learning_rate": 0.00030262341623023454,
      "loss": 0.0773,
      "step": 6011
    },
    {
      "epoch": 1.3486650213147857,
      "gripper_loss": 0.10009765625,
      "loss": 0.048095703125,
      "pos_loss": 0.345703125,
      "rot_loss": 0.0810546875,
      "step": 6011
    },
    {
      "epoch": 1.348889387480368,
      "grad_norm": 0.47361376881599426,
      "learning_rate": 0.00030256421185768614,
      "loss": 0.0898,
      "step": 6012
    },
    {
      "epoch": 1.348889387480368,
      "gripper_loss": 0.353515625,
      "loss": 0.04052734375,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.099609375,
      "step": 6012
    },
    {
      "epoch": 1.34911375364595,
      "grad_norm": 0.39540350437164307,
      "learning_rate": 0.00030250500440069346,
      "loss": 0.0611,
      "step": 6013
    },
    {
      "epoch": 1.34911375364595,
      "gripper_loss": 0.07177734375,
      "loss": 0.0703125,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.400390625,
      "step": 6013
    },
    {
      "epoch": 1.3493381198115324,
      "grad_norm": 0.44513702392578125,
      "learning_rate": 0.00030244579386273085,
      "loss": 0.0797,
      "step": 6014
    },
    {
      "epoch": 1.3493381198115324,
      "gripper_loss": 0.30078125,
      "loss": 0.09423828125,
      "pos_loss": 0.66796875,
      "rot_loss": 0.1865234375,
      "step": 6014
    },
    {
      "epoch": 1.3495624859771147,
      "grad_norm": 0.5228580236434937,
      "learning_rate": 0.0003023865802472728,
      "loss": 0.0841,
      "step": 6015
    },
    {
      "epoch": 1.3495624859771147,
      "gripper_loss": 0.333984375,
      "loss": 0.11669921875,
      "pos_loss": 0.3984375,
      "rot_loss": 0.251953125,
      "step": 6015
    },
    {
      "epoch": 1.3497868521426968,
      "grad_norm": 0.997221052646637,
      "learning_rate": 0.0003023273635577938,
      "loss": 0.1359,
      "step": 6016
    },
    {
      "epoch": 1.3497868521426968,
      "gripper_loss": 0.2265625,
      "loss": 0.056396484375,
      "pos_loss": 0.423828125,
      "rot_loss": 0.02783203125,
      "step": 6016
    },
    {
      "epoch": 1.350011218308279,
      "grad_norm": 0.4509201943874359,
      "learning_rate": 0.0003022681437977688,
      "loss": 0.063,
      "step": 6017
    },
    {
      "epoch": 1.350011218308279,
      "gripper_loss": 0.024658203125,
      "loss": 0.10498046875,
      "pos_loss": 0.98828125,
      "rot_loss": 0.045654296875,
      "step": 6017
    },
    {
      "epoch": 1.3502355844738614,
      "grad_norm": 0.44131356477737427,
      "learning_rate": 0.00030220892097067265,
      "loss": 0.1022,
      "step": 6018
    },
    {
      "epoch": 1.3502355844738614,
      "gripper_loss": 0.08642578125,
      "loss": 0.1708984375,
      "pos_loss": 0.9609375,
      "rot_loss": 0.66796875,
      "step": 6018
    },
    {
      "epoch": 1.3504599506394435,
      "grad_norm": 0.65290766954422,
      "learning_rate": 0.00030214969507998064,
      "loss": 0.081,
      "step": 6019
    },
    {
      "epoch": 1.3504599506394435,
      "gripper_loss": 0.01348876953125,
      "loss": 0.154296875,
      "pos_loss": 1.1171875,
      "rot_loss": 0.47265625,
      "step": 6019
    },
    {
      "epoch": 1.3506843168050258,
      "grad_norm": 0.44071725010871887,
      "learning_rate": 0.0003020904661291681,
      "loss": 0.0703,
      "step": 6020
    },
    {
      "epoch": 1.3506843168050258,
      "gripper_loss": 0.353515625,
      "loss": 0.06298828125,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.392578125,
      "step": 6020
    },
    {
      "epoch": 1.350908682970608,
      "grad_norm": 0.4103626310825348,
      "learning_rate": 0.00030203123412171054,
      "loss": 0.0687,
      "step": 6021
    },
    {
      "epoch": 1.350908682970608,
      "gripper_loss": 0.02001953125,
      "loss": 0.0908203125,
      "pos_loss": 0.8203125,
      "rot_loss": 0.0703125,
      "step": 6021
    },
    {
      "epoch": 1.3511330491361901,
      "grad_norm": 0.3843963146209717,
      "learning_rate": 0.0003019719990610836,
      "loss": 0.0573,
      "step": 6022
    },
    {
      "epoch": 1.3511330491361901,
      "gripper_loss": 0.0225830078125,
      "loss": 0.1533203125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.93359375,
      "step": 6022
    },
    {
      "epoch": 1.3513574153017724,
      "grad_norm": 0.3119562864303589,
      "learning_rate": 0.0003019127609507633,
      "loss": 0.0776,
      "step": 6023
    },
    {
      "epoch": 1.3513574153017724,
      "gripper_loss": 0.3046875,
      "loss": 0.158203125,
      "pos_loss": 0.83203125,
      "rot_loss": 0.2294921875,
      "step": 6023
    },
    {
      "epoch": 1.3515817814673547,
      "grad_norm": 1.195497989654541,
      "learning_rate": 0.00030185351979422555,
      "loss": 0.1722,
      "step": 6024
    },
    {
      "epoch": 1.3515817814673547,
      "gripper_loss": 1.21875,
      "loss": 0.1015625,
      "pos_loss": 0.384765625,
      "rot_loss": 0.2158203125,
      "step": 6024
    },
    {
      "epoch": 1.3518061476329368,
      "grad_norm": 0.5365725159645081,
      "learning_rate": 0.0003017942755949467,
      "loss": 0.0694,
      "step": 6025
    },
    {
      "epoch": 1.3518061476329368,
      "gripper_loss": 0.72265625,
      "loss": 0.06591796875,
      "pos_loss": 0.26953125,
      "rot_loss": 0.12060546875,
      "step": 6025
    },
    {
      "epoch": 1.3520305137985191,
      "grad_norm": 0.537693440914154,
      "learning_rate": 0.0003017350283564032,
      "loss": 0.068,
      "step": 6026
    },
    {
      "epoch": 1.3520305137985191,
      "gripper_loss": 0.01153564453125,
      "loss": 0.08154296875,
      "pos_loss": 0.78515625,
      "rot_loss": 0.0299072265625,
      "step": 6026
    },
    {
      "epoch": 1.3522548799641014,
      "grad_norm": 0.5169278383255005,
      "learning_rate": 0.0003016757780820716,
      "loss": 0.0788,
      "step": 6027
    },
    {
      "epoch": 1.3522548799641014,
      "gripper_loss": 0.83984375,
      "loss": 0.08251953125,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.33984375,
      "step": 6027
    },
    {
      "epoch": 1.3524792461296835,
      "grad_norm": 0.5749499797821045,
      "learning_rate": 0.00030161652477542856,
      "loss": 0.0786,
      "step": 6028
    },
    {
      "epoch": 1.3524792461296835,
      "gripper_loss": 0.294921875,
      "loss": 0.037109375,
      "pos_loss": 0.154296875,
      "rot_loss": 0.052490234375,
      "step": 6028
    },
    {
      "epoch": 1.3527036122952658,
      "grad_norm": 0.5010083317756653,
      "learning_rate": 0.0003015572684399513,
      "loss": 0.0623,
      "step": 6029
    },
    {
      "epoch": 1.3527036122952658,
      "gripper_loss": 0.400390625,
      "loss": 0.033203125,
      "pos_loss": 0.125,
      "rot_loss": 0.0322265625,
      "step": 6029
    },
    {
      "epoch": 1.3529279784608481,
      "grad_norm": 0.5226753950119019,
      "learning_rate": 0.0003014980090791167,
      "loss": 0.0659,
      "step": 6030
    },
    {
      "epoch": 1.3529279784608481,
      "gripper_loss": 0.043701171875,
      "loss": 0.1767578125,
      "pos_loss": 0.87109375,
      "rot_loss": 0.62890625,
      "step": 6030
    },
    {
      "epoch": 1.3531523446264304,
      "grad_norm": 0.6145575046539307,
      "learning_rate": 0.00030143874669640226,
      "loss": 0.1072,
      "step": 6031
    },
    {
      "epoch": 1.3531523446264304,
      "gripper_loss": 0.035888671875,
      "loss": 0.1875,
      "pos_loss": 0.388671875,
      "rot_loss": 1.546875,
      "step": 6031
    },
    {
      "epoch": 1.3533767107920125,
      "grad_norm": 0.8359779119491577,
      "learning_rate": 0.00030137948129528537,
      "loss": 0.1381,
      "step": 6032
    },
    {
      "epoch": 1.3533767107920125,
      "gripper_loss": 0.07763671875,
      "loss": 0.044189453125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.115234375,
      "step": 6032
    },
    {
      "epoch": 1.3536010769575948,
      "grad_norm": 0.6811174154281616,
      "learning_rate": 0.00030132021287924374,
      "loss": 0.0783,
      "step": 6033
    },
    {
      "epoch": 1.3536010769575948,
      "gripper_loss": 0.396484375,
      "loss": 0.040283203125,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.11181640625,
      "step": 6033
    },
    {
      "epoch": 1.353825443123177,
      "grad_norm": 0.785092294216156,
      "learning_rate": 0.0003012609414517551,
      "loss": 0.0726,
      "step": 6034
    },
    {
      "epoch": 1.353825443123177,
      "gripper_loss": 0.11279296875,
      "loss": 0.06884765625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.271484375,
      "step": 6034
    },
    {
      "epoch": 1.3540498092887592,
      "grad_norm": 0.7802267074584961,
      "learning_rate": 0.0003012016670162977,
      "loss": 0.0899,
      "step": 6035
    },
    {
      "epoch": 1.3540498092887592,
      "gripper_loss": 0.62109375,
      "loss": 0.06103515625,
      "pos_loss": 0.375,
      "rot_loss": 0.01068115234375,
      "step": 6035
    },
    {
      "epoch": 1.3542741754543415,
      "grad_norm": 0.44721466302871704,
      "learning_rate": 0.00030114238957634954,
      "loss": 0.0486,
      "step": 6036
    },
    {
      "epoch": 1.3542741754543415,
      "gripper_loss": 0.049560546875,
      "loss": 0.140625,
      "pos_loss": 1.09375,
      "rot_loss": 0.32421875,
      "step": 6036
    },
    {
      "epoch": 1.3544985416199238,
      "grad_norm": 0.5692710876464844,
      "learning_rate": 0.000301083109135389,
      "loss": 0.0821,
      "step": 6037
    },
    {
      "epoch": 1.3544985416199238,
      "gripper_loss": 0.25390625,
      "loss": 0.0556640625,
      "pos_loss": 0.359375,
      "rot_loss": 0.07421875,
      "step": 6037
    },
    {
      "epoch": 1.354722907785506,
      "grad_norm": 0.6426980495452881,
      "learning_rate": 0.0003010238256968948,
      "loss": 0.0629,
      "step": 6038
    },
    {
      "epoch": 1.354722907785506,
      "gripper_loss": 0.068359375,
      "loss": 0.126953125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.404296875,
      "step": 6038
    },
    {
      "epoch": 1.3549472739510882,
      "grad_norm": 0.7015916705131531,
      "learning_rate": 0.00030096453926434555,
      "loss": 0.1082,
      "step": 6039
    },
    {
      "epoch": 1.3549472739510882,
      "gripper_loss": 0.039794921875,
      "loss": 0.10400390625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.049072265625,
      "step": 6039
    },
    {
      "epoch": 1.3551716401166705,
      "grad_norm": 0.7318151593208313,
      "learning_rate": 0.0003009052498412201,
      "loss": 0.1044,
      "step": 6040
    },
    {
      "epoch": 1.3551716401166705,
      "gripper_loss": 0.0142822265625,
      "loss": 0.08447265625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.376953125,
      "step": 6040
    },
    {
      "epoch": 1.3553960062822528,
      "grad_norm": 0.5224959850311279,
      "learning_rate": 0.00030084595743099754,
      "loss": 0.0664,
      "step": 6041
    },
    {
      "epoch": 1.3553960062822528,
      "gripper_loss": 0.01336669921875,
      "loss": 0.025146484375,
      "pos_loss": 0.17578125,
      "rot_loss": 0.044189453125,
      "step": 6041
    },
    {
      "epoch": 1.3556203724478348,
      "grad_norm": 0.5375706553459167,
      "learning_rate": 0.00030078666203715724,
      "loss": 0.0649,
      "step": 6042
    },
    {
      "epoch": 1.3556203724478348,
      "gripper_loss": 0.0155029296875,
      "loss": 0.177734375,
      "pos_loss": 1.25,
      "rot_loss": 0.58984375,
      "step": 6042
    },
    {
      "epoch": 1.3558447386134171,
      "grad_norm": 0.5824483036994934,
      "learning_rate": 0.00030072736366317844,
      "loss": 0.0883,
      "step": 6043
    },
    {
      "epoch": 1.3558447386134171,
      "gripper_loss": 0.025390625,
      "loss": 0.11083984375,
      "pos_loss": 0.92578125,
      "rot_loss": 0.1826171875,
      "step": 6043
    },
    {
      "epoch": 1.3560691047789994,
      "grad_norm": 0.4539336562156677,
      "learning_rate": 0.0003006680623125409,
      "loss": 0.0654,
      "step": 6044
    },
    {
      "epoch": 1.3560691047789994,
      "gripper_loss": 0.703125,
      "loss": 0.10595703125,
      "pos_loss": 0.546875,
      "rot_loss": 0.283203125,
      "step": 6044
    },
    {
      "epoch": 1.3562934709445815,
      "grad_norm": 0.4534696042537689,
      "learning_rate": 0.00030060875798872436,
      "loss": 0.0748,
      "step": 6045
    },
    {
      "epoch": 1.3562934709445815,
      "gripper_loss": 0.0238037109375,
      "loss": 0.01123046875,
      "pos_loss": 0.04833984375,
      "rot_loss": 0.0255126953125,
      "step": 6045
    },
    {
      "epoch": 1.3565178371101638,
      "grad_norm": 0.4012209475040436,
      "learning_rate": 0.00030054945069520885,
      "loss": 0.0789,
      "step": 6046
    },
    {
      "epoch": 1.3565178371101638,
      "gripper_loss": 0.06787109375,
      "loss": 0.072265625,
      "pos_loss": 0.5078125,
      "rot_loss": 0.1572265625,
      "step": 6046
    },
    {
      "epoch": 1.3567422032757461,
      "grad_norm": 0.6897943019866943,
      "learning_rate": 0.0003004901404354742,
      "loss": 0.0839,
      "step": 6047
    },
    {
      "epoch": 1.3567422032757461,
      "gripper_loss": 0.06689453125,
      "loss": 0.06298828125,
      "pos_loss": 0.333984375,
      "rot_loss": 0.203125,
      "step": 6047
    },
    {
      "epoch": 1.3569665694413282,
      "grad_norm": 0.731367826461792,
      "learning_rate": 0.00030043082721300103,
      "loss": 0.0818,
      "step": 6048
    },
    {
      "epoch": 1.3569665694413282,
      "gripper_loss": 0.76953125,
      "loss": 0.1396484375,
      "pos_loss": 1.0546875,
      "rot_loss": 0.1103515625,
      "step": 6048
    },
    {
      "epoch": 1.3571909356069105,
      "grad_norm": 0.6441861391067505,
      "learning_rate": 0.00030037151103126967,
      "loss": 0.0829,
      "step": 6049
    },
    {
      "epoch": 1.3571909356069105,
      "gripper_loss": 0.07373046875,
      "loss": 0.220703125,
      "pos_loss": 1.8515625,
      "rot_loss": 0.408203125,
      "step": 6049
    },
    {
      "epoch": 1.3574153017724928,
      "grad_norm": 0.6633819341659546,
      "learning_rate": 0.00030031219189376087,
      "loss": 0.095,
      "step": 6050
    },
    {
      "epoch": 1.3574153017724928,
      "gripper_loss": 0.232421875,
      "loss": 0.12060546875,
      "pos_loss": 0.435546875,
      "rot_loss": 0.458984375,
      "step": 6050
    },
    {
      "epoch": 1.357639667938075,
      "grad_norm": 0.9632135033607483,
      "learning_rate": 0.00030025286980395535,
      "loss": 0.1368,
      "step": 6051
    },
    {
      "epoch": 1.357639667938075,
      "gripper_loss": 0.494140625,
      "loss": 0.11328125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.20703125,
      "step": 6051
    },
    {
      "epoch": 1.3578640341036572,
      "grad_norm": 0.949321985244751,
      "learning_rate": 0.000300193544765334,
      "loss": 0.1847,
      "step": 6052
    },
    {
      "epoch": 1.3578640341036572,
      "gripper_loss": 0.039306640625,
      "loss": 0.037109375,
      "pos_loss": 0.265625,
      "rot_loss": 0.050537109375,
      "step": 6052
    },
    {
      "epoch": 1.3580884002692395,
      "grad_norm": 1.3102240562438965,
      "learning_rate": 0.0003001342167813782,
      "loss": 0.0858,
      "step": 6053
    },
    {
      "epoch": 1.3580884002692395,
      "gripper_loss": 0.07763671875,
      "loss": 0.05615234375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.2275390625,
      "step": 6053
    },
    {
      "epoch": 1.3583127664348216,
      "grad_norm": 0.6619794368743896,
      "learning_rate": 0.0003000748858555692,
      "loss": 0.0582,
      "step": 6054
    },
    {
      "epoch": 1.3583127664348216,
      "gripper_loss": 0.0341796875,
      "loss": 0.1435546875,
      "pos_loss": 1.171875,
      "rot_loss": 0.2099609375,
      "step": 6054
    },
    {
      "epoch": 1.3585371326004039,
      "grad_norm": 0.5498682856559753,
      "learning_rate": 0.0003000155519913885,
      "loss": 0.1156,
      "step": 6055
    },
    {
      "epoch": 1.3585371326004039,
      "gripper_loss": 0.01470947265625,
      "loss": 0.1474609375,
      "pos_loss": 1.1796875,
      "rot_loss": 0.3203125,
      "step": 6055
    },
    {
      "epoch": 1.3587614987659862,
      "grad_norm": 0.6894614696502686,
      "learning_rate": 0.0002999562151923178,
      "loss": 0.0944,
      "step": 6056
    },
    {
      "epoch": 1.3587614987659862,
      "gripper_loss": 0.38671875,
      "loss": 0.111328125,
      "pos_loss": 0.78515625,
      "rot_loss": 0.1884765625,
      "step": 6056
    },
    {
      "epoch": 1.3589858649315683,
      "grad_norm": 0.9207168221473694,
      "learning_rate": 0.000299896875461839,
      "loss": 0.0991,
      "step": 6057
    },
    {
      "epoch": 1.3589858649315683,
      "gripper_loss": 0.1494140625,
      "loss": 0.306640625,
      "pos_loss": 1.3828125,
      "rot_loss": 0.828125,
      "step": 6057
    },
    {
      "epoch": 1.3592102310971506,
      "grad_norm": 1.4296414852142334,
      "learning_rate": 0.00029983753280343403,
      "loss": 0.1696,
      "step": 6058
    },
    {
      "epoch": 1.3592102310971506,
      "gripper_loss": 1.046875,
      "loss": 0.057373046875,
      "pos_loss": 0.140625,
      "rot_loss": 0.0810546875,
      "step": 6058
    },
    {
      "epoch": 1.3594345972627329,
      "grad_norm": 0.44372299313545227,
      "learning_rate": 0.0002997781872205851,
      "loss": 0.0524,
      "step": 6059
    },
    {
      "epoch": 1.3594345972627329,
      "gripper_loss": 0.65625,
      "loss": 0.040771484375,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.07373046875,
      "step": 6059
    },
    {
      "epoch": 1.359658963428315,
      "grad_norm": 0.3582790195941925,
      "learning_rate": 0.00029971883871677467,
      "loss": 0.0825,
      "step": 6060
    },
    {
      "epoch": 1.359658963428315,
      "gripper_loss": 0.361328125,
      "loss": 0.05712890625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.0181884765625,
      "step": 6060
    },
    {
      "epoch": 1.3598833295938972,
      "grad_norm": 0.6196912527084351,
      "learning_rate": 0.00029965948729548524,
      "loss": 0.0732,
      "step": 6061
    },
    {
      "epoch": 1.3598833295938972,
      "gripper_loss": 0.392578125,
      "loss": 0.1455078125,
      "pos_loss": 0.22265625,
      "rot_loss": 0.62109375,
      "step": 6061
    },
    {
      "epoch": 1.3601076957594795,
      "grad_norm": 0.624085545539856,
      "learning_rate": 0.00029960013296019956,
      "loss": 0.0963,
      "step": 6062
    },
    {
      "epoch": 1.3601076957594795,
      "gripper_loss": 0.0556640625,
      "loss": 0.08154296875,
      "pos_loss": 0.216796875,
      "rot_loss": 0.484375,
      "step": 6062
    },
    {
      "epoch": 1.3603320619250616,
      "grad_norm": 0.6685361862182617,
      "learning_rate": 0.0002995407757144004,
      "loss": 0.1141,
      "step": 6063
    },
    {
      "epoch": 1.3603320619250616,
      "gripper_loss": 0.07958984375,
      "loss": 0.056884765625,
      "pos_loss": 0.23828125,
      "rot_loss": 0.2080078125,
      "step": 6063
    },
    {
      "epoch": 1.360556428090644,
      "grad_norm": 0.5233753323554993,
      "learning_rate": 0.000299481415561571,
      "loss": 0.0922,
      "step": 6064
    },
    {
      "epoch": 1.360556428090644,
      "gripper_loss": 0.158203125,
      "loss": 0.2236328125,
      "pos_loss": 0.3984375,
      "rot_loss": 0.419921875,
      "step": 6064
    },
    {
      "epoch": 1.3607807942562262,
      "grad_norm": 1.463958501815796,
      "learning_rate": 0.0002994220525051944,
      "loss": 0.2214,
      "step": 6065
    },
    {
      "epoch": 1.3607807942562262,
      "gripper_loss": 0.0240478515625,
      "loss": 0.031982421875,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.109375,
      "step": 6065
    },
    {
      "epoch": 1.3610051604218083,
      "grad_norm": 0.5307931303977966,
      "learning_rate": 0.0002993626865487541,
      "loss": 0.0779,
      "step": 6066
    },
    {
      "epoch": 1.3610051604218083,
      "gripper_loss": 0.0771484375,
      "loss": 0.0986328125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.1416015625,
      "step": 6066
    },
    {
      "epoch": 1.3612295265873906,
      "grad_norm": 0.7276443839073181,
      "learning_rate": 0.00029930331769573366,
      "loss": 0.081,
      "step": 6067
    },
    {
      "epoch": 1.3612295265873906,
      "gripper_loss": 0.53125,
      "loss": 0.1201171875,
      "pos_loss": 0.97265625,
      "rot_loss": 0.04638671875,
      "step": 6067
    },
    {
      "epoch": 1.361453892752973,
      "grad_norm": 0.8395059108734131,
      "learning_rate": 0.0002992439459496168,
      "loss": 0.1052,
      "step": 6068
    },
    {
      "epoch": 1.361453892752973,
      "gripper_loss": 0.255859375,
      "loss": 0.1044921875,
      "pos_loss": 0.78125,
      "rot_loss": 0.146484375,
      "step": 6068
    },
    {
      "epoch": 1.361678258918555,
      "grad_norm": 0.7382497787475586,
      "learning_rate": 0.0002991845713138874,
      "loss": 0.098,
      "step": 6069
    },
    {
      "epoch": 1.361678258918555,
      "gripper_loss": 0.02685546875,
      "loss": 0.1318359375,
      "pos_loss": 1.2265625,
      "rot_loss": 0.09375,
      "step": 6069
    },
    {
      "epoch": 1.3619026250841373,
      "grad_norm": 0.5223432779312134,
      "learning_rate": 0.0002991251937920296,
      "loss": 0.0883,
      "step": 6070
    },
    {
      "epoch": 1.3619026250841373,
      "gripper_loss": 0.060302734375,
      "loss": 0.2890625,
      "pos_loss": 2.75,
      "rot_loss": 0.1953125,
      "step": 6070
    },
    {
      "epoch": 1.3621269912497196,
      "grad_norm": 0.7587095499038696,
      "learning_rate": 0.0002990658133875275,
      "loss": 0.1555,
      "step": 6071
    },
    {
      "epoch": 1.3621269912497196,
      "gripper_loss": 0.0732421875,
      "loss": 0.0181884765625,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.028076171875,
      "step": 6071
    },
    {
      "epoch": 1.3623513574153017,
      "grad_norm": 0.6893465518951416,
      "learning_rate": 0.0002990064301038658,
      "loss": 0.0716,
      "step": 6072
    },
    {
      "epoch": 1.3623513574153017,
      "gripper_loss": 0.04736328125,
      "loss": 0.052490234375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.0576171875,
      "step": 6072
    },
    {
      "epoch": 1.362575723580884,
      "grad_norm": 0.6271375417709351,
      "learning_rate": 0.0002989470439445288,
      "loss": 0.0932,
      "step": 6073
    },
    {
      "epoch": 1.362575723580884,
      "gripper_loss": 0.026123046875,
      "loss": 0.0576171875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.052490234375,
      "step": 6073
    },
    {
      "epoch": 1.3628000897464663,
      "grad_norm": 0.4592989385128021,
      "learning_rate": 0.00029888765491300145,
      "loss": 0.0791,
      "step": 6074
    },
    {
      "epoch": 1.3628000897464663,
      "gripper_loss": 0.451171875,
      "loss": 0.05859375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.11767578125,
      "step": 6074
    },
    {
      "epoch": 1.3630244559120483,
      "grad_norm": 0.6042593121528625,
      "learning_rate": 0.0002988282630127686,
      "loss": 0.0773,
      "step": 6075
    },
    {
      "epoch": 1.3630244559120483,
      "gripper_loss": 0.1689453125,
      "loss": 0.060546875,
      "pos_loss": 0.427734375,
      "rot_loss": 0.06689453125,
      "step": 6075
    },
    {
      "epoch": 1.3632488220776307,
      "grad_norm": 0.5145993828773499,
      "learning_rate": 0.0002987688682473152,
      "loss": 0.065,
      "step": 6076
    },
    {
      "epoch": 1.3632488220776307,
      "gripper_loss": 0.0281982421875,
      "loss": 0.0286865234375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.03662109375,
      "step": 6076
    },
    {
      "epoch": 1.363473188243213,
      "grad_norm": 0.555705726146698,
      "learning_rate": 0.0002987094706201267,
      "loss": 0.0821,
      "step": 6077
    },
    {
      "epoch": 1.363473188243213,
      "gripper_loss": 0.052978515625,
      "loss": 0.11669921875,
      "pos_loss": 1.03125,
      "rot_loss": 0.087890625,
      "step": 6077
    },
    {
      "epoch": 1.363697554408795,
      "grad_norm": 0.6446743607521057,
      "learning_rate": 0.00029865007013468844,
      "loss": 0.1091,
      "step": 6078
    },
    {
      "epoch": 1.363697554408795,
      "gripper_loss": 0.44921875,
      "loss": 0.22265625,
      "pos_loss": 0.8359375,
      "rot_loss": 0.328125,
      "step": 6078
    },
    {
      "epoch": 1.3639219205743773,
      "grad_norm": 1.248860239982605,
      "learning_rate": 0.0002985906667944861,
      "loss": 0.2847,
      "step": 6079
    },
    {
      "epoch": 1.3639219205743773,
      "gripper_loss": 0.0238037109375,
      "loss": 0.12109375,
      "pos_loss": 1.03125,
      "rot_loss": 0.1650390625,
      "step": 6079
    },
    {
      "epoch": 1.3641462867399596,
      "grad_norm": 0.5032574534416199,
      "learning_rate": 0.0002985312606030053,
      "loss": 0.0861,
      "step": 6080
    },
    {
      "epoch": 1.3641462867399596,
      "gripper_loss": 0.0240478515625,
      "loss": 0.0228271484375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.03515625,
      "step": 6080
    },
    {
      "epoch": 1.3643706529055417,
      "grad_norm": 0.5535030364990234,
      "learning_rate": 0.00029847185156373215,
      "loss": 0.1153,
      "step": 6081
    },
    {
      "epoch": 1.3643706529055417,
      "gripper_loss": 0.04931640625,
      "loss": 0.255859375,
      "pos_loss": 1.40625,
      "rot_loss": 1.015625,
      "step": 6081
    },
    {
      "epoch": 1.364595019071124,
      "grad_norm": 0.6479421854019165,
      "learning_rate": 0.00029841243968015254,
      "loss": 0.1469,
      "step": 6082
    },
    {
      "epoch": 1.364595019071124,
      "gripper_loss": 0.443359375,
      "loss": 0.08349609375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.0986328125,
      "step": 6082
    },
    {
      "epoch": 1.3648193852367063,
      "grad_norm": 0.5087298154830933,
      "learning_rate": 0.0002983530249557529,
      "loss": 0.0758,
      "step": 6083
    },
    {
      "epoch": 1.3648193852367063,
      "gripper_loss": 0.7109375,
      "loss": 0.1103515625,
      "pos_loss": 0.0250244140625,
      "rot_loss": 0.85546875,
      "step": 6083
    },
    {
      "epoch": 1.3650437514022884,
      "grad_norm": 0.4400162100791931,
      "learning_rate": 0.0002982936073940195,
      "loss": 0.0705,
      "step": 6084
    },
    {
      "epoch": 1.3650437514022884,
      "gripper_loss": 0.1513671875,
      "loss": 0.0751953125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.1826171875,
      "step": 6084
    },
    {
      "epoch": 1.3652681175678707,
      "grad_norm": 0.6312108635902405,
      "learning_rate": 0.0002982341869984391,
      "loss": 0.0757,
      "step": 6085
    },
    {
      "epoch": 1.3652681175678707,
      "gripper_loss": 1.3984375,
      "loss": 0.0810546875,
      "pos_loss": 0.189453125,
      "rot_loss": 0.1572265625,
      "step": 6085
    },
    {
      "epoch": 1.365492483733453,
      "grad_norm": 0.5449317097663879,
      "learning_rate": 0.00029817476377249843,
      "loss": 0.1008,
      "step": 6086
    },
    {
      "epoch": 1.365492483733453,
      "gripper_loss": 0.158203125,
      "loss": 0.1767578125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.25,
      "step": 6086
    },
    {
      "epoch": 1.3657168498990353,
      "grad_norm": 1.1749768257141113,
      "learning_rate": 0.00029811533771968436,
      "loss": 0.1495,
      "step": 6087
    },
    {
      "epoch": 1.3657168498990353,
      "gripper_loss": 0.07470703125,
      "loss": 0.0361328125,
      "pos_loss": 0.244140625,
      "rot_loss": 0.046142578125,
      "step": 6087
    },
    {
      "epoch": 1.3659412160646174,
      "grad_norm": 0.409136563539505,
      "learning_rate": 0.0002980559088434839,
      "loss": 0.0746,
      "step": 6088
    },
    {
      "epoch": 1.3659412160646174,
      "gripper_loss": 0.017333984375,
      "loss": 0.053466796875,
      "pos_loss": 0.447265625,
      "rot_loss": 0.05322265625,
      "step": 6088
    },
    {
      "epoch": 1.3661655822301997,
      "grad_norm": 0.5303073525428772,
      "learning_rate": 0.00029799647714738456,
      "loss": 0.0766,
      "step": 6089
    },
    {
      "epoch": 1.3661655822301997,
      "gripper_loss": 0.02490234375,
      "loss": 0.208984375,
      "pos_loss": 2.078125,
      "rot_loss": 0.0615234375,
      "step": 6089
    },
    {
      "epoch": 1.366389948395782,
      "grad_norm": 0.4190787672996521,
      "learning_rate": 0.00029793704263487346,
      "loss": 0.0738,
      "step": 6090
    },
    {
      "epoch": 1.366389948395782,
      "gripper_loss": 1.0234375,
      "loss": 0.048095703125,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.04248046875,
      "step": 6090
    },
    {
      "epoch": 1.366614314561364,
      "grad_norm": 0.5059203505516052,
      "learning_rate": 0.0002978776053094384,
      "loss": 0.0608,
      "step": 6091
    },
    {
      "epoch": 1.366614314561364,
      "gripper_loss": 0.0556640625,
      "loss": 0.052734375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.09619140625,
      "step": 6091
    },
    {
      "epoch": 1.3668386807269464,
      "grad_norm": 0.40687569975852966,
      "learning_rate": 0.00029781816517456715,
      "loss": 0.0683,
      "step": 6092
    },
    {
      "epoch": 1.3668386807269464,
      "gripper_loss": 0.0181884765625,
      "loss": 0.07080078125,
      "pos_loss": 0.6328125,
      "rot_loss": 0.0537109375,
      "step": 6092
    },
    {
      "epoch": 1.3670630468925287,
      "grad_norm": 0.6066440343856812,
      "learning_rate": 0.0002977587222337475,
      "loss": 0.0885,
      "step": 6093
    },
    {
      "epoch": 1.3670630468925287,
      "gripper_loss": 0.08056640625,
      "loss": 0.09619140625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.58984375,
      "step": 6093
    },
    {
      "epoch": 1.367287413058111,
      "grad_norm": 0.43110376596450806,
      "learning_rate": 0.00029769927649046763,
      "loss": 0.0699,
      "step": 6094
    },
    {
      "epoch": 1.367287413058111,
      "gripper_loss": 0.158203125,
      "loss": 0.1142578125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.291015625,
      "step": 6094
    },
    {
      "epoch": 1.367511779223693,
      "grad_norm": 0.5251199007034302,
      "learning_rate": 0.0002976398279482158,
      "loss": 0.0716,
      "step": 6095
    },
    {
      "epoch": 1.367511779223693,
      "gripper_loss": 0.046142578125,
      "loss": 0.07763671875,
      "pos_loss": 0.6015625,
      "rot_loss": 0.09765625,
      "step": 6095
    },
    {
      "epoch": 1.3677361453892753,
      "grad_norm": 0.39719197154045105,
      "learning_rate": 0.00029758037661048025,
      "loss": 0.0847,
      "step": 6096
    },
    {
      "epoch": 1.3677361453892753,
      "gripper_loss": 0.01409912109375,
      "loss": 0.103515625,
      "pos_loss": 0.93359375,
      "rot_loss": 0.11328125,
      "step": 6096
    },
    {
      "epoch": 1.3679605115548576,
      "grad_norm": 0.43489694595336914,
      "learning_rate": 0.0002975209224807498,
      "loss": 0.0642,
      "step": 6097
    },
    {
      "epoch": 1.3679605115548576,
      "gripper_loss": 0.037841796875,
      "loss": 0.08447265625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.2890625,
      "step": 6097
    },
    {
      "epoch": 1.3681848777204397,
      "grad_norm": 0.4391592741012573,
      "learning_rate": 0.0002974614655625131,
      "loss": 0.0812,
      "step": 6098
    },
    {
      "epoch": 1.3681848777204397,
      "gripper_loss": 0.041015625,
      "loss": 0.08203125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.0537109375,
      "step": 6098
    },
    {
      "epoch": 1.368409243886022,
      "grad_norm": 0.3904465138912201,
      "learning_rate": 0.00029740200585925893,
      "loss": 0.0904,
      "step": 6099
    },
    {
      "epoch": 1.368409243886022,
      "gripper_loss": 0.79296875,
      "loss": 0.04638671875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.045166015625,
      "step": 6099
    },
    {
      "epoch": 1.3686336100516043,
      "grad_norm": 0.39317551255226135,
      "learning_rate": 0.0002973425433744765,
      "loss": 0.068,
      "step": 6100
    },
    {
      "epoch": 1.3686336100516043,
      "gripper_loss": 0.330078125,
      "loss": 0.396484375,
      "pos_loss": 0.59375,
      "rot_loss": 0.70703125,
      "step": 6100
    },
    {
      "epoch": 1.3688579762171864,
      "grad_norm": 1.9107643365859985,
      "learning_rate": 0.000297283078111655,
      "loss": 0.4688,
      "step": 6101
    },
    {
      "epoch": 1.3688579762171864,
      "gripper_loss": 0.045166015625,
      "loss": 0.056884765625,
      "pos_loss": 0.328125,
      "rot_loss": 0.1748046875,
      "step": 6101
    },
    {
      "epoch": 1.3690823423827687,
      "grad_norm": 0.48340654373168945,
      "learning_rate": 0.0002972236100742839,
      "loss": 0.0931,
      "step": 6102
    },
    {
      "epoch": 1.3690823423827687,
      "gripper_loss": 0.013427734375,
      "loss": 0.1279296875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.625,
      "step": 6102
    },
    {
      "epoch": 1.369306708548351,
      "grad_norm": 0.46301954984664917,
      "learning_rate": 0.00029716413926585264,
      "loss": 0.0807,
      "step": 6103
    },
    {
      "epoch": 1.369306708548351,
      "gripper_loss": 0.546875,
      "loss": 0.58984375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.65234375,
      "step": 6103
    },
    {
      "epoch": 1.369531074713933,
      "grad_norm": 1.7417607307434082,
      "learning_rate": 0.00029710466568985103,
      "loss": 0.5703,
      "step": 6104
    },
    {
      "epoch": 1.369531074713933,
      "gripper_loss": 0.0250244140625,
      "loss": 0.1806640625,
      "pos_loss": 1.1171875,
      "rot_loss": 0.7421875,
      "step": 6104
    },
    {
      "epoch": 1.3697554408795154,
      "grad_norm": 0.574836790561676,
      "learning_rate": 0.0002970451893497688,
      "loss": 0.0969,
      "step": 6105
    },
    {
      "epoch": 1.3697554408795154,
      "gripper_loss": 0.1455078125,
      "loss": 0.310546875,
      "pos_loss": 0.984375,
      "rot_loss": 1.75,
      "step": 6105
    },
    {
      "epoch": 1.3699798070450977,
      "grad_norm": 1.131014108657837,
      "learning_rate": 0.0002969857102490961,
      "loss": 0.179,
      "step": 6106
    },
    {
      "epoch": 1.3699798070450977,
      "gripper_loss": 0.080078125,
      "loss": 0.11669921875,
      "pos_loss": 0.421875,
      "rot_loss": 0.408203125,
      "step": 6106
    },
    {
      "epoch": 1.3702041732106798,
      "grad_norm": 0.8633952736854553,
      "learning_rate": 0.00029692622839132325,
      "loss": 0.1087,
      "step": 6107
    },
    {
      "epoch": 1.3702041732106798,
      "gripper_loss": 1.1796875,
      "loss": 0.0810546875,
      "pos_loss": 0.234375,
      "rot_loss": 0.142578125,
      "step": 6107
    },
    {
      "epoch": 1.370428539376262,
      "grad_norm": 0.5070360898971558,
      "learning_rate": 0.0002968667437799405,
      "loss": 0.0767,
      "step": 6108
    },
    {
      "epoch": 1.370428539376262,
      "gripper_loss": 0.2431640625,
      "loss": 0.126953125,
      "pos_loss": 0.31640625,
      "rot_loss": 0.91015625,
      "step": 6108
    },
    {
      "epoch": 1.3706529055418444,
      "grad_norm": 0.5771644711494446,
      "learning_rate": 0.00029680725641843835,
      "loss": 0.0737,
      "step": 6109
    },
    {
      "epoch": 1.3706529055418444,
      "gripper_loss": 0.0849609375,
      "loss": 0.034912109375,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.06396484375,
      "step": 6109
    },
    {
      "epoch": 1.3708772717074265,
      "grad_norm": 0.6284939050674438,
      "learning_rate": 0.0002967477663103075,
      "loss": 0.0763,
      "step": 6110
    },
    {
      "epoch": 1.3708772717074265,
      "gripper_loss": 1.7421875,
      "loss": 0.11279296875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.050537109375,
      "step": 6110
    },
    {
      "epoch": 1.3711016378730088,
      "grad_norm": 0.5006006956100464,
      "learning_rate": 0.0002966882734590389,
      "loss": 0.0979,
      "step": 6111
    },
    {
      "epoch": 1.3711016378730088,
      "gripper_loss": 0.15625,
      "loss": 0.08349609375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.2080078125,
      "step": 6111
    },
    {
      "epoch": 1.371326004038591,
      "grad_norm": 0.5128872990608215,
      "learning_rate": 0.0002966287778681235,
      "loss": 0.0804,
      "step": 6112
    },
    {
      "epoch": 1.371326004038591,
      "gripper_loss": 1.4609375,
      "loss": 0.10498046875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.419921875,
      "step": 6112
    },
    {
      "epoch": 1.3715503702041731,
      "grad_norm": 0.4637849032878876,
      "learning_rate": 0.00029656927954105247,
      "loss": 0.0827,
      "step": 6113
    },
    {
      "epoch": 1.3715503702041731,
      "gripper_loss": 0.314453125,
      "loss": 0.0233154296875,
      "pos_loss": 0.06884765625,
      "rot_loss": 0.01434326171875,
      "step": 6113
    },
    {
      "epoch": 1.3717747363697554,
      "grad_norm": 0.5269207954406738,
      "learning_rate": 0.0002965097784813171,
      "loss": 0.0556,
      "step": 6114
    },
    {
      "epoch": 1.3717747363697554,
      "gripper_loss": 1.265625,
      "loss": 0.1337890625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.4296875,
      "step": 6114
    },
    {
      "epoch": 1.3719991025353377,
      "grad_norm": 0.5329684615135193,
      "learning_rate": 0.000296450274692409,
      "loss": 0.1071,
      "step": 6115
    },
    {
      "epoch": 1.3719991025353377,
      "gripper_loss": 0.22265625,
      "loss": 0.02880859375,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.050537109375,
      "step": 6115
    },
    {
      "epoch": 1.3722234687009198,
      "grad_norm": 0.6092540621757507,
      "learning_rate": 0.0002963907681778197,
      "loss": 0.0865,
      "step": 6116
    },
    {
      "epoch": 1.3722234687009198,
      "gripper_loss": 0.050048828125,
      "loss": 0.0615234375,
      "pos_loss": 0.140625,
      "rot_loss": 0.416015625,
      "step": 6116
    },
    {
      "epoch": 1.3724478348665021,
      "grad_norm": 0.3554812967777252,
      "learning_rate": 0.0002963312589410411,
      "loss": 0.0642,
      "step": 6117
    },
    {
      "epoch": 1.3724478348665021,
      "gripper_loss": 0.1201171875,
      "loss": 0.031982421875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.03125,
      "step": 6117
    },
    {
      "epoch": 1.3726722010320844,
      "grad_norm": 0.4311694800853729,
      "learning_rate": 0.00029627174698556506,
      "loss": 0.0689,
      "step": 6118
    },
    {
      "epoch": 1.3726722010320844,
      "gripper_loss": 0.1533203125,
      "loss": 0.01531982421875,
      "pos_loss": 0.03466796875,
      "rot_loss": 0.01336669921875,
      "step": 6118
    },
    {
      "epoch": 1.3728965671976665,
      "grad_norm": 0.6434704065322876,
      "learning_rate": 0.0002962122323148839,
      "loss": 0.0778,
      "step": 6119
    },
    {
      "epoch": 1.3728965671976665,
      "gripper_loss": 0.28515625,
      "loss": 0.068359375,
      "pos_loss": 0.5,
      "rot_loss": 0.0732421875,
      "step": 6119
    },
    {
      "epoch": 1.3731209333632488,
      "grad_norm": 0.5986721515655518,
      "learning_rate": 0.00029615271493248983,
      "loss": 0.0885,
      "step": 6120
    },
    {
      "epoch": 1.3731209333632488,
      "gripper_loss": 0.412109375,
      "loss": 0.059814453125,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.24609375,
      "step": 6120
    },
    {
      "epoch": 1.373345299528831,
      "grad_norm": 0.44967973232269287,
      "learning_rate": 0.0002960931948418753,
      "loss": 0.0804,
      "step": 6121
    },
    {
      "epoch": 1.373345299528831,
      "gripper_loss": 0.578125,
      "loss": 0.1796875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.3125,
      "step": 6121
    },
    {
      "epoch": 1.3735696656944132,
      "grad_norm": 1.680056095123291,
      "learning_rate": 0.00029603367204653286,
      "loss": 0.222,
      "step": 6122
    },
    {
      "epoch": 1.3735696656944132,
      "gripper_loss": 1.1796875,
      "loss": 0.0458984375,
      "pos_loss": 0.01025390625,
      "rot_loss": 0.03955078125,
      "step": 6122
    },
    {
      "epoch": 1.3737940318599955,
      "grad_norm": 0.5927155613899231,
      "learning_rate": 0.0002959741465499553,
      "loss": 0.0998,
      "step": 6123
    },
    {
      "epoch": 1.3737940318599955,
      "gripper_loss": 0.703125,
      "loss": 0.0869140625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.0498046875,
      "step": 6123
    },
    {
      "epoch": 1.3740183980255778,
      "grad_norm": 0.6371964812278748,
      "learning_rate": 0.00029591461835563567,
      "loss": 0.0917,
      "step": 6124
    },
    {
      "epoch": 1.3740183980255778,
      "gripper_loss": 0.328125,
      "loss": 0.04736328125,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.27734375,
      "step": 6124
    },
    {
      "epoch": 1.3742427641911599,
      "grad_norm": 0.5322061777114868,
      "learning_rate": 0.00029585508746706693,
      "loss": 0.0673,
      "step": 6125
    },
    {
      "epoch": 1.3742427641911599,
      "gripper_loss": 0.02001953125,
      "loss": 0.09228515625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.189453125,
      "step": 6125
    },
    {
      "epoch": 1.3744671303567422,
      "grad_norm": 0.6087051033973694,
      "learning_rate": 0.0002957955538877424,
      "loss": 0.0878,
      "step": 6126
    },
    {
      "epoch": 1.3744671303567422,
      "gripper_loss": 1.28125,
      "loss": 0.0732421875,
      "pos_loss": 0.111328125,
      "rot_loss": 0.189453125,
      "step": 6126
    },
    {
      "epoch": 1.3746914965223245,
      "grad_norm": 0.38477823138237,
      "learning_rate": 0.0002957360176211554,
      "loss": 0.0798,
      "step": 6127
    },
    {
      "epoch": 1.3746914965223245,
      "gripper_loss": 0.4765625,
      "loss": 0.05224609375,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.087890625,
      "step": 6127
    },
    {
      "epoch": 1.3749158626879066,
      "grad_norm": 0.5971958041191101,
      "learning_rate": 0.0002956764786707996,
      "loss": 0.0888,
      "step": 6128
    },
    {
      "epoch": 1.3749158626879066,
      "gripper_loss": 0.02001953125,
      "loss": 0.051025390625,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.2373046875,
      "step": 6128
    },
    {
      "epoch": 1.3751402288534889,
      "grad_norm": 0.3729413151741028,
      "learning_rate": 0.00029561693704016856,
      "loss": 0.0711,
      "step": 6129
    },
    {
      "epoch": 1.3751402288534889,
      "gripper_loss": 0.287109375,
      "loss": 0.140625,
      "pos_loss": 0.46875,
      "rot_loss": 0.87109375,
      "step": 6129
    },
    {
      "epoch": 1.3753645950190712,
      "grad_norm": 0.4856298267841339,
      "learning_rate": 0.0002955573927327563,
      "loss": 0.0924,
      "step": 6130
    },
    {
      "epoch": 1.3753645950190712,
      "gripper_loss": 1.65625,
      "loss": 0.10302734375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.189453125,
      "step": 6130
    },
    {
      "epoch": 1.3755889611846532,
      "grad_norm": 0.4969414174556732,
      "learning_rate": 0.00029549784575205686,
      "loss": 0.0797,
      "step": 6131
    },
    {
      "epoch": 1.3755889611846532,
      "gripper_loss": 1.2421875,
      "loss": 0.1123046875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.058349609375,
      "step": 6131
    },
    {
      "epoch": 1.3758133273502355,
      "grad_norm": 0.34601569175720215,
      "learning_rate": 0.00029543829610156436,
      "loss": 0.0792,
      "step": 6132
    },
    {
      "epoch": 1.3758133273502355,
      "gripper_loss": 0.37890625,
      "loss": 0.43359375,
      "pos_loss": 0.76171875,
      "rot_loss": 0.7890625,
      "step": 6132
    },
    {
      "epoch": 1.3760376935158178,
      "grad_norm": 1.3248114585876465,
      "learning_rate": 0.00029537874378477314,
      "loss": 0.3635,
      "step": 6133
    },
    {
      "epoch": 1.3760376935158178,
      "gripper_loss": 0.1787109375,
      "loss": 0.111328125,
      "pos_loss": 0.9453125,
      "rot_loss": 0.1259765625,
      "step": 6133
    },
    {
      "epoch": 1.3762620596814,
      "grad_norm": 0.35195812582969666,
      "learning_rate": 0.00029531918880517776,
      "loss": 0.0751,
      "step": 6134
    },
    {
      "epoch": 1.3762620596814,
      "gripper_loss": 0.25,
      "loss": 0.126953125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.6796875,
      "step": 6134
    },
    {
      "epoch": 1.3764864258469822,
      "grad_norm": 0.7396574020385742,
      "learning_rate": 0.0002952596311662728,
      "loss": 0.0845,
      "step": 6135
    },
    {
      "epoch": 1.3764864258469822,
      "gripper_loss": 1.25,
      "loss": 0.1171875,
      "pos_loss": 0.671875,
      "rot_loss": 0.10107421875,
      "step": 6135
    },
    {
      "epoch": 1.3767107920125645,
      "grad_norm": 0.4677412211894989,
      "learning_rate": 0.00029520007087155317,
      "loss": 0.0706,
      "step": 6136
    },
    {
      "epoch": 1.3767107920125645,
      "gripper_loss": 0.0091552734375,
      "loss": 0.052978515625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.0390625,
      "step": 6136
    },
    {
      "epoch": 1.3769351581781466,
      "grad_norm": 0.5191653966903687,
      "learning_rate": 0.00029514050792451375,
      "loss": 0.0955,
      "step": 6137
    },
    {
      "epoch": 1.3769351581781466,
      "gripper_loss": 0.043701171875,
      "loss": 0.0732421875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1875,
      "step": 6137
    },
    {
      "epoch": 1.377159524343729,
      "grad_norm": 0.38740816712379456,
      "learning_rate": 0.00029508094232864976,
      "loss": 0.0742,
      "step": 6138
    },
    {
      "epoch": 1.377159524343729,
      "gripper_loss": 0.138671875,
      "loss": 0.05078125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.1396484375,
      "step": 6138
    },
    {
      "epoch": 1.3773838905093112,
      "grad_norm": 0.5101386308670044,
      "learning_rate": 0.0002950213740874564,
      "loss": 0.0866,
      "step": 6139
    },
    {
      "epoch": 1.3773838905093112,
      "gripper_loss": 0.3828125,
      "loss": 0.1142578125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.52734375,
      "step": 6139
    },
    {
      "epoch": 1.3776082566748935,
      "grad_norm": 0.48324236273765564,
      "learning_rate": 0.0002949618032044291,
      "loss": 0.0812,
      "step": 6140
    },
    {
      "epoch": 1.3776082566748935,
      "gripper_loss": 0.03125,
      "loss": 0.04443359375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.056396484375,
      "step": 6140
    },
    {
      "epoch": 1.3778326228404756,
      "grad_norm": 0.35789933800697327,
      "learning_rate": 0.0002949022296830636,
      "loss": 0.0631,
      "step": 6141
    },
    {
      "epoch": 1.3778326228404756,
      "gripper_loss": 1.109375,
      "loss": 0.0712890625,
      "pos_loss": 0.30078125,
      "rot_loss": 0.048095703125,
      "step": 6141
    },
    {
      "epoch": 1.3780569890060579,
      "grad_norm": 0.3339936435222626,
      "learning_rate": 0.00029484265352685543,
      "loss": 0.0554,
      "step": 6142
    },
    {
      "epoch": 1.3780569890060579,
      "gripper_loss": 0.1435546875,
      "loss": 0.061279296875,
      "pos_loss": 0.333984375,
      "rot_loss": 0.1904296875,
      "step": 6142
    },
    {
      "epoch": 1.3782813551716402,
      "grad_norm": 0.5080794095993042,
      "learning_rate": 0.00029478307473930064,
      "loss": 0.0723,
      "step": 6143
    },
    {
      "epoch": 1.3782813551716402,
      "gripper_loss": 0.333984375,
      "loss": 0.036865234375,
      "pos_loss": 0.181640625,
      "rot_loss": 0.046630859375,
      "step": 6143
    },
    {
      "epoch": 1.3785057213372223,
      "grad_norm": 0.36531320214271545,
      "learning_rate": 0.00029472349332389523,
      "loss": 0.0712,
      "step": 6144
    },
    {
      "epoch": 1.3785057213372223,
      "gripper_loss": 0.328125,
      "loss": 0.03076171875,
      "pos_loss": 0.11279296875,
      "rot_loss": 0.059814453125,
      "step": 6144
    },
    {
      "epoch": 1.3787300875028046,
      "grad_norm": 0.46732887625694275,
      "learning_rate": 0.00029466390928413553,
      "loss": 0.0713,
      "step": 6145
    },
    {
      "epoch": 1.3787300875028046,
      "gripper_loss": 0.091796875,
      "loss": 0.08837890625,
      "pos_loss": 0.494140625,
      "rot_loss": 0.35546875,
      "step": 6145
    },
    {
      "epoch": 1.3789544536683869,
      "grad_norm": 0.610787034034729,
      "learning_rate": 0.0002946043226235177,
      "loss": 0.1012,
      "step": 6146
    },
    {
      "epoch": 1.3789544536683869,
      "gripper_loss": 0.021728515625,
      "loss": 0.10009765625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.267578125,
      "step": 6146
    },
    {
      "epoch": 1.3791788198339692,
      "grad_norm": 0.47903168201446533,
      "learning_rate": 0.0002945447333455384,
      "loss": 0.0789,
      "step": 6147
    },
    {
      "epoch": 1.3791788198339692,
      "gripper_loss": 1.2578125,
      "loss": 0.0576171875,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.048583984375,
      "step": 6147
    },
    {
      "epoch": 1.3794031859995513,
      "grad_norm": 0.47758564352989197,
      "learning_rate": 0.0002944851414536943,
      "loss": 0.058,
      "step": 6148
    },
    {
      "epoch": 1.3794031859995513,
      "gripper_loss": 0.68359375,
      "loss": 0.061767578125,
      "pos_loss": 0.095703125,
      "rot_loss": 0.294921875,
      "step": 6148
    },
    {
      "epoch": 1.3796275521651336,
      "grad_norm": 0.3240533173084259,
      "learning_rate": 0.0002944255469514821,
      "loss": 0.0497,
      "step": 6149
    },
    {
      "epoch": 1.3796275521651336,
      "gripper_loss": 0.0152587890625,
      "loss": 0.035888671875,
      "pos_loss": 0.259765625,
      "rot_loss": 0.076171875,
      "step": 6149
    },
    {
      "epoch": 1.3798519183307159,
      "grad_norm": 0.43025559186935425,
      "learning_rate": 0.00029436594984239895,
      "loss": 0.0779,
      "step": 6150
    },
    {
      "epoch": 1.3798519183307159,
      "gripper_loss": 0.038818359375,
      "loss": 0.07470703125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.0751953125,
      "step": 6150
    },
    {
      "epoch": 1.380076284496298,
      "grad_norm": 0.4054437577724457,
      "learning_rate": 0.0002943063501299419,
      "loss": 0.0683,
      "step": 6151
    },
    {
      "epoch": 1.380076284496298,
      "gripper_loss": 0.02734375,
      "loss": 0.095703125,
      "pos_loss": 0.76171875,
      "rot_loss": 0.1904296875,
      "step": 6151
    },
    {
      "epoch": 1.3803006506618802,
      "grad_norm": 0.5397917628288269,
      "learning_rate": 0.00029424674781760815,
      "loss": 0.088,
      "step": 6152
    },
    {
      "epoch": 1.3803006506618802,
      "gripper_loss": 0.00909423828125,
      "loss": 0.15625,
      "pos_loss": 0.6875,
      "rot_loss": 0.921875,
      "step": 6152
    },
    {
      "epoch": 1.3805250168274625,
      "grad_norm": 0.26762518286705017,
      "learning_rate": 0.00029418714290889523,
      "loss": 0.0624,
      "step": 6153
    },
    {
      "epoch": 1.3805250168274625,
      "gripper_loss": 0.26953125,
      "loss": 0.08349609375,
      "pos_loss": 0.166015625,
      "rot_loss": 0.59375,
      "step": 6153
    },
    {
      "epoch": 1.3807493829930446,
      "grad_norm": 0.3428650200366974,
      "learning_rate": 0.00029412753540730073,
      "loss": 0.0746,
      "step": 6154
    },
    {
      "epoch": 1.3807493829930446,
      "gripper_loss": 0.23828125,
      "loss": 0.0927734375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.251953125,
      "step": 6154
    },
    {
      "epoch": 1.380973749158627,
      "grad_norm": 0.8253161311149597,
      "learning_rate": 0.0002940679253163225,
      "loss": 0.1014,
      "step": 6155
    },
    {
      "epoch": 1.380973749158627,
      "gripper_loss": 0.1845703125,
      "loss": 0.060546875,
      "pos_loss": 0.16015625,
      "rot_loss": 0.365234375,
      "step": 6155
    },
    {
      "epoch": 1.3811981153242092,
      "grad_norm": 0.29369479417800903,
      "learning_rate": 0.0002940083126394582,
      "loss": 0.0651,
      "step": 6156
    },
    {
      "epoch": 1.3811981153242092,
      "gripper_loss": 0.039794921875,
      "loss": 0.060302734375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.283203125,
      "step": 6156
    },
    {
      "epoch": 1.3814224814897913,
      "grad_norm": 0.41684621572494507,
      "learning_rate": 0.00029394869738020603,
      "loss": 0.0756,
      "step": 6157
    },
    {
      "epoch": 1.3814224814897913,
      "gripper_loss": 0.056396484375,
      "loss": 0.01031494140625,
      "pos_loss": 0.0255126953125,
      "rot_loss": 0.017333984375,
      "step": 6157
    },
    {
      "epoch": 1.3816468476553736,
      "grad_norm": 0.4372129440307617,
      "learning_rate": 0.0002938890795420641,
      "loss": 0.0538,
      "step": 6158
    },
    {
      "epoch": 1.3816468476553736,
      "gripper_loss": 0.06884765625,
      "loss": 0.07421875,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.427734375,
      "step": 6158
    },
    {
      "epoch": 1.381871213820956,
      "grad_norm": 0.6017889976501465,
      "learning_rate": 0.00029382945912853083,
      "loss": 0.0652,
      "step": 6159
    },
    {
      "epoch": 1.381871213820956,
      "gripper_loss": 0.01190185546875,
      "loss": 0.1650390625,
      "pos_loss": 1.15625,
      "rot_loss": 0.55078125,
      "step": 6159
    },
    {
      "epoch": 1.382095579986538,
      "grad_norm": 0.3908754289150238,
      "learning_rate": 0.0002937698361431047,
      "loss": 0.0666,
      "step": 6160
    },
    {
      "epoch": 1.382095579986538,
      "gripper_loss": 0.023193359375,
      "loss": 0.0458984375,
      "pos_loss": 0.076171875,
      "rot_loss": 0.349609375,
      "step": 6160
    },
    {
      "epoch": 1.3823199461521203,
      "grad_norm": 0.4965454638004303,
      "learning_rate": 0.0002937102105892844,
      "loss": 0.073,
      "step": 6161
    },
    {
      "epoch": 1.3823199461521203,
      "gripper_loss": 0.078125,
      "loss": 0.0228271484375,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.0849609375,
      "step": 6161
    },
    {
      "epoch": 1.3825443123177026,
      "grad_norm": 0.5050550103187561,
      "learning_rate": 0.00029365058247056864,
      "loss": 0.081,
      "step": 6162
    },
    {
      "epoch": 1.3825443123177026,
      "gripper_loss": 0.0257568359375,
      "loss": 0.1376953125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.5,
      "step": 6162
    },
    {
      "epoch": 1.3827686784832847,
      "grad_norm": 0.39049533009529114,
      "learning_rate": 0.0002935909517904564,
      "loss": 0.0949,
      "step": 6163
    },
    {
      "epoch": 1.3827686784832847,
      "gripper_loss": 0.050048828125,
      "loss": 0.026123046875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.059326171875,
      "step": 6163
    },
    {
      "epoch": 1.382993044648867,
      "grad_norm": 0.3982008397579193,
      "learning_rate": 0.00029353131855244677,
      "loss": 0.0691,
      "step": 6164
    },
    {
      "epoch": 1.382993044648867,
      "gripper_loss": 0.10595703125,
      "loss": 0.047119140625,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.1767578125,
      "step": 6164
    },
    {
      "epoch": 1.3832174108144493,
      "grad_norm": 0.3004976511001587,
      "learning_rate": 0.000293471682760039,
      "loss": 0.0612,
      "step": 6165
    },
    {
      "epoch": 1.3832174108144493,
      "gripper_loss": 0.5234375,
      "loss": 0.035888671875,
      "pos_loss": 0.038818359375,
      "rot_loss": 0.1279296875,
      "step": 6165
    },
    {
      "epoch": 1.3834417769800313,
      "grad_norm": 0.41263264417648315,
      "learning_rate": 0.00029341204441673266,
      "loss": 0.0579,
      "step": 6166
    },
    {
      "epoch": 1.3834417769800313,
      "gripper_loss": 0.01513671875,
      "loss": 0.033203125,
      "pos_loss": 0.14453125,
      "rot_loss": 0.1689453125,
      "step": 6166
    },
    {
      "epoch": 1.3836661431456136,
      "grad_norm": 0.439757764339447,
      "learning_rate": 0.000293352403526027,
      "loss": 0.0709,
      "step": 6167
    },
    {
      "epoch": 1.3836661431456136,
      "gripper_loss": 0.498046875,
      "loss": 0.07373046875,
      "pos_loss": 0.3203125,
      "rot_loss": 0.25390625,
      "step": 6167
    },
    {
      "epoch": 1.383890509311196,
      "grad_norm": 0.43911007046699524,
      "learning_rate": 0.000293292760091422,
      "loss": 0.0648,
      "step": 6168
    },
    {
      "epoch": 1.383890509311196,
      "gripper_loss": 0.62109375,
      "loss": 0.0986328125,
      "pos_loss": 0.703125,
      "rot_loss": 0.0927734375,
      "step": 6168
    },
    {
      "epoch": 1.384114875476778,
      "grad_norm": 0.39928844571113586,
      "learning_rate": 0.00029323311411641733,
      "loss": 0.0757,
      "step": 6169
    },
    {
      "epoch": 1.384114875476778,
      "gripper_loss": 0.35546875,
      "loss": 0.059814453125,
      "pos_loss": 0.451171875,
      "rot_loss": 0.02685546875,
      "step": 6169
    },
    {
      "epoch": 1.3843392416423603,
      "grad_norm": 0.47260168194770813,
      "learning_rate": 0.00029317346560451304,
      "loss": 0.101,
      "step": 6170
    },
    {
      "epoch": 1.3843392416423603,
      "gripper_loss": 0.04052734375,
      "loss": 0.056640625,
      "pos_loss": 0.439453125,
      "rot_loss": 0.1171875,
      "step": 6170
    },
    {
      "epoch": 1.3845636078079426,
      "grad_norm": 0.5741778612136841,
      "learning_rate": 0.00029311381455920927,
      "loss": 0.1176,
      "step": 6171
    },
    {
      "epoch": 1.3845636078079426,
      "gripper_loss": 0.0181884765625,
      "loss": 0.0625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.287109375,
      "step": 6171
    },
    {
      "epoch": 1.3847879739735247,
      "grad_norm": 0.40890830755233765,
      "learning_rate": 0.0002930541609840064,
      "loss": 0.0547,
      "step": 6172
    },
    {
      "epoch": 1.3847879739735247,
      "gripper_loss": 0.984375,
      "loss": 0.10009765625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.036865234375,
      "step": 6172
    },
    {
      "epoch": 1.385012340139107,
      "grad_norm": 0.3617185652256012,
      "learning_rate": 0.00029299450488240474,
      "loss": 0.0722,
      "step": 6173
    },
    {
      "epoch": 1.385012340139107,
      "gripper_loss": 0.11962890625,
      "loss": 0.01544189453125,
      "pos_loss": 0.051025390625,
      "rot_loss": 0.033203125,
      "step": 6173
    },
    {
      "epoch": 1.3852367063046893,
      "grad_norm": 0.4168257415294647,
      "learning_rate": 0.000292934846257905,
      "loss": 0.0533,
      "step": 6174
    },
    {
      "epoch": 1.3852367063046893,
      "gripper_loss": 0.2109375,
      "loss": 0.3515625,
      "pos_loss": 1.875,
      "rot_loss": 0.52734375,
      "step": 6174
    },
    {
      "epoch": 1.3854610724702714,
      "grad_norm": 1.2429735660552979,
      "learning_rate": 0.0002928751851140079,
      "loss": 0.2075,
      "step": 6175
    },
    {
      "epoch": 1.3854610724702714,
      "gripper_loss": 0.0260009765625,
      "loss": 0.09423828125,
      "pos_loss": 0.388671875,
      "rot_loss": 0.49609375,
      "step": 6175
    },
    {
      "epoch": 1.3856854386358537,
      "grad_norm": 0.6301156282424927,
      "learning_rate": 0.0002928155214542142,
      "loss": 0.0809,
      "step": 6176
    },
    {
      "epoch": 1.3856854386358537,
      "gripper_loss": 0.010009765625,
      "loss": 0.03662109375,
      "pos_loss": 0.166015625,
      "rot_loss": 0.1708984375,
      "step": 6176
    },
    {
      "epoch": 1.385909804801436,
      "grad_norm": 0.5116675496101379,
      "learning_rate": 0.0002927558552820251,
      "loss": 0.081,
      "step": 6177
    },
    {
      "epoch": 1.385909804801436,
      "gripper_loss": 0.416015625,
      "loss": 0.034912109375,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.0230712890625,
      "step": 6177
    },
    {
      "epoch": 1.386134170967018,
      "grad_norm": 0.4328131675720215,
      "learning_rate": 0.00029269618660094173,
      "loss": 0.0619,
      "step": 6178
    },
    {
      "epoch": 1.386134170967018,
      "gripper_loss": 0.02294921875,
      "loss": 0.06103515625,
      "pos_loss": 0.39453125,
      "rot_loss": 0.1767578125,
      "step": 6178
    },
    {
      "epoch": 1.3863585371326004,
      "grad_norm": 0.4842770993709564,
      "learning_rate": 0.0002926365154144654,
      "loss": 0.062,
      "step": 6179
    },
    {
      "epoch": 1.3863585371326004,
      "gripper_loss": 0.3203125,
      "loss": 0.07373046875,
      "pos_loss": 0.5,
      "rot_loss": 0.11669921875,
      "step": 6179
    },
    {
      "epoch": 1.3865829032981827,
      "grad_norm": 0.4612818658351898,
      "learning_rate": 0.00029257684172609763,
      "loss": 0.0625,
      "step": 6180
    },
    {
      "epoch": 1.3865829032981827,
      "gripper_loss": 0.40625,
      "loss": 0.10546875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.2353515625,
      "step": 6180
    },
    {
      "epoch": 1.3868072694637648,
      "grad_norm": 0.6726641654968262,
      "learning_rate": 0.00029251716553934,
      "loss": 0.0729,
      "step": 6181
    },
    {
      "epoch": 1.3868072694637648,
      "gripper_loss": 0.09375,
      "loss": 0.07177734375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.0712890625,
      "step": 6181
    },
    {
      "epoch": 1.387031635629347,
      "grad_norm": 0.4894697368144989,
      "learning_rate": 0.0002924574868576942,
      "loss": 0.0835,
      "step": 6182
    },
    {
      "epoch": 1.387031635629347,
      "gripper_loss": 0.01611328125,
      "loss": 0.08935546875,
      "pos_loss": 0.53125,
      "rot_loss": 0.36328125,
      "step": 6182
    },
    {
      "epoch": 1.3872560017949294,
      "grad_norm": 0.28967350721359253,
      "learning_rate": 0.00029239780568466234,
      "loss": 0.0674,
      "step": 6183
    },
    {
      "epoch": 1.3872560017949294,
      "gripper_loss": 0.083984375,
      "loss": 0.083984375,
      "pos_loss": 0.71875,
      "rot_loss": 0.1005859375,
      "step": 6183
    },
    {
      "epoch": 1.3874803679605114,
      "grad_norm": 0.505493700504303,
      "learning_rate": 0.00029233812202374636,
      "loss": 0.0999,
      "step": 6184
    },
    {
      "epoch": 1.3874803679605114,
      "gripper_loss": 0.037109375,
      "loss": 0.0771484375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.162109375,
      "step": 6184
    },
    {
      "epoch": 1.3877047341260937,
      "grad_norm": 0.45048439502716064,
      "learning_rate": 0.00029227843587844855,
      "loss": 0.0814,
      "step": 6185
    },
    {
      "epoch": 1.3877047341260937,
      "gripper_loss": 0.150390625,
      "loss": 0.34375,
      "pos_loss": 0.875,
      "rot_loss": 0.484375,
      "step": 6185
    },
    {
      "epoch": 1.387929100291676,
      "grad_norm": 1.4180066585540771,
      "learning_rate": 0.0002922187472522712,
      "loss": 0.22,
      "step": 6186
    },
    {
      "epoch": 1.387929100291676,
      "gripper_loss": 0.03125,
      "loss": 0.044921875,
      "pos_loss": 0.3203125,
      "rot_loss": 0.0693359375,
      "step": 6186
    },
    {
      "epoch": 1.3881534664572581,
      "grad_norm": 0.5098438858985901,
      "learning_rate": 0.0002921590561487168,
      "loss": 0.0648,
      "step": 6187
    },
    {
      "epoch": 1.3881534664572581,
      "gripper_loss": 0.61328125,
      "loss": 0.047119140625,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.02685546875,
      "step": 6187
    },
    {
      "epoch": 1.3883778326228404,
      "grad_norm": 0.7669416666030884,
      "learning_rate": 0.000292099362571288,
      "loss": 0.0999,
      "step": 6188
    },
    {
      "epoch": 1.3883778326228404,
      "gripper_loss": 0.58203125,
      "loss": 0.062255859375,
      "pos_loss": 0.068359375,
      "rot_loss": 0.3046875,
      "step": 6188
    },
    {
      "epoch": 1.3886021987884227,
      "grad_norm": 0.7584639191627502,
      "learning_rate": 0.0002920396665234876,
      "loss": 0.0764,
      "step": 6189
    },
    {
      "epoch": 1.3886021987884227,
      "gripper_loss": 0.01904296875,
      "loss": 0.0250244140625,
      "pos_loss": 0.061767578125,
      "rot_loss": 0.1044921875,
      "step": 6189
    },
    {
      "epoch": 1.3888265649540048,
      "grad_norm": 0.6763944625854492,
      "learning_rate": 0.00029197996800881866,
      "loss": 0.0817,
      "step": 6190
    },
    {
      "epoch": 1.3888265649540048,
      "gripper_loss": 0.38671875,
      "loss": 0.0703125,
      "pos_loss": 0.421875,
      "rot_loss": 0.1357421875,
      "step": 6190
    },
    {
      "epoch": 1.389050931119587,
      "grad_norm": 0.42569082975387573,
      "learning_rate": 0.00029192026703078413,
      "loss": 0.0495,
      "step": 6191
    },
    {
      "epoch": 1.389050931119587,
      "gripper_loss": 0.01239013671875,
      "loss": 0.049560546875,
      "pos_loss": 0.4453125,
      "rot_loss": 0.01483154296875,
      "step": 6191
    },
    {
      "epoch": 1.3892752972851694,
      "grad_norm": 0.5280380249023438,
      "learning_rate": 0.00029186056359288727,
      "loss": 0.0659,
      "step": 6192
    },
    {
      "epoch": 1.3892752972851694,
      "gripper_loss": 0.028564453125,
      "loss": 0.033447265625,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.08251953125,
      "step": 6192
    },
    {
      "epoch": 1.3894996634507517,
      "grad_norm": 0.3391391634941101,
      "learning_rate": 0.00029180085769863135,
      "loss": 0.0524,
      "step": 6193
    },
    {
      "epoch": 1.3894996634507517,
      "gripper_loss": 0.09326171875,
      "loss": 0.134765625,
      "pos_loss": 1.1953125,
      "rot_loss": 0.10498046875,
      "step": 6193
    },
    {
      "epoch": 1.3897240296163338,
      "grad_norm": 0.5450938940048218,
      "learning_rate": 0.00029174114935152007,
      "loss": 0.0849,
      "step": 6194
    },
    {
      "epoch": 1.3897240296163338,
      "gripper_loss": 0.03515625,
      "loss": 0.06787109375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.412109375,
      "step": 6194
    },
    {
      "epoch": 1.389948395781916,
      "grad_norm": 0.5099100470542908,
      "learning_rate": 0.0002916814385550569,
      "loss": 0.0812,
      "step": 6195
    },
    {
      "epoch": 1.389948395781916,
      "gripper_loss": 0.041748046875,
      "loss": 0.07421875,
      "pos_loss": 0.640625,
      "rot_loss": 0.0791015625,
      "step": 6195
    },
    {
      "epoch": 1.3901727619474984,
      "grad_norm": 0.3735879957675934,
      "learning_rate": 0.00029162172531274584,
      "loss": 0.083,
      "step": 6196
    },
    {
      "epoch": 1.3901727619474984,
      "gripper_loss": 0.0240478515625,
      "loss": 0.059326171875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.29296875,
      "step": 6196
    },
    {
      "epoch": 1.3903971281130805,
      "grad_norm": 0.5034173130989075,
      "learning_rate": 0.0002915620096280907,
      "loss": 0.0775,
      "step": 6197
    },
    {
      "epoch": 1.3903971281130805,
      "gripper_loss": 0.51171875,
      "loss": 0.050537109375,
      "pos_loss": 0.16796875,
      "rot_loss": 0.13671875,
      "step": 6197
    },
    {
      "epoch": 1.3906214942786628,
      "grad_norm": 0.48922058939933777,
      "learning_rate": 0.00029150229150459554,
      "loss": 0.0543,
      "step": 6198
    },
    {
      "epoch": 1.3906214942786628,
      "gripper_loss": 0.19921875,
      "loss": 0.048583984375,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.1669921875,
      "step": 6198
    },
    {
      "epoch": 1.390845860444245,
      "grad_norm": 0.6230475902557373,
      "learning_rate": 0.0002914425709457648,
      "loss": 0.0823,
      "step": 6199
    },
    {
      "epoch": 1.390845860444245,
      "gripper_loss": 0.0458984375,
      "loss": 0.07080078125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.1171875,
      "step": 6199
    },
    {
      "epoch": 1.3910702266098274,
      "grad_norm": 0.46773967146873474,
      "learning_rate": 0.00029138284795510253,
      "loss": 0.0706,
      "step": 6200
    },
    {
      "epoch": 1.3910702266098274,
      "gripper_loss": 0.03955078125,
      "loss": 0.03662109375,
      "pos_loss": 0.265625,
      "rot_loss": 0.0390625,
      "step": 6200
    },
    {
      "epoch": 1.3912945927754095,
      "grad_norm": 0.5286356210708618,
      "learning_rate": 0.0002913231225361136,
      "loss": 0.0693,
      "step": 6201
    },
    {
      "epoch": 1.3912945927754095,
      "gripper_loss": 0.00848388671875,
      "loss": 0.13671875,
      "pos_loss": 1.0390625,
      "rot_loss": 0.361328125,
      "step": 6201
    },
    {
      "epoch": 1.3915189589409918,
      "grad_norm": 0.5217863321304321,
      "learning_rate": 0.00029126339469230243,
      "loss": 0.0917,
      "step": 6202
    },
    {
      "epoch": 1.3915189589409918,
      "gripper_loss": 0.28125,
      "loss": 0.12109375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.466796875,
      "step": 6202
    },
    {
      "epoch": 1.391743325106574,
      "grad_norm": 0.5064712166786194,
      "learning_rate": 0.00029120366442717395,
      "loss": 0.0777,
      "step": 6203
    },
    {
      "epoch": 1.391743325106574,
      "gripper_loss": 0.75390625,
      "loss": 0.091796875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.37109375,
      "step": 6203
    },
    {
      "epoch": 1.3919676912721561,
      "grad_norm": 0.4451783299446106,
      "learning_rate": 0.00029114393174423293,
      "loss": 0.0739,
      "step": 6204
    },
    {
      "epoch": 1.3919676912721561,
      "gripper_loss": 0.044677734375,
      "loss": 0.056884765625,
      "pos_loss": 0.189453125,
      "rot_loss": 0.2060546875,
      "step": 6204
    },
    {
      "epoch": 1.3921920574377384,
      "grad_norm": 0.6823168396949768,
      "learning_rate": 0.00029108419664698466,
      "loss": 0.0788,
      "step": 6205
    },
    {
      "epoch": 1.3921920574377384,
      "gripper_loss": 0.046142578125,
      "loss": 0.06884765625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.046142578125,
      "step": 6205
    },
    {
      "epoch": 1.3924164236033207,
      "grad_norm": 0.4422094225883484,
      "learning_rate": 0.00029102445913893425,
      "loss": 0.0901,
      "step": 6206
    },
    {
      "epoch": 1.3924164236033207,
      "gripper_loss": 0.0126953125,
      "loss": 0.095703125,
      "pos_loss": 0.88671875,
      "rot_loss": 0.06640625,
      "step": 6206
    },
    {
      "epoch": 1.3926407897689028,
      "grad_norm": 0.46933549642562866,
      "learning_rate": 0.00029096471922358715,
      "loss": 0.0807,
      "step": 6207
    },
    {
      "epoch": 1.3926407897689028,
      "gripper_loss": 0.1796875,
      "loss": 0.12890625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.34765625,
      "step": 6207
    },
    {
      "epoch": 1.3928651559344851,
      "grad_norm": 0.9970308542251587,
      "learning_rate": 0.00029090497690444886,
      "loss": 0.1229,
      "step": 6208
    },
    {
      "epoch": 1.3928651559344851,
      "gripper_loss": 0.88671875,
      "loss": 0.578125,
      "pos_loss": 0.99609375,
      "rot_loss": 0.44921875,
      "step": 6208
    },
    {
      "epoch": 1.3930895221000674,
      "grad_norm": 1.8420004844665527,
      "learning_rate": 0.0002908452321850249,
      "loss": 0.5874,
      "step": 6209
    },
    {
      "epoch": 1.3930895221000674,
      "gripper_loss": 0.033935546875,
      "loss": 0.1357421875,
      "pos_loss": 1.28125,
      "rot_loss": 0.0556640625,
      "step": 6209
    },
    {
      "epoch": 1.3933138882656495,
      "grad_norm": 0.546542763710022,
      "learning_rate": 0.0002907854850688212,
      "loss": 0.0821,
      "step": 6210
    },
    {
      "epoch": 1.3933138882656495,
      "gripper_loss": 0.66015625,
      "loss": 0.048095703125,
      "pos_loss": 0.185546875,
      "rot_loss": 0.04931640625,
      "step": 6210
    },
    {
      "epoch": 1.3935382544312318,
      "grad_norm": 0.48432087898254395,
      "learning_rate": 0.00029072573555934366,
      "loss": 0.0563,
      "step": 6211
    },
    {
      "epoch": 1.3935382544312318,
      "gripper_loss": 0.01287841796875,
      "loss": 0.1201171875,
      "pos_loss": 1.140625,
      "rot_loss": 0.055419921875,
      "step": 6211
    },
    {
      "epoch": 1.393762620596814,
      "grad_norm": 0.490043580532074,
      "learning_rate": 0.00029066598366009826,
      "loss": 0.0792,
      "step": 6212
    },
    {
      "epoch": 1.393762620596814,
      "gripper_loss": 0.314453125,
      "loss": 0.10791015625,
      "pos_loss": 0.90234375,
      "rot_loss": 0.049072265625,
      "step": 6212
    },
    {
      "epoch": 1.3939869867623962,
      "grad_norm": 0.7801394462585449,
      "learning_rate": 0.0002906062293745915,
      "loss": 0.1002,
      "step": 6213
    },
    {
      "epoch": 1.3939869867623962,
      "gripper_loss": 1.6328125,
      "loss": 0.06396484375,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.01336669921875,
      "step": 6213
    },
    {
      "epoch": 1.3942113529279785,
      "grad_norm": 0.44371405243873596,
      "learning_rate": 0.00029054647270632935,
      "loss": 0.0641,
      "step": 6214
    },
    {
      "epoch": 1.3942113529279785,
      "gripper_loss": 1.4453125,
      "loss": 0.056640625,
      "pos_loss": 0.043212890625,
      "rot_loss": 0.032470703125,
      "step": 6214
    },
    {
      "epoch": 1.3944357190935608,
      "grad_norm": 0.63969886302948,
      "learning_rate": 0.0002904867136588186,
      "loss": 0.0845,
      "step": 6215
    },
    {
      "epoch": 1.3944357190935608,
      "gripper_loss": 0.0703125,
      "loss": 0.078125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.373046875,
      "step": 6215
    },
    {
      "epoch": 1.3946600852591429,
      "grad_norm": 0.8854693174362183,
      "learning_rate": 0.0002904269522355658,
      "loss": 0.0862,
      "step": 6216
    },
    {
      "epoch": 1.3946600852591429,
      "gripper_loss": 0.353515625,
      "loss": 0.072265625,
      "pos_loss": 0.45703125,
      "rot_loss": 0.1357421875,
      "step": 6216
    },
    {
      "epoch": 1.3948844514247252,
      "grad_norm": 0.6396782994270325,
      "learning_rate": 0.00029036718844007754,
      "loss": 0.0891,
      "step": 6217
    },
    {
      "epoch": 1.3948844514247252,
      "gripper_loss": 0.0224609375,
      "loss": 0.0947265625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.482421875,
      "step": 6217
    },
    {
      "epoch": 1.3951088175903075,
      "grad_norm": 0.5436687469482422,
      "learning_rate": 0.00029030742227586104,
      "loss": 0.0612,
      "step": 6218
    },
    {
      "epoch": 1.3951088175903075,
      "gripper_loss": 0.330078125,
      "loss": 0.248046875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.322265625,
      "step": 6218
    },
    {
      "epoch": 1.3953331837558896,
      "grad_norm": 1.8805058002471924,
      "learning_rate": 0.0002902476537464231,
      "loss": 0.333,
      "step": 6219
    },
    {
      "epoch": 1.3953331837558896,
      "gripper_loss": 0.0191650390625,
      "loss": 0.03857421875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.043212890625,
      "step": 6219
    },
    {
      "epoch": 1.3955575499214719,
      "grad_norm": 0.7229952216148376,
      "learning_rate": 0.0002901878828552711,
      "loss": 0.0632,
      "step": 6220
    },
    {
      "epoch": 1.3955575499214719,
      "gripper_loss": 0.369140625,
      "loss": 0.2333984375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.2275390625,
      "step": 6220
    },
    {
      "epoch": 1.3957819160870542,
      "grad_norm": 1.3497824668884277,
      "learning_rate": 0.0002901281096059123,
      "loss": 0.269,
      "step": 6221
    },
    {
      "epoch": 1.3957819160870542,
      "gripper_loss": 0.02783203125,
      "loss": 0.228515625,
      "pos_loss": 1.390625,
      "rot_loss": 0.89453125,
      "step": 6221
    },
    {
      "epoch": 1.3960062822526362,
      "grad_norm": 0.825271487236023,
      "learning_rate": 0.0002900683340018541,
      "loss": 0.1012,
      "step": 6222
    },
    {
      "epoch": 1.3960062822526362,
      "gripper_loss": 0.3125,
      "loss": 0.032470703125,
      "pos_loss": 0.047119140625,
      "rot_loss": 0.02587890625,
      "step": 6222
    },
    {
      "epoch": 1.3962306484182185,
      "grad_norm": 0.9688631296157837,
      "learning_rate": 0.0002900085560466041,
      "loss": 0.1019,
      "step": 6223
    },
    {
      "epoch": 1.3962306484182185,
      "gripper_loss": 0.0123291015625,
      "loss": 0.1337890625,
      "pos_loss": 0.462890625,
      "rot_loss": 0.82421875,
      "step": 6223
    },
    {
      "epoch": 1.3964550145838008,
      "grad_norm": 0.826474666595459,
      "learning_rate": 0.00028994877574367025,
      "loss": 0.0963,
      "step": 6224
    },
    {
      "epoch": 1.3964550145838008,
      "gripper_loss": 0.0289306640625,
      "loss": 0.050048828125,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.310546875,
      "step": 6224
    },
    {
      "epoch": 1.396679380749383,
      "grad_norm": 0.6013033390045166,
      "learning_rate": 0.00028988899309656015,
      "loss": 0.0558,
      "step": 6225
    },
    {
      "epoch": 1.396679380749383,
      "gripper_loss": 0.6015625,
      "loss": 0.0966796875,
      "pos_loss": 0.146484375,
      "rot_loss": 0.578125,
      "step": 6225
    },
    {
      "epoch": 1.3969037469149652,
      "grad_norm": 0.7398668527603149,
      "learning_rate": 0.000289829208108782,
      "loss": 0.1074,
      "step": 6226
    },
    {
      "epoch": 1.3969037469149652,
      "gripper_loss": 0.546875,
      "loss": 0.1787109375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.345703125,
      "step": 6226
    },
    {
      "epoch": 1.3971281130805475,
      "grad_norm": 1.3955707550048828,
      "learning_rate": 0.00028976942078384396,
      "loss": 0.2085,
      "step": 6227
    },
    {
      "epoch": 1.3971281130805475,
      "gripper_loss": 0.03759765625,
      "loss": 0.1240234375,
      "pos_loss": 0.765625,
      "rot_loss": 0.2734375,
      "step": 6227
    },
    {
      "epoch": 1.3973524792461296,
      "grad_norm": 0.7902291417121887,
      "learning_rate": 0.00028970963112525424,
      "loss": 0.1215,
      "step": 6228
    },
    {
      "epoch": 1.3973524792461296,
      "gripper_loss": 0.2470703125,
      "loss": 0.035888671875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.0771484375,
      "step": 6228
    },
    {
      "epoch": 1.397576845411712,
      "grad_norm": 0.49760696291923523,
      "learning_rate": 0.00028964983913652123,
      "loss": 0.0879,
      "step": 6229
    },
    {
      "epoch": 1.397576845411712,
      "gripper_loss": 0.0284423828125,
      "loss": 0.126953125,
      "pos_loss": 0.9375,
      "rot_loss": 0.306640625,
      "step": 6229
    },
    {
      "epoch": 1.3978012115772942,
      "grad_norm": 0.5567563772201538,
      "learning_rate": 0.0002895900448211535,
      "loss": 0.1102,
      "step": 6230
    },
    {
      "epoch": 1.3978012115772942,
      "gripper_loss": 0.0203857421875,
      "loss": 0.1611328125,
      "pos_loss": 1.296875,
      "rot_loss": 0.283203125,
      "step": 6230
    },
    {
      "epoch": 1.3980255777428763,
      "grad_norm": 0.638384997844696,
      "learning_rate": 0.00028953024818266,
      "loss": 0.1044,
      "step": 6231
    },
    {
      "epoch": 1.3980255777428763,
      "gripper_loss": 0.31640625,
      "loss": 0.05029296875,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.1162109375,
      "step": 6231
    },
    {
      "epoch": 1.3982499439084586,
      "grad_norm": 0.7483037710189819,
      "learning_rate": 0.00028947044922454933,
      "loss": 0.0895,
      "step": 6232
    },
    {
      "epoch": 1.3982499439084586,
      "gripper_loss": 0.640625,
      "loss": 0.291015625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.6328125,
      "step": 6232
    },
    {
      "epoch": 1.3984743100740409,
      "grad_norm": 0.981286346912384,
      "learning_rate": 0.0002894106479503305,
      "loss": 0.165,
      "step": 6233
    },
    {
      "epoch": 1.3984743100740409,
      "gripper_loss": 0.0211181640625,
      "loss": 0.045654296875,
      "pos_loss": 0.302734375,
      "rot_loss": 0.09423828125,
      "step": 6233
    },
    {
      "epoch": 1.398698676239623,
      "grad_norm": 0.6447063088417053,
      "learning_rate": 0.00028935084436351266,
      "loss": 0.0755,
      "step": 6234
    },
    {
      "epoch": 1.398698676239623,
      "gripper_loss": 0.009033203125,
      "loss": 0.034423828125,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.03369140625,
      "step": 6234
    },
    {
      "epoch": 1.3989230424052053,
      "grad_norm": 0.603829562664032,
      "learning_rate": 0.00028929103846760503,
      "loss": 0.0806,
      "step": 6235
    },
    {
      "epoch": 1.3989230424052053,
      "gripper_loss": 0.0108642578125,
      "loss": 0.01544189453125,
      "pos_loss": 0.095703125,
      "rot_loss": 0.0125732421875,
      "step": 6235
    },
    {
      "epoch": 1.3991474085707876,
      "grad_norm": 0.4418734312057495,
      "learning_rate": 0.000289231230266117,
      "loss": 0.0622,
      "step": 6236
    },
    {
      "epoch": 1.3991474085707876,
      "gripper_loss": 0.255859375,
      "loss": 0.0810546875,
      "pos_loss": 0.6171875,
      "rot_loss": 0.09423828125,
      "step": 6236
    },
    {
      "epoch": 1.3993717747363696,
      "grad_norm": 0.5469692945480347,
      "learning_rate": 0.0002891714197625581,
      "loss": 0.0855,
      "step": 6237
    },
    {
      "epoch": 1.3993717747363696,
      "gripper_loss": 0.47265625,
      "loss": 0.05078125,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.2109375,
      "step": 6237
    },
    {
      "epoch": 1.399596140901952,
      "grad_norm": 0.5110195279121399,
      "learning_rate": 0.000289111606960438,
      "loss": 0.0456,
      "step": 6238
    },
    {
      "epoch": 1.399596140901952,
      "gripper_loss": 0.419921875,
      "loss": 0.103515625,
      "pos_loss": 0.86328125,
      "rot_loss": 0.02587890625,
      "step": 6238
    },
    {
      "epoch": 1.3998205070675342,
      "grad_norm": 0.6803569197654724,
      "learning_rate": 0.00028905179186326655,
      "loss": 0.0881,
      "step": 6239
    },
    {
      "epoch": 1.3998205070675342,
      "gripper_loss": 0.00848388671875,
      "loss": 0.1455078125,
      "pos_loss": 1.4453125,
      "rot_loss": 0.0286865234375,
      "step": 6239
    },
    {
      "epoch": 1.4000448732331163,
      "grad_norm": 0.5490835309028625,
      "learning_rate": 0.0002889919744745534,
      "loss": 0.1028,
      "step": 6240
    },
    {
      "epoch": 1.4000448732331163,
      "gripper_loss": 0.049072265625,
      "loss": 0.04052734375,
      "pos_loss": 0.22265625,
      "rot_loss": 0.1259765625,
      "step": 6240
    },
    {
      "epoch": 1.4002692393986986,
      "grad_norm": 0.4930090308189392,
      "learning_rate": 0.00028893215479780895,
      "loss": 0.037,
      "step": 6241
    },
    {
      "epoch": 1.4002692393986986,
      "gripper_loss": 1.140625,
      "loss": 0.1484375,
      "pos_loss": 1.1171875,
      "rot_loss": 0.0311279296875,
      "step": 6241
    },
    {
      "epoch": 1.400493605564281,
      "grad_norm": 0.48374372720718384,
      "learning_rate": 0.0002888723328365431,
      "loss": 0.1097,
      "step": 6242
    },
    {
      "epoch": 1.400493605564281,
      "gripper_loss": 0.1533203125,
      "loss": 0.1318359375,
      "pos_loss": 1.078125,
      "rot_loss": 0.2138671875,
      "step": 6242
    },
    {
      "epoch": 1.400717971729863,
      "grad_norm": 0.4373096823692322,
      "learning_rate": 0.0002888125085942664,
      "loss": 0.0643,
      "step": 6243
    },
    {
      "epoch": 1.400717971729863,
      "gripper_loss": 0.14453125,
      "loss": 0.0859375,
      "pos_loss": 0.484375,
      "rot_loss": 0.32421875,
      "step": 6243
    },
    {
      "epoch": 1.4009423378954453,
      "grad_norm": 0.4218722879886627,
      "learning_rate": 0.0002887526820744893,
      "loss": 0.0577,
      "step": 6244
    },
    {
      "epoch": 1.4009423378954453,
      "gripper_loss": 0.259765625,
      "loss": 0.076171875,
      "pos_loss": 0.60546875,
      "rot_loss": 0.061279296875,
      "step": 6244
    },
    {
      "epoch": 1.4011667040610276,
      "grad_norm": 0.5091562271118164,
      "learning_rate": 0.0002886928532807222,
      "loss": 0.0863,
      "step": 6245
    },
    {
      "epoch": 1.4011667040610276,
      "gripper_loss": 0.0228271484375,
      "loss": 0.1123046875,
      "pos_loss": 0.99609375,
      "rot_loss": 0.10791015625,
      "step": 6245
    },
    {
      "epoch": 1.4013910702266097,
      "grad_norm": 0.49738094210624695,
      "learning_rate": 0.00028863302221647595,
      "loss": 0.0882,
      "step": 6246
    },
    {
      "epoch": 1.4013910702266097,
      "gripper_loss": 0.0135498046875,
      "loss": 0.091796875,
      "pos_loss": 0.828125,
      "rot_loss": 0.08740234375,
      "step": 6246
    },
    {
      "epoch": 1.401615436392192,
      "grad_norm": 0.40813425183296204,
      "learning_rate": 0.0002885731888852614,
      "loss": 0.0841,
      "step": 6247
    },
    {
      "epoch": 1.401615436392192,
      "gripper_loss": 0.59765625,
      "loss": 0.0439453125,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.05859375,
      "step": 6247
    },
    {
      "epoch": 1.4018398025577743,
      "grad_norm": 0.5684388875961304,
      "learning_rate": 0.00028851335329058966,
      "loss": 0.1011,
      "step": 6248
    },
    {
      "epoch": 1.4018398025577743,
      "gripper_loss": 0.55859375,
      "loss": 0.1357421875,
      "pos_loss": 1.125,
      "rot_loss": 0.07470703125,
      "step": 6248
    },
    {
      "epoch": 1.4020641687233566,
      "grad_norm": 0.5868321657180786,
      "learning_rate": 0.00028845351543597167,
      "loss": 0.0894,
      "step": 6249
    },
    {
      "epoch": 1.4020641687233566,
      "gripper_loss": 0.022216796875,
      "loss": 0.1240234375,
      "pos_loss": 1.0625,
      "rot_loss": 0.18359375,
      "step": 6249
    },
    {
      "epoch": 1.4022885348889387,
      "grad_norm": 0.4594334065914154,
      "learning_rate": 0.0002883936753249188,
      "loss": 0.062,
      "step": 6250
    },
    {
      "epoch": 1.4022885348889387,
      "gripper_loss": 0.35546875,
      "loss": 0.0986328125,
      "pos_loss": 0.7265625,
      "rot_loss": 0.1484375,
      "step": 6250
    },
    {
      "epoch": 1.402512901054521,
      "grad_norm": 0.4755111336708069,
      "learning_rate": 0.0002883338329609423,
      "loss": 0.094,
      "step": 6251
    },
    {
      "epoch": 1.402512901054521,
      "gripper_loss": 0.0302734375,
      "loss": 0.1064453125,
      "pos_loss": 0.9609375,
      "rot_loss": 0.1123046875,
      "step": 6251
    },
    {
      "epoch": 1.4027372672201033,
      "grad_norm": 0.46438655257225037,
      "learning_rate": 0.0002882739883475539,
      "loss": 0.0902,
      "step": 6252
    },
    {
      "epoch": 1.4027372672201033,
      "gripper_loss": 0.0478515625,
      "loss": 0.03564453125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.020751953125,
      "step": 6252
    },
    {
      "epoch": 1.4029616333856854,
      "grad_norm": 0.5004279017448425,
      "learning_rate": 0.000288214141488265,
      "loss": 0.0533,
      "step": 6253
    },
    {
      "epoch": 1.4029616333856854,
      "gripper_loss": 0.66015625,
      "loss": 0.10546875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.177734375,
      "step": 6253
    },
    {
      "epoch": 1.4031859995512677,
      "grad_norm": 0.5097724199295044,
      "learning_rate": 0.00028815429238658764,
      "loss": 0.09,
      "step": 6254
    },
    {
      "epoch": 1.4031859995512677,
      "gripper_loss": 0.072265625,
      "loss": 0.12890625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.3125,
      "step": 6254
    },
    {
      "epoch": 1.40341036571685,
      "grad_norm": 1.1975517272949219,
      "learning_rate": 0.00028809444104603365,
      "loss": 0.1506,
      "step": 6255
    },
    {
      "epoch": 1.40341036571685,
      "gripper_loss": 1.5078125,
      "loss": 0.15625,
      "pos_loss": 0.75,
      "rot_loss": 0.359375,
      "step": 6255
    },
    {
      "epoch": 1.4036347318824323,
      "grad_norm": 0.3543916344642639,
      "learning_rate": 0.0002880345874701151,
      "loss": 0.0711,
      "step": 6256
    },
    {
      "epoch": 1.4036347318824323,
      "gripper_loss": 0.236328125,
      "loss": 0.060791015625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.03662109375,
      "step": 6256
    },
    {
      "epoch": 1.4038590980480143,
      "grad_norm": 0.4317114055156708,
      "learning_rate": 0.000287974731662344,
      "loss": 0.0537,
      "step": 6257
    },
    {
      "epoch": 1.4038590980480143,
      "gripper_loss": 0.6171875,
      "loss": 0.10498046875,
      "pos_loss": 0.224609375,
      "rot_loss": 0.640625,
      "step": 6257
    },
    {
      "epoch": 1.4040834642135966,
      "grad_norm": 0.7210816740989685,
      "learning_rate": 0.00028791487362623294,
      "loss": 0.1097,
      "step": 6258
    },
    {
      "epoch": 1.4040834642135966,
      "gripper_loss": 0.9921875,
      "loss": 0.044921875,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.068359375,
      "step": 6258
    },
    {
      "epoch": 1.404307830379179,
      "grad_norm": 0.5038359761238098,
      "learning_rate": 0.00028785501336529406,
      "loss": 0.0508,
      "step": 6259
    },
    {
      "epoch": 1.404307830379179,
      "gripper_loss": 0.018310546875,
      "loss": 0.04296875,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0732421875,
      "step": 6259
    },
    {
      "epoch": 1.404532196544761,
      "grad_norm": 0.41910335421562195,
      "learning_rate": 0.00028779515088304014,
      "loss": 0.0666,
      "step": 6260
    },
    {
      "epoch": 1.404532196544761,
      "gripper_loss": 0.69140625,
      "loss": 0.05224609375,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.05078125,
      "step": 6260
    },
    {
      "epoch": 1.4047565627103433,
      "grad_norm": 0.29851284623146057,
      "learning_rate": 0.0002877352861829839,
      "loss": 0.0539,
      "step": 6261
    },
    {
      "epoch": 1.4047565627103433,
      "gripper_loss": 0.0130615234375,
      "loss": 0.056640625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.287109375,
      "step": 6261
    },
    {
      "epoch": 1.4049809288759256,
      "grad_norm": 0.40661993622779846,
      "learning_rate": 0.00028767541926863813,
      "loss": 0.071,
      "step": 6262
    },
    {
      "epoch": 1.4049809288759256,
      "gripper_loss": 0.68359375,
      "loss": 0.04833984375,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.023681640625,
      "step": 6262
    },
    {
      "epoch": 1.4052052950415077,
      "grad_norm": 0.3280845880508423,
      "learning_rate": 0.0002876155501435157,
      "loss": 0.0646,
      "step": 6263
    },
    {
      "epoch": 1.4052052950415077,
      "gripper_loss": 0.08349609375,
      "loss": 0.09521484375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.244140625,
      "step": 6263
    },
    {
      "epoch": 1.40542966120709,
      "grad_norm": 0.48200735449790955,
      "learning_rate": 0.00028755567881112975,
      "loss": 0.0818,
      "step": 6264
    },
    {
      "epoch": 1.40542966120709,
      "gripper_loss": 0.2236328125,
      "loss": 0.0150146484375,
      "pos_loss": 0.0291748046875,
      "rot_loss": 0.01177978515625,
      "step": 6264
    },
    {
      "epoch": 1.4056540273726723,
      "grad_norm": 0.36620062589645386,
      "learning_rate": 0.00028749580527499363,
      "loss": 0.0501,
      "step": 6265
    },
    {
      "epoch": 1.4056540273726723,
      "gripper_loss": 0.01080322265625,
      "loss": 0.0166015625,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.01300048828125,
      "step": 6265
    },
    {
      "epoch": 1.4058783935382544,
      "grad_norm": 0.5332597494125366,
      "learning_rate": 0.0002874359295386205,
      "loss": 0.0895,
      "step": 6266
    },
    {
      "epoch": 1.4058783935382544,
      "gripper_loss": 0.0072021484375,
      "loss": 0.03466796875,
      "pos_loss": 0.150390625,
      "rot_loss": 0.1640625,
      "step": 6266
    },
    {
      "epoch": 1.4061027597038367,
      "grad_norm": 0.5876836776733398,
      "learning_rate": 0.000287376051605524,
      "loss": 0.1069,
      "step": 6267
    },
    {
      "epoch": 1.4061027597038367,
      "gripper_loss": 0.62109375,
      "loss": 0.0634765625,
      "pos_loss": 0.265625,
      "rot_loss": 0.1435546875,
      "step": 6267
    },
    {
      "epoch": 1.406327125869419,
      "grad_norm": 0.4126893877983093,
      "learning_rate": 0.0002873161714792176,
      "loss": 0.0545,
      "step": 6268
    },
    {
      "epoch": 1.406327125869419,
      "gripper_loss": 0.240234375,
      "loss": 0.044677734375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.076171875,
      "step": 6268
    },
    {
      "epoch": 1.406551492035001,
      "grad_norm": 0.4246314465999603,
      "learning_rate": 0.00028725628916321524,
      "loss": 0.0571,
      "step": 6269
    },
    {
      "epoch": 1.406551492035001,
      "gripper_loss": 0.69921875,
      "loss": 0.07373046875,
      "pos_loss": 0.478515625,
      "rot_loss": 0.0238037109375,
      "step": 6269
    },
    {
      "epoch": 1.4067758582005834,
      "grad_norm": 0.5318688750267029,
      "learning_rate": 0.00028719640466103047,
      "loss": 0.0752,
      "step": 6270
    },
    {
      "epoch": 1.4067758582005834,
      "gripper_loss": 0.04931640625,
      "loss": 0.059326171875,
      "pos_loss": 0.126953125,
      "rot_loss": 0.06982421875,
      "step": 6270
    },
    {
      "epoch": 1.4070002243661657,
      "grad_norm": 0.8980244398117065,
      "learning_rate": 0.00028713651797617764,
      "loss": 0.0975,
      "step": 6271
    },
    {
      "epoch": 1.4070002243661657,
      "gripper_loss": 0.033935546875,
      "loss": 0.0869140625,
      "pos_loss": 0.279296875,
      "rot_loss": 0.5859375,
      "step": 6271
    },
    {
      "epoch": 1.4072245905317478,
      "grad_norm": 0.40831801295280457,
      "learning_rate": 0.0002870766291121706,
      "loss": 0.0792,
      "step": 6272
    },
    {
      "epoch": 1.4072245905317478,
      "gripper_loss": 0.027099609375,
      "loss": 0.1416015625,
      "pos_loss": 1.3828125,
      "rot_loss": 0.0634765625,
      "step": 6272
    },
    {
      "epoch": 1.40744895669733,
      "grad_norm": 0.4395131766796112,
      "learning_rate": 0.0002870167380725237,
      "loss": 0.0736,
      "step": 6273
    },
    {
      "epoch": 1.40744895669733,
      "gripper_loss": 0.06689453125,
      "loss": 0.052734375,
      "pos_loss": 0.142578125,
      "rot_loss": 0.326171875,
      "step": 6273
    },
    {
      "epoch": 1.4076733228629124,
      "grad_norm": 0.4501444101333618,
      "learning_rate": 0.0002869568448607514,
      "loss": 0.0749,
      "step": 6274
    },
    {
      "epoch": 1.4076733228629124,
      "gripper_loss": 0.06005859375,
      "loss": 0.12353515625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.310546875,
      "step": 6274
    },
    {
      "epoch": 1.4078976890284944,
      "grad_norm": 0.40313059091567993,
      "learning_rate": 0.0002868969494803681,
      "loss": 0.0674,
      "step": 6275
    },
    {
      "epoch": 1.4078976890284944,
      "gripper_loss": 0.13671875,
      "loss": 0.1083984375,
      "pos_loss": 0.1953125,
      "rot_loss": 0.7578125,
      "step": 6275
    },
    {
      "epoch": 1.4081220551940767,
      "grad_norm": 0.7874380946159363,
      "learning_rate": 0.00028683705193488854,
      "loss": 0.1155,
      "step": 6276
    },
    {
      "epoch": 1.4081220551940767,
      "gripper_loss": 0.30859375,
      "loss": 0.09033203125,
      "pos_loss": 0.419921875,
      "rot_loss": 0.34375,
      "step": 6276
    },
    {
      "epoch": 1.408346421359659,
      "grad_norm": 0.4769478440284729,
      "learning_rate": 0.00028677715222782724,
      "loss": 0.0585,
      "step": 6277
    },
    {
      "epoch": 1.408346421359659,
      "gripper_loss": 2.3125,
      "loss": 0.0830078125,
      "pos_loss": 0.052978515625,
      "rot_loss": 0.0205078125,
      "step": 6277
    },
    {
      "epoch": 1.4085707875252411,
      "grad_norm": 0.38545891642570496,
      "learning_rate": 0.0002867172503626994,
      "loss": 0.0837,
      "step": 6278
    },
    {
      "epoch": 1.4085707875252411,
      "gripper_loss": 0.0252685546875,
      "loss": 0.10107421875,
      "pos_loss": 1.0,
      "rot_loss": 0.02294921875,
      "step": 6278
    },
    {
      "epoch": 1.4087951536908234,
      "grad_norm": 0.3796435594558716,
      "learning_rate": 0.00028665734634301986,
      "loss": 0.0587,
      "step": 6279
    },
    {
      "epoch": 1.4087951536908234,
      "gripper_loss": 0.90234375,
      "loss": 0.072265625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.0291748046875,
      "step": 6279
    },
    {
      "epoch": 1.4090195198564057,
      "grad_norm": 0.3882761597633362,
      "learning_rate": 0.00028659744017230375,
      "loss": 0.0934,
      "step": 6280
    },
    {
      "epoch": 1.4090195198564057,
      "gripper_loss": 0.09326171875,
      "loss": 0.08349609375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.2470703125,
      "step": 6280
    },
    {
      "epoch": 1.4092438860219878,
      "grad_norm": 0.44051021337509155,
      "learning_rate": 0.0002865375318540664,
      "loss": 0.0822,
      "step": 6281
    },
    {
      "epoch": 1.4092438860219878,
      "gripper_loss": 0.04443359375,
      "loss": 0.12109375,
      "pos_loss": 0.71875,
      "rot_loss": 0.373046875,
      "step": 6281
    },
    {
      "epoch": 1.40946825218757,
      "grad_norm": 0.5724720358848572,
      "learning_rate": 0.0002864776213918232,
      "loss": 0.1176,
      "step": 6282
    },
    {
      "epoch": 1.40946825218757,
      "gripper_loss": 0.23828125,
      "loss": 0.0294189453125,
      "pos_loss": 0.064453125,
      "rot_loss": 0.1279296875,
      "step": 6282
    },
    {
      "epoch": 1.4096926183531524,
      "grad_norm": 0.37555813789367676,
      "learning_rate": 0.0002864177087890896,
      "loss": 0.047,
      "step": 6283
    },
    {
      "epoch": 1.4096926183531524,
      "gripper_loss": 0.11181640625,
      "loss": 0.146484375,
      "pos_loss": 1.390625,
      "rot_loss": 0.08935546875,
      "step": 6283
    },
    {
      "epoch": 1.4099169845187345,
      "grad_norm": 0.4437055289745331,
      "learning_rate": 0.0002863577940493814,
      "loss": 0.0978,
      "step": 6284
    },
    {
      "epoch": 1.4099169845187345,
      "gripper_loss": 0.00848388671875,
      "loss": 0.03125,
      "pos_loss": 0.171875,
      "rot_loss": 0.115234375,
      "step": 6284
    },
    {
      "epoch": 1.4101413506843168,
      "grad_norm": 0.35192111134529114,
      "learning_rate": 0.0002862978771762142,
      "loss": 0.0629,
      "step": 6285
    },
    {
      "epoch": 1.4101413506843168,
      "gripper_loss": 0.134765625,
      "loss": 0.050537109375,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.197265625,
      "step": 6285
    },
    {
      "epoch": 1.410365716849899,
      "grad_norm": 0.4529103934764862,
      "learning_rate": 0.000286237958173104,
      "loss": 0.0695,
      "step": 6286
    },
    {
      "epoch": 1.410365716849899,
      "gripper_loss": 0.138671875,
      "loss": 0.0712890625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.01129150390625,
      "step": 6286
    },
    {
      "epoch": 1.4105900830154812,
      "grad_norm": 0.48334911465644836,
      "learning_rate": 0.0002861780370435667,
      "loss": 0.1113,
      "step": 6287
    },
    {
      "epoch": 1.4105900830154812,
      "gripper_loss": 1.9921875,
      "loss": 0.1826171875,
      "pos_loss": 1.21875,
      "rot_loss": 0.0224609375,
      "step": 6287
    },
    {
      "epoch": 1.4108144491810635,
      "grad_norm": 0.5500017404556274,
      "learning_rate": 0.0002861181137911186,
      "loss": 0.0952,
      "step": 6288
    },
    {
      "epoch": 1.4108144491810635,
      "gripper_loss": 0.0115966796875,
      "loss": 0.0771484375,
      "pos_loss": 0.62109375,
      "rot_loss": 0.1328125,
      "step": 6288
    },
    {
      "epoch": 1.4110388153466458,
      "grad_norm": 0.3569955825805664,
      "learning_rate": 0.0002860581884192758,
      "loss": 0.0799,
      "step": 6289
    },
    {
      "epoch": 1.4110388153466458,
      "gripper_loss": 0.4765625,
      "loss": 0.083984375,
      "pos_loss": 0.208984375,
      "rot_loss": 0.1005859375,
      "step": 6289
    },
    {
      "epoch": 1.4112631815122278,
      "grad_norm": 0.8576195240020752,
      "learning_rate": 0.00028599826093155483,
      "loss": 0.1576,
      "step": 6290
    },
    {
      "epoch": 1.4112631815122278,
      "gripper_loss": 0.01202392578125,
      "loss": 0.0228271484375,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.07373046875,
      "step": 6290
    },
    {
      "epoch": 1.4114875476778102,
      "grad_norm": 0.4412572681903839,
      "learning_rate": 0.00028593833133147225,
      "loss": 0.0623,
      "step": 6291
    },
    {
      "epoch": 1.4114875476778102,
      "gripper_loss": 0.0179443359375,
      "loss": 0.029541015625,
      "pos_loss": 0.115234375,
      "rot_loss": 0.15625,
      "step": 6291
    },
    {
      "epoch": 1.4117119138433925,
      "grad_norm": 0.6375007629394531,
      "learning_rate": 0.00028587839962254446,
      "loss": 0.1126,
      "step": 6292
    },
    {
      "epoch": 1.4117119138433925,
      "gripper_loss": 0.0216064453125,
      "loss": 0.11376953125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.09814453125,
      "step": 6292
    },
    {
      "epoch": 1.4119362800089745,
      "grad_norm": 0.6164922118186951,
      "learning_rate": 0.0002858184658082885,
      "loss": 0.0818,
      "step": 6293
    },
    {
      "epoch": 1.4119362800089745,
      "gripper_loss": 0.0218505859375,
      "loss": 0.06591796875,
      "pos_loss": 0.359375,
      "rot_loss": 0.259765625,
      "step": 6293
    },
    {
      "epoch": 1.4121606461745568,
      "grad_norm": 0.4494602680206299,
      "learning_rate": 0.0002857585298922211,
      "loss": 0.0767,
      "step": 6294
    },
    {
      "epoch": 1.4121606461745568,
      "gripper_loss": 0.035888671875,
      "loss": 0.0908203125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.09814453125,
      "step": 6294
    },
    {
      "epoch": 1.4123850123401391,
      "grad_norm": 0.5223616361618042,
      "learning_rate": 0.00028569859187785936,
      "loss": 0.0656,
      "step": 6295
    },
    {
      "epoch": 1.4123850123401391,
      "gripper_loss": 0.0106201171875,
      "loss": 0.1328125,
      "pos_loss": 1.1796875,
      "rot_loss": 0.193359375,
      "step": 6295
    },
    {
      "epoch": 1.4126093785057212,
      "grad_norm": 0.36863479018211365,
      "learning_rate": 0.0002856386517687203,
      "loss": 0.0741,
      "step": 6296
    },
    {
      "epoch": 1.4126093785057212,
      "gripper_loss": 0.40625,
      "loss": 0.02587890625,
      "pos_loss": 0.06640625,
      "rot_loss": 0.0322265625,
      "step": 6296
    },
    {
      "epoch": 1.4128337446713035,
      "grad_norm": 0.6214844584465027,
      "learning_rate": 0.00028557870956832135,
      "loss": 0.0999,
      "step": 6297
    },
    {
      "epoch": 1.4128337446713035,
      "gripper_loss": 0.2353515625,
      "loss": 0.03759765625,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.0771484375,
      "step": 6297
    },
    {
      "epoch": 1.4130581108368858,
      "grad_norm": 0.40436211228370667,
      "learning_rate": 0.0002855187652801797,
      "loss": 0.0703,
      "step": 6298
    },
    {
      "epoch": 1.4130581108368858,
      "gripper_loss": 0.232421875,
      "loss": 0.0252685546875,
      "pos_loss": 0.115234375,
      "rot_loss": 0.035400390625,
      "step": 6298
    },
    {
      "epoch": 1.413282477002468,
      "grad_norm": 0.3777923285961151,
      "learning_rate": 0.000285458818907813,
      "loss": 0.0482,
      "step": 6299
    },
    {
      "epoch": 1.413282477002468,
      "gripper_loss": 0.2451171875,
      "loss": 0.07666015625,
      "pos_loss": 0.310546875,
      "rot_loss": 0.33984375,
      "step": 6299
    },
    {
      "epoch": 1.4135068431680502,
      "grad_norm": 0.45941162109375,
      "learning_rate": 0.00028539887045473875,
      "loss": 0.0686,
      "step": 6300
    },
    {
      "epoch": 1.4135068431680502,
      "gripper_loss": 0.0286865234375,
      "loss": 0.2294921875,
      "pos_loss": 0.76171875,
      "rot_loss": 1.6328125,
      "step": 6300
    },
    {
      "epoch": 1.4137312093336325,
      "grad_norm": 0.48762255907058716,
      "learning_rate": 0.0002853389199244748,
      "loss": 0.1256,
      "step": 6301
    },
    {
      "epoch": 1.4137312093336325,
      "gripper_loss": 0.04931640625,
      "loss": 0.0830078125,
      "pos_loss": 0.609375,
      "rot_loss": 0.1796875,
      "step": 6301
    },
    {
      "epoch": 1.4139555754992148,
      "grad_norm": 0.5690070390701294,
      "learning_rate": 0.000285278967320539,
      "loss": 0.0914,
      "step": 6302
    },
    {
      "epoch": 1.4139555754992148,
      "gripper_loss": 0.06591796875,
      "loss": 0.0274658203125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.06884765625,
      "step": 6302
    },
    {
      "epoch": 1.4141799416647969,
      "grad_norm": 0.3967795670032501,
      "learning_rate": 0.0002852190126464494,
      "loss": 0.0484,
      "step": 6303
    },
    {
      "epoch": 1.4141799416647969,
      "gripper_loss": 0.1708984375,
      "loss": 0.1337890625,
      "pos_loss": 1.015625,
      "rot_loss": 0.1611328125,
      "step": 6303
    },
    {
      "epoch": 1.4144043078303792,
      "grad_norm": 0.7202951312065125,
      "learning_rate": 0.0002851590559057239,
      "loss": 0.1151,
      "step": 6304
    },
    {
      "epoch": 1.4144043078303792,
      "gripper_loss": 0.0361328125,
      "loss": 0.1982421875,
      "pos_loss": 1.03125,
      "rot_loss": 1.0390625,
      "step": 6304
    },
    {
      "epoch": 1.4146286739959615,
      "grad_norm": 0.4716932773590088,
      "learning_rate": 0.00028509909710188093,
      "loss": 0.0635,
      "step": 6305
    },
    {
      "epoch": 1.4146286739959615,
      "gripper_loss": 0.1865234375,
      "loss": 0.0947265625,
      "pos_loss": 0.828125,
      "rot_loss": 0.06787109375,
      "step": 6305
    },
    {
      "epoch": 1.4148530401615436,
      "grad_norm": 0.41293466091156006,
      "learning_rate": 0.0002850391362384388,
      "loss": 0.0573,
      "step": 6306
    },
    {
      "epoch": 1.4148530401615436,
      "gripper_loss": 0.04345703125,
      "loss": 0.10107421875,
      "pos_loss": 0.9296875,
      "rot_loss": 0.083984375,
      "step": 6306
    },
    {
      "epoch": 1.4150774063271259,
      "grad_norm": 0.3017875552177429,
      "learning_rate": 0.000284979173318916,
      "loss": 0.0519,
      "step": 6307
    },
    {
      "epoch": 1.4150774063271259,
      "gripper_loss": 0.16796875,
      "loss": 0.045654296875,
      "pos_loss": 0.298828125,
      "rot_loss": 0.049072265625,
      "step": 6307
    },
    {
      "epoch": 1.4153017724927082,
      "grad_norm": 0.5484174489974976,
      "learning_rate": 0.0002849192083468311,
      "loss": 0.0823,
      "step": 6308
    },
    {
      "epoch": 1.4153017724927082,
      "gripper_loss": 0.07861328125,
      "loss": 0.02685546875,
      "pos_loss": 0.193359375,
      "rot_loss": 0.0184326171875,
      "step": 6308
    },
    {
      "epoch": 1.4155261386582905,
      "grad_norm": 0.3152022063732147,
      "learning_rate": 0.00028485924132570285,
      "loss": 0.0641,
      "step": 6309
    },
    {
      "epoch": 1.4155261386582905,
      "gripper_loss": 0.470703125,
      "loss": 0.05712890625,
      "pos_loss": 0.357421875,
      "rot_loss": 0.03271484375,
      "step": 6309
    },
    {
      "epoch": 1.4157505048238725,
      "grad_norm": 0.49876049160957336,
      "learning_rate": 0.00028479927225905007,
      "loss": 0.0701,
      "step": 6310
    },
    {
      "epoch": 1.4157505048238725,
      "gripper_loss": 0.0128173828125,
      "loss": 0.10302734375,
      "pos_loss": 0.9765625,
      "rot_loss": 0.0654296875,
      "step": 6310
    },
    {
      "epoch": 1.4159748709894548,
      "grad_norm": 0.4143906235694885,
      "learning_rate": 0.00028473930115039157,
      "loss": 0.0645,
      "step": 6311
    },
    {
      "epoch": 1.4159748709894548,
      "gripper_loss": 0.22265625,
      "loss": 0.1669921875,
      "pos_loss": 0.193359375,
      "rot_loss": 0.1943359375,
      "step": 6311
    },
    {
      "epoch": 1.4161992371550371,
      "grad_norm": 1.476294994354248,
      "learning_rate": 0.00028467932800324677,
      "loss": 0.2432,
      "step": 6312
    },
    {
      "epoch": 1.4161992371550371,
      "gripper_loss": 0.0966796875,
      "loss": 0.046142578125,
      "pos_loss": 0.21875,
      "rot_loss": 0.146484375,
      "step": 6312
    },
    {
      "epoch": 1.4164236033206192,
      "grad_norm": 0.4700349271297455,
      "learning_rate": 0.0002846193528211345,
      "loss": 0.0763,
      "step": 6313
    },
    {
      "epoch": 1.4164236033206192,
      "gripper_loss": 0.1748046875,
      "loss": 0.0634765625,
      "pos_loss": 0.515625,
      "rot_loss": 0.051025390625,
      "step": 6313
    },
    {
      "epoch": 1.4166479694862015,
      "grad_norm": 0.4686799943447113,
      "learning_rate": 0.0002845593756075743,
      "loss": 0.0656,
      "step": 6314
    },
    {
      "epoch": 1.4166479694862015,
      "gripper_loss": 0.039794921875,
      "loss": 0.030029296875,
      "pos_loss": 0.0361328125,
      "rot_loss": 0.181640625,
      "step": 6314
    },
    {
      "epoch": 1.4168723356517838,
      "grad_norm": 0.4915339946746826,
      "learning_rate": 0.0002844993963660856,
      "loss": 0.0742,
      "step": 6315
    },
    {
      "epoch": 1.4168723356517838,
      "gripper_loss": 0.470703125,
      "loss": 0.15234375,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.3203125,
      "step": 6315
    },
    {
      "epoch": 1.417096701817366,
      "grad_norm": 1.2441515922546387,
      "learning_rate": 0.0002844394151001879,
      "loss": 0.1838,
      "step": 6316
    },
    {
      "epoch": 1.417096701817366,
      "gripper_loss": 0.046630859375,
      "loss": 0.095703125,
      "pos_loss": 0.79296875,
      "rot_loss": 0.1201171875,
      "step": 6316
    },
    {
      "epoch": 1.4173210679829482,
      "grad_norm": 0.4934040904045105,
      "learning_rate": 0.00028437943181340076,
      "loss": 0.0754,
      "step": 6317
    },
    {
      "epoch": 1.4173210679829482,
      "gripper_loss": 0.027587890625,
      "loss": 0.07470703125,
      "pos_loss": 0.72265625,
      "rot_loss": 0.01470947265625,
      "step": 6317
    },
    {
      "epoch": 1.4175454341485305,
      "grad_norm": 0.4309487044811249,
      "learning_rate": 0.0002843194465092442,
      "loss": 0.069,
      "step": 6318
    },
    {
      "epoch": 1.4175454341485305,
      "gripper_loss": 0.8359375,
      "loss": 0.080078125,
      "pos_loss": 0.1875,
      "rot_loss": 0.3046875,
      "step": 6318
    },
    {
      "epoch": 1.4177698003141126,
      "grad_norm": 0.5479975938796997,
      "learning_rate": 0.0002842594591912379,
      "loss": 0.0729,
      "step": 6319
    },
    {
      "epoch": 1.4177698003141126,
      "gripper_loss": 0.349609375,
      "loss": 0.1865234375,
      "pos_loss": 0.376953125,
      "rot_loss": 1.453125,
      "step": 6319
    },
    {
      "epoch": 1.417994166479695,
      "grad_norm": 0.5528944730758667,
      "learning_rate": 0.0002841994698629021,
      "loss": 0.0755,
      "step": 6320
    },
    {
      "epoch": 1.417994166479695,
      "gripper_loss": 0.0478515625,
      "loss": 0.10400390625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.60546875,
      "step": 6320
    },
    {
      "epoch": 1.4182185326452772,
      "grad_norm": 0.4513756036758423,
      "learning_rate": 0.0002841394785277569,
      "loss": 0.0626,
      "step": 6321
    },
    {
      "epoch": 1.4182185326452772,
      "gripper_loss": 0.07275390625,
      "loss": 0.028564453125,
      "pos_loss": 0.2109375,
      "rot_loss": 0.016357421875,
      "step": 6321
    },
    {
      "epoch": 1.4184428988108593,
      "grad_norm": 0.46390050649642944,
      "learning_rate": 0.00028407948518932244,
      "loss": 0.1028,
      "step": 6322
    },
    {
      "epoch": 1.4184428988108593,
      "gripper_loss": 0.421875,
      "loss": 0.08642578125,
      "pos_loss": 0.6875,
      "rot_loss": 0.041015625,
      "step": 6322
    },
    {
      "epoch": 1.4186672649764416,
      "grad_norm": 0.7116063833236694,
      "learning_rate": 0.0002840194898511192,
      "loss": 0.0871,
      "step": 6323
    },
    {
      "epoch": 1.4186672649764416,
      "gripper_loss": 0.2099609375,
      "loss": 0.1328125,
      "pos_loss": 0.80859375,
      "rot_loss": 0.1796875,
      "step": 6323
    },
    {
      "epoch": 1.4188916311420239,
      "grad_norm": 0.8328289985656738,
      "learning_rate": 0.0002839594925166676,
      "loss": 0.1099,
      "step": 6324
    },
    {
      "epoch": 1.4188916311420239,
      "gripper_loss": 0.033203125,
      "loss": 0.11572265625,
      "pos_loss": 0.953125,
      "rot_loss": 0.1875,
      "step": 6324
    },
    {
      "epoch": 1.419115997307606,
      "grad_norm": 0.48261263966560364,
      "learning_rate": 0.0002838994931894884,
      "loss": 0.0775,
      "step": 6325
    },
    {
      "epoch": 1.419115997307606,
      "gripper_loss": 0.142578125,
      "loss": 0.1484375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.3203125,
      "step": 6325
    },
    {
      "epoch": 1.4193403634731883,
      "grad_norm": 1.2217847108840942,
      "learning_rate": 0.00028383949187310223,
      "loss": 0.183,
      "step": 6326
    },
    {
      "epoch": 1.4193403634731883,
      "gripper_loss": 0.228515625,
      "loss": 0.0174560546875,
      "pos_loss": 0.0274658203125,
      "rot_loss": 0.01123046875,
      "step": 6326
    },
    {
      "epoch": 1.4195647296387706,
      "grad_norm": 0.5363185405731201,
      "learning_rate": 0.00028377948857103,
      "loss": 0.0566,
      "step": 6327
    },
    {
      "epoch": 1.4195647296387706,
      "gripper_loss": 0.0206298828125,
      "loss": 0.04541015625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.1630859375,
      "step": 6327
    },
    {
      "epoch": 1.4197890958043526,
      "grad_norm": 0.6569603085517883,
      "learning_rate": 0.00028371948328679246,
      "loss": 0.0596,
      "step": 6328
    },
    {
      "epoch": 1.4197890958043526,
      "gripper_loss": 0.109375,
      "loss": 0.046630859375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.08984375,
      "step": 6328
    },
    {
      "epoch": 1.420013461969935,
      "grad_norm": 0.785149872303009,
      "learning_rate": 0.00028365947602391106,
      "loss": 0.0926,
      "step": 6329
    },
    {
      "epoch": 1.420013461969935,
      "gripper_loss": 0.018798828125,
      "loss": 0.1943359375,
      "pos_loss": 1.359375,
      "rot_loss": 0.6015625,
      "step": 6329
    },
    {
      "epoch": 1.4202378281355172,
      "grad_norm": 0.6289373636245728,
      "learning_rate": 0.0002835994667859067,
      "loss": 0.1013,
      "step": 6330
    },
    {
      "epoch": 1.4202378281355172,
      "gripper_loss": 0.0179443359375,
      "loss": 0.1708984375,
      "pos_loss": 1.328125,
      "rot_loss": 0.3984375,
      "step": 6330
    },
    {
      "epoch": 1.4204621943010993,
      "grad_norm": 0.6640143394470215,
      "learning_rate": 0.00028353945557630083,
      "loss": 0.0818,
      "step": 6331
    },
    {
      "epoch": 1.4204621943010993,
      "gripper_loss": 0.018310546875,
      "loss": 0.0213623046875,
      "pos_loss": 0.103515625,
      "rot_loss": 0.04443359375,
      "step": 6331
    },
    {
      "epoch": 1.4206865604666816,
      "grad_norm": 0.6790814995765686,
      "learning_rate": 0.0002834794423986149,
      "loss": 0.083,
      "step": 6332
    },
    {
      "epoch": 1.4206865604666816,
      "gripper_loss": 0.07861328125,
      "loss": 0.051513671875,
      "pos_loss": 0.26953125,
      "rot_loss": 0.1171875,
      "step": 6332
    },
    {
      "epoch": 1.420910926632264,
      "grad_norm": 0.6604927778244019,
      "learning_rate": 0.0002834194272563704,
      "loss": 0.0981,
      "step": 6333
    },
    {
      "epoch": 1.420910926632264,
      "gripper_loss": 0.66015625,
      "loss": 0.058837890625,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.08544921875,
      "step": 6333
    },
    {
      "epoch": 1.421135292797846,
      "grad_norm": 0.4011442959308624,
      "learning_rate": 0.0002833594101530889,
      "loss": 0.0773,
      "step": 6334
    },
    {
      "epoch": 1.421135292797846,
      "gripper_loss": 0.042236328125,
      "loss": 0.0732421875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.15234375,
      "step": 6334
    },
    {
      "epoch": 1.4213596589634283,
      "grad_norm": 0.49865972995758057,
      "learning_rate": 0.0002832993910922924,
      "loss": 0.0511,
      "step": 6335
    },
    {
      "epoch": 1.4213596589634283,
      "gripper_loss": 0.166015625,
      "loss": 0.0198974609375,
      "pos_loss": 0.09228515625,
      "rot_loss": 0.01385498046875,
      "step": 6335
    },
    {
      "epoch": 1.4215840251290106,
      "grad_norm": 0.388508677482605,
      "learning_rate": 0.0002832393700775026,
      "loss": 0.0575,
      "step": 6336
    },
    {
      "epoch": 1.4215840251290106,
      "gripper_loss": 0.1796875,
      "loss": 0.09765625,
      "pos_loss": 0.86328125,
      "rot_loss": 0.032470703125,
      "step": 6336
    },
    {
      "epoch": 1.4218083912945927,
      "grad_norm": 0.5854631662368774,
      "learning_rate": 0.0002831793471122416,
      "loss": 0.0804,
      "step": 6337
    },
    {
      "epoch": 1.4218083912945927,
      "gripper_loss": 0.015869140625,
      "loss": 0.2177734375,
      "pos_loss": 1.3359375,
      "rot_loss": 0.87890625,
      "step": 6337
    },
    {
      "epoch": 1.422032757460175,
      "grad_norm": 0.6799931526184082,
      "learning_rate": 0.0002831193222000315,
      "loss": 0.0791,
      "step": 6338
    },
    {
      "epoch": 1.422032757460175,
      "gripper_loss": 0.06005859375,
      "loss": 0.034912109375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.0654296875,
      "step": 6338
    },
    {
      "epoch": 1.4222571236257573,
      "grad_norm": 0.6795169711112976,
      "learning_rate": 0.0002830592953443945,
      "loss": 0.0742,
      "step": 6339
    },
    {
      "epoch": 1.4222571236257573,
      "gripper_loss": 0.3671875,
      "loss": 0.1181640625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.93359375,
      "step": 6339
    },
    {
      "epoch": 1.4224814897913394,
      "grad_norm": 0.5007461905479431,
      "learning_rate": 0.00028299926654885306,
      "loss": 0.0582,
      "step": 6340
    },
    {
      "epoch": 1.4224814897913394,
      "gripper_loss": 0.043212890625,
      "loss": 0.1708984375,
      "pos_loss": 0.64453125,
      "rot_loss": 1.109375,
      "step": 6340
    },
    {
      "epoch": 1.4227058559569217,
      "grad_norm": 0.5818488597869873,
      "learning_rate": 0.0002829392358169294,
      "loss": 0.1074,
      "step": 6341
    },
    {
      "epoch": 1.4227058559569217,
      "gripper_loss": 0.0634765625,
      "loss": 0.0830078125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.30859375,
      "step": 6341
    },
    {
      "epoch": 1.422930222122504,
      "grad_norm": 0.6764554381370544,
      "learning_rate": 0.00028287920315214646,
      "loss": 0.0786,
      "step": 6342
    },
    {
      "epoch": 1.422930222122504,
      "gripper_loss": 0.0576171875,
      "loss": 0.087890625,
      "pos_loss": 0.65625,
      "rot_loss": 0.2041015625,
      "step": 6342
    },
    {
      "epoch": 1.423154588288086,
      "grad_norm": 0.35664090514183044,
      "learning_rate": 0.0002828191685580266,
      "loss": 0.0747,
      "step": 6343
    },
    {
      "epoch": 1.423154588288086,
      "gripper_loss": 1.65625,
      "loss": 0.060302734375,
      "pos_loss": 0.028564453125,
      "rot_loss": 0.0216064453125,
      "step": 6343
    },
    {
      "epoch": 1.4233789544536684,
      "grad_norm": 0.4303089380264282,
      "learning_rate": 0.00028275913203809286,
      "loss": 0.0689,
      "step": 6344
    },
    {
      "epoch": 1.4233789544536684,
      "gripper_loss": 0.306640625,
      "loss": 0.0184326171875,
      "pos_loss": 0.0322265625,
      "rot_loss": 0.01373291015625,
      "step": 6344
    },
    {
      "epoch": 1.4236033206192507,
      "grad_norm": 0.3992122709751129,
      "learning_rate": 0.0002826990935958679,
      "loss": 0.0821,
      "step": 6345
    },
    {
      "epoch": 1.4236033206192507,
      "gripper_loss": 0.0186767578125,
      "loss": 0.052490234375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.3203125,
      "step": 6345
    },
    {
      "epoch": 1.4238276867848327,
      "grad_norm": 0.4517245888710022,
      "learning_rate": 0.000282639053234875,
      "loss": 0.0894,
      "step": 6346
    },
    {
      "epoch": 1.4238276867848327,
      "gripper_loss": 0.8046875,
      "loss": 0.12451171875,
      "pos_loss": 0.8046875,
      "rot_loss": 0.166015625,
      "step": 6346
    },
    {
      "epoch": 1.424052052950415,
      "grad_norm": 0.3905336558818817,
      "learning_rate": 0.0002825790109586371,
      "loss": 0.0691,
      "step": 6347
    },
    {
      "epoch": 1.424052052950415,
      "gripper_loss": 0.24609375,
      "loss": 0.126953125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.66015625,
      "step": 6347
    },
    {
      "epoch": 1.4242764191159973,
      "grad_norm": 0.5868823528289795,
      "learning_rate": 0.0002825189667706776,
      "loss": 0.0738,
      "step": 6348
    },
    {
      "epoch": 1.4242764191159973,
      "gripper_loss": 0.765625,
      "loss": 0.037841796875,
      "pos_loss": 0.064453125,
      "rot_loss": 0.02783203125,
      "step": 6348
    },
    {
      "epoch": 1.4245007852815794,
      "grad_norm": 0.4239369332790375,
      "learning_rate": 0.00028245892067451983,
      "loss": 0.0641,
      "step": 6349
    },
    {
      "epoch": 1.4245007852815794,
      "gripper_loss": 0.412109375,
      "loss": 0.2041015625,
      "pos_loss": 0.3359375,
      "rot_loss": 0.458984375,
      "step": 6349
    },
    {
      "epoch": 1.4247251514471617,
      "grad_norm": 1.3264353275299072,
      "learning_rate": 0.0002823988726736872,
      "loss": 0.2366,
      "step": 6350
    },
    {
      "epoch": 1.4247251514471617,
      "gripper_loss": 0.0174560546875,
      "loss": 0.041015625,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.1640625,
      "step": 6350
    },
    {
      "epoch": 1.424949517612744,
      "grad_norm": 0.44837573170661926,
      "learning_rate": 0.00028233882277170345,
      "loss": 0.0861,
      "step": 6351
    },
    {
      "epoch": 1.424949517612744,
      "gripper_loss": 0.0230712890625,
      "loss": 0.047607421875,
      "pos_loss": 0.443359375,
      "rot_loss": 0.0169677734375,
      "step": 6351
    },
    {
      "epoch": 1.425173883778326,
      "grad_norm": 0.6109834909439087,
      "learning_rate": 0.0002822787709720921,
      "loss": 0.0738,
      "step": 6352
    },
    {
      "epoch": 1.425173883778326,
      "gripper_loss": 0.57421875,
      "loss": 0.05615234375,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.255859375,
      "step": 6352
    },
    {
      "epoch": 1.4253982499439084,
      "grad_norm": 0.5521535277366638,
      "learning_rate": 0.0002822187172783771,
      "loss": 0.0705,
      "step": 6353
    },
    {
      "epoch": 1.4253982499439084,
      "gripper_loss": 0.0245361328125,
      "loss": 0.203125,
      "pos_loss": 1.4375,
      "rot_loss": 0.671875,
      "step": 6353
    },
    {
      "epoch": 1.4256226161094907,
      "grad_norm": 0.5132339000701904,
      "learning_rate": 0.00028215866169408225,
      "loss": 0.0623,
      "step": 6354
    },
    {
      "epoch": 1.4256226161094907,
      "gripper_loss": 0.330078125,
      "loss": 0.08984375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.037353515625,
      "step": 6354
    },
    {
      "epoch": 1.4258469822750728,
      "grad_norm": 0.459490031003952,
      "learning_rate": 0.00028209860422273174,
      "loss": 0.0678,
      "step": 6355
    },
    {
      "epoch": 1.4258469822750728,
      "gripper_loss": 0.17578125,
      "loss": 0.26953125,
      "pos_loss": 0.578125,
      "rot_loss": 0.44921875,
      "step": 6355
    },
    {
      "epoch": 1.426071348440655,
      "grad_norm": 1.5354304313659668,
      "learning_rate": 0.00028203854486784965,
      "loss": 0.3354,
      "step": 6356
    },
    {
      "epoch": 1.426071348440655,
      "gripper_loss": 0.337890625,
      "loss": 0.08447265625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.259765625,
      "step": 6356
    },
    {
      "epoch": 1.4262957146062374,
      "grad_norm": 0.7244020104408264,
      "learning_rate": 0.0002819784836329602,
      "loss": 0.0651,
      "step": 6357
    },
    {
      "epoch": 1.4262957146062374,
      "gripper_loss": 0.0277099609375,
      "loss": 0.171875,
      "pos_loss": 0.71484375,
      "rot_loss": 0.486328125,
      "step": 6357
    },
    {
      "epoch": 1.4265200807718197,
      "grad_norm": 1.2889764308929443,
      "learning_rate": 0.0002819184205215877,
      "loss": 0.1797,
      "step": 6358
    },
    {
      "epoch": 1.4265200807718197,
      "gripper_loss": 0.05322265625,
      "loss": 0.09716796875,
      "pos_loss": 0.296875,
      "rot_loss": 0.5859375,
      "step": 6358
    },
    {
      "epoch": 1.4267444469374018,
      "grad_norm": 0.6846051812171936,
      "learning_rate": 0.0002818583555372567,
      "loss": 0.0792,
      "step": 6359
    },
    {
      "epoch": 1.4267444469374018,
      "gripper_loss": 0.00994873046875,
      "loss": 0.047119140625,
      "pos_loss": 0.38671875,
      "rot_loss": 0.04248046875,
      "step": 6359
    },
    {
      "epoch": 1.426968813102984,
      "grad_norm": 0.506164014339447,
      "learning_rate": 0.00028179828868349176,
      "loss": 0.0576,
      "step": 6360
    },
    {
      "epoch": 1.426968813102984,
      "gripper_loss": 0.412109375,
      "loss": 0.09375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.34375,
      "step": 6360
    },
    {
      "epoch": 1.4271931792685664,
      "grad_norm": 0.734854519367218,
      "learning_rate": 0.0002817382199638177,
      "loss": 0.0912,
      "step": 6361
    },
    {
      "epoch": 1.4271931792685664,
      "gripper_loss": 0.59765625,
      "loss": 0.1533203125,
      "pos_loss": 0.921875,
      "rot_loss": 0.443359375,
      "step": 6361
    },
    {
      "epoch": 1.4274175454341484,
      "grad_norm": 0.6810846924781799,
      "learning_rate": 0.00028167814938175924,
      "loss": 0.1004,
      "step": 6362
    },
    {
      "epoch": 1.4274175454341484,
      "gripper_loss": 0.020263671875,
      "loss": 0.05712890625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.10400390625,
      "step": 6362
    },
    {
      "epoch": 1.4276419115997308,
      "grad_norm": 0.6229881048202515,
      "learning_rate": 0.00028161807694084126,
      "loss": 0.0738,
      "step": 6363
    },
    {
      "epoch": 1.4276419115997308,
      "gripper_loss": 0.154296875,
      "loss": 0.0390625,
      "pos_loss": 0.234375,
      "rot_loss": 0.061767578125,
      "step": 6363
    },
    {
      "epoch": 1.427866277765313,
      "grad_norm": 0.6276191473007202,
      "learning_rate": 0.0002815580026445887,
      "loss": 0.0875,
      "step": 6364
    },
    {
      "epoch": 1.427866277765313,
      "gripper_loss": 0.1865234375,
      "loss": 0.064453125,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.318359375,
      "step": 6364
    },
    {
      "epoch": 1.4280906439308954,
      "grad_norm": 0.9382249712944031,
      "learning_rate": 0.0002814979264965268,
      "loss": 0.0881,
      "step": 6365
    },
    {
      "epoch": 1.4280906439308954,
      "gripper_loss": 0.76171875,
      "loss": 0.08447265625,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.361328125,
      "step": 6365
    },
    {
      "epoch": 1.4283150100964774,
      "grad_norm": 0.5712434649467468,
      "learning_rate": 0.000281437848500181,
      "loss": 0.081,
      "step": 6366
    },
    {
      "epoch": 1.4283150100964774,
      "gripper_loss": 0.034912109375,
      "loss": 0.1708984375,
      "pos_loss": 0.890625,
      "rot_loss": 0.8125,
      "step": 6366
    },
    {
      "epoch": 1.4285393762620597,
      "grad_norm": 0.4241678714752197,
      "learning_rate": 0.00028137776865907625,
      "loss": 0.1002,
      "step": 6367
    },
    {
      "epoch": 1.4285393762620597,
      "gripper_loss": 0.0150146484375,
      "loss": 0.05078125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.0654296875,
      "step": 6367
    },
    {
      "epoch": 1.428763742427642,
      "grad_norm": 0.43927064538002014,
      "learning_rate": 0.0002813176869767383,
      "loss": 0.0713,
      "step": 6368
    },
    {
      "epoch": 1.428763742427642,
      "gripper_loss": 0.140625,
      "loss": 0.054443359375,
      "pos_loss": 0.26953125,
      "rot_loss": 0.2021484375,
      "step": 6368
    },
    {
      "epoch": 1.4289881085932241,
      "grad_norm": 0.454884797334671,
      "learning_rate": 0.00028125760345669253,
      "loss": 0.0473,
      "step": 6369
    },
    {
      "epoch": 1.4289881085932241,
      "gripper_loss": 0.2275390625,
      "loss": 0.03857421875,
      "pos_loss": 0.09521484375,
      "rot_loss": 0.12451171875,
      "step": 6369
    },
    {
      "epoch": 1.4292124747588064,
      "grad_norm": 0.6555627584457397,
      "learning_rate": 0.0002811975181024648,
      "loss": 0.0677,
      "step": 6370
    },
    {
      "epoch": 1.4292124747588064,
      "gripper_loss": 0.4375,
      "loss": 0.027099609375,
      "pos_loss": 0.039794921875,
      "rot_loss": 0.0218505859375,
      "step": 6370
    },
    {
      "epoch": 1.4294368409243887,
      "grad_norm": 0.5506829023361206,
      "learning_rate": 0.0002811374309175807,
      "loss": 0.0656,
      "step": 6371
    },
    {
      "epoch": 1.4294368409243887,
      "gripper_loss": 0.373046875,
      "loss": 0.11474609375,
      "pos_loss": 0.455078125,
      "rot_loss": 0.578125,
      "step": 6371
    },
    {
      "epoch": 1.4296612070899708,
      "grad_norm": 0.6333824396133423,
      "learning_rate": 0.0002810773419055663,
      "loss": 0.1003,
      "step": 6372
    },
    {
      "epoch": 1.4296612070899708,
      "gripper_loss": 0.173828125,
      "loss": 0.0634765625,
      "pos_loss": 0.44140625,
      "rot_loss": 0.1318359375,
      "step": 6372
    },
    {
      "epoch": 1.429885573255553,
      "grad_norm": 0.4117026627063751,
      "learning_rate": 0.00028101725106994754,
      "loss": 0.0619,
      "step": 6373
    },
    {
      "epoch": 1.429885573255553,
      "gripper_loss": 0.34375,
      "loss": 0.04150390625,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.0517578125,
      "step": 6373
    },
    {
      "epoch": 1.4301099394211354,
      "grad_norm": 0.32652801275253296,
      "learning_rate": 0.00028095715841425044,
      "loss": 0.0597,
      "step": 6374
    },
    {
      "epoch": 1.4301099394211354,
      "gripper_loss": 0.166015625,
      "loss": 0.0986328125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.419921875,
      "step": 6374
    },
    {
      "epoch": 1.4303343055867175,
      "grad_norm": 0.5564711093902588,
      "learning_rate": 0.0002808970639420013,
      "loss": 0.0774,
      "step": 6375
    },
    {
      "epoch": 1.4303343055867175,
      "gripper_loss": 0.09130859375,
      "loss": 0.06640625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.150390625,
      "step": 6375
    },
    {
      "epoch": 1.4305586717522998,
      "grad_norm": 0.6725794076919556,
      "learning_rate": 0.00028083696765672636,
      "loss": 0.0783,
      "step": 6376
    },
    {
      "epoch": 1.4305586717522998,
      "gripper_loss": 0.056640625,
      "loss": 0.1337890625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.61328125,
      "step": 6376
    },
    {
      "epoch": 1.430783037917882,
      "grad_norm": 0.5057076811790466,
      "learning_rate": 0.000280776869561952,
      "loss": 0.0894,
      "step": 6377
    },
    {
      "epoch": 1.430783037917882,
      "gripper_loss": 0.10693359375,
      "loss": 0.051513671875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.3046875,
      "step": 6377
    },
    {
      "epoch": 1.4310074040834642,
      "grad_norm": 0.3574942350387573,
      "learning_rate": 0.00028071676966120497,
      "loss": 0.0866,
      "step": 6378
    },
    {
      "epoch": 1.4310074040834642,
      "gripper_loss": 1.0,
      "loss": 0.1337890625,
      "pos_loss": 1.0,
      "rot_loss": 0.0341796875,
      "step": 6378
    },
    {
      "epoch": 1.4312317702490465,
      "grad_norm": 0.6075729727745056,
      "learning_rate": 0.00028065666795801177,
      "loss": 0.1075,
      "step": 6379
    },
    {
      "epoch": 1.4312317702490465,
      "gripper_loss": 0.0238037109375,
      "loss": 0.01312255859375,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.0169677734375,
      "step": 6379
    },
    {
      "epoch": 1.4314561364146288,
      "grad_norm": 0.24713844060897827,
      "learning_rate": 0.00028059656445589905,
      "loss": 0.0389,
      "step": 6380
    },
    {
      "epoch": 1.4314561364146288,
      "gripper_loss": 0.11279296875,
      "loss": 0.255859375,
      "pos_loss": 1.609375,
      "rot_loss": 0.306640625,
      "step": 6380
    },
    {
      "epoch": 1.4316805025802108,
      "grad_norm": 1.3327460289001465,
      "learning_rate": 0.00028053645915839383,
      "loss": 0.1763,
      "step": 6381
    },
    {
      "epoch": 1.4316805025802108,
      "gripper_loss": 0.1259765625,
      "loss": 0.049072265625,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.1455078125,
      "step": 6381
    },
    {
      "epoch": 1.4319048687457931,
      "grad_norm": 0.5814450979232788,
      "learning_rate": 0.0002804763520690229,
      "loss": 0.1141,
      "step": 6382
    },
    {
      "epoch": 1.4319048687457931,
      "gripper_loss": 0.0947265625,
      "loss": 0.07177734375,
      "pos_loss": 0.345703125,
      "rot_loss": 0.3203125,
      "step": 6382
    },
    {
      "epoch": 1.4321292349113754,
      "grad_norm": 0.6647553443908691,
      "learning_rate": 0.0002804162431913134,
      "loss": 0.1019,
      "step": 6383
    },
    {
      "epoch": 1.4321292349113754,
      "gripper_loss": 0.0281982421875,
      "loss": 0.130859375,
      "pos_loss": 0.89453125,
      "rot_loss": 0.294921875,
      "step": 6383
    },
    {
      "epoch": 1.4323536010769575,
      "grad_norm": 0.8378890752792358,
      "learning_rate": 0.00028035613252879257,
      "loss": 0.1043,
      "step": 6384
    },
    {
      "epoch": 1.4323536010769575,
      "gripper_loss": 0.080078125,
      "loss": 0.12109375,
      "pos_loss": 0.7265625,
      "rot_loss": 0.431640625,
      "step": 6384
    },
    {
      "epoch": 1.4325779672425398,
      "grad_norm": 0.6057901382446289,
      "learning_rate": 0.0002802960200849876,
      "loss": 0.0967,
      "step": 6385
    },
    {
      "epoch": 1.4325779672425398,
      "gripper_loss": 0.034423828125,
      "loss": 0.03515625,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.07470703125,
      "step": 6385
    },
    {
      "epoch": 1.4328023334081221,
      "grad_norm": 0.40839242935180664,
      "learning_rate": 0.0002802359058634257,
      "loss": 0.0751,
      "step": 6386
    },
    {
      "epoch": 1.4328023334081221,
      "gripper_loss": 0.8671875,
      "loss": 0.11767578125,
      "pos_loss": 0.734375,
      "rot_loss": 0.1650390625,
      "step": 6386
    },
    {
      "epoch": 1.4330266995737042,
      "grad_norm": 0.4546717703342438,
      "learning_rate": 0.00028017578986763464,
      "loss": 0.0796,
      "step": 6387
    },
    {
      "epoch": 1.4330266995737042,
      "gripper_loss": 0.1474609375,
      "loss": 0.04052734375,
      "pos_loss": 0.27734375,
      "rot_loss": 0.046875,
      "step": 6387
    },
    {
      "epoch": 1.4332510657392865,
      "grad_norm": 0.4446040391921997,
      "learning_rate": 0.0002801156721011418,
      "loss": 0.0714,
      "step": 6388
    },
    {
      "epoch": 1.4332510657392865,
      "gripper_loss": 0.046875,
      "loss": 0.12451171875,
      "pos_loss": 0.984375,
      "rot_loss": 0.234375,
      "step": 6388
    },
    {
      "epoch": 1.4334754319048688,
      "grad_norm": 0.5057080984115601,
      "learning_rate": 0.00028005555256747493,
      "loss": 0.1213,
      "step": 6389
    },
    {
      "epoch": 1.4334754319048688,
      "gripper_loss": 0.03076171875,
      "loss": 0.06982421875,
      "pos_loss": 0.484375,
      "rot_loss": 0.14453125,
      "step": 6389
    },
    {
      "epoch": 1.433699798070451,
      "grad_norm": 0.43768152594566345,
      "learning_rate": 0.0002799954312701618,
      "loss": 0.0669,
      "step": 6390
    },
    {
      "epoch": 1.433699798070451,
      "gripper_loss": 0.150390625,
      "loss": 0.09912109375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.474609375,
      "step": 6390
    },
    {
      "epoch": 1.4339241642360332,
      "grad_norm": 0.6083469390869141,
      "learning_rate": 0.0002799353082127304,
      "loss": 0.08,
      "step": 6391
    },
    {
      "epoch": 1.4339241642360332,
      "gripper_loss": 0.030517578125,
      "loss": 0.08447265625,
      "pos_loss": 0.5625,
      "rot_loss": 0.2431640625,
      "step": 6391
    },
    {
      "epoch": 1.4341485304016155,
      "grad_norm": 0.3632332682609558,
      "learning_rate": 0.0002798751833987085,
      "loss": 0.0563,
      "step": 6392
    },
    {
      "epoch": 1.4341485304016155,
      "gripper_loss": 0.0230712890625,
      "loss": 0.12255859375,
      "pos_loss": 1.1484375,
      "rot_loss": 0.109375,
      "step": 6392
    },
    {
      "epoch": 1.4343728965671976,
      "grad_norm": 0.7832782864570618,
      "learning_rate": 0.0002798150568316244,
      "loss": 0.0909,
      "step": 6393
    },
    {
      "epoch": 1.4343728965671976,
      "gripper_loss": 0.396484375,
      "loss": 0.04541015625,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.146484375,
      "step": 6393
    },
    {
      "epoch": 1.4345972627327799,
      "grad_norm": 0.8778133392333984,
      "learning_rate": 0.00027975492851500615,
      "loss": 0.1057,
      "step": 6394
    },
    {
      "epoch": 1.4345972627327799,
      "gripper_loss": 0.4140625,
      "loss": 0.025390625,
      "pos_loss": 0.0296630859375,
      "rot_loss": 0.0576171875,
      "step": 6394
    },
    {
      "epoch": 1.4348216288983622,
      "grad_norm": 0.8595721125602722,
      "learning_rate": 0.00027969479845238216,
      "loss": 0.0885,
      "step": 6395
    },
    {
      "epoch": 1.4348216288983622,
      "gripper_loss": 0.0859375,
      "loss": 0.0576171875,
      "pos_loss": 0.15234375,
      "rot_loss": 0.271484375,
      "step": 6395
    },
    {
      "epoch": 1.4350459950639443,
      "grad_norm": 0.5754607915878296,
      "learning_rate": 0.0002796346666472809,
      "loss": 0.1039,
      "step": 6396
    },
    {
      "epoch": 1.4350459950639443,
      "gripper_loss": 0.21875,
      "loss": 0.03515625,
      "pos_loss": 0.15234375,
      "rot_loss": 0.10009765625,
      "step": 6396
    },
    {
      "epoch": 1.4352703612295266,
      "grad_norm": 0.47143155336380005,
      "learning_rate": 0.0002795745331032307,
      "loss": 0.0529,
      "step": 6397
    },
    {
      "epoch": 1.4352703612295266,
      "gripper_loss": 0.333984375,
      "loss": 0.046630859375,
      "pos_loss": 0.13671875,
      "rot_loss": 0.18359375,
      "step": 6397
    },
    {
      "epoch": 1.4354947273951089,
      "grad_norm": 0.8764912486076355,
      "learning_rate": 0.00027951439782376034,
      "loss": 0.1475,
      "step": 6398
    },
    {
      "epoch": 1.4354947273951089,
      "gripper_loss": 0.1533203125,
      "loss": 0.080078125,
      "pos_loss": 0.59375,
      "rot_loss": 0.14453125,
      "step": 6398
    },
    {
      "epoch": 1.435719093560691,
      "grad_norm": 0.4262169301509857,
      "learning_rate": 0.0002794542608123983,
      "loss": 0.0813,
      "step": 6399
    },
    {
      "epoch": 1.435719093560691,
      "gripper_loss": 0.8359375,
      "loss": 0.08056640625,
      "pos_loss": 0.244140625,
      "rot_loss": 0.291015625,
      "step": 6399
    },
    {
      "epoch": 1.4359434597262732,
      "grad_norm": 0.7952234148979187,
      "learning_rate": 0.00027939412207267367,
      "loss": 0.1125,
      "step": 6400
    },
    {
      "epoch": 1.4359434597262732,
      "gripper_loss": 0.007476806640625,
      "loss": 0.12353515625,
      "pos_loss": 0.7890625,
      "rot_loss": 0.466796875,
      "step": 6400
    },
    {
      "epoch": 1.4361678258918555,
      "grad_norm": 0.35205209255218506,
      "learning_rate": 0.0002793339816081152,
      "loss": 0.0729,
      "step": 6401
    },
    {
      "epoch": 1.4361678258918555,
      "gripper_loss": 0.1494140625,
      "loss": 0.03173828125,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.166015625,
      "step": 6401
    },
    {
      "epoch": 1.4363921920574376,
      "grad_norm": 0.549780011177063,
      "learning_rate": 0.00027927383942225194,
      "loss": 0.0772,
      "step": 6402
    },
    {
      "epoch": 1.4363921920574376,
      "gripper_loss": 0.02587890625,
      "loss": 0.0189208984375,
      "pos_loss": 0.0478515625,
      "rot_loss": 0.10595703125,
      "step": 6402
    },
    {
      "epoch": 1.43661655822302,
      "grad_norm": 0.33244046568870544,
      "learning_rate": 0.00027921369551861297,
      "loss": 0.0663,
      "step": 6403
    },
    {
      "epoch": 1.43661655822302,
      "gripper_loss": 0.048583984375,
      "loss": 0.05322265625,
      "pos_loss": 0.201171875,
      "rot_loss": 0.2021484375,
      "step": 6403
    },
    {
      "epoch": 1.4368409243886022,
      "grad_norm": 0.6817867755889893,
      "learning_rate": 0.0002791535499007276,
      "loss": 0.0654,
      "step": 6404
    },
    {
      "epoch": 1.4368409243886022,
      "gripper_loss": 0.012451171875,
      "loss": 0.1337890625,
      "pos_loss": 1.125,
      "rot_loss": 0.2451171875,
      "step": 6404
    },
    {
      "epoch": 1.4370652905541843,
      "grad_norm": 0.5444865822792053,
      "learning_rate": 0.000279093402572125,
      "loss": 0.0811,
      "step": 6405
    },
    {
      "epoch": 1.4370652905541843,
      "gripper_loss": 0.10791015625,
      "loss": 0.08056640625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.07861328125,
      "step": 6405
    },
    {
      "epoch": 1.4372896567197666,
      "grad_norm": 0.4067690968513489,
      "learning_rate": 0.00027903325353633476,
      "loss": 0.0621,
      "step": 6406
    },
    {
      "epoch": 1.4372896567197666,
      "gripper_loss": 0.1640625,
      "loss": 0.189453125,
      "pos_loss": 1.078125,
      "rot_loss": 0.83203125,
      "step": 6406
    },
    {
      "epoch": 1.437514022885349,
      "grad_norm": 0.6548831462860107,
      "learning_rate": 0.0002789731027968862,
      "loss": 0.0951,
      "step": 6407
    },
    {
      "epoch": 1.437514022885349,
      "gripper_loss": 1.71875,
      "loss": 0.1337890625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.01904296875,
      "step": 6407
    },
    {
      "epoch": 1.437738389050931,
      "grad_norm": 0.6050279140472412,
      "learning_rate": 0.0002789129503573091,
      "loss": 0.0947,
      "step": 6408
    },
    {
      "epoch": 1.437738389050931,
      "gripper_loss": 0.26171875,
      "loss": 0.048828125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.2470703125,
      "step": 6408
    },
    {
      "epoch": 1.4379627552165133,
      "grad_norm": 0.4215872585773468,
      "learning_rate": 0.00027885279622113325,
      "loss": 0.0628,
      "step": 6409
    },
    {
      "epoch": 1.4379627552165133,
      "gripper_loss": 0.91015625,
      "loss": 0.0634765625,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.25390625,
      "step": 6409
    },
    {
      "epoch": 1.4381871213820956,
      "grad_norm": 0.49739310145378113,
      "learning_rate": 0.00027879264039188816,
      "loss": 0.1041,
      "step": 6410
    },
    {
      "epoch": 1.4381871213820956,
      "gripper_loss": 0.353515625,
      "loss": 0.0279541015625,
      "pos_loss": 0.09765625,
      "rot_loss": 0.033935546875,
      "step": 6410
    },
    {
      "epoch": 1.438411487547678,
      "grad_norm": 0.4705195426940918,
      "learning_rate": 0.0002787324828731041,
      "loss": 0.0673,
      "step": 6411
    },
    {
      "epoch": 1.438411487547678,
      "gripper_loss": 0.392578125,
      "loss": 0.08056640625,
      "pos_loss": 0.58984375,
      "rot_loss": 0.078125,
      "step": 6411
    },
    {
      "epoch": 1.43863585371326,
      "grad_norm": 0.3608354330062866,
      "learning_rate": 0.0002786723236683108,
      "loss": 0.0541,
      "step": 6412
    },
    {
      "epoch": 1.43863585371326,
      "gripper_loss": 0.0299072265625,
      "loss": 0.1767578125,
      "pos_loss": 1.40625,
      "rot_loss": 0.404296875,
      "step": 6412
    },
    {
      "epoch": 1.4388602198788423,
      "grad_norm": 0.4381251633167267,
      "learning_rate": 0.00027861216278103856,
      "loss": 0.0772,
      "step": 6413
    },
    {
      "epoch": 1.4388602198788423,
      "gripper_loss": 0.462890625,
      "loss": 0.04833984375,
      "pos_loss": 0.19140625,
      "rot_loss": 0.11474609375,
      "step": 6413
    },
    {
      "epoch": 1.4390845860444246,
      "grad_norm": 0.420555979013443,
      "learning_rate": 0.00027855200021481753,
      "loss": 0.0727,
      "step": 6414
    },
    {
      "epoch": 1.4390845860444246,
      "gripper_loss": 0.04833984375,
      "loss": 0.041015625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.05859375,
      "step": 6414
    },
    {
      "epoch": 1.4393089522100067,
      "grad_norm": 0.392270028591156,
      "learning_rate": 0.000278491835973178,
      "loss": 0.0795,
      "step": 6415
    },
    {
      "epoch": 1.4393089522100067,
      "gripper_loss": 0.341796875,
      "loss": 0.0576171875,
      "pos_loss": 0.396484375,
      "rot_loss": 0.0576171875,
      "step": 6415
    },
    {
      "epoch": 1.439533318375589,
      "grad_norm": 0.3925594985485077,
      "learning_rate": 0.00027843167005965044,
      "loss": 0.0583,
      "step": 6416
    },
    {
      "epoch": 1.439533318375589,
      "gripper_loss": 0.00732421875,
      "loss": 0.07421875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.03271484375,
      "step": 6416
    },
    {
      "epoch": 1.4397576845411713,
      "grad_norm": 0.34221571683883667,
      "learning_rate": 0.00027837150247776526,
      "loss": 0.0807,
      "step": 6417
    },
    {
      "epoch": 1.4397576845411713,
      "gripper_loss": 0.04248046875,
      "loss": 0.04638671875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.041015625,
      "step": 6417
    },
    {
      "epoch": 1.4399820507067536,
      "grad_norm": 0.3642273545265198,
      "learning_rate": 0.0002783113332310531,
      "loss": 0.0689,
      "step": 6418
    },
    {
      "epoch": 1.4399820507067536,
      "gripper_loss": 0.00946044921875,
      "loss": 0.10400390625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.396484375,
      "step": 6418
    },
    {
      "epoch": 1.4402064168723356,
      "grad_norm": 0.33148661255836487,
      "learning_rate": 0.0002782511623230448,
      "loss": 0.0587,
      "step": 6419
    },
    {
      "epoch": 1.4402064168723356,
      "gripper_loss": 0.80859375,
      "loss": 0.1494140625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.26171875,
      "step": 6419
    },
    {
      "epoch": 1.440430783037918,
      "grad_norm": 0.5530543923377991,
      "learning_rate": 0.00027819098975727103,
      "loss": 0.0924,
      "step": 6420
    },
    {
      "epoch": 1.440430783037918,
      "gripper_loss": 0.01080322265625,
      "loss": 0.01318359375,
      "pos_loss": 0.043212890625,
      "rot_loss": 0.052978515625,
      "step": 6420
    },
    {
      "epoch": 1.4406551492035002,
      "grad_norm": 0.40466052293777466,
      "learning_rate": 0.0002781308155372627,
      "loss": 0.0519,
      "step": 6421
    },
    {
      "epoch": 1.4406551492035002,
      "gripper_loss": 0.025146484375,
      "loss": 0.16796875,
      "pos_loss": 1.2109375,
      "rot_loss": 0.5234375,
      "step": 6421
    },
    {
      "epoch": 1.4408795153690823,
      "grad_norm": 0.42572057247161865,
      "learning_rate": 0.0002780706396665508,
      "loss": 0.0649,
      "step": 6422
    },
    {
      "epoch": 1.4408795153690823,
      "gripper_loss": 0.0308837890625,
      "loss": 0.040771484375,
      "pos_loss": 0.265625,
      "rot_loss": 0.0908203125,
      "step": 6422
    },
    {
      "epoch": 1.4411038815346646,
      "grad_norm": 0.48723122477531433,
      "learning_rate": 0.0002780104621486664,
      "loss": 0.0528,
      "step": 6423
    },
    {
      "epoch": 1.4411038815346646,
      "gripper_loss": 0.046630859375,
      "loss": 0.1494140625,
      "pos_loss": 1.1015625,
      "rot_loss": 0.35546875,
      "step": 6423
    },
    {
      "epoch": 1.441328247700247,
      "grad_norm": 0.5801634788513184,
      "learning_rate": 0.0002779502829871408,
      "loss": 0.0877,
      "step": 6424
    },
    {
      "epoch": 1.441328247700247,
      "gripper_loss": 0.62890625,
      "loss": 0.099609375,
      "pos_loss": 0.53125,
      "rot_loss": 0.287109375,
      "step": 6424
    },
    {
      "epoch": 1.441552613865829,
      "grad_norm": 0.4070414900779724,
      "learning_rate": 0.0002778901021855052,
      "loss": 0.0582,
      "step": 6425
    },
    {
      "epoch": 1.441552613865829,
      "gripper_loss": 0.0162353515625,
      "loss": 0.1904296875,
      "pos_loss": 1.0390625,
      "rot_loss": 0.9375,
      "step": 6425
    },
    {
      "epoch": 1.4417769800314113,
      "grad_norm": 0.5894488096237183,
      "learning_rate": 0.00027782991974729097,
      "loss": 0.0649,
      "step": 6426
    },
    {
      "epoch": 1.4417769800314113,
      "gripper_loss": 0.1845703125,
      "loss": 0.045166015625,
      "pos_loss": 0.173828125,
      "rot_loss": 0.2138671875,
      "step": 6426
    },
    {
      "epoch": 1.4420013461969936,
      "grad_norm": 0.38722363114356995,
      "learning_rate": 0.0002777697356760296,
      "loss": 0.0632,
      "step": 6427
    },
    {
      "epoch": 1.4420013461969936,
      "gripper_loss": 0.03125,
      "loss": 0.08740234375,
      "pos_loss": 0.478515625,
      "rot_loss": 0.3671875,
      "step": 6427
    },
    {
      "epoch": 1.4422257123625757,
      "grad_norm": 0.46931543946266174,
      "learning_rate": 0.0002777095499752528,
      "loss": 0.0695,
      "step": 6428
    },
    {
      "epoch": 1.4422257123625757,
      "gripper_loss": 0.02490234375,
      "loss": 0.05859375,
      "pos_loss": 0.443359375,
      "rot_loss": 0.134765625,
      "step": 6428
    },
    {
      "epoch": 1.442450078528158,
      "grad_norm": 0.5379989147186279,
      "learning_rate": 0.000277649362648492,
      "loss": 0.095,
      "step": 6429
    },
    {
      "epoch": 1.442450078528158,
      "gripper_loss": 0.291015625,
      "loss": 0.0179443359375,
      "pos_loss": 0.0208740234375,
      "rot_loss": 0.036376953125,
      "step": 6429
    },
    {
      "epoch": 1.4426744446937403,
      "grad_norm": 0.4768112003803253,
      "learning_rate": 0.00027758917369927915,
      "loss": 0.0684,
      "step": 6430
    },
    {
      "epoch": 1.4426744446937403,
      "gripper_loss": 0.0556640625,
      "loss": 0.0194091796875,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.0908203125,
      "step": 6430
    },
    {
      "epoch": 1.4428988108593224,
      "grad_norm": 0.3258298635482788,
      "learning_rate": 0.0002775289831311461,
      "loss": 0.061,
      "step": 6431
    },
    {
      "epoch": 1.4428988108593224,
      "gripper_loss": 0.166015625,
      "loss": 0.0927734375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.26171875,
      "step": 6431
    },
    {
      "epoch": 1.4431231770249047,
      "grad_norm": 0.5609463453292847,
      "learning_rate": 0.0002774687909476246,
      "loss": 0.068,
      "step": 6432
    },
    {
      "epoch": 1.4431231770249047,
      "gripper_loss": 1.078125,
      "loss": 0.0419921875,
      "pos_loss": 0.03173828125,
      "rot_loss": 0.0252685546875,
      "step": 6432
    },
    {
      "epoch": 1.443347543190487,
      "grad_norm": 0.4480976462364197,
      "learning_rate": 0.0002774085971522469,
      "loss": 0.0675,
      "step": 6433
    },
    {
      "epoch": 1.443347543190487,
      "gripper_loss": 0.70703125,
      "loss": 0.1025390625,
      "pos_loss": 0.53125,
      "rot_loss": 0.177734375,
      "step": 6433
    },
    {
      "epoch": 1.443571909356069,
      "grad_norm": 0.7285428047180176,
      "learning_rate": 0.0002773484017485452,
      "loss": 0.0812,
      "step": 6434
    },
    {
      "epoch": 1.443571909356069,
      "gripper_loss": 0.08740234375,
      "loss": 0.046142578125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.10546875,
      "step": 6434
    },
    {
      "epoch": 1.4437962755216514,
      "grad_norm": 0.4631420075893402,
      "learning_rate": 0.0002772882047400515,
      "loss": 0.0742,
      "step": 6435
    },
    {
      "epoch": 1.4437962755216514,
      "gripper_loss": 0.01336669921875,
      "loss": 0.1484375,
      "pos_loss": 1.453125,
      "rot_loss": 0.0732421875,
      "step": 6435
    },
    {
      "epoch": 1.4440206416872337,
      "grad_norm": 0.5179225206375122,
      "learning_rate": 0.0002772280061302984,
      "loss": 0.0797,
      "step": 6436
    },
    {
      "epoch": 1.4440206416872337,
      "gripper_loss": 0.31640625,
      "loss": 0.1298828125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.023681640625,
      "step": 6436
    },
    {
      "epoch": 1.4442450078528157,
      "grad_norm": 0.3159226179122925,
      "learning_rate": 0.00027716780592281805,
      "loss": 0.0744,
      "step": 6437
    },
    {
      "epoch": 1.4442450078528157,
      "gripper_loss": 0.3515625,
      "loss": 0.10205078125,
      "pos_loss": 0.11865234375,
      "rot_loss": 0.81640625,
      "step": 6437
    },
    {
      "epoch": 1.444469374018398,
      "grad_norm": 0.4667666256427765,
      "learning_rate": 0.00027710760412114326,
      "loss": 0.0952,
      "step": 6438
    },
    {
      "epoch": 1.444469374018398,
      "gripper_loss": 0.53515625,
      "loss": 0.0947265625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.1845703125,
      "step": 6438
    },
    {
      "epoch": 1.4446937401839803,
      "grad_norm": 0.38480526208877563,
      "learning_rate": 0.0002770474007288064,
      "loss": 0.0627,
      "step": 6439
    },
    {
      "epoch": 1.4446937401839803,
      "gripper_loss": 0.01495361328125,
      "loss": 0.08984375,
      "pos_loss": 0.84375,
      "rot_loss": 0.07470703125,
      "step": 6439
    },
    {
      "epoch": 1.4449181063495624,
      "grad_norm": 0.31969743967056274,
      "learning_rate": 0.0002769871957493403,
      "loss": 0.063,
      "step": 6440
    },
    {
      "epoch": 1.4449181063495624,
      "gripper_loss": 0.05908203125,
      "loss": 0.031982421875,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.1611328125,
      "step": 6440
    },
    {
      "epoch": 1.4451424725151447,
      "grad_norm": 0.37370574474334717,
      "learning_rate": 0.0002769269891862778,
      "loss": 0.0701,
      "step": 6441
    },
    {
      "epoch": 1.4451424725151447,
      "gripper_loss": 0.015625,
      "loss": 0.1533203125,
      "pos_loss": 1.1875,
      "rot_loss": 0.412109375,
      "step": 6441
    },
    {
      "epoch": 1.445366838680727,
      "grad_norm": 0.5010675191879272,
      "learning_rate": 0.00027686678104315166,
      "loss": 0.0844,
      "step": 6442
    },
    {
      "epoch": 1.445366838680727,
      "gripper_loss": 0.7734375,
      "loss": 0.0390625,
      "pos_loss": 0.05517578125,
      "rot_loss": 0.0703125,
      "step": 6442
    },
    {
      "epoch": 1.445591204846309,
      "grad_norm": 0.5852009654045105,
      "learning_rate": 0.00027680657132349496,
      "loss": 0.0942,
      "step": 6443
    },
    {
      "epoch": 1.445591204846309,
      "gripper_loss": 0.271484375,
      "loss": 0.13671875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.50390625,
      "step": 6443
    },
    {
      "epoch": 1.4458155710118914,
      "grad_norm": 1.0012730360031128,
      "learning_rate": 0.00027674636003084083,
      "loss": 0.1069,
      "step": 6444
    },
    {
      "epoch": 1.4458155710118914,
      "gripper_loss": 0.1376953125,
      "loss": 0.0751953125,
      "pos_loss": 0.546875,
      "rot_loss": 0.1669921875,
      "step": 6444
    },
    {
      "epoch": 1.4460399371774737,
      "grad_norm": 0.3457540273666382,
      "learning_rate": 0.0002766861471687223,
      "loss": 0.0741,
      "step": 6445
    },
    {
      "epoch": 1.4460399371774737,
      "gripper_loss": 0.06689453125,
      "loss": 0.06396484375,
      "pos_loss": 0.515625,
      "rot_loss": 0.09765625,
      "step": 6445
    },
    {
      "epoch": 1.4462643033430558,
      "grad_norm": 0.46763622760772705,
      "learning_rate": 0.0002766259327406727,
      "loss": 0.1087,
      "step": 6446
    },
    {
      "epoch": 1.4462643033430558,
      "gripper_loss": 0.03173828125,
      "loss": 0.0947265625,
      "pos_loss": 0.8515625,
      "rot_loss": 0.0849609375,
      "step": 6446
    },
    {
      "epoch": 1.446488669508638,
      "grad_norm": 0.41266965866088867,
      "learning_rate": 0.00027656571675022546,
      "loss": 0.0535,
      "step": 6447
    },
    {
      "epoch": 1.446488669508638,
      "gripper_loss": 0.609375,
      "loss": 0.10595703125,
      "pos_loss": 0.49609375,
      "rot_loss": 0.30078125,
      "step": 6447
    },
    {
      "epoch": 1.4467130356742204,
      "grad_norm": 0.6038356423377991,
      "learning_rate": 0.00027650549920091387,
      "loss": 0.0735,
      "step": 6448
    },
    {
      "epoch": 1.4467130356742204,
      "gripper_loss": 0.019775390625,
      "loss": 0.1220703125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.671875,
      "step": 6448
    },
    {
      "epoch": 1.4469374018398025,
      "grad_norm": 0.5212698578834534,
      "learning_rate": 0.00027644528009627164,
      "loss": 0.1056,
      "step": 6449
    },
    {
      "epoch": 1.4469374018398025,
      "gripper_loss": 0.14453125,
      "loss": 0.036865234375,
      "pos_loss": 0.2890625,
      "rot_loss": 0.0244140625,
      "step": 6449
    },
    {
      "epoch": 1.4471617680053848,
      "grad_norm": 0.5810772776603699,
      "learning_rate": 0.0002763850594398323,
      "loss": 0.072,
      "step": 6450
    },
    {
      "epoch": 1.4471617680053848,
      "gripper_loss": 0.013427734375,
      "loss": 0.14453125,
      "pos_loss": 1.359375,
      "rot_loss": 0.1298828125,
      "step": 6450
    },
    {
      "epoch": 1.447386134170967,
      "grad_norm": 0.3433845639228821,
      "learning_rate": 0.0002763248372351296,
      "loss": 0.0799,
      "step": 6451
    },
    {
      "epoch": 1.447386134170967,
      "gripper_loss": 0.828125,
      "loss": 0.10009765625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.1962890625,
      "step": 6451
    },
    {
      "epoch": 1.4476105003365491,
      "grad_norm": 0.5230194330215454,
      "learning_rate": 0.00027626461348569727,
      "loss": 0.0892,
      "step": 6452
    },
    {
      "epoch": 1.4476105003365491,
      "gripper_loss": 0.0322265625,
      "loss": 0.0299072265625,
      "pos_loss": 0.1640625,
      "rot_loss": 0.0927734375,
      "step": 6452
    },
    {
      "epoch": 1.4478348665021314,
      "grad_norm": 0.35690978169441223,
      "learning_rate": 0.0002762043881950693,
      "loss": 0.0594,
      "step": 6453
    },
    {
      "epoch": 1.4478348665021314,
      "gripper_loss": 0.041748046875,
      "loss": 0.1552734375,
      "pos_loss": 0.5390625,
      "rot_loss": 1.0625,
      "step": 6453
    },
    {
      "epoch": 1.4480592326677137,
      "grad_norm": 0.42444780468940735,
      "learning_rate": 0.00027614416136677967,
      "loss": 0.0675,
      "step": 6454
    },
    {
      "epoch": 1.4480592326677137,
      "gripper_loss": 0.80859375,
      "loss": 0.1630859375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.7890625,
      "step": 6454
    },
    {
      "epoch": 1.4482835988332958,
      "grad_norm": 0.47017523646354675,
      "learning_rate": 0.0002760839330043625,
      "loss": 0.0656,
      "step": 6455
    },
    {
      "epoch": 1.4482835988332958,
      "gripper_loss": 1.4765625,
      "loss": 0.0810546875,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.1533203125,
      "step": 6455
    },
    {
      "epoch": 1.4485079649988781,
      "grad_norm": 0.4219721853733063,
      "learning_rate": 0.00027602370311135193,
      "loss": 0.0811,
      "step": 6456
    },
    {
      "epoch": 1.4485079649988781,
      "gripper_loss": 0.02685546875,
      "loss": 0.08154296875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.2177734375,
      "step": 6456
    },
    {
      "epoch": 1.4487323311644604,
      "grad_norm": 0.5035743713378906,
      "learning_rate": 0.00027596347169128217,
      "loss": 0.079,
      "step": 6457
    },
    {
      "epoch": 1.4487323311644604,
      "gripper_loss": 0.0244140625,
      "loss": 0.07861328125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.23046875,
      "step": 6457
    },
    {
      "epoch": 1.4489566973300425,
      "grad_norm": 0.3444153666496277,
      "learning_rate": 0.0002759032387476876,
      "loss": 0.0887,
      "step": 6458
    },
    {
      "epoch": 1.4489566973300425,
      "gripper_loss": 0.030517578125,
      "loss": 0.06982421875,
      "pos_loss": 0.484375,
      "rot_loss": 0.1806640625,
      "step": 6458
    },
    {
      "epoch": 1.4491810634956248,
      "grad_norm": 0.4230114817619324,
      "learning_rate": 0.0002758430042841027,
      "loss": 0.0757,
      "step": 6459
    },
    {
      "epoch": 1.4491810634956248,
      "gripper_loss": 0.34765625,
      "loss": 0.2578125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.515625,
      "step": 6459
    },
    {
      "epoch": 1.4494054296612071,
      "grad_norm": 1.718767762184143,
      "learning_rate": 0.000275782768304062,
      "loss": 0.2711,
      "step": 6460
    },
    {
      "epoch": 1.4494054296612071,
      "gripper_loss": 0.79296875,
      "loss": 0.1787109375,
      "pos_loss": 0.455078125,
      "rot_loss": 0.3671875,
      "step": 6460
    },
    {
      "epoch": 1.4496297958267892,
      "grad_norm": 1.4997360706329346,
      "learning_rate": 0.0002757225308111001,
      "loss": 0.1887,
      "step": 6461
    },
    {
      "epoch": 1.4496297958267892,
      "gripper_loss": 0.0263671875,
      "loss": 0.04736328125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.255859375,
      "step": 6461
    },
    {
      "epoch": 1.4498541619923715,
      "grad_norm": 0.5855104923248291,
      "learning_rate": 0.0002756622918087517,
      "loss": 0.0471,
      "step": 6462
    },
    {
      "epoch": 1.4498541619923715,
      "gripper_loss": 0.103515625,
      "loss": 0.1025390625,
      "pos_loss": 0.74609375,
      "rot_loss": 0.11083984375,
      "step": 6462
    },
    {
      "epoch": 1.4500785281579538,
      "grad_norm": 0.7198225259780884,
      "learning_rate": 0.00027560205130055154,
      "loss": 0.0681,
      "step": 6463
    },
    {
      "epoch": 1.4500785281579538,
      "gripper_loss": 0.095703125,
      "loss": 0.11474609375,
      "pos_loss": 0.9453125,
      "rot_loss": 0.07763671875,
      "step": 6463
    },
    {
      "epoch": 1.4503028943235359,
      "grad_norm": 0.7816517353057861,
      "learning_rate": 0.0002755418092900347,
      "loss": 0.0977,
      "step": 6464
    },
    {
      "epoch": 1.4503028943235359,
      "gripper_loss": 0.046142578125,
      "loss": 0.03515625,
      "pos_loss": 0.08203125,
      "rot_loss": 0.1923828125,
      "step": 6464
    },
    {
      "epoch": 1.4505272604891182,
      "grad_norm": 0.7117575407028198,
      "learning_rate": 0.0002754815657807359,
      "loss": 0.0677,
      "step": 6465
    },
    {
      "epoch": 1.4505272604891182,
      "gripper_loss": 0.062255859375,
      "loss": 0.1533203125,
      "pos_loss": 0.39453125,
      "rot_loss": 1.078125,
      "step": 6465
    },
    {
      "epoch": 1.4507516266547005,
      "grad_norm": 0.7619443535804749,
      "learning_rate": 0.0002754213207761904,
      "loss": 0.1048,
      "step": 6466
    },
    {
      "epoch": 1.4507516266547005,
      "gripper_loss": 0.0208740234375,
      "loss": 0.1748046875,
      "pos_loss": 0.6328125,
      "rot_loss": 1.171875,
      "step": 6466
    },
    {
      "epoch": 1.4509759928202828,
      "grad_norm": 0.5521161556243896,
      "learning_rate": 0.0002753610742799333,
      "loss": 0.084,
      "step": 6467
    },
    {
      "epoch": 1.4509759928202828,
      "gripper_loss": 0.38671875,
      "loss": 0.0673828125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.296875,
      "step": 6467
    },
    {
      "epoch": 1.4512003589858649,
      "grad_norm": 0.551064670085907,
      "learning_rate": 0.0002753008262954998,
      "loss": 0.0689,
      "step": 6468
    },
    {
      "epoch": 1.4512003589858649,
      "gripper_loss": 0.02685546875,
      "loss": 0.039794921875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.052978515625,
      "step": 6468
    },
    {
      "epoch": 1.4514247251514472,
      "grad_norm": 0.40441522002220154,
      "learning_rate": 0.00027524057682642517,
      "loss": 0.054,
      "step": 6469
    },
    {
      "epoch": 1.4514247251514472,
      "gripper_loss": 0.255859375,
      "loss": 0.052978515625,
      "pos_loss": 0.2109375,
      "rot_loss": 0.09033203125,
      "step": 6469
    },
    {
      "epoch": 1.4516490913170295,
      "grad_norm": 0.5964219570159912,
      "learning_rate": 0.0002751803258762449,
      "loss": 0.0818,
      "step": 6470
    },
    {
      "epoch": 1.4516490913170295,
      "gripper_loss": 0.0810546875,
      "loss": 0.06982421875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.0732421875,
      "step": 6470
    },
    {
      "epoch": 1.4518734574826115,
      "grad_norm": 0.5754156708717346,
      "learning_rate": 0.00027512007344849453,
      "loss": 0.0665,
      "step": 6471
    },
    {
      "epoch": 1.4518734574826115,
      "gripper_loss": 0.2373046875,
      "loss": 0.1845703125,
      "pos_loss": 0.5703125,
      "rot_loss": 0.53515625,
      "step": 6471
    },
    {
      "epoch": 1.4520978236481938,
      "grad_norm": 0.8502985239028931,
      "learning_rate": 0.00027505981954670955,
      "loss": 0.1398,
      "step": 6472
    },
    {
      "epoch": 1.4520978236481938,
      "gripper_loss": 0.83984375,
      "loss": 0.04443359375,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.05322265625,
      "step": 6472
    },
    {
      "epoch": 1.4523221898137761,
      "grad_norm": 0.7118238806724548,
      "learning_rate": 0.0002749995641744257,
      "loss": 0.0526,
      "step": 6473
    },
    {
      "epoch": 1.4523221898137761,
      "gripper_loss": 0.0302734375,
      "loss": 0.1494140625,
      "pos_loss": 1.2734375,
      "rot_loss": 0.1533203125,
      "step": 6473
    },
    {
      "epoch": 1.4525465559793584,
      "grad_norm": 0.7598353028297424,
      "learning_rate": 0.00027493930733517877,
      "loss": 0.0853,
      "step": 6474
    },
    {
      "epoch": 1.4525465559793584,
      "gripper_loss": 0.0174560546875,
      "loss": 0.0751953125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.10546875,
      "step": 6474
    },
    {
      "epoch": 1.4527709221449405,
      "grad_norm": 0.6998114585876465,
      "learning_rate": 0.00027487904903250447,
      "loss": 0.0872,
      "step": 6475
    },
    {
      "epoch": 1.4527709221449405,
      "gripper_loss": 0.875,
      "loss": 0.0986328125,
      "pos_loss": 0.54296875,
      "rot_loss": 0.07373046875,
      "step": 6475
    },
    {
      "epoch": 1.4529952883105228,
      "grad_norm": 0.6772584915161133,
      "learning_rate": 0.0002748187892699388,
      "loss": 0.0804,
      "step": 6476
    },
    {
      "epoch": 1.4529952883105228,
      "gripper_loss": 0.04052734375,
      "loss": 0.11962890625,
      "pos_loss": 0.5078125,
      "rot_loss": 0.53125,
      "step": 6476
    },
    {
      "epoch": 1.4532196544761051,
      "grad_norm": 0.8021390438079834,
      "learning_rate": 0.00027475852805101784,
      "loss": 0.0955,
      "step": 6477
    },
    {
      "epoch": 1.4532196544761051,
      "gripper_loss": 0.0147705078125,
      "loss": 0.10888671875,
      "pos_loss": 0.7890625,
      "rot_loss": 0.322265625,
      "step": 6477
    },
    {
      "epoch": 1.4534440206416872,
      "grad_norm": 0.5129556655883789,
      "learning_rate": 0.00027469826537927767,
      "loss": 0.0754,
      "step": 6478
    },
    {
      "epoch": 1.4534440206416872,
      "gripper_loss": 0.10986328125,
      "loss": 0.0712890625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.0115966796875,
      "step": 6478
    },
    {
      "epoch": 1.4536683868072695,
      "grad_norm": 0.4282098710536957,
      "learning_rate": 0.0002746380012582544,
      "loss": 0.074,
      "step": 6479
    },
    {
      "epoch": 1.4536683868072695,
      "gripper_loss": 0.65625,
      "loss": 0.08251953125,
      "pos_loss": 0.5703125,
      "rot_loss": 0.0308837890625,
      "step": 6479
    },
    {
      "epoch": 1.4538927529728518,
      "grad_norm": 0.6037575006484985,
      "learning_rate": 0.0002745777356914843,
      "loss": 0.1126,
      "step": 6480
    },
    {
      "epoch": 1.4538927529728518,
      "gripper_loss": 0.0703125,
      "loss": 0.0849609375,
      "pos_loss": 0.3671875,
      "rot_loss": 0.275390625,
      "step": 6480
    },
    {
      "epoch": 1.454117119138434,
      "grad_norm": 0.6778389811515808,
      "learning_rate": 0.00027451746868250383,
      "loss": 0.1235,
      "step": 6481
    },
    {
      "epoch": 1.454117119138434,
      "gripper_loss": 0.44921875,
      "loss": 0.515625,
      "pos_loss": 1.296875,
      "rot_loss": 1.015625,
      "step": 6481
    },
    {
      "epoch": 1.4543414853040162,
      "grad_norm": 1.7231311798095703,
      "learning_rate": 0.0002744572002348493,
      "loss": 0.3479,
      "step": 6482
    },
    {
      "epoch": 1.4543414853040162,
      "gripper_loss": 1.1328125,
      "loss": 0.06298828125,
      "pos_loss": 0.1796875,
      "rot_loss": 0.032470703125,
      "step": 6482
    },
    {
      "epoch": 1.4545658514695985,
      "grad_norm": 0.44150853157043457,
      "learning_rate": 0.0002743969303520574,
      "loss": 0.07,
      "step": 6483
    },
    {
      "epoch": 1.4545658514695985,
      "gripper_loss": 0.01214599609375,
      "loss": 0.10791015625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.384765625,
      "step": 6483
    },
    {
      "epoch": 1.4547902176351806,
      "grad_norm": 0.5298238396644592,
      "learning_rate": 0.00027433665903766447,
      "loss": 0.061,
      "step": 6484
    },
    {
      "epoch": 1.4547902176351806,
      "gripper_loss": 0.021240234375,
      "loss": 0.0830078125,
      "pos_loss": 0.376953125,
      "rot_loss": 0.412109375,
      "step": 6484
    },
    {
      "epoch": 1.4550145838007629,
      "grad_norm": 0.5782843232154846,
      "learning_rate": 0.00027427638629520763,
      "loss": 0.0643,
      "step": 6485
    },
    {
      "epoch": 1.4550145838007629,
      "gripper_loss": 0.023681640625,
      "loss": 0.08154296875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.06298828125,
      "step": 6485
    },
    {
      "epoch": 1.4552389499663452,
      "grad_norm": 0.7569609880447388,
      "learning_rate": 0.00027421611212822324,
      "loss": 0.1159,
      "step": 6486
    },
    {
      "epoch": 1.4552389499663452,
      "gripper_loss": 0.017578125,
      "loss": 0.0859375,
      "pos_loss": 0.5625,
      "rot_loss": 0.26171875,
      "step": 6486
    },
    {
      "epoch": 1.4554633161319273,
      "grad_norm": 0.5255265831947327,
      "learning_rate": 0.0002741558365402483,
      "loss": 0.0759,
      "step": 6487
    },
    {
      "epoch": 1.4554633161319273,
      "gripper_loss": 0.4375,
      "loss": 0.041259765625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.07373046875,
      "step": 6487
    },
    {
      "epoch": 1.4556876822975096,
      "grad_norm": 0.49894437193870544,
      "learning_rate": 0.00027409555953481987,
      "loss": 0.0723,
      "step": 6488
    },
    {
      "epoch": 1.4556876822975096,
      "gripper_loss": 0.451171875,
      "loss": 0.050537109375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.06201171875,
      "step": 6488
    },
    {
      "epoch": 1.4559120484630919,
      "grad_norm": 0.4470541477203369,
      "learning_rate": 0.0002740352811154748,
      "loss": 0.0777,
      "step": 6489
    },
    {
      "epoch": 1.4559120484630919,
      "gripper_loss": 0.052734375,
      "loss": 0.14453125,
      "pos_loss": 0.9609375,
      "rot_loss": 0.46875,
      "step": 6489
    },
    {
      "epoch": 1.456136414628674,
      "grad_norm": 0.5068701505661011,
      "learning_rate": 0.00027397500128575035,
      "loss": 0.08,
      "step": 6490
    },
    {
      "epoch": 1.456136414628674,
      "gripper_loss": 3.765625,
      "loss": 0.1591796875,
      "pos_loss": 0.15234375,
      "rot_loss": 0.173828125,
      "step": 6490
    },
    {
      "epoch": 1.4563607807942562,
      "grad_norm": 0.5593492984771729,
      "learning_rate": 0.00027391472004918374,
      "loss": 0.0942,
      "step": 6491
    },
    {
      "epoch": 1.4563607807942562,
      "gripper_loss": 0.625,
      "loss": 0.05224609375,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.04296875,
      "step": 6491
    },
    {
      "epoch": 1.4565851469598385,
      "grad_norm": 0.44052019715309143,
      "learning_rate": 0.00027385443740931203,
      "loss": 0.0805,
      "step": 6492
    },
    {
      "epoch": 1.4565851469598385,
      "gripper_loss": 0.1328125,
      "loss": 0.11376953125,
      "pos_loss": 0.93359375,
      "rot_loss": 0.08447265625,
      "step": 6492
    },
    {
      "epoch": 1.4568095131254206,
      "grad_norm": 0.6273365616798401,
      "learning_rate": 0.0002737941533696727,
      "loss": 0.0727,
      "step": 6493
    },
    {
      "epoch": 1.4568095131254206,
      "gripper_loss": 0.05078125,
      "loss": 0.11083984375,
      "pos_loss": 0.400390625,
      "rot_loss": 0.68359375,
      "step": 6493
    },
    {
      "epoch": 1.457033879291003,
      "grad_norm": 0.592194676399231,
      "learning_rate": 0.0002737338679338033,
      "loss": 0.0933,
      "step": 6494
    },
    {
      "epoch": 1.457033879291003,
      "gripper_loss": 0.375,
      "loss": 0.126953125,
      "pos_loss": 0.48046875,
      "rot_loss": 0.6953125,
      "step": 6494
    },
    {
      "epoch": 1.4572582454565852,
      "grad_norm": 0.3906167149543762,
      "learning_rate": 0.0002736735811052412,
      "loss": 0.0621,
      "step": 6495
    },
    {
      "epoch": 1.4572582454565852,
      "gripper_loss": 1.1015625,
      "loss": 0.08837890625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.2041015625,
      "step": 6495
    },
    {
      "epoch": 1.4574826116221673,
      "grad_norm": 0.6289390325546265,
      "learning_rate": 0.000273613292887524,
      "loss": 0.0697,
      "step": 6496
    },
    {
      "epoch": 1.4574826116221673,
      "gripper_loss": 0.022216796875,
      "loss": 0.1357421875,
      "pos_loss": 1.2421875,
      "rot_loss": 0.1416015625,
      "step": 6496
    },
    {
      "epoch": 1.4577069777877496,
      "grad_norm": 0.41482701897621155,
      "learning_rate": 0.0002735530032841895,
      "loss": 0.0847,
      "step": 6497
    },
    {
      "epoch": 1.4577069777877496,
      "gripper_loss": 0.027587890625,
      "loss": 0.09619140625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.421875,
      "step": 6497
    },
    {
      "epoch": 1.457931343953332,
      "grad_norm": 0.3750896453857422,
      "learning_rate": 0.00027349271229877537,
      "loss": 0.0701,
      "step": 6498
    },
    {
      "epoch": 1.457931343953332,
      "gripper_loss": 0.1513671875,
      "loss": 0.10400390625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.341796875,
      "step": 6498
    },
    {
      "epoch": 1.458155710118914,
      "grad_norm": 0.5211900472640991,
      "learning_rate": 0.0002734324199348195,
      "loss": 0.0857,
      "step": 6499
    },
    {
      "epoch": 1.458155710118914,
      "gripper_loss": 0.047607421875,
      "loss": 0.0244140625,
      "pos_loss": 0.1875,
      "rot_loss": 0.014404296875,
      "step": 6499
    },
    {
      "epoch": 1.4583800762844963,
      "grad_norm": 0.3637236952781677,
      "learning_rate": 0.00027337212619585983,
      "loss": 0.0457,
      "step": 6500
    },
    {
      "epoch": 1.4583800762844963,
      "gripper_loss": 0.02685546875,
      "loss": 0.0810546875,
      "pos_loss": 0.484375,
      "rot_loss": 0.2333984375,
      "step": 6500
    },
    {
      "epoch": 1.4586044424500786,
      "grad_norm": 0.36063531041145325,
      "learning_rate": 0.0002733118310854343,
      "loss": 0.0687,
      "step": 6501
    },
    {
      "epoch": 1.4586044424500786,
      "gripper_loss": 0.375,
      "loss": 0.515625,
      "pos_loss": 0.9453125,
      "rot_loss": 0.953125,
      "step": 6501
    },
    {
      "epoch": 1.4588288086156607,
      "grad_norm": 1.8842291831970215,
      "learning_rate": 0.00027325153460708106,
      "loss": 0.5825,
      "step": 6502
    },
    {
      "epoch": 1.4588288086156607,
      "gripper_loss": 0.0439453125,
      "loss": 0.06689453125,
      "pos_loss": 0.3828125,
      "rot_loss": 0.1533203125,
      "step": 6502
    },
    {
      "epoch": 1.459053174781243,
      "grad_norm": 0.6213808655738831,
      "learning_rate": 0.0002731912367643383,
      "loss": 0.0682,
      "step": 6503
    },
    {
      "epoch": 1.459053174781243,
      "gripper_loss": 0.01202392578125,
      "loss": 0.08154296875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1689453125,
      "step": 6503
    },
    {
      "epoch": 1.4592775409468253,
      "grad_norm": 0.43447884917259216,
      "learning_rate": 0.0002731309375607443,
      "loss": 0.0939,
      "step": 6504
    },
    {
      "epoch": 1.4592775409468253,
      "gripper_loss": 0.2001953125,
      "loss": 0.08544921875,
      "pos_loss": 0.46875,
      "rot_loss": 0.216796875,
      "step": 6504
    },
    {
      "epoch": 1.4595019071124073,
      "grad_norm": 0.7063137888908386,
      "learning_rate": 0.00027307063699983725,
      "loss": 0.1148,
      "step": 6505
    },
    {
      "epoch": 1.4595019071124073,
      "gripper_loss": 0.4609375,
      "loss": 0.1083984375,
      "pos_loss": 0.6875,
      "rot_loss": 0.26171875,
      "step": 6505
    },
    {
      "epoch": 1.4597262732779896,
      "grad_norm": 0.5643485188484192,
      "learning_rate": 0.0002730103350851556,
      "loss": 0.0751,
      "step": 6506
    },
    {
      "epoch": 1.4597262732779896,
      "gripper_loss": 0.0419921875,
      "loss": 0.1435546875,
      "pos_loss": 1.2265625,
      "rot_loss": 0.205078125,
      "step": 6506
    },
    {
      "epoch": 1.459950639443572,
      "grad_norm": 0.5314410924911499,
      "learning_rate": 0.0002729500318202379,
      "loss": 0.0724,
      "step": 6507
    },
    {
      "epoch": 1.459950639443572,
      "gripper_loss": 0.283203125,
      "loss": 0.16015625,
      "pos_loss": 1.1015625,
      "rot_loss": 0.45703125,
      "step": 6507
    },
    {
      "epoch": 1.460175005609154,
      "grad_norm": 0.6104223728179932,
      "learning_rate": 0.0002728897272086228,
      "loss": 0.0909,
      "step": 6508
    },
    {
      "epoch": 1.460175005609154,
      "gripper_loss": 0.01239013671875,
      "loss": 0.11865234375,
      "pos_loss": 1.0859375,
      "rot_loss": 0.11767578125,
      "step": 6508
    },
    {
      "epoch": 1.4603993717747363,
      "grad_norm": 0.4029304087162018,
      "learning_rate": 0.0002728294212538488,
      "loss": 0.0709,
      "step": 6509
    },
    {
      "epoch": 1.4603993717747363,
      "gripper_loss": 0.09375,
      "loss": 0.035400390625,
      "pos_loss": 0.234375,
      "rot_loss": 0.051513671875,
      "step": 6509
    },
    {
      "epoch": 1.4606237379403186,
      "grad_norm": 0.4302135109901428,
      "learning_rate": 0.0002727691139594546,
      "loss": 0.0923,
      "step": 6510
    },
    {
      "epoch": 1.4606237379403186,
      "gripper_loss": 0.9296875,
      "loss": 0.09619140625,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.326171875,
      "step": 6510
    },
    {
      "epoch": 1.4608481041059007,
      "grad_norm": 0.7849257588386536,
      "learning_rate": 0.0002727088053289791,
      "loss": 0.0891,
      "step": 6511
    },
    {
      "epoch": 1.4608481041059007,
      "gripper_loss": 0.01129150390625,
      "loss": 0.130859375,
      "pos_loss": 0.9921875,
      "rot_loss": 0.3359375,
      "step": 6511
    },
    {
      "epoch": 1.461072470271483,
      "grad_norm": 0.4793662130832672,
      "learning_rate": 0.0002726484953659612,
      "loss": 0.0738,
      "step": 6512
    },
    {
      "epoch": 1.461072470271483,
      "gripper_loss": 0.251953125,
      "loss": 0.11181640625,
      "pos_loss": 1.0,
      "rot_loss": 0.054931640625,
      "step": 6512
    },
    {
      "epoch": 1.4612968364370653,
      "grad_norm": 0.4562408924102783,
      "learning_rate": 0.00027258818407393983,
      "loss": 0.0762,
      "step": 6513
    },
    {
      "epoch": 1.4612968364370653,
      "gripper_loss": 0.06591796875,
      "loss": 0.049072265625,
      "pos_loss": 0.30859375,
      "rot_loss": 0.1162109375,
      "step": 6513
    },
    {
      "epoch": 1.4615212026026474,
      "grad_norm": 0.4598354399204254,
      "learning_rate": 0.000272527871456454,
      "loss": 0.0697,
      "step": 6514
    },
    {
      "epoch": 1.4615212026026474,
      "gripper_loss": 1.0859375,
      "loss": 0.578125,
      "pos_loss": 1.0625,
      "rot_loss": 0.7265625,
      "step": 6514
    },
    {
      "epoch": 1.4617455687682297,
      "grad_norm": 1.5300140380859375,
      "learning_rate": 0.0002724675575170428,
      "loss": 0.5266,
      "step": 6515
    },
    {
      "epoch": 1.4617455687682297,
      "gripper_loss": 0.578125,
      "loss": 0.103515625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.51953125,
      "step": 6515
    },
    {
      "epoch": 1.461969934933812,
      "grad_norm": 0.6673493385314941,
      "learning_rate": 0.0002724072422592455,
      "loss": 0.1056,
      "step": 6516
    },
    {
      "epoch": 1.461969934933812,
      "gripper_loss": 0.034912109375,
      "loss": 0.055908203125,
      "pos_loss": 0.21875,
      "rot_loss": 0.24609375,
      "step": 6516
    },
    {
      "epoch": 1.462194301099394,
      "grad_norm": 0.3570345640182495,
      "learning_rate": 0.0002723469256866013,
      "loss": 0.0576,
      "step": 6517
    },
    {
      "epoch": 1.462194301099394,
      "gripper_loss": 0.032470703125,
      "loss": 0.11669921875,
      "pos_loss": 0.83203125,
      "rot_loss": 0.330078125,
      "step": 6517
    },
    {
      "epoch": 1.4624186672649764,
      "grad_norm": 0.5099576711654663,
      "learning_rate": 0.0002722866078026497,
      "loss": 0.079,
      "step": 6518
    },
    {
      "epoch": 1.4624186672649764,
      "gripper_loss": 0.458984375,
      "loss": 0.06640625,
      "pos_loss": 0.36328125,
      "rot_loss": 0.1142578125,
      "step": 6518
    },
    {
      "epoch": 1.4626430334305587,
      "grad_norm": 0.580291211605072,
      "learning_rate": 0.00027222628861092995,
      "loss": 0.0822,
      "step": 6519
    },
    {
      "epoch": 1.4626430334305587,
      "gripper_loss": 0.09228515625,
      "loss": 0.09326171875,
      "pos_loss": 0.53125,
      "rot_loss": 0.31640625,
      "step": 6519
    },
    {
      "epoch": 1.462867399596141,
      "grad_norm": 0.48377132415771484,
      "learning_rate": 0.0002721659681149817,
      "loss": 0.0759,
      "step": 6520
    },
    {
      "epoch": 1.462867399596141,
      "gripper_loss": 0.04443359375,
      "loss": 0.1640625,
      "pos_loss": 1.15625,
      "rot_loss": 0.51171875,
      "step": 6520
    },
    {
      "epoch": 1.463091765761723,
      "grad_norm": 0.6520933508872986,
      "learning_rate": 0.00027210564631834435,
      "loss": 0.077,
      "step": 6521
    },
    {
      "epoch": 1.463091765761723,
      "gripper_loss": 0.10595703125,
      "loss": 0.0289306640625,
      "pos_loss": 0.185546875,
      "rot_loss": 0.03466796875,
      "step": 6521
    },
    {
      "epoch": 1.4633161319273054,
      "grad_norm": 0.40572723746299744,
      "learning_rate": 0.00027204532322455763,
      "loss": 0.0657,
      "step": 6522
    },
    {
      "epoch": 1.4633161319273054,
      "gripper_loss": 0.0198974609375,
      "loss": 0.0703125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.04052734375,
      "step": 6522
    },
    {
      "epoch": 1.4635404980928877,
      "grad_norm": 0.49090808629989624,
      "learning_rate": 0.0002719849988371614,
      "loss": 0.0837,
      "step": 6523
    },
    {
      "epoch": 1.4635404980928877,
      "gripper_loss": 0.08642578125,
      "loss": 0.012451171875,
      "pos_loss": 0.0162353515625,
      "rot_loss": 0.047119140625,
      "step": 6523
    },
    {
      "epoch": 1.4637648642584697,
      "grad_norm": 0.5102794766426086,
      "learning_rate": 0.0002719246731596953,
      "loss": 0.0666,
      "step": 6524
    },
    {
      "epoch": 1.4637648642584697,
      "gripper_loss": 0.02685546875,
      "loss": 0.08447265625,
      "pos_loss": 0.353515625,
      "rot_loss": 0.41796875,
      "step": 6524
    },
    {
      "epoch": 1.463989230424052,
      "grad_norm": 0.5003526210784912,
      "learning_rate": 0.00027186434619569936,
      "loss": 0.0563,
      "step": 6525
    },
    {
      "epoch": 1.463989230424052,
      "gripper_loss": 0.0284423828125,
      "loss": 0.047119140625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.26953125,
      "step": 6525
    },
    {
      "epoch": 1.4642135965896343,
      "grad_norm": 0.577855110168457,
      "learning_rate": 0.0002718040179487134,
      "loss": 0.062,
      "step": 6526
    },
    {
      "epoch": 1.4642135965896343,
      "gripper_loss": 0.408203125,
      "loss": 0.033203125,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.087890625,
      "step": 6526
    },
    {
      "epoch": 1.4644379627552166,
      "grad_norm": 0.36549416184425354,
      "learning_rate": 0.00027174368842227753,
      "loss": 0.0436,
      "step": 6527
    },
    {
      "epoch": 1.4644379627552166,
      "gripper_loss": 0.045654296875,
      "loss": 0.059326171875,
      "pos_loss": 0.435546875,
      "rot_loss": 0.0830078125,
      "step": 6527
    },
    {
      "epoch": 1.4646623289207987,
      "grad_norm": 0.5208386778831482,
      "learning_rate": 0.00027168335761993187,
      "loss": 0.0775,
      "step": 6528
    },
    {
      "epoch": 1.4646623289207987,
      "gripper_loss": 0.01177978515625,
      "loss": 0.1298828125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.9921875,
      "step": 6528
    },
    {
      "epoch": 1.464886695086381,
      "grad_norm": 0.40678223967552185,
      "learning_rate": 0.00027162302554521647,
      "loss": 0.0856,
      "step": 6529
    },
    {
      "epoch": 1.464886695086381,
      "gripper_loss": 0.022705078125,
      "loss": 0.07275390625,
      "pos_loss": 0.625,
      "rot_loss": 0.08544921875,
      "step": 6529
    },
    {
      "epoch": 1.4651110612519633,
      "grad_norm": 0.3820629417896271,
      "learning_rate": 0.0002715626922016718,
      "loss": 0.068,
      "step": 6530
    },
    {
      "epoch": 1.4651110612519633,
      "gripper_loss": 0.08349609375,
      "loss": 0.1083984375,
      "pos_loss": 0.96484375,
      "rot_loss": 0.0595703125,
      "step": 6530
    },
    {
      "epoch": 1.4653354274175454,
      "grad_norm": 0.5781579613685608,
      "learning_rate": 0.000271502357592838,
      "loss": 0.0873,
      "step": 6531
    },
    {
      "epoch": 1.4653354274175454,
      "gripper_loss": 0.1884765625,
      "loss": 0.1357421875,
      "pos_loss": 0.412109375,
      "rot_loss": 0.498046875,
      "step": 6531
    },
    {
      "epoch": 1.4655597935831277,
      "grad_norm": 0.7404032349586487,
      "learning_rate": 0.00027144202172225566,
      "loss": 0.0896,
      "step": 6532
    },
    {
      "epoch": 1.4655597935831277,
      "gripper_loss": 0.671875,
      "loss": 0.091796875,
      "pos_loss": 0.65625,
      "rot_loss": 0.047607421875,
      "step": 6532
    },
    {
      "epoch": 1.46578415974871,
      "grad_norm": 0.4614463746547699,
      "learning_rate": 0.0002713816845934652,
      "loss": 0.0864,
      "step": 6533
    },
    {
      "epoch": 1.46578415974871,
      "gripper_loss": 0.10205078125,
      "loss": 0.0791015625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.2373046875,
      "step": 6533
    },
    {
      "epoch": 1.466008525914292,
      "grad_norm": 0.5988142490386963,
      "learning_rate": 0.000271321346210007,
      "loss": 0.0927,
      "step": 6534
    },
    {
      "epoch": 1.466008525914292,
      "gripper_loss": 0.107421875,
      "loss": 0.0576171875,
      "pos_loss": 0.275390625,
      "rot_loss": 0.2177734375,
      "step": 6534
    },
    {
      "epoch": 1.4662328920798744,
      "grad_norm": 0.6508133411407471,
      "learning_rate": 0.0002712610065754219,
      "loss": 0.0784,
      "step": 6535
    },
    {
      "epoch": 1.4662328920798744,
      "gripper_loss": 0.2236328125,
      "loss": 0.04296875,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.10498046875,
      "step": 6535
    },
    {
      "epoch": 1.4664572582454567,
      "grad_norm": 0.5465353727340698,
      "learning_rate": 0.0002712006656932505,
      "loss": 0.0706,
      "step": 6536
    },
    {
      "epoch": 1.4664572582454567,
      "gripper_loss": 0.26171875,
      "loss": 0.1181640625,
      "pos_loss": 0.359375,
      "rot_loss": 0.2392578125,
      "step": 6536
    },
    {
      "epoch": 1.4666816244110388,
      "grad_norm": 1.0382872819900513,
      "learning_rate": 0.00027114032356703374,
      "loss": 0.1483,
      "step": 6537
    },
    {
      "epoch": 1.4666816244110388,
      "gripper_loss": 0.0625,
      "loss": 0.0556640625,
      "pos_loss": 0.365234375,
      "rot_loss": 0.10693359375,
      "step": 6537
    },
    {
      "epoch": 1.466905990576621,
      "grad_norm": 0.6800683736801147,
      "learning_rate": 0.00027107998020031227,
      "loss": 0.0877,
      "step": 6538
    },
    {
      "epoch": 1.466905990576621,
      "gripper_loss": 0.0341796875,
      "loss": 0.07666015625,
      "pos_loss": 0.546875,
      "rot_loss": 0.1669921875,
      "step": 6538
    },
    {
      "epoch": 1.4671303567422034,
      "grad_norm": 0.48028016090393066,
      "learning_rate": 0.0002710196355966271,
      "loss": 0.0801,
      "step": 6539
    },
    {
      "epoch": 1.4671303567422034,
      "gripper_loss": 0.375,
      "loss": 0.054931640625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.0206298828125,
      "step": 6539
    },
    {
      "epoch": 1.4673547229077855,
      "grad_norm": 0.35095012187957764,
      "learning_rate": 0.0002709592897595191,
      "loss": 0.0535,
      "step": 6540
    },
    {
      "epoch": 1.4673547229077855,
      "gripper_loss": 0.08544921875,
      "loss": 0.05322265625,
      "pos_loss": 0.193359375,
      "rot_loss": 0.2890625,
      "step": 6540
    },
    {
      "epoch": 1.4675790890733678,
      "grad_norm": 0.34719231724739075,
      "learning_rate": 0.00027089894269252955,
      "loss": 0.0465,
      "step": 6541
    },
    {
      "epoch": 1.4675790890733678,
      "gripper_loss": 0.07275390625,
      "loss": 0.1279296875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.51953125,
      "step": 6541
    },
    {
      "epoch": 1.46780345523895,
      "grad_norm": 0.5936426520347595,
      "learning_rate": 0.00027083859439919943,
      "loss": 0.0982,
      "step": 6542
    },
    {
      "epoch": 1.46780345523895,
      "gripper_loss": 0.1826171875,
      "loss": 0.062255859375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.2734375,
      "step": 6542
    },
    {
      "epoch": 1.4680278214045321,
      "grad_norm": 0.4273682236671448,
      "learning_rate": 0.0002707782448830701,
      "loss": 0.053,
      "step": 6543
    },
    {
      "epoch": 1.4680278214045321,
      "gripper_loss": 0.03271484375,
      "loss": 0.021728515625,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.044189453125,
      "step": 6543
    },
    {
      "epoch": 1.4682521875701144,
      "grad_norm": 0.4543861448764801,
      "learning_rate": 0.0002707178941476826,
      "loss": 0.0453,
      "step": 6544
    },
    {
      "epoch": 1.4682521875701144,
      "gripper_loss": 0.03857421875,
      "loss": 0.10205078125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.2138671875,
      "step": 6544
    },
    {
      "epoch": 1.4684765537356967,
      "grad_norm": 0.445995032787323,
      "learning_rate": 0.0002706575421965786,
      "loss": 0.0743,
      "step": 6545
    },
    {
      "epoch": 1.4684765537356967,
      "gripper_loss": 0.0439453125,
      "loss": 0.054931640625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.11865234375,
      "step": 6545
    },
    {
      "epoch": 1.4687009199012788,
      "grad_norm": 0.45878541469573975,
      "learning_rate": 0.0002705971890332992,
      "loss": 0.0788,
      "step": 6546
    },
    {
      "epoch": 1.4687009199012788,
      "gripper_loss": 1.3046875,
      "loss": 0.12890625,
      "pos_loss": 0.85546875,
      "rot_loss": 0.0181884765625,
      "step": 6546
    },
    {
      "epoch": 1.4689252860668611,
      "grad_norm": 0.44755128026008606,
      "learning_rate": 0.000270536834661386,
      "loss": 0.0977,
      "step": 6547
    },
    {
      "epoch": 1.4689252860668611,
      "gripper_loss": 0.064453125,
      "loss": 0.080078125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.0341796875,
      "step": 6547
    },
    {
      "epoch": 1.4691496522324434,
      "grad_norm": 0.30795010924339294,
      "learning_rate": 0.0002704764790843808,
      "loss": 0.0519,
      "step": 6548
    },
    {
      "epoch": 1.4691496522324434,
      "gripper_loss": 0.47265625,
      "loss": 0.05810546875,
      "pos_loss": 0.390625,
      "rot_loss": 0.0262451171875,
      "step": 6548
    },
    {
      "epoch": 1.4693740183980255,
      "grad_norm": 0.5043521523475647,
      "learning_rate": 0.00027041612230582497,
      "loss": 0.0839,
      "step": 6549
    },
    {
      "epoch": 1.4693740183980255,
      "gripper_loss": 0.024169921875,
      "loss": 0.15234375,
      "pos_loss": 1.1484375,
      "rot_loss": 0.40625,
      "step": 6549
    },
    {
      "epoch": 1.4695983845636078,
      "grad_norm": 0.5756064653396606,
      "learning_rate": 0.00027035576432926027,
      "loss": 0.0639,
      "step": 6550
    },
    {
      "epoch": 1.4695983845636078,
      "gripper_loss": 0.390625,
      "loss": 0.07763671875,
      "pos_loss": 0.609375,
      "rot_loss": 0.0302734375,
      "step": 6550
    },
    {
      "epoch": 1.46982275072919,
      "grad_norm": 0.589514434337616,
      "learning_rate": 0.0002702954051582285,
      "loss": 0.0772,
      "step": 6551
    },
    {
      "epoch": 1.46982275072919,
      "gripper_loss": 1.6875,
      "loss": 0.140625,
      "pos_loss": 0.85546875,
      "rot_loss": 0.03271484375,
      "step": 6551
    },
    {
      "epoch": 1.4700471168947722,
      "grad_norm": 0.4084819555282593,
      "learning_rate": 0.0002702350447962716,
      "loss": 0.0685,
      "step": 6552
    },
    {
      "epoch": 1.4700471168947722,
      "gripper_loss": 0.35546875,
      "loss": 0.09814453125,
      "pos_loss": 0.380859375,
      "rot_loss": 0.49609375,
      "step": 6552
    },
    {
      "epoch": 1.4702714830603545,
      "grad_norm": 0.35927996039390564,
      "learning_rate": 0.00027017468324693134,
      "loss": 0.0659,
      "step": 6553
    },
    {
      "epoch": 1.4702714830603545,
      "gripper_loss": 0.032470703125,
      "loss": 0.044921875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.1904296875,
      "step": 6553
    },
    {
      "epoch": 1.4704958492259368,
      "grad_norm": 0.4254867732524872,
      "learning_rate": 0.00027011432051374983,
      "loss": 0.0625,
      "step": 6554
    },
    {
      "epoch": 1.4704958492259368,
      "gripper_loss": 0.1796875,
      "loss": 0.1328125,
      "pos_loss": 0.4609375,
      "rot_loss": 0.57421875,
      "step": 6554
    },
    {
      "epoch": 1.4707202153915189,
      "grad_norm": 0.8351261019706726,
      "learning_rate": 0.00027005395660026913,
      "loss": 0.109,
      "step": 6555
    },
    {
      "epoch": 1.4707202153915189,
      "gripper_loss": 0.04931640625,
      "loss": 0.02001953125,
      "pos_loss": 0.14453125,
      "rot_loss": 0.009765625,
      "step": 6555
    },
    {
      "epoch": 1.4709445815571012,
      "grad_norm": 0.5045536160469055,
      "learning_rate": 0.0002699935915100312,
      "loss": 0.0853,
      "step": 6556
    },
    {
      "epoch": 1.4709445815571012,
      "gripper_loss": 0.671875,
      "loss": 0.55078125,
      "pos_loss": 0.59375,
      "rot_loss": 0.765625,
      "step": 6556
    },
    {
      "epoch": 1.4711689477226835,
      "grad_norm": 1.4362850189208984,
      "learning_rate": 0.00026993322524657837,
      "loss": 0.5156,
      "step": 6557
    },
    {
      "epoch": 1.4711689477226835,
      "gripper_loss": 0.00982666015625,
      "loss": 0.10107421875,
      "pos_loss": 0.828125,
      "rot_loss": 0.1943359375,
      "step": 6557
    },
    {
      "epoch": 1.4713933138882656,
      "grad_norm": 0.4650988280773163,
      "learning_rate": 0.00026987285781345297,
      "loss": 0.0766,
      "step": 6558
    },
    {
      "epoch": 1.4713933138882656,
      "gripper_loss": 0.0157470703125,
      "loss": 0.146484375,
      "pos_loss": 0.9296875,
      "rot_loss": 0.56640625,
      "step": 6558
    },
    {
      "epoch": 1.4716176800538479,
      "grad_norm": 0.49457448720932007,
      "learning_rate": 0.0002698124892141971,
      "loss": 0.0988,
      "step": 6559
    },
    {
      "epoch": 1.4716176800538479,
      "gripper_loss": 0.380859375,
      "loss": 0.0235595703125,
      "pos_loss": 0.021240234375,
      "rot_loss": 0.035400390625,
      "step": 6559
    },
    {
      "epoch": 1.4718420462194302,
      "grad_norm": 0.5433480739593506,
      "learning_rate": 0.00026975211945235345,
      "loss": 0.0694,
      "step": 6560
    },
    {
      "epoch": 1.4718420462194302,
      "gripper_loss": 0.6796875,
      "loss": 0.2333984375,
      "pos_loss": 2.078125,
      "rot_loss": 0.12353515625,
      "step": 6560
    },
    {
      "epoch": 1.4720664123850122,
      "grad_norm": 0.5777133703231812,
      "learning_rate": 0.00026969174853146426,
      "loss": 0.1111,
      "step": 6561
    },
    {
      "epoch": 1.4720664123850122,
      "gripper_loss": 1.0,
      "loss": 0.06298828125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.0791015625,
      "step": 6561
    },
    {
      "epoch": 1.4722907785505945,
      "grad_norm": 0.38844621181488037,
      "learning_rate": 0.0002696313764550722,
      "loss": 0.0503,
      "step": 6562
    },
    {
      "epoch": 1.4722907785505945,
      "gripper_loss": 0.0203857421875,
      "loss": 0.0264892578125,
      "pos_loss": 0.045166015625,
      "rot_loss": 0.1923828125,
      "step": 6562
    },
    {
      "epoch": 1.4725151447161768,
      "grad_norm": 0.5405356884002686,
      "learning_rate": 0.00026957100322671986,
      "loss": 0.063,
      "step": 6563
    },
    {
      "epoch": 1.4725151447161768,
      "gripper_loss": 0.380859375,
      "loss": 0.146484375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.7421875,
      "step": 6563
    },
    {
      "epoch": 1.472739510881759,
      "grad_norm": 0.3794708847999573,
      "learning_rate": 0.0002695106288499498,
      "loss": 0.0589,
      "step": 6564
    },
    {
      "epoch": 1.472739510881759,
      "gripper_loss": 0.01361083984375,
      "loss": 0.022216796875,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.045654296875,
      "step": 6564
    },
    {
      "epoch": 1.4729638770473412,
      "grad_norm": 0.4198189079761505,
      "learning_rate": 0.0002694502533283049,
      "loss": 0.0995,
      "step": 6565
    },
    {
      "epoch": 1.4729638770473412,
      "gripper_loss": 0.00738525390625,
      "loss": 0.06884765625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.02099609375,
      "step": 6565
    },
    {
      "epoch": 1.4731882432129235,
      "grad_norm": 0.3756895959377289,
      "learning_rate": 0.000269389876665328,
      "loss": 0.0663,
      "step": 6566
    },
    {
      "epoch": 1.4731882432129235,
      "gripper_loss": 0.40625,
      "loss": 0.0234375,
      "pos_loss": 0.01153564453125,
      "rot_loss": 0.06396484375,
      "step": 6566
    },
    {
      "epoch": 1.4734126093785056,
      "grad_norm": 0.40126365423202515,
      "learning_rate": 0.0002693294988645618,
      "loss": 0.0576,
      "step": 6567
    },
    {
      "epoch": 1.4734126093785056,
      "gripper_loss": 0.0093994140625,
      "loss": 0.25390625,
      "pos_loss": 1.6953125,
      "rot_loss": 0.96875,
      "step": 6567
    },
    {
      "epoch": 1.473636975544088,
      "grad_norm": 0.4999735951423645,
      "learning_rate": 0.00026926911992954935,
      "loss": 0.0893,
      "step": 6568
    },
    {
      "epoch": 1.473636975544088,
      "gripper_loss": 0.427734375,
      "loss": 0.193359375,
      "pos_loss": 0.27734375,
      "rot_loss": 0.69140625,
      "step": 6568
    },
    {
      "epoch": 1.4738613417096702,
      "grad_norm": 1.6699728965759277,
      "learning_rate": 0.00026920873986383367,
      "loss": 0.2205,
      "step": 6569
    },
    {
      "epoch": 1.4738613417096702,
      "gripper_loss": 0.0120849609375,
      "loss": 0.1474609375,
      "pos_loss": 1.109375,
      "rot_loss": 0.41015625,
      "step": 6569
    },
    {
      "epoch": 1.4740857078752523,
      "grad_norm": 0.4156123697757721,
      "learning_rate": 0.00026914835867095777,
      "loss": 0.0533,
      "step": 6570
    },
    {
      "epoch": 1.4740857078752523,
      "gripper_loss": 0.259765625,
      "loss": 0.2080078125,
      "pos_loss": 1.40625,
      "rot_loss": 0.318359375,
      "step": 6570
    },
    {
      "epoch": 1.4743100740408346,
      "grad_norm": 0.763032078742981,
      "learning_rate": 0.0002690879763544649,
      "loss": 0.1421,
      "step": 6571
    },
    {
      "epoch": 1.4743100740408346,
      "gripper_loss": 0.43359375,
      "loss": 0.0517578125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.0390625,
      "step": 6571
    },
    {
      "epoch": 1.4745344402064169,
      "grad_norm": 0.49456432461738586,
      "learning_rate": 0.00026902759291789807,
      "loss": 0.042,
      "step": 6572
    },
    {
      "epoch": 1.4745344402064169,
      "gripper_loss": 0.0240478515625,
      "loss": 0.11376953125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.047607421875,
      "step": 6572
    },
    {
      "epoch": 1.474758806371999,
      "grad_norm": 0.6002694964408875,
      "learning_rate": 0.00026896720836480084,
      "loss": 0.078,
      "step": 6573
    },
    {
      "epoch": 1.474758806371999,
      "gripper_loss": 0.2236328125,
      "loss": 0.228515625,
      "pos_loss": 0.369140625,
      "rot_loss": 0.447265625,
      "step": 6573
    },
    {
      "epoch": 1.4749831725375813,
      "grad_norm": 1.5625413656234741,
      "learning_rate": 0.0002689068226987163,
      "loss": 0.2925,
      "step": 6574
    },
    {
      "epoch": 1.4749831725375813,
      "gripper_loss": 0.0272216796875,
      "loss": 0.125,
      "pos_loss": 0.53125,
      "rot_loss": 0.7109375,
      "step": 6574
    },
    {
      "epoch": 1.4752075387031636,
      "grad_norm": 0.6938666701316833,
      "learning_rate": 0.00026884643592318795,
      "loss": 0.1164,
      "step": 6575
    },
    {
      "epoch": 1.4752075387031636,
      "gripper_loss": 0.32421875,
      "loss": 0.0213623046875,
      "pos_loss": 0.021240234375,
      "rot_loss": 0.0189208984375,
      "step": 6575
    },
    {
      "epoch": 1.4754319048687459,
      "grad_norm": 0.5872601270675659,
      "learning_rate": 0.00026878604804175924,
      "loss": 0.086,
      "step": 6576
    },
    {
      "epoch": 1.4754319048687459,
      "gripper_loss": 0.028076171875,
      "loss": 0.08935546875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.267578125,
      "step": 6576
    },
    {
      "epoch": 1.475656271034328,
      "grad_norm": 0.5071940422058105,
      "learning_rate": 0.0002687256590579737,
      "loss": 0.0786,
      "step": 6577
    },
    {
      "epoch": 1.475656271034328,
      "gripper_loss": 0.51953125,
      "loss": 0.03955078125,
      "pos_loss": 0.051513671875,
      "rot_loss": 0.1259765625,
      "step": 6577
    },
    {
      "epoch": 1.4758806371999103,
      "grad_norm": 0.5005924701690674,
      "learning_rate": 0.000268665268975375,
      "loss": 0.0464,
      "step": 6578
    },
    {
      "epoch": 1.4758806371999103,
      "gripper_loss": 0.036376953125,
      "loss": 0.115234375,
      "pos_loss": 0.6953125,
      "rot_loss": 0.3046875,
      "step": 6578
    },
    {
      "epoch": 1.4761050033654926,
      "grad_norm": 0.7212436199188232,
      "learning_rate": 0.0002686048777975067,
      "loss": 0.0835,
      "step": 6579
    },
    {
      "epoch": 1.4761050033654926,
      "gripper_loss": 0.12109375,
      "loss": 0.0810546875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.3671875,
      "step": 6579
    },
    {
      "epoch": 1.4763293695310746,
      "grad_norm": 0.39513373374938965,
      "learning_rate": 0.0002685444855279126,
      "loss": 0.0824,
      "step": 6580
    },
    {
      "epoch": 1.4763293695310746,
      "gripper_loss": 0.25390625,
      "loss": 0.1826171875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.3359375,
      "step": 6580
    },
    {
      "epoch": 1.476553735696657,
      "grad_norm": 1.551063895225525,
      "learning_rate": 0.0002684840921701364,
      "loss": 0.1746,
      "step": 6581
    },
    {
      "epoch": 1.476553735696657,
      "gripper_loss": 0.126953125,
      "loss": 0.054931640625,
      "pos_loss": 0.443359375,
      "rot_loss": 0.034423828125,
      "step": 6581
    },
    {
      "epoch": 1.4767781018622392,
      "grad_norm": 0.4776742160320282,
      "learning_rate": 0.0002684236977277221,
      "loss": 0.0539,
      "step": 6582
    },
    {
      "epoch": 1.4767781018622392,
      "gripper_loss": 0.341796875,
      "loss": 0.027099609375,
      "pos_loss": 0.042724609375,
      "rot_loss": 0.0308837890625,
      "step": 6582
    },
    {
      "epoch": 1.4770024680278215,
      "grad_norm": 0.5712162256240845,
      "learning_rate": 0.0002683633022042135,
      "loss": 0.0554,
      "step": 6583
    },
    {
      "epoch": 1.4770024680278215,
      "gripper_loss": 0.04931640625,
      "loss": 0.12451171875,
      "pos_loss": 0.9453125,
      "rot_loss": 0.2109375,
      "step": 6583
    },
    {
      "epoch": 1.4772268341934036,
      "grad_norm": 0.7169026136398315,
      "learning_rate": 0.0002683029056031547,
      "loss": 0.0976,
      "step": 6584
    },
    {
      "epoch": 1.4772268341934036,
      "gripper_loss": 0.0927734375,
      "loss": 0.10009765625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.1513671875,
      "step": 6584
    },
    {
      "epoch": 1.477451200358986,
      "grad_norm": 0.6793771386146545,
      "learning_rate": 0.0002682425079280896,
      "loss": 0.0806,
      "step": 6585
    },
    {
      "epoch": 1.477451200358986,
      "gripper_loss": 0.0184326171875,
      "loss": 0.045166015625,
      "pos_loss": 0.14453125,
      "rot_loss": 0.2353515625,
      "step": 6585
    },
    {
      "epoch": 1.4776755665245682,
      "grad_norm": 0.6794698238372803,
      "learning_rate": 0.00026818210918256235,
      "loss": 0.0779,
      "step": 6586
    },
    {
      "epoch": 1.4776755665245682,
      "gripper_loss": 0.01953125,
      "loss": 0.2421875,
      "pos_loss": 2.296875,
      "rot_loss": 0.185546875,
      "step": 6586
    },
    {
      "epoch": 1.4778999326901503,
      "grad_norm": 0.5425816178321838,
      "learning_rate": 0.00026812170937011713,
      "loss": 0.0928,
      "step": 6587
    },
    {
      "epoch": 1.4778999326901503,
      "gripper_loss": 0.007171630859375,
      "loss": 0.050537109375,
      "pos_loss": 0.359375,
      "rot_loss": 0.107421875,
      "step": 6587
    },
    {
      "epoch": 1.4781242988557326,
      "grad_norm": 0.5604981780052185,
      "learning_rate": 0.0002680613084942983,
      "loss": 0.058,
      "step": 6588
    },
    {
      "epoch": 1.4781242988557326,
      "gripper_loss": 0.259765625,
      "loss": 0.036376953125,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.1328125,
      "step": 6588
    },
    {
      "epoch": 1.478348665021315,
      "grad_norm": 0.4292134642601013,
      "learning_rate": 0.0002680009065586499,
      "loss": 0.0748,
      "step": 6589
    },
    {
      "epoch": 1.478348665021315,
      "gripper_loss": 0.796875,
      "loss": 0.054443359375,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.076171875,
      "step": 6589
    },
    {
      "epoch": 1.478573031186897,
      "grad_norm": 0.43371185660362244,
      "learning_rate": 0.0002679405035667165,
      "loss": 0.0738,
      "step": 6590
    },
    {
      "epoch": 1.478573031186897,
      "gripper_loss": 0.1611328125,
      "loss": 0.0277099609375,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.0201416015625,
      "step": 6590
    },
    {
      "epoch": 1.4787973973524793,
      "grad_norm": 0.36446866393089294,
      "learning_rate": 0.00026788009952204253,
      "loss": 0.0531,
      "step": 6591
    },
    {
      "epoch": 1.4787973973524793,
      "gripper_loss": 0.0234375,
      "loss": 0.11328125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.408203125,
      "step": 6591
    },
    {
      "epoch": 1.4790217635180616,
      "grad_norm": 0.4172969162464142,
      "learning_rate": 0.0002678196944281722,
      "loss": 0.0659,
      "step": 6592
    },
    {
      "epoch": 1.4790217635180616,
      "gripper_loss": 0.2490234375,
      "loss": 0.032470703125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.019287109375,
      "step": 6592
    },
    {
      "epoch": 1.4792461296836437,
      "grad_norm": 0.41041767597198486,
      "learning_rate": 0.00026775928828865045,
      "loss": 0.0482,
      "step": 6593
    },
    {
      "epoch": 1.4792461296836437,
      "gripper_loss": 0.0537109375,
      "loss": 0.1083984375,
      "pos_loss": 0.2890625,
      "rot_loss": 0.546875,
      "step": 6593
    },
    {
      "epoch": 1.479470495849226,
      "grad_norm": 0.8306636214256287,
      "learning_rate": 0.0002676988811070215,
      "loss": 0.1413,
      "step": 6594
    },
    {
      "epoch": 1.479470495849226,
      "gripper_loss": 0.3203125,
      "loss": 0.07421875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.2001953125,
      "step": 6594
    },
    {
      "epoch": 1.4796948620148083,
      "grad_norm": 0.5655644536018372,
      "learning_rate": 0.00026763847288683034,
      "loss": 0.1003,
      "step": 6595
    },
    {
      "epoch": 1.4796948620148083,
      "gripper_loss": 0.026611328125,
      "loss": 0.05908203125,
      "pos_loss": 0.267578125,
      "rot_loss": 0.2255859375,
      "step": 6595
    },
    {
      "epoch": 1.4799192281803903,
      "grad_norm": 0.635016918182373,
      "learning_rate": 0.0002675780636316216,
      "loss": 0.1102,
      "step": 6596
    },
    {
      "epoch": 1.4799192281803903,
      "gripper_loss": 0.031494140625,
      "loss": 0.111328125,
      "pos_loss": 0.373046875,
      "rot_loss": 0.73046875,
      "step": 6596
    },
    {
      "epoch": 1.4801435943459726,
      "grad_norm": 0.4207463264465332,
      "learning_rate": 0.00026751765334493994,
      "loss": 0.0636,
      "step": 6597
    },
    {
      "epoch": 1.4801435943459726,
      "gripper_loss": 0.173828125,
      "loss": 0.032470703125,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.1044921875,
      "step": 6597
    },
    {
      "epoch": 1.480367960511555,
      "grad_norm": 0.5044204592704773,
      "learning_rate": 0.0002674572420303302,
      "loss": 0.0818,
      "step": 6598
    },
    {
      "epoch": 1.480367960511555,
      "gripper_loss": 0.1669921875,
      "loss": 0.09814453125,
      "pos_loss": 0.337890625,
      "rot_loss": 0.48828125,
      "step": 6598
    },
    {
      "epoch": 1.480592326677137,
      "grad_norm": 0.607970118522644,
      "learning_rate": 0.0002673968296913375,
      "loss": 0.0914,
      "step": 6599
    },
    {
      "epoch": 1.480592326677137,
      "gripper_loss": 0.01336669921875,
      "loss": 0.091796875,
      "pos_loss": 0.373046875,
      "rot_loss": 0.5546875,
      "step": 6599
    },
    {
      "epoch": 1.4808166928427193,
      "grad_norm": 0.4892934262752533,
      "learning_rate": 0.0002673364163315066,
      "loss": 0.0652,
      "step": 6600
    },
    {
      "epoch": 1.4808166928427193,
      "gripper_loss": 0.0145263671875,
      "loss": 0.119140625,
      "pos_loss": 0.75,
      "rot_loss": 0.41796875,
      "step": 6600
    },
    {
      "epoch": 1.4810410590083016,
      "grad_norm": 0.6109628677368164,
      "learning_rate": 0.0002672760019543827,
      "loss": 0.0685,
      "step": 6601
    },
    {
      "epoch": 1.4810410590083016,
      "gripper_loss": 0.0240478515625,
      "loss": 0.04541015625,
      "pos_loss": 0.330078125,
      "rot_loss": 0.091796875,
      "step": 6601
    },
    {
      "epoch": 1.4812654251738837,
      "grad_norm": 0.5609093904495239,
      "learning_rate": 0.0002672155865635109,
      "loss": 0.0659,
      "step": 6602
    },
    {
      "epoch": 1.4812654251738837,
      "gripper_loss": 0.015625,
      "loss": 0.2470703125,
      "pos_loss": 1.9453125,
      "rot_loss": 0.58984375,
      "step": 6602
    },
    {
      "epoch": 1.481489791339466,
      "grad_norm": 0.5038809180259705,
      "learning_rate": 0.0002671551701624361,
      "loss": 0.0888,
      "step": 6603
    },
    {
      "epoch": 1.481489791339466,
      "gripper_loss": 0.041259765625,
      "loss": 0.08544921875,
      "pos_loss": 0.171875,
      "rot_loss": 0.65234375,
      "step": 6603
    },
    {
      "epoch": 1.4817141575050483,
      "grad_norm": 0.4732154905796051,
      "learning_rate": 0.0002670947527547037,
      "loss": 0.0651,
      "step": 6604
    },
    {
      "epoch": 1.4817141575050483,
      "gripper_loss": 1.890625,
      "loss": 0.1201171875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.07421875,
      "step": 6604
    },
    {
      "epoch": 1.4819385236706304,
      "grad_norm": 0.44384658336639404,
      "learning_rate": 0.000267034334343859,
      "loss": 0.0708,
      "step": 6605
    },
    {
      "epoch": 1.4819385236706304,
      "gripper_loss": 0.1943359375,
      "loss": 0.07958984375,
      "pos_loss": 0.6640625,
      "rot_loss": 0.037841796875,
      "step": 6605
    },
    {
      "epoch": 1.4821628898362127,
      "grad_norm": 0.4438265562057495,
      "learning_rate": 0.00026697391493344714,
      "loss": 0.0591,
      "step": 6606
    },
    {
      "epoch": 1.4821628898362127,
      "gripper_loss": 0.024658203125,
      "loss": 0.0439453125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.1416015625,
      "step": 6606
    },
    {
      "epoch": 1.482387256001795,
      "grad_norm": 0.48424243927001953,
      "learning_rate": 0.0002669134945270137,
      "loss": 0.0748,
      "step": 6607
    },
    {
      "epoch": 1.482387256001795,
      "gripper_loss": 0.224609375,
      "loss": 0.01611328125,
      "pos_loss": 0.0224609375,
      "rot_loss": 0.0291748046875,
      "step": 6607
    },
    {
      "epoch": 1.482611622167377,
      "grad_norm": 0.37676098942756653,
      "learning_rate": 0.000266853073128104,
      "loss": 0.0578,
      "step": 6608
    },
    {
      "epoch": 1.482611622167377,
      "gripper_loss": 0.09765625,
      "loss": 0.010986328125,
      "pos_loss": 0.01513671875,
      "rot_loss": 0.02294921875,
      "step": 6608
    },
    {
      "epoch": 1.4828359883329594,
      "grad_norm": 0.4222398102283478,
      "learning_rate": 0.00026679265074026356,
      "loss": 0.0574,
      "step": 6609
    },
    {
      "epoch": 1.4828359883329594,
      "gripper_loss": 0.2197265625,
      "loss": 0.169921875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.56640625,
      "step": 6609
    },
    {
      "epoch": 1.4830603544985417,
      "grad_norm": 0.8847760558128357,
      "learning_rate": 0.000266732227367038,
      "loss": 0.1331,
      "step": 6610
    },
    {
      "epoch": 1.4830603544985417,
      "gripper_loss": 0.62890625,
      "loss": 0.03662109375,
      "pos_loss": 0.024658203125,
      "rot_loss": 0.10791015625,
      "step": 6610
    },
    {
      "epoch": 1.4832847206641238,
      "grad_norm": 0.4536222517490387,
      "learning_rate": 0.00026667180301197284,
      "loss": 0.0646,
      "step": 6611
    },
    {
      "epoch": 1.4832847206641238,
      "gripper_loss": 0.62109375,
      "loss": 0.0986328125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.30859375,
      "step": 6611
    },
    {
      "epoch": 1.483509086829706,
      "grad_norm": 0.94098299741745,
      "learning_rate": 0.0002666113776786139,
      "loss": 0.0883,
      "step": 6612
    },
    {
      "epoch": 1.483509086829706,
      "gripper_loss": 0.0224609375,
      "loss": 0.0771484375,
      "pos_loss": 0.62890625,
      "rot_loss": 0.1279296875,
      "step": 6612
    },
    {
      "epoch": 1.4837334529952884,
      "grad_norm": 0.4518495202064514,
      "learning_rate": 0.00026655095137050674,
      "loss": 0.0763,
      "step": 6613
    },
    {
      "epoch": 1.4837334529952884,
      "gripper_loss": 0.060546875,
      "loss": 0.050048828125,
      "pos_loss": 0.16796875,
      "rot_loss": 0.287109375,
      "step": 6613
    },
    {
      "epoch": 1.4839578191608704,
      "grad_norm": 0.3619021773338318,
      "learning_rate": 0.0002664905240911973,
      "loss": 0.0497,
      "step": 6614
    },
    {
      "epoch": 1.4839578191608704,
      "gripper_loss": 0.06884765625,
      "loss": 0.058349609375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.0302734375,
      "step": 6614
    },
    {
      "epoch": 1.4841821853264527,
      "grad_norm": 0.5220177173614502,
      "learning_rate": 0.00026643009584423127,
      "loss": 0.0706,
      "step": 6615
    },
    {
      "epoch": 1.4841821853264527,
      "gripper_loss": 0.283203125,
      "loss": 0.0810546875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.109375,
      "step": 6615
    },
    {
      "epoch": 1.484406551492035,
      "grad_norm": 0.3889109492301941,
      "learning_rate": 0.0002663696666331547,
      "loss": 0.0574,
      "step": 6616
    },
    {
      "epoch": 1.484406551492035,
      "gripper_loss": 0.01708984375,
      "loss": 0.138671875,
      "pos_loss": 0.7578125,
      "rot_loss": 0.61328125,
      "step": 6616
    },
    {
      "epoch": 1.4846309176576171,
      "grad_norm": 0.6869056224822998,
      "learning_rate": 0.0002663092364615134,
      "loss": 0.0891,
      "step": 6617
    },
    {
      "epoch": 1.4846309176576171,
      "gripper_loss": 0.248046875,
      "loss": 0.034423828125,
      "pos_loss": 0.103515625,
      "rot_loss": 0.125,
      "step": 6617
    },
    {
      "epoch": 1.4848552838231994,
      "grad_norm": 0.38461175560951233,
      "learning_rate": 0.00026624880533285353,
      "loss": 0.0541,
      "step": 6618
    },
    {
      "epoch": 1.4848552838231994,
      "gripper_loss": 0.08984375,
      "loss": 0.07080078125,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.2177734375,
      "step": 6618
    },
    {
      "epoch": 1.4850796499887817,
      "grad_norm": 0.9914613366127014,
      "learning_rate": 0.00026618837325072107,
      "loss": 0.114,
      "step": 6619
    },
    {
      "epoch": 1.4850796499887817,
      "gripper_loss": 1.109375,
      "loss": 0.11572265625,
      "pos_loss": 0.75,
      "rot_loss": 0.058837890625,
      "step": 6619
    },
    {
      "epoch": 1.4853040161543638,
      "grad_norm": 0.3928890824317932,
      "learning_rate": 0.0002661279402186623,
      "loss": 0.0636,
      "step": 6620
    },
    {
      "epoch": 1.4853040161543638,
      "gripper_loss": 0.0277099609375,
      "loss": 0.09521484375,
      "pos_loss": 0.71875,
      "rot_loss": 0.216796875,
      "step": 6620
    },
    {
      "epoch": 1.485528382319946,
      "grad_norm": 0.5693390369415283,
      "learning_rate": 0.0002660675062402232,
      "loss": 0.0868,
      "step": 6621
    },
    {
      "epoch": 1.485528382319946,
      "gripper_loss": 0.2578125,
      "loss": 0.037109375,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.12451171875,
      "step": 6621
    },
    {
      "epoch": 1.4857527484855284,
      "grad_norm": 0.6968486309051514,
      "learning_rate": 0.00026600707131895,
      "loss": 0.0745,
      "step": 6622
    },
    {
      "epoch": 1.4857527484855284,
      "gripper_loss": 0.02392578125,
      "loss": 0.021728515625,
      "pos_loss": 0.040771484375,
      "rot_loss": 0.060302734375,
      "step": 6622
    },
    {
      "epoch": 1.4859771146511105,
      "grad_norm": 0.6769375801086426,
      "learning_rate": 0.00026594663545838923,
      "loss": 0.0573,
      "step": 6623
    },
    {
      "epoch": 1.4859771146511105,
      "gripper_loss": 0.1826171875,
      "loss": 0.08935546875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.2333984375,
      "step": 6623
    },
    {
      "epoch": 1.4862014808166928,
      "grad_norm": 0.5506877303123474,
      "learning_rate": 0.00026588619866208695,
      "loss": 0.0521,
      "step": 6624
    },
    {
      "epoch": 1.4862014808166928,
      "gripper_loss": 0.039794921875,
      "loss": 0.04345703125,
      "pos_loss": 0.201171875,
      "rot_loss": 0.1806640625,
      "step": 6624
    },
    {
      "epoch": 1.486425846982275,
      "grad_norm": 0.4354518949985504,
      "learning_rate": 0.00026582576093358987,
      "loss": 0.0509,
      "step": 6625
    },
    {
      "epoch": 1.486425846982275,
      "gripper_loss": 0.2177734375,
      "loss": 0.072265625,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.23828125,
      "step": 6625
    },
    {
      "epoch": 1.4866502131478572,
      "grad_norm": 0.7484022378921509,
      "learning_rate": 0.0002657653222764442,
      "loss": 0.1013,
      "step": 6626
    },
    {
      "epoch": 1.4866502131478572,
      "gripper_loss": 0.1572265625,
      "loss": 0.0751953125,
      "pos_loss": 0.498046875,
      "rot_loss": 0.1923828125,
      "step": 6626
    },
    {
      "epoch": 1.4868745793134395,
      "grad_norm": 0.6492069959640503,
      "learning_rate": 0.0002657048826941965,
      "loss": 0.0893,
      "step": 6627
    },
    {
      "epoch": 1.4868745793134395,
      "gripper_loss": 0.01556396484375,
      "loss": 0.055908203125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.015625,
      "step": 6627
    },
    {
      "epoch": 1.4870989454790218,
      "grad_norm": 0.4308490753173828,
      "learning_rate": 0.0002656444421903934,
      "loss": 0.0496,
      "step": 6628
    },
    {
      "epoch": 1.4870989454790218,
      "gripper_loss": 0.0283203125,
      "loss": 0.0478515625,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.2060546875,
      "step": 6628
    },
    {
      "epoch": 1.487323311644604,
      "grad_norm": 0.4714205265045166,
      "learning_rate": 0.00026558400076858157,
      "loss": 0.0876,
      "step": 6629
    },
    {
      "epoch": 1.487323311644604,
      "gripper_loss": 0.058349609375,
      "loss": 0.06982421875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.49609375,
      "step": 6629
    },
    {
      "epoch": 1.4875476778101862,
      "grad_norm": 0.5241092443466187,
      "learning_rate": 0.00026552355843230754,
      "loss": 0.0822,
      "step": 6630
    },
    {
      "epoch": 1.4875476778101862,
      "gripper_loss": 0.0286865234375,
      "loss": 0.052490234375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.23828125,
      "step": 6630
    },
    {
      "epoch": 1.4877720439757685,
      "grad_norm": 0.6252924203872681,
      "learning_rate": 0.00026546311518511813,
      "loss": 0.0632,
      "step": 6631
    },
    {
      "epoch": 1.4877720439757685,
      "gripper_loss": 0.02783203125,
      "loss": 0.146484375,
      "pos_loss": 0.79296875,
      "rot_loss": 0.59765625,
      "step": 6631
    },
    {
      "epoch": 1.4879964101413508,
      "grad_norm": 0.7253761887550354,
      "learning_rate": 0.0002654026710305601,
      "loss": 0.0939,
      "step": 6632
    },
    {
      "epoch": 1.4879964101413508,
      "gripper_loss": 0.09033203125,
      "loss": 0.1904296875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.3828125,
      "step": 6632
    },
    {
      "epoch": 1.4882207763069328,
      "grad_norm": 1.2471305131912231,
      "learning_rate": 0.0002653422259721803,
      "loss": 0.2198,
      "step": 6633
    },
    {
      "epoch": 1.4882207763069328,
      "gripper_loss": 0.734375,
      "loss": 0.0859375,
      "pos_loss": 0.578125,
      "rot_loss": 0.05419921875,
      "step": 6633
    },
    {
      "epoch": 1.4884451424725151,
      "grad_norm": 0.48145791888237,
      "learning_rate": 0.0002652817800135256,
      "loss": 0.0925,
      "step": 6634
    },
    {
      "epoch": 1.4884451424725151,
      "gripper_loss": 0.01519775390625,
      "loss": 0.07373046875,
      "pos_loss": 0.20703125,
      "rot_loss": 0.5,
      "step": 6634
    },
    {
      "epoch": 1.4886695086380974,
      "grad_norm": 0.5194875001907349,
      "learning_rate": 0.00026522133315814295,
      "loss": 0.0534,
      "step": 6635
    },
    {
      "epoch": 1.4886695086380974,
      "gripper_loss": 0.07275390625,
      "loss": 0.236328125,
      "pos_loss": 0.435546875,
      "rot_loss": 0.53125,
      "step": 6635
    },
    {
      "epoch": 1.4888938748036797,
      "grad_norm": 1.3700226545333862,
      "learning_rate": 0.00026516088540957933,
      "loss": 0.3071,
      "step": 6636
    },
    {
      "epoch": 1.4888938748036797,
      "gripper_loss": 0.8984375,
      "loss": 0.042724609375,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.034423828125,
      "step": 6636
    },
    {
      "epoch": 1.4891182409692618,
      "grad_norm": 0.6238604187965393,
      "learning_rate": 0.0002651004367713818,
      "loss": 0.0927,
      "step": 6637
    },
    {
      "epoch": 1.4891182409692618,
      "gripper_loss": 0.045166015625,
      "loss": 0.09814453125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.32421875,
      "step": 6637
    },
    {
      "epoch": 1.4893426071348441,
      "grad_norm": 0.48575079441070557,
      "learning_rate": 0.0002650399872470975,
      "loss": 0.0638,
      "step": 6638
    },
    {
      "epoch": 1.4893426071348441,
      "gripper_loss": 0.02978515625,
      "loss": 0.047607421875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.0673828125,
      "step": 6638
    },
    {
      "epoch": 1.4895669733004264,
      "grad_norm": 0.5083337426185608,
      "learning_rate": 0.0002649795368402735,
      "loss": 0.0858,
      "step": 6639
    },
    {
      "epoch": 1.4895669733004264,
      "gripper_loss": 0.4296875,
      "loss": 0.0927734375,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.40234375,
      "step": 6639
    },
    {
      "epoch": 1.4897913394660085,
      "grad_norm": 0.7202991247177124,
      "learning_rate": 0.0002649190855544571,
      "loss": 0.0882,
      "step": 6640
    },
    {
      "epoch": 1.4897913394660085,
      "gripper_loss": 0.02685546875,
      "loss": 0.032470703125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.0859375,
      "step": 6640
    },
    {
      "epoch": 1.4900157056315908,
      "grad_norm": 0.5143932104110718,
      "learning_rate": 0.0002648586333931954,
      "loss": 0.0654,
      "step": 6641
    },
    {
      "epoch": 1.4900157056315908,
      "gripper_loss": 1.015625,
      "loss": 0.08544921875,
      "pos_loss": 0.423828125,
      "rot_loss": 0.09326171875,
      "step": 6641
    },
    {
      "epoch": 1.490240071797173,
      "grad_norm": 0.45407161116600037,
      "learning_rate": 0.0002647981803600359,
      "loss": 0.0911,
      "step": 6642
    },
    {
      "epoch": 1.490240071797173,
      "gripper_loss": 0.01611328125,
      "loss": 0.0576171875,
      "pos_loss": 0.44140625,
      "rot_loss": 0.08349609375,
      "step": 6642
    },
    {
      "epoch": 1.4904644379627552,
      "grad_norm": 0.4804255962371826,
      "learning_rate": 0.00026473772645852585,
      "loss": 0.0717,
      "step": 6643
    },
    {
      "epoch": 1.4904644379627552,
      "gripper_loss": 0.03515625,
      "loss": 0.07763671875,
      "pos_loss": 0.498046875,
      "rot_loss": 0.2578125,
      "step": 6643
    },
    {
      "epoch": 1.4906888041283375,
      "grad_norm": 0.5789968371391296,
      "learning_rate": 0.0002646772716922126,
      "loss": 0.1304,
      "step": 6644
    },
    {
      "epoch": 1.4906888041283375,
      "gripper_loss": 0.16015625,
      "loss": 0.078125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.08935546875,
      "step": 6644
    },
    {
      "epoch": 1.4909131702939198,
      "grad_norm": 0.5834484100341797,
      "learning_rate": 0.0002646168160646437,
      "loss": 0.0824,
      "step": 6645
    },
    {
      "epoch": 1.4909131702939198,
      "gripper_loss": 0.19921875,
      "loss": 0.080078125,
      "pos_loss": 0.453125,
      "rot_loss": 0.169921875,
      "step": 6645
    },
    {
      "epoch": 1.4911375364595019,
      "grad_norm": 0.3990216553211212,
      "learning_rate": 0.0002645563595793667,
      "loss": 0.0749,
      "step": 6646
    },
    {
      "epoch": 1.4911375364595019,
      "gripper_loss": 0.5078125,
      "loss": 0.0927734375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.0361328125,
      "step": 6646
    },
    {
      "epoch": 1.4913619026250842,
      "grad_norm": 0.5365151762962341,
      "learning_rate": 0.000264495902239929,
      "loss": 0.0837,
      "step": 6647
    },
    {
      "epoch": 1.4913619026250842,
      "gripper_loss": 0.0137939453125,
      "loss": 0.185546875,
      "pos_loss": 1.296875,
      "rot_loss": 0.6015625,
      "step": 6647
    },
    {
      "epoch": 1.4915862687906665,
      "grad_norm": 0.5565110445022583,
      "learning_rate": 0.00026443544404987834,
      "loss": 0.0674,
      "step": 6648
    },
    {
      "epoch": 1.4915862687906665,
      "gripper_loss": 0.83984375,
      "loss": 0.040283203125,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.01904296875,
      "step": 6648
    },
    {
      "epoch": 1.4918106349562485,
      "grad_norm": 0.4351855218410492,
      "learning_rate": 0.0002643749850127624,
      "loss": 0.0547,
      "step": 6649
    },
    {
      "epoch": 1.4918106349562485,
      "gripper_loss": 1.890625,
      "loss": 0.076171875,
      "pos_loss": 0.0245361328125,
      "rot_loss": 0.10009765625,
      "step": 6649
    },
    {
      "epoch": 1.4920350011218309,
      "grad_norm": 0.39039909839630127,
      "learning_rate": 0.0002643145251321288,
      "loss": 0.0632,
      "step": 6650
    },
    {
      "epoch": 1.4920350011218309,
      "gripper_loss": 0.1435546875,
      "loss": 0.0458984375,
      "pos_loss": 0.326171875,
      "rot_loss": 0.06689453125,
      "step": 6650
    },
    {
      "epoch": 1.4922593672874132,
      "grad_norm": 0.3785634934902191,
      "learning_rate": 0.0002642540644115252,
      "loss": 0.0647,
      "step": 6651
    },
    {
      "epoch": 1.4922593672874132,
      "gripper_loss": 0.0947265625,
      "loss": 0.03564453125,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.2333984375,
      "step": 6651
    },
    {
      "epoch": 1.4924837334529952,
      "grad_norm": 0.3389931321144104,
      "learning_rate": 0.00026419360285449963,
      "loss": 0.0821,
      "step": 6652
    },
    {
      "epoch": 1.4924837334529952,
      "gripper_loss": 0.310546875,
      "loss": 0.0947265625,
      "pos_loss": 0.388671875,
      "rot_loss": 0.12060546875,
      "step": 6652
    },
    {
      "epoch": 1.4927080996185775,
      "grad_norm": 1.02582848072052,
      "learning_rate": 0.0002641331404645999,
      "loss": 0.0967,
      "step": 6653
    },
    {
      "epoch": 1.4927080996185775,
      "gripper_loss": 0.625,
      "loss": 0.138671875,
      "pos_loss": 0.60546875,
      "rot_loss": 0.625,
      "step": 6653
    },
    {
      "epoch": 1.4929324657841598,
      "grad_norm": 0.567263126373291,
      "learning_rate": 0.0002640726772453739,
      "loss": 0.0916,
      "step": 6654
    },
    {
      "epoch": 1.4929324657841598,
      "gripper_loss": 0.01165771484375,
      "loss": 0.2294921875,
      "pos_loss": 1.296875,
      "rot_loss": 1.1015625,
      "step": 6654
    },
    {
      "epoch": 1.493156831949742,
      "grad_norm": 0.7709986567497253,
      "learning_rate": 0.00026401221320036946,
      "loss": 0.0721,
      "step": 6655
    },
    {
      "epoch": 1.493156831949742,
      "gripper_loss": 0.5234375,
      "loss": 0.04248046875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.11767578125,
      "step": 6655
    },
    {
      "epoch": 1.4933811981153242,
      "grad_norm": 0.3791581690311432,
      "learning_rate": 0.00026395174833313467,
      "loss": 0.0604,
      "step": 6656
    },
    {
      "epoch": 1.4933811981153242,
      "gripper_loss": 0.25390625,
      "loss": 0.06201171875,
      "pos_loss": 0.087890625,
      "rot_loss": 0.390625,
      "step": 6656
    },
    {
      "epoch": 1.4936055642809065,
      "grad_norm": 0.446894109249115,
      "learning_rate": 0.0002638912826472177,
      "loss": 0.0665,
      "step": 6657
    },
    {
      "epoch": 1.4936055642809065,
      "gripper_loss": 0.04345703125,
      "loss": 0.036376953125,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.2265625,
      "step": 6657
    },
    {
      "epoch": 1.4938299304464886,
      "grad_norm": 0.36208072304725647,
      "learning_rate": 0.0002638308161461664,
      "loss": 0.0542,
      "step": 6658
    },
    {
      "epoch": 1.4938299304464886,
      "gripper_loss": 0.2890625,
      "loss": 0.037109375,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.04931640625,
      "step": 6658
    },
    {
      "epoch": 1.494054296612071,
      "grad_norm": 0.47164541482925415,
      "learning_rate": 0.00026377034883352915,
      "loss": 0.063,
      "step": 6659
    },
    {
      "epoch": 1.494054296612071,
      "gripper_loss": 0.1259765625,
      "loss": 0.038330078125,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.10791015625,
      "step": 6659
    },
    {
      "epoch": 1.4942786627776532,
      "grad_norm": 0.8872662782669067,
      "learning_rate": 0.00026370988071285393,
      "loss": 0.1187,
      "step": 6660
    },
    {
      "epoch": 1.4942786627776532,
      "gripper_loss": 0.2177734375,
      "loss": 0.0400390625,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.1318359375,
      "step": 6660
    },
    {
      "epoch": 1.4945030289432353,
      "grad_norm": 0.40242135524749756,
      "learning_rate": 0.0002636494117876893,
      "loss": 0.0813,
      "step": 6661
    },
    {
      "epoch": 1.4945030289432353,
      "gripper_loss": 0.0341796875,
      "loss": 0.10693359375,
      "pos_loss": 0.87890625,
      "rot_loss": 0.12451171875,
      "step": 6661
    },
    {
      "epoch": 1.4947273951088176,
      "grad_norm": 0.4386807978153229,
      "learning_rate": 0.00026358894206158324,
      "loss": 0.0722,
      "step": 6662
    },
    {
      "epoch": 1.4947273951088176,
      "gripper_loss": 0.408203125,
      "loss": 0.12255859375,
      "pos_loss": 0.40234375,
      "rot_loss": 0.59375,
      "step": 6662
    },
    {
      "epoch": 1.4949517612743999,
      "grad_norm": 0.5014964938163757,
      "learning_rate": 0.0002635284715380842,
      "loss": 0.085,
      "step": 6663
    },
    {
      "epoch": 1.4949517612743999,
      "gripper_loss": 1.03125,
      "loss": 0.0419921875,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.0235595703125,
      "step": 6663
    },
    {
      "epoch": 1.495176127439982,
      "grad_norm": 0.41578778624534607,
      "learning_rate": 0.0002634680002207405,
      "loss": 0.0755,
      "step": 6664
    },
    {
      "epoch": 1.495176127439982,
      "gripper_loss": 0.022705078125,
      "loss": 0.0869140625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.169921875,
      "step": 6664
    },
    {
      "epoch": 1.4954004936055643,
      "grad_norm": 0.37621647119522095,
      "learning_rate": 0.0002634075281131008,
      "loss": 0.0523,
      "step": 6665
    },
    {
      "epoch": 1.4954004936055643,
      "gripper_loss": 0.1416015625,
      "loss": 0.0751953125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.27734375,
      "step": 6665
    },
    {
      "epoch": 1.4956248597711466,
      "grad_norm": 0.6037955284118652,
      "learning_rate": 0.0002633470552187132,
      "loss": 0.0795,
      "step": 6666
    },
    {
      "epoch": 1.4956248597711466,
      "gripper_loss": 0.494140625,
      "loss": 0.04248046875,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.07958984375,
      "step": 6666
    },
    {
      "epoch": 1.4958492259367286,
      "grad_norm": 0.6890081167221069,
      "learning_rate": 0.0002632865815411266,
      "loss": 0.085,
      "step": 6667
    },
    {
      "epoch": 1.4958492259367286,
      "gripper_loss": 0.578125,
      "loss": 0.0634765625,
      "pos_loss": 0.421875,
      "rot_loss": 0.0186767578125,
      "step": 6667
    },
    {
      "epoch": 1.496073592102311,
      "grad_norm": 0.329263836145401,
      "learning_rate": 0.00026322610708388926,
      "loss": 0.0393,
      "step": 6668
    },
    {
      "epoch": 1.496073592102311,
      "gripper_loss": 0.072265625,
      "loss": 0.095703125,
      "pos_loss": 0.83984375,
      "rot_loss": 0.08154296875,
      "step": 6668
    },
    {
      "epoch": 1.4962979582678932,
      "grad_norm": 0.36475494503974915,
      "learning_rate": 0.00026316563185054995,
      "loss": 0.0658,
      "step": 6669
    },
    {
      "epoch": 1.4962979582678932,
      "gripper_loss": 0.10302734375,
      "loss": 0.01031494140625,
      "pos_loss": 0.0223388671875,
      "rot_loss": 0.0101318359375,
      "step": 6669
    },
    {
      "epoch": 1.4965223244334753,
      "grad_norm": 0.48180490732192993,
      "learning_rate": 0.0002631051558446574,
      "loss": 0.0784,
      "step": 6670
    },
    {
      "epoch": 1.4965223244334753,
      "gripper_loss": 0.396484375,
      "loss": 0.059326171875,
      "pos_loss": 0.060302734375,
      "rot_loss": 0.39453125,
      "step": 6670
    },
    {
      "epoch": 1.4967466905990576,
      "grad_norm": 0.4777413308620453,
      "learning_rate": 0.0002630446790697601,
      "loss": 0.0676,
      "step": 6671
    },
    {
      "epoch": 1.4967466905990576,
      "gripper_loss": 0.057861328125,
      "loss": 0.037353515625,
      "pos_loss": 0.201171875,
      "rot_loss": 0.080078125,
      "step": 6671
    },
    {
      "epoch": 1.49697105676464,
      "grad_norm": 0.42191779613494873,
      "learning_rate": 0.00026298420152940706,
      "loss": 0.058,
      "step": 6672
    },
    {
      "epoch": 1.49697105676464,
      "gripper_loss": 0.275390625,
      "loss": 0.0654296875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.041748046875,
      "step": 6672
    },
    {
      "epoch": 1.497195422930222,
      "grad_norm": 0.32145678997039795,
      "learning_rate": 0.0002629237232271469,
      "loss": 0.0386,
      "step": 6673
    },
    {
      "epoch": 1.497195422930222,
      "gripper_loss": 0.0458984375,
      "loss": 0.02099609375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.0380859375,
      "step": 6673
    },
    {
      "epoch": 1.4974197890958043,
      "grad_norm": 0.4295279383659363,
      "learning_rate": 0.0002628632441665285,
      "loss": 0.0628,
      "step": 6674
    },
    {
      "epoch": 1.4974197890958043,
      "gripper_loss": 0.04833984375,
      "loss": 0.033203125,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.1279296875,
      "step": 6674
    },
    {
      "epoch": 1.4976441552613866,
      "grad_norm": 0.7415438890457153,
      "learning_rate": 0.0002628027643511006,
      "loss": 0.1014,
      "step": 6675
    },
    {
      "epoch": 1.4976441552613866,
      "gripper_loss": 0.01385498046875,
      "loss": 0.0634765625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.1953125,
      "step": 6675
    },
    {
      "epoch": 1.4978685214269687,
      "grad_norm": 0.32194069027900696,
      "learning_rate": 0.0002627422837844124,
      "loss": 0.0527,
      "step": 6676
    },
    {
      "epoch": 1.4978685214269687,
      "gripper_loss": 0.283203125,
      "loss": 0.016357421875,
      "pos_loss": 0.027099609375,
      "rot_loss": 0.01300048828125,
      "step": 6676
    },
    {
      "epoch": 1.498092887592551,
      "grad_norm": 0.5289535522460938,
      "learning_rate": 0.0002626818024700127,
      "loss": 0.0762,
      "step": 6677
    },
    {
      "epoch": 1.498092887592551,
      "gripper_loss": 0.494140625,
      "loss": 0.058349609375,
      "pos_loss": 0.384765625,
      "rot_loss": 0.0281982421875,
      "step": 6677
    },
    {
      "epoch": 1.4983172537581333,
      "grad_norm": 0.34507399797439575,
      "learning_rate": 0.0002626213204114506,
      "loss": 0.0741,
      "step": 6678
    },
    {
      "epoch": 1.4983172537581333,
      "gripper_loss": 0.07275390625,
      "loss": 0.09033203125,
      "pos_loss": 0.80859375,
      "rot_loss": 0.09326171875,
      "step": 6678
    },
    {
      "epoch": 1.4985416199237154,
      "grad_norm": 0.38892167806625366,
      "learning_rate": 0.0002625608376122751,
      "loss": 0.0607,
      "step": 6679
    },
    {
      "epoch": 1.4985416199237154,
      "gripper_loss": 0.028564453125,
      "loss": 0.119140625,
      "pos_loss": 0.66796875,
      "rot_loss": 0.296875,
      "step": 6679
    },
    {
      "epoch": 1.4987659860892977,
      "grad_norm": 0.8141917586326599,
      "learning_rate": 0.00026250035407603535,
      "loss": 0.1182,
      "step": 6680
    },
    {
      "epoch": 1.4987659860892977,
      "gripper_loss": 0.0145263671875,
      "loss": 0.1279296875,
      "pos_loss": 0.91015625,
      "rot_loss": 0.416015625,
      "step": 6680
    },
    {
      "epoch": 1.49899035225488,
      "grad_norm": 0.47942107915878296,
      "learning_rate": 0.00026243986980628044,
      "loss": 0.0765,
      "step": 6681
    },
    {
      "epoch": 1.49899035225488,
      "gripper_loss": 0.04833984375,
      "loss": 0.11083984375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.099609375,
      "step": 6681
    },
    {
      "epoch": 1.499214718420462,
      "grad_norm": 0.6144062280654907,
      "learning_rate": 0.0002623793848065596,
      "loss": 0.0799,
      "step": 6682
    },
    {
      "epoch": 1.499214718420462,
      "gripper_loss": 0.154296875,
      "loss": 0.03369140625,
      "pos_loss": 0.23828125,
      "rot_loss": 0.02734375,
      "step": 6682
    },
    {
      "epoch": 1.4994390845860444,
      "grad_norm": 0.5657278299331665,
      "learning_rate": 0.00026231889908042203,
      "loss": 0.0914,
      "step": 6683
    },
    {
      "epoch": 1.4994390845860444,
      "gripper_loss": 1.2890625,
      "loss": 0.056396484375,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.04345703125,
      "step": 6683
    },
    {
      "epoch": 1.4996634507516267,
      "grad_norm": 0.3666665852069855,
      "learning_rate": 0.00026225841263141696,
      "loss": 0.0702,
      "step": 6684
    },
    {
      "epoch": 1.4996634507516267,
      "gripper_loss": 0.051025390625,
      "loss": 0.035888671875,
      "pos_loss": 0.275390625,
      "rot_loss": 0.037109375,
      "step": 6684
    },
    {
      "epoch": 1.499887816917209,
      "grad_norm": 0.41301023960113525,
      "learning_rate": 0.0002621979254630939,
      "loss": 0.0453,
      "step": 6685
    },
    {
      "epoch": 1.499887816917209,
      "gripper_loss": 0.126953125,
      "loss": 0.10205078125,
      "pos_loss": 0.70703125,
      "rot_loss": 0.12353515625,
      "step": 6685
    },
    {
      "epoch": 1.5001121830827913,
      "grad_norm": 0.9510537385940552,
      "learning_rate": 0.000262137437579002,
      "loss": 0.0876,
      "step": 6686
    },
    {
      "epoch": 1.5001121830827913,
      "gripper_loss": 0.0185546875,
      "loss": 0.11474609375,
      "pos_loss": 0.953125,
      "rot_loss": 0.22265625,
      "step": 6686
    },
    {
      "epoch": 1.5003365492483733,
      "grad_norm": 0.36450448632240295,
      "learning_rate": 0.0002620769489826908,
      "loss": 0.0745,
      "step": 6687
    },
    {
      "epoch": 1.5003365492483733,
      "gripper_loss": 0.26953125,
      "loss": 0.0208740234375,
      "pos_loss": 0.0498046875,
      "rot_loss": 0.040771484375,
      "step": 6687
    },
    {
      "epoch": 1.5005609154139554,
      "grad_norm": 0.36284253001213074,
      "learning_rate": 0.0002620164596777096,
      "loss": 0.0788,
      "step": 6688
    },
    {
      "epoch": 1.5005609154139554,
      "gripper_loss": 0.1357421875,
      "loss": 0.038330078125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.10595703125,
      "step": 6688
    },
    {
      "epoch": 1.500785281579538,
      "grad_norm": 0.3912307024002075,
      "learning_rate": 0.00026195596966760806,
      "loss": 0.07,
      "step": 6689
    },
    {
      "epoch": 1.500785281579538,
      "gripper_loss": 0.2275390625,
      "loss": 0.1640625,
      "pos_loss": 0.625,
      "rot_loss": 0.353515625,
      "step": 6689
    },
    {
      "epoch": 1.50100964774512,
      "grad_norm": 1.2204761505126953,
      "learning_rate": 0.0002618954789559356,
      "loss": 0.197,
      "step": 6690
    },
    {
      "epoch": 1.50100964774512,
      "gripper_loss": 0.95703125,
      "loss": 0.050048828125,
      "pos_loss": 0.048095703125,
      "rot_loss": 0.07861328125,
      "step": 6690
    },
    {
      "epoch": 1.501234013910702,
      "grad_norm": 0.5575039386749268,
      "learning_rate": 0.0002618349875462418,
      "loss": 0.0699,
      "step": 6691
    },
    {
      "epoch": 1.501234013910702,
      "gripper_loss": 0.146484375,
      "loss": 0.02490234375,
      "pos_loss": 0.042724609375,
      "rot_loss": 0.05322265625,
      "step": 6691
    },
    {
      "epoch": 1.5014583800762846,
      "grad_norm": 0.7164064049720764,
      "learning_rate": 0.00026177449544207624,
      "loss": 0.0756,
      "step": 6692
    },
    {
      "epoch": 1.5014583800762846,
      "gripper_loss": 0.53515625,
      "loss": 0.1474609375,
      "pos_loss": 0.98828125,
      "rot_loss": 0.3046875,
      "step": 6692
    },
    {
      "epoch": 1.5016827462418667,
      "grad_norm": 0.7662503719329834,
      "learning_rate": 0.0002617140026469887,
      "loss": 0.1163,
      "step": 6693
    },
    {
      "epoch": 1.5016827462418667,
      "gripper_loss": 0.007415771484375,
      "loss": 0.1318359375,
      "pos_loss": 1.2265625,
      "rot_loss": 0.11767578125,
      "step": 6693
    },
    {
      "epoch": 1.501907112407449,
      "grad_norm": 0.8415257334709167,
      "learning_rate": 0.00026165350916452866,
      "loss": 0.1124,
      "step": 6694
    },
    {
      "epoch": 1.501907112407449,
      "gripper_loss": 0.04736328125,
      "loss": 0.08642578125,
      "pos_loss": 0.69140625,
      "rot_loss": 0.13671875,
      "step": 6694
    },
    {
      "epoch": 1.5021314785730313,
      "grad_norm": 0.49485746026039124,
      "learning_rate": 0.00026159301499824604,
      "loss": 0.0685,
      "step": 6695
    },
    {
      "epoch": 1.5021314785730313,
      "gripper_loss": 0.373046875,
      "loss": 0.1640625,
      "pos_loss": 0.416015625,
      "rot_loss": 1.1640625,
      "step": 6695
    },
    {
      "epoch": 1.5023558447386134,
      "grad_norm": 0.5310792326927185,
      "learning_rate": 0.0002615325201516905,
      "loss": 0.0808,
      "step": 6696
    },
    {
      "epoch": 1.5023558447386134,
      "gripper_loss": 0.0634765625,
      "loss": 0.05517578125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.0751953125,
      "step": 6696
    },
    {
      "epoch": 1.5025802109041957,
      "grad_norm": 0.6300296187400818,
      "learning_rate": 0.00026147202462841195,
      "loss": 0.0989,
      "step": 6697
    },
    {
      "epoch": 1.5025802109041957,
      "gripper_loss": 0.0224609375,
      "loss": 0.045166015625,
      "pos_loss": 0.41015625,
      "rot_loss": 0.0245361328125,
      "step": 6697
    },
    {
      "epoch": 1.502804577069778,
      "grad_norm": 0.4738854765892029,
      "learning_rate": 0.0002614115284319601,
      "loss": 0.0649,
      "step": 6698
    },
    {
      "epoch": 1.502804577069778,
      "gripper_loss": 0.0247802734375,
      "loss": 0.048828125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.154296875,
      "step": 6698
    },
    {
      "epoch": 1.50302894323536,
      "grad_norm": 0.43338918685913086,
      "learning_rate": 0.0002613510315658849,
      "loss": 0.0547,
      "step": 6699
    },
    {
      "epoch": 1.50302894323536,
      "gripper_loss": 0.734375,
      "loss": 0.07470703125,
      "pos_loss": 0.47265625,
      "rot_loss": 0.0296630859375,
      "step": 6699
    },
    {
      "epoch": 1.5032533094009424,
      "grad_norm": 0.4993534982204437,
      "learning_rate": 0.00026129053403373635,
      "loss": 0.0594,
      "step": 6700
    },
    {
      "epoch": 1.5032533094009424,
      "gripper_loss": 1.3984375,
      "loss": 0.05712890625,
      "pos_loss": 0.026611328125,
      "rot_loss": 0.036376953125,
      "step": 6700
    },
    {
      "epoch": 1.5034776755665247,
      "grad_norm": 0.552230715751648,
      "learning_rate": 0.0002612300358390643,
      "loss": 0.0845,
      "step": 6701
    },
    {
      "epoch": 1.5034776755665247,
      "gripper_loss": 0.84765625,
      "loss": 0.03466796875,
      "pos_loss": 0.026123046875,
      "rot_loss": 0.00836181640625,
      "step": 6701
    },
    {
      "epoch": 1.5037020417321068,
      "grad_norm": 0.553078830242157,
      "learning_rate": 0.000261169536985419,
      "loss": 0.0702,
      "step": 6702
    },
    {
      "epoch": 1.5037020417321068,
      "gripper_loss": 0.052001953125,
      "loss": 0.052490234375,
      "pos_loss": 0.365234375,
      "rot_loss": 0.11474609375,
      "step": 6702
    },
    {
      "epoch": 1.503926407897689,
      "grad_norm": 0.4408334791660309,
      "learning_rate": 0.0002611090374763501,
      "loss": 0.0782,
      "step": 6703
    },
    {
      "epoch": 1.503926407897689,
      "gripper_loss": 0.031494140625,
      "loss": 0.061279296875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.0869140625,
      "step": 6703
    },
    {
      "epoch": 1.5041507740632714,
      "grad_norm": 0.36363455653190613,
      "learning_rate": 0.000261048537315408,
      "loss": 0.0774,
      "step": 6704
    },
    {
      "epoch": 1.5041507740632714,
      "gripper_loss": 0.1201171875,
      "loss": 0.1650390625,
      "pos_loss": 1.640625,
      "rot_loss": 0.04541015625,
      "step": 6704
    },
    {
      "epoch": 1.5043751402288534,
      "grad_norm": 0.5042896270751953,
      "learning_rate": 0.00026098803650614265,
      "loss": 0.083,
      "step": 6705
    },
    {
      "epoch": 1.5043751402288534,
      "gripper_loss": 0.1474609375,
      "loss": 0.06982421875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.1513671875,
      "step": 6705
    },
    {
      "epoch": 1.5045995063944357,
      "grad_norm": 0.45177268981933594,
      "learning_rate": 0.00026092753505210434,
      "loss": 0.0689,
      "step": 6706
    },
    {
      "epoch": 1.5045995063944357,
      "gripper_loss": 0.060302734375,
      "loss": 0.078125,
      "pos_loss": 0.6640625,
      "rot_loss": 0.0869140625,
      "step": 6706
    },
    {
      "epoch": 1.504823872560018,
      "grad_norm": 0.5229849815368652,
      "learning_rate": 0.00026086703295684317,
      "loss": 0.0771,
      "step": 6707
    },
    {
      "epoch": 1.504823872560018,
      "gripper_loss": 0.07177734375,
      "loss": 0.11376953125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.2314453125,
      "step": 6707
    },
    {
      "epoch": 1.5050482387256001,
      "grad_norm": 0.9241235256195068,
      "learning_rate": 0.00026080653022390947,
      "loss": 0.1198,
      "step": 6708
    },
    {
      "epoch": 1.5050482387256001,
      "gripper_loss": 0.0284423828125,
      "loss": 0.1474609375,
      "pos_loss": 0.7578125,
      "rot_loss": 0.734375,
      "step": 6708
    },
    {
      "epoch": 1.5052726048911824,
      "grad_norm": 0.3727046847343445,
      "learning_rate": 0.00026074602685685345,
      "loss": 0.0573,
      "step": 6709
    },
    {
      "epoch": 1.5052726048911824,
      "gripper_loss": 0.5546875,
      "loss": 0.16015625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.76953125,
      "step": 6709
    },
    {
      "epoch": 1.5054969710567647,
      "grad_norm": 0.5118979215621948,
      "learning_rate": 0.00026068552285922535,
      "loss": 0.0921,
      "step": 6710
    },
    {
      "epoch": 1.5054969710567647,
      "gripper_loss": 0.09033203125,
      "loss": 0.10009765625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.20703125,
      "step": 6710
    },
    {
      "epoch": 1.5057213372223468,
      "grad_norm": 0.7829969525337219,
      "learning_rate": 0.00026062501823457564,
      "loss": 0.0826,
      "step": 6711
    },
    {
      "epoch": 1.5057213372223468,
      "gripper_loss": 0.037109375,
      "loss": 0.04345703125,
      "pos_loss": 0.37890625,
      "rot_loss": 0.0311279296875,
      "step": 6711
    },
    {
      "epoch": 1.505945703387929,
      "grad_norm": 0.4708408713340759,
      "learning_rate": 0.00026056451298645466,
      "loss": 0.0693,
      "step": 6712
    },
    {
      "epoch": 1.505945703387929,
      "gripper_loss": 0.52734375,
      "loss": 0.045166015625,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.059326171875,
      "step": 6712
    },
    {
      "epoch": 1.5061700695535114,
      "grad_norm": 0.51130610704422,
      "learning_rate": 0.00026050400711841285,
      "loss": 0.0609,
      "step": 6713
    },
    {
      "epoch": 1.5061700695535114,
      "gripper_loss": 0.13671875,
      "loss": 0.0830078125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.1767578125,
      "step": 6713
    },
    {
      "epoch": 1.5063944357190935,
      "grad_norm": 0.5361410975456238,
      "learning_rate": 0.00026044350063400063,
      "loss": 0.0615,
      "step": 6714
    },
    {
      "epoch": 1.5063944357190935,
      "gripper_loss": 0.130859375,
      "loss": 0.1142578125,
      "pos_loss": 0.68359375,
      "rot_loss": 0.4453125,
      "step": 6714
    },
    {
      "epoch": 1.5066188018846758,
      "grad_norm": 0.6870044469833374,
      "learning_rate": 0.0002603829935367685,
      "loss": 0.0961,
      "step": 6715
    },
    {
      "epoch": 1.5066188018846758,
      "gripper_loss": 0.0179443359375,
      "loss": 0.0654296875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.23046875,
      "step": 6715
    },
    {
      "epoch": 1.506843168050258,
      "grad_norm": 0.42801040410995483,
      "learning_rate": 0.000260322485830267,
      "loss": 0.0689,
      "step": 6716
    },
    {
      "epoch": 1.506843168050258,
      "gripper_loss": 0.3671875,
      "loss": 0.056396484375,
      "pos_loss": 0.4296875,
      "rot_loss": 0.0157470703125,
      "step": 6716
    },
    {
      "epoch": 1.5070675342158402,
      "grad_norm": 0.5237472057342529,
      "learning_rate": 0.0002602619775180467,
      "loss": 0.0794,
      "step": 6717
    },
    {
      "epoch": 1.5070675342158402,
      "gripper_loss": 0.11279296875,
      "loss": 0.056884765625,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.16015625,
      "step": 6717
    },
    {
      "epoch": 1.5072919003814225,
      "grad_norm": 0.8963142037391663,
      "learning_rate": 0.00026020146860365815,
      "loss": 0.1143,
      "step": 6718
    },
    {
      "epoch": 1.5072919003814225,
      "gripper_loss": 0.05908203125,
      "loss": 0.1826171875,
      "pos_loss": 0.7734375,
      "rot_loss": 1.1015625,
      "step": 6718
    },
    {
      "epoch": 1.5075162665470048,
      "grad_norm": 0.5261775851249695,
      "learning_rate": 0.0002601409590906521,
      "loss": 0.1018,
      "step": 6719
    },
    {
      "epoch": 1.5075162665470048,
      "gripper_loss": 0.05517578125,
      "loss": 0.0751953125,
      "pos_loss": 0.67578125,
      "rot_loss": 0.0556640625,
      "step": 6719
    },
    {
      "epoch": 1.5077406327125868,
      "grad_norm": 0.49129047989845276,
      "learning_rate": 0.00026008044898257913,
      "loss": 0.069,
      "step": 6720
    },
    {
      "epoch": 1.5077406327125868,
      "gripper_loss": 0.287109375,
      "loss": 0.0771484375,
      "pos_loss": 0.08447265625,
      "rot_loss": 0.5859375,
      "step": 6720
    },
    {
      "epoch": 1.5079649988781691,
      "grad_norm": 0.4430243670940399,
      "learning_rate": 0.00026001993828299005,
      "loss": 0.0621,
      "step": 6721
    },
    {
      "epoch": 1.5079649988781691,
      "gripper_loss": 0.236328125,
      "loss": 0.0361328125,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.030517578125,
      "step": 6721
    },
    {
      "epoch": 1.5081893650437515,
      "grad_norm": 0.6384082436561584,
      "learning_rate": 0.00025995942699543536,
      "loss": 0.0773,
      "step": 6722
    },
    {
      "epoch": 1.5081893650437515,
      "gripper_loss": 0.4453125,
      "loss": 0.0673828125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.259765625,
      "step": 6722
    },
    {
      "epoch": 1.5084137312093335,
      "grad_norm": 0.4414982795715332,
      "learning_rate": 0.0002598989151234661,
      "loss": 0.0776,
      "step": 6723
    },
    {
      "epoch": 1.5084137312093335,
      "gripper_loss": 0.11962890625,
      "loss": 0.042724609375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.0311279296875,
      "step": 6723
    },
    {
      "epoch": 1.5086380973749158,
      "grad_norm": 0.5001659393310547,
      "learning_rate": 0.00025983840267063287,
      "loss": 0.0506,
      "step": 6724
    },
    {
      "epoch": 1.5086380973749158,
      "gripper_loss": 0.2060546875,
      "loss": 0.01611328125,
      "pos_loss": 0.0322265625,
      "rot_loss": 0.0244140625,
      "step": 6724
    },
    {
      "epoch": 1.5088624635404981,
      "grad_norm": 0.3865799009799957,
      "learning_rate": 0.0002597778896404867,
      "loss": 0.0536,
      "step": 6725
    },
    {
      "epoch": 1.5088624635404981,
      "gripper_loss": 0.9296875,
      "loss": 0.2158203125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.49609375,
      "step": 6725
    },
    {
      "epoch": 1.5090868297060802,
      "grad_norm": 1.2167035341262817,
      "learning_rate": 0.00025971737603657836,
      "loss": 0.2249,
      "step": 6726
    },
    {
      "epoch": 1.5090868297060802,
      "gripper_loss": 0.0107421875,
      "loss": 0.06103515625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.263671875,
      "step": 6726
    },
    {
      "epoch": 1.5093111958716625,
      "grad_norm": 0.44506749510765076,
      "learning_rate": 0.00025965686186245877,
      "loss": 0.075,
      "step": 6727
    },
    {
      "epoch": 1.5093111958716625,
      "gripper_loss": 0.02294921875,
      "loss": 0.1171875,
      "pos_loss": 1.09375,
      "rot_loss": 0.040771484375,
      "step": 6727
    },
    {
      "epoch": 1.5095355620372448,
      "grad_norm": 0.5199705362319946,
      "learning_rate": 0.0002595963471216789,
      "loss": 0.0857,
      "step": 6728
    },
    {
      "epoch": 1.5095355620372448,
      "gripper_loss": 0.28515625,
      "loss": 0.08544921875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.09814453125,
      "step": 6728
    },
    {
      "epoch": 1.509759928202827,
      "grad_norm": 0.6314347386360168,
      "learning_rate": 0.00025953583181778964,
      "loss": 0.0565,
      "step": 6729
    },
    {
      "epoch": 1.509759928202827,
      "gripper_loss": 0.0172119140625,
      "loss": 0.080078125,
      "pos_loss": 0.41015625,
      "rot_loss": 0.380859375,
      "step": 6729
    },
    {
      "epoch": 1.5099842943684092,
      "grad_norm": 0.44767025113105774,
      "learning_rate": 0.00025947531595434223,
      "loss": 0.0644,
      "step": 6730
    },
    {
      "epoch": 1.5099842943684092,
      "gripper_loss": 0.0625,
      "loss": 0.09765625,
      "pos_loss": 0.515625,
      "rot_loss": 0.4140625,
      "step": 6730
    },
    {
      "epoch": 1.5102086605339915,
      "grad_norm": 0.5231649875640869,
      "learning_rate": 0.00025941479953488743,
      "loss": 0.0947,
      "step": 6731
    },
    {
      "epoch": 1.5102086605339915,
      "gripper_loss": 0.08984375,
      "loss": 0.07177734375,
      "pos_loss": 0.419921875,
      "rot_loss": 0.1259765625,
      "step": 6731
    },
    {
      "epoch": 1.5104330266995736,
      "grad_norm": 0.9867379665374756,
      "learning_rate": 0.00025935428256297654,
      "loss": 0.1076,
      "step": 6732
    },
    {
      "epoch": 1.5104330266995736,
      "gripper_loss": 0.03125,
      "loss": 0.0810546875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.271484375,
      "step": 6732
    },
    {
      "epoch": 1.5106573928651559,
      "grad_norm": 0.6039389371871948,
      "learning_rate": 0.0002592937650421605,
      "loss": 0.0729,
      "step": 6733
    },
    {
      "epoch": 1.5106573928651559,
      "gripper_loss": 1.2421875,
      "loss": 0.05859375,
      "pos_loss": 0.06494140625,
      "rot_loss": 0.083984375,
      "step": 6733
    },
    {
      "epoch": 1.5108817590307382,
      "grad_norm": 0.5282559990882874,
      "learning_rate": 0.00025923324697599054,
      "loss": 0.0827,
      "step": 6734
    },
    {
      "epoch": 1.5108817590307382,
      "gripper_loss": 0.01116943359375,
      "loss": 0.017822265625,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.0260009765625,
      "step": 6734
    },
    {
      "epoch": 1.5111061251963203,
      "grad_norm": 0.4720066785812378,
      "learning_rate": 0.0002591727283680178,
      "loss": 0.0726,
      "step": 6735
    },
    {
      "epoch": 1.5111061251963203,
      "gripper_loss": 0.0206298828125,
      "loss": 0.058349609375,
      "pos_loss": 0.5,
      "rot_loss": 0.048095703125,
      "step": 6735
    },
    {
      "epoch": 1.5113304913619028,
      "grad_norm": 0.45362529158592224,
      "learning_rate": 0.00025911220922179357,
      "loss": 0.0619,
      "step": 6736
    },
    {
      "epoch": 1.5113304913619028,
      "gripper_loss": 0.11767578125,
      "loss": 0.14453125,
      "pos_loss": 0.515625,
      "rot_loss": 0.33984375,
      "step": 6736
    },
    {
      "epoch": 1.5115548575274849,
      "grad_norm": 0.923532247543335,
      "learning_rate": 0.000259051689540869,
      "loss": 0.1042,
      "step": 6737
    },
    {
      "epoch": 1.5115548575274849,
      "gripper_loss": 0.341796875,
      "loss": 0.09912109375,
      "pos_loss": 0.86328125,
      "rot_loss": 0.02978515625,
      "step": 6737
    },
    {
      "epoch": 1.511779223693067,
      "grad_norm": 0.4348888099193573,
      "learning_rate": 0.00025899116932879537,
      "loss": 0.0743,
      "step": 6738
    },
    {
      "epoch": 1.511779223693067,
      "gripper_loss": 0.298828125,
      "loss": 0.033935546875,
      "pos_loss": 0.0673828125,
      "rot_loss": 0.08837890625,
      "step": 6738
    },
    {
      "epoch": 1.5120035898586495,
      "grad_norm": 0.5176047682762146,
      "learning_rate": 0.0002589306485891239,
      "loss": 0.051,
      "step": 6739
    },
    {
      "epoch": 1.5120035898586495,
      "gripper_loss": 0.0888671875,
      "loss": 0.032470703125,
      "pos_loss": 0.111328125,
      "rot_loss": 0.056396484375,
      "step": 6739
    },
    {
      "epoch": 1.5122279560242315,
      "grad_norm": 0.6610937118530273,
      "learning_rate": 0.0002588701273254061,
      "loss": 0.0688,
      "step": 6740
    },
    {
      "epoch": 1.5122279560242315,
      "gripper_loss": 0.02880859375,
      "loss": 0.06591796875,
      "pos_loss": 0.265625,
      "rot_loss": 0.265625,
      "step": 6740
    },
    {
      "epoch": 1.5124523221898136,
      "grad_norm": 0.8103883266448975,
      "learning_rate": 0.0002588096055411931,
      "loss": 0.073,
      "step": 6741
    },
    {
      "epoch": 1.5124523221898136,
      "gripper_loss": 0.341796875,
      "loss": 0.0439453125,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.158203125,
      "step": 6741
    },
    {
      "epoch": 1.5126766883553961,
      "grad_norm": 0.4062812626361847,
      "learning_rate": 0.0002587490832400366,
      "loss": 0.0474,
      "step": 6742
    },
    {
      "epoch": 1.5126766883553961,
      "gripper_loss": 0.01141357421875,
      "loss": 0.01708984375,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.059326171875,
      "step": 6742
    },
    {
      "epoch": 1.5129010545209782,
      "grad_norm": 0.4152582287788391,
      "learning_rate": 0.00025868856042548784,
      "loss": 0.0766,
      "step": 6743
    },
    {
      "epoch": 1.5129010545209782,
      "gripper_loss": 0.04541015625,
      "loss": 0.1474609375,
      "pos_loss": 0.80078125,
      "rot_loss": 0.62109375,
      "step": 6743
    },
    {
      "epoch": 1.5131254206865603,
      "grad_norm": 0.45631343126296997,
      "learning_rate": 0.0002586280371010982,
      "loss": 0.057,
      "step": 6744
    },
    {
      "epoch": 1.5131254206865603,
      "gripper_loss": 0.12255859375,
      "loss": 0.064453125,
      "pos_loss": 0.349609375,
      "rot_loss": 0.248046875,
      "step": 6744
    },
    {
      "epoch": 1.5133497868521428,
      "grad_norm": 0.40090638399124146,
      "learning_rate": 0.00025856751327041924,
      "loss": 0.0591,
      "step": 6745
    },
    {
      "epoch": 1.5133497868521428,
      "gripper_loss": 1.34375,
      "loss": 0.15234375,
      "pos_loss": 0.65625,
      "rot_loss": 0.21875,
      "step": 6745
    },
    {
      "epoch": 1.513574153017725,
      "grad_norm": 0.8986591100692749,
      "learning_rate": 0.0002585069889370024,
      "loss": 0.0958,
      "step": 6746
    },
    {
      "epoch": 1.513574153017725,
      "gripper_loss": 0.49609375,
      "loss": 0.216796875,
      "pos_loss": 1.1953125,
      "rot_loss": 0.8203125,
      "step": 6746
    },
    {
      "epoch": 1.5137985191833072,
      "grad_norm": 0.6947308778762817,
      "learning_rate": 0.0002584464641043994,
      "loss": 0.0877,
      "step": 6747
    },
    {
      "epoch": 1.5137985191833072,
      "gripper_loss": 0.1787109375,
      "loss": 0.16796875,
      "pos_loss": 0.439453125,
      "rot_loss": 0.33984375,
      "step": 6747
    },
    {
      "epoch": 1.5140228853488895,
      "grad_norm": 1.2812288999557495,
      "learning_rate": 0.00025838593877616165,
      "loss": 0.1315,
      "step": 6748
    },
    {
      "epoch": 1.5140228853488895,
      "gripper_loss": 0.07080078125,
      "loss": 0.044921875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.1513671875,
      "step": 6748
    },
    {
      "epoch": 1.5142472515144716,
      "grad_norm": 0.6661418676376343,
      "learning_rate": 0.0002583254129558409,
      "loss": 0.075,
      "step": 6749
    },
    {
      "epoch": 1.5142472515144716,
      "gripper_loss": 0.2451171875,
      "loss": 0.056640625,
      "pos_loss": 0.265625,
      "rot_loss": 0.1279296875,
      "step": 6749
    },
    {
      "epoch": 1.514471617680054,
      "grad_norm": 0.5782182216644287,
      "learning_rate": 0.00025826488664698854,
      "loss": 0.0769,
      "step": 6750
    },
    {
      "epoch": 1.514471617680054,
      "gripper_loss": 0.10888671875,
      "loss": 0.028564453125,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.09521484375,
      "step": 6750
    },
    {
      "epoch": 1.5146959838456362,
      "grad_norm": 0.802894115447998,
      "learning_rate": 0.0002582043598531565,
      "loss": 0.0714,
      "step": 6751
    },
    {
      "epoch": 1.5146959838456362,
      "gripper_loss": 0.013671875,
      "loss": 0.220703125,
      "pos_loss": 0.734375,
      "rot_loss": 1.5390625,
      "step": 6751
    },
    {
      "epoch": 1.5149203500112183,
      "grad_norm": 0.6649302244186401,
      "learning_rate": 0.0002581438325778962,
      "loss": 0.1021,
      "step": 6752
    },
    {
      "epoch": 1.5149203500112183,
      "gripper_loss": 0.01220703125,
      "loss": 0.185546875,
      "pos_loss": 1.8828125,
      "rot_loss": 0.029296875,
      "step": 6752
    },
    {
      "epoch": 1.5151447161768006,
      "grad_norm": 0.5694373250007629,
      "learning_rate": 0.00025808330482475955,
      "loss": 0.0705,
      "step": 6753
    },
    {
      "epoch": 1.5151447161768006,
      "gripper_loss": 0.47265625,
      "loss": 0.0283203125,
      "pos_loss": 0.051513671875,
      "rot_loss": 0.0274658203125,
      "step": 6753
    },
    {
      "epoch": 1.5153690823423829,
      "grad_norm": 0.5116106867790222,
      "learning_rate": 0.0002580227765972982,
      "loss": 0.0634,
      "step": 6754
    },
    {
      "epoch": 1.5153690823423829,
      "gripper_loss": 0.0537109375,
      "loss": 0.13671875,
      "pos_loss": 0.78125,
      "rot_loss": 0.423828125,
      "step": 6754
    },
    {
      "epoch": 1.515593448507965,
      "grad_norm": 0.8851587772369385,
      "learning_rate": 0.00025796224789906405,
      "loss": 0.1419,
      "step": 6755
    },
    {
      "epoch": 1.515593448507965,
      "gripper_loss": 0.0194091796875,
      "loss": 0.1572265625,
      "pos_loss": 0.9296875,
      "rot_loss": 0.6875,
      "step": 6755
    },
    {
      "epoch": 1.5158178146735473,
      "grad_norm": 0.4477669298648834,
      "learning_rate": 0.00025790171873360865,
      "loss": 0.0658,
      "step": 6756
    },
    {
      "epoch": 1.5158178146735473,
      "gripper_loss": 0.265625,
      "loss": 0.087890625,
      "pos_loss": 0.71875,
      "rot_loss": 0.057373046875,
      "step": 6756
    },
    {
      "epoch": 1.5160421808391296,
      "grad_norm": 0.4355035126209259,
      "learning_rate": 0.000257841189104484,
      "loss": 0.0746,
      "step": 6757
    },
    {
      "epoch": 1.5160421808391296,
      "gripper_loss": 0.59765625,
      "loss": 0.051513671875,
      "pos_loss": 0.1328125,
      "rot_loss": 0.150390625,
      "step": 6757
    },
    {
      "epoch": 1.5162665470047116,
      "grad_norm": 0.4615928828716278,
      "learning_rate": 0.0002577806590152419,
      "loss": 0.0716,
      "step": 6758
    },
    {
      "epoch": 1.5162665470047116,
      "gripper_loss": 0.283203125,
      "loss": 0.05615234375,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.263671875,
      "step": 6758
    },
    {
      "epoch": 1.516490913170294,
      "grad_norm": 0.6481859683990479,
      "learning_rate": 0.0002577201284694342,
      "loss": 0.0973,
      "step": 6759
    },
    {
      "epoch": 1.516490913170294,
      "gripper_loss": 0.0274658203125,
      "loss": 0.07177734375,
      "pos_loss": 0.515625,
      "rot_loss": 0.14453125,
      "step": 6759
    },
    {
      "epoch": 1.5167152793358762,
      "grad_norm": 0.42962440848350525,
      "learning_rate": 0.0002576595974706129,
      "loss": 0.0601,
      "step": 6760
    },
    {
      "epoch": 1.5167152793358762,
      "gripper_loss": 0.058837890625,
      "loss": 0.046875,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.1630859375,
      "step": 6760
    },
    {
      "epoch": 1.5169396455014583,
      "grad_norm": 0.3167355954647064,
      "learning_rate": 0.00025759906602233,
      "loss": 0.0533,
      "step": 6761
    },
    {
      "epoch": 1.5169396455014583,
      "gripper_loss": 0.01348876953125,
      "loss": 0.046875,
      "pos_loss": 0.32421875,
      "rot_loss": 0.1142578125,
      "step": 6761
    },
    {
      "epoch": 1.5171640116670406,
      "grad_norm": 0.3901250660419464,
      "learning_rate": 0.0002575385341281372,
      "loss": 0.0507,
      "step": 6762
    },
    {
      "epoch": 1.5171640116670406,
      "gripper_loss": 0.19140625,
      "loss": 0.0517578125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.287109375,
      "step": 6762
    },
    {
      "epoch": 1.517388377832623,
      "grad_norm": 0.616777777671814,
      "learning_rate": 0.0002574780017915866,
      "loss": 0.0706,
      "step": 6763
    },
    {
      "epoch": 1.517388377832623,
      "gripper_loss": 0.07470703125,
      "loss": 0.1455078125,
      "pos_loss": 0.81640625,
      "rot_loss": 0.369140625,
      "step": 6763
    },
    {
      "epoch": 1.517612743998205,
      "grad_norm": 0.87781822681427,
      "learning_rate": 0.00025741746901623033,
      "loss": 0.0997,
      "step": 6764
    },
    {
      "epoch": 1.517612743998205,
      "gripper_loss": 0.10986328125,
      "loss": 0.19921875,
      "pos_loss": 1.4375,
      "rot_loss": 0.37890625,
      "step": 6764
    },
    {
      "epoch": 1.5178371101637873,
      "grad_norm": 0.7768484950065613,
      "learning_rate": 0.0002573569358056202,
      "loss": 0.0994,
      "step": 6765
    },
    {
      "epoch": 1.5178371101637873,
      "gripper_loss": 0.013427734375,
      "loss": 0.02685546875,
      "pos_loss": 0.134765625,
      "rot_loss": 0.078125,
      "step": 6765
    },
    {
      "epoch": 1.5180614763293696,
      "grad_norm": 0.5867288708686829,
      "learning_rate": 0.0002572964021633085,
      "loss": 0.0712,
      "step": 6766
    },
    {
      "epoch": 1.5180614763293696,
      "gripper_loss": 0.049560546875,
      "loss": 0.0810546875,
      "pos_loss": 0.61328125,
      "rot_loss": 0.1416015625,
      "step": 6766
    },
    {
      "epoch": 1.5182858424949517,
      "grad_norm": 0.7346156239509583,
      "learning_rate": 0.0002572358680928472,
      "loss": 0.0808,
      "step": 6767
    },
    {
      "epoch": 1.5182858424949517,
      "gripper_loss": 0.23828125,
      "loss": 0.07080078125,
      "pos_loss": 0.37890625,
      "rot_loss": 0.1376953125,
      "step": 6767
    },
    {
      "epoch": 1.518510208660534,
      "grad_norm": 0.6398053169250488,
      "learning_rate": 0.0002571753335977885,
      "loss": 0.0819,
      "step": 6768
    },
    {
      "epoch": 1.518510208660534,
      "gripper_loss": 0.076171875,
      "loss": 0.181640625,
      "pos_loss": 1.046875,
      "rot_loss": 0.57421875,
      "step": 6768
    },
    {
      "epoch": 1.5187345748261163,
      "grad_norm": 0.8697877526283264,
      "learning_rate": 0.0002571147986816843,
      "loss": 0.1054,
      "step": 6769
    },
    {
      "epoch": 1.5187345748261163,
      "gripper_loss": 0.376953125,
      "loss": 0.033203125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.03515625,
      "step": 6769
    },
    {
      "epoch": 1.5189589409916984,
      "grad_norm": 0.489151269197464,
      "learning_rate": 0.0002570542633480871,
      "loss": 0.0648,
      "step": 6770
    },
    {
      "epoch": 1.5189589409916984,
      "gripper_loss": 0.419921875,
      "loss": 0.0284423828125,
      "pos_loss": 0.0263671875,
      "rot_loss": 0.07470703125,
      "step": 6770
    },
    {
      "epoch": 1.5191833071572807,
      "grad_norm": 0.4955439269542694,
      "learning_rate": 0.0002569937276005487,
      "loss": 0.0484,
      "step": 6771
    },
    {
      "epoch": 1.5191833071572807,
      "gripper_loss": 0.1162109375,
      "loss": 0.08203125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.1494140625,
      "step": 6771
    },
    {
      "epoch": 1.519407673322863,
      "grad_norm": 0.5434401631355286,
      "learning_rate": 0.0002569331914426217,
      "loss": 0.0925,
      "step": 6772
    },
    {
      "epoch": 1.519407673322863,
      "gripper_loss": 0.0419921875,
      "loss": 0.0771484375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.150390625,
      "step": 6772
    },
    {
      "epoch": 1.519632039488445,
      "grad_norm": 0.3990163803100586,
      "learning_rate": 0.00025687265487785816,
      "loss": 0.0858,
      "step": 6773
    },
    {
      "epoch": 1.519632039488445,
      "gripper_loss": 0.0869140625,
      "loss": 0.126953125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.07666015625,
      "step": 6773
    },
    {
      "epoch": 1.5198564056540274,
      "grad_norm": 0.6176559329032898,
      "learning_rate": 0.00025681211790981026,
      "loss": 0.1027,
      "step": 6774
    },
    {
      "epoch": 1.5198564056540274,
      "gripper_loss": 0.047607421875,
      "loss": 0.091796875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.330078125,
      "step": 6774
    },
    {
      "epoch": 1.5200807718196097,
      "grad_norm": 0.610770583152771,
      "learning_rate": 0.0002567515805420304,
      "loss": 0.0838,
      "step": 6775
    },
    {
      "epoch": 1.5200807718196097,
      "gripper_loss": 1.125,
      "loss": 0.087890625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.212890625,
      "step": 6775
    },
    {
      "epoch": 1.5203051379851917,
      "grad_norm": 0.4294646382331848,
      "learning_rate": 0.00025669104277807077,
      "loss": 0.0484,
      "step": 6776
    },
    {
      "epoch": 1.5203051379851917,
      "gripper_loss": 0.1298828125,
      "loss": 0.140625,
      "pos_loss": 0.546875,
      "rot_loss": 0.78125,
      "step": 6776
    },
    {
      "epoch": 1.520529504150774,
      "grad_norm": 0.5257174372673035,
      "learning_rate": 0.00025663050462148386,
      "loss": 0.0688,
      "step": 6777
    },
    {
      "epoch": 1.520529504150774,
      "gripper_loss": 0.2041015625,
      "loss": 0.0673828125,
      "pos_loss": 0.546875,
      "rot_loss": 0.0439453125,
      "step": 6777
    },
    {
      "epoch": 1.5207538703163563,
      "grad_norm": 0.47450536489486694,
      "learning_rate": 0.0002565699660758219,
      "loss": 0.054,
      "step": 6778
    },
    {
      "epoch": 1.5207538703163563,
      "gripper_loss": 0.057861328125,
      "loss": 0.03271484375,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.1806640625,
      "step": 6778
    },
    {
      "epoch": 1.5209782364819384,
      "grad_norm": 0.49703338742256165,
      "learning_rate": 0.0002565094271446373,
      "loss": 0.0549,
      "step": 6779
    },
    {
      "epoch": 1.5209782364819384,
      "gripper_loss": 0.10595703125,
      "loss": 0.059326171875,
      "pos_loss": 0.265625,
      "rot_loss": 0.251953125,
      "step": 6779
    },
    {
      "epoch": 1.5212026026475207,
      "grad_norm": 0.3704279661178589,
      "learning_rate": 0.0002564488878314825,
      "loss": 0.0475,
      "step": 6780
    },
    {
      "epoch": 1.5212026026475207,
      "gripper_loss": 0.083984375,
      "loss": 0.0255126953125,
      "pos_loss": 0.125,
      "rot_loss": 0.055419921875,
      "step": 6780
    },
    {
      "epoch": 1.521426968813103,
      "grad_norm": 0.3732037842273712,
      "learning_rate": 0.0002563883481399098,
      "loss": 0.0507,
      "step": 6781
    },
    {
      "epoch": 1.521426968813103,
      "gripper_loss": 0.01190185546875,
      "loss": 0.031494140625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.10107421875,
      "step": 6781
    },
    {
      "epoch": 1.521651334978685,
      "grad_norm": 0.3515576720237732,
      "learning_rate": 0.0002563278080734717,
      "loss": 0.0406,
      "step": 6782
    },
    {
      "epoch": 1.521651334978685,
      "gripper_loss": 0.1884765625,
      "loss": 0.236328125,
      "pos_loss": 0.40625,
      "rot_loss": 0.28515625,
      "step": 6782
    },
    {
      "epoch": 1.5218757011442674,
      "grad_norm": 2.023221015930176,
      "learning_rate": 0.00025626726763572073,
      "loss": 0.2719,
      "step": 6783
    },
    {
      "epoch": 1.5218757011442674,
      "gripper_loss": 0.3671875,
      "loss": 0.06982421875,
      "pos_loss": 0.470703125,
      "rot_loss": 0.11083984375,
      "step": 6783
    },
    {
      "epoch": 1.5221000673098497,
      "grad_norm": 0.4245368242263794,
      "learning_rate": 0.00025620672683020933,
      "loss": 0.073,
      "step": 6784
    },
    {
      "epoch": 1.5221000673098497,
      "gripper_loss": 0.18359375,
      "loss": 0.037841796875,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.07421875,
      "step": 6784
    },
    {
      "epoch": 1.5223244334754318,
      "grad_norm": 0.2888423800468445,
      "learning_rate": 0.00025614618566049003,
      "loss": 0.0489,
      "step": 6785
    },
    {
      "epoch": 1.5223244334754318,
      "gripper_loss": 0.3828125,
      "loss": 0.07568359375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.265625,
      "step": 6785
    },
    {
      "epoch": 1.522548799641014,
      "grad_norm": 0.49833542108535767,
      "learning_rate": 0.00025608564413011527,
      "loss": 0.0687,
      "step": 6786
    },
    {
      "epoch": 1.522548799641014,
      "gripper_loss": 0.007537841796875,
      "loss": 0.01806640625,
      "pos_loss": 0.054443359375,
      "rot_loss": 0.09228515625,
      "step": 6786
    },
    {
      "epoch": 1.5227731658065964,
      "grad_norm": 0.4747130274772644,
      "learning_rate": 0.00025602510224263764,
      "loss": 0.0699,
      "step": 6787
    },
    {
      "epoch": 1.5227731658065964,
      "gripper_loss": 0.486328125,
      "loss": 0.1728515625,
      "pos_loss": 1.578125,
      "rot_loss": 0.050537109375,
      "step": 6787
    },
    {
      "epoch": 1.5229975319721785,
      "grad_norm": 0.54271399974823,
      "learning_rate": 0.00025596456000160977,
      "loss": 0.0952,
      "step": 6788
    },
    {
      "epoch": 1.5229975319721785,
      "gripper_loss": 0.404296875,
      "loss": 0.056396484375,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.25,
      "step": 6788
    },
    {
      "epoch": 1.523221898137761,
      "grad_norm": 0.3375607132911682,
      "learning_rate": 0.0002559040174105842,
      "loss": 0.0486,
      "step": 6789
    },
    {
      "epoch": 1.523221898137761,
      "gripper_loss": 0.0159912109375,
      "loss": 0.061767578125,
      "pos_loss": 0.29296875,
      "rot_loss": 0.259765625,
      "step": 6789
    },
    {
      "epoch": 1.523446264303343,
      "grad_norm": 0.65617436170578,
      "learning_rate": 0.00025584347447311364,
      "loss": 0.0768,
      "step": 6790
    },
    {
      "epoch": 1.523446264303343,
      "gripper_loss": 0.01220703125,
      "loss": 0.053955078125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.134765625,
      "step": 6790
    },
    {
      "epoch": 1.5236706304689251,
      "grad_norm": 0.3748733103275299,
      "learning_rate": 0.00025578293119275054,
      "loss": 0.072,
      "step": 6791
    },
    {
      "epoch": 1.5236706304689251,
      "gripper_loss": 0.00732421875,
      "loss": 0.035400390625,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.109375,
      "step": 6791
    },
    {
      "epoch": 1.5238949966345077,
      "grad_norm": 0.23738715052604675,
      "learning_rate": 0.00025572238757304766,
      "loss": 0.0477,
      "step": 6792
    },
    {
      "epoch": 1.5238949966345077,
      "gripper_loss": 0.42578125,
      "loss": 0.2421875,
      "pos_loss": 0.4921875,
      "rot_loss": 0.27734375,
      "step": 6792
    },
    {
      "epoch": 1.5241193628000897,
      "grad_norm": 1.460470199584961,
      "learning_rate": 0.00025566184361755766,
      "loss": 0.3066,
      "step": 6793
    },
    {
      "epoch": 1.5241193628000897,
      "gripper_loss": 0.81640625,
      "loss": 0.045654296875,
      "pos_loss": 0.138671875,
      "rot_loss": 0.0230712890625,
      "step": 6793
    },
    {
      "epoch": 1.5243437289656718,
      "grad_norm": 0.5283836126327515,
      "learning_rate": 0.00025560129932983327,
      "loss": 0.0719,
      "step": 6794
    },
    {
      "epoch": 1.5243437289656718,
      "gripper_loss": 0.02392578125,
      "loss": 0.09375,
      "pos_loss": 0.78515625,
      "rot_loss": 0.1357421875,
      "step": 6794
    },
    {
      "epoch": 1.5245680951312544,
      "grad_norm": 0.5058757066726685,
      "learning_rate": 0.00025554075471342707,
      "loss": 0.0992,
      "step": 6795
    },
    {
      "epoch": 1.5245680951312544,
      "gripper_loss": 0.201171875,
      "loss": 0.06298828125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.220703125,
      "step": 6795
    },
    {
      "epoch": 1.5247924612968364,
      "grad_norm": 0.5485612154006958,
      "learning_rate": 0.00025548020977189206,
      "loss": 0.0825,
      "step": 6796
    },
    {
      "epoch": 1.5247924612968364,
      "gripper_loss": 0.99609375,
      "loss": 0.1435546875,
      "pos_loss": 0.72265625,
      "rot_loss": 0.4140625,
      "step": 6796
    },
    {
      "epoch": 1.5250168274624185,
      "grad_norm": 0.45519593358039856,
      "learning_rate": 0.0002554196645087807,
      "loss": 0.073,
      "step": 6797
    },
    {
      "epoch": 1.5250168274624185,
      "gripper_loss": 0.65625,
      "loss": 0.055419921875,
      "pos_loss": 0.259765625,
      "rot_loss": 0.03271484375,
      "step": 6797
    },
    {
      "epoch": 1.525241193628001,
      "grad_norm": 0.4863119423389435,
      "learning_rate": 0.0002553591189276459,
      "loss": 0.0652,
      "step": 6798
    },
    {
      "epoch": 1.525241193628001,
      "gripper_loss": 0.03759765625,
      "loss": 0.0517578125,
      "pos_loss": 0.46875,
      "rot_loss": 0.0225830078125,
      "step": 6798
    },
    {
      "epoch": 1.5254655597935831,
      "grad_norm": 0.5155505537986755,
      "learning_rate": 0.0002552985730320404,
      "loss": 0.0547,
      "step": 6799
    },
    {
      "epoch": 1.5254655597935831,
      "gripper_loss": 0.296875,
      "loss": 0.044921875,
      "pos_loss": 0.150390625,
      "rot_loss": 0.1767578125,
      "step": 6799
    },
    {
      "epoch": 1.5256899259591652,
      "grad_norm": 0.4951916038990021,
      "learning_rate": 0.00025523802682551704,
      "loss": 0.0814,
      "step": 6800
    },
    {
      "epoch": 1.5256899259591652,
      "gripper_loss": 0.6953125,
      "loss": 0.060791015625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.123046875,
      "step": 6800
    },
    {
      "epoch": 1.5259142921247477,
      "grad_norm": 0.3368653953075409,
      "learning_rate": 0.00025517748031162856,
      "loss": 0.0515,
      "step": 6801
    },
    {
      "epoch": 1.5259142921247477,
      "gripper_loss": 0.447265625,
      "loss": 0.10205078125,
      "pos_loss": 0.458984375,
      "rot_loss": 0.427734375,
      "step": 6801
    },
    {
      "epoch": 1.5261386582903298,
      "grad_norm": 0.5880948305130005,
      "learning_rate": 0.00025511693349392805,
      "loss": 0.0679,
      "step": 6802
    },
    {
      "epoch": 1.5261386582903298,
      "gripper_loss": 0.0169677734375,
      "loss": 0.07177734375,
      "pos_loss": 0.640625,
      "rot_loss": 0.057861328125,
      "step": 6802
    },
    {
      "epoch": 1.526363024455912,
      "grad_norm": 0.388016939163208,
      "learning_rate": 0.00025505638637596804,
      "loss": 0.0605,
      "step": 6803
    },
    {
      "epoch": 1.526363024455912,
      "gripper_loss": 0.365234375,
      "loss": 0.09423828125,
      "pos_loss": 0.765625,
      "rot_loss": 0.0810546875,
      "step": 6803
    },
    {
      "epoch": 1.5265873906214944,
      "grad_norm": 0.26702460646629333,
      "learning_rate": 0.0002549958389613016,
      "loss": 0.054,
      "step": 6804
    },
    {
      "epoch": 1.5265873906214944,
      "gripper_loss": 0.0230712890625,
      "loss": 0.0791015625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.033203125,
      "step": 6804
    },
    {
      "epoch": 1.5268117567870765,
      "grad_norm": 0.6268618702888489,
      "learning_rate": 0.00025493529125348164,
      "loss": 0.0838,
      "step": 6805
    },
    {
      "epoch": 1.5268117567870765,
      "gripper_loss": 0.1298828125,
      "loss": 0.042236328125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.21484375,
      "step": 6805
    },
    {
      "epoch": 1.5270361229526588,
      "grad_norm": 0.42450854182243347,
      "learning_rate": 0.0002548747432560609,
      "loss": 0.0477,
      "step": 6806
    },
    {
      "epoch": 1.5270361229526588,
      "gripper_loss": 0.9921875,
      "loss": 0.1728515625,
      "pos_loss": 0.40234375,
      "rot_loss": 0.2099609375,
      "step": 6806
    },
    {
      "epoch": 1.527260489118241,
      "grad_norm": 1.4190590381622314,
      "learning_rate": 0.0002548141949725925,
      "loss": 0.1639,
      "step": 6807
    },
    {
      "epoch": 1.527260489118241,
      "gripper_loss": 0.02294921875,
      "loss": 0.1787109375,
      "pos_loss": 1.4140625,
      "rot_loss": 0.423828125,
      "step": 6807
    },
    {
      "epoch": 1.5274848552838232,
      "grad_norm": 0.6339967846870422,
      "learning_rate": 0.0002547536464066294,
      "loss": 0.081,
      "step": 6808
    },
    {
      "epoch": 1.5274848552838232,
      "gripper_loss": 0.0086669921875,
      "loss": 0.068359375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.08544921875,
      "step": 6808
    },
    {
      "epoch": 1.5277092214494055,
      "grad_norm": 0.4241201877593994,
      "learning_rate": 0.0002546930975617244,
      "loss": 0.0809,
      "step": 6809
    },
    {
      "epoch": 1.5277092214494055,
      "gripper_loss": 0.013916015625,
      "loss": 0.04150390625,
      "pos_loss": 0.287109375,
      "rot_loss": 0.08349609375,
      "step": 6809
    },
    {
      "epoch": 1.5279335876149878,
      "grad_norm": 0.3941560387611389,
      "learning_rate": 0.0002546325484414305,
      "loss": 0.0678,
      "step": 6810
    },
    {
      "epoch": 1.5279335876149878,
      "gripper_loss": 1.2109375,
      "loss": 0.08349609375,
      "pos_loss": 0.21875,
      "rot_loss": 0.21484375,
      "step": 6810
    },
    {
      "epoch": 1.5281579537805698,
      "grad_norm": 0.39029401540756226,
      "learning_rate": 0.0002545719990493008,
      "loss": 0.0754,
      "step": 6811
    },
    {
      "epoch": 1.5281579537805698,
      "gripper_loss": 0.25390625,
      "loss": 0.0186767578125,
      "pos_loss": 0.04052734375,
      "rot_loss": 0.02197265625,
      "step": 6811
    },
    {
      "epoch": 1.5283823199461521,
      "grad_norm": 0.40191587805747986,
      "learning_rate": 0.0002545114493888882,
      "loss": 0.0603,
      "step": 6812
    },
    {
      "epoch": 1.5283823199461521,
      "gripper_loss": 0.83984375,
      "loss": 0.20703125,
      "pos_loss": 0.20703125,
      "rot_loss": 0.189453125,
      "step": 6812
    },
    {
      "epoch": 1.5286066861117344,
      "grad_norm": 1.5642434358596802,
      "learning_rate": 0.00025445089946374587,
      "loss": 0.281,
      "step": 6813
    },
    {
      "epoch": 1.5286066861117344,
      "gripper_loss": 0.2080078125,
      "loss": 0.083984375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1435546875,
      "step": 6813
    },
    {
      "epoch": 1.5288310522773165,
      "grad_norm": 0.3741284906864166,
      "learning_rate": 0.00025439034927742676,
      "loss": 0.0665,
      "step": 6814
    },
    {
      "epoch": 1.5288310522773165,
      "gripper_loss": 0.212890625,
      "loss": 0.031494140625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.04248046875,
      "step": 6814
    },
    {
      "epoch": 1.5290554184428988,
      "grad_norm": 0.42520490288734436,
      "learning_rate": 0.0002543297988334839,
      "loss": 0.0608,
      "step": 6815
    },
    {
      "epoch": 1.5290554184428988,
      "gripper_loss": 0.8828125,
      "loss": 0.040283203125,
      "pos_loss": 0.027587890625,
      "rot_loss": 0.01806640625,
      "step": 6815
    },
    {
      "epoch": 1.5292797846084811,
      "grad_norm": 0.5336711406707764,
      "learning_rate": 0.0002542692481354704,
      "loss": 0.0588,
      "step": 6816
    },
    {
      "epoch": 1.5292797846084811,
      "gripper_loss": 0.01611328125,
      "loss": 0.11865234375,
      "pos_loss": 0.703125,
      "rot_loss": 0.5,
      "step": 6816
    },
    {
      "epoch": 1.5295041507740632,
      "grad_norm": 0.460631400346756,
      "learning_rate": 0.0002542086971869394,
      "loss": 0.0742,
      "step": 6817
    },
    {
      "epoch": 1.5295041507740632,
      "gripper_loss": 0.039794921875,
      "loss": 0.1845703125,
      "pos_loss": 0.6796875,
      "rot_loss": 0.71875,
      "step": 6817
    },
    {
      "epoch": 1.5297285169396455,
      "grad_norm": 0.9862946271896362,
      "learning_rate": 0.0002541481459914439,
      "loss": 0.1462,
      "step": 6818
    },
    {
      "epoch": 1.5297285169396455,
      "gripper_loss": 0.0052490234375,
      "loss": 0.126953125,
      "pos_loss": 1.171875,
      "rot_loss": 0.109375,
      "step": 6818
    },
    {
      "epoch": 1.5299528831052278,
      "grad_norm": 0.5287457704544067,
      "learning_rate": 0.0002540875945525371,
      "loss": 0.0767,
      "step": 6819
    },
    {
      "epoch": 1.5299528831052278,
      "gripper_loss": 0.048583984375,
      "loss": 0.04833984375,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.18359375,
      "step": 6819
    },
    {
      "epoch": 1.53017724927081,
      "grad_norm": 0.382980614900589,
      "learning_rate": 0.0002540270428737721,
      "loss": 0.0612,
      "step": 6820
    },
    {
      "epoch": 1.53017724927081,
      "gripper_loss": 0.46875,
      "loss": 0.039306640625,
      "pos_loss": 0.039794921875,
      "rot_loss": 0.166015625,
      "step": 6820
    },
    {
      "epoch": 1.5304016154363922,
      "grad_norm": 0.5486924052238464,
      "learning_rate": 0.000253966490958702,
      "loss": 0.0808,
      "step": 6821
    },
    {
      "epoch": 1.5304016154363922,
      "gripper_loss": 0.3046875,
      "loss": 0.053955078125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.05615234375,
      "step": 6821
    },
    {
      "epoch": 1.5306259816019745,
      "grad_norm": 0.5986277461051941,
      "learning_rate": 0.00025390593881088,
      "loss": 0.0575,
      "step": 6822
    },
    {
      "epoch": 1.5306259816019745,
      "gripper_loss": 0.203125,
      "loss": 0.0264892578125,
      "pos_loss": 0.0303955078125,
      "rot_loss": 0.09521484375,
      "step": 6822
    },
    {
      "epoch": 1.5308503477675566,
      "grad_norm": 0.7319352030754089,
      "learning_rate": 0.0002538453864338593,
      "loss": 0.0927,
      "step": 6823
    },
    {
      "epoch": 1.5308503477675566,
      "gripper_loss": 0.044921875,
      "loss": 0.033203125,
      "pos_loss": 0.08984375,
      "rot_loss": 0.1796875,
      "step": 6823
    },
    {
      "epoch": 1.5310747139331389,
      "grad_norm": 0.7048695087432861,
      "learning_rate": 0.00025378483383119307,
      "loss": 0.0877,
      "step": 6824
    },
    {
      "epoch": 1.5310747139331389,
      "gripper_loss": 0.09521484375,
      "loss": 0.068359375,
      "pos_loss": 0.51953125,
      "rot_loss": 0.1123046875,
      "step": 6824
    },
    {
      "epoch": 1.5312990800987212,
      "grad_norm": 0.5335948467254639,
      "learning_rate": 0.0002537242810064345,
      "loss": 0.0996,
      "step": 6825
    },
    {
      "epoch": 1.5312990800987212,
      "gripper_loss": 0.53125,
      "loss": 0.0244140625,
      "pos_loss": 0.0157470703125,
      "rot_loss": 0.0167236328125,
      "step": 6825
    },
    {
      "epoch": 1.5315234462643033,
      "grad_norm": 0.4607447385787964,
      "learning_rate": 0.0002536637279631368,
      "loss": 0.057,
      "step": 6826
    },
    {
      "epoch": 1.5315234462643033,
      "gripper_loss": 0.408203125,
      "loss": 0.125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.267578125,
      "step": 6826
    },
    {
      "epoch": 1.5317478124298856,
      "grad_norm": 1.051150918006897,
      "learning_rate": 0.00025360317470485315,
      "loss": 0.1438,
      "step": 6827
    },
    {
      "epoch": 1.5317478124298856,
      "gripper_loss": 0.58984375,
      "loss": 0.1904296875,
      "pos_loss": 0.80859375,
      "rot_loss": 0.427734375,
      "step": 6827
    },
    {
      "epoch": 1.5319721785954679,
      "grad_norm": 1.0131549835205078,
      "learning_rate": 0.00025354262123513695,
      "loss": 0.1803,
      "step": 6828
    },
    {
      "epoch": 1.5319721785954679,
      "gripper_loss": 0.0419921875,
      "loss": 0.029052734375,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.12890625,
      "step": 6828
    },
    {
      "epoch": 1.53219654476105,
      "grad_norm": 0.4450557827949524,
      "learning_rate": 0.00025348206755754124,
      "loss": 0.0511,
      "step": 6829
    },
    {
      "epoch": 1.53219654476105,
      "gripper_loss": 0.193359375,
      "loss": 0.130859375,
      "pos_loss": 0.423828125,
      "rot_loss": 0.1630859375,
      "step": 6829
    },
    {
      "epoch": 1.5324209109266322,
      "grad_norm": 0.8360097408294678,
      "learning_rate": 0.0002534215136756194,
      "loss": 0.1558,
      "step": 6830
    },
    {
      "epoch": 1.5324209109266322,
      "gripper_loss": 0.1728515625,
      "loss": 0.020751953125,
      "pos_loss": 0.0240478515625,
      "rot_loss": 0.05419921875,
      "step": 6830
    },
    {
      "epoch": 1.5326452770922145,
      "grad_norm": 0.5424107313156128,
      "learning_rate": 0.0002533609595929247,
      "loss": 0.0735,
      "step": 6831
    },
    {
      "epoch": 1.5326452770922145,
      "gripper_loss": 0.18359375,
      "loss": 0.0869140625,
      "pos_loss": 0.30078125,
      "rot_loss": 0.302734375,
      "step": 6831
    },
    {
      "epoch": 1.5328696432577966,
      "grad_norm": 1.123252034187317,
      "learning_rate": 0.0002533004053130104,
      "loss": 0.0894,
      "step": 6832
    },
    {
      "epoch": 1.5328696432577966,
      "gripper_loss": 0.032958984375,
      "loss": 0.059326171875,
      "pos_loss": 0.34765625,
      "rot_loss": 0.17578125,
      "step": 6832
    },
    {
      "epoch": 1.533094009423379,
      "grad_norm": 0.5619188547134399,
      "learning_rate": 0.0002532398508394297,
      "loss": 0.0737,
      "step": 6833
    },
    {
      "epoch": 1.533094009423379,
      "gripper_loss": 0.404296875,
      "loss": 0.0341796875,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.038818359375,
      "step": 6833
    },
    {
      "epoch": 1.5333183755889612,
      "grad_norm": 0.4922502934932709,
      "learning_rate": 0.00025317929617573614,
      "loss": 0.0616,
      "step": 6834
    },
    {
      "epoch": 1.5333183755889612,
      "gripper_loss": 0.56640625,
      "loss": 0.08544921875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.5234375,
      "step": 6834
    },
    {
      "epoch": 1.5335427417545433,
      "grad_norm": 0.4592312276363373,
      "learning_rate": 0.0002531187413254829,
      "loss": 0.0538,
      "step": 6835
    },
    {
      "epoch": 1.5335427417545433,
      "gripper_loss": 0.00677490234375,
      "loss": 0.08056640625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.359375,
      "step": 6835
    },
    {
      "epoch": 1.5337671079201256,
      "grad_norm": 0.5971660017967224,
      "learning_rate": 0.00025305818629222325,
      "loss": 0.085,
      "step": 6836
    },
    {
      "epoch": 1.5337671079201256,
      "gripper_loss": 0.6796875,
      "loss": 0.43359375,
      "pos_loss": 0.5625,
      "rot_loss": 0.6171875,
      "step": 6836
    },
    {
      "epoch": 1.533991474085708,
      "grad_norm": 1.6252923011779785,
      "learning_rate": 0.0002529976310795108,
      "loss": 0.4397,
      "step": 6837
    },
    {
      "epoch": 1.533991474085708,
      "gripper_loss": 0.00927734375,
      "loss": 0.10986328125,
      "pos_loss": 0.8203125,
      "rot_loss": 0.30078125,
      "step": 6837
    },
    {
      "epoch": 1.53421584025129,
      "grad_norm": 0.5751150846481323,
      "learning_rate": 0.00025293707569089854,
      "loss": 0.1268,
      "step": 6838
    },
    {
      "epoch": 1.53421584025129,
      "gripper_loss": 0.08740234375,
      "loss": 0.197265625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.609375,
      "step": 6838
    },
    {
      "epoch": 1.5344402064168723,
      "grad_norm": 1.148789405822754,
      "learning_rate": 0.00025287652012994006,
      "loss": 0.1667,
      "step": 6839
    },
    {
      "epoch": 1.5344402064168723,
      "gripper_loss": 0.12353515625,
      "loss": 0.0152587890625,
      "pos_loss": 0.0272216796875,
      "rot_loss": 0.019287109375,
      "step": 6839
    },
    {
      "epoch": 1.5346645725824546,
      "grad_norm": 0.5152023434638977,
      "learning_rate": 0.00025281596440018865,
      "loss": 0.0773,
      "step": 6840
    },
    {
      "epoch": 1.5346645725824546,
      "gripper_loss": 0.373046875,
      "loss": 0.212890625,
      "pos_loss": 0.671875,
      "rot_loss": 0.41015625,
      "step": 6840
    },
    {
      "epoch": 1.5348889387480367,
      "grad_norm": 1.0216760635375977,
      "learning_rate": 0.0002527554085051978,
      "loss": 0.171,
      "step": 6841
    },
    {
      "epoch": 1.5348889387480367,
      "gripper_loss": 0.12451171875,
      "loss": 0.10302734375,
      "pos_loss": 0.55859375,
      "rot_loss": 0.146484375,
      "step": 6841
    },
    {
      "epoch": 1.5351133049136192,
      "grad_norm": 1.0869392156600952,
      "learning_rate": 0.0002526948524485207,
      "loss": 0.1114,
      "step": 6842
    },
    {
      "epoch": 1.5351133049136192,
      "gripper_loss": 0.5078125,
      "loss": 0.07763671875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.18359375,
      "step": 6842
    },
    {
      "epoch": 1.5353376710792013,
      "grad_norm": 0.7003815174102783,
      "learning_rate": 0.000252634296233711,
      "loss": 0.0815,
      "step": 6843
    },
    {
      "epoch": 1.5353376710792013,
      "gripper_loss": 0.10400390625,
      "loss": 0.1044921875,
      "pos_loss": 0.421875,
      "rot_loss": 0.2578125,
      "step": 6843
    },
    {
      "epoch": 1.5355620372447834,
      "grad_norm": 1.1229333877563477,
      "learning_rate": 0.0002525737398643219,
      "loss": 0.1779,
      "step": 6844
    },
    {
      "epoch": 1.5355620372447834,
      "gripper_loss": 0.018798828125,
      "loss": 0.1328125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.6484375,
      "step": 6844
    },
    {
      "epoch": 1.5357864034103659,
      "grad_norm": 0.8257677555084229,
      "learning_rate": 0.00025251318334390695,
      "loss": 0.1065,
      "step": 6845
    },
    {
      "epoch": 1.5357864034103659,
      "gripper_loss": 0.020263671875,
      "loss": 0.072265625,
      "pos_loss": 0.42578125,
      "rot_loss": 0.1865234375,
      "step": 6845
    },
    {
      "epoch": 1.536010769575948,
      "grad_norm": 0.6005676984786987,
      "learning_rate": 0.00025245262667601947,
      "loss": 0.0891,
      "step": 6846
    },
    {
      "epoch": 1.536010769575948,
      "gripper_loss": 0.06640625,
      "loss": 0.0269775390625,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.064453125,
      "step": 6846
    },
    {
      "epoch": 1.53623513574153,
      "grad_norm": 0.6369460225105286,
      "learning_rate": 0.00025239206986421304,
      "loss": 0.0787,
      "step": 6847
    },
    {
      "epoch": 1.53623513574153,
      "gripper_loss": 0.11474609375,
      "loss": 0.197265625,
      "pos_loss": 1.453125,
      "rot_loss": 0.4921875,
      "step": 6847
    },
    {
      "epoch": 1.5364595019071126,
      "grad_norm": 0.6448466777801514,
      "learning_rate": 0.00025233151291204097,
      "loss": 0.0956,
      "step": 6848
    },
    {
      "epoch": 1.5364595019071126,
      "gripper_loss": 0.006378173828125,
      "loss": 0.1826171875,
      "pos_loss": 1.6640625,
      "rot_loss": 0.205078125,
      "step": 6848
    },
    {
      "epoch": 1.5366838680726946,
      "grad_norm": 0.5002308487892151,
      "learning_rate": 0.00025227095582305685,
      "loss": 0.08,
      "step": 6849
    },
    {
      "epoch": 1.5366838680726946,
      "gripper_loss": 0.49609375,
      "loss": 0.07275390625,
      "pos_loss": 0.390625,
      "rot_loss": 0.111328125,
      "step": 6849
    },
    {
      "epoch": 1.5369082342382767,
      "grad_norm": 0.5769286751747131,
      "learning_rate": 0.0002522103986008141,
      "loss": 0.0703,
      "step": 6850
    },
    {
      "epoch": 1.5369082342382767,
      "gripper_loss": 0.02294921875,
      "loss": 0.09716796875,
      "pos_loss": 0.859375,
      "rot_loss": 0.0625,
      "step": 6850
    },
    {
      "epoch": 1.5371326004038592,
      "grad_norm": 0.6103289127349854,
      "learning_rate": 0.00025214984124886605,
      "loss": 0.0742,
      "step": 6851
    },
    {
      "epoch": 1.5371326004038592,
      "gripper_loss": 0.0264892578125,
      "loss": 0.032470703125,
      "pos_loss": 0.265625,
      "rot_loss": 0.01495361328125,
      "step": 6851
    },
    {
      "epoch": 1.5373569665694413,
      "grad_norm": 0.44995707273483276,
      "learning_rate": 0.00025208928377076626,
      "loss": 0.0653,
      "step": 6852
    },
    {
      "epoch": 1.5373569665694413,
      "gripper_loss": 0.44140625,
      "loss": 0.06396484375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.1640625,
      "step": 6852
    },
    {
      "epoch": 1.5375813327350234,
      "grad_norm": 0.5510638952255249,
      "learning_rate": 0.0002520287261700683,
      "loss": 0.0849,
      "step": 6853
    },
    {
      "epoch": 1.5375813327350234,
      "gripper_loss": 0.6953125,
      "loss": 0.03369140625,
      "pos_loss": 0.03173828125,
      "rot_loss": 0.0201416015625,
      "step": 6853
    },
    {
      "epoch": 1.537805698900606,
      "grad_norm": 0.5904370546340942,
      "learning_rate": 0.00025196816845032567,
      "loss": 0.061,
      "step": 6854
    },
    {
      "epoch": 1.537805698900606,
      "gripper_loss": 0.80078125,
      "loss": 0.0380859375,
      "pos_loss": 0.033447265625,
      "rot_loss": 0.044677734375,
      "step": 6854
    },
    {
      "epoch": 1.538030065066188,
      "grad_norm": 0.4731939733028412,
      "learning_rate": 0.0002519076106150917,
      "loss": 0.0733,
      "step": 6855
    },
    {
      "epoch": 1.538030065066188,
      "gripper_loss": 0.0439453125,
      "loss": 0.039306640625,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.043701171875,
      "step": 6855
    },
    {
      "epoch": 1.5382544312317703,
      "grad_norm": 0.4605614244937897,
      "learning_rate": 0.0002518470526679201,
      "loss": 0.0816,
      "step": 6856
    },
    {
      "epoch": 1.5382544312317703,
      "gripper_loss": 0.025634765625,
      "loss": 0.053955078125,
      "pos_loss": 0.484375,
      "rot_loss": 0.029541015625,
      "step": 6856
    },
    {
      "epoch": 1.5384787973973526,
      "grad_norm": 0.6394119262695312,
      "learning_rate": 0.0002517864946123642,
      "loss": 0.1078,
      "step": 6857
    },
    {
      "epoch": 1.5384787973973526,
      "gripper_loss": 0.047119140625,
      "loss": 0.06591796875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.07470703125,
      "step": 6857
    },
    {
      "epoch": 1.5387031635629347,
      "grad_norm": 0.4430922865867615,
      "learning_rate": 0.00025172593645197765,
      "loss": 0.0645,
      "step": 6858
    },
    {
      "epoch": 1.5387031635629347,
      "gripper_loss": 0.07421875,
      "loss": 0.13671875,
      "pos_loss": 1.2578125,
      "rot_loss": 0.126953125,
      "step": 6858
    },
    {
      "epoch": 1.538927529728517,
      "grad_norm": 0.6347007751464844,
      "learning_rate": 0.0002516653781903139,
      "loss": 0.0898,
      "step": 6859
    },
    {
      "epoch": 1.538927529728517,
      "gripper_loss": 0.037109375,
      "loss": 0.06591796875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.26953125,
      "step": 6859
    },
    {
      "epoch": 1.5391518958940993,
      "grad_norm": 0.49397364258766174,
      "learning_rate": 0.00025160481983092656,
      "loss": 0.0775,
      "step": 6860
    },
    {
      "epoch": 1.5391518958940993,
      "gripper_loss": 0.010498046875,
      "loss": 0.126953125,
      "pos_loss": 0.88671875,
      "rot_loss": 0.41796875,
      "step": 6860
    },
    {
      "epoch": 1.5393762620596814,
      "grad_norm": 0.348542183637619,
      "learning_rate": 0.000251544261377369,
      "loss": 0.0584,
      "step": 6861
    },
    {
      "epoch": 1.5393762620596814,
      "gripper_loss": 0.1103515625,
      "loss": 0.09521484375,
      "pos_loss": 0.244140625,
      "rot_loss": 0.3359375,
      "step": 6861
    },
    {
      "epoch": 1.5396006282252637,
      "grad_norm": 0.5454938411712646,
      "learning_rate": 0.00025148370283319506,
      "loss": 0.0966,
      "step": 6862
    },
    {
      "epoch": 1.5396006282252637,
      "gripper_loss": 0.61328125,
      "loss": 0.056396484375,
      "pos_loss": 0.287109375,
      "rot_loss": 0.0625,
      "step": 6862
    },
    {
      "epoch": 1.539824994390846,
      "grad_norm": 0.29784291982650757,
      "learning_rate": 0.00025142314420195796,
      "loss": 0.0435,
      "step": 6863
    },
    {
      "epoch": 1.539824994390846,
      "gripper_loss": 0.466796875,
      "loss": 0.04248046875,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.0157470703125,
      "step": 6863
    },
    {
      "epoch": 1.540049360556428,
      "grad_norm": 0.487399160861969,
      "learning_rate": 0.0002513625854872114,
      "loss": 0.0579,
      "step": 6864
    },
    {
      "epoch": 1.540049360556428,
      "gripper_loss": 0.04736328125,
      "loss": 0.10302734375,
      "pos_loss": 0.5,
      "rot_loss": 0.302734375,
      "step": 6864
    },
    {
      "epoch": 1.5402737267220104,
      "grad_norm": 1.0637863874435425,
      "learning_rate": 0.000251302026692509,
      "loss": 0.1428,
      "step": 6865
    },
    {
      "epoch": 1.5402737267220104,
      "gripper_loss": 0.072265625,
      "loss": 0.1044921875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.416015625,
      "step": 6865
    },
    {
      "epoch": 1.5404980928875927,
      "grad_norm": 0.6786908507347107,
      "learning_rate": 0.00025124146782140426,
      "loss": 0.1097,
      "step": 6866
    },
    {
      "epoch": 1.5404980928875927,
      "gripper_loss": 0.023681640625,
      "loss": 0.02783203125,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.08056640625,
      "step": 6866
    },
    {
      "epoch": 1.5407224590531747,
      "grad_norm": 0.438486784696579,
      "learning_rate": 0.0002511809088774508,
      "loss": 0.0533,
      "step": 6867
    },
    {
      "epoch": 1.5407224590531747,
      "gripper_loss": 0.84375,
      "loss": 0.038330078125,
      "pos_loss": 0.0284423828125,
      "rot_loss": 0.04052734375,
      "step": 6867
    },
    {
      "epoch": 1.540946825218757,
      "grad_norm": 0.4755133092403412,
      "learning_rate": 0.00025112034986420203,
      "loss": 0.0453,
      "step": 6868
    },
    {
      "epoch": 1.540946825218757,
      "gripper_loss": 0.018310546875,
      "loss": 0.1796875,
      "pos_loss": 1.59375,
      "rot_loss": 0.212890625,
      "step": 6868
    },
    {
      "epoch": 1.5411711913843393,
      "grad_norm": 0.5229578018188477,
      "learning_rate": 0.0002510597907852117,
      "loss": 0.0622,
      "step": 6869
    },
    {
      "epoch": 1.5411711913843393,
      "gripper_loss": 0.1259765625,
      "loss": 0.09130859375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.1259765625,
      "step": 6869
    },
    {
      "epoch": 1.5413955575499214,
      "grad_norm": 0.6164323687553406,
      "learning_rate": 0.00025099923164403323,
      "loss": 0.0733,
      "step": 6870
    },
    {
      "epoch": 1.5413955575499214,
      "gripper_loss": 0.1328125,
      "loss": 0.05908203125,
      "pos_loss": 0.435546875,
      "rot_loss": 0.06689453125,
      "step": 6870
    },
    {
      "epoch": 1.5416199237155037,
      "grad_norm": 0.4783841669559479,
      "learning_rate": 0.0002509386724442204,
      "loss": 0.054,
      "step": 6871
    },
    {
      "epoch": 1.5416199237155037,
      "gripper_loss": 0.0166015625,
      "loss": 0.09765625,
      "pos_loss": 0.17578125,
      "rot_loss": 0.734375,
      "step": 6871
    },
    {
      "epoch": 1.541844289881086,
      "grad_norm": 0.4641035199165344,
      "learning_rate": 0.0002508781131893267,
      "loss": 0.0668,
      "step": 6872
    },
    {
      "epoch": 1.541844289881086,
      "gripper_loss": 0.0130615234375,
      "loss": 0.06640625,
      "pos_loss": 0.484375,
      "rot_loss": 0.126953125,
      "step": 6872
    },
    {
      "epoch": 1.542068656046668,
      "grad_norm": 0.5395281314849854,
      "learning_rate": 0.00025081755388290565,
      "loss": 0.083,
      "step": 6873
    },
    {
      "epoch": 1.542068656046668,
      "gripper_loss": 0.59375,
      "loss": 0.029296875,
      "pos_loss": 0.01953125,
      "rot_loss": 0.033935546875,
      "step": 6873
    },
    {
      "epoch": 1.5422930222122504,
      "grad_norm": 0.41814443469047546,
      "learning_rate": 0.00025075699452851096,
      "loss": 0.0634,
      "step": 6874
    },
    {
      "epoch": 1.5422930222122504,
      "gripper_loss": 0.048095703125,
      "loss": 0.059326171875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.146484375,
      "step": 6874
    },
    {
      "epoch": 1.5425173883778327,
      "grad_norm": 0.7654812932014465,
      "learning_rate": 0.0002506964351296961,
      "loss": 0.0927,
      "step": 6875
    },
    {
      "epoch": 1.5425173883778327,
      "gripper_loss": 0.119140625,
      "loss": 0.05126953125,
      "pos_loss": 0.3359375,
      "rot_loss": 0.0537109375,
      "step": 6875
    },
    {
      "epoch": 1.5427417545434148,
      "grad_norm": 0.5584162473678589,
      "learning_rate": 0.00025063587569001483,
      "loss": 0.0797,
      "step": 6876
    },
    {
      "epoch": 1.5427417545434148,
      "gripper_loss": 0.1884765625,
      "loss": 0.05712890625,
      "pos_loss": 0.240234375,
      "rot_loss": 0.1923828125,
      "step": 6876
    },
    {
      "epoch": 1.542966120708997,
      "grad_norm": 0.8149111866950989,
      "learning_rate": 0.00025057531621302067,
      "loss": 0.0757,
      "step": 6877
    },
    {
      "epoch": 1.542966120708997,
      "gripper_loss": 0.01007080078125,
      "loss": 0.1298828125,
      "pos_loss": 1.015625,
      "rot_loss": 0.271484375,
      "step": 6877
    },
    {
      "epoch": 1.5431904868745794,
      "grad_norm": 0.6036629676818848,
      "learning_rate": 0.00025051475670226716,
      "loss": 0.0742,
      "step": 6878
    },
    {
      "epoch": 1.5431904868745794,
      "gripper_loss": 0.040771484375,
      "loss": 0.08642578125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.3046875,
      "step": 6878
    },
    {
      "epoch": 1.5434148530401615,
      "grad_norm": 0.6599410772323608,
      "learning_rate": 0.00025045419716130795,
      "loss": 0.0949,
      "step": 6879
    },
    {
      "epoch": 1.5434148530401615,
      "gripper_loss": 0.055419921875,
      "loss": 0.279296875,
      "pos_loss": 1.1875,
      "rot_loss": 1.6640625,
      "step": 6879
    },
    {
      "epoch": 1.5436392192057438,
      "grad_norm": 0.6886858940124512,
      "learning_rate": 0.0002503936375936967,
      "loss": 0.0978,
      "step": 6880
    },
    {
      "epoch": 1.5436392192057438,
      "gripper_loss": 0.052001953125,
      "loss": 0.0284423828125,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.05029296875,
      "step": 6880
    },
    {
      "epoch": 1.543863585371326,
      "grad_norm": 0.8887056708335876,
      "learning_rate": 0.00025033307800298687,
      "loss": 0.1152,
      "step": 6881
    },
    {
      "epoch": 1.543863585371326,
      "gripper_loss": 0.12158203125,
      "loss": 0.06884765625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.09521484375,
      "step": 6881
    },
    {
      "epoch": 1.5440879515369081,
      "grad_norm": 0.9488179087638855,
      "learning_rate": 0.0002502725183927323,
      "loss": 0.1174,
      "step": 6882
    },
    {
      "epoch": 1.5440879515369081,
      "gripper_loss": 0.408203125,
      "loss": 0.251953125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.53515625,
      "step": 6882
    },
    {
      "epoch": 1.5443123177024904,
      "grad_norm": 1.2880207300186157,
      "learning_rate": 0.0002502119587664864,
      "loss": 0.2921,
      "step": 6883
    },
    {
      "epoch": 1.5443123177024904,
      "gripper_loss": 1.140625,
      "loss": 0.125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.314453125,
      "step": 6883
    },
    {
      "epoch": 1.5445366838680727,
      "grad_norm": 0.7920383810997009,
      "learning_rate": 0.00025015139912780296,
      "loss": 0.1193,
      "step": 6884
    },
    {
      "epoch": 1.5445366838680727,
      "gripper_loss": 0.427734375,
      "loss": 0.05419921875,
      "pos_loss": 0.107421875,
      "rot_loss": 0.1708984375,
      "step": 6884
    },
    {
      "epoch": 1.5447610500336548,
      "grad_norm": 0.7100609540939331,
      "learning_rate": 0.00025009083948023534,
      "loss": 0.0777,
      "step": 6885
    },
    {
      "epoch": 1.5447610500336548,
      "gripper_loss": 0.0257568359375,
      "loss": 0.09228515625,
      "pos_loss": 0.7109375,
      "rot_loss": 0.203125,
      "step": 6885
    },
    {
      "epoch": 1.5449854161992371,
      "grad_norm": 0.5817233920097351,
      "learning_rate": 0.00025003027982733745,
      "loss": 0.1027,
      "step": 6886
    },
    {
      "epoch": 1.5449854161992371,
      "gripper_loss": 0.259765625,
      "loss": 0.042236328125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.0233154296875,
      "step": 6886
    },
    {
      "epoch": 1.5452097823648194,
      "grad_norm": 0.5941210985183716,
      "learning_rate": 0.0002499697201726626,
      "loss": 0.0586,
      "step": 6887
    },
    {
      "epoch": 1.5452097823648194,
      "gripper_loss": 0.038818359375,
      "loss": 0.03515625,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.076171875,
      "step": 6887
    },
    {
      "epoch": 1.5454341485304015,
      "grad_norm": 0.3479948937892914,
      "learning_rate": 0.0002499091605197646,
      "loss": 0.0526,
      "step": 6888
    },
    {
      "epoch": 1.5454341485304015,
      "gripper_loss": 0.0615234375,
      "loss": 0.103515625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.24609375,
      "step": 6888
    },
    {
      "epoch": 1.5456585146959838,
      "grad_norm": 0.5701625347137451,
      "learning_rate": 0.00024984860087219716,
      "loss": 0.0926,
      "step": 6889
    },
    {
      "epoch": 1.5456585146959838,
      "gripper_loss": 0.14453125,
      "loss": 0.10205078125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.412109375,
      "step": 6889
    },
    {
      "epoch": 1.545882880861566,
      "grad_norm": 1.1579177379608154,
      "learning_rate": 0.00024978804123351365,
      "loss": 0.1292,
      "step": 6890
    },
    {
      "epoch": 1.545882880861566,
      "gripper_loss": 0.80078125,
      "loss": 0.054931640625,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.0712890625,
      "step": 6890
    },
    {
      "epoch": 1.5461072470271482,
      "grad_norm": 0.38897740840911865,
      "learning_rate": 0.00024972748160726773,
      "loss": 0.0544,
      "step": 6891
    },
    {
      "epoch": 1.5461072470271482,
      "gripper_loss": 0.265625,
      "loss": 0.048095703125,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.267578125,
      "step": 6891
    },
    {
      "epoch": 1.5463316131927305,
      "grad_norm": 0.43314406275749207,
      "learning_rate": 0.0002496669219970131,
      "loss": 0.0709,
      "step": 6892
    },
    {
      "epoch": 1.5463316131927305,
      "gripper_loss": 0.0830078125,
      "loss": 0.080078125,
      "pos_loss": 0.357421875,
      "rot_loss": 0.373046875,
      "step": 6892
    },
    {
      "epoch": 1.5465559793583128,
      "grad_norm": 0.6459581255912781,
      "learning_rate": 0.0002496063624063034,
      "loss": 0.0739,
      "step": 6893
    },
    {
      "epoch": 1.5465559793583128,
      "gripper_loss": 1.34375,
      "loss": 0.056884765625,
      "pos_loss": 0.0257568359375,
      "rot_loss": 0.054443359375,
      "step": 6893
    },
    {
      "epoch": 1.5467803455238949,
      "grad_norm": 0.511043906211853,
      "learning_rate": 0.0002495458028386921,
      "loss": 0.0836,
      "step": 6894
    },
    {
      "epoch": 1.5467803455238949,
      "gripper_loss": 0.041259765625,
      "loss": 0.05322265625,
      "pos_loss": 0.03662109375,
      "rot_loss": 0.427734375,
      "step": 6894
    },
    {
      "epoch": 1.5470047116894772,
      "grad_norm": 0.52259761095047,
      "learning_rate": 0.00024948524329773285,
      "loss": 0.0597,
      "step": 6895
    },
    {
      "epoch": 1.5470047116894772,
      "gripper_loss": 0.061767578125,
      "loss": 0.1005859375,
      "pos_loss": 0.55078125,
      "rot_loss": 0.4296875,
      "step": 6895
    },
    {
      "epoch": 1.5472290778550595,
      "grad_norm": 0.6207036375999451,
      "learning_rate": 0.0002494246837869794,
      "loss": 0.0947,
      "step": 6896
    },
    {
      "epoch": 1.5472290778550595,
      "gripper_loss": 0.2734375,
      "loss": 0.06982421875,
      "pos_loss": 0.25390625,
      "rot_loss": 0.310546875,
      "step": 6896
    },
    {
      "epoch": 1.5474534440206416,
      "grad_norm": 0.4327744245529175,
      "learning_rate": 0.0002493641243099852,
      "loss": 0.078,
      "step": 6897
    },
    {
      "epoch": 1.5474534440206416,
      "gripper_loss": 0.2392578125,
      "loss": 0.0703125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.0225830078125,
      "step": 6897
    },
    {
      "epoch": 1.547677810186224,
      "grad_norm": 0.49688082933425903,
      "learning_rate": 0.00024930356487030394,
      "loss": 0.087,
      "step": 6898
    },
    {
      "epoch": 1.547677810186224,
      "gripper_loss": 0.14453125,
      "loss": 0.058837890625,
      "pos_loss": 0.310546875,
      "rot_loss": 0.189453125,
      "step": 6898
    },
    {
      "epoch": 1.5479021763518062,
      "grad_norm": 0.5336852073669434,
      "learning_rate": 0.0002492430054714891,
      "loss": 0.0753,
      "step": 6899
    },
    {
      "epoch": 1.5479021763518062,
      "gripper_loss": 0.006134033203125,
      "loss": 0.060546875,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.380859375,
      "step": 6899
    },
    {
      "epoch": 1.5481265425173882,
      "grad_norm": 0.48618441820144653,
      "learning_rate": 0.00024918244611709436,
      "loss": 0.0545,
      "step": 6900
    },
    {
      "epoch": 1.5481265425173882,
      "gripper_loss": 0.2080078125,
      "loss": 0.1767578125,
      "pos_loss": 0.796875,
      "rot_loss": 0.44921875,
      "step": 6900
    },
    {
      "epoch": 1.5483509086829708,
      "grad_norm": 0.7833381295204163,
      "learning_rate": 0.00024912188681067333,
      "loss": 0.121,
      "step": 6901
    },
    {
      "epoch": 1.5483509086829708,
      "gripper_loss": 0.00994873046875,
      "loss": 0.068359375,
      "pos_loss": 0.59375,
      "rot_loss": 0.0869140625,
      "step": 6901
    },
    {
      "epoch": 1.5485752748485528,
      "grad_norm": 0.3984525799751282,
      "learning_rate": 0.00024906132755577967,
      "loss": 0.0491,
      "step": 6902
    },
    {
      "epoch": 1.5485752748485528,
      "gripper_loss": 0.031982421875,
      "loss": 0.0306396484375,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.06103515625,
      "step": 6902
    },
    {
      "epoch": 1.548799641014135,
      "grad_norm": 0.40971478819847107,
      "learning_rate": 0.0002490007683559668,
      "loss": 0.0646,
      "step": 6903
    },
    {
      "epoch": 1.548799641014135,
      "gripper_loss": 0.035888671875,
      "loss": 0.0257568359375,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.09619140625,
      "step": 6903
    },
    {
      "epoch": 1.5490240071797174,
      "grad_norm": 0.7431721091270447,
      "learning_rate": 0.0002489402092147884,
      "loss": 0.0811,
      "step": 6904
    },
    {
      "epoch": 1.5490240071797174,
      "gripper_loss": 0.48828125,
      "loss": 0.08544921875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.0390625,
      "step": 6904
    },
    {
      "epoch": 1.5492483733452995,
      "grad_norm": 0.4138481318950653,
      "learning_rate": 0.000248879650135798,
      "loss": 0.0648,
      "step": 6905
    },
    {
      "epoch": 1.5492483733452995,
      "gripper_loss": 0.0126953125,
      "loss": 0.0654296875,
      "pos_loss": 0.328125,
      "rot_loss": 0.29296875,
      "step": 6905
    },
    {
      "epoch": 1.5494727395108816,
      "grad_norm": 0.4647483229637146,
      "learning_rate": 0.00024881909112254934,
      "loss": 0.0616,
      "step": 6906
    },
    {
      "epoch": 1.5494727395108816,
      "gripper_loss": 1.53125,
      "loss": 0.05810546875,
      "pos_loss": 0.0242919921875,
      "rot_loss": 0.037353515625,
      "step": 6906
    },
    {
      "epoch": 1.5496971056764641,
      "grad_norm": 0.42376747727394104,
      "learning_rate": 0.0002487585321785958,
      "loss": 0.058,
      "step": 6907
    },
    {
      "epoch": 1.5496971056764641,
      "gripper_loss": 0.056396484375,
      "loss": 0.046142578125,
      "pos_loss": 0.2109375,
      "rot_loss": 0.1796875,
      "step": 6907
    },
    {
      "epoch": 1.5499214718420462,
      "grad_norm": 0.3458065390586853,
      "learning_rate": 0.00024869797330749106,
      "loss": 0.0565,
      "step": 6908
    },
    {
      "epoch": 1.5499214718420462,
      "gripper_loss": 0.0849609375,
      "loss": 0.076171875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.20703125,
      "step": 6908
    },
    {
      "epoch": 1.5501458380076283,
      "grad_norm": 0.6034116148948669,
      "learning_rate": 0.0002486374145127886,
      "loss": 0.1012,
      "step": 6909
    },
    {
      "epoch": 1.5501458380076283,
      "gripper_loss": 0.030517578125,
      "loss": 0.0830078125,
      "pos_loss": 0.65234375,
      "rot_loss": 0.162109375,
      "step": 6909
    },
    {
      "epoch": 1.5503702041732108,
      "grad_norm": 0.42726898193359375,
      "learning_rate": 0.00024857685579804205,
      "loss": 0.0802,
      "step": 6910
    },
    {
      "epoch": 1.5503702041732108,
      "gripper_loss": 0.05078125,
      "loss": 0.06103515625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.26953125,
      "step": 6910
    },
    {
      "epoch": 1.5505945703387929,
      "grad_norm": 0.4068874716758728,
      "learning_rate": 0.00024851629716680506,
      "loss": 0.0576,
      "step": 6911
    },
    {
      "epoch": 1.5505945703387929,
      "gripper_loss": 0.08251953125,
      "loss": 0.08349609375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.427734375,
      "step": 6911
    },
    {
      "epoch": 1.5508189365043752,
      "grad_norm": 0.37691864371299744,
      "learning_rate": 0.000248455738622631,
      "loss": 0.0499,
      "step": 6912
    },
    {
      "epoch": 1.5508189365043752,
      "gripper_loss": 1.2421875,
      "loss": 0.0498046875,
      "pos_loss": 0.03125,
      "rot_loss": 0.032958984375,
      "step": 6912
    },
    {
      "epoch": 1.5510433026699575,
      "grad_norm": 0.3897985517978668,
      "learning_rate": 0.00024839518016907356,
      "loss": 0.0776,
      "step": 6913
    },
    {
      "epoch": 1.5510433026699575,
      "gripper_loss": 0.036376953125,
      "loss": 0.0400390625,
      "pos_loss": 0.244140625,
      "rot_loss": 0.109375,
      "step": 6913
    },
    {
      "epoch": 1.5512676688355396,
      "grad_norm": 0.4139762818813324,
      "learning_rate": 0.0002483346218096861,
      "loss": 0.066,
      "step": 6914
    },
    {
      "epoch": 1.5512676688355396,
      "gripper_loss": 0.048583984375,
      "loss": 0.1455078125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.85546875,
      "step": 6914
    },
    {
      "epoch": 1.5514920350011219,
      "grad_norm": 0.4439249038696289,
      "learning_rate": 0.00024827406354802246,
      "loss": 0.0802,
      "step": 6915
    },
    {
      "epoch": 1.5514920350011219,
      "gripper_loss": 0.486328125,
      "loss": 0.0732421875,
      "pos_loss": 0.302734375,
      "rot_loss": 0.255859375,
      "step": 6915
    },
    {
      "epoch": 1.5517164011667042,
      "grad_norm": 0.4163261950016022,
      "learning_rate": 0.0002482135053876358,
      "loss": 0.0811,
      "step": 6916
    },
    {
      "epoch": 1.5517164011667042,
      "gripper_loss": 0.12060546875,
      "loss": 0.0458984375,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.19921875,
      "step": 6916
    },
    {
      "epoch": 1.5519407673322863,
      "grad_norm": 0.635170042514801,
      "learning_rate": 0.00024815294733207993,
      "loss": 0.095,
      "step": 6917
    },
    {
      "epoch": 1.5519407673322863,
      "gripper_loss": 0.40234375,
      "loss": 0.0517578125,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.1484375,
      "step": 6917
    },
    {
      "epoch": 1.5521651334978686,
      "grad_norm": 0.4334768056869507,
      "learning_rate": 0.0002480923893849083,
      "loss": 0.0695,
      "step": 6918
    },
    {
      "epoch": 1.5521651334978686,
      "gripper_loss": 0.408203125,
      "loss": 0.08642578125,
      "pos_loss": 0.296875,
      "rot_loss": 0.27734375,
      "step": 6918
    },
    {
      "epoch": 1.5523894996634509,
      "grad_norm": 0.5873960256576538,
      "learning_rate": 0.0002480318315496744,
      "loss": 0.1198,
      "step": 6919
    },
    {
      "epoch": 1.5523894996634509,
      "gripper_loss": 2.296875,
      "loss": 0.12353515625,
      "pos_loss": 0.443359375,
      "rot_loss": 0.060546875,
      "step": 6919
    },
    {
      "epoch": 1.552613865829033,
      "grad_norm": 0.4304315745830536,
      "learning_rate": 0.00024797127382993175,
      "loss": 0.0835,
      "step": 6920
    },
    {
      "epoch": 1.552613865829033,
      "gripper_loss": 0.10595703125,
      "loss": 0.095703125,
      "pos_loss": 0.87890625,
      "rot_loss": 0.05810546875,
      "step": 6920
    },
    {
      "epoch": 1.5528382319946152,
      "grad_norm": 0.5482245087623596,
      "learning_rate": 0.00024791071622923375,
      "loss": 0.0956,
      "step": 6921
    },
    {
      "epoch": 1.5528382319946152,
      "gripper_loss": 0.044189453125,
      "loss": 0.01171875,
      "pos_loss": 0.0380859375,
      "rot_loss": 0.0269775390625,
      "step": 6921
    },
    {
      "epoch": 1.5530625981601975,
      "grad_norm": 0.3865744471549988,
      "learning_rate": 0.00024785015875113396,
      "loss": 0.0576,
      "step": 6922
    },
    {
      "epoch": 1.5530625981601975,
      "gripper_loss": 0.138671875,
      "loss": 0.0299072265625,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.10400390625,
      "step": 6922
    },
    {
      "epoch": 1.5532869643257796,
      "grad_norm": 0.37873899936676025,
      "learning_rate": 0.00024778960139918603,
      "loss": 0.0626,
      "step": 6923
    },
    {
      "epoch": 1.5532869643257796,
      "gripper_loss": 0.04248046875,
      "loss": 0.05126953125,
      "pos_loss": 0.3828125,
      "rot_loss": 0.099609375,
      "step": 6923
    },
    {
      "epoch": 1.553511330491362,
      "grad_norm": 0.37477242946624756,
      "learning_rate": 0.0002477290441769432,
      "loss": 0.0494,
      "step": 6924
    },
    {
      "epoch": 1.553511330491362,
      "gripper_loss": 0.21875,
      "loss": 0.041259765625,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.1279296875,
      "step": 6924
    },
    {
      "epoch": 1.5537356966569442,
      "grad_norm": 0.4194593131542206,
      "learning_rate": 0.00024766848708795904,
      "loss": 0.0579,
      "step": 6925
    },
    {
      "epoch": 1.5537356966569442,
      "gripper_loss": 0.69140625,
      "loss": 0.08935546875,
      "pos_loss": 0.48046875,
      "rot_loss": 0.1845703125,
      "step": 6925
    },
    {
      "epoch": 1.5539600628225263,
      "grad_norm": 0.45409640669822693,
      "learning_rate": 0.00024760793013578697,
      "loss": 0.0674,
      "step": 6926
    },
    {
      "epoch": 1.5539600628225263,
      "gripper_loss": 0.09716796875,
      "loss": 0.07421875,
      "pos_loss": 0.345703125,
      "rot_loss": 0.279296875,
      "step": 6926
    },
    {
      "epoch": 1.5541844289881086,
      "grad_norm": 0.4575637876987457,
      "learning_rate": 0.0002475473733239805,
      "loss": 0.0975,
      "step": 6927
    },
    {
      "epoch": 1.5541844289881086,
      "gripper_loss": 0.01531982421875,
      "loss": 0.049072265625,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.357421875,
      "step": 6927
    },
    {
      "epoch": 1.554408795153691,
      "grad_norm": 0.3699597716331482,
      "learning_rate": 0.0002474868166560931,
      "loss": 0.0903,
      "step": 6928
    },
    {
      "epoch": 1.554408795153691,
      "gripper_loss": 0.287109375,
      "loss": 0.09375,
      "pos_loss": 0.37109375,
      "rot_loss": 0.42578125,
      "step": 6928
    },
    {
      "epoch": 1.554633161319273,
      "grad_norm": 0.626470148563385,
      "learning_rate": 0.0002474262601356781,
      "loss": 0.077,
      "step": 6929
    },
    {
      "epoch": 1.554633161319273,
      "gripper_loss": 0.01806640625,
      "loss": 0.1083984375,
      "pos_loss": 0.65625,
      "rot_loss": 0.44921875,
      "step": 6929
    },
    {
      "epoch": 1.5548575274848553,
      "grad_norm": 0.4881379306316376,
      "learning_rate": 0.00024736570376628905,
      "loss": 0.0856,
      "step": 6930
    },
    {
      "epoch": 1.5548575274848553,
      "gripper_loss": 0.02978515625,
      "loss": 0.064453125,
      "pos_loss": 0.458984375,
      "rot_loss": 0.150390625,
      "step": 6930
    },
    {
      "epoch": 1.5550818936504376,
      "grad_norm": 0.4749928414821625,
      "learning_rate": 0.0002473051475514793,
      "loss": 0.0713,
      "step": 6931
    },
    {
      "epoch": 1.5550818936504376,
      "gripper_loss": 0.181640625,
      "loss": 0.2041015625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.2470703125,
      "step": 6931
    },
    {
      "epoch": 1.5553062598160197,
      "grad_norm": 1.4904420375823975,
      "learning_rate": 0.00024724459149480234,
      "loss": 0.327,
      "step": 6932
    },
    {
      "epoch": 1.5553062598160197,
      "gripper_loss": 0.7890625,
      "loss": 0.07958984375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.310546875,
      "step": 6932
    },
    {
      "epoch": 1.555530625981602,
      "grad_norm": 0.5454780459403992,
      "learning_rate": 0.0002471840355998114,
      "loss": 0.079,
      "step": 6933
    },
    {
      "epoch": 1.555530625981602,
      "gripper_loss": 0.26953125,
      "loss": 0.06982421875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.34375,
      "step": 6933
    },
    {
      "epoch": 1.5557549921471843,
      "grad_norm": 0.477833092212677,
      "learning_rate": 0.00024712347987005995,
      "loss": 0.0731,
      "step": 6934
    },
    {
      "epoch": 1.5557549921471843,
      "gripper_loss": 0.2177734375,
      "loss": 0.08984375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.216796875,
      "step": 6934
    },
    {
      "epoch": 1.5559793583127663,
      "grad_norm": 0.5878072381019592,
      "learning_rate": 0.0002470629243091014,
      "loss": 0.065,
      "step": 6935
    },
    {
      "epoch": 1.5559793583127663,
      "gripper_loss": 0.63671875,
      "loss": 0.05859375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.0703125,
      "step": 6935
    },
    {
      "epoch": 1.5562037244783486,
      "grad_norm": 0.460940420627594,
      "learning_rate": 0.0002470023689204893,
      "loss": 0.0392,
      "step": 6936
    },
    {
      "epoch": 1.5562037244783486,
      "gripper_loss": 0.01397705078125,
      "loss": 0.125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.58203125,
      "step": 6936
    },
    {
      "epoch": 1.556428090643931,
      "grad_norm": 0.4058803915977478,
      "learning_rate": 0.00024694181370777676,
      "loss": 0.0668,
      "step": 6937
    },
    {
      "epoch": 1.556428090643931,
      "gripper_loss": 0.05322265625,
      "loss": 0.049072265625,
      "pos_loss": 0.40625,
      "rot_loss": 0.05615234375,
      "step": 6937
    },
    {
      "epoch": 1.556652456809513,
      "grad_norm": 0.48150044679641724,
      "learning_rate": 0.00024688125867451715,
      "loss": 0.0746,
      "step": 6938
    },
    {
      "epoch": 1.556652456809513,
      "gripper_loss": 1.65625,
      "loss": 0.06396484375,
      "pos_loss": 0.0164794921875,
      "rot_loss": 0.057861328125,
      "step": 6938
    },
    {
      "epoch": 1.5568768229750953,
      "grad_norm": 0.43495211005210876,
      "learning_rate": 0.00024682070382426387,
      "loss": 0.0742,
      "step": 6939
    },
    {
      "epoch": 1.5568768229750953,
      "gripper_loss": 1.6875,
      "loss": 0.09765625,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.197265625,
      "step": 6939
    },
    {
      "epoch": 1.5571011891406776,
      "grad_norm": 0.31398245692253113,
      "learning_rate": 0.00024676014916057024,
      "loss": 0.0556,
      "step": 6940
    },
    {
      "epoch": 1.5571011891406776,
      "gripper_loss": 0.0673828125,
      "loss": 0.045166015625,
      "pos_loss": 0.220703125,
      "rot_loss": 0.1865234375,
      "step": 6940
    },
    {
      "epoch": 1.5573255553062597,
      "grad_norm": 0.3878810703754425,
      "learning_rate": 0.0002466995946869897,
      "loss": 0.0594,
      "step": 6941
    },
    {
      "epoch": 1.5573255553062597,
      "gripper_loss": 0.275390625,
      "loss": 0.018310546875,
      "pos_loss": 0.037109375,
      "rot_loss": 0.01470947265625,
      "step": 6941
    },
    {
      "epoch": 1.557549921471842,
      "grad_norm": 0.4115695357322693,
      "learning_rate": 0.00024663904040707536,
      "loss": 0.0467,
      "step": 6942
    },
    {
      "epoch": 1.557549921471842,
      "gripper_loss": 0.050537109375,
      "loss": 0.03173828125,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.189453125,
      "step": 6942
    },
    {
      "epoch": 1.5577742876374243,
      "grad_norm": 0.36636173725128174,
      "learning_rate": 0.0002465784863243807,
      "loss": 0.08,
      "step": 6943
    },
    {
      "epoch": 1.5577742876374243,
      "gripper_loss": 0.01153564453125,
      "loss": 0.11083984375,
      "pos_loss": 1.0546875,
      "rot_loss": 0.0771484375,
      "step": 6943
    },
    {
      "epoch": 1.5579986538030064,
      "grad_norm": 0.4452052116394043,
      "learning_rate": 0.0002465179324424588,
      "loss": 0.1001,
      "step": 6944
    },
    {
      "epoch": 1.5579986538030064,
      "gripper_loss": 0.01483154296875,
      "loss": 0.10205078125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.451171875,
      "step": 6944
    },
    {
      "epoch": 1.5582230199685887,
      "grad_norm": 0.38538065552711487,
      "learning_rate": 0.00024645737876486317,
      "loss": 0.066,
      "step": 6945
    },
    {
      "epoch": 1.5582230199685887,
      "gripper_loss": 0.08935546875,
      "loss": 0.04638671875,
      "pos_loss": 0.04052734375,
      "rot_loss": 0.38671875,
      "step": 6945
    },
    {
      "epoch": 1.558447386134171,
      "grad_norm": 0.3032209873199463,
      "learning_rate": 0.00024639682529514686,
      "loss": 0.0393,
      "step": 6946
    },
    {
      "epoch": 1.558447386134171,
      "gripper_loss": 0.0128173828125,
      "loss": 0.0830078125,
      "pos_loss": 0.5859375,
      "rot_loss": 0.2490234375,
      "step": 6946
    },
    {
      "epoch": 1.558671752299753,
      "grad_norm": 0.32903584837913513,
      "learning_rate": 0.0002463362720368632,
      "loss": 0.0552,
      "step": 6947
    },
    {
      "epoch": 1.558671752299753,
      "gripper_loss": 0.006500244140625,
      "loss": 0.051513671875,
      "pos_loss": 0.484375,
      "rot_loss": 0.01556396484375,
      "step": 6947
    },
    {
      "epoch": 1.5588961184653354,
      "grad_norm": 0.49121811985969543,
      "learning_rate": 0.00024627571899356554,
      "loss": 0.0882,
      "step": 6948
    },
    {
      "epoch": 1.5588961184653354,
      "gripper_loss": 0.0084228515625,
      "loss": 0.07958984375,
      "pos_loss": 0.7578125,
      "rot_loss": 0.046630859375,
      "step": 6948
    },
    {
      "epoch": 1.5591204846309177,
      "grad_norm": 0.326359361410141,
      "learning_rate": 0.00024621516616880695,
      "loss": 0.0527,
      "step": 6949
    },
    {
      "epoch": 1.5591204846309177,
      "gripper_loss": 0.01513671875,
      "loss": 0.1005859375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.2421875,
      "step": 6949
    },
    {
      "epoch": 1.5593448507964998,
      "grad_norm": 0.39776283502578735,
      "learning_rate": 0.00024615461356614077,
      "loss": 0.0631,
      "step": 6950
    },
    {
      "epoch": 1.5593448507964998,
      "gripper_loss": 0.058349609375,
      "loss": 0.0947265625,
      "pos_loss": 0.671875,
      "rot_loss": 0.265625,
      "step": 6950
    },
    {
      "epoch": 1.5595692169620823,
      "grad_norm": 0.34648534655570984,
      "learning_rate": 0.00024609406118912,
      "loss": 0.075,
      "step": 6951
    },
    {
      "epoch": 1.5595692169620823,
      "gripper_loss": 0.0157470703125,
      "loss": 0.05859375,
      "pos_loss": 0.427734375,
      "rot_loss": 0.1494140625,
      "step": 6951
    },
    {
      "epoch": 1.5597935831276644,
      "grad_norm": 0.34531131386756897,
      "learning_rate": 0.000246033509041298,
      "loss": 0.0445,
      "step": 6952
    },
    {
      "epoch": 1.5597935831276644,
      "gripper_loss": 0.032958984375,
      "loss": 0.1220703125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.66796875,
      "step": 6952
    },
    {
      "epoch": 1.5600179492932464,
      "grad_norm": 0.3763975203037262,
      "learning_rate": 0.000245972957126228,
      "loss": 0.0512,
      "step": 6953
    },
    {
      "epoch": 1.5600179492932464,
      "gripper_loss": 0.0203857421875,
      "loss": 0.08251953125,
      "pos_loss": 0.236328125,
      "rot_loss": 0.59765625,
      "step": 6953
    },
    {
      "epoch": 1.560242315458829,
      "grad_norm": 0.5135225653648376,
      "learning_rate": 0.0002459124054474629,
      "loss": 0.0962,
      "step": 6954
    },
    {
      "epoch": 1.560242315458829,
      "gripper_loss": 0.028076171875,
      "loss": 0.150390625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.546875,
      "step": 6954
    },
    {
      "epoch": 1.560466681624411,
      "grad_norm": 0.34593454003334045,
      "learning_rate": 0.00024585185400855615,
      "loss": 0.0592,
      "step": 6955
    },
    {
      "epoch": 1.560466681624411,
      "gripper_loss": 0.036376953125,
      "loss": 0.111328125,
      "pos_loss": 0.578125,
      "rot_loss": 0.54296875,
      "step": 6955
    },
    {
      "epoch": 1.5606910477899931,
      "grad_norm": 0.41730594635009766,
      "learning_rate": 0.00024579130281306063,
      "loss": 0.0747,
      "step": 6956
    },
    {
      "epoch": 1.5606910477899931,
      "gripper_loss": 0.09375,
      "loss": 0.060302734375,
      "pos_loss": 0.478515625,
      "rot_loss": 0.09423828125,
      "step": 6956
    },
    {
      "epoch": 1.5609154139555756,
      "grad_norm": 0.34141263365745544,
      "learning_rate": 0.00024573075186452956,
      "loss": 0.0663,
      "step": 6957
    },
    {
      "epoch": 1.5609154139555756,
      "gripper_loss": 0.044677734375,
      "loss": 0.146484375,
      "pos_loss": 0.498046875,
      "rot_loss": 0.62890625,
      "step": 6957
    },
    {
      "epoch": 1.5611397801211577,
      "grad_norm": 0.7756805419921875,
      "learning_rate": 0.00024567020116651614,
      "loss": 0.084,
      "step": 6958
    },
    {
      "epoch": 1.5611397801211577,
      "gripper_loss": 0.0162353515625,
      "loss": 0.02392578125,
      "pos_loss": 0.07568359375,
      "rot_loss": 0.1318359375,
      "step": 6958
    },
    {
      "epoch": 1.5613641462867398,
      "grad_norm": 0.5018427968025208,
      "learning_rate": 0.00024560965072257325,
      "loss": 0.0787,
      "step": 6959
    },
    {
      "epoch": 1.5613641462867398,
      "gripper_loss": 0.189453125,
      "loss": 0.0498046875,
      "pos_loss": 0.220703125,
      "rot_loss": 0.19921875,
      "step": 6959
    },
    {
      "epoch": 1.5615885124523223,
      "grad_norm": 0.47529852390289307,
      "learning_rate": 0.00024554910053625414,
      "loss": 0.0996,
      "step": 6960
    },
    {
      "epoch": 1.5615885124523223,
      "gripper_loss": 0.0233154296875,
      "loss": 0.01385498046875,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.01312255859375,
      "step": 6960
    },
    {
      "epoch": 1.5618128786179044,
      "grad_norm": 0.3644730746746063,
      "learning_rate": 0.0002454885506111118,
      "loss": 0.0504,
      "step": 6961
    },
    {
      "epoch": 1.5618128786179044,
      "gripper_loss": 0.05078125,
      "loss": 0.03857421875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.015869140625,
      "step": 6961
    },
    {
      "epoch": 1.5620372447834865,
      "grad_norm": 0.42621907591819763,
      "learning_rate": 0.0002454280009506993,
      "loss": 0.055,
      "step": 6962
    },
    {
      "epoch": 1.5620372447834865,
      "gripper_loss": 0.39453125,
      "loss": 0.314453125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.328125,
      "step": 6962
    },
    {
      "epoch": 1.562261610949069,
      "grad_norm": 2.1866581439971924,
      "learning_rate": 0.00024536745155856953,
      "loss": 0.3286,
      "step": 6963
    },
    {
      "epoch": 1.562261610949069,
      "gripper_loss": 0.255859375,
      "loss": 0.07080078125,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.421875,
      "step": 6963
    },
    {
      "epoch": 1.562485977114651,
      "grad_norm": 0.2944733202457428,
      "learning_rate": 0.0002453069024382757,
      "loss": 0.0358,
      "step": 6964
    },
    {
      "epoch": 1.562485977114651,
      "gripper_loss": 0.126953125,
      "loss": 0.06201171875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.25390625,
      "step": 6964
    },
    {
      "epoch": 1.5627103432802334,
      "grad_norm": 0.5026426315307617,
      "learning_rate": 0.00024524635359337064,
      "loss": 0.0607,
      "step": 6965
    },
    {
      "epoch": 1.5627103432802334,
      "gripper_loss": 0.703125,
      "loss": 0.09033203125,
      "pos_loss": 0.578125,
      "rot_loss": 0.1015625,
      "step": 6965
    },
    {
      "epoch": 1.5629347094458157,
      "grad_norm": 0.7716195583343506,
      "learning_rate": 0.0002451858050274075,
      "loss": 0.0975,
      "step": 6966
    },
    {
      "epoch": 1.5629347094458157,
      "gripper_loss": 0.330078125,
      "loss": 0.03955078125,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.0771484375,
      "step": 6966
    },
    {
      "epoch": 1.5631590756113978,
      "grad_norm": 0.7603114247322083,
      "learning_rate": 0.0002451252567439391,
      "loss": 0.096,
      "step": 6967
    },
    {
      "epoch": 1.5631590756113978,
      "gripper_loss": 0.0145263671875,
      "loss": 0.0400390625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.0155029296875,
      "step": 6967
    },
    {
      "epoch": 1.56338344177698,
      "grad_norm": 0.5630187392234802,
      "learning_rate": 0.0002450647087465184,
      "loss": 0.057,
      "step": 6968
    },
    {
      "epoch": 1.56338344177698,
      "gripper_loss": 0.2021484375,
      "loss": 0.06640625,
      "pos_loss": 0.384765625,
      "rot_loss": 0.06982421875,
      "step": 6968
    },
    {
      "epoch": 1.5636078079425624,
      "grad_norm": 0.7589144110679626,
      "learning_rate": 0.0002450041610386984,
      "loss": 0.1169,
      "step": 6969
    },
    {
      "epoch": 1.5636078079425624,
      "gripper_loss": 0.1552734375,
      "loss": 0.1005859375,
      "pos_loss": 0.8359375,
      "rot_loss": 0.125,
      "step": 6969
    },
    {
      "epoch": 1.5638321741081445,
      "grad_norm": 0.38685593008995056,
      "learning_rate": 0.0002449436136240319,
      "loss": 0.0781,
      "step": 6970
    },
    {
      "epoch": 1.5638321741081445,
      "gripper_loss": 0.353515625,
      "loss": 0.04248046875,
      "pos_loss": 0.025390625,
      "rot_loss": 0.263671875,
      "step": 6970
    },
    {
      "epoch": 1.5640565402737268,
      "grad_norm": 0.3305167257785797,
      "learning_rate": 0.000244883066506072,
      "loss": 0.0604,
      "step": 6971
    },
    {
      "epoch": 1.5640565402737268,
      "gripper_loss": 0.1513671875,
      "loss": 0.0556640625,
      "pos_loss": 0.451171875,
      "rot_loss": 0.037353515625,
      "step": 6971
    },
    {
      "epoch": 1.564280906439309,
      "grad_norm": 0.37202924489974976,
      "learning_rate": 0.00024482251968837145,
      "loss": 0.041,
      "step": 6972
    },
    {
      "epoch": 1.564280906439309,
      "gripper_loss": 0.033447265625,
      "loss": 0.0859375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.21875,
      "step": 6972
    },
    {
      "epoch": 1.5645052726048911,
      "grad_norm": 0.47695428133010864,
      "learning_rate": 0.000244761973174483,
      "loss": 0.0937,
      "step": 6973
    },
    {
      "epoch": 1.5645052726048911,
      "gripper_loss": 0.1630859375,
      "loss": 0.07763671875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.1552734375,
      "step": 6973
    },
    {
      "epoch": 1.5647296387704734,
      "grad_norm": 0.4382531940937042,
      "learning_rate": 0.00024470142696795963,
      "loss": 0.0659,
      "step": 6974
    },
    {
      "epoch": 1.5647296387704734,
      "gripper_loss": 0.0142822265625,
      "loss": 0.283203125,
      "pos_loss": 2.203125,
      "rot_loss": 0.72265625,
      "step": 6974
    },
    {
      "epoch": 1.5649540049360557,
      "grad_norm": 0.5585868954658508,
      "learning_rate": 0.0002446408810723542,
      "loss": 0.0836,
      "step": 6975
    },
    {
      "epoch": 1.5649540049360557,
      "gripper_loss": 0.01312255859375,
      "loss": 0.04345703125,
      "pos_loss": 0.349609375,
      "rot_loss": 0.0218505859375,
      "step": 6975
    },
    {
      "epoch": 1.5651783711016378,
      "grad_norm": 0.5956017374992371,
      "learning_rate": 0.0002445803354912194,
      "loss": 0.0519,
      "step": 6976
    },
    {
      "epoch": 1.5651783711016378,
      "gripper_loss": 0.8515625,
      "loss": 0.1455078125,
      "pos_loss": 0.224609375,
      "rot_loss": 0.99609375,
      "step": 6976
    },
    {
      "epoch": 1.5654027372672201,
      "grad_norm": 0.5714889764785767,
      "learning_rate": 0.00024451979022810795,
      "loss": 0.1068,
      "step": 6977
    },
    {
      "epoch": 1.5654027372672201,
      "gripper_loss": 0.0159912109375,
      "loss": 0.0751953125,
      "pos_loss": 0.546875,
      "rot_loss": 0.2060546875,
      "step": 6977
    },
    {
      "epoch": 1.5656271034328024,
      "grad_norm": 0.3700985014438629,
      "learning_rate": 0.0002444592452865729,
      "loss": 0.0582,
      "step": 6978
    },
    {
      "epoch": 1.5656271034328024,
      "gripper_loss": 0.119140625,
      "loss": 0.042724609375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.076171875,
      "step": 6978
    },
    {
      "epoch": 1.5658514695983845,
      "grad_norm": 0.5664198994636536,
      "learning_rate": 0.00024439870067016685,
      "loss": 0.101,
      "step": 6979
    },
    {
      "epoch": 1.5658514695983845,
      "gripper_loss": 0.68359375,
      "loss": 0.23828125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.26171875,
      "step": 6979
    },
    {
      "epoch": 1.5660758357639668,
      "grad_norm": 1.6004388332366943,
      "learning_rate": 0.0002443381563824424,
      "loss": 0.2843,
      "step": 6980
    },
    {
      "epoch": 1.5660758357639668,
      "gripper_loss": 1.0859375,
      "loss": 0.23828125,
      "pos_loss": 1.9765625,
      "rot_loss": 0.1455078125,
      "step": 6980
    },
    {
      "epoch": 1.566300201929549,
      "grad_norm": 0.4507807791233063,
      "learning_rate": 0.00024427761242695235,
      "loss": 0.0677,
      "step": 6981
    },
    {
      "epoch": 1.566300201929549,
      "gripper_loss": 0.018798828125,
      "loss": 0.0966796875,
      "pos_loss": 0.236328125,
      "rot_loss": 0.7421875,
      "step": 6981
    },
    {
      "epoch": 1.5665245680951312,
      "grad_norm": 0.4563649892807007,
      "learning_rate": 0.00024421706880724947,
      "loss": 0.0683,
      "step": 6982
    },
    {
      "epoch": 1.5665245680951312,
      "gripper_loss": 0.060791015625,
      "loss": 0.1552734375,
      "pos_loss": 1.15625,
      "rot_loss": 0.419921875,
      "step": 6982
    },
    {
      "epoch": 1.5667489342607135,
      "grad_norm": 0.5937143564224243,
      "learning_rate": 0.0002441565255268865,
      "loss": 0.0954,
      "step": 6983
    },
    {
      "epoch": 1.5667489342607135,
      "gripper_loss": 0.051025390625,
      "loss": 0.1298828125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.0927734375,
      "step": 6983
    },
    {
      "epoch": 1.5669733004262958,
      "grad_norm": 0.5478391051292419,
      "learning_rate": 0.0002440959825894158,
      "loss": 0.0719,
      "step": 6984
    },
    {
      "epoch": 1.5669733004262958,
      "gripper_loss": 0.023193359375,
      "loss": 0.044677734375,
      "pos_loss": 0.23828125,
      "rot_loss": 0.115234375,
      "step": 6984
    },
    {
      "epoch": 1.5671976665918779,
      "grad_norm": 0.6517884135246277,
      "learning_rate": 0.0002440354399983903,
      "loss": 0.0833,
      "step": 6985
    },
    {
      "epoch": 1.5671976665918779,
      "gripper_loss": 0.671875,
      "loss": 0.0458984375,
      "pos_loss": 0.068359375,
      "rot_loss": 0.162109375,
      "step": 6985
    },
    {
      "epoch": 1.5674220327574602,
      "grad_norm": 0.48963698744773865,
      "learning_rate": 0.00024397489775736237,
      "loss": 0.0789,
      "step": 6986
    },
    {
      "epoch": 1.5674220327574602,
      "gripper_loss": 0.39453125,
      "loss": 0.043212890625,
      "pos_loss": 0.11669921875,
      "rot_loss": 0.083984375,
      "step": 6986
    },
    {
      "epoch": 1.5676463989230425,
      "grad_norm": 0.6703892350196838,
      "learning_rate": 0.00024391435586988474,
      "loss": 0.0698,
      "step": 6987
    },
    {
      "epoch": 1.5676463989230425,
      "gripper_loss": 0.404296875,
      "loss": 0.06396484375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1943359375,
      "step": 6987
    },
    {
      "epoch": 1.5678707650886246,
      "grad_norm": 0.45846104621887207,
      "learning_rate": 0.0002438538143395101,
      "loss": 0.0645,
      "step": 6988
    },
    {
      "epoch": 1.5678707650886246,
      "gripper_loss": 0.005218505859375,
      "loss": 0.1962890625,
      "pos_loss": 1.359375,
      "rot_loss": 0.68359375,
      "step": 6988
    },
    {
      "epoch": 1.5680951312542069,
      "grad_norm": 0.3988901376724243,
      "learning_rate": 0.00024379327316979073,
      "loss": 0.0799,
      "step": 6989
    },
    {
      "epoch": 1.5680951312542069,
      "gripper_loss": 0.353515625,
      "loss": 0.0205078125,
      "pos_loss": 0.0294189453125,
      "rot_loss": 0.019287109375,
      "step": 6989
    },
    {
      "epoch": 1.5683194974197892,
      "grad_norm": 0.3816654682159424,
      "learning_rate": 0.0002437327323642793,
      "loss": 0.0771,
      "step": 6990
    },
    {
      "epoch": 1.5683194974197892,
      "gripper_loss": 0.0205078125,
      "loss": 0.036376953125,
      "pos_loss": 0.173828125,
      "rot_loss": 0.138671875,
      "step": 6990
    },
    {
      "epoch": 1.5685438635853712,
      "grad_norm": 0.3723592162132263,
      "learning_rate": 0.0002436721919265283,
      "loss": 0.0545,
      "step": 6991
    },
    {
      "epoch": 1.5685438635853712,
      "gripper_loss": 0.29296875,
      "loss": 0.1435546875,
      "pos_loss": 0.15625,
      "rot_loss": 0.255859375,
      "step": 6991
    },
    {
      "epoch": 1.5687682297509535,
      "grad_norm": 1.3096041679382324,
      "learning_rate": 0.00024361165186009032,
      "loss": 0.1919,
      "step": 6992
    },
    {
      "epoch": 1.5687682297509535,
      "gripper_loss": 0.240234375,
      "loss": 0.181640625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.44921875,
      "step": 6992
    },
    {
      "epoch": 1.5689925959165358,
      "grad_norm": 0.8995989561080933,
      "learning_rate": 0.0002435511121685176,
      "loss": 0.1389,
      "step": 6993
    },
    {
      "epoch": 1.5689925959165358,
      "gripper_loss": 0.06884765625,
      "loss": 0.07958984375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.056396484375,
      "step": 6993
    },
    {
      "epoch": 1.569216962082118,
      "grad_norm": 0.4542948603630066,
      "learning_rate": 0.00024349057285536272,
      "loss": 0.0599,
      "step": 6994
    },
    {
      "epoch": 1.569216962082118,
      "gripper_loss": 0.71875,
      "loss": 0.037109375,
      "pos_loss": 0.08447265625,
      "rot_loss": 0.0162353515625,
      "step": 6994
    },
    {
      "epoch": 1.5694413282477002,
      "grad_norm": 0.579849123954773,
      "learning_rate": 0.00024343003392417816,
      "loss": 0.0844,
      "step": 6995
    },
    {
      "epoch": 1.5694413282477002,
      "gripper_loss": 0.2001953125,
      "loss": 0.07373046875,
      "pos_loss": 0.625,
      "rot_loss": 0.0296630859375,
      "step": 6995
    },
    {
      "epoch": 1.5696656944132825,
      "grad_norm": 0.419615238904953,
      "learning_rate": 0.00024336949537851618,
      "loss": 0.0441,
      "step": 6996
    },
    {
      "epoch": 1.5696656944132825,
      "gripper_loss": 0.578125,
      "loss": 0.1396484375,
      "pos_loss": 0.40625,
      "rot_loss": 0.81640625,
      "step": 6996
    },
    {
      "epoch": 1.5698900605788646,
      "grad_norm": 0.5060728192329407,
      "learning_rate": 0.00024330895722192927,
      "loss": 0.0702,
      "step": 6997
    },
    {
      "epoch": 1.5698900605788646,
      "gripper_loss": 0.0908203125,
      "loss": 0.0140380859375,
      "pos_loss": 0.0201416015625,
      "rot_loss": 0.048828125,
      "step": 6997
    },
    {
      "epoch": 1.570114426744447,
      "grad_norm": 0.41520294547080994,
      "learning_rate": 0.00024324841945796966,
      "loss": 0.0636,
      "step": 6998
    },
    {
      "epoch": 1.570114426744447,
      "gripper_loss": 0.1396484375,
      "loss": 0.10107421875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.2177734375,
      "step": 6998
    },
    {
      "epoch": 1.5703387929100292,
      "grad_norm": 1.0572571754455566,
      "learning_rate": 0.00024318788209018975,
      "loss": 0.1581,
      "step": 6999
    },
    {
      "epoch": 1.5703387929100292,
      "gripper_loss": 0.0224609375,
      "loss": 0.115234375,
      "pos_loss": 0.85546875,
      "rot_loss": 0.296875,
      "step": 6999
    },
    {
      "epoch": 1.5705631590756113,
      "grad_norm": 0.4486193358898163,
      "learning_rate": 0.00024312734512214188,
      "loss": 0.0713,
      "step": 7000
    },
    {
      "epoch": 1.5705631590756113,
      "gripper_loss": 0.1181640625,
      "loss": 0.04296875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.0634765625,
      "step": 7000
    },
    {
      "epoch": 1.5707875252411936,
      "grad_norm": 0.5017107129096985,
      "learning_rate": 0.0002430668085573783,
      "loss": 0.062,
      "step": 7001
    },
    {
      "epoch": 1.5707875252411936,
      "gripper_loss": 0.03271484375,
      "loss": 0.02099609375,
      "pos_loss": 0.058349609375,
      "rot_loss": 0.0830078125,
      "step": 7001
    },
    {
      "epoch": 1.5710118914067759,
      "grad_norm": 0.4494144320487976,
      "learning_rate": 0.00024300627239945129,
      "loss": 0.083,
      "step": 7002
    },
    {
      "epoch": 1.5710118914067759,
      "gripper_loss": 0.0101318359375,
      "loss": 0.076171875,
      "pos_loss": 0.67578125,
      "rot_loss": 0.060302734375,
      "step": 7002
    },
    {
      "epoch": 1.571236257572358,
      "grad_norm": 0.47773557901382446,
      "learning_rate": 0.00024294573665191297,
      "loss": 0.0697,
      "step": 7003
    },
    {
      "epoch": 1.571236257572358,
      "gripper_loss": 0.0220947265625,
      "loss": 0.0419921875,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.236328125,
      "step": 7003
    },
    {
      "epoch": 1.5714606237379403,
      "grad_norm": 0.4952806234359741,
      "learning_rate": 0.00024288520131831565,
      "loss": 0.0701,
      "step": 7004
    },
    {
      "epoch": 1.5714606237379403,
      "gripper_loss": 0.283203125,
      "loss": 0.02197265625,
      "pos_loss": 0.0242919921875,
      "rot_loss": 0.0172119140625,
      "step": 7004
    },
    {
      "epoch": 1.5716849899035226,
      "grad_norm": 0.6706384420394897,
      "learning_rate": 0.00024282466640221162,
      "loss": 0.0646,
      "step": 7005
    },
    {
      "epoch": 1.5716849899035226,
      "gripper_loss": 0.1181640625,
      "loss": 0.1572265625,
      "pos_loss": 0.91796875,
      "rot_loss": 0.310546875,
      "step": 7005
    },
    {
      "epoch": 1.5719093560691046,
      "grad_norm": 0.6393635272979736,
      "learning_rate": 0.00024276413190715278,
      "loss": 0.0858,
      "step": 7006
    },
    {
      "epoch": 1.5719093560691046,
      "gripper_loss": 0.2197265625,
      "loss": 0.1728515625,
      "pos_loss": 1.453125,
      "rot_loss": 0.2451171875,
      "step": 7006
    },
    {
      "epoch": 1.5721337222346872,
      "grad_norm": 0.5028365850448608,
      "learning_rate": 0.0002427035978366915,
      "loss": 0.0976,
      "step": 7007
    },
    {
      "epoch": 1.5721337222346872,
      "gripper_loss": 0.10693359375,
      "loss": 0.09619140625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.2158203125,
      "step": 7007
    },
    {
      "epoch": 1.5723580884002692,
      "grad_norm": 0.5027244687080383,
      "learning_rate": 0.00024264306419437975,
      "loss": 0.0852,
      "step": 7008
    },
    {
      "epoch": 1.5723580884002692,
      "gripper_loss": 1.3046875,
      "loss": 0.05859375,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.03076171875,
      "step": 7008
    },
    {
      "epoch": 1.5725824545658513,
      "grad_norm": 0.3931472897529602,
      "learning_rate": 0.0002425825309837698,
      "loss": 0.0553,
      "step": 7009
    },
    {
      "epoch": 1.5725824545658513,
      "gripper_loss": 1.2421875,
      "loss": 0.09716796875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.07958984375,
      "step": 7009
    },
    {
      "epoch": 1.5728068207314339,
      "grad_norm": 0.46788477897644043,
      "learning_rate": 0.00024252199820841343,
      "loss": 0.0629,
      "step": 7010
    },
    {
      "epoch": 1.5728068207314339,
      "gripper_loss": 0.302734375,
      "loss": 0.02734375,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.046630859375,
      "step": 7010
    },
    {
      "epoch": 1.573031186897016,
      "grad_norm": 0.537441611289978,
      "learning_rate": 0.00024246146587186286,
      "loss": 0.0654,
      "step": 7011
    },
    {
      "epoch": 1.573031186897016,
      "gripper_loss": 0.447265625,
      "loss": 0.031982421875,
      "pos_loss": 0.02685546875,
      "rot_loss": 0.10986328125,
      "step": 7011
    },
    {
      "epoch": 1.573255553062598,
      "grad_norm": 0.43946003913879395,
      "learning_rate": 0.00024240093397767003,
      "loss": 0.0643,
      "step": 7012
    },
    {
      "epoch": 1.573255553062598,
      "gripper_loss": 0.06640625,
      "loss": 0.056884765625,
      "pos_loss": 0.259765625,
      "rot_loss": 0.2119140625,
      "step": 7012
    },
    {
      "epoch": 1.5734799192281805,
      "grad_norm": 0.5080992579460144,
      "learning_rate": 0.00024234040252938712,
      "loss": 0.0533,
      "step": 7013
    },
    {
      "epoch": 1.5734799192281805,
      "gripper_loss": 0.65625,
      "loss": 0.1630859375,
      "pos_loss": 0.8046875,
      "rot_loss": 0.625,
      "step": 7013
    },
    {
      "epoch": 1.5737042853937626,
      "grad_norm": 0.5296724438667297,
      "learning_rate": 0.00024227987153056584,
      "loss": 0.0694,
      "step": 7014
    },
    {
      "epoch": 1.5737042853937626,
      "gripper_loss": 0.07373046875,
      "loss": 0.142578125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.1484375,
      "step": 7014
    },
    {
      "epoch": 1.5739286515593447,
      "grad_norm": 0.37286317348480225,
      "learning_rate": 0.00024221934098475818,
      "loss": 0.0684,
      "step": 7015
    },
    {
      "epoch": 1.5739286515593447,
      "gripper_loss": 0.875,
      "loss": 0.033447265625,
      "pos_loss": 0.0179443359375,
      "rot_loss": 0.01373291015625,
      "step": 7015
    },
    {
      "epoch": 1.5741530177249272,
      "grad_norm": 0.3333929479122162,
      "learning_rate": 0.00024215881089551607,
      "loss": 0.0583,
      "step": 7016
    },
    {
      "epoch": 1.5741530177249272,
      "gripper_loss": 0.045166015625,
      "loss": 0.06640625,
      "pos_loss": 0.296875,
      "rot_loss": 0.28515625,
      "step": 7016
    },
    {
      "epoch": 1.5743773838905093,
      "grad_norm": 0.5148554444313049,
      "learning_rate": 0.0002420982812663914,
      "loss": 0.0655,
      "step": 7017
    },
    {
      "epoch": 1.5743773838905093,
      "gripper_loss": 0.030029296875,
      "loss": 0.07763671875,
      "pos_loss": 0.7421875,
      "rot_loss": 0.0322265625,
      "step": 7017
    },
    {
      "epoch": 1.5746017500560914,
      "grad_norm": 0.42415955662727356,
      "learning_rate": 0.0002420377521009361,
      "loss": 0.0658,
      "step": 7018
    },
    {
      "epoch": 1.5746017500560914,
      "gripper_loss": 0.63671875,
      "loss": 0.36328125,
      "pos_loss": 0.427734375,
      "rot_loss": 0.443359375,
      "step": 7018
    },
    {
      "epoch": 1.574826116221674,
      "grad_norm": 2.106487989425659,
      "learning_rate": 0.00024197722340270187,
      "loss": 0.385,
      "step": 7019
    },
    {
      "epoch": 1.574826116221674,
      "gripper_loss": 0.0087890625,
      "loss": 0.0179443359375,
      "pos_loss": 0.134765625,
      "rot_loss": 0.012451171875,
      "step": 7019
    },
    {
      "epoch": 1.575050482387256,
      "grad_norm": 0.622276782989502,
      "learning_rate": 0.00024191669517524049,
      "loss": 0.0826,
      "step": 7020
    },
    {
      "epoch": 1.575050482387256,
      "gripper_loss": 0.1650390625,
      "loss": 0.05810546875,
      "pos_loss": 0.390625,
      "rot_loss": 0.126953125,
      "step": 7020
    },
    {
      "epoch": 1.5752748485528383,
      "grad_norm": 0.5449143052101135,
      "learning_rate": 0.00024185616742210378,
      "loss": 0.0829,
      "step": 7021
    },
    {
      "epoch": 1.5752748485528383,
      "gripper_loss": 0.033203125,
      "loss": 0.07958984375,
      "pos_loss": 0.53125,
      "rot_loss": 0.2373046875,
      "step": 7021
    },
    {
      "epoch": 1.5754992147184206,
      "grad_norm": 0.5312004089355469,
      "learning_rate": 0.00024179564014684363,
      "loss": 0.0789,
      "step": 7022
    },
    {
      "epoch": 1.5754992147184206,
      "gripper_loss": 0.061279296875,
      "loss": 0.0810546875,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.5390625,
      "step": 7022
    },
    {
      "epoch": 1.5757235808840027,
      "grad_norm": 0.5011945962905884,
      "learning_rate": 0.00024173511335301147,
      "loss": 0.0599,
      "step": 7023
    },
    {
      "epoch": 1.5757235808840027,
      "gripper_loss": 0.0274658203125,
      "loss": 0.103515625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.150390625,
      "step": 7023
    },
    {
      "epoch": 1.575947947049585,
      "grad_norm": 0.6036749482154846,
      "learning_rate": 0.00024167458704415915,
      "loss": 0.0797,
      "step": 7024
    },
    {
      "epoch": 1.575947947049585,
      "gripper_loss": 0.00762939453125,
      "loss": 0.08984375,
      "pos_loss": 0.296875,
      "rot_loss": 0.6171875,
      "step": 7024
    },
    {
      "epoch": 1.5761723132151673,
      "grad_norm": 0.34520450234413147,
      "learning_rate": 0.00024161406122383833,
      "loss": 0.0486,
      "step": 7025
    },
    {
      "epoch": 1.5761723132151673,
      "gripper_loss": 0.007720947265625,
      "loss": 0.055908203125,
      "pos_loss": 0.193359375,
      "rot_loss": 0.3359375,
      "step": 7025
    },
    {
      "epoch": 1.5763966793807493,
      "grad_norm": 0.43029361963272095,
      "learning_rate": 0.0002415535358956007,
      "loss": 0.069,
      "step": 7026
    },
    {
      "epoch": 1.5763966793807493,
      "gripper_loss": 0.36328125,
      "loss": 0.06103515625,
      "pos_loss": 0.138671875,
      "rot_loss": 0.349609375,
      "step": 7026
    },
    {
      "epoch": 1.5766210455463316,
      "grad_norm": 0.3272233307361603,
      "learning_rate": 0.00024149301106299762,
      "loss": 0.0703,
      "step": 7027
    },
    {
      "epoch": 1.5766210455463316,
      "gripper_loss": 0.1494140625,
      "loss": 0.038330078125,
      "pos_loss": 0.28125,
      "rot_loss": 0.0274658203125,
      "step": 7027
    },
    {
      "epoch": 1.576845411711914,
      "grad_norm": 0.3508113920688629,
      "learning_rate": 0.00024143248672958082,
      "loss": 0.0493,
      "step": 7028
    },
    {
      "epoch": 1.576845411711914,
      "gripper_loss": 0.140625,
      "loss": 0.0172119140625,
      "pos_loss": 0.05712890625,
      "rot_loss": 0.038330078125,
      "step": 7028
    },
    {
      "epoch": 1.577069777877496,
      "grad_norm": 0.3706049919128418,
      "learning_rate": 0.00024137196289890185,
      "loss": 0.0594,
      "step": 7029
    },
    {
      "epoch": 1.577069777877496,
      "gripper_loss": 0.00830078125,
      "loss": 0.055908203125,
      "pos_loss": 0.53125,
      "rot_loss": 0.0152587890625,
      "step": 7029
    },
    {
      "epoch": 1.5772941440430783,
      "grad_norm": 0.31947651505470276,
      "learning_rate": 0.00024131143957451228,
      "loss": 0.0514,
      "step": 7030
    },
    {
      "epoch": 1.5772941440430783,
      "gripper_loss": 0.0556640625,
      "loss": 0.06640625,
      "pos_loss": 0.3125,
      "rot_loss": 0.30078125,
      "step": 7030
    },
    {
      "epoch": 1.5775185102086606,
      "grad_norm": 0.35226643085479736,
      "learning_rate": 0.00024125091675996344,
      "loss": 0.0815,
      "step": 7031
    },
    {
      "epoch": 1.5775185102086606,
      "gripper_loss": 0.026123046875,
      "loss": 0.028076171875,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.058349609375,
      "step": 7031
    },
    {
      "epoch": 1.5777428763742427,
      "grad_norm": 0.49152499437332153,
      "learning_rate": 0.00024119039445880689,
      "loss": 0.0611,
      "step": 7032
    },
    {
      "epoch": 1.5777428763742427,
      "gripper_loss": 0.032958984375,
      "loss": 0.08544921875,
      "pos_loss": 0.330078125,
      "rot_loss": 0.515625,
      "step": 7032
    },
    {
      "epoch": 1.577967242539825,
      "grad_norm": 0.43225201964378357,
      "learning_rate": 0.00024112987267459394,
      "loss": 0.0631,
      "step": 7033
    },
    {
      "epoch": 1.577967242539825,
      "gripper_loss": 0.1650390625,
      "loss": 0.1513671875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.42578125,
      "step": 7033
    },
    {
      "epoch": 1.5781916087054073,
      "grad_norm": 1.1306018829345703,
      "learning_rate": 0.00024106935141087607,
      "loss": 0.1591,
      "step": 7034
    },
    {
      "epoch": 1.5781916087054073,
      "gripper_loss": 0.62109375,
      "loss": 0.08544921875,
      "pos_loss": 0.314453125,
      "rot_loss": 0.30859375,
      "step": 7034
    },
    {
      "epoch": 1.5784159748709894,
      "grad_norm": 0.5301482677459717,
      "learning_rate": 0.00024100883067120475,
      "loss": 0.0593,
      "step": 7035
    },
    {
      "epoch": 1.5784159748709894,
      "gripper_loss": 0.0238037109375,
      "loss": 0.169921875,
      "pos_loss": 0.8046875,
      "rot_loss": 0.875,
      "step": 7035
    },
    {
      "epoch": 1.5786403410365717,
      "grad_norm": 0.772596001625061,
      "learning_rate": 0.00024094831045913106,
      "loss": 0.0821,
      "step": 7036
    },
    {
      "epoch": 1.5786403410365717,
      "gripper_loss": 0.025146484375,
      "loss": 0.02294921875,
      "pos_loss": 0.1328125,
      "rot_loss": 0.0218505859375,
      "step": 7036
    },
    {
      "epoch": 1.578864707202154,
      "grad_norm": 0.5640220642089844,
      "learning_rate": 0.0002408877907782065,
      "loss": 0.0663,
      "step": 7037
    },
    {
      "epoch": 1.578864707202154,
      "gripper_loss": 0.08349609375,
      "loss": 0.1083984375,
      "pos_loss": 0.671875,
      "rot_loss": 0.359375,
      "step": 7037
    },
    {
      "epoch": 1.579089073367736,
      "grad_norm": 0.6196779012680054,
      "learning_rate": 0.00024082727163198217,
      "loss": 0.0729,
      "step": 7038
    },
    {
      "epoch": 1.579089073367736,
      "gripper_loss": 0.2236328125,
      "loss": 0.076171875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.265625,
      "step": 7038
    },
    {
      "epoch": 1.5793134395333184,
      "grad_norm": 0.5926709175109863,
      "learning_rate": 0.00024076675302400955,
      "loss": 0.077,
      "step": 7039
    },
    {
      "epoch": 1.5793134395333184,
      "gripper_loss": 0.189453125,
      "loss": 0.421875,
      "pos_loss": 0.78125,
      "rot_loss": 0.76171875,
      "step": 7039
    },
    {
      "epoch": 1.5795378056989007,
      "grad_norm": 1.3747276067733765,
      "learning_rate": 0.00024070623495783954,
      "loss": 0.3259,
      "step": 7040
    },
    {
      "epoch": 1.5795378056989007,
      "gripper_loss": 0.031982421875,
      "loss": 0.03515625,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.2314453125,
      "step": 7040
    },
    {
      "epoch": 1.5797621718644828,
      "grad_norm": 0.45377203822135925,
      "learning_rate": 0.00024064571743702352,
      "loss": 0.0698,
      "step": 7041
    },
    {
      "epoch": 1.5797621718644828,
      "gripper_loss": 0.2109375,
      "loss": 0.06591796875,
      "pos_loss": 0.314453125,
      "rot_loss": 0.23828125,
      "step": 7041
    },
    {
      "epoch": 1.579986538030065,
      "grad_norm": 0.6429089307785034,
      "learning_rate": 0.00024058520046511258,
      "loss": 0.0921,
      "step": 7042
    },
    {
      "epoch": 1.579986538030065,
      "gripper_loss": 0.01287841796875,
      "loss": 0.07177734375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.4453125,
      "step": 7042
    },
    {
      "epoch": 1.5802109041956474,
      "grad_norm": 0.6754670143127441,
      "learning_rate": 0.00024052468404565783,
      "loss": 0.0801,
      "step": 7043
    },
    {
      "epoch": 1.5802109041956474,
      "gripper_loss": 0.67578125,
      "loss": 0.031494140625,
      "pos_loss": 0.0267333984375,
      "rot_loss": 0.0286865234375,
      "step": 7043
    },
    {
      "epoch": 1.5804352703612294,
      "grad_norm": 0.4098307490348816,
      "learning_rate": 0.00024046416818221037,
      "loss": 0.0645,
      "step": 7044
    },
    {
      "epoch": 1.5804352703612294,
      "gripper_loss": 0.009765625,
      "loss": 0.07177734375,
      "pos_loss": 0.6953125,
      "rot_loss": 0.0181884765625,
      "step": 7044
    },
    {
      "epoch": 1.5806596365268117,
      "grad_norm": 0.48785898089408875,
      "learning_rate": 0.00024040365287832113,
      "loss": 0.0628,
      "step": 7045
    },
    {
      "epoch": 1.5806596365268117,
      "gripper_loss": 0.38671875,
      "loss": 0.0634765625,
      "pos_loss": 0.41796875,
      "rot_loss": 0.06884765625,
      "step": 7045
    },
    {
      "epoch": 1.580884002692394,
      "grad_norm": 0.5579273700714111,
      "learning_rate": 0.00024034313813754124,
      "loss": 0.089,
      "step": 7046
    },
    {
      "epoch": 1.580884002692394,
      "gripper_loss": 0.61328125,
      "loss": 0.171875,
      "pos_loss": 0.376953125,
      "rot_loss": 0.51171875,
      "step": 7046
    },
    {
      "epoch": 1.5811083688579761,
      "grad_norm": 1.116042137145996,
      "learning_rate": 0.00024028262396342168,
      "loss": 0.1959,
      "step": 7047
    },
    {
      "epoch": 1.5811083688579761,
      "gripper_loss": 0.09375,
      "loss": 0.0947265625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.333984375,
      "step": 7047
    },
    {
      "epoch": 1.5813327350235584,
      "grad_norm": 0.5872909426689148,
      "learning_rate": 0.00024022211035951336,
      "loss": 0.1099,
      "step": 7048
    },
    {
      "epoch": 1.5813327350235584,
      "gripper_loss": 0.02099609375,
      "loss": 0.036865234375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.019287109375,
      "step": 7048
    },
    {
      "epoch": 1.5815571011891407,
      "grad_norm": 0.32329612970352173,
      "learning_rate": 0.00024016159732936717,
      "loss": 0.0382,
      "step": 7049
    },
    {
      "epoch": 1.5815571011891407,
      "gripper_loss": 0.52734375,
      "loss": 0.0966796875,
      "pos_loss": 0.5,
      "rot_loss": 0.3046875,
      "step": 7049
    },
    {
      "epoch": 1.5817814673547228,
      "grad_norm": 0.5185683369636536,
      "learning_rate": 0.00024010108487653397,
      "loss": 0.0686,
      "step": 7050
    },
    {
      "epoch": 1.5817814673547228,
      "gripper_loss": 0.55859375,
      "loss": 0.1513671875,
      "pos_loss": 1.078125,
      "rot_loss": 0.287109375,
      "step": 7050
    },
    {
      "epoch": 1.582005833520305,
      "grad_norm": 0.46615785360336304,
      "learning_rate": 0.00024004057300456463,
      "loss": 0.0716,
      "step": 7051
    },
    {
      "epoch": 1.582005833520305,
      "gripper_loss": 0.0400390625,
      "loss": 0.0279541015625,
      "pos_loss": 0.07861328125,
      "rot_loss": 0.1474609375,
      "step": 7051
    },
    {
      "epoch": 1.5822301996858874,
      "grad_norm": 0.46839019656181335,
      "learning_rate": 0.0002399800617170101,
      "loss": 0.0511,
      "step": 7052
    },
    {
      "epoch": 1.5822301996858874,
      "gripper_loss": 0.1435546875,
      "loss": 0.053466796875,
      "pos_loss": 0.35546875,
      "rot_loss": 0.08349609375,
      "step": 7052
    },
    {
      "epoch": 1.5824545658514695,
      "grad_norm": 0.4959864020347595,
      "learning_rate": 0.00023991955101742088,
      "loss": 0.0576,
      "step": 7053
    },
    {
      "epoch": 1.5824545658514695,
      "gripper_loss": 0.478515625,
      "loss": 0.047119140625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.1728515625,
      "step": 7053
    },
    {
      "epoch": 1.5826789320170518,
      "grad_norm": 0.4233666956424713,
      "learning_rate": 0.0002398590409093479,
      "loss": 0.0532,
      "step": 7054
    },
    {
      "epoch": 1.5826789320170518,
      "gripper_loss": 0.0108642578125,
      "loss": 0.1435546875,
      "pos_loss": 0.8828125,
      "rot_loss": 0.58203125,
      "step": 7054
    },
    {
      "epoch": 1.582903298182634,
      "grad_norm": 0.3380106985569,
      "learning_rate": 0.0002397985313963418,
      "loss": 0.0636,
      "step": 7055
    },
    {
      "epoch": 1.582903298182634,
      "gripper_loss": 0.40234375,
      "loss": 0.026123046875,
      "pos_loss": 0.019775390625,
      "rot_loss": 0.07470703125,
      "step": 7055
    },
    {
      "epoch": 1.5831276643482162,
      "grad_norm": 0.4698939323425293,
      "learning_rate": 0.00023973802248195337,
      "loss": 0.0567,
      "step": 7056
    },
    {
      "epoch": 1.5831276643482162,
      "gripper_loss": 0.10205078125,
      "loss": 0.06396484375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.37890625,
      "step": 7056
    },
    {
      "epoch": 1.5833520305137985,
      "grad_norm": 0.5224456787109375,
      "learning_rate": 0.00023967751416973304,
      "loss": 0.0813,
      "step": 7057
    },
    {
      "epoch": 1.5833520305137985,
      "gripper_loss": 0.0196533203125,
      "loss": 0.25390625,
      "pos_loss": 1.34375,
      "rot_loss": 1.3125,
      "step": 7057
    },
    {
      "epoch": 1.5835763966793808,
      "grad_norm": 0.6606547832489014,
      "learning_rate": 0.0002396170064632315,
      "loss": 0.1478,
      "step": 7058
    },
    {
      "epoch": 1.5835763966793808,
      "gripper_loss": 0.2890625,
      "loss": 0.036376953125,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.06884765625,
      "step": 7058
    },
    {
      "epoch": 1.5838007628449629,
      "grad_norm": 0.639765739440918,
      "learning_rate": 0.00023955649936599935,
      "loss": 0.0664,
      "step": 7059
    },
    {
      "epoch": 1.5838007628449629,
      "gripper_loss": 1.828125,
      "loss": 0.1318359375,
      "pos_loss": 0.625,
      "rot_loss": 0.119140625,
      "step": 7059
    },
    {
      "epoch": 1.5840251290105454,
      "grad_norm": 0.6273068785667419,
      "learning_rate": 0.00023949599288158722,
      "loss": 0.0692,
      "step": 7060
    },
    {
      "epoch": 1.5840251290105454,
      "gripper_loss": 0.1083984375,
      "loss": 0.150390625,
      "pos_loss": 0.640625,
      "rot_loss": 0.2578125,
      "step": 7060
    },
    {
      "epoch": 1.5842494951761275,
      "grad_norm": 1.3371527194976807,
      "learning_rate": 0.0002394354870135454,
      "loss": 0.1692,
      "step": 7061
    },
    {
      "epoch": 1.5842494951761275,
      "gripper_loss": 0.014404296875,
      "loss": 0.064453125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.236328125,
      "step": 7061
    },
    {
      "epoch": 1.5844738613417095,
      "grad_norm": 0.5966163277626038,
      "learning_rate": 0.00023937498176542437,
      "loss": 0.0764,
      "step": 7062
    },
    {
      "epoch": 1.5844738613417095,
      "gripper_loss": 0.35546875,
      "loss": 0.0419921875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.140625,
      "step": 7062
    },
    {
      "epoch": 1.584698227507292,
      "grad_norm": 0.36000996828079224,
      "learning_rate": 0.00023931447714077464,
      "loss": 0.0362,
      "step": 7063
    },
    {
      "epoch": 1.584698227507292,
      "gripper_loss": 0.69921875,
      "loss": 0.041748046875,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.033935546875,
      "step": 7063
    },
    {
      "epoch": 1.5849225936728741,
      "grad_norm": 0.5276784300804138,
      "learning_rate": 0.00023925397314314656,
      "loss": 0.0584,
      "step": 7064
    },
    {
      "epoch": 1.5849225936728741,
      "gripper_loss": 0.0108642578125,
      "loss": 0.138671875,
      "pos_loss": 1.3984375,
      "rot_loss": 0.0244140625,
      "step": 7064
    },
    {
      "epoch": 1.5851469598384562,
      "grad_norm": 0.4591946303844452,
      "learning_rate": 0.0002391934697760906,
      "loss": 0.0866,
      "step": 7065
    },
    {
      "epoch": 1.5851469598384562,
      "gripper_loss": 0.55078125,
      "loss": 0.0225830078125,
      "pos_loss": 0.015869140625,
      "rot_loss": 0.00653076171875,
      "step": 7065
    },
    {
      "epoch": 1.5853713260040387,
      "grad_norm": 0.3609705865383148,
      "learning_rate": 0.00023913296704315687,
      "loss": 0.0453,
      "step": 7066
    },
    {
      "epoch": 1.5853713260040387,
      "gripper_loss": 0.30078125,
      "loss": 0.06494140625,
      "pos_loss": 0.19921875,
      "rot_loss": 0.337890625,
      "step": 7066
    },
    {
      "epoch": 1.5855956921696208,
      "grad_norm": 0.3917035758495331,
      "learning_rate": 0.0002390724649478957,
      "loss": 0.0529,
      "step": 7067
    },
    {
      "epoch": 1.5855956921696208,
      "gripper_loss": 0.029296875,
      "loss": 0.126953125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.0361328125,
      "step": 7067
    },
    {
      "epoch": 1.585820058335203,
      "grad_norm": 0.3923468291759491,
      "learning_rate": 0.00023901196349385734,
      "loss": 0.072,
      "step": 7068
    },
    {
      "epoch": 1.585820058335203,
      "gripper_loss": 0.578125,
      "loss": 0.048828125,
      "pos_loss": 0.10546875,
      "rot_loss": 0.1396484375,
      "step": 7068
    },
    {
      "epoch": 1.5860444245007854,
      "grad_norm": 0.4881391227245331,
      "learning_rate": 0.0002389514626845921,
      "loss": 0.08,
      "step": 7069
    },
    {
      "epoch": 1.5860444245007854,
      "gripper_loss": 0.1025390625,
      "loss": 0.1259765625,
      "pos_loss": 1.25,
      "rot_loss": 0.0224609375,
      "step": 7069
    },
    {
      "epoch": 1.5862687906663675,
      "grad_norm": 0.39083901047706604,
      "learning_rate": 0.00023889096252364993,
      "loss": 0.0596,
      "step": 7070
    },
    {
      "epoch": 1.5862687906663675,
      "gripper_loss": 0.8359375,
      "loss": 0.095703125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.26953125,
      "step": 7070
    },
    {
      "epoch": 1.5864931568319496,
      "grad_norm": 0.5281900763511658,
      "learning_rate": 0.00023883046301458112,
      "loss": 0.1009,
      "step": 7071
    },
    {
      "epoch": 1.5864931568319496,
      "gripper_loss": 0.4296875,
      "loss": 0.08056640625,
      "pos_loss": 0.484375,
      "rot_loss": 0.1669921875,
      "step": 7071
    },
    {
      "epoch": 1.586717522997532,
      "grad_norm": 0.47828200459480286,
      "learning_rate": 0.0002387699641609357,
      "loss": 0.0707,
      "step": 7072
    },
    {
      "epoch": 1.586717522997532,
      "gripper_loss": 0.244140625,
      "loss": 0.076171875,
      "pos_loss": 0.5703125,
      "rot_loss": 0.10595703125,
      "step": 7072
    },
    {
      "epoch": 1.5869418891631142,
      "grad_norm": 0.472718209028244,
      "learning_rate": 0.00023870946596626374,
      "loss": 0.079,
      "step": 7073
    },
    {
      "epoch": 1.5869418891631142,
      "gripper_loss": 0.359375,
      "loss": 0.1884765625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.404296875,
      "step": 7073
    },
    {
      "epoch": 1.5871662553286965,
      "grad_norm": 1.2558481693267822,
      "learning_rate": 0.00023864896843411515,
      "loss": 0.1645,
      "step": 7074
    },
    {
      "epoch": 1.5871662553286965,
      "gripper_loss": 0.08349609375,
      "loss": 0.11669921875,
      "pos_loss": 1.0625,
      "rot_loss": 0.1025390625,
      "step": 7074
    },
    {
      "epoch": 1.5873906214942788,
      "grad_norm": 0.3836250901222229,
      "learning_rate": 0.00023858847156803996,
      "loss": 0.0749,
      "step": 7075
    },
    {
      "epoch": 1.5873906214942788,
      "gripper_loss": 0.58203125,
      "loss": 0.044677734375,
      "pos_loss": 0.18359375,
      "rot_loss": 0.052001953125,
      "step": 7075
    },
    {
      "epoch": 1.5876149876598609,
      "grad_norm": 0.4362744092941284,
      "learning_rate": 0.0002385279753715881,
      "loss": 0.0509,
      "step": 7076
    },
    {
      "epoch": 1.5876149876598609,
      "gripper_loss": 0.8359375,
      "loss": 0.07666015625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.314453125,
      "step": 7076
    },
    {
      "epoch": 1.5878393538254432,
      "grad_norm": 0.4550568759441376,
      "learning_rate": 0.00023846747984830952,
      "loss": 0.0667,
      "step": 7077
    },
    {
      "epoch": 1.5878393538254432,
      "gripper_loss": 0.380859375,
      "loss": 0.08544921875,
      "pos_loss": 0.373046875,
      "rot_loss": 0.2255859375,
      "step": 7077
    },
    {
      "epoch": 1.5880637199910255,
      "grad_norm": 0.7342846393585205,
      "learning_rate": 0.000238406985001754,
      "loss": 0.1036,
      "step": 7078
    },
    {
      "epoch": 1.5880637199910255,
      "gripper_loss": 0.09326171875,
      "loss": 0.0732421875,
      "pos_loss": 0.345703125,
      "rot_loss": 0.283203125,
      "step": 7078
    },
    {
      "epoch": 1.5882880861566075,
      "grad_norm": 0.891126275062561,
      "learning_rate": 0.00023834649083547137,
      "loss": 0.0856,
      "step": 7079
    },
    {
      "epoch": 1.5882880861566075,
      "gripper_loss": 0.018798828125,
      "loss": 0.1064453125,
      "pos_loss": 0.74609375,
      "rot_loss": 0.30859375,
      "step": 7079
    },
    {
      "epoch": 1.5885124523221898,
      "grad_norm": 0.5450403690338135,
      "learning_rate": 0.00023828599735301138,
      "loss": 0.0786,
      "step": 7080
    },
    {
      "epoch": 1.5885124523221898,
      "gripper_loss": 1.0703125,
      "loss": 0.06396484375,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.1796875,
      "step": 7080
    },
    {
      "epoch": 1.5887368184877722,
      "grad_norm": 0.5428070425987244,
      "learning_rate": 0.0002382255045579237,
      "loss": 0.0984,
      "step": 7081
    },
    {
      "epoch": 1.5887368184877722,
      "gripper_loss": 0.046630859375,
      "loss": 0.0615234375,
      "pos_loss": 0.5,
      "rot_loss": 0.07080078125,
      "step": 7081
    },
    {
      "epoch": 1.5889611846533542,
      "grad_norm": 0.4788703918457031,
      "learning_rate": 0.00023816501245375827,
      "loss": 0.0694,
      "step": 7082
    },
    {
      "epoch": 1.5889611846533542,
      "gripper_loss": 0.0079345703125,
      "loss": 0.0079345703125,
      "pos_loss": 0.028564453125,
      "rot_loss": 0.0135498046875,
      "step": 7082
    },
    {
      "epoch": 1.5891855508189365,
      "grad_norm": 0.4071497619152069,
      "learning_rate": 0.00023810452104406444,
      "loss": 0.0411,
      "step": 7083
    },
    {
      "epoch": 1.5891855508189365,
      "gripper_loss": 0.22265625,
      "loss": 0.039794921875,
      "pos_loss": 0.169921875,
      "rot_loss": 0.123046875,
      "step": 7083
    },
    {
      "epoch": 1.5894099169845188,
      "grad_norm": 0.5252594351768494,
      "learning_rate": 0.000238044030332392,
      "loss": 0.0685,
      "step": 7084
    },
    {
      "epoch": 1.5894099169845188,
      "gripper_loss": 0.62890625,
      "loss": 0.0390625,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.1015625,
      "step": 7084
    },
    {
      "epoch": 1.589634283150101,
      "grad_norm": 0.46423467993736267,
      "learning_rate": 0.0002379835403222904,
      "loss": 0.0582,
      "step": 7085
    },
    {
      "epoch": 1.589634283150101,
      "gripper_loss": 0.44140625,
      "loss": 0.419921875,
      "pos_loss": 0.81640625,
      "rot_loss": 0.80078125,
      "step": 7085
    },
    {
      "epoch": 1.5898586493156832,
      "grad_norm": 1.6026979684829712,
      "learning_rate": 0.00023792305101730932,
      "loss": 0.3796,
      "step": 7086
    },
    {
      "epoch": 1.5898586493156832,
      "gripper_loss": 0.033203125,
      "loss": 0.08154296875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.0859375,
      "step": 7086
    },
    {
      "epoch": 1.5900830154812655,
      "grad_norm": 0.581068217754364,
      "learning_rate": 0.00023786256242099805,
      "loss": 0.0736,
      "step": 7087
    },
    {
      "epoch": 1.5900830154812655,
      "gripper_loss": 0.0220947265625,
      "loss": 0.1435546875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.83984375,
      "step": 7087
    },
    {
      "epoch": 1.5903073816468476,
      "grad_norm": 0.670457124710083,
      "learning_rate": 0.00023780207453690615,
      "loss": 0.1121,
      "step": 7088
    },
    {
      "epoch": 1.5903073816468476,
      "gripper_loss": 0.1484375,
      "loss": 0.0595703125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.031494140625,
      "step": 7088
    },
    {
      "epoch": 1.59053174781243,
      "grad_norm": 0.32526808977127075,
      "learning_rate": 0.00023774158736858302,
      "loss": 0.0405,
      "step": 7089
    },
    {
      "epoch": 1.59053174781243,
      "gripper_loss": 0.06103515625,
      "loss": 0.0849609375,
      "pos_loss": 0.1640625,
      "rot_loss": 0.63671875,
      "step": 7089
    },
    {
      "epoch": 1.5907561139780122,
      "grad_norm": 0.5995267033576965,
      "learning_rate": 0.00023768110091957806,
      "loss": 0.0978,
      "step": 7090
    },
    {
      "epoch": 1.5907561139780122,
      "gripper_loss": 0.0245361328125,
      "loss": 0.1162109375,
      "pos_loss": 0.921875,
      "rot_loss": 0.2265625,
      "step": 7090
    },
    {
      "epoch": 1.5909804801435943,
      "grad_norm": 0.42657244205474854,
      "learning_rate": 0.00023762061519344053,
      "loss": 0.0618,
      "step": 7091
    },
    {
      "epoch": 1.5909804801435943,
      "gripper_loss": 0.0224609375,
      "loss": 0.244140625,
      "pos_loss": 0.388671875,
      "rot_loss": 2.109375,
      "step": 7091
    },
    {
      "epoch": 1.5912048463091766,
      "grad_norm": 0.6108646988868713,
      "learning_rate": 0.00023756013019371962,
      "loss": 0.092,
      "step": 7092
    },
    {
      "epoch": 1.5912048463091766,
      "gripper_loss": 0.0126953125,
      "loss": 0.056396484375,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.357421875,
      "step": 7092
    },
    {
      "epoch": 1.5914292124747589,
      "grad_norm": 0.5408019423484802,
      "learning_rate": 0.00023749964592396466,
      "loss": 0.0632,
      "step": 7093
    },
    {
      "epoch": 1.5914292124747589,
      "gripper_loss": 0.419921875,
      "loss": 0.1845703125,
      "pos_loss": 0.96484375,
      "rot_loss": 0.8203125,
      "step": 7093
    },
    {
      "epoch": 1.591653578640341,
      "grad_norm": 0.5257269144058228,
      "learning_rate": 0.00023743916238772492,
      "loss": 0.102,
      "step": 7094
    },
    {
      "epoch": 1.591653578640341,
      "gripper_loss": 0.130859375,
      "loss": 0.11083984375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.279296875,
      "step": 7094
    },
    {
      "epoch": 1.5918779448059233,
      "grad_norm": 0.8521143794059753,
      "learning_rate": 0.00023737867958854945,
      "loss": 0.0927,
      "step": 7095
    },
    {
      "epoch": 1.5918779448059233,
      "gripper_loss": 0.025146484375,
      "loss": 0.09912109375,
      "pos_loss": 0.859375,
      "rot_loss": 0.0947265625,
      "step": 7095
    },
    {
      "epoch": 1.5921023109715056,
      "grad_norm": 0.483356237411499,
      "learning_rate": 0.00023731819752998736,
      "loss": 0.0536,
      "step": 7096
    },
    {
      "epoch": 1.5921023109715056,
      "gripper_loss": 0.67578125,
      "loss": 0.039794921875,
      "pos_loss": 0.0390625,
      "rot_loss": 0.1142578125,
      "step": 7096
    },
    {
      "epoch": 1.5923266771370876,
      "grad_norm": 0.3998684883117676,
      "learning_rate": 0.00023725771621558762,
      "loss": 0.0718,
      "step": 7097
    },
    {
      "epoch": 1.5923266771370876,
      "gripper_loss": 0.0224609375,
      "loss": 0.064453125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.28125,
      "step": 7097
    },
    {
      "epoch": 1.59255104330267,
      "grad_norm": 0.45994049310684204,
      "learning_rate": 0.00023719723564889937,
      "loss": 0.0593,
      "step": 7098
    },
    {
      "epoch": 1.59255104330267,
      "gripper_loss": 0.1494140625,
      "loss": 0.08349609375,
      "pos_loss": 0.18359375,
      "rot_loss": 0.45703125,
      "step": 7098
    },
    {
      "epoch": 1.5927754094682522,
      "grad_norm": 0.545988917350769,
      "learning_rate": 0.00023713675583347167,
      "loss": 0.088,
      "step": 7099
    },
    {
      "epoch": 1.5927754094682522,
      "gripper_loss": 0.271484375,
      "loss": 0.1552734375,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.2392578125,
      "step": 7099
    },
    {
      "epoch": 1.5929997756338343,
      "grad_norm": 1.3884367942810059,
      "learning_rate": 0.0002370762767728532,
      "loss": 0.217,
      "step": 7100
    },
    {
      "epoch": 1.5929997756338343,
      "gripper_loss": 0.62109375,
      "loss": 0.058837890625,
      "pos_loss": 0.09765625,
      "rot_loss": 0.1962890625,
      "step": 7100
    },
    {
      "epoch": 1.5932241417994166,
      "grad_norm": 0.6728954315185547,
      "learning_rate": 0.000237015798470593,
      "loss": 0.0566,
      "step": 7101
    },
    {
      "epoch": 1.5932241417994166,
      "gripper_loss": 0.234375,
      "loss": 0.42578125,
      "pos_loss": 0.625,
      "rot_loss": 0.81640625,
      "step": 7101
    },
    {
      "epoch": 1.593448507964999,
      "grad_norm": 1.5890685319900513,
      "learning_rate": 0.00023695532093023986,
      "loss": 0.3633,
      "step": 7102
    },
    {
      "epoch": 1.593448507964999,
      "gripper_loss": 1.1875,
      "loss": 0.0634765625,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.072265625,
      "step": 7102
    },
    {
      "epoch": 1.593672874130581,
      "grad_norm": 0.698793888092041,
      "learning_rate": 0.0002368948441553427,
      "loss": 0.0851,
      "step": 7103
    },
    {
      "epoch": 1.593672874130581,
      "gripper_loss": 0.0174560546875,
      "loss": 0.0693359375,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.42578125,
      "step": 7103
    },
    {
      "epoch": 1.5938972402961633,
      "grad_norm": 0.776536226272583,
      "learning_rate": 0.00023683436814945008,
      "loss": 0.0794,
      "step": 7104
    },
    {
      "epoch": 1.5938972402961633,
      "gripper_loss": 0.01470947265625,
      "loss": 0.06689453125,
      "pos_loss": 0.396484375,
      "rot_loss": 0.203125,
      "step": 7104
    },
    {
      "epoch": 1.5941216064617456,
      "grad_norm": 0.7001925706863403,
      "learning_rate": 0.00023677389291611075,
      "loss": 0.0853,
      "step": 7105
    },
    {
      "epoch": 1.5941216064617456,
      "gripper_loss": 0.01556396484375,
      "loss": 0.046142578125,
      "pos_loss": 0.158203125,
      "rot_loss": 0.1455078125,
      "step": 7105
    },
    {
      "epoch": 1.5943459726273277,
      "grad_norm": 0.6260892152786255,
      "learning_rate": 0.00023671341845887345,
      "loss": 0.0717,
      "step": 7106
    },
    {
      "epoch": 1.5943459726273277,
      "gripper_loss": 0.005889892578125,
      "loss": 0.07177734375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.474609375,
      "step": 7106
    },
    {
      "epoch": 1.59457033879291,
      "grad_norm": 0.42263898253440857,
      "learning_rate": 0.0002366529447812868,
      "loss": 0.0804,
      "step": 7107
    },
    {
      "epoch": 1.59457033879291,
      "gripper_loss": 0.0264892578125,
      "loss": 0.057861328125,
      "pos_loss": 0.23828125,
      "rot_loss": 0.265625,
      "step": 7107
    },
    {
      "epoch": 1.5947947049584923,
      "grad_norm": 0.41030898690223694,
      "learning_rate": 0.00023659247188689936,
      "loss": 0.0604,
      "step": 7108
    },
    {
      "epoch": 1.5947947049584923,
      "gripper_loss": 0.01165771484375,
      "loss": 0.12109375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.828125,
      "step": 7108
    },
    {
      "epoch": 1.5950190711240744,
      "grad_norm": 0.44038107991218567,
      "learning_rate": 0.00023653199977925952,
      "loss": 0.0645,
      "step": 7109
    },
    {
      "epoch": 1.5950190711240744,
      "gripper_loss": 1.109375,
      "loss": 0.197265625,
      "pos_loss": 0.2109375,
      "rot_loss": 0.41796875,
      "step": 7109
    },
    {
      "epoch": 1.5952434372896567,
      "grad_norm": 1.5001963376998901,
      "learning_rate": 0.00023647152846191584,
      "loss": 0.2456,
      "step": 7110
    },
    {
      "epoch": 1.5952434372896567,
      "gripper_loss": 0.0279541015625,
      "loss": 0.09521484375,
      "pos_loss": 0.703125,
      "rot_loss": 0.125,
      "step": 7110
    },
    {
      "epoch": 1.595467803455239,
      "grad_norm": 0.6289120316505432,
      "learning_rate": 0.00023641105793841677,
      "loss": 0.102,
      "step": 7111
    },
    {
      "epoch": 1.595467803455239,
      "gripper_loss": 0.70703125,
      "loss": 0.057373046875,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.064453125,
      "step": 7111
    },
    {
      "epoch": 1.595692169620821,
      "grad_norm": 0.5418976545333862,
      "learning_rate": 0.00023635058821231078,
      "loss": 0.1049,
      "step": 7112
    },
    {
      "epoch": 1.595692169620821,
      "gripper_loss": 0.88671875,
      "loss": 0.10009765625,
      "pos_loss": 0.24609375,
      "rot_loss": 0.396484375,
      "step": 7112
    },
    {
      "epoch": 1.5959165357864034,
      "grad_norm": 0.5867736339569092,
      "learning_rate": 0.00023629011928714605,
      "loss": 0.1156,
      "step": 7113
    },
    {
      "epoch": 1.5959165357864034,
      "gripper_loss": 0.056884765625,
      "loss": 0.06787109375,
      "pos_loss": 0.3125,
      "rot_loss": 0.09765625,
      "step": 7113
    },
    {
      "epoch": 1.5961409019519857,
      "grad_norm": 0.6001816391944885,
      "learning_rate": 0.00023622965116647091,
      "loss": 0.0921,
      "step": 7114
    },
    {
      "epoch": 1.5961409019519857,
      "gripper_loss": 0.0400390625,
      "loss": 0.080078125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.220703125,
      "step": 7114
    },
    {
      "epoch": 1.5963652681175677,
      "grad_norm": 0.7523860931396484,
      "learning_rate": 0.0002361691838538336,
      "loss": 0.0768,
      "step": 7115
    },
    {
      "epoch": 1.5963652681175677,
      "gripper_loss": 0.0107421875,
      "loss": 0.02294921875,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.05517578125,
      "step": 7115
    },
    {
      "epoch": 1.5965896342831503,
      "grad_norm": 0.6068530082702637,
      "learning_rate": 0.00023610871735278244,
      "loss": 0.0617,
      "step": 7116
    },
    {
      "epoch": 1.5965896342831503,
      "gripper_loss": 0.0120849609375,
      "loss": 0.1875,
      "pos_loss": 1.875,
      "rot_loss": 0.059326171875,
      "step": 7116
    },
    {
      "epoch": 1.5968140004487323,
      "grad_norm": 0.5639981031417847,
      "learning_rate": 0.00023604825166686537,
      "loss": 0.0761,
      "step": 7117
    },
    {
      "epoch": 1.5968140004487323,
      "gripper_loss": 0.4375,
      "loss": 0.0517578125,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.1396484375,
      "step": 7117
    },
    {
      "epoch": 1.5970383666143144,
      "grad_norm": 0.5097755789756775,
      "learning_rate": 0.00023598778679963058,
      "loss": 0.0688,
      "step": 7118
    },
    {
      "epoch": 1.5970383666143144,
      "gripper_loss": 0.08642578125,
      "loss": 0.07470703125,
      "pos_loss": 0.251953125,
      "rot_loss": 0.43359375,
      "step": 7118
    },
    {
      "epoch": 1.597262732779897,
      "grad_norm": 0.49934783577919006,
      "learning_rate": 0.0002359273227546262,
      "loss": 0.0644,
      "step": 7119
    },
    {
      "epoch": 1.597262732779897,
      "gripper_loss": 0.05322265625,
      "loss": 0.08935546875,
      "pos_loss": 0.71484375,
      "rot_loss": 0.1416015625,
      "step": 7119
    },
    {
      "epoch": 1.597487098945479,
      "grad_norm": 0.7156009674072266,
      "learning_rate": 0.0002358668595354002,
      "loss": 0.1378,
      "step": 7120
    },
    {
      "epoch": 1.597487098945479,
      "gripper_loss": 0.04541015625,
      "loss": 0.076171875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.1904296875,
      "step": 7120
    },
    {
      "epoch": 1.597711465111061,
      "grad_norm": 0.42169445753097534,
      "learning_rate": 0.0002358063971455004,
      "loss": 0.0757,
      "step": 7121
    },
    {
      "epoch": 1.597711465111061,
      "gripper_loss": 0.017822265625,
      "loss": 0.09130859375,
      "pos_loss": 0.65234375,
      "rot_loss": 0.216796875,
      "step": 7121
    },
    {
      "epoch": 1.5979358312766436,
      "grad_norm": 0.6175902485847473,
      "learning_rate": 0.00023574593558847482,
      "loss": 0.1005,
      "step": 7122
    },
    {
      "epoch": 1.5979358312766436,
      "gripper_loss": 0.0147705078125,
      "loss": 0.1845703125,
      "pos_loss": 1.171875,
      "rot_loss": 0.7421875,
      "step": 7122
    },
    {
      "epoch": 1.5981601974422257,
      "grad_norm": 0.35838356614112854,
      "learning_rate": 0.00023568547486787128,
      "loss": 0.0965,
      "step": 7123
    },
    {
      "epoch": 1.5981601974422257,
      "gripper_loss": 0.0208740234375,
      "loss": 0.09716796875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.8125,
      "step": 7123
    },
    {
      "epoch": 1.5983845636078078,
      "grad_norm": 0.450256884098053,
      "learning_rate": 0.00023562501498723768,
      "loss": 0.0678,
      "step": 7124
    },
    {
      "epoch": 1.5983845636078078,
      "gripper_loss": 0.15234375,
      "loss": 0.034423828125,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.1318359375,
      "step": 7124
    },
    {
      "epoch": 1.5986089297733903,
      "grad_norm": 0.5299567580223083,
      "learning_rate": 0.00023556455595012172,
      "loss": 0.0614,
      "step": 7125
    },
    {
      "epoch": 1.5986089297733903,
      "gripper_loss": 0.65234375,
      "loss": 0.033935546875,
      "pos_loss": 0.03955078125,
      "rot_loss": 0.04443359375,
      "step": 7125
    },
    {
      "epoch": 1.5988332959389724,
      "grad_norm": 0.4930635988712311,
      "learning_rate": 0.00023550409776007108,
      "loss": 0.057,
      "step": 7126
    },
    {
      "epoch": 1.5988332959389724,
      "gripper_loss": 0.66015625,
      "loss": 0.09765625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.2119140625,
      "step": 7126
    },
    {
      "epoch": 1.5990576621045545,
      "grad_norm": 0.43716081976890564,
      "learning_rate": 0.00023544364042063338,
      "loss": 0.0621,
      "step": 7127
    },
    {
      "epoch": 1.5990576621045545,
      "gripper_loss": 0.2294921875,
      "loss": 0.12060546875,
      "pos_loss": 0.609375,
      "rot_loss": 0.53515625,
      "step": 7127
    },
    {
      "epoch": 1.599282028270137,
      "grad_norm": 0.393968403339386,
      "learning_rate": 0.0002353831839353563,
      "loss": 0.0661,
      "step": 7128
    },
    {
      "epoch": 1.599282028270137,
      "gripper_loss": 0.380859375,
      "loss": 0.0673828125,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.15234375,
      "step": 7128
    },
    {
      "epoch": 1.599506394435719,
      "grad_norm": 0.9326984882354736,
      "learning_rate": 0.00023532272830778747,
      "loss": 0.0938,
      "step": 7129
    },
    {
      "epoch": 1.599506394435719,
      "gripper_loss": 0.09619140625,
      "loss": 0.01202392578125,
      "pos_loss": 0.024169921875,
      "rot_loss": 0.01904296875,
      "step": 7129
    },
    {
      "epoch": 1.5997307606013014,
      "grad_norm": 0.42812278866767883,
      "learning_rate": 0.00023526227354147422,
      "loss": 0.0528,
      "step": 7130
    },
    {
      "epoch": 1.5997307606013014,
      "gripper_loss": 0.0152587890625,
      "loss": 0.013671875,
      "pos_loss": 0.060791015625,
      "rot_loss": 0.0225830078125,
      "step": 7130
    },
    {
      "epoch": 1.5999551267668837,
      "grad_norm": 0.4743039011955261,
      "learning_rate": 0.00023520181963996418,
      "loss": 0.0632,
      "step": 7131
    },
    {
      "epoch": 1.5999551267668837,
      "gripper_loss": 0.017333984375,
      "loss": 0.030517578125,
      "pos_loss": 0.248046875,
      "rot_loss": 0.0198974609375,
      "step": 7131
    },
    {
      "epoch": 1.6001794929324658,
      "grad_norm": 0.3734818398952484,
      "learning_rate": 0.00023514136660680458,
      "loss": 0.0507,
      "step": 7132
    },
    {
      "epoch": 1.6001794929324658,
      "gripper_loss": 0.0625,
      "loss": 0.140625,
      "pos_loss": 0.9375,
      "rot_loss": 0.4609375,
      "step": 7132
    },
    {
      "epoch": 1.600403859098048,
      "grad_norm": 0.5035243630409241,
      "learning_rate": 0.00023508091444554303,
      "loss": 0.0466,
      "step": 7133
    },
    {
      "epoch": 1.600403859098048,
      "gripper_loss": 0.1552734375,
      "loss": 0.0269775390625,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.06982421875,
      "step": 7133
    },
    {
      "epoch": 1.6006282252636304,
      "grad_norm": 0.5440497994422913,
      "learning_rate": 0.00023502046315972656,
      "loss": 0.0869,
      "step": 7134
    },
    {
      "epoch": 1.6006282252636304,
      "gripper_loss": 0.1591796875,
      "loss": 0.09619140625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.494140625,
      "step": 7134
    },
    {
      "epoch": 1.6008525914292124,
      "grad_norm": 0.6339297890663147,
      "learning_rate": 0.0002349600127529025,
      "loss": 0.0826,
      "step": 7135
    },
    {
      "epoch": 1.6008525914292124,
      "gripper_loss": 0.134765625,
      "loss": 0.2021484375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.494140625,
      "step": 7135
    },
    {
      "epoch": 1.6010769575947947,
      "grad_norm": 0.9984808564186096,
      "learning_rate": 0.0002348995632286182,
      "loss": 0.1556,
      "step": 7136
    },
    {
      "epoch": 1.6010769575947947,
      "gripper_loss": 0.341796875,
      "loss": 0.036376953125,
      "pos_loss": 0.18359375,
      "rot_loss": 0.0498046875,
      "step": 7136
    },
    {
      "epoch": 1.601301323760377,
      "grad_norm": 0.36953893303871155,
      "learning_rate": 0.00023483911459042068,
      "loss": 0.0394,
      "step": 7137
    },
    {
      "epoch": 1.601301323760377,
      "gripper_loss": 0.015625,
      "loss": 0.146484375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.765625,
      "step": 7137
    },
    {
      "epoch": 1.6015256899259591,
      "grad_norm": 0.4898608326911926,
      "learning_rate": 0.00023477866684185714,
      "loss": 0.0696,
      "step": 7138
    },
    {
      "epoch": 1.6015256899259591,
      "gripper_loss": 0.07568359375,
      "loss": 0.0302734375,
      "pos_loss": 0.212890625,
      "rot_loss": 0.0245361328125,
      "step": 7138
    },
    {
      "epoch": 1.6017500560915414,
      "grad_norm": 0.425913542509079,
      "learning_rate": 0.00023471821998647446,
      "loss": 0.0711,
      "step": 7139
    },
    {
      "epoch": 1.6017500560915414,
      "gripper_loss": 0.06982421875,
      "loss": 0.12158203125,
      "pos_loss": 0.5859375,
      "rot_loss": 0.55859375,
      "step": 7139
    },
    {
      "epoch": 1.6019744222571237,
      "grad_norm": 0.8169706463813782,
      "learning_rate": 0.00023465777402781974,
      "loss": 0.1131,
      "step": 7140
    },
    {
      "epoch": 1.6019744222571237,
      "gripper_loss": 0.0205078125,
      "loss": 0.1787109375,
      "pos_loss": 1.203125,
      "rot_loss": 0.62109375,
      "step": 7140
    },
    {
      "epoch": 1.6021987884227058,
      "grad_norm": 0.6392390131950378,
      "learning_rate": 0.00023459732896943995,
      "loss": 0.0561,
      "step": 7141
    },
    {
      "epoch": 1.6021987884227058,
      "gripper_loss": 0.040283203125,
      "loss": 0.0225830078125,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.038330078125,
      "step": 7141
    },
    {
      "epoch": 1.602423154588288,
      "grad_norm": 0.4506942629814148,
      "learning_rate": 0.0002345368848148819,
      "loss": 0.0876,
      "step": 7142
    },
    {
      "epoch": 1.602423154588288,
      "gripper_loss": 0.03271484375,
      "loss": 0.03076171875,
      "pos_loss": 0.19921875,
      "rot_loss": 0.062255859375,
      "step": 7142
    },
    {
      "epoch": 1.6026475207538704,
      "grad_norm": 0.5921483039855957,
      "learning_rate": 0.00023447644156769255,
      "loss": 0.0878,
      "step": 7143
    },
    {
      "epoch": 1.6026475207538704,
      "gripper_loss": 0.03369140625,
      "loss": 0.053955078125,
      "pos_loss": 0.48046875,
      "rot_loss": 0.02587890625,
      "step": 7143
    },
    {
      "epoch": 1.6028718869194525,
      "grad_norm": 0.44835713505744934,
      "learning_rate": 0.0002344159992314185,
      "loss": 0.0524,
      "step": 7144
    },
    {
      "epoch": 1.6028718869194525,
      "gripper_loss": 0.1787109375,
      "loss": 0.0205078125,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.040283203125,
      "step": 7144
    },
    {
      "epoch": 1.6030962530850348,
      "grad_norm": 0.41572073101997375,
      "learning_rate": 0.00023435555780960659,
      "loss": 0.0864,
      "step": 7145
    },
    {
      "epoch": 1.6030962530850348,
      "gripper_loss": 0.052490234375,
      "loss": 0.0634765625,
      "pos_loss": 0.5,
      "rot_loss": 0.09423828125,
      "step": 7145
    },
    {
      "epoch": 1.603320619250617,
      "grad_norm": 0.5788465142250061,
      "learning_rate": 0.00023429511730580356,
      "loss": 0.0801,
      "step": 7146
    },
    {
      "epoch": 1.603320619250617,
      "gripper_loss": 0.80859375,
      "loss": 0.05126953125,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.1728515625,
      "step": 7146
    },
    {
      "epoch": 1.6035449854161992,
      "grad_norm": 0.343104749917984,
      "learning_rate": 0.00023423467772355587,
      "loss": 0.0563,
      "step": 7147
    },
    {
      "epoch": 1.6035449854161992,
      "gripper_loss": 0.061767578125,
      "loss": 0.076171875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.341796875,
      "step": 7147
    },
    {
      "epoch": 1.6037693515817815,
      "grad_norm": 0.2824052572250366,
      "learning_rate": 0.00023417423906641022,
      "loss": 0.047,
      "step": 7148
    },
    {
      "epoch": 1.6037693515817815,
      "gripper_loss": 0.041748046875,
      "loss": 0.08251953125,
      "pos_loss": 0.396484375,
      "rot_loss": 0.408203125,
      "step": 7148
    },
    {
      "epoch": 1.6039937177473638,
      "grad_norm": 0.449765682220459,
      "learning_rate": 0.00023411380133791303,
      "loss": 0.0819,
      "step": 7149
    },
    {
      "epoch": 1.6039937177473638,
      "gripper_loss": 0.0191650390625,
      "loss": 0.08544921875,
      "pos_loss": 0.7421875,
      "rot_loss": 0.109375,
      "step": 7149
    },
    {
      "epoch": 1.6042180839129458,
      "grad_norm": 0.41487136483192444,
      "learning_rate": 0.0002340533645416109,
      "loss": 0.0556,
      "step": 7150
    },
    {
      "epoch": 1.6042180839129458,
      "gripper_loss": 0.2451171875,
      "loss": 0.057373046875,
      "pos_loss": 0.376953125,
      "rot_loss": 0.095703125,
      "step": 7150
    },
    {
      "epoch": 1.6044424500785281,
      "grad_norm": 0.3373822271823883,
      "learning_rate": 0.00023399292868105,
      "loss": 0.0772,
      "step": 7151
    },
    {
      "epoch": 1.6044424500785281,
      "gripper_loss": 0.0208740234375,
      "loss": 0.06689453125,
      "pos_loss": 0.4375,
      "rot_loss": 0.220703125,
      "step": 7151
    },
    {
      "epoch": 1.6046668162441104,
      "grad_norm": 0.2991378903388977,
      "learning_rate": 0.0002339324937597769,
      "loss": 0.0495,
      "step": 7152
    },
    {
      "epoch": 1.6046668162441104,
      "gripper_loss": 0.008056640625,
      "loss": 0.04638671875,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.216796875,
      "step": 7152
    },
    {
      "epoch": 1.6048911824096925,
      "grad_norm": 0.34976431727409363,
      "learning_rate": 0.00023387205978133772,
      "loss": 0.0626,
      "step": 7153
    },
    {
      "epoch": 1.6048911824096925,
      "gripper_loss": 0.2275390625,
      "loss": 0.126953125,
      "pos_loss": 0.5625,
      "rot_loss": 0.30859375,
      "step": 7153
    },
    {
      "epoch": 1.6051155485752748,
      "grad_norm": 0.6373422741889954,
      "learning_rate": 0.0002338116267492789,
      "loss": 0.1101,
      "step": 7154
    },
    {
      "epoch": 1.6051155485752748,
      "gripper_loss": 0.5,
      "loss": 0.03662109375,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.10498046875,
      "step": 7154
    },
    {
      "epoch": 1.6053399147408571,
      "grad_norm": 0.26886025071144104,
      "learning_rate": 0.00023375119466714653,
      "loss": 0.0504,
      "step": 7155
    },
    {
      "epoch": 1.6053399147408571,
      "gripper_loss": 0.04248046875,
      "loss": 0.07373046875,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.37890625,
      "step": 7155
    },
    {
      "epoch": 1.6055642809064392,
      "grad_norm": 0.5739325881004333,
      "learning_rate": 0.0002336907635384866,
      "loss": 0.07,
      "step": 7156
    },
    {
      "epoch": 1.6055642809064392,
      "gripper_loss": 0.470703125,
      "loss": 0.1162109375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.443359375,
      "step": 7156
    },
    {
      "epoch": 1.6057886470720215,
      "grad_norm": 0.5611348152160645,
      "learning_rate": 0.00023363033336684536,
      "loss": 0.0858,
      "step": 7157
    },
    {
      "epoch": 1.6057886470720215,
      "gripper_loss": 0.498046875,
      "loss": 0.21484375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.3359375,
      "step": 7157
    },
    {
      "epoch": 1.6060130132376038,
      "grad_norm": 1.3359298706054688,
      "learning_rate": 0.00023356990415576874,
      "loss": 0.2803,
      "step": 7158
    },
    {
      "epoch": 1.6060130132376038,
      "gripper_loss": 0.3125,
      "loss": 0.0390625,
      "pos_loss": 0.166015625,
      "rot_loss": 0.0830078125,
      "step": 7158
    },
    {
      "epoch": 1.606237379403186,
      "grad_norm": 0.33687514066696167,
      "learning_rate": 0.0002335094759088028,
      "loss": 0.049,
      "step": 7159
    },
    {
      "epoch": 1.606237379403186,
      "gripper_loss": 0.017578125,
      "loss": 0.10400390625,
      "pos_loss": 0.98828125,
      "rot_loss": 0.049560546875,
      "step": 7159
    },
    {
      "epoch": 1.6064617455687682,
      "grad_norm": 0.3758452236652374,
      "learning_rate": 0.00023344904862949336,
      "loss": 0.0532,
      "step": 7160
    },
    {
      "epoch": 1.6064617455687682,
      "gripper_loss": 0.030517578125,
      "loss": 0.061279296875,
      "pos_loss": 0.318359375,
      "rot_loss": 0.158203125,
      "step": 7160
    },
    {
      "epoch": 1.6066861117343505,
      "grad_norm": 0.6560550332069397,
      "learning_rate": 0.0002333886223213862,
      "loss": 0.0777,
      "step": 7161
    },
    {
      "epoch": 1.6066861117343505,
      "gripper_loss": 0.0252685546875,
      "loss": 0.080078125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.13671875,
      "step": 7161
    },
    {
      "epoch": 1.6069104778999326,
      "grad_norm": 0.5588086843490601,
      "learning_rate": 0.00023332819698802714,
      "loss": 0.072,
      "step": 7162
    },
    {
      "epoch": 1.6069104778999326,
      "gripper_loss": 0.0361328125,
      "loss": 0.01446533203125,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.01513671875,
      "step": 7162
    },
    {
      "epoch": 1.6071348440655149,
      "grad_norm": 0.35651686787605286,
      "learning_rate": 0.00023326777263296211,
      "loss": 0.0588,
      "step": 7163
    },
    {
      "epoch": 1.6071348440655149,
      "gripper_loss": 0.1337890625,
      "loss": 0.07568359375,
      "pos_loss": 0.25,
      "rot_loss": 0.466796875,
      "step": 7163
    },
    {
      "epoch": 1.6073592102310972,
      "grad_norm": 0.2799987196922302,
      "learning_rate": 0.0002332073492597365,
      "loss": 0.0449,
      "step": 7164
    },
    {
      "epoch": 1.6073592102310972,
      "gripper_loss": 0.203125,
      "loss": 0.07861328125,
      "pos_loss": 0.56640625,
      "rot_loss": 0.11572265625,
      "step": 7164
    },
    {
      "epoch": 1.6075835763966793,
      "grad_norm": 0.4817940592765808,
      "learning_rate": 0.00023314692687189604,
      "loss": 0.1,
      "step": 7165
    },
    {
      "epoch": 1.6075835763966793,
      "gripper_loss": 0.0172119140625,
      "loss": 0.09814453125,
      "pos_loss": 0.81640625,
      "rot_loss": 0.1689453125,
      "step": 7165
    },
    {
      "epoch": 1.6078079425622616,
      "grad_norm": 0.4966065585613251,
      "learning_rate": 0.00023308650547298638,
      "loss": 0.0712,
      "step": 7166
    },
    {
      "epoch": 1.6078079425622616,
      "gripper_loss": 0.009033203125,
      "loss": 0.1943359375,
      "pos_loss": 0.90234375,
      "rot_loss": 1.1171875,
      "step": 7166
    },
    {
      "epoch": 1.6080323087278439,
      "grad_norm": 0.6724910736083984,
      "learning_rate": 0.00023302608506655287,
      "loss": 0.0923,
      "step": 7167
    },
    {
      "epoch": 1.6080323087278439,
      "gripper_loss": 0.0498046875,
      "loss": 0.1103515625,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.4375,
      "step": 7167
    },
    {
      "epoch": 1.608256674893426,
      "grad_norm": 0.9443464279174805,
      "learning_rate": 0.00023296566565614115,
      "loss": 0.1477,
      "step": 7168
    },
    {
      "epoch": 1.608256674893426,
      "gripper_loss": 0.01190185546875,
      "loss": 0.0576171875,
      "pos_loss": 0.42578125,
      "rot_loss": 0.1357421875,
      "step": 7168
    },
    {
      "epoch": 1.6084810410590085,
      "grad_norm": 0.5567026138305664,
      "learning_rate": 0.00023290524724529633,
      "loss": 0.0694,
      "step": 7169
    },
    {
      "epoch": 1.6084810410590085,
      "gripper_loss": 0.038818359375,
      "loss": 0.0341796875,
      "pos_loss": 0.13671875,
      "rot_loss": 0.154296875,
      "step": 7169
    },
    {
      "epoch": 1.6087054072245905,
      "grad_norm": 0.4943825900554657,
      "learning_rate": 0.0002328448298375639,
      "loss": 0.0515,
      "step": 7170
    },
    {
      "epoch": 1.6087054072245905,
      "gripper_loss": 0.2060546875,
      "loss": 0.0732421875,
      "pos_loss": 0.453125,
      "rot_loss": 0.09619140625,
      "step": 7170
    },
    {
      "epoch": 1.6089297733901726,
      "grad_norm": 0.6985698342323303,
      "learning_rate": 0.00023278441343648919,
      "loss": 0.0914,
      "step": 7171
    },
    {
      "epoch": 1.6089297733901726,
      "gripper_loss": 1.046875,
      "loss": 0.0634765625,
      "pos_loss": 0.16796875,
      "rot_loss": 0.10693359375,
      "step": 7171
    },
    {
      "epoch": 1.6091541395557551,
      "grad_norm": 0.5972988605499268,
      "learning_rate": 0.0002327239980456173,
      "loss": 0.0625,
      "step": 7172
    },
    {
      "epoch": 1.6091541395557551,
      "gripper_loss": 0.166015625,
      "loss": 0.0849609375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.021728515625,
      "step": 7172
    },
    {
      "epoch": 1.6093785057213372,
      "grad_norm": 0.4427846670150757,
      "learning_rate": 0.00023266358366849337,
      "loss": 0.0766,
      "step": 7173
    },
    {
      "epoch": 1.6093785057213372,
      "gripper_loss": 0.59765625,
      "loss": 0.04443359375,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.1796875,
      "step": 7173
    },
    {
      "epoch": 1.6096028718869193,
      "grad_norm": 0.4270084500312805,
      "learning_rate": 0.00023260317030866253,
      "loss": 0.0703,
      "step": 7174
    },
    {
      "epoch": 1.6096028718869193,
      "gripper_loss": 0.00823974609375,
      "loss": 0.05126953125,
      "pos_loss": 0.3515625,
      "rot_loss": 0.1435546875,
      "step": 7174
    },
    {
      "epoch": 1.6098272380525018,
      "grad_norm": 0.3872740566730499,
      "learning_rate": 0.00023254275796966975,
      "loss": 0.0575,
      "step": 7175
    },
    {
      "epoch": 1.6098272380525018,
      "gripper_loss": 1.03125,
      "loss": 0.04443359375,
      "pos_loss": 0.04296875,
      "rot_loss": 0.052001953125,
      "step": 7175
    },
    {
      "epoch": 1.610051604218084,
      "grad_norm": 0.42759081721305847,
      "learning_rate": 0.00023248234665506018,
      "loss": 0.0816,
      "step": 7176
    },
    {
      "epoch": 1.610051604218084,
      "gripper_loss": 0.0196533203125,
      "loss": 0.046142578125,
      "pos_loss": 0.13671875,
      "rot_loss": 0.296875,
      "step": 7176
    },
    {
      "epoch": 1.610275970383666,
      "grad_norm": 0.5518091320991516,
      "learning_rate": 0.0002324219363683785,
      "loss": 0.0957,
      "step": 7177
    },
    {
      "epoch": 1.610275970383666,
      "gripper_loss": 0.0201416015625,
      "loss": 0.044677734375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.0869140625,
      "step": 7177
    },
    {
      "epoch": 1.6105003365492485,
      "grad_norm": 0.3281911313533783,
      "learning_rate": 0.00023236152711316968,
      "loss": 0.0706,
      "step": 7178
    },
    {
      "epoch": 1.6105003365492485,
      "gripper_loss": 0.01177978515625,
      "loss": 0.11962890625,
      "pos_loss": 0.90625,
      "rot_loss": 0.3203125,
      "step": 7178
    },
    {
      "epoch": 1.6107247027148306,
      "grad_norm": 0.4585302472114563,
      "learning_rate": 0.00023230111889297844,
      "loss": 0.0641,
      "step": 7179
    },
    {
      "epoch": 1.6107247027148306,
      "gripper_loss": 0.275390625,
      "loss": 0.2041015625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.294921875,
      "step": 7179
    },
    {
      "epoch": 1.6109490688804127,
      "grad_norm": 1.3238162994384766,
      "learning_rate": 0.00023224071171134967,
      "loss": 0.1648,
      "step": 7180
    },
    {
      "epoch": 1.6109490688804127,
      "gripper_loss": 1.109375,
      "loss": 0.24609375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.296875,
      "step": 7180
    },
    {
      "epoch": 1.6111734350459952,
      "grad_norm": 1.6256108283996582,
      "learning_rate": 0.0002321803055718278,
      "loss": 0.2301,
      "step": 7181
    },
    {
      "epoch": 1.6111734350459952,
      "gripper_loss": 0.052978515625,
      "loss": 0.072265625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.2177734375,
      "step": 7181
    },
    {
      "epoch": 1.6113978012115773,
      "grad_norm": 0.5933817625045776,
      "learning_rate": 0.00023211990047795756,
      "loss": 0.0749,
      "step": 7182
    },
    {
      "epoch": 1.6113978012115773,
      "gripper_loss": 0.0128173828125,
      "loss": 0.07861328125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.12890625,
      "step": 7182
    },
    {
      "epoch": 1.6116221673771596,
      "grad_norm": 0.5313028693199158,
      "learning_rate": 0.00023205949643328354,
      "loss": 0.073,
      "step": 7183
    },
    {
      "epoch": 1.6116221673771596,
      "gripper_loss": 0.921875,
      "loss": 0.064453125,
      "pos_loss": 0.29296875,
      "rot_loss": 0.00946044921875,
      "step": 7183
    },
    {
      "epoch": 1.6118465335427419,
      "grad_norm": 0.6385229825973511,
      "learning_rate": 0.0002319990934413501,
      "loss": 0.1048,
      "step": 7184
    },
    {
      "epoch": 1.6118465335427419,
      "gripper_loss": 0.00909423828125,
      "loss": 0.01904296875,
      "pos_loss": 0.12890625,
      "rot_loss": 0.017333984375,
      "step": 7184
    },
    {
      "epoch": 1.612070899708324,
      "grad_norm": 0.5774005651473999,
      "learning_rate": 0.00023193869150570185,
      "loss": 0.0849,
      "step": 7185
    },
    {
      "epoch": 1.612070899708324,
      "gripper_loss": 0.236328125,
      "loss": 0.1552734375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.6171875,
      "step": 7185
    },
    {
      "epoch": 1.6122952658739063,
      "grad_norm": 1.3077796697616577,
      "learning_rate": 0.00023187829062988288,
      "loss": 0.1492,
      "step": 7186
    },
    {
      "epoch": 1.6122952658739063,
      "gripper_loss": 0.26171875,
      "loss": 0.0625,
      "pos_loss": 0.140625,
      "rot_loss": 0.376953125,
      "step": 7186
    },
    {
      "epoch": 1.6125196320394886,
      "grad_norm": 0.46577689051628113,
      "learning_rate": 0.00023181789081743769,
      "loss": 0.0578,
      "step": 7187
    },
    {
      "epoch": 1.6125196320394886,
      "gripper_loss": 0.0255126953125,
      "loss": 0.1318359375,
      "pos_loss": 1.2265625,
      "rot_loss": 0.1103515625,
      "step": 7187
    },
    {
      "epoch": 1.6127439982050706,
      "grad_norm": 0.3717975914478302,
      "learning_rate": 0.00023175749207191045,
      "loss": 0.0541,
      "step": 7188
    },
    {
      "epoch": 1.6127439982050706,
      "gripper_loss": 0.00836181640625,
      "loss": 0.0927734375,
      "pos_loss": 0.8046875,
      "rot_loss": 0.134765625,
      "step": 7188
    },
    {
      "epoch": 1.612968364370653,
      "grad_norm": 0.4330615699291229,
      "learning_rate": 0.00023169709439684538,
      "loss": 0.0623,
      "step": 7189
    },
    {
      "epoch": 1.612968364370653,
      "gripper_loss": 0.045654296875,
      "loss": 0.0947265625,
      "pos_loss": 0.375,
      "rot_loss": 0.484375,
      "step": 7189
    },
    {
      "epoch": 1.6131927305362352,
      "grad_norm": 0.7014628648757935,
      "learning_rate": 0.00023163669779578653,
      "loss": 0.08,
      "step": 7190
    },
    {
      "epoch": 1.6131927305362352,
      "gripper_loss": 0.384765625,
      "loss": 0.10986328125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.07763671875,
      "step": 7190
    },
    {
      "epoch": 1.6134170967018173,
      "grad_norm": 0.5353844165802002,
      "learning_rate": 0.00023157630227227792,
      "loss": 0.091,
      "step": 7191
    },
    {
      "epoch": 1.6134170967018173,
      "gripper_loss": 0.5078125,
      "loss": 0.1376953125,
      "pos_loss": 1.1328125,
      "rot_loss": 0.06884765625,
      "step": 7191
    },
    {
      "epoch": 1.6136414628673996,
      "grad_norm": 0.5472294092178345,
      "learning_rate": 0.00023151590782986354,
      "loss": 0.072,
      "step": 7192
    },
    {
      "epoch": 1.6136414628673996,
      "gripper_loss": 0.083984375,
      "loss": 0.05078125,
      "pos_loss": 0.2734375,
      "rot_loss": 0.169921875,
      "step": 7192
    },
    {
      "epoch": 1.613865829032982,
      "grad_norm": 0.5261096954345703,
      "learning_rate": 0.00023145551447208748,
      "loss": 0.0779,
      "step": 7193
    },
    {
      "epoch": 1.613865829032982,
      "gripper_loss": 0.01397705078125,
      "loss": 0.083984375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.2734375,
      "step": 7193
    },
    {
      "epoch": 1.614090195198564,
      "grad_norm": 0.3890652656555176,
      "learning_rate": 0.00023139512220249334,
      "loss": 0.0568,
      "step": 7194
    },
    {
      "epoch": 1.614090195198564,
      "gripper_loss": 0.006927490234375,
      "loss": 0.263671875,
      "pos_loss": 1.1953125,
      "rot_loss": 1.578125,
      "step": 7194
    },
    {
      "epoch": 1.6143145613641463,
      "grad_norm": 0.6118449568748474,
      "learning_rate": 0.00023133473102462506,
      "loss": 0.0828,
      "step": 7195
    },
    {
      "epoch": 1.6143145613641463,
      "gripper_loss": 0.61328125,
      "loss": 0.09716796875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.1025390625,
      "step": 7195
    },
    {
      "epoch": 1.6145389275297286,
      "grad_norm": 0.49801841378211975,
      "learning_rate": 0.00023127434094202633,
      "loss": 0.0738,
      "step": 7196
    },
    {
      "epoch": 1.6145389275297286,
      "gripper_loss": 0.318359375,
      "loss": 0.078125,
      "pos_loss": 0.578125,
      "rot_loss": 0.0927734375,
      "step": 7196
    },
    {
      "epoch": 1.6147632936953107,
      "grad_norm": 0.4460461437702179,
      "learning_rate": 0.00023121395195824078,
      "loss": 0.0656,
      "step": 7197
    },
    {
      "epoch": 1.6147632936953107,
      "gripper_loss": 0.035888671875,
      "loss": 0.0244140625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.03271484375,
      "step": 7197
    },
    {
      "epoch": 1.614987659860893,
      "grad_norm": 0.4468460977077484,
      "learning_rate": 0.00023115356407681214,
      "loss": 0.0376,
      "step": 7198
    },
    {
      "epoch": 1.614987659860893,
      "gripper_loss": 0.044921875,
      "loss": 0.0810546875,
      "pos_loss": 0.5625,
      "rot_loss": 0.23046875,
      "step": 7198
    },
    {
      "epoch": 1.6152120260264753,
      "grad_norm": 0.5107272863388062,
      "learning_rate": 0.00023109317730128377,
      "loss": 0.0899,
      "step": 7199
    },
    {
      "epoch": 1.6152120260264753,
      "gripper_loss": 0.48046875,
      "loss": 0.053466796875,
      "pos_loss": 0.32421875,
      "rot_loss": 0.04248046875,
      "step": 7199
    },
    {
      "epoch": 1.6154363921920574,
      "grad_norm": 0.3737020790576935,
      "learning_rate": 0.0002310327916351992,
      "loss": 0.0537,
      "step": 7200
    },
    {
      "epoch": 1.6154363921920574,
      "gripper_loss": 0.033447265625,
      "loss": 0.0810546875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.1279296875,
      "step": 7200
    },
    {
      "epoch": 1.6156607583576397,
      "grad_norm": 0.5711637735366821,
      "learning_rate": 0.0002309724070821019,
      "loss": 0.0884,
      "step": 7201
    },
    {
      "epoch": 1.6156607583576397,
      "gripper_loss": 0.0634765625,
      "loss": 0.0576171875,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.2734375,
      "step": 7201
    },
    {
      "epoch": 1.615885124523222,
      "grad_norm": 0.7598096132278442,
      "learning_rate": 0.00023091202364553524,
      "loss": 0.0978,
      "step": 7202
    },
    {
      "epoch": 1.615885124523222,
      "gripper_loss": 0.06201171875,
      "loss": 0.0390625,
      "pos_loss": 0.045654296875,
      "rot_loss": 0.11865234375,
      "step": 7202
    },
    {
      "epoch": 1.616109490688804,
      "grad_norm": 0.5961118340492249,
      "learning_rate": 0.0002308516413290423,
      "loss": 0.0808,
      "step": 7203
    },
    {
      "epoch": 1.616109490688804,
      "gripper_loss": 0.4609375,
      "loss": 0.0673828125,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.376953125,
      "step": 7203
    },
    {
      "epoch": 1.6163338568543864,
      "grad_norm": 0.49005916714668274,
      "learning_rate": 0.00023079126013616637,
      "loss": 0.0722,
      "step": 7204
    },
    {
      "epoch": 1.6163338568543864,
      "gripper_loss": 0.017333984375,
      "loss": 0.10009765625,
      "pos_loss": 0.75390625,
      "rot_loss": 0.251953125,
      "step": 7204
    },
    {
      "epoch": 1.6165582230199687,
      "grad_norm": 0.5166871547698975,
      "learning_rate": 0.00023073088007045063,
      "loss": 0.063,
      "step": 7205
    },
    {
      "epoch": 1.6165582230199687,
      "gripper_loss": 0.1279296875,
      "loss": 0.08203125,
      "pos_loss": 0.498046875,
      "rot_loss": 0.23828125,
      "step": 7205
    },
    {
      "epoch": 1.6167825891855507,
      "grad_norm": 0.5277451872825623,
      "learning_rate": 0.00023067050113543828,
      "loss": 0.0678,
      "step": 7206
    },
    {
      "epoch": 1.6167825891855507,
      "gripper_loss": 0.040283203125,
      "loss": 0.0179443359375,
      "pos_loss": 0.0478515625,
      "rot_loss": 0.02587890625,
      "step": 7206
    },
    {
      "epoch": 1.617006955351133,
      "grad_norm": 0.5646056532859802,
      "learning_rate": 0.00023061012333467205,
      "loss": 0.0549,
      "step": 7207
    },
    {
      "epoch": 1.617006955351133,
      "gripper_loss": 0.875,
      "loss": 0.0947265625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.11572265625,
      "step": 7207
    },
    {
      "epoch": 1.6172313215167153,
      "grad_norm": 0.6589843034744263,
      "learning_rate": 0.0002305497466716951,
      "loss": 0.0882,
      "step": 7208
    },
    {
      "epoch": 1.6172313215167153,
      "gripper_loss": 0.2119140625,
      "loss": 0.068359375,
      "pos_loss": 0.23828125,
      "rot_loss": 0.37109375,
      "step": 7208
    },
    {
      "epoch": 1.6174556876822974,
      "grad_norm": 0.5620936751365662,
      "learning_rate": 0.00023048937115005018,
      "loss": 0.0875,
      "step": 7209
    },
    {
      "epoch": 1.6174556876822974,
      "gripper_loss": 0.029541015625,
      "loss": 0.06787109375,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.57421875,
      "step": 7209
    },
    {
      "epoch": 1.6176800538478797,
      "grad_norm": 0.30083999037742615,
      "learning_rate": 0.00023042899677328026,
      "loss": 0.046,
      "step": 7210
    },
    {
      "epoch": 1.6176800538478797,
      "gripper_loss": 0.173828125,
      "loss": 0.02880859375,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.126953125,
      "step": 7210
    },
    {
      "epoch": 1.617904420013462,
      "grad_norm": 0.4278320372104645,
      "learning_rate": 0.00023036862354492785,
      "loss": 0.0946,
      "step": 7211
    },
    {
      "epoch": 1.617904420013462,
      "gripper_loss": 0.03125,
      "loss": 0.15625,
      "pos_loss": 0.9296875,
      "rot_loss": 0.66796875,
      "step": 7211
    },
    {
      "epoch": 1.618128786179044,
      "grad_norm": 0.49961766600608826,
      "learning_rate": 0.00023030825146853572,
      "loss": 0.1062,
      "step": 7212
    },
    {
      "epoch": 1.618128786179044,
      "gripper_loss": 0.050537109375,
      "loss": 0.06396484375,
      "pos_loss": 0.296875,
      "rot_loss": 0.291015625,
      "step": 7212
    },
    {
      "epoch": 1.6183531523446264,
      "grad_norm": 0.8061679601669312,
      "learning_rate": 0.00023024788054764662,
      "loss": 0.0817,
      "step": 7213
    },
    {
      "epoch": 1.6183531523446264,
      "gripper_loss": 0.8125,
      "loss": 0.0576171875,
      "pos_loss": 0.18359375,
      "rot_loss": 0.09912109375,
      "step": 7213
    },
    {
      "epoch": 1.6185775185102087,
      "grad_norm": 0.4699857532978058,
      "learning_rate": 0.00023018751078580287,
      "loss": 0.0716,
      "step": 7214
    },
    {
      "epoch": 1.6185775185102087,
      "gripper_loss": 0.296875,
      "loss": 0.0235595703125,
      "pos_loss": 0.037109375,
      "rot_loss": 0.05615234375,
      "step": 7214
    },
    {
      "epoch": 1.6188018846757908,
      "grad_norm": 0.4541921317577362,
      "learning_rate": 0.00023012714218654715,
      "loss": 0.0695,
      "step": 7215
    },
    {
      "epoch": 1.6188018846757908,
      "gripper_loss": 0.38671875,
      "loss": 0.09228515625,
      "pos_loss": 0.5703125,
      "rot_loss": 0.1416015625,
      "step": 7215
    },
    {
      "epoch": 1.619026250841373,
      "grad_norm": 0.47967275977134705,
      "learning_rate": 0.00023006677475342167,
      "loss": 0.0847,
      "step": 7216
    },
    {
      "epoch": 1.619026250841373,
      "gripper_loss": 0.1884765625,
      "loss": 0.0810546875,
      "pos_loss": 0.3984375,
      "rot_loss": 0.328125,
      "step": 7216
    },
    {
      "epoch": 1.6192506170069554,
      "grad_norm": 0.4140823483467102,
      "learning_rate": 0.0002300064084899688,
      "loss": 0.0639,
      "step": 7217
    },
    {
      "epoch": 1.6192506170069554,
      "gripper_loss": 0.8125,
      "loss": 0.032958984375,
      "pos_loss": 0.019287109375,
      "rot_loss": 0.017333984375,
      "step": 7217
    },
    {
      "epoch": 1.6194749831725375,
      "grad_norm": 0.35772621631622314,
      "learning_rate": 0.00022994604339973094,
      "loss": 0.0419,
      "step": 7218
    },
    {
      "epoch": 1.6194749831725375,
      "gripper_loss": 0.2412109375,
      "loss": 0.026611328125,
      "pos_loss": 0.12890625,
      "rot_loss": 0.0191650390625,
      "step": 7218
    },
    {
      "epoch": 1.6196993493381198,
      "grad_norm": 0.4319731593132019,
      "learning_rate": 0.00022988567948625018,
      "loss": 0.0611,
      "step": 7219
    },
    {
      "epoch": 1.6196993493381198,
      "gripper_loss": 0.0888671875,
      "loss": 0.0771484375,
      "pos_loss": 0.197265625,
      "rot_loss": 0.404296875,
      "step": 7219
    },
    {
      "epoch": 1.619923715503702,
      "grad_norm": 0.5514796376228333,
      "learning_rate": 0.0002298253167530687,
      "loss": 0.0763,
      "step": 7220
    },
    {
      "epoch": 1.619923715503702,
      "gripper_loss": 0.240234375,
      "loss": 0.0361328125,
      "pos_loss": 0.197265625,
      "rot_loss": 0.058837890625,
      "step": 7220
    },
    {
      "epoch": 1.6201480816692841,
      "grad_norm": 0.39306777715682983,
      "learning_rate": 0.00022976495520372843,
      "loss": 0.068,
      "step": 7221
    },
    {
      "epoch": 1.6201480816692841,
      "gripper_loss": 0.0240478515625,
      "loss": 0.010009765625,
      "pos_loss": 0.0279541015625,
      "rot_loss": 0.015869140625,
      "step": 7221
    },
    {
      "epoch": 1.6203724478348664,
      "grad_norm": 0.4411647319793701,
      "learning_rate": 0.00022970459484177144,
      "loss": 0.052,
      "step": 7222
    },
    {
      "epoch": 1.6203724478348664,
      "gripper_loss": 0.037109375,
      "loss": 0.01153564453125,
      "pos_loss": 0.027587890625,
      "rot_loss": 0.04736328125,
      "step": 7222
    },
    {
      "epoch": 1.6205968140004487,
      "grad_norm": 0.3115268647670746,
      "learning_rate": 0.0002296442356707398,
      "loss": 0.0503,
      "step": 7223
    },
    {
      "epoch": 1.6205968140004487,
      "gripper_loss": 0.01275634765625,
      "loss": 0.0693359375,
      "pos_loss": 0.66015625,
      "rot_loss": 0.03759765625,
      "step": 7223
    },
    {
      "epoch": 1.6208211801660308,
      "grad_norm": 0.6230983138084412,
      "learning_rate": 0.0002295838776941751,
      "loss": 0.1051,
      "step": 7224
    },
    {
      "epoch": 1.6208211801660308,
      "gripper_loss": 0.048583984375,
      "loss": 0.047119140625,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.166015625,
      "step": 7224
    },
    {
      "epoch": 1.6210455463316134,
      "grad_norm": 0.6697224378585815,
      "learning_rate": 0.0002295235209156193,
      "loss": 0.0679,
      "step": 7225
    },
    {
      "epoch": 1.6210455463316134,
      "gripper_loss": 0.01080322265625,
      "loss": 0.0478515625,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.328125,
      "step": 7225
    },
    {
      "epoch": 1.6212699124971954,
      "grad_norm": 0.3131122291088104,
      "learning_rate": 0.00022946316533861398,
      "loss": 0.0481,
      "step": 7226
    },
    {
      "epoch": 1.6212699124971954,
      "gripper_loss": 0.228515625,
      "loss": 0.05419921875,
      "pos_loss": 0.19140625,
      "rot_loss": 0.275390625,
      "step": 7226
    },
    {
      "epoch": 1.6214942786627775,
      "grad_norm": 0.35042405128479004,
      "learning_rate": 0.00022940281096670083,
      "loss": 0.0529,
      "step": 7227
    },
    {
      "epoch": 1.6214942786627775,
      "gripper_loss": 0.038330078125,
      "loss": 0.0419921875,
      "pos_loss": 0.29296875,
      "rot_loss": 0.0986328125,
      "step": 7227
    },
    {
      "epoch": 1.62171864482836,
      "grad_norm": 0.3310437500476837,
      "learning_rate": 0.00022934245780342156,
      "loss": 0.0479,
      "step": 7228
    },
    {
      "epoch": 1.62171864482836,
      "gripper_loss": 0.498046875,
      "loss": 0.058837890625,
      "pos_loss": 0.26953125,
      "rot_loss": 0.1572265625,
      "step": 7228
    },
    {
      "epoch": 1.6219430109939421,
      "grad_norm": 0.3570530414581299,
      "learning_rate": 0.0002292821058523174,
      "loss": 0.0529,
      "step": 7229
    },
    {
      "epoch": 1.6219430109939421,
      "gripper_loss": 0.06494140625,
      "loss": 0.1513671875,
      "pos_loss": 0.6171875,
      "rot_loss": 0.62890625,
      "step": 7229
    },
    {
      "epoch": 1.6221673771595242,
      "grad_norm": 0.6463345885276794,
      "learning_rate": 0.00022922175511693,
      "loss": 0.1028,
      "step": 7230
    },
    {
      "epoch": 1.6221673771595242,
      "gripper_loss": 0.01251220703125,
      "loss": 0.01177978515625,
      "pos_loss": 0.06396484375,
      "rot_loss": 0.01904296875,
      "step": 7230
    },
    {
      "epoch": 1.6223917433251067,
      "grad_norm": 0.4052620530128479,
      "learning_rate": 0.00022916140560080056,
      "loss": 0.0554,
      "step": 7231
    },
    {
      "epoch": 1.6223917433251067,
      "gripper_loss": 0.0107421875,
      "loss": 0.107421875,
      "pos_loss": 1.0703125,
      "rot_loss": 0.029541015625,
      "step": 7231
    },
    {
      "epoch": 1.6226161094906888,
      "grad_norm": 0.3559470772743225,
      "learning_rate": 0.0002291010573074705,
      "loss": 0.0679,
      "step": 7232
    },
    {
      "epoch": 1.6226161094906888,
      "gripper_loss": 0.0147705078125,
      "loss": 0.130859375,
      "pos_loss": 0.953125,
      "rot_loss": 0.3984375,
      "step": 7232
    },
    {
      "epoch": 1.6228404756562709,
      "grad_norm": 0.5162871479988098,
      "learning_rate": 0.0002290407102404809,
      "loss": 0.0709,
      "step": 7233
    },
    {
      "epoch": 1.6228404756562709,
      "gripper_loss": 0.0177001953125,
      "loss": 0.08935546875,
      "pos_loss": 0.6875,
      "rot_loss": 0.203125,
      "step": 7233
    },
    {
      "epoch": 1.6230648418218534,
      "grad_norm": 0.3879554271697998,
      "learning_rate": 0.00022898036440337295,
      "loss": 0.061,
      "step": 7234
    },
    {
      "epoch": 1.6230648418218534,
      "gripper_loss": 0.0279541015625,
      "loss": 0.049560546875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.1865234375,
      "step": 7234
    },
    {
      "epoch": 1.6232892079874355,
      "grad_norm": 0.4320572018623352,
      "learning_rate": 0.0002289200197996877,
      "loss": 0.0674,
      "step": 7235
    },
    {
      "epoch": 1.6232892079874355,
      "gripper_loss": 0.0286865234375,
      "loss": 0.04931640625,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.232421875,
      "step": 7235
    },
    {
      "epoch": 1.6235135741530178,
      "grad_norm": 0.37186184525489807,
      "learning_rate": 0.00022885967643296632,
      "loss": 0.0555,
      "step": 7236
    },
    {
      "epoch": 1.6235135741530178,
      "gripper_loss": 1.15625,
      "loss": 0.078125,
      "pos_loss": 0.29296875,
      "rot_loss": 0.12109375,
      "step": 7236
    },
    {
      "epoch": 1.6237379403186,
      "grad_norm": 0.37871482968330383,
      "learning_rate": 0.00022879933430674948,
      "loss": 0.0548,
      "step": 7237
    },
    {
      "epoch": 1.6237379403186,
      "gripper_loss": 0.031982421875,
      "loss": 0.15625,
      "pos_loss": 1.40625,
      "rot_loss": 0.19140625,
      "step": 7237
    },
    {
      "epoch": 1.6239623064841822,
      "grad_norm": 0.5676501393318176,
      "learning_rate": 0.0002287389934245781,
      "loss": 0.0757,
      "step": 7238
    },
    {
      "epoch": 1.6239623064841822,
      "gripper_loss": 0.80078125,
      "loss": 0.0419921875,
      "pos_loss": 0.0625,
      "rot_loss": 0.083984375,
      "step": 7238
    },
    {
      "epoch": 1.6241866726497645,
      "grad_norm": 0.3561258614063263,
      "learning_rate": 0.00022867865378999296,
      "loss": 0.0516,
      "step": 7239
    },
    {
      "epoch": 1.6241866726497645,
      "gripper_loss": 0.482421875,
      "loss": 0.08837890625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.375,
      "step": 7239
    },
    {
      "epoch": 1.6244110388153468,
      "grad_norm": 0.27121055126190186,
      "learning_rate": 0.00022861831540653494,
      "loss": 0.0526,
      "step": 7240
    },
    {
      "epoch": 1.6244110388153468,
      "gripper_loss": 0.40234375,
      "loss": 0.103515625,
      "pos_loss": 0.859375,
      "rot_loss": 0.0751953125,
      "step": 7240
    },
    {
      "epoch": 1.6246354049809288,
      "grad_norm": 0.5108420252799988,
      "learning_rate": 0.00022855797827774438,
      "loss": 0.0778,
      "step": 7241
    },
    {
      "epoch": 1.6246354049809288,
      "gripper_loss": 0.014404296875,
      "loss": 0.13671875,
      "pos_loss": 1.0625,
      "rot_loss": 0.349609375,
      "step": 7241
    },
    {
      "epoch": 1.6248597711465111,
      "grad_norm": 0.4846097230911255,
      "learning_rate": 0.00022849764240716203,
      "loss": 0.1105,
      "step": 7242
    },
    {
      "epoch": 1.6248597711465111,
      "gripper_loss": 0.01385498046875,
      "loss": 0.083984375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.0986328125,
      "step": 7242
    },
    {
      "epoch": 1.6250841373120934,
      "grad_norm": 0.37126287817955017,
      "learning_rate": 0.00022843730779832826,
      "loss": 0.0511,
      "step": 7243
    },
    {
      "epoch": 1.6250841373120934,
      "gripper_loss": 0.010986328125,
      "loss": 0.056884765625,
      "pos_loss": 0.431640625,
      "rot_loss": 0.12353515625,
      "step": 7243
    },
    {
      "epoch": 1.6253085034776755,
      "grad_norm": 0.3501753509044647,
      "learning_rate": 0.00022837697445478352,
      "loss": 0.0402,
      "step": 7244
    },
    {
      "epoch": 1.6253085034776755,
      "gripper_loss": 0.0074462890625,
      "loss": 0.1513671875,
      "pos_loss": 1.5546875,
      "rot_loss": 0.031494140625,
      "step": 7244
    },
    {
      "epoch": 1.6255328696432578,
      "grad_norm": 0.5032159090042114,
      "learning_rate": 0.00022831664238006825,
      "loss": 0.0609,
      "step": 7245
    },
    {
      "epoch": 1.6255328696432578,
      "gripper_loss": 0.076171875,
      "loss": 0.048583984375,
      "pos_loss": 0.154296875,
      "rot_loss": 0.26953125,
      "step": 7245
    },
    {
      "epoch": 1.6257572358088401,
      "grad_norm": 0.580696165561676,
      "learning_rate": 0.00022825631157772253,
      "loss": 0.1137,
      "step": 7246
    },
    {
      "epoch": 1.6257572358088401,
      "gripper_loss": 0.006500244140625,
      "loss": 0.0947265625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.353515625,
      "step": 7246
    },
    {
      "epoch": 1.6259816019744222,
      "grad_norm": 0.3684617578983307,
      "learning_rate": 0.0002281959820512866,
      "loss": 0.0613,
      "step": 7247
    },
    {
      "epoch": 1.6259816019744222,
      "gripper_loss": 0.392578125,
      "loss": 0.026611328125,
      "pos_loss": 0.080078125,
      "rot_loss": 0.034423828125,
      "step": 7247
    },
    {
      "epoch": 1.6262059681400045,
      "grad_norm": 0.3746362030506134,
      "learning_rate": 0.00022813565380430068,
      "loss": 0.0508,
      "step": 7248
    },
    {
      "epoch": 1.6262059681400045,
      "gripper_loss": 0.119140625,
      "loss": 0.10498046875,
      "pos_loss": 0.435546875,
      "rot_loss": 0.546875,
      "step": 7248
    },
    {
      "epoch": 1.6264303343055868,
      "grad_norm": 0.4045558273792267,
      "learning_rate": 0.00022807532684030477,
      "loss": 0.0715,
      "step": 7249
    },
    {
      "epoch": 1.6264303343055868,
      "gripper_loss": 0.039794921875,
      "loss": 0.035888671875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.050537109375,
      "step": 7249
    },
    {
      "epoch": 1.626654700471169,
      "grad_norm": 0.27956143021583557,
      "learning_rate": 0.00022801500116283866,
      "loss": 0.0404,
      "step": 7250
    },
    {
      "epoch": 1.626654700471169,
      "gripper_loss": 0.4375,
      "loss": 0.056396484375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.0341796875,
      "step": 7250
    },
    {
      "epoch": 1.6268790666367512,
      "grad_norm": 0.3805375397205353,
      "learning_rate": 0.00022795467677544235,
      "loss": 0.0742,
      "step": 7251
    },
    {
      "epoch": 1.6268790666367512,
      "gripper_loss": 0.0172119140625,
      "loss": 0.05810546875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.06689453125,
      "step": 7251
    },
    {
      "epoch": 1.6271034328023335,
      "grad_norm": 0.5620222091674805,
      "learning_rate": 0.00022789435368165568,
      "loss": 0.0806,
      "step": 7252
    },
    {
      "epoch": 1.6271034328023335,
      "gripper_loss": 0.0341796875,
      "loss": 0.12158203125,
      "pos_loss": 0.84765625,
      "rot_loss": 0.380859375,
      "step": 7252
    },
    {
      "epoch": 1.6273277989679156,
      "grad_norm": 0.511076807975769,
      "learning_rate": 0.00022783403188501842,
      "loss": 0.0882,
      "step": 7253
    },
    {
      "epoch": 1.6273277989679156,
      "gripper_loss": 0.197265625,
      "loss": 0.228515625,
      "pos_loss": 0.458984375,
      "rot_loss": 0.75,
      "step": 7253
    },
    {
      "epoch": 1.6275521651334979,
      "grad_norm": 1.392682671546936,
      "learning_rate": 0.00022777371138907006,
      "loss": 0.2126,
      "step": 7254
    },
    {
      "epoch": 1.6275521651334979,
      "gripper_loss": 0.1953125,
      "loss": 0.038818359375,
      "pos_loss": 0.240234375,
      "rot_loss": 0.07421875,
      "step": 7254
    },
    {
      "epoch": 1.6277765312990802,
      "grad_norm": 0.32643672823905945,
      "learning_rate": 0.00022771339219735035,
      "loss": 0.0691,
      "step": 7255
    },
    {
      "epoch": 1.6277765312990802,
      "gripper_loss": 0.59375,
      "loss": 0.030029296875,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.011962890625,
      "step": 7255
    },
    {
      "epoch": 1.6280008974646623,
      "grad_norm": 0.4010847508907318,
      "learning_rate": 0.00022765307431339867,
      "loss": 0.0435,
      "step": 7256
    },
    {
      "epoch": 1.6280008974646623,
      "gripper_loss": 0.34765625,
      "loss": 0.06689453125,
      "pos_loss": 0.412109375,
      "rot_loss": 0.1513671875,
      "step": 7256
    },
    {
      "epoch": 1.6282252636302446,
      "grad_norm": 0.404981404542923,
      "learning_rate": 0.00022759275774075457,
      "loss": 0.0716,
      "step": 7257
    },
    {
      "epoch": 1.6282252636302446,
      "gripper_loss": 0.039794921875,
      "loss": 0.0390625,
      "pos_loss": 0.263671875,
      "rot_loss": 0.068359375,
      "step": 7257
    },
    {
      "epoch": 1.6284496297958269,
      "grad_norm": 0.5596005320549011,
      "learning_rate": 0.00022753244248295727,
      "loss": 0.0723,
      "step": 7258
    },
    {
      "epoch": 1.6284496297958269,
      "gripper_loss": 0.71484375,
      "loss": 0.055419921875,
      "pos_loss": 0.171875,
      "rot_loss": 0.076171875,
      "step": 7258
    },
    {
      "epoch": 1.628673995961409,
      "grad_norm": 0.5472728610038757,
      "learning_rate": 0.00022747212854354608,
      "loss": 0.06,
      "step": 7259
    },
    {
      "epoch": 1.628673995961409,
      "gripper_loss": 0.01116943359375,
      "loss": 0.044189453125,
      "pos_loss": 0.376953125,
      "rot_loss": 0.0478515625,
      "step": 7259
    },
    {
      "epoch": 1.6288983621269912,
      "grad_norm": 0.3579123318195343,
      "learning_rate": 0.00022741181592606026,
      "loss": 0.0614,
      "step": 7260
    },
    {
      "epoch": 1.6288983621269912,
      "gripper_loss": 0.27734375,
      "loss": 0.08251953125,
      "pos_loss": 0.490234375,
      "rot_loss": 0.24609375,
      "step": 7260
    },
    {
      "epoch": 1.6291227282925735,
      "grad_norm": 0.35953885316848755,
      "learning_rate": 0.0002273515046340388,
      "loss": 0.0723,
      "step": 7261
    },
    {
      "epoch": 1.6291227282925735,
      "gripper_loss": 0.16015625,
      "loss": 0.427734375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.6171875,
      "step": 7261
    },
    {
      "epoch": 1.6293470944581556,
      "grad_norm": 2.005117177963257,
      "learning_rate": 0.00022729119467102096,
      "loss": 0.4397,
      "step": 7262
    },
    {
      "epoch": 1.6293470944581556,
      "gripper_loss": 0.390625,
      "loss": 0.02001953125,
      "pos_loss": 0.0228271484375,
      "rot_loss": 0.0279541015625,
      "step": 7262
    },
    {
      "epoch": 1.629571460623738,
      "grad_norm": 0.38020890951156616,
      "learning_rate": 0.00022723088604054546,
      "loss": 0.0493,
      "step": 7263
    },
    {
      "epoch": 1.629571460623738,
      "gripper_loss": 0.023681640625,
      "loss": 0.06640625,
      "pos_loss": 0.390625,
      "rot_loss": 0.1796875,
      "step": 7263
    },
    {
      "epoch": 1.6297958267893202,
      "grad_norm": 0.6178268790245056,
      "learning_rate": 0.00022717057874615127,
      "loss": 0.0657,
      "step": 7264
    },
    {
      "epoch": 1.6297958267893202,
      "gripper_loss": 0.03759765625,
      "loss": 0.0341796875,
      "pos_loss": 0.045654296875,
      "rot_loss": 0.240234375,
      "step": 7264
    },
    {
      "epoch": 1.6300201929549023,
      "grad_norm": 0.48131000995635986,
      "learning_rate": 0.00022711027279137725,
      "loss": 0.0722,
      "step": 7265
    },
    {
      "epoch": 1.6300201929549023,
      "gripper_loss": 0.2001953125,
      "loss": 0.08203125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.2001953125,
      "step": 7265
    },
    {
      "epoch": 1.6302445591204846,
      "grad_norm": 0.4295947849750519,
      "learning_rate": 0.00022704996817976208,
      "loss": 0.058,
      "step": 7266
    },
    {
      "epoch": 1.6302445591204846,
      "gripper_loss": 1.3828125,
      "loss": 0.059814453125,
      "pos_loss": 0.039306640625,
      "rot_loss": 0.08251953125,
      "step": 7266
    },
    {
      "epoch": 1.630468925286067,
      "grad_norm": 0.39865773916244507,
      "learning_rate": 0.00022698966491484446,
      "loss": 0.0838,
      "step": 7267
    },
    {
      "epoch": 1.630468925286067,
      "gripper_loss": 0.03466796875,
      "loss": 0.05517578125,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.275390625,
      "step": 7267
    },
    {
      "epoch": 1.630693291451649,
      "grad_norm": 0.5088972449302673,
      "learning_rate": 0.00022692936300016281,
      "loss": 0.0645,
      "step": 7268
    },
    {
      "epoch": 1.630693291451649,
      "gripper_loss": 0.06591796875,
      "loss": 0.0537109375,
      "pos_loss": 0.15234375,
      "rot_loss": 0.34765625,
      "step": 7268
    },
    {
      "epoch": 1.6309176576172313,
      "grad_norm": 0.4583822190761566,
      "learning_rate": 0.00022686906243925576,
      "loss": 0.0634,
      "step": 7269
    },
    {
      "epoch": 1.6309176576172313,
      "gripper_loss": 0.01531982421875,
      "loss": 0.103515625,
      "pos_loss": 0.984375,
      "rot_loss": 0.0673828125,
      "step": 7269
    },
    {
      "epoch": 1.6311420237828136,
      "grad_norm": 0.5396386981010437,
      "learning_rate": 0.00022680876323566174,
      "loss": 0.0672,
      "step": 7270
    },
    {
      "epoch": 1.6311420237828136,
      "gripper_loss": 0.515625,
      "loss": 0.08740234375,
      "pos_loss": 0.55859375,
      "rot_loss": 0.1455078125,
      "step": 7270
    },
    {
      "epoch": 1.6313663899483957,
      "grad_norm": 0.40023890137672424,
      "learning_rate": 0.00022674846539291892,
      "loss": 0.075,
      "step": 7271
    },
    {
      "epoch": 1.6313663899483957,
      "gripper_loss": 0.09228515625,
      "loss": 0.0205078125,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.057861328125,
      "step": 7271
    },
    {
      "epoch": 1.631590756113978,
      "grad_norm": 0.4481480121612549,
      "learning_rate": 0.00022668816891456575,
      "loss": 0.0802,
      "step": 7272
    },
    {
      "epoch": 1.631590756113978,
      "gripper_loss": 0.01708984375,
      "loss": 0.052978515625,
      "pos_loss": 0.291015625,
      "rot_loss": 0.15234375,
      "step": 7272
    },
    {
      "epoch": 1.6318151222795603,
      "grad_norm": 0.528968870639801,
      "learning_rate": 0.0002266278738041402,
      "loss": 0.0743,
      "step": 7273
    },
    {
      "epoch": 1.6318151222795603,
      "gripper_loss": 0.10302734375,
      "loss": 0.06689453125,
      "pos_loss": 0.296875,
      "rot_loss": 0.3046875,
      "step": 7273
    },
    {
      "epoch": 1.6320394884451424,
      "grad_norm": 0.6647714972496033,
      "learning_rate": 0.0002265675800651805,
      "loss": 0.0879,
      "step": 7274
    },
    {
      "epoch": 1.6320394884451424,
      "gripper_loss": 0.279296875,
      "loss": 0.0260009765625,
      "pos_loss": 0.134765625,
      "rot_loss": 0.01092529296875,
      "step": 7274
    },
    {
      "epoch": 1.6322638546107247,
      "grad_norm": 0.5424085855484009,
      "learning_rate": 0.0002265072877012247,
      "loss": 0.0752,
      "step": 7275
    },
    {
      "epoch": 1.6322638546107247,
      "gripper_loss": 0.38671875,
      "loss": 0.07373046875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.0228271484375,
      "step": 7275
    },
    {
      "epoch": 1.632488220776307,
      "grad_norm": 0.32470703125,
      "learning_rate": 0.00022644699671581055,
      "loss": 0.0681,
      "step": 7276
    },
    {
      "epoch": 1.632488220776307,
      "gripper_loss": 0.019775390625,
      "loss": 0.0693359375,
      "pos_loss": 0.3828125,
      "rot_loss": 0.302734375,
      "step": 7276
    },
    {
      "epoch": 1.632712586941889,
      "grad_norm": 0.40820884704589844,
      "learning_rate": 0.00022638670711247605,
      "loss": 0.0623,
      "step": 7277
    },
    {
      "epoch": 1.632712586941889,
      "gripper_loss": 0.03076171875,
      "loss": 0.02197265625,
      "pos_loss": 0.06494140625,
      "rot_loss": 0.11962890625,
      "step": 7277
    },
    {
      "epoch": 1.6329369531074716,
      "grad_norm": 0.39516979455947876,
      "learning_rate": 0.00022632641889475886,
      "loss": 0.0536,
      "step": 7278
    },
    {
      "epoch": 1.6329369531074716,
      "gripper_loss": 0.0830078125,
      "loss": 0.107421875,
      "pos_loss": 0.427734375,
      "rot_loss": 0.48828125,
      "step": 7278
    },
    {
      "epoch": 1.6331613192730536,
      "grad_norm": 0.6445964574813843,
      "learning_rate": 0.00022626613206619682,
      "loss": 0.0957,
      "step": 7279
    },
    {
      "epoch": 1.6331613192730536,
      "gripper_loss": 0.1328125,
      "loss": 0.2119140625,
      "pos_loss": 0.8203125,
      "rot_loss": 0.421875,
      "step": 7279
    },
    {
      "epoch": 1.6333856854386357,
      "grad_norm": 1.5611461400985718,
      "learning_rate": 0.0002262058466303273,
      "loss": 0.2124,
      "step": 7280
    },
    {
      "epoch": 1.6333856854386357,
      "gripper_loss": 0.0220947265625,
      "loss": 0.2060546875,
      "pos_loss": 1.4296875,
      "rot_loss": 0.703125,
      "step": 7280
    },
    {
      "epoch": 1.6336100516042182,
      "grad_norm": 0.47859418392181396,
      "learning_rate": 0.000226145562590688,
      "loss": 0.0903,
      "step": 7281
    },
    {
      "epoch": 1.6336100516042182,
      "gripper_loss": 0.2275390625,
      "loss": 0.031982421875,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.1103515625,
      "step": 7281
    },
    {
      "epoch": 1.6338344177698003,
      "grad_norm": 0.34719428420066833,
      "learning_rate": 0.0002260852799508163,
      "loss": 0.0529,
      "step": 7282
    },
    {
      "epoch": 1.6338344177698003,
      "gripper_loss": 0.35546875,
      "loss": 0.037841796875,
      "pos_loss": 0.0546875,
      "rot_loss": 0.1845703125,
      "step": 7282
    },
    {
      "epoch": 1.6340587839353824,
      "grad_norm": 0.3320358097553253,
      "learning_rate": 0.00022602499871424966,
      "loss": 0.0393,
      "step": 7283
    },
    {
      "epoch": 1.6340587839353824,
      "gripper_loss": 0.025390625,
      "loss": 0.0869140625,
      "pos_loss": 0.3984375,
      "rot_loss": 0.408203125,
      "step": 7283
    },
    {
      "epoch": 1.634283150100965,
      "grad_norm": 0.5771726369857788,
      "learning_rate": 0.00022596471888452525,
      "loss": 0.0728,
      "step": 7284
    },
    {
      "epoch": 1.634283150100965,
      "gripper_loss": 0.85546875,
      "loss": 0.07373046875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.0859375,
      "step": 7284
    },
    {
      "epoch": 1.634507516266547,
      "grad_norm": 0.4278702735900879,
      "learning_rate": 0.0002259044404651802,
      "loss": 0.0825,
      "step": 7285
    },
    {
      "epoch": 1.634507516266547,
      "gripper_loss": 0.005828857421875,
      "loss": 0.140625,
      "pos_loss": 1.3359375,
      "rot_loss": 0.08154296875,
      "step": 7285
    },
    {
      "epoch": 1.634731882432129,
      "grad_norm": 0.5103527903556824,
      "learning_rate": 0.0002258441634597517,
      "loss": 0.0618,
      "step": 7286
    },
    {
      "epoch": 1.634731882432129,
      "gripper_loss": 0.035888671875,
      "loss": 0.054931640625,
      "pos_loss": 0.357421875,
      "rot_loss": 0.1552734375,
      "step": 7286
    },
    {
      "epoch": 1.6349562485977116,
      "grad_norm": 0.4436063766479492,
      "learning_rate": 0.0002257838878717769,
      "loss": 0.0701,
      "step": 7287
    },
    {
      "epoch": 1.6349562485977116,
      "gripper_loss": 0.0120849609375,
      "loss": 0.1376953125,
      "pos_loss": 1.3125,
      "rot_loss": 0.0849609375,
      "step": 7287
    },
    {
      "epoch": 1.6351806147632937,
      "grad_norm": 0.6199203729629517,
      "learning_rate": 0.0002257236137047925,
      "loss": 0.0804,
      "step": 7288
    },
    {
      "epoch": 1.6351806147632937,
      "gripper_loss": 0.41015625,
      "loss": 0.0693359375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.22265625,
      "step": 7288
    },
    {
      "epoch": 1.6354049809288758,
      "grad_norm": 0.38733720779418945,
      "learning_rate": 0.00022566334096233554,
      "loss": 0.079,
      "step": 7289
    },
    {
      "epoch": 1.6354049809288758,
      "gripper_loss": 1.8125,
      "loss": 0.09521484375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.099609375,
      "step": 7289
    },
    {
      "epoch": 1.6356293470944583,
      "grad_norm": 0.5031283497810364,
      "learning_rate": 0.0002256030696479427,
      "loss": 0.0722,
      "step": 7290
    },
    {
      "epoch": 1.6356293470944583,
      "gripper_loss": 0.419921875,
      "loss": 0.05810546875,
      "pos_loss": 0.37109375,
      "rot_loss": 0.0576171875,
      "step": 7290
    },
    {
      "epoch": 1.6358537132600404,
      "grad_norm": 0.6208752989768982,
      "learning_rate": 0.00022554279976515071,
      "loss": 0.081,
      "step": 7291
    },
    {
      "epoch": 1.6358537132600404,
      "gripper_loss": 0.02001953125,
      "loss": 0.060302734375,
      "pos_loss": 0.5,
      "rot_loss": 0.06884765625,
      "step": 7291
    },
    {
      "epoch": 1.6360780794256227,
      "grad_norm": 0.34249094128608704,
      "learning_rate": 0.0002254825313174963,
      "loss": 0.0551,
      "step": 7292
    },
    {
      "epoch": 1.6360780794256227,
      "gripper_loss": 0.1630859375,
      "loss": 0.02783203125,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.046875,
      "step": 7292
    },
    {
      "epoch": 1.636302445591205,
      "grad_norm": 0.286638081073761,
      "learning_rate": 0.00022542226430851575,
      "loss": 0.0391,
      "step": 7293
    },
    {
      "epoch": 1.636302445591205,
      "gripper_loss": 0.0279541015625,
      "loss": 0.11572265625,
      "pos_loss": 0.72265625,
      "rot_loss": 0.435546875,
      "step": 7293
    },
    {
      "epoch": 1.636526811756787,
      "grad_norm": 0.42467430233955383,
      "learning_rate": 0.00022536199874174565,
      "loss": 0.0636,
      "step": 7294
    },
    {
      "epoch": 1.636526811756787,
      "gripper_loss": 0.02392578125,
      "loss": 0.0517578125,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.2412109375,
      "step": 7294
    },
    {
      "epoch": 1.6367511779223693,
      "grad_norm": 0.3732926845550537,
      "learning_rate": 0.0002253017346207224,
      "loss": 0.0589,
      "step": 7295
    },
    {
      "epoch": 1.6367511779223693,
      "gripper_loss": 0.1376953125,
      "loss": 0.1103515625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.375,
      "step": 7295
    },
    {
      "epoch": 1.6369755440879517,
      "grad_norm": 0.8590454459190369,
      "learning_rate": 0.00022524147194898222,
      "loss": 0.1082,
      "step": 7296
    },
    {
      "epoch": 1.6369755440879517,
      "gripper_loss": 0.380859375,
      "loss": 0.049072265625,
      "pos_loss": 0.30078125,
      "rot_loss": 0.035400390625,
      "step": 7296
    },
    {
      "epoch": 1.6371999102535337,
      "grad_norm": 1.0447678565979004,
      "learning_rate": 0.0002251812107300612,
      "loss": 0.0774,
      "step": 7297
    },
    {
      "epoch": 1.6371999102535337,
      "gripper_loss": 0.007598876953125,
      "loss": 0.0198974609375,
      "pos_loss": 0.14453125,
      "rot_loss": 0.0262451171875,
      "step": 7297
    },
    {
      "epoch": 1.637424276419116,
      "grad_norm": 0.3868256211280823,
      "learning_rate": 0.00022512095096749555,
      "loss": 0.0626,
      "step": 7298
    },
    {
      "epoch": 1.637424276419116,
      "gripper_loss": 0.0106201171875,
      "loss": 0.05615234375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.4140625,
      "step": 7298
    },
    {
      "epoch": 1.6376486425846983,
      "grad_norm": 0.44207510352134705,
      "learning_rate": 0.00022506069266482124,
      "loss": 0.073,
      "step": 7299
    },
    {
      "epoch": 1.6376486425846983,
      "gripper_loss": 0.041015625,
      "loss": 0.05029296875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.126953125,
      "step": 7299
    },
    {
      "epoch": 1.6378730087502804,
      "grad_norm": 0.4205557703971863,
      "learning_rate": 0.00022500043582557433,
      "loss": 0.0772,
      "step": 7300
    },
    {
      "epoch": 1.6378730087502804,
      "gripper_loss": 0.044677734375,
      "loss": 0.05126953125,
      "pos_loss": 0.224609375,
      "rot_loss": 0.26171875,
      "step": 7300
    },
    {
      "epoch": 1.6380973749158627,
      "grad_norm": 0.4737003743648529,
      "learning_rate": 0.00022494018045329046,
      "loss": 0.0515,
      "step": 7301
    },
    {
      "epoch": 1.6380973749158627,
      "gripper_loss": 0.03955078125,
      "loss": 0.06005859375,
      "pos_loss": 0.40625,
      "rot_loss": 0.1474609375,
      "step": 7301
    },
    {
      "epoch": 1.638321741081445,
      "grad_norm": 0.47932177782058716,
      "learning_rate": 0.0002248799265515055,
      "loss": 0.0617,
      "step": 7302
    },
    {
      "epoch": 1.638321741081445,
      "gripper_loss": 0.01104736328125,
      "loss": 0.0693359375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.125,
      "step": 7302
    },
    {
      "epoch": 1.638546107247027,
      "grad_norm": 0.411357045173645,
      "learning_rate": 0.0002248196741237551,
      "loss": 0.0545,
      "step": 7303
    },
    {
      "epoch": 1.638546107247027,
      "gripper_loss": 0.035888671875,
      "loss": 0.02880859375,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.024169921875,
      "step": 7303
    },
    {
      "epoch": 1.6387704734126094,
      "grad_norm": 0.3534581959247589,
      "learning_rate": 0.00022475942317357484,
      "loss": 0.0542,
      "step": 7304
    },
    {
      "epoch": 1.6387704734126094,
      "gripper_loss": 0.01708984375,
      "loss": 0.11181640625,
      "pos_loss": 1.109375,
      "rot_loss": 0.034423828125,
      "step": 7304
    },
    {
      "epoch": 1.6389948395781917,
      "grad_norm": 0.6987885236740112,
      "learning_rate": 0.00022469917370450033,
      "loss": 0.104,
      "step": 7305
    },
    {
      "epoch": 1.6389948395781917,
      "gripper_loss": 0.7578125,
      "loss": 0.08935546875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.103515625,
      "step": 7305
    },
    {
      "epoch": 1.6392192057437738,
      "grad_norm": 0.351299524307251,
      "learning_rate": 0.00022463892572006675,
      "loss": 0.0639,
      "step": 7306
    },
    {
      "epoch": 1.6392192057437738,
      "gripper_loss": 0.3515625,
      "loss": 0.06787109375,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.39453125,
      "step": 7306
    },
    {
      "epoch": 1.639443571909356,
      "grad_norm": 0.3724572956562042,
      "learning_rate": 0.00022457867922380965,
      "loss": 0.059,
      "step": 7307
    },
    {
      "epoch": 1.639443571909356,
      "gripper_loss": 0.050048828125,
      "loss": 0.018310546875,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.01556396484375,
      "step": 7307
    },
    {
      "epoch": 1.6396679380749384,
      "grad_norm": 0.358399361371994,
      "learning_rate": 0.0002245184342192641,
      "loss": 0.056,
      "step": 7308
    },
    {
      "epoch": 1.6396679380749384,
      "gripper_loss": 0.59375,
      "loss": 0.08251953125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.11767578125,
      "step": 7308
    },
    {
      "epoch": 1.6398923042405205,
      "grad_norm": 0.5162544846534729,
      "learning_rate": 0.00022445819070996542,
      "loss": 0.0705,
      "step": 7309
    },
    {
      "epoch": 1.6398923042405205,
      "gripper_loss": 0.053466796875,
      "loss": 0.0849609375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.2236328125,
      "step": 7309
    },
    {
      "epoch": 1.6401166704061028,
      "grad_norm": 0.5334839820861816,
      "learning_rate": 0.00022439794869944847,
      "loss": 0.0671,
      "step": 7310
    },
    {
      "epoch": 1.6401166704061028,
      "gripper_loss": 0.0084228515625,
      "loss": 0.044677734375,
      "pos_loss": 0.380859375,
      "rot_loss": 0.05322265625,
      "step": 7310
    },
    {
      "epoch": 1.640341036571685,
      "grad_norm": 0.5401691198348999,
      "learning_rate": 0.00022433770819124834,
      "loss": 0.0827,
      "step": 7311
    },
    {
      "epoch": 1.640341036571685,
      "gripper_loss": 0.208984375,
      "loss": 0.014892578125,
      "pos_loss": 0.0281982421875,
      "rot_loss": 0.028564453125,
      "step": 7311
    },
    {
      "epoch": 1.6405654027372671,
      "grad_norm": 0.3290412724018097,
      "learning_rate": 0.00022427746918889997,
      "loss": 0.0564,
      "step": 7312
    },
    {
      "epoch": 1.6405654027372671,
      "gripper_loss": 0.1826171875,
      "loss": 0.08251953125,
      "pos_loss": 0.734375,
      "rot_loss": 0.033447265625,
      "step": 7312
    },
    {
      "epoch": 1.6407897689028494,
      "grad_norm": 0.4083808362483978,
      "learning_rate": 0.00022421723169593804,
      "loss": 0.0793,
      "step": 7313
    },
    {
      "epoch": 1.6407897689028494,
      "gripper_loss": 0.6640625,
      "loss": 0.0556640625,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.1630859375,
      "step": 7313
    },
    {
      "epoch": 1.6410141350684317,
      "grad_norm": 0.4581533372402191,
      "learning_rate": 0.00022415699571589733,
      "loss": 0.0636,
      "step": 7314
    },
    {
      "epoch": 1.6410141350684317,
      "gripper_loss": 0.05810546875,
      "loss": 0.043701171875,
      "pos_loss": 0.169921875,
      "rot_loss": 0.23046875,
      "step": 7314
    },
    {
      "epoch": 1.6412385012340138,
      "grad_norm": 0.3245644271373749,
      "learning_rate": 0.00022409676125231242,
      "loss": 0.0544,
      "step": 7315
    },
    {
      "epoch": 1.6412385012340138,
      "gripper_loss": 0.037353515625,
      "loss": 0.034423828125,
      "pos_loss": 0.28125,
      "rot_loss": 0.045654296875,
      "step": 7315
    },
    {
      "epoch": 1.6414628673995961,
      "grad_norm": 0.45052579045295715,
      "learning_rate": 0.00022403652830871784,
      "loss": 0.0582,
      "step": 7316
    },
    {
      "epoch": 1.6414628673995961,
      "gripper_loss": 1.390625,
      "loss": 0.494140625,
      "pos_loss": 0.5703125,
      "rot_loss": 0.578125,
      "step": 7316
    },
    {
      "epoch": 1.6416872335651784,
      "grad_norm": 1.3005411624908447,
      "learning_rate": 0.00022397629688864819,
      "loss": 0.5222,
      "step": 7317
    },
    {
      "epoch": 1.6416872335651784,
      "gripper_loss": 0.012451171875,
      "loss": 0.0224609375,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.033935546875,
      "step": 7317
    },
    {
      "epoch": 1.6419115997307605,
      "grad_norm": 0.5131031274795532,
      "learning_rate": 0.00022391606699563753,
      "loss": 0.0723,
      "step": 7318
    },
    {
      "epoch": 1.6419115997307605,
      "gripper_loss": 0.341796875,
      "loss": 0.162109375,
      "pos_loss": 0.40625,
      "rot_loss": 0.314453125,
      "step": 7318
    },
    {
      "epoch": 1.6421359658963428,
      "grad_norm": 1.3300409317016602,
      "learning_rate": 0.00022385583863322034,
      "loss": 0.1978,
      "step": 7319
    },
    {
      "epoch": 1.6421359658963428,
      "gripper_loss": 0.06787109375,
      "loss": 0.0732421875,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.466796875,
      "step": 7319
    },
    {
      "epoch": 1.642360332061925,
      "grad_norm": 0.546585738658905,
      "learning_rate": 0.00022379561180493069,
      "loss": 0.0756,
      "step": 7320
    },
    {
      "epoch": 1.642360332061925,
      "gripper_loss": 0.197265625,
      "loss": 0.036865234375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.107421875,
      "step": 7320
    },
    {
      "epoch": 1.6425846982275072,
      "grad_norm": 0.36597830057144165,
      "learning_rate": 0.0002237353865143027,
      "loss": 0.0578,
      "step": 7321
    },
    {
      "epoch": 1.6425846982275072,
      "gripper_loss": 0.03369140625,
      "loss": 0.203125,
      "pos_loss": 0.8125,
      "rot_loss": 1.265625,
      "step": 7321
    },
    {
      "epoch": 1.6428090643930895,
      "grad_norm": 0.568992555141449,
      "learning_rate": 0.00022367516276487049,
      "loss": 0.0848,
      "step": 7322
    },
    {
      "epoch": 1.6428090643930895,
      "gripper_loss": 0.9921875,
      "loss": 0.08837890625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.030029296875,
      "step": 7322
    },
    {
      "epoch": 1.6430334305586718,
      "grad_norm": 0.45313316583633423,
      "learning_rate": 0.00022361494056016775,
      "loss": 0.083,
      "step": 7323
    },
    {
      "epoch": 1.6430334305586718,
      "gripper_loss": 0.0311279296875,
      "loss": 0.01129150390625,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.01055908203125,
      "step": 7323
    },
    {
      "epoch": 1.6432577967242539,
      "grad_norm": 0.5154773592948914,
      "learning_rate": 0.0002235547199037284,
      "loss": 0.0824,
      "step": 7324
    },
    {
      "epoch": 1.6432577967242539,
      "gripper_loss": 0.443359375,
      "loss": 0.0927734375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.2451171875,
      "step": 7324
    },
    {
      "epoch": 1.6434821628898362,
      "grad_norm": 0.5463142395019531,
      "learning_rate": 0.0002234945007990861,
      "loss": 0.075,
      "step": 7325
    },
    {
      "epoch": 1.6434821628898362,
      "gripper_loss": 0.376953125,
      "loss": 0.055908203125,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.19921875,
      "step": 7325
    },
    {
      "epoch": 1.6437065290554185,
      "grad_norm": 0.49565625190734863,
      "learning_rate": 0.00022343428324977463,
      "loss": 0.0651,
      "step": 7326
    },
    {
      "epoch": 1.6437065290554185,
      "gripper_loss": 0.58203125,
      "loss": 0.04052734375,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.06640625,
      "step": 7326
    },
    {
      "epoch": 1.6439308952210006,
      "grad_norm": 0.3250216543674469,
      "learning_rate": 0.0002233740672593273,
      "loss": 0.0647,
      "step": 7327
    },
    {
      "epoch": 1.6439308952210006,
      "gripper_loss": 0.4765625,
      "loss": 0.294921875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.314453125,
      "step": 7327
    },
    {
      "epoch": 1.6441552613865829,
      "grad_norm": 1.6906553506851196,
      "learning_rate": 0.0002233138528312777,
      "loss": 0.3335,
      "step": 7328
    },
    {
      "epoch": 1.6441552613865829,
      "gripper_loss": 0.0830078125,
      "loss": 0.1181640625,
      "pos_loss": 0.423828125,
      "rot_loss": 0.34765625,
      "step": 7328
    },
    {
      "epoch": 1.6443796275521652,
      "grad_norm": 0.9028230309486389,
      "learning_rate": 0.00022325363996915915,
      "loss": 0.1796,
      "step": 7329
    },
    {
      "epoch": 1.6443796275521652,
      "gripper_loss": 0.02734375,
      "loss": 0.052734375,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.265625,
      "step": 7329
    },
    {
      "epoch": 1.6446039937177472,
      "grad_norm": 0.418252170085907,
      "learning_rate": 0.00022319342867650505,
      "loss": 0.0681,
      "step": 7330
    },
    {
      "epoch": 1.6446039937177472,
      "gripper_loss": 0.294921875,
      "loss": 0.025146484375,
      "pos_loss": 0.076171875,
      "rot_loss": 0.0205078125,
      "step": 7330
    },
    {
      "epoch": 1.6448283598833298,
      "grad_norm": 0.5089704394340515,
      "learning_rate": 0.0002231332189568484,
      "loss": 0.0834,
      "step": 7331
    },
    {
      "epoch": 1.6448283598833298,
      "gripper_loss": 0.37109375,
      "loss": 0.30859375,
      "pos_loss": 0.515625,
      "rot_loss": 0.72265625,
      "step": 7331
    },
    {
      "epoch": 1.6450527260489118,
      "grad_norm": 1.6221166849136353,
      "learning_rate": 0.00022307301081372224,
      "loss": 0.3296,
      "step": 7332
    },
    {
      "epoch": 1.6450527260489118,
      "gripper_loss": 0.0169677734375,
      "loss": 0.049072265625,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.1572265625,
      "step": 7332
    },
    {
      "epoch": 1.645277092214494,
      "grad_norm": 0.6042526960372925,
      "learning_rate": 0.00022301280425065967,
      "loss": 0.0753,
      "step": 7333
    },
    {
      "epoch": 1.645277092214494,
      "gripper_loss": 0.28515625,
      "loss": 0.042724609375,
      "pos_loss": 0.203125,
      "rot_loss": 0.0673828125,
      "step": 7333
    },
    {
      "epoch": 1.6455014583800764,
      "grad_norm": 0.5376022458076477,
      "learning_rate": 0.00022295259927119357,
      "loss": 0.0609,
      "step": 7334
    },
    {
      "epoch": 1.6455014583800764,
      "gripper_loss": 0.232421875,
      "loss": 0.07763671875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.337890625,
      "step": 7334
    },
    {
      "epoch": 1.6457258245456585,
      "grad_norm": 0.5649939775466919,
      "learning_rate": 0.00022289239587885683,
      "loss": 0.0891,
      "step": 7335
    },
    {
      "epoch": 1.6457258245456585,
      "gripper_loss": 0.0908203125,
      "loss": 0.1552734375,
      "pos_loss": 0.50390625,
      "rot_loss": 0.33203125,
      "step": 7335
    },
    {
      "epoch": 1.6459501907112406,
      "grad_norm": 1.323140025138855,
      "learning_rate": 0.000222832194077182,
      "loss": 0.1912,
      "step": 7336
    },
    {
      "epoch": 1.6459501907112406,
      "gripper_loss": 0.1142578125,
      "loss": 0.0220947265625,
      "pos_loss": 0.029296875,
      "rot_loss": 0.025634765625,
      "step": 7336
    },
    {
      "epoch": 1.6461745568768231,
      "grad_norm": 0.713537871837616,
      "learning_rate": 0.00022277199386970168,
      "loss": 0.125,
      "step": 7337
    },
    {
      "epoch": 1.6461745568768231,
      "gripper_loss": 0.337890625,
      "loss": 0.0267333984375,
      "pos_loss": 0.056396484375,
      "rot_loss": 0.06298828125,
      "step": 7337
    },
    {
      "epoch": 1.6463989230424052,
      "grad_norm": 0.577064573764801,
      "learning_rate": 0.00022271179525994847,
      "loss": 0.104,
      "step": 7338
    },
    {
      "epoch": 1.6463989230424052,
      "gripper_loss": 0.4375,
      "loss": 0.07080078125,
      "pos_loss": 0.3515625,
      "rot_loss": 0.1982421875,
      "step": 7338
    },
    {
      "epoch": 1.6466232892079873,
      "grad_norm": 0.48462823033332825,
      "learning_rate": 0.00022265159825145492,
      "loss": 0.0698,
      "step": 7339
    },
    {
      "epoch": 1.6466232892079873,
      "gripper_loss": 0.6328125,
      "loss": 0.0693359375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.08056640625,
      "step": 7339
    },
    {
      "epoch": 1.6468476553735698,
      "grad_norm": 0.45746010541915894,
      "learning_rate": 0.0002225914028477531,
      "loss": 0.0701,
      "step": 7340
    },
    {
      "epoch": 1.6468476553735698,
      "gripper_loss": 0.0205078125,
      "loss": 0.02783203125,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.036376953125,
      "step": 7340
    },
    {
      "epoch": 1.6470720215391519,
      "grad_norm": 0.5369535088539124,
      "learning_rate": 0.0002225312090523754,
      "loss": 0.0526,
      "step": 7341
    },
    {
      "epoch": 1.6470720215391519,
      "gripper_loss": 0.01312255859375,
      "loss": 0.08935546875,
      "pos_loss": 0.76171875,
      "rot_loss": 0.130859375,
      "step": 7341
    },
    {
      "epoch": 1.647296387704734,
      "grad_norm": 0.42343762516975403,
      "learning_rate": 0.00022247101686885402,
      "loss": 0.0537,
      "step": 7342
    },
    {
      "epoch": 1.647296387704734,
      "gripper_loss": 0.01165771484375,
      "loss": 0.05712890625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.07763671875,
      "step": 7342
    },
    {
      "epoch": 1.6475207538703165,
      "grad_norm": 0.5471617579460144,
      "learning_rate": 0.00022241082630072097,
      "loss": 0.0796,
      "step": 7343
    },
    {
      "epoch": 1.6475207538703165,
      "gripper_loss": 0.025390625,
      "loss": 0.04345703125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.0908203125,
      "step": 7343
    },
    {
      "epoch": 1.6477451200358986,
      "grad_norm": 0.5694088339805603,
      "learning_rate": 0.00022235063735150806,
      "loss": 0.0835,
      "step": 7344
    },
    {
      "epoch": 1.6477451200358986,
      "gripper_loss": 0.08642578125,
      "loss": 0.12158203125,
      "pos_loss": 0.482421875,
      "rot_loss": 0.5390625,
      "step": 7344
    },
    {
      "epoch": 1.6479694862014809,
      "grad_norm": 0.5742378234863281,
      "learning_rate": 0.00022229045002474727,
      "loss": 0.0614,
      "step": 7345
    },
    {
      "epoch": 1.6479694862014809,
      "gripper_loss": 0.1708984375,
      "loss": 0.1279296875,
      "pos_loss": 0.61328125,
      "rot_loss": 0.302734375,
      "step": 7345
    },
    {
      "epoch": 1.6481938523670632,
      "grad_norm": 0.5981996059417725,
      "learning_rate": 0.00022223026432397034,
      "loss": 0.0925,
      "step": 7346
    },
    {
      "epoch": 1.6481938523670632,
      "gripper_loss": 1.234375,
      "loss": 0.049072265625,
      "pos_loss": 0.031494140625,
      "rot_loss": 0.0218505859375,
      "step": 7346
    },
    {
      "epoch": 1.6484182185326453,
      "grad_norm": 0.5123757123947144,
      "learning_rate": 0.0002221700802527091,
      "loss": 0.0902,
      "step": 7347
    },
    {
      "epoch": 1.6484182185326453,
      "gripper_loss": 1.640625,
      "loss": 0.1123046875,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.291015625,
      "step": 7347
    },
    {
      "epoch": 1.6486425846982276,
      "grad_norm": 0.5294367074966431,
      "learning_rate": 0.00022210989781449482,
      "loss": 0.076,
      "step": 7348
    },
    {
      "epoch": 1.6486425846982276,
      "gripper_loss": 0.0281982421875,
      "loss": 0.0341796875,
      "pos_loss": 0.236328125,
      "rot_loss": 0.044189453125,
      "step": 7348
    },
    {
      "epoch": 1.6488669508638099,
      "grad_norm": 0.4679263234138489,
      "learning_rate": 0.00022204971701285926,
      "loss": 0.0533,
      "step": 7349
    },
    {
      "epoch": 1.6488669508638099,
      "gripper_loss": 0.0123291015625,
      "loss": 0.03271484375,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.1201171875,
      "step": 7349
    },
    {
      "epoch": 1.649091317029392,
      "grad_norm": 0.4230709373950958,
      "learning_rate": 0.0002219895378513336,
      "loss": 0.0565,
      "step": 7350
    },
    {
      "epoch": 1.649091317029392,
      "gripper_loss": 0.0120849609375,
      "loss": 0.07568359375,
      "pos_loss": 0.341796875,
      "rot_loss": 0.4140625,
      "step": 7350
    },
    {
      "epoch": 1.6493156831949742,
      "grad_norm": 0.766050398349762,
      "learning_rate": 0.00022192936033344922,
      "loss": 0.1118,
      "step": 7351
    },
    {
      "epoch": 1.6493156831949742,
      "gripper_loss": 0.322265625,
      "loss": 0.0830078125,
      "pos_loss": 0.69140625,
      "rot_loss": 0.036376953125,
      "step": 7351
    },
    {
      "epoch": 1.6495400493605565,
      "grad_norm": 0.4976435899734497,
      "learning_rate": 0.00022186918446273737,
      "loss": 0.0728,
      "step": 7352
    },
    {
      "epoch": 1.6495400493605565,
      "gripper_loss": 0.14453125,
      "loss": 0.049072265625,
      "pos_loss": 0.25,
      "rot_loss": 0.169921875,
      "step": 7352
    },
    {
      "epoch": 1.6497644155261386,
      "grad_norm": 0.4270121455192566,
      "learning_rate": 0.000221809010242729,
      "loss": 0.0494,
      "step": 7353
    },
    {
      "epoch": 1.6497644155261386,
      "gripper_loss": 0.337890625,
      "loss": 0.05810546875,
      "pos_loss": 0.333984375,
      "rot_loss": 0.1298828125,
      "step": 7353
    },
    {
      "epoch": 1.649988781691721,
      "grad_norm": 0.44475722312927246,
      "learning_rate": 0.00022174883767695522,
      "loss": 0.0599,
      "step": 7354
    },
    {
      "epoch": 1.649988781691721,
      "gripper_loss": 0.546875,
      "loss": 0.053466796875,
      "pos_loss": 0.18359375,
      "rot_loss": 0.15625,
      "step": 7354
    },
    {
      "epoch": 1.6502131478573032,
      "grad_norm": 0.4192960858345032,
      "learning_rate": 0.00022168866676894683,
      "loss": 0.0479,
      "step": 7355
    },
    {
      "epoch": 1.6502131478573032,
      "gripper_loss": 0.01068115234375,
      "loss": 0.046142578125,
      "pos_loss": 0.357421875,
      "rot_loss": 0.09619140625,
      "step": 7355
    },
    {
      "epoch": 1.6504375140228853,
      "grad_norm": 0.30043888092041016,
      "learning_rate": 0.00022162849752223484,
      "loss": 0.0604,
      "step": 7356
    },
    {
      "epoch": 1.6504375140228853,
      "gripper_loss": 0.0634765625,
      "loss": 0.0927734375,
      "pos_loss": 0.75,
      "rot_loss": 0.125,
      "step": 7356
    },
    {
      "epoch": 1.6506618801884676,
      "grad_norm": 0.48612743616104126,
      "learning_rate": 0.00022156832994034965,
      "loss": 0.0726,
      "step": 7357
    },
    {
      "epoch": 1.6506618801884676,
      "gripper_loss": 0.4609375,
      "loss": 0.06298828125,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.3203125,
      "step": 7357
    },
    {
      "epoch": 1.65088624635405,
      "grad_norm": 0.4325074553489685,
      "learning_rate": 0.000221508164026822,
      "loss": 0.0795,
      "step": 7358
    },
    {
      "epoch": 1.65088624635405,
      "gripper_loss": 0.01531982421875,
      "loss": 0.059814453125,
      "pos_loss": 0.5625,
      "rot_loss": 0.03076171875,
      "step": 7358
    },
    {
      "epoch": 1.651110612519632,
      "grad_norm": 0.4690190255641937,
      "learning_rate": 0.0002214479997851825,
      "loss": 0.0614,
      "step": 7359
    },
    {
      "epoch": 1.651110612519632,
      "gripper_loss": 0.0859375,
      "loss": 0.115234375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.2294921875,
      "step": 7359
    },
    {
      "epoch": 1.6513349786852143,
      "grad_norm": 0.7342276573181152,
      "learning_rate": 0.00022138783721896148,
      "loss": 0.096,
      "step": 7360
    },
    {
      "epoch": 1.6513349786852143,
      "gripper_loss": 0.7265625,
      "loss": 0.048828125,
      "pos_loss": 0.06640625,
      "rot_loss": 0.1416015625,
      "step": 7360
    },
    {
      "epoch": 1.6515593448507966,
      "grad_norm": 0.36132341623306274,
      "learning_rate": 0.00022132767633168922,
      "loss": 0.0534,
      "step": 7361
    },
    {
      "epoch": 1.6515593448507966,
      "gripper_loss": 0.005126953125,
      "loss": 0.0859375,
      "pos_loss": 0.69140625,
      "rot_loss": 0.1552734375,
      "step": 7361
    },
    {
      "epoch": 1.6517837110163787,
      "grad_norm": 0.41341498494148254,
      "learning_rate": 0.00022126751712689597,
      "loss": 0.0508,
      "step": 7362
    },
    {
      "epoch": 1.6517837110163787,
      "gripper_loss": 0.0213623046875,
      "loss": 0.1240234375,
      "pos_loss": 1.1640625,
      "rot_loss": 0.06591796875,
      "step": 7362
    },
    {
      "epoch": 1.652008077181961,
      "grad_norm": 0.7061652541160583,
      "learning_rate": 0.00022120735960811177,
      "loss": 0.0974,
      "step": 7363
    },
    {
      "epoch": 1.652008077181961,
      "gripper_loss": 0.11669921875,
      "loss": 0.0654296875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.07763671875,
      "step": 7363
    },
    {
      "epoch": 1.6522324433475433,
      "grad_norm": 0.5473268628120422,
      "learning_rate": 0.00022114720377886682,
      "loss": 0.0598,
      "step": 7364
    },
    {
      "epoch": 1.6522324433475433,
      "gripper_loss": 0.007659912109375,
      "loss": 0.0279541015625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.033447265625,
      "step": 7364
    },
    {
      "epoch": 1.6524568095131253,
      "grad_norm": 0.5462014079093933,
      "learning_rate": 0.00022108704964269088,
      "loss": 0.07,
      "step": 7365
    },
    {
      "epoch": 1.6524568095131253,
      "gripper_loss": 0.0299072265625,
      "loss": 0.046630859375,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.328125,
      "step": 7365
    },
    {
      "epoch": 1.6526811756787076,
      "grad_norm": 0.40327292680740356,
      "learning_rate": 0.00022102689720311384,
      "loss": 0.0534,
      "step": 7366
    },
    {
      "epoch": 1.6526811756787076,
      "gripper_loss": 1.1015625,
      "loss": 0.1123046875,
      "pos_loss": 0.7265625,
      "rot_loss": 0.057861328125,
      "step": 7366
    },
    {
      "epoch": 1.65290554184429,
      "grad_norm": 0.4103415012359619,
      "learning_rate": 0.00022096674646366533,
      "loss": 0.0721,
      "step": 7367
    },
    {
      "epoch": 1.65290554184429,
      "gripper_loss": 0.2490234375,
      "loss": 0.0419921875,
      "pos_loss": 0.134765625,
      "rot_loss": 0.1474609375,
      "step": 7367
    },
    {
      "epoch": 1.653129908009872,
      "grad_norm": 0.42926985025405884,
      "learning_rate": 0.000220906597427875,
      "loss": 0.0597,
      "step": 7368
    },
    {
      "epoch": 1.653129908009872,
      "gripper_loss": 0.98828125,
      "loss": 0.390625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.71875,
      "step": 7368
    },
    {
      "epoch": 1.6533542741754543,
      "grad_norm": 1.4696394205093384,
      "learning_rate": 0.00022084645009927252,
      "loss": 0.3887,
      "step": 7369
    },
    {
      "epoch": 1.6533542741754543,
      "gripper_loss": 0.70703125,
      "loss": 0.10693359375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.28515625,
      "step": 7369
    },
    {
      "epoch": 1.6535786403410366,
      "grad_norm": 0.7854558825492859,
      "learning_rate": 0.00022078630448138707,
      "loss": 0.1181,
      "step": 7370
    },
    {
      "epoch": 1.6535786403410366,
      "gripper_loss": 0.09326171875,
      "loss": 0.017578125,
      "pos_loss": 0.10693359375,
      "rot_loss": 0.01202392578125,
      "step": 7370
    },
    {
      "epoch": 1.6538030065066187,
      "grad_norm": 0.3232451379299164,
      "learning_rate": 0.00022072616057774815,
      "loss": 0.0431,
      "step": 7371
    },
    {
      "epoch": 1.6538030065066187,
      "gripper_loss": 0.1962890625,
      "loss": 0.0146484375,
      "pos_loss": 0.041748046875,
      "rot_loss": 0.0089111328125,
      "step": 7371
    },
    {
      "epoch": 1.654027372672201,
      "grad_norm": 0.29513442516326904,
      "learning_rate": 0.00022066601839188483,
      "loss": 0.0396,
      "step": 7372
    },
    {
      "epoch": 1.654027372672201,
      "gripper_loss": 0.1142578125,
      "loss": 0.10986328125,
      "pos_loss": 0.8125,
      "rot_loss": 0.060791015625,
      "step": 7372
    },
    {
      "epoch": 1.6542517388377833,
      "grad_norm": 1.0620722770690918,
      "learning_rate": 0.00022060587792732642,
      "loss": 0.1154,
      "step": 7373
    },
    {
      "epoch": 1.6542517388377833,
      "gripper_loss": 0.240234375,
      "loss": 0.055419921875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.12890625,
      "step": 7373
    },
    {
      "epoch": 1.6544761050033654,
      "grad_norm": 0.6303127408027649,
      "learning_rate": 0.0002205457391876017,
      "loss": 0.069,
      "step": 7374
    },
    {
      "epoch": 1.6544761050033654,
      "gripper_loss": 0.0791015625,
      "loss": 0.0390625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.109375,
      "step": 7374
    },
    {
      "epoch": 1.6547004711689477,
      "grad_norm": 0.6232677698135376,
      "learning_rate": 0.0002204856021762397,
      "loss": 0.0685,
      "step": 7375
    },
    {
      "epoch": 1.6547004711689477,
      "gripper_loss": 0.17578125,
      "loss": 0.05224609375,
      "pos_loss": 0.265625,
      "rot_loss": 0.15625,
      "step": 7375
    },
    {
      "epoch": 1.65492483733453,
      "grad_norm": 0.5527195930480957,
      "learning_rate": 0.00022042546689676927,
      "loss": 0.0724,
      "step": 7376
    },
    {
      "epoch": 1.65492483733453,
      "gripper_loss": 0.2255859375,
      "loss": 0.1376953125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.5,
      "step": 7376
    },
    {
      "epoch": 1.655149203500112,
      "grad_norm": 0.9497729539871216,
      "learning_rate": 0.00022036533335271916,
      "loss": 0.1505,
      "step": 7377
    },
    {
      "epoch": 1.655149203500112,
      "gripper_loss": 0.48828125,
      "loss": 0.0361328125,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.056396484375,
      "step": 7377
    },
    {
      "epoch": 1.6553735696656944,
      "grad_norm": 0.3942815065383911,
      "learning_rate": 0.00022030520154761785,
      "loss": 0.0753,
      "step": 7378
    },
    {
      "epoch": 1.6553735696656944,
      "gripper_loss": 0.052978515625,
      "loss": 0.05615234375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.26171875,
      "step": 7378
    },
    {
      "epoch": 1.6555979358312767,
      "grad_norm": 0.5022599697113037,
      "learning_rate": 0.00022024507148499386,
      "loss": 0.0622,
      "step": 7379
    },
    {
      "epoch": 1.6555979358312767,
      "gripper_loss": 0.427734375,
      "loss": 0.357421875,
      "pos_loss": 0.75390625,
      "rot_loss": 0.5546875,
      "step": 7379
    },
    {
      "epoch": 1.6558223019968588,
      "grad_norm": 1.579028606414795,
      "learning_rate": 0.00022018494316837565,
      "loss": 0.3195,
      "step": 7380
    },
    {
      "epoch": 1.6558223019968588,
      "gripper_loss": 0.01397705078125,
      "loss": 0.0191650390625,
      "pos_loss": 0.045166015625,
      "rot_loss": 0.07958984375,
      "step": 7380
    },
    {
      "epoch": 1.656046668162441,
      "grad_norm": 0.4723196029663086,
      "learning_rate": 0.0002201248166012915,
      "loss": 0.0597,
      "step": 7381
    },
    {
      "epoch": 1.656046668162441,
      "gripper_loss": 0.2294921875,
      "loss": 0.040771484375,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.212890625,
      "step": 7381
    },
    {
      "epoch": 1.6562710343280234,
      "grad_norm": 0.5690962076187134,
      "learning_rate": 0.00022006469178726973,
      "loss": 0.0588,
      "step": 7382
    },
    {
      "epoch": 1.6562710343280234,
      "gripper_loss": 0.0157470703125,
      "loss": 0.051025390625,
      "pos_loss": 0.421875,
      "rot_loss": 0.047119140625,
      "step": 7382
    },
    {
      "epoch": 1.6564954004936054,
      "grad_norm": 0.4780213534832001,
      "learning_rate": 0.0002200045687298382,
      "loss": 0.0867,
      "step": 7383
    },
    {
      "epoch": 1.6564954004936054,
      "gripper_loss": 0.2255859375,
      "loss": 0.036865234375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.01226806640625,
      "step": 7383
    },
    {
      "epoch": 1.6567197666591877,
      "grad_norm": 0.36873069405555725,
      "learning_rate": 0.0002199444474325251,
      "loss": 0.0497,
      "step": 7384
    },
    {
      "epoch": 1.6567197666591877,
      "gripper_loss": 0.01318359375,
      "loss": 0.0966796875,
      "pos_loss": 0.94140625,
      "rot_loss": 0.0224609375,
      "step": 7384
    },
    {
      "epoch": 1.65694413282477,
      "grad_norm": 0.512057363986969,
      "learning_rate": 0.0002198843278988582,
      "loss": 0.0672,
      "step": 7385
    },
    {
      "epoch": 1.65694413282477,
      "gripper_loss": 1.5,
      "loss": 0.057373046875,
      "pos_loss": 0.0198974609375,
      "rot_loss": 0.03369140625,
      "step": 7385
    },
    {
      "epoch": 1.6571684989903521,
      "grad_norm": 0.5120788812637329,
      "learning_rate": 0.00021982421013236545,
      "loss": 0.0697,
      "step": 7386
    },
    {
      "epoch": 1.6571684989903521,
      "gripper_loss": 0.046142578125,
      "loss": 0.05908203125,
      "pos_loss": 0.357421875,
      "rot_loss": 0.1875,
      "step": 7386
    },
    {
      "epoch": 1.6573928651559346,
      "grad_norm": 0.40471845865249634,
      "learning_rate": 0.0002197640941365743,
      "loss": 0.0611,
      "step": 7387
    },
    {
      "epoch": 1.6573928651559346,
      "gripper_loss": 0.018310546875,
      "loss": 0.03857421875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.1376953125,
      "step": 7387
    },
    {
      "epoch": 1.6576172313215167,
      "grad_norm": 0.6307266354560852,
      "learning_rate": 0.0002197039799150125,
      "loss": 0.0644,
      "step": 7388
    },
    {
      "epoch": 1.6576172313215167,
      "gripper_loss": 0.2236328125,
      "loss": 0.06298828125,
      "pos_loss": 0.416015625,
      "rot_loss": 0.1240234375,
      "step": 7388
    },
    {
      "epoch": 1.6578415974870988,
      "grad_norm": 0.38432323932647705,
      "learning_rate": 0.00021964386747120747,
      "loss": 0.0715,
      "step": 7389
    },
    {
      "epoch": 1.6578415974870988,
      "gripper_loss": 0.01080322265625,
      "loss": 0.09326171875,
      "pos_loss": 0.69921875,
      "rot_loss": 0.248046875,
      "step": 7389
    },
    {
      "epoch": 1.6580659636526813,
      "grad_norm": 0.42845526337623596,
      "learning_rate": 0.00021958375680868663,
      "loss": 0.0581,
      "step": 7390
    },
    {
      "epoch": 1.6580659636526813,
      "gripper_loss": 0.0135498046875,
      "loss": 0.0277099609375,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.01287841796875,
      "step": 7390
    },
    {
      "epoch": 1.6582903298182634,
      "grad_norm": 0.45322751998901367,
      "learning_rate": 0.00021952364793097716,
      "loss": 0.0636,
      "step": 7391
    },
    {
      "epoch": 1.6582903298182634,
      "gripper_loss": 0.349609375,
      "loss": 0.03662109375,
      "pos_loss": 0.07861328125,
      "rot_loss": 0.119140625,
      "step": 7391
    },
    {
      "epoch": 1.6585146959838455,
      "grad_norm": 0.44234925508499146,
      "learning_rate": 0.0002194635408416062,
      "loss": 0.0621,
      "step": 7392
    },
    {
      "epoch": 1.6585146959838455,
      "gripper_loss": 0.330078125,
      "loss": 0.1923828125,
      "pos_loss": 0.8984375,
      "rot_loss": 0.267578125,
      "step": 7392
    },
    {
      "epoch": 1.658739062149428,
      "grad_norm": 1.363175392150879,
      "learning_rate": 0.0002194034355441009,
      "loss": 0.194,
      "step": 7393
    },
    {
      "epoch": 1.658739062149428,
      "gripper_loss": 0.88671875,
      "loss": 0.0419921875,
      "pos_loss": 0.045166015625,
      "rot_loss": 0.041259765625,
      "step": 7393
    },
    {
      "epoch": 1.65896342831501,
      "grad_norm": 0.5834168195724487,
      "learning_rate": 0.00021934333204198827,
      "loss": 0.0831,
      "step": 7394
    },
    {
      "epoch": 1.65896342831501,
      "gripper_loss": 0.6171875,
      "loss": 0.2490234375,
      "pos_loss": 0.7265625,
      "rot_loss": 0.23046875,
      "step": 7394
    },
    {
      "epoch": 1.6591877944805922,
      "grad_norm": 1.4710227251052856,
      "learning_rate": 0.00021928323033879504,
      "loss": 0.257,
      "step": 7395
    },
    {
      "epoch": 1.6591877944805922,
      "gripper_loss": 0.1611328125,
      "loss": 0.11669921875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.15234375,
      "step": 7395
    },
    {
      "epoch": 1.6594121606461747,
      "grad_norm": 0.8868467807769775,
      "learning_rate": 0.000219223130438048,
      "loss": 0.1483,
      "step": 7396
    },
    {
      "epoch": 1.6594121606461747,
      "gripper_loss": 0.431640625,
      "loss": 0.037353515625,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.0576171875,
      "step": 7396
    },
    {
      "epoch": 1.6596365268117568,
      "grad_norm": 0.5877549052238464,
      "learning_rate": 0.0002191630323432737,
      "loss": 0.0675,
      "step": 7397
    },
    {
      "epoch": 1.6596365268117568,
      "gripper_loss": 0.578125,
      "loss": 0.046875,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.048583984375,
      "step": 7397
    },
    {
      "epoch": 1.6598608929773389,
      "grad_norm": 0.6617486476898193,
      "learning_rate": 0.0002191029360579987,
      "loss": 0.0645,
      "step": 7398
    },
    {
      "epoch": 1.6598608929773389,
      "gripper_loss": 0.0203857421875,
      "loss": 0.08154296875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.1435546875,
      "step": 7398
    },
    {
      "epoch": 1.6600852591429214,
      "grad_norm": 0.6482231020927429,
      "learning_rate": 0.00021904284158574962,
      "loss": 0.0755,
      "step": 7399
    },
    {
      "epoch": 1.6600852591429214,
      "gripper_loss": 0.7109375,
      "loss": 0.0810546875,
      "pos_loss": 0.212890625,
      "rot_loss": 0.259765625,
      "step": 7399
    },
    {
      "epoch": 1.6603096253085035,
      "grad_norm": 0.7434885501861572,
      "learning_rate": 0.0002189827489300525,
      "loss": 0.0913,
      "step": 7400
    },
    {
      "epoch": 1.6603096253085035,
      "gripper_loss": 0.02294921875,
      "loss": 0.055419921875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.05419921875,
      "step": 7400
    },
    {
      "epoch": 1.6605339914740858,
      "grad_norm": 0.7852038145065308,
      "learning_rate": 0.0002189226580944337,
      "loss": 0.0706,
      "step": 7401
    },
    {
      "epoch": 1.6605339914740858,
      "gripper_loss": 0.30078125,
      "loss": 0.052001953125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.0218505859375,
      "step": 7401
    },
    {
      "epoch": 1.660758357639668,
      "grad_norm": 0.5062310099601746,
      "learning_rate": 0.00021886256908241924,
      "loss": 0.0491,
      "step": 7402
    },
    {
      "epoch": 1.660758357639668,
      "gripper_loss": 0.11669921875,
      "loss": 0.169921875,
      "pos_loss": 1.234375,
      "rot_loss": 0.1826171875,
      "step": 7402
    },
    {
      "epoch": 1.6609827238052501,
      "grad_norm": 0.7691264152526855,
      "learning_rate": 0.0002188024818975353,
      "loss": 0.1026,
      "step": 7403
    },
    {
      "epoch": 1.6609827238052501,
      "gripper_loss": 0.03759765625,
      "loss": 0.03955078125,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.123046875,
      "step": 7403
    },
    {
      "epoch": 1.6612070899708324,
      "grad_norm": 0.4548291563987732,
      "learning_rate": 0.00021874239654330748,
      "loss": 0.0885,
      "step": 7404
    },
    {
      "epoch": 1.6612070899708324,
      "gripper_loss": 0.033447265625,
      "loss": 0.06005859375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.107421875,
      "step": 7404
    },
    {
      "epoch": 1.6614314561364147,
      "grad_norm": 0.5361475944519043,
      "learning_rate": 0.00021868231302326173,
      "loss": 0.0905,
      "step": 7405
    },
    {
      "epoch": 1.6614314561364147,
      "gripper_loss": 0.027099609375,
      "loss": 0.07080078125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.0419921875,
      "step": 7405
    },
    {
      "epoch": 1.6616558223019968,
      "grad_norm": 0.397666871547699,
      "learning_rate": 0.0002186222313409238,
      "loss": 0.0689,
      "step": 7406
    },
    {
      "epoch": 1.6616558223019968,
      "gripper_loss": 0.1533203125,
      "loss": 0.11279296875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.2431640625,
      "step": 7406
    },
    {
      "epoch": 1.6618801884675791,
      "grad_norm": 1.0002046823501587,
      "learning_rate": 0.00021856215149981912,
      "loss": 0.1146,
      "step": 7407
    },
    {
      "epoch": 1.6618801884675791,
      "gripper_loss": 0.4921875,
      "loss": 0.166015625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.4609375,
      "step": 7407
    },
    {
      "epoch": 1.6621045546331614,
      "grad_norm": 0.6016929745674133,
      "learning_rate": 0.0002185020735034732,
      "loss": 0.1045,
      "step": 7408
    },
    {
      "epoch": 1.6621045546331614,
      "gripper_loss": 0.07080078125,
      "loss": 0.11962890625,
      "pos_loss": 0.90625,
      "rot_loss": 0.1884765625,
      "step": 7408
    },
    {
      "epoch": 1.6623289207987435,
      "grad_norm": 0.6606542468070984,
      "learning_rate": 0.0002184419973554113,
      "loss": 0.0662,
      "step": 7409
    },
    {
      "epoch": 1.6623289207987435,
      "gripper_loss": 0.1298828125,
      "loss": 0.068359375,
      "pos_loss": 0.40234375,
      "rot_loss": 0.12890625,
      "step": 7409
    },
    {
      "epoch": 1.6625532869643258,
      "grad_norm": 0.8808725476264954,
      "learning_rate": 0.0002183819230591588,
      "loss": 0.0913,
      "step": 7410
    },
    {
      "epoch": 1.6625532869643258,
      "gripper_loss": 0.142578125,
      "loss": 0.0244140625,
      "pos_loss": 0.054443359375,
      "rot_loss": 0.0260009765625,
      "step": 7410
    },
    {
      "epoch": 1.662777653129908,
      "grad_norm": 0.7190618515014648,
      "learning_rate": 0.00021832185061824075,
      "loss": 0.0686,
      "step": 7411
    },
    {
      "epoch": 1.662777653129908,
      "gripper_loss": 0.03515625,
      "loss": 0.150390625,
      "pos_loss": 1.40625,
      "rot_loss": 0.024169921875,
      "step": 7411
    },
    {
      "epoch": 1.6630020192954902,
      "grad_norm": 0.7562331557273865,
      "learning_rate": 0.0002182617800361823,
      "loss": 0.0882,
      "step": 7412
    },
    {
      "epoch": 1.6630020192954902,
      "gripper_loss": 0.1474609375,
      "loss": 0.06689453125,
      "pos_loss": 0.30078125,
      "rot_loss": 0.2216796875,
      "step": 7412
    },
    {
      "epoch": 1.6632263854610725,
      "grad_norm": 0.5985259413719177,
      "learning_rate": 0.00021820171131650822,
      "loss": 0.0629,
      "step": 7413
    },
    {
      "epoch": 1.6632263854610725,
      "gripper_loss": 0.6875,
      "loss": 0.03759765625,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.04736328125,
      "step": 7413
    },
    {
      "epoch": 1.6634507516266548,
      "grad_norm": 0.5549648404121399,
      "learning_rate": 0.00021814164446274333,
      "loss": 0.0891,
      "step": 7414
    },
    {
      "epoch": 1.6634507516266548,
      "gripper_loss": 0.1435546875,
      "loss": 0.0277099609375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.038818359375,
      "step": 7414
    },
    {
      "epoch": 1.6636751177922369,
      "grad_norm": 0.2942868173122406,
      "learning_rate": 0.00021808157947841232,
      "loss": 0.0412,
      "step": 7415
    },
    {
      "epoch": 1.6636751177922369,
      "gripper_loss": 0.0185546875,
      "loss": 0.14453125,
      "pos_loss": 1.2421875,
      "rot_loss": 0.244140625,
      "step": 7415
    },
    {
      "epoch": 1.6638994839578192,
      "grad_norm": 0.4096372723579407,
      "learning_rate": 0.00021802151636703994,
      "loss": 0.0788,
      "step": 7416
    },
    {
      "epoch": 1.6638994839578192,
      "gripper_loss": 0.0262451171875,
      "loss": 0.140625,
      "pos_loss": 1.40625,
      "rot_loss": 0.0184326171875,
      "step": 7416
    },
    {
      "epoch": 1.6641238501234015,
      "grad_norm": 0.4097742438316345,
      "learning_rate": 0.00021796145513215041,
      "loss": 0.0758,
      "step": 7417
    },
    {
      "epoch": 1.6641238501234015,
      "gripper_loss": 0.11181640625,
      "loss": 0.1357421875,
      "pos_loss": 0.953125,
      "rot_loss": 0.400390625,
      "step": 7417
    },
    {
      "epoch": 1.6643482162889836,
      "grad_norm": 0.3774662911891937,
      "learning_rate": 0.00021790139577726827,
      "loss": 0.0746,
      "step": 7418
    },
    {
      "epoch": 1.6643482162889836,
      "gripper_loss": 0.263671875,
      "loss": 0.08447265625,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.1513671875,
      "step": 7418
    },
    {
      "epoch": 1.6645725824545659,
      "grad_norm": 1.075415015220642,
      "learning_rate": 0.0002178413383059177,
      "loss": 0.1215,
      "step": 7419
    },
    {
      "epoch": 1.6645725824545659,
      "gripper_loss": 0.64453125,
      "loss": 0.09814453125,
      "pos_loss": 0.2890625,
      "rot_loss": 0.46484375,
      "step": 7419
    },
    {
      "epoch": 1.6647969486201482,
      "grad_norm": 0.5391978621482849,
      "learning_rate": 0.00021778128272162298,
      "loss": 0.0778,
      "step": 7420
    },
    {
      "epoch": 1.6647969486201482,
      "gripper_loss": 0.83984375,
      "loss": 0.4296875,
      "pos_loss": 0.451171875,
      "rot_loss": 0.69140625,
      "step": 7420
    },
    {
      "epoch": 1.6650213147857302,
      "grad_norm": 1.4426379203796387,
      "learning_rate": 0.00021772122902790792,
      "loss": 0.4595,
      "step": 7421
    },
    {
      "epoch": 1.6650213147857302,
      "gripper_loss": 0.0869140625,
      "loss": 0.06396484375,
      "pos_loss": 0.255859375,
      "rot_loss": 0.3203125,
      "step": 7421
    },
    {
      "epoch": 1.6652456809513125,
      "grad_norm": 0.46155983209609985,
      "learning_rate": 0.0002176611772282966,
      "loss": 0.0692,
      "step": 7422
    },
    {
      "epoch": 1.6652456809513125,
      "gripper_loss": 0.92578125,
      "loss": 0.0576171875,
      "pos_loss": 0.0712890625,
      "rot_loss": 0.1640625,
      "step": 7422
    },
    {
      "epoch": 1.6654700471168948,
      "grad_norm": 0.5074335336685181,
      "learning_rate": 0.00021760112732631273,
      "loss": 0.0568,
      "step": 7423
    },
    {
      "epoch": 1.6654700471168948,
      "gripper_loss": 0.06689453125,
      "loss": 0.15234375,
      "pos_loss": 1.3125,
      "rot_loss": 0.146484375,
      "step": 7423
    },
    {
      "epoch": 1.665694413282477,
      "grad_norm": 0.547322690486908,
      "learning_rate": 0.00021754107932548018,
      "loss": 0.1004,
      "step": 7424
    },
    {
      "epoch": 1.665694413282477,
      "gripper_loss": 0.287109375,
      "loss": 0.142578125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.361328125,
      "step": 7424
    },
    {
      "epoch": 1.6659187794480592,
      "grad_norm": 1.1011146306991577,
      "learning_rate": 0.00021748103322932248,
      "loss": 0.1581,
      "step": 7425
    },
    {
      "epoch": 1.6659187794480592,
      "gripper_loss": 0.033935546875,
      "loss": 0.07373046875,
      "pos_loss": 0.515625,
      "rot_loss": 0.1689453125,
      "step": 7425
    },
    {
      "epoch": 1.6661431456136415,
      "grad_norm": 0.4606459140777588,
      "learning_rate": 0.00021742098904136296,
      "loss": 0.0685,
      "step": 7426
    },
    {
      "epoch": 1.6661431456136415,
      "gripper_loss": 0.37109375,
      "loss": 0.0262451171875,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.022216796875,
      "step": 7426
    },
    {
      "epoch": 1.6663675117792236,
      "grad_norm": 0.33212175965309143,
      "learning_rate": 0.00021736094676512509,
      "loss": 0.0544,
      "step": 7427
    },
    {
      "epoch": 1.6663675117792236,
      "gripper_loss": 0.5078125,
      "loss": 0.45703125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.39453125,
      "step": 7427
    },
    {
      "epoch": 1.666591877944806,
      "grad_norm": 1.5698583126068115,
      "learning_rate": 0.00021730090640413209,
      "loss": 0.5664,
      "step": 7428
    },
    {
      "epoch": 1.666591877944806,
      "gripper_loss": 0.93359375,
      "loss": 0.083984375,
      "pos_loss": 0.45703125,
      "rot_loss": 0.08056640625,
      "step": 7428
    },
    {
      "epoch": 1.6668162441103882,
      "grad_norm": 0.39992648363113403,
      "learning_rate": 0.0002172408679619073,
      "loss": 0.0629,
      "step": 7429
    },
    {
      "epoch": 1.6668162441103882,
      "gripper_loss": 0.1416015625,
      "loss": 0.043212890625,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.146484375,
      "step": 7429
    },
    {
      "epoch": 1.6670406102759703,
      "grad_norm": 0.5329031348228455,
      "learning_rate": 0.00021718083144197343,
      "loss": 0.0702,
      "step": 7430
    },
    {
      "epoch": 1.6670406102759703,
      "gripper_loss": 0.00982666015625,
      "loss": 0.0556640625,
      "pos_loss": 0.46875,
      "rot_loss": 0.060546875,
      "step": 7430
    },
    {
      "epoch": 1.6672649764415526,
      "grad_norm": 0.4308627247810364,
      "learning_rate": 0.00021712079684785363,
      "loss": 0.0558,
      "step": 7431
    },
    {
      "epoch": 1.6672649764415526,
      "gripper_loss": 0.38671875,
      "loss": 0.09326171875,
      "pos_loss": 0.328125,
      "rot_loss": 0.265625,
      "step": 7431
    },
    {
      "epoch": 1.6674893426071349,
      "grad_norm": 0.8531878590583801,
      "learning_rate": 0.00021706076418307051,
      "loss": 0.0705,
      "step": 7432
    },
    {
      "epoch": 1.6674893426071349,
      "gripper_loss": 0.0390625,
      "loss": 0.0673828125,
      "pos_loss": 0.4609375,
      "rot_loss": 0.1064453125,
      "step": 7432
    },
    {
      "epoch": 1.667713708772717,
      "grad_norm": 0.5252456665039062,
      "learning_rate": 0.00021700073345114708,
      "loss": 0.0939,
      "step": 7433
    },
    {
      "epoch": 1.667713708772717,
      "gripper_loss": 0.0245361328125,
      "loss": 0.038330078125,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.111328125,
      "step": 7433
    },
    {
      "epoch": 1.6679380749382993,
      "grad_norm": 0.35670557618141174,
      "learning_rate": 0.00021694070465560553,
      "loss": 0.0698,
      "step": 7434
    },
    {
      "epoch": 1.6679380749382993,
      "gripper_loss": 0.04833984375,
      "loss": 0.0849609375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.0693359375,
      "step": 7434
    },
    {
      "epoch": 1.6681624411038816,
      "grad_norm": 0.38432174921035767,
      "learning_rate": 0.00021688067779996852,
      "loss": 0.0628,
      "step": 7435
    },
    {
      "epoch": 1.6681624411038816,
      "gripper_loss": 0.11474609375,
      "loss": 0.1083984375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.1962890625,
      "step": 7435
    },
    {
      "epoch": 1.6683868072694636,
      "grad_norm": 0.8850874900817871,
      "learning_rate": 0.00021682065288775842,
      "loss": 0.0909,
      "step": 7436
    },
    {
      "epoch": 1.6683868072694636,
      "gripper_loss": 0.0302734375,
      "loss": 0.0220947265625,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.078125,
      "step": 7436
    },
    {
      "epoch": 1.668611173435046,
      "grad_norm": 0.6938964128494263,
      "learning_rate": 0.0002167606299224975,
      "loss": 0.1013,
      "step": 7437
    },
    {
      "epoch": 1.668611173435046,
      "gripper_loss": 0.0810546875,
      "loss": 0.11279296875,
      "pos_loss": 0.75,
      "rot_loss": 0.1962890625,
      "step": 7437
    },
    {
      "epoch": 1.6688355396006282,
      "grad_norm": 0.8882957100868225,
      "learning_rate": 0.00021670060890770768,
      "loss": 0.1131,
      "step": 7438
    },
    {
      "epoch": 1.6688355396006282,
      "gripper_loss": 0.06201171875,
      "loss": 0.064453125,
      "pos_loss": 0.240234375,
      "rot_loss": 0.287109375,
      "step": 7438
    },
    {
      "epoch": 1.6690599057662103,
      "grad_norm": 0.6633941531181335,
      "learning_rate": 0.0002166405898469111,
      "loss": 0.0808,
      "step": 7439
    },
    {
      "epoch": 1.6690599057662103,
      "gripper_loss": 1.1484375,
      "loss": 0.04931640625,
      "pos_loss": 0.0242919921875,
      "rot_loss": 0.0693359375,
      "step": 7439
    },
    {
      "epoch": 1.6692842719317929,
      "grad_norm": 0.3430062532424927,
      "learning_rate": 0.00021658057274362964,
      "loss": 0.0502,
      "step": 7440
    },
    {
      "epoch": 1.6692842719317929,
      "gripper_loss": 0.1728515625,
      "loss": 0.0927734375,
      "pos_loss": 0.80078125,
      "rot_loss": 0.0615234375,
      "step": 7440
    },
    {
      "epoch": 1.669508638097375,
      "grad_norm": 0.515892505645752,
      "learning_rate": 0.00021652055760138514,
      "loss": 0.0797,
      "step": 7441
    },
    {
      "epoch": 1.669508638097375,
      "gripper_loss": 0.0157470703125,
      "loss": 0.047119140625,
      "pos_loss": 0.40234375,
      "rot_loss": 0.03955078125,
      "step": 7441
    },
    {
      "epoch": 1.669733004262957,
      "grad_norm": 0.490832656621933,
      "learning_rate": 0.0002164605444236992,
      "loss": 0.0686,
      "step": 7442
    },
    {
      "epoch": 1.669733004262957,
      "gripper_loss": 0.0101318359375,
      "loss": 0.0751953125,
      "pos_loss": 0.69921875,
      "rot_loss": 0.0458984375,
      "step": 7442
    },
    {
      "epoch": 1.6699573704285395,
      "grad_norm": 0.4565353989601135,
      "learning_rate": 0.00021640053321409338,
      "loss": 0.0568,
      "step": 7443
    },
    {
      "epoch": 1.6699573704285395,
      "gripper_loss": 0.330078125,
      "loss": 0.1240234375,
      "pos_loss": 1.1171875,
      "rot_loss": 0.043701171875,
      "step": 7443
    },
    {
      "epoch": 1.6701817365941216,
      "grad_norm": 0.6678226590156555,
      "learning_rate": 0.000216340523976089,
      "loss": 0.0976,
      "step": 7444
    },
    {
      "epoch": 1.6701817365941216,
      "gripper_loss": 1.0234375,
      "loss": 0.134765625,
      "pos_loss": 0.91796875,
      "rot_loss": 0.11181640625,
      "step": 7444
    },
    {
      "epoch": 1.6704061027597037,
      "grad_norm": 0.5704789757728577,
      "learning_rate": 0.00021628051671320747,
      "loss": 0.073,
      "step": 7445
    },
    {
      "epoch": 1.6704061027597037,
      "gripper_loss": 0.64453125,
      "loss": 0.028076171875,
      "pos_loss": 0.0159912109375,
      "rot_loss": 0.024169921875,
      "step": 7445
    },
    {
      "epoch": 1.6706304689252862,
      "grad_norm": 0.4728105068206787,
      "learning_rate": 0.00021622051142897015,
      "loss": 0.0712,
      "step": 7446
    },
    {
      "epoch": 1.6706304689252862,
      "gripper_loss": 0.019775390625,
      "loss": 0.061767578125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.08056640625,
      "step": 7446
    },
    {
      "epoch": 1.6708548350908683,
      "grad_norm": 0.35279014706611633,
      "learning_rate": 0.00021616050812689783,
      "loss": 0.0559,
      "step": 7447
    },
    {
      "epoch": 1.6708548350908683,
      "gripper_loss": 0.1865234375,
      "loss": 0.049560546875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.04443359375,
      "step": 7447
    },
    {
      "epoch": 1.6710792012564504,
      "grad_norm": 0.3545953631401062,
      "learning_rate": 0.00021610050681051166,
      "loss": 0.0757,
      "step": 7448
    },
    {
      "epoch": 1.6710792012564504,
      "gripper_loss": 0.431640625,
      "loss": 0.052978515625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.12158203125,
      "step": 7448
    },
    {
      "epoch": 1.671303567422033,
      "grad_norm": 0.3827662467956543,
      "learning_rate": 0.0002160405074833324,
      "loss": 0.0696,
      "step": 7449
    },
    {
      "epoch": 1.671303567422033,
      "gripper_loss": 0.0244140625,
      "loss": 0.04248046875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1142578125,
      "step": 7449
    },
    {
      "epoch": 1.671527933587615,
      "grad_norm": 0.6175196170806885,
      "learning_rate": 0.00021598051014888093,
      "loss": 0.0885,
      "step": 7450
    },
    {
      "epoch": 1.671527933587615,
      "gripper_loss": 0.455078125,
      "loss": 0.181640625,
      "pos_loss": 1.453125,
      "rot_loss": 0.29296875,
      "step": 7450
    },
    {
      "epoch": 1.671752299753197,
      "grad_norm": 0.38088029623031616,
      "learning_rate": 0.00021592051481067766,
      "loss": 0.0651,
      "step": 7451
    },
    {
      "epoch": 1.671752299753197,
      "gripper_loss": 0.1416015625,
      "loss": 0.043212890625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.1025390625,
      "step": 7451
    },
    {
      "epoch": 1.6719766659187796,
      "grad_norm": 0.4759419560432434,
      "learning_rate": 0.00021586052147224316,
      "loss": 0.0784,
      "step": 7452
    },
    {
      "epoch": 1.6719766659187796,
      "gripper_loss": 0.07373046875,
      "loss": 0.056396484375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.1630859375,
      "step": 7452
    },
    {
      "epoch": 1.6722010320843617,
      "grad_norm": 0.35481977462768555,
      "learning_rate": 0.00021580053013709792,
      "loss": 0.0585,
      "step": 7453
    },
    {
      "epoch": 1.6722010320843617,
      "gripper_loss": 0.025146484375,
      "loss": 0.10009765625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.447265625,
      "step": 7453
    },
    {
      "epoch": 1.672425398249944,
      "grad_norm": 0.3527293801307678,
      "learning_rate": 0.00021574054080876205,
      "loss": 0.0546,
      "step": 7454
    },
    {
      "epoch": 1.672425398249944,
      "gripper_loss": 0.0205078125,
      "loss": 0.052490234375,
      "pos_loss": 0.21875,
      "rot_loss": 0.296875,
      "step": 7454
    },
    {
      "epoch": 1.6726497644155263,
      "grad_norm": 0.3239672780036926,
      "learning_rate": 0.0002156805534907559,
      "loss": 0.0386,
      "step": 7455
    },
    {
      "epoch": 1.6726497644155263,
      "gripper_loss": 0.279296875,
      "loss": 0.138671875,
      "pos_loss": 0.82421875,
      "rot_loss": 0.27734375,
      "step": 7455
    },
    {
      "epoch": 1.6728741305811083,
      "grad_norm": 1.1066969633102417,
      "learning_rate": 0.00021562056818659925,
      "loss": 0.1459,
      "step": 7456
    },
    {
      "epoch": 1.6728741305811083,
      "gripper_loss": 0.19921875,
      "loss": 0.07373046875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.2392578125,
      "step": 7456
    },
    {
      "epoch": 1.6730984967466906,
      "grad_norm": 0.4983287453651428,
      "learning_rate": 0.00021556058489981218,
      "loss": 0.0836,
      "step": 7457
    },
    {
      "epoch": 1.6730984967466906,
      "gripper_loss": 0.138671875,
      "loss": 0.026611328125,
      "pos_loss": 0.171875,
      "rot_loss": 0.0299072265625,
      "step": 7457
    },
    {
      "epoch": 1.673322862912273,
      "grad_norm": 0.4125954806804657,
      "learning_rate": 0.00021550060363391437,
      "loss": 0.0571,
      "step": 7458
    },
    {
      "epoch": 1.673322862912273,
      "gripper_loss": 0.349609375,
      "loss": 0.08056640625,
      "pos_loss": 0.59765625,
      "rot_loss": 0.09716796875,
      "step": 7458
    },
    {
      "epoch": 1.673547229077855,
      "grad_norm": 0.6323447823524475,
      "learning_rate": 0.0002154406243924257,
      "loss": 0.0899,
      "step": 7459
    },
    {
      "epoch": 1.673547229077855,
      "gripper_loss": 0.072265625,
      "loss": 0.0296630859375,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.09912109375,
      "step": 7459
    },
    {
      "epoch": 1.6737715952434373,
      "grad_norm": 0.38607606291770935,
      "learning_rate": 0.00021538064717886555,
      "loss": 0.0497,
      "step": 7460
    },
    {
      "epoch": 1.6737715952434373,
      "gripper_loss": 0.0047607421875,
      "loss": 0.059326171875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.099609375,
      "step": 7460
    },
    {
      "epoch": 1.6739959614090196,
      "grad_norm": 0.38612625002861023,
      "learning_rate": 0.00021532067199675332,
      "loss": 0.0586,
      "step": 7461
    },
    {
      "epoch": 1.6739959614090196,
      "gripper_loss": 0.04345703125,
      "loss": 0.201171875,
      "pos_loss": 1.5234375,
      "rot_loss": 0.5390625,
      "step": 7461
    },
    {
      "epoch": 1.6742203275746017,
      "grad_norm": 0.5039051175117493,
      "learning_rate": 0.00021526069884960836,
      "loss": 0.089,
      "step": 7462
    },
    {
      "epoch": 1.6742203275746017,
      "gripper_loss": 1.3359375,
      "loss": 0.09326171875,
      "pos_loss": 0.2734375,
      "rot_loss": 0.2021484375,
      "step": 7462
    },
    {
      "epoch": 1.674444693740184,
      "grad_norm": 0.5928779244422913,
      "learning_rate": 0.00021520072774095005,
      "loss": 0.0609,
      "step": 7463
    },
    {
      "epoch": 1.674444693740184,
      "gripper_loss": 0.030517578125,
      "loss": 0.040283203125,
      "pos_loss": 0.2265625,
      "rot_loss": 0.1591796875,
      "step": 7463
    },
    {
      "epoch": 1.6746690599057663,
      "grad_norm": 0.3928482234477997,
      "learning_rate": 0.0002151407586742972,
      "loss": 0.0518,
      "step": 7464
    },
    {
      "epoch": 1.6746690599057663,
      "gripper_loss": 0.302734375,
      "loss": 0.05029296875,
      "pos_loss": 0.265625,
      "rot_loss": 0.11865234375,
      "step": 7464
    },
    {
      "epoch": 1.6748934260713484,
      "grad_norm": 0.3887192904949188,
      "learning_rate": 0.00021508079165316894,
      "loss": 0.0591,
      "step": 7465
    },
    {
      "epoch": 1.6748934260713484,
      "gripper_loss": 0.1396484375,
      "loss": 0.06298828125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.2255859375,
      "step": 7465
    },
    {
      "epoch": 1.6751177922369307,
      "grad_norm": 0.4053610563278198,
      "learning_rate": 0.000215020826681084,
      "loss": 0.0704,
      "step": 7466
    },
    {
      "epoch": 1.6751177922369307,
      "gripper_loss": 0.470703125,
      "loss": 0.040283203125,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.197265625,
      "step": 7466
    },
    {
      "epoch": 1.675342158402513,
      "grad_norm": 0.39018234610557556,
      "learning_rate": 0.00021496086376156126,
      "loss": 0.0547,
      "step": 7467
    },
    {
      "epoch": 1.675342158402513,
      "gripper_loss": 0.2373046875,
      "loss": 0.39453125,
      "pos_loss": 0.89453125,
      "rot_loss": 0.3828125,
      "step": 7467
    },
    {
      "epoch": 1.675566524568095,
      "grad_norm": 1.9222663640975952,
      "learning_rate": 0.0002149009028981191,
      "loss": 0.3645,
      "step": 7468
    },
    {
      "epoch": 1.675566524568095,
      "gripper_loss": 0.08740234375,
      "loss": 0.09228515625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.1953125,
      "step": 7468
    },
    {
      "epoch": 1.6757908907336774,
      "grad_norm": 0.7069124579429626,
      "learning_rate": 0.00021484094409427611,
      "loss": 0.0923,
      "step": 7469
    },
    {
      "epoch": 1.6757908907336774,
      "gripper_loss": 0.00823974609375,
      "loss": 0.07666015625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.031494140625,
      "step": 7469
    },
    {
      "epoch": 1.6760152568992597,
      "grad_norm": 0.42948925495147705,
      "learning_rate": 0.00021478098735355067,
      "loss": 0.0529,
      "step": 7470
    },
    {
      "epoch": 1.6760152568992597,
      "gripper_loss": 0.0238037109375,
      "loss": 0.051513671875,
      "pos_loss": 0.478515625,
      "rot_loss": 0.021728515625,
      "step": 7470
    },
    {
      "epoch": 1.6762396230648418,
      "grad_norm": 0.38919252157211304,
      "learning_rate": 0.00021472103267946102,
      "loss": 0.0516,
      "step": 7471
    },
    {
      "epoch": 1.6762396230648418,
      "gripper_loss": 0.10791015625,
      "loss": 0.059814453125,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.271484375,
      "step": 7471
    },
    {
      "epoch": 1.676463989230424,
      "grad_norm": 0.4971974194049835,
      "learning_rate": 0.00021466108007552528,
      "loss": 0.0722,
      "step": 7472
    },
    {
      "epoch": 1.676463989230424,
      "gripper_loss": 0.9375,
      "loss": 0.09814453125,
      "pos_loss": 0.625,
      "rot_loss": 0.05859375,
      "step": 7472
    },
    {
      "epoch": 1.6766883553960064,
      "grad_norm": 0.6193591952323914,
      "learning_rate": 0.00021460112954526132,
      "loss": 0.1086,
      "step": 7473
    },
    {
      "epoch": 1.6766883553960064,
      "gripper_loss": 0.69140625,
      "loss": 0.0595703125,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.27734375,
      "step": 7473
    },
    {
      "epoch": 1.6769127215615884,
      "grad_norm": 0.452149897813797,
      "learning_rate": 0.00021454118109218707,
      "loss": 0.0634,
      "step": 7474
    },
    {
      "epoch": 1.6769127215615884,
      "gripper_loss": 0.1435546875,
      "loss": 0.060302734375,
      "pos_loss": 0.193359375,
      "rot_loss": 0.1611328125,
      "step": 7474
    },
    {
      "epoch": 1.6771370877271707,
      "grad_norm": 0.775054931640625,
      "learning_rate": 0.0002144812347198203,
      "loss": 0.1034,
      "step": 7475
    },
    {
      "epoch": 1.6771370877271707,
      "gripper_loss": 0.357421875,
      "loss": 0.033203125,
      "pos_loss": 0.154296875,
      "rot_loss": 0.0390625,
      "step": 7475
    },
    {
      "epoch": 1.677361453892753,
      "grad_norm": 0.3780260384082794,
      "learning_rate": 0.00021442129043167875,
      "loss": 0.0435,
      "step": 7476
    },
    {
      "epoch": 1.677361453892753,
      "gripper_loss": 0.0211181640625,
      "loss": 0.111328125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.61328125,
      "step": 7476
    },
    {
      "epoch": 1.6775858200583351,
      "grad_norm": 0.5640893578529358,
      "learning_rate": 0.0002143613482312797,
      "loss": 0.0995,
      "step": 7477
    },
    {
      "epoch": 1.6775858200583351,
      "gripper_loss": 0.042724609375,
      "loss": 0.051513671875,
      "pos_loss": 0.34375,
      "rot_loss": 0.11669921875,
      "step": 7477
    },
    {
      "epoch": 1.6778101862239174,
      "grad_norm": 0.40295857191085815,
      "learning_rate": 0.00021430140812214073,
      "loss": 0.0619,
      "step": 7478
    },
    {
      "epoch": 1.6778101862239174,
      "gripper_loss": 0.1181640625,
      "loss": 0.041748046875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.23046875,
      "step": 7478
    },
    {
      "epoch": 1.6780345523894997,
      "grad_norm": 0.38895076513290405,
      "learning_rate": 0.0002142414701077789,
      "loss": 0.0878,
      "step": 7479
    },
    {
      "epoch": 1.6780345523894997,
      "gripper_loss": 0.0537109375,
      "loss": 0.060791015625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.0244140625,
      "step": 7479
    },
    {
      "epoch": 1.6782589185550818,
      "grad_norm": 0.4138069748878479,
      "learning_rate": 0.0002141815341917116,
      "loss": 0.0523,
      "step": 7480
    },
    {
      "epoch": 1.6782589185550818,
      "gripper_loss": 0.92578125,
      "loss": 0.07275390625,
      "pos_loss": 0.150390625,
      "rot_loss": 0.27734375,
      "step": 7480
    },
    {
      "epoch": 1.678483284720664,
      "grad_norm": 0.38026368618011475,
      "learning_rate": 0.00021412160037745557,
      "loss": 0.0779,
      "step": 7481
    },
    {
      "epoch": 1.678483284720664,
      "gripper_loss": 0.1123046875,
      "loss": 0.045654296875,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.32421875,
      "step": 7481
    },
    {
      "epoch": 1.6787076508862464,
      "grad_norm": 0.4071744382381439,
      "learning_rate": 0.00021406166866852784,
      "loss": 0.0697,
      "step": 7482
    },
    {
      "epoch": 1.6787076508862464,
      "gripper_loss": 0.021240234375,
      "loss": 0.0308837890625,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.12060546875,
      "step": 7482
    },
    {
      "epoch": 1.6789320170518285,
      "grad_norm": 0.397662490606308,
      "learning_rate": 0.00021400173906844518,
      "loss": 0.0494,
      "step": 7483
    },
    {
      "epoch": 1.6789320170518285,
      "gripper_loss": 0.00604248046875,
      "loss": 0.1396484375,
      "pos_loss": 1.390625,
      "rot_loss": 0.057861328125,
      "step": 7483
    },
    {
      "epoch": 1.6791563832174108,
      "grad_norm": 0.4198136329650879,
      "learning_rate": 0.00021394181158072433,
      "loss": 0.0656,
      "step": 7484
    },
    {
      "epoch": 1.6791563832174108,
      "gripper_loss": 0.41796875,
      "loss": 0.03515625,
      "pos_loss": 0.162109375,
      "rot_loss": 0.0250244140625,
      "step": 7484
    },
    {
      "epoch": 1.679380749382993,
      "grad_norm": 0.38675808906555176,
      "learning_rate": 0.00021388188620888155,
      "loss": 0.0495,
      "step": 7485
    },
    {
      "epoch": 1.679380749382993,
      "gripper_loss": 0.03662109375,
      "loss": 0.1064453125,
      "pos_loss": 0.93359375,
      "rot_loss": 0.1337890625,
      "step": 7485
    },
    {
      "epoch": 1.6796051155485752,
      "grad_norm": 0.29458266496658325,
      "learning_rate": 0.00021382196295643337,
      "loss": 0.0658,
      "step": 7486
    },
    {
      "epoch": 1.6796051155485752,
      "gripper_loss": 0.035888671875,
      "loss": 0.11474609375,
      "pos_loss": 0.859375,
      "rot_loss": 0.310546875,
      "step": 7486
    },
    {
      "epoch": 1.6798294817141575,
      "grad_norm": 0.30138757824897766,
      "learning_rate": 0.00021376204182689608,
      "loss": 0.0541,
      "step": 7487
    },
    {
      "epoch": 1.6798294817141575,
      "gripper_loss": 0.01025390625,
      "loss": 0.06298828125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.125,
      "step": 7487
    },
    {
      "epoch": 1.6800538478797398,
      "grad_norm": 0.3998526930809021,
      "learning_rate": 0.00021370212282378583,
      "loss": 0.0652,
      "step": 7488
    },
    {
      "epoch": 1.6800538478797398,
      "gripper_loss": 0.039306640625,
      "loss": 0.0859375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.47265625,
      "step": 7488
    },
    {
      "epoch": 1.6802782140453218,
      "grad_norm": 0.44265416264533997,
      "learning_rate": 0.00021364220595061867,
      "loss": 0.0585,
      "step": 7489
    },
    {
      "epoch": 1.6802782140453218,
      "gripper_loss": 0.1240234375,
      "loss": 0.044189453125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.0693359375,
      "step": 7489
    },
    {
      "epoch": 1.6805025802109042,
      "grad_norm": 0.41685280203819275,
      "learning_rate": 0.00021358229121091042,
      "loss": 0.0719,
      "step": 7490
    },
    {
      "epoch": 1.6805025802109042,
      "gripper_loss": 0.01397705078125,
      "loss": 0.2060546875,
      "pos_loss": 0.55859375,
      "rot_loss": 1.578125,
      "step": 7490
    },
    {
      "epoch": 1.6807269463764865,
      "grad_norm": 0.5339913964271545,
      "learning_rate": 0.0002135223786081768,
      "loss": 0.0818,
      "step": 7491
    },
    {
      "epoch": 1.6807269463764865,
      "gripper_loss": 0.8984375,
      "loss": 0.07373046875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.28125,
      "step": 7491
    },
    {
      "epoch": 1.6809513125420685,
      "grad_norm": 0.4892297387123108,
      "learning_rate": 0.00021346246814593357,
      "loss": 0.087,
      "step": 7492
    },
    {
      "epoch": 1.6809513125420685,
      "gripper_loss": 0.021484375,
      "loss": 0.033447265625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.046875,
      "step": 7492
    },
    {
      "epoch": 1.6811756787076508,
      "grad_norm": 0.3875475823879242,
      "learning_rate": 0.00021340255982769629,
      "loss": 0.0643,
      "step": 7493
    },
    {
      "epoch": 1.6811756787076508,
      "gripper_loss": 0.0196533203125,
      "loss": 0.03857421875,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.0927734375,
      "step": 7493
    },
    {
      "epoch": 1.6814000448732331,
      "grad_norm": 0.5221220850944519,
      "learning_rate": 0.00021334265365698018,
      "loss": 0.07,
      "step": 7494
    },
    {
      "epoch": 1.6814000448732331,
      "gripper_loss": 0.2080078125,
      "loss": 0.02392578125,
      "pos_loss": 0.057373046875,
      "rot_loss": 0.09814453125,
      "step": 7494
    },
    {
      "epoch": 1.6816244110388152,
      "grad_norm": 0.36626261472702026,
      "learning_rate": 0.00021328274963730066,
      "loss": 0.0643,
      "step": 7495
    },
    {
      "epoch": 1.6816244110388152,
      "gripper_loss": 0.73046875,
      "loss": 0.1484375,
      "pos_loss": 0.72265625,
      "rot_loss": 0.58203125,
      "step": 7495
    },
    {
      "epoch": 1.6818487772043977,
      "grad_norm": 0.432316392660141,
      "learning_rate": 0.00021322284777217275,
      "loss": 0.0666,
      "step": 7496
    },
    {
      "epoch": 1.6818487772043977,
      "gripper_loss": 0.6953125,
      "loss": 0.04150390625,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.0150146484375,
      "step": 7496
    },
    {
      "epoch": 1.6820731433699798,
      "grad_norm": 0.23695412278175354,
      "learning_rate": 0.0002131629480651116,
      "loss": 0.055,
      "step": 7497
    },
    {
      "epoch": 1.6820731433699798,
      "gripper_loss": 0.1103515625,
      "loss": 0.017333984375,
      "pos_loss": 0.03369140625,
      "rot_loss": 0.080078125,
      "step": 7497
    },
    {
      "epoch": 1.682297509535562,
      "grad_norm": 0.2526546120643616,
      "learning_rate": 0.00021310305051963193,
      "loss": 0.0516,
      "step": 7498
    },
    {
      "epoch": 1.682297509535562,
      "gripper_loss": 0.0106201171875,
      "loss": 0.1455078125,
      "pos_loss": 1.453125,
      "rot_loss": 0.0537109375,
      "step": 7498
    },
    {
      "epoch": 1.6825218757011444,
      "grad_norm": 0.3175908923149109,
      "learning_rate": 0.0002130431551392486,
      "loss": 0.0646,
      "step": 7499
    },
    {
      "epoch": 1.6825218757011444,
      "gripper_loss": 0.01397705078125,
      "loss": 0.09765625,
      "pos_loss": 0.9140625,
      "rot_loss": 0.09619140625,
      "step": 7499
    },
    {
      "epoch": 1.6827462418667265,
      "grad_norm": 0.5763736963272095,
      "learning_rate": 0.0002129832619274763,
      "loss": 0.0612,
      "step": 7500
    },
    {
      "epoch": 1.6827462418667265,
      "gripper_loss": 0.032470703125,
      "loss": 0.076171875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.171875,
      "step": 7500
    },
    {
      "epoch": 1.6829706080323086,
      "grad_norm": 0.3779234290122986,
      "learning_rate": 0.0002129233708878294,
      "loss": 0.0721,
      "step": 7501
    },
    {
      "epoch": 1.6829706080323086,
      "gripper_loss": 0.0186767578125,
      "loss": 0.1630859375,
      "pos_loss": 1.671875,
      "rot_loss": 0.02734375,
      "step": 7501
    },
    {
      "epoch": 1.683194974197891,
      "grad_norm": 0.2906090319156647,
      "learning_rate": 0.00021286348202382248,
      "loss": 0.0619,
      "step": 7502
    },
    {
      "epoch": 1.683194974197891,
      "gripper_loss": 0.189453125,
      "loss": 0.0303955078125,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.06298828125,
      "step": 7502
    },
    {
      "epoch": 1.6834193403634732,
      "grad_norm": 0.3047373294830322,
      "learning_rate": 0.00021280359533896954,
      "loss": 0.0639,
      "step": 7503
    },
    {
      "epoch": 1.6834193403634732,
      "gripper_loss": 0.443359375,
      "loss": 0.060546875,
      "pos_loss": 0.22265625,
      "rot_loss": 0.24609375,
      "step": 7503
    },
    {
      "epoch": 1.6836437065290553,
      "grad_norm": 0.4284479022026062,
      "learning_rate": 0.00021274371083678485,
      "loss": 0.0517,
      "step": 7504
    },
    {
      "epoch": 1.6836437065290553,
      "gripper_loss": 0.056884765625,
      "loss": 0.1396484375,
      "pos_loss": 1.2265625,
      "rot_loss": 0.1572265625,
      "step": 7504
    },
    {
      "epoch": 1.6838680726946378,
      "grad_norm": 0.4432540535926819,
      "learning_rate": 0.00021268382852078233,
      "loss": 0.0778,
      "step": 7505
    },
    {
      "epoch": 1.6838680726946378,
      "gripper_loss": 0.62890625,
      "loss": 0.099609375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.04833984375,
      "step": 7505
    },
    {
      "epoch": 1.6840924388602199,
      "grad_norm": 0.688396692276001,
      "learning_rate": 0.00021262394839447607,
      "loss": 0.0922,
      "step": 7506
    },
    {
      "epoch": 1.6840924388602199,
      "gripper_loss": 0.412109375,
      "loss": 0.0625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.0595703125,
      "step": 7506
    },
    {
      "epoch": 1.684316805025802,
      "grad_norm": 0.3779345452785492,
      "learning_rate": 0.00021256407046137954,
      "loss": 0.0779,
      "step": 7507
    },
    {
      "epoch": 1.684316805025802,
      "gripper_loss": 0.0849609375,
      "loss": 0.07568359375,
      "pos_loss": 0.345703125,
      "rot_loss": 0.396484375,
      "step": 7507
    },
    {
      "epoch": 1.6845411711913845,
      "grad_norm": 0.5173599123954773,
      "learning_rate": 0.00021250419472500643,
      "loss": 0.1042,
      "step": 7508
    },
    {
      "epoch": 1.6845411711913845,
      "gripper_loss": 0.431640625,
      "loss": 0.06201171875,
      "pos_loss": 0.42578125,
      "rot_loss": 0.0615234375,
      "step": 7508
    },
    {
      "epoch": 1.6847655373569665,
      "grad_norm": 0.43689027428627014,
      "learning_rate": 0.0002124443211888702,
      "loss": 0.0667,
      "step": 7509
    },
    {
      "epoch": 1.6847655373569665,
      "gripper_loss": 0.05322265625,
      "loss": 0.01220703125,
      "pos_loss": 0.05908203125,
      "rot_loss": 0.021484375,
      "step": 7509
    },
    {
      "epoch": 1.6849899035225488,
      "grad_norm": 0.3379179835319519,
      "learning_rate": 0.0002123844498564844,
      "loss": 0.0807,
      "step": 7510
    },
    {
      "epoch": 1.6849899035225488,
      "gripper_loss": 0.515625,
      "loss": 0.1142578125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.400390625,
      "step": 7510
    },
    {
      "epoch": 1.6852142696881312,
      "grad_norm": 0.33183836936950684,
      "learning_rate": 0.00021232458073136193,
      "loss": 0.0617,
      "step": 7511
    },
    {
      "epoch": 1.6852142696881312,
      "gripper_loss": 0.015869140625,
      "loss": 0.1396484375,
      "pos_loss": 1.046875,
      "rot_loss": 0.390625,
      "step": 7511
    },
    {
      "epoch": 1.6854386358537132,
      "grad_norm": 0.4311521649360657,
      "learning_rate": 0.00021226471381701614,
      "loss": 0.0775,
      "step": 7512
    },
    {
      "epoch": 1.6854386358537132,
      "gripper_loss": 0.0174560546875,
      "loss": 0.0194091796875,
      "pos_loss": 0.142578125,
      "rot_loss": 0.0177001953125,
      "step": 7512
    },
    {
      "epoch": 1.6856630020192955,
      "grad_norm": 0.3422997295856476,
      "learning_rate": 0.00021220484911695984,
      "loss": 0.0531,
      "step": 7513
    },
    {
      "epoch": 1.6856630020192955,
      "gripper_loss": 0.0537109375,
      "loss": 0.054443359375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.1884765625,
      "step": 7513
    },
    {
      "epoch": 1.6858873681848778,
      "grad_norm": 0.5905886888504028,
      "learning_rate": 0.00021214498663470603,
      "loss": 0.078,
      "step": 7514
    },
    {
      "epoch": 1.6858873681848778,
      "gripper_loss": 0.0289306640625,
      "loss": 0.04638671875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.1591796875,
      "step": 7514
    },
    {
      "epoch": 1.68611173435046,
      "grad_norm": 0.4388205111026764,
      "learning_rate": 0.0002120851263737672,
      "loss": 0.0557,
      "step": 7515
    },
    {
      "epoch": 1.68611173435046,
      "gripper_loss": 0.0089111328125,
      "loss": 0.146484375,
      "pos_loss": 1.4140625,
      "rot_loss": 0.11279296875,
      "step": 7515
    },
    {
      "epoch": 1.6863361005160422,
      "grad_norm": 0.4662577509880066,
      "learning_rate": 0.00021202526833765604,
      "loss": 0.0872,
      "step": 7516
    },
    {
      "epoch": 1.6863361005160422,
      "gripper_loss": 0.30078125,
      "loss": 0.09716796875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.380859375,
      "step": 7516
    },
    {
      "epoch": 1.6865604666816245,
      "grad_norm": 0.4193584620952606,
      "learning_rate": 0.00021196541252988498,
      "loss": 0.0702,
      "step": 7517
    },
    {
      "epoch": 1.6865604666816245,
      "gripper_loss": 0.08447265625,
      "loss": 0.031982421875,
      "pos_loss": 0.12109375,
      "rot_loss": 0.150390625,
      "step": 7517
    },
    {
      "epoch": 1.6867848328472066,
      "grad_norm": 0.5315738320350647,
      "learning_rate": 0.0002119055589539664,
      "loss": 0.0823,
      "step": 7518
    },
    {
      "epoch": 1.6867848328472066,
      "gripper_loss": 0.007781982421875,
      "loss": 0.2255859375,
      "pos_loss": 1.15625,
      "rot_loss": 1.21875,
      "step": 7518
    },
    {
      "epoch": 1.687009199012789,
      "grad_norm": 0.7384352684020996,
      "learning_rate": 0.00021184570761341242,
      "loss": 0.1346,
      "step": 7519
    },
    {
      "epoch": 1.687009199012789,
      "gripper_loss": 0.2197265625,
      "loss": 0.08251953125,
      "pos_loss": 0.453125,
      "rot_loss": 0.21875,
      "step": 7519
    },
    {
      "epoch": 1.6872335651783712,
      "grad_norm": 0.5853117108345032,
      "learning_rate": 0.00021178585851173504,
      "loss": 0.0878,
      "step": 7520
    },
    {
      "epoch": 1.6872335651783712,
      "gripper_loss": 0.07177734375,
      "loss": 0.10546875,
      "pos_loss": 0.44140625,
      "rot_loss": 0.546875,
      "step": 7520
    },
    {
      "epoch": 1.6874579313439533,
      "grad_norm": 0.6056756973266602,
      "learning_rate": 0.0002117260116524462,
      "loss": 0.0697,
      "step": 7521
    },
    {
      "epoch": 1.6874579313439533,
      "gripper_loss": 0.314453125,
      "loss": 0.298828125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.392578125,
      "step": 7521
    },
    {
      "epoch": 1.6876822975095356,
      "grad_norm": 1.3061323165893555,
      "learning_rate": 0.00021166616703905772,
      "loss": 0.3081,
      "step": 7522
    },
    {
      "epoch": 1.6876822975095356,
      "gripper_loss": 0.3984375,
      "loss": 0.02197265625,
      "pos_loss": 0.041748046875,
      "rot_loss": 0.027099609375,
      "step": 7522
    },
    {
      "epoch": 1.6879066636751179,
      "grad_norm": 0.44163721799850464,
      "learning_rate": 0.00021160632467508134,
      "loss": 0.0526,
      "step": 7523
    },
    {
      "epoch": 1.6879066636751179,
      "gripper_loss": 0.0155029296875,
      "loss": 0.044677734375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.1650390625,
      "step": 7523
    },
    {
      "epoch": 1.6881310298407,
      "grad_norm": 0.2858375012874603,
      "learning_rate": 0.0002115464845640284,
      "loss": 0.0503,
      "step": 7524
    },
    {
      "epoch": 1.6881310298407,
      "gripper_loss": 0.00860595703125,
      "loss": 0.0390625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.0308837890625,
      "step": 7524
    },
    {
      "epoch": 1.6883553960062823,
      "grad_norm": 0.35646459460258484,
      "learning_rate": 0.0002114866467094104,
      "loss": 0.0479,
      "step": 7525
    },
    {
      "epoch": 1.6883553960062823,
      "gripper_loss": 0.828125,
      "loss": 0.046875,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.059326171875,
      "step": 7525
    },
    {
      "epoch": 1.6885797621718646,
      "grad_norm": 0.46826887130737305,
      "learning_rate": 0.00021142681111473854,
      "loss": 0.0764,
      "step": 7526
    },
    {
      "epoch": 1.6885797621718646,
      "gripper_loss": 0.134765625,
      "loss": 0.048583984375,
      "pos_loss": 0.28515625,
      "rot_loss": 0.1259765625,
      "step": 7526
    },
    {
      "epoch": 1.6888041283374466,
      "grad_norm": 0.4740426540374756,
      "learning_rate": 0.0002113669777835241,
      "loss": 0.054,
      "step": 7527
    },
    {
      "epoch": 1.6888041283374466,
      "gripper_loss": 0.412109375,
      "loss": 0.0269775390625,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.058349609375,
      "step": 7527
    },
    {
      "epoch": 1.689028494503029,
      "grad_norm": 0.6088733077049255,
      "learning_rate": 0.00021130714671927786,
      "loss": 0.0779,
      "step": 7528
    },
    {
      "epoch": 1.689028494503029,
      "gripper_loss": 0.05224609375,
      "loss": 0.04052734375,
      "pos_loss": 0.2265625,
      "rot_loss": 0.1123046875,
      "step": 7528
    },
    {
      "epoch": 1.6892528606686112,
      "grad_norm": 0.5145877599716187,
      "learning_rate": 0.00021124731792551078,
      "loss": 0.0694,
      "step": 7529
    },
    {
      "epoch": 1.6892528606686112,
      "gripper_loss": 0.11669921875,
      "loss": 0.15625,
      "pos_loss": 0.92578125,
      "rot_loss": 0.6015625,
      "step": 7529
    },
    {
      "epoch": 1.6894772268341933,
      "grad_norm": 0.4709015190601349,
      "learning_rate": 0.0002111874914057336,
      "loss": 0.0689,
      "step": 7530
    },
    {
      "epoch": 1.6894772268341933,
      "gripper_loss": 0.019775390625,
      "loss": 0.06640625,
      "pos_loss": 0.482421875,
      "rot_loss": 0.140625,
      "step": 7530
    },
    {
      "epoch": 1.6897015929997756,
      "grad_norm": 0.5040750503540039,
      "learning_rate": 0.00021112766716345686,
      "loss": 0.0818,
      "step": 7531
    },
    {
      "epoch": 1.6897015929997756,
      "gripper_loss": 0.0240478515625,
      "loss": 0.055908203125,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.375,
      "step": 7531
    },
    {
      "epoch": 1.689925959165358,
      "grad_norm": 0.4111628532409668,
      "learning_rate": 0.00021106784520219117,
      "loss": 0.0676,
      "step": 7532
    },
    {
      "epoch": 1.689925959165358,
      "gripper_loss": 0.92578125,
      "loss": 0.0498046875,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.047607421875,
      "step": 7532
    },
    {
      "epoch": 1.69015032533094,
      "grad_norm": 0.3207053542137146,
      "learning_rate": 0.00021100802552544663,
      "loss": 0.0543,
      "step": 7533
    },
    {
      "epoch": 1.69015032533094,
      "gripper_loss": 0.86328125,
      "loss": 0.15234375,
      "pos_loss": 1.0234375,
      "rot_loss": 0.265625,
      "step": 7533
    },
    {
      "epoch": 1.6903746914965223,
      "grad_norm": 0.5842458009719849,
      "learning_rate": 0.00021094820813673354,
      "loss": 0.1169,
      "step": 7534
    },
    {
      "epoch": 1.6903746914965223,
      "gripper_loss": 0.036865234375,
      "loss": 0.06005859375,
      "pos_loss": 0.490234375,
      "rot_loss": 0.053466796875,
      "step": 7534
    },
    {
      "epoch": 1.6905990576621046,
      "grad_norm": 0.4349178671836853,
      "learning_rate": 0.000210888393039562,
      "loss": 0.059,
      "step": 7535
    },
    {
      "epoch": 1.6905990576621046,
      "gripper_loss": 0.008544921875,
      "loss": 0.033935546875,
      "pos_loss": 0.298828125,
      "rot_loss": 0.01806640625,
      "step": 7535
    },
    {
      "epoch": 1.6908234238276867,
      "grad_norm": 0.36978858709335327,
      "learning_rate": 0.00021082858023744192,
      "loss": 0.0493,
      "step": 7536
    },
    {
      "epoch": 1.6908234238276867,
      "gripper_loss": 0.01220703125,
      "loss": 0.02734375,
      "pos_loss": 0.205078125,
      "rot_loss": 0.04345703125,
      "step": 7536
    },
    {
      "epoch": 1.691047789993269,
      "grad_norm": 0.5491645336151123,
      "learning_rate": 0.00021076876973388304,
      "loss": 0.1042,
      "step": 7537
    },
    {
      "epoch": 1.691047789993269,
      "gripper_loss": 0.251953125,
      "loss": 0.045654296875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.10791015625,
      "step": 7537
    },
    {
      "epoch": 1.6912721561588513,
      "grad_norm": 0.6768573522567749,
      "learning_rate": 0.00021070896153239498,
      "loss": 0.0828,
      "step": 7538
    },
    {
      "epoch": 1.6912721561588513,
      "gripper_loss": 0.1728515625,
      "loss": 0.04833984375,
      "pos_loss": 0.41015625,
      "rot_loss": 0.01458740234375,
      "step": 7538
    },
    {
      "epoch": 1.6914965223244334,
      "grad_norm": 0.42013898491859436,
      "learning_rate": 0.00021064915563648735,
      "loss": 0.0554,
      "step": 7539
    },
    {
      "epoch": 1.6914965223244334,
      "gripper_loss": 0.337890625,
      "loss": 0.0274658203125,
      "pos_loss": 0.138671875,
      "rot_loss": 0.00897216796875,
      "step": 7539
    },
    {
      "epoch": 1.6917208884900157,
      "grad_norm": 0.39803388714790344,
      "learning_rate": 0.00021058935204966957,
      "loss": 0.0503,
      "step": 7540
    },
    {
      "epoch": 1.6917208884900157,
      "gripper_loss": 0.051025390625,
      "loss": 0.01177978515625,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.0311279296875,
      "step": 7540
    },
    {
      "epoch": 1.691945254655598,
      "grad_norm": 0.46005040407180786,
      "learning_rate": 0.0002105295507754507,
      "loss": 0.0611,
      "step": 7541
    },
    {
      "epoch": 1.691945254655598,
      "gripper_loss": 0.037109375,
      "loss": 0.1044921875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.490234375,
      "step": 7541
    },
    {
      "epoch": 1.69216962082118,
      "grad_norm": 0.31821969151496887,
      "learning_rate": 0.00021046975181734004,
      "loss": 0.0706,
      "step": 7542
    },
    {
      "epoch": 1.69216962082118,
      "gripper_loss": 0.0252685546875,
      "loss": 0.05517578125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.0751953125,
      "step": 7542
    },
    {
      "epoch": 1.6923939869867624,
      "grad_norm": 0.48089659214019775,
      "learning_rate": 0.00021040995517884642,
      "loss": 0.0601,
      "step": 7543
    },
    {
      "epoch": 1.6923939869867624,
      "gripper_loss": 1.2578125,
      "loss": 0.16015625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.87890625,
      "step": 7543
    },
    {
      "epoch": 1.6926183531523447,
      "grad_norm": 0.5168717503547668,
      "learning_rate": 0.00021035016086347889,
      "loss": 0.0737,
      "step": 7544
    },
    {
      "epoch": 1.6926183531523447,
      "gripper_loss": 0.0205078125,
      "loss": 0.08154296875,
      "pos_loss": 0.6953125,
      "rot_loss": 0.1337890625,
      "step": 7544
    },
    {
      "epoch": 1.6928427193179267,
      "grad_norm": 0.33815455436706543,
      "learning_rate": 0.0002102903688747459,
      "loss": 0.0508,
      "step": 7545
    },
    {
      "epoch": 1.6928427193179267,
      "gripper_loss": 0.02783203125,
      "loss": 0.10595703125,
      "pos_loss": 0.9765625,
      "rot_loss": 0.1044921875,
      "step": 7545
    },
    {
      "epoch": 1.693067085483509,
      "grad_norm": 0.3490147590637207,
      "learning_rate": 0.0002102305792161561,
      "loss": 0.0536,
      "step": 7546
    },
    {
      "epoch": 1.693067085483509,
      "gripper_loss": 0.1748046875,
      "loss": 0.062255859375,
      "pos_loss": 0.22265625,
      "rot_loss": 0.3515625,
      "step": 7546
    },
    {
      "epoch": 1.6932914516490913,
      "grad_norm": 0.47034475207328796,
      "learning_rate": 0.00021017079189121802,
      "loss": 0.0817,
      "step": 7547
    },
    {
      "epoch": 1.6932914516490913,
      "gripper_loss": 0.01611328125,
      "loss": 0.1025390625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.49609375,
      "step": 7547
    },
    {
      "epoch": 1.6935158178146734,
      "grad_norm": 0.34232136607170105,
      "learning_rate": 0.0002101110069034398,
      "loss": 0.048,
      "step": 7548
    },
    {
      "epoch": 1.6935158178146734,
      "gripper_loss": 0.29296875,
      "loss": 0.0272216796875,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.076171875,
      "step": 7548
    },
    {
      "epoch": 1.693740183980256,
      "grad_norm": 0.3532809317111969,
      "learning_rate": 0.00021005122425632987,
      "loss": 0.0509,
      "step": 7549
    },
    {
      "epoch": 1.693740183980256,
      "gripper_loss": 0.041259765625,
      "loss": 0.0673828125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.1865234375,
      "step": 7549
    },
    {
      "epoch": 1.693964550145838,
      "grad_norm": 0.5357836484909058,
      "learning_rate": 0.00020999144395339589,
      "loss": 0.0797,
      "step": 7550
    },
    {
      "epoch": 1.693964550145838,
      "gripper_loss": 0.478515625,
      "loss": 0.09423828125,
      "pos_loss": 0.63671875,
      "rot_loss": 0.1611328125,
      "step": 7550
    },
    {
      "epoch": 1.69418891631142,
      "grad_norm": 0.33041220903396606,
      "learning_rate": 0.0002099316659981459,
      "loss": 0.0667,
      "step": 7551
    },
    {
      "epoch": 1.69418891631142,
      "gripper_loss": 1.3203125,
      "loss": 0.049560546875,
      "pos_loss": 0.032958984375,
      "rot_loss": 0.0262451171875,
      "step": 7551
    },
    {
      "epoch": 1.6944132824770026,
      "grad_norm": 0.3349473774433136,
      "learning_rate": 0.00020987189039408768,
      "loss": 0.0385,
      "step": 7552
    },
    {
      "epoch": 1.6944132824770026,
      "gripper_loss": 0.01953125,
      "loss": 0.0262451171875,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.04150390625,
      "step": 7552
    },
    {
      "epoch": 1.6946376486425847,
      "grad_norm": 0.2804011404514313,
      "learning_rate": 0.00020981211714472892,
      "loss": 0.0493,
      "step": 7553
    },
    {
      "epoch": 1.6946376486425847,
      "gripper_loss": 0.09033203125,
      "loss": 0.10693359375,
      "pos_loss": 0.9296875,
      "rot_loss": 0.1474609375,
      "step": 7553
    },
    {
      "epoch": 1.6948620148081668,
      "grad_norm": 0.3743237853050232,
      "learning_rate": 0.00020975234625357692,
      "loss": 0.0575,
      "step": 7554
    },
    {
      "epoch": 1.6948620148081668,
      "gripper_loss": 0.0302734375,
      "loss": 0.030029296875,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.08837890625,
      "step": 7554
    },
    {
      "epoch": 1.6950863809737493,
      "grad_norm": 0.3093773126602173,
      "learning_rate": 0.00020969257772413902,
      "loss": 0.0514,
      "step": 7555
    },
    {
      "epoch": 1.6950863809737493,
      "gripper_loss": 0.0230712890625,
      "loss": 0.05908203125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.05126953125,
      "step": 7555
    },
    {
      "epoch": 1.6953107471393314,
      "grad_norm": 0.38274070620536804,
      "learning_rate": 0.00020963281155992242,
      "loss": 0.0828,
      "step": 7556
    },
    {
      "epoch": 1.6953107471393314,
      "gripper_loss": 0.03125,
      "loss": 0.10546875,
      "pos_loss": 0.625,
      "rot_loss": 0.4375,
      "step": 7556
    },
    {
      "epoch": 1.6955351133049135,
      "grad_norm": 0.4897192120552063,
      "learning_rate": 0.00020957304776443437,
      "loss": 0.0683,
      "step": 7557
    },
    {
      "epoch": 1.6955351133049135,
      "gripper_loss": 0.2412109375,
      "loss": 0.03564453125,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.142578125,
      "step": 7557
    },
    {
      "epoch": 1.695759479470496,
      "grad_norm": 0.30628320574760437,
      "learning_rate": 0.00020951328634118146,
      "loss": 0.0612,
      "step": 7558
    },
    {
      "epoch": 1.695759479470496,
      "gripper_loss": 0.4921875,
      "loss": 0.050048828125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.0184326171875,
      "step": 7558
    },
    {
      "epoch": 1.695983845636078,
      "grad_norm": 0.3622628450393677,
      "learning_rate": 0.0002094535272936707,
      "loss": 0.0689,
      "step": 7559
    },
    {
      "epoch": 1.695983845636078,
      "gripper_loss": 0.0224609375,
      "loss": 0.228515625,
      "pos_loss": 2.3125,
      "rot_loss": 0.0498046875,
      "step": 7559
    },
    {
      "epoch": 1.6962082118016601,
      "grad_norm": 0.5387404561042786,
      "learning_rate": 0.00020939377062540858,
      "loss": 0.0728,
      "step": 7560
    },
    {
      "epoch": 1.6962082118016601,
      "gripper_loss": 0.052734375,
      "loss": 0.0703125,
      "pos_loss": 0.447265625,
      "rot_loss": 0.25390625,
      "step": 7560
    },
    {
      "epoch": 1.6964325779672427,
      "grad_norm": 0.3231765031814575,
      "learning_rate": 0.00020933401633990167,
      "loss": 0.0619,
      "step": 7561
    },
    {
      "epoch": 1.6964325779672427,
      "gripper_loss": 1.09375,
      "loss": 0.06298828125,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.0262451171875,
      "step": 7561
    },
    {
      "epoch": 1.6966569441328248,
      "grad_norm": 0.2669548988342285,
      "learning_rate": 0.00020927426444065645,
      "loss": 0.0399,
      "step": 7562
    },
    {
      "epoch": 1.6966569441328248,
      "gripper_loss": 0.033447265625,
      "loss": 0.0673828125,
      "pos_loss": 0.326171875,
      "rot_loss": 0.326171875,
      "step": 7562
    },
    {
      "epoch": 1.696881310298407,
      "grad_norm": 0.3406693637371063,
      "learning_rate": 0.00020921451493117888,
      "loss": 0.0839,
      "step": 7563
    },
    {
      "epoch": 1.696881310298407,
      "gripper_loss": 0.014892578125,
      "loss": 0.087890625,
      "pos_loss": 0.341796875,
      "rot_loss": 0.5,
      "step": 7563
    },
    {
      "epoch": 1.6971056764639894,
      "grad_norm": 0.46157345175743103,
      "learning_rate": 0.00020915476781497514,
      "loss": 0.0677,
      "step": 7564
    },
    {
      "epoch": 1.6971056764639894,
      "gripper_loss": 0.267578125,
      "loss": 0.05419921875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.09765625,
      "step": 7564
    },
    {
      "epoch": 1.6973300426295714,
      "grad_norm": 0.388949990272522,
      "learning_rate": 0.00020909502309555123,
      "loss": 0.0658,
      "step": 7565
    },
    {
      "epoch": 1.6973300426295714,
      "gripper_loss": 0.3359375,
      "loss": 0.018310546875,
      "pos_loss": 0.03955078125,
      "rot_loss": 0.01409912109375,
      "step": 7565
    },
    {
      "epoch": 1.6975544087951537,
      "grad_norm": 0.4250786602497101,
      "learning_rate": 0.00020903528077641296,
      "loss": 0.056,
      "step": 7566
    },
    {
      "epoch": 1.6975544087951537,
      "gripper_loss": 0.1591796875,
      "loss": 0.2275390625,
      "pos_loss": 1.1484375,
      "rot_loss": 1.1953125,
      "step": 7566
    },
    {
      "epoch": 1.697778774960736,
      "grad_norm": 0.6741699576377869,
      "learning_rate": 0.00020897554086106578,
      "loss": 0.0853,
      "step": 7567
    },
    {
      "epoch": 1.697778774960736,
      "gripper_loss": 0.0103759765625,
      "loss": 0.0810546875,
      "pos_loss": 0.390625,
      "rot_loss": 0.423828125,
      "step": 7567
    },
    {
      "epoch": 1.6980031411263181,
      "grad_norm": 0.6243107318878174,
      "learning_rate": 0.00020891580335301535,
      "loss": 0.073,
      "step": 7568
    },
    {
      "epoch": 1.6980031411263181,
      "gripper_loss": 0.0115966796875,
      "loss": 0.0478515625,
      "pos_loss": 0.39453125,
      "rot_loss": 0.068359375,
      "step": 7568
    },
    {
      "epoch": 1.6982275072919004,
      "grad_norm": 0.2677791714668274,
      "learning_rate": 0.00020885606825576703,
      "loss": 0.0578,
      "step": 7569
    },
    {
      "epoch": 1.6982275072919004,
      "gripper_loss": 0.042724609375,
      "loss": 0.06982421875,
      "pos_loss": 0.578125,
      "rot_loss": 0.0869140625,
      "step": 7569
    },
    {
      "epoch": 1.6984518734574827,
      "grad_norm": 0.4750209152698517,
      "learning_rate": 0.00020879633557282617,
      "loss": 0.074,
      "step": 7570
    },
    {
      "epoch": 1.6984518734574827,
      "gripper_loss": 0.296875,
      "loss": 0.0654296875,
      "pos_loss": 0.265625,
      "rot_loss": 0.25390625,
      "step": 7570
    },
    {
      "epoch": 1.6986762396230648,
      "grad_norm": 0.4889659881591797,
      "learning_rate": 0.0002087366053076976,
      "loss": 0.0773,
      "step": 7571
    },
    {
      "epoch": 1.6986762396230648,
      "gripper_loss": 1.15625,
      "loss": 0.05859375,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.125,
      "step": 7571
    },
    {
      "epoch": 1.698900605788647,
      "grad_norm": 0.608670711517334,
      "learning_rate": 0.00020867687746388644,
      "loss": 0.0805,
      "step": 7572
    },
    {
      "epoch": 1.698900605788647,
      "gripper_loss": 2.109375,
      "loss": 0.0869140625,
      "pos_loss": 0.15625,
      "rot_loss": 0.033447265625,
      "step": 7572
    },
    {
      "epoch": 1.6991249719542294,
      "grad_norm": 0.5127047896385193,
      "learning_rate": 0.00020861715204489742,
      "loss": 0.0722,
      "step": 7573
    },
    {
      "epoch": 1.6991249719542294,
      "gripper_loss": 0.050537109375,
      "loss": 0.060302734375,
      "pos_loss": 0.38671875,
      "rot_loss": 0.1962890625,
      "step": 7573
    },
    {
      "epoch": 1.6993493381198115,
      "grad_norm": 0.31207793951034546,
      "learning_rate": 0.00020855742905423534,
      "loss": 0.0462,
      "step": 7574
    },
    {
      "epoch": 1.6993493381198115,
      "gripper_loss": 0.90234375,
      "loss": 0.0634765625,
      "pos_loss": 0.201171875,
      "rot_loss": 0.1103515625,
      "step": 7574
    },
    {
      "epoch": 1.6995737042853938,
      "grad_norm": 0.39444980025291443,
      "learning_rate": 0.00020849770849540444,
      "loss": 0.0437,
      "step": 7575
    },
    {
      "epoch": 1.6995737042853938,
      "gripper_loss": 0.6640625,
      "loss": 0.103515625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.142578125,
      "step": 7575
    },
    {
      "epoch": 1.699798070450976,
      "grad_norm": 0.42610108852386475,
      "learning_rate": 0.00020843799037190933,
      "loss": 0.0638,
      "step": 7576
    },
    {
      "epoch": 1.699798070450976,
      "gripper_loss": 0.060302734375,
      "loss": 0.0693359375,
      "pos_loss": 0.53125,
      "rot_loss": 0.1181640625,
      "step": 7576
    },
    {
      "epoch": 1.7000224366165582,
      "grad_norm": 0.4925428330898285,
      "learning_rate": 0.0002083782746872542,
      "loss": 0.0772,
      "step": 7577
    },
    {
      "epoch": 1.7000224366165582,
      "gripper_loss": 0.0184326171875,
      "loss": 0.0810546875,
      "pos_loss": 0.546875,
      "rot_loss": 0.248046875,
      "step": 7577
    },
    {
      "epoch": 1.7002468027821405,
      "grad_norm": 0.3078099191188812,
      "learning_rate": 0.00020831856144494306,
      "loss": 0.0507,
      "step": 7578
    },
    {
      "epoch": 1.7002468027821405,
      "gripper_loss": 0.03125,
      "loss": 0.032958984375,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.134765625,
      "step": 7578
    },
    {
      "epoch": 1.7004711689477228,
      "grad_norm": 0.40425577759742737,
      "learning_rate": 0.00020825885064848005,
      "loss": 0.0563,
      "step": 7579
    },
    {
      "epoch": 1.7004711689477228,
      "gripper_loss": 0.96484375,
      "loss": 0.056884765625,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.1005859375,
      "step": 7579
    },
    {
      "epoch": 1.7006955351133048,
      "grad_norm": 0.30613085627555847,
      "learning_rate": 0.0002081991423013687,
      "loss": 0.0479,
      "step": 7580
    },
    {
      "epoch": 1.7006955351133048,
      "gripper_loss": 0.5234375,
      "loss": 0.0220947265625,
      "pos_loss": 0.0218505859375,
      "rot_loss": 0.007720947265625,
      "step": 7580
    },
    {
      "epoch": 1.7009199012788871,
      "grad_norm": 0.5041341781616211,
      "learning_rate": 0.00020813943640711277,
      "loss": 0.0817,
      "step": 7581
    },
    {
      "epoch": 1.7009199012788871,
      "gripper_loss": 0.01123046875,
      "loss": 0.09619140625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.244140625,
      "step": 7581
    },
    {
      "epoch": 1.7011442674444694,
      "grad_norm": 0.3411678671836853,
      "learning_rate": 0.0002080797329692159,
      "loss": 0.0538,
      "step": 7582
    },
    {
      "epoch": 1.7011442674444694,
      "gripper_loss": 0.06787109375,
      "loss": 0.025634765625,
      "pos_loss": 0.055908203125,
      "rot_loss": 0.1533203125,
      "step": 7582
    },
    {
      "epoch": 1.7013686336100515,
      "grad_norm": 0.2830052375793457,
      "learning_rate": 0.00020802003199118136,
      "loss": 0.0544,
      "step": 7583
    },
    {
      "epoch": 1.7013686336100515,
      "gripper_loss": 0.625,
      "loss": 0.06494140625,
      "pos_loss": 0.431640625,
      "rot_loss": 0.023681640625,
      "step": 7583
    },
    {
      "epoch": 1.7015929997756338,
      "grad_norm": 0.254562109708786,
      "learning_rate": 0.0002079603334765124,
      "loss": 0.0444,
      "step": 7584
    },
    {
      "epoch": 1.7015929997756338,
      "gripper_loss": 0.1669921875,
      "loss": 0.042236328125,
      "pos_loss": 0.193359375,
      "rot_loss": 0.08056640625,
      "step": 7584
    },
    {
      "epoch": 1.7018173659412161,
      "grad_norm": 0.6010664701461792,
      "learning_rate": 0.000207900637428712,
      "loss": 0.1119,
      "step": 7585
    },
    {
      "epoch": 1.7018173659412161,
      "gripper_loss": 0.8515625,
      "loss": 0.041748046875,
      "pos_loss": 0.123046875,
      "rot_loss": 0.01214599609375,
      "step": 7585
    },
    {
      "epoch": 1.7020417321067982,
      "grad_norm": 0.2789119780063629,
      "learning_rate": 0.00020784094385128322,
      "loss": 0.0553,
      "step": 7586
    },
    {
      "epoch": 1.7020417321067982,
      "gripper_loss": 0.0247802734375,
      "loss": 0.0311279296875,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.06494140625,
      "step": 7586
    },
    {
      "epoch": 1.7022660982723805,
      "grad_norm": 0.3929775059223175,
      "learning_rate": 0.0002077812527477289,
      "loss": 0.0658,
      "step": 7587
    },
    {
      "epoch": 1.7022660982723805,
      "gripper_loss": 0.087890625,
      "loss": 0.041259765625,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.138671875,
      "step": 7587
    },
    {
      "epoch": 1.7024904644379628,
      "grad_norm": 0.48552757501602173,
      "learning_rate": 0.00020772156412155149,
      "loss": 0.0496,
      "step": 7588
    },
    {
      "epoch": 1.7024904644379628,
      "gripper_loss": 0.0220947265625,
      "loss": 0.0211181640625,
      "pos_loss": 0.0703125,
      "rot_loss": 0.11083984375,
      "step": 7588
    },
    {
      "epoch": 1.702714830603545,
      "grad_norm": 0.30370670557022095,
      "learning_rate": 0.00020766187797625367,
      "loss": 0.0483,
      "step": 7589
    },
    {
      "epoch": 1.702714830603545,
      "gripper_loss": 0.026123046875,
      "loss": 0.06689453125,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.37890625,
      "step": 7589
    },
    {
      "epoch": 1.7029391967691272,
      "grad_norm": 0.4221701920032501,
      "learning_rate": 0.00020760219431533767,
      "loss": 0.0923,
      "step": 7590
    },
    {
      "epoch": 1.7029391967691272,
      "gripper_loss": 0.1591796875,
      "loss": 0.05126953125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.0174560546875,
      "step": 7590
    },
    {
      "epoch": 1.7031635629347095,
      "grad_norm": 0.3763805627822876,
      "learning_rate": 0.00020754251314230576,
      "loss": 0.0447,
      "step": 7591
    },
    {
      "epoch": 1.7031635629347095,
      "gripper_loss": 0.39453125,
      "loss": 0.0595703125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.060791015625,
      "step": 7591
    },
    {
      "epoch": 1.7033879291002916,
      "grad_norm": 0.43443477153778076,
      "learning_rate": 0.0002074828344606601,
      "loss": 0.0646,
      "step": 7592
    },
    {
      "epoch": 1.7033879291002916,
      "gripper_loss": 0.484375,
      "loss": 0.0634765625,
      "pos_loss": 0.375,
      "rot_loss": 0.10498046875,
      "step": 7592
    },
    {
      "epoch": 1.7036122952658739,
      "grad_norm": 0.40510958433151245,
      "learning_rate": 0.00020742315827390243,
      "loss": 0.0641,
      "step": 7593
    },
    {
      "epoch": 1.7036122952658739,
      "gripper_loss": 0.3359375,
      "loss": 0.0419921875,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.0634765625,
      "step": 7593
    },
    {
      "epoch": 1.7038366614314562,
      "grad_norm": 0.2739730775356293,
      "learning_rate": 0.00020736348458553464,
      "loss": 0.0593,
      "step": 7594
    },
    {
      "epoch": 1.7038366614314562,
      "gripper_loss": 0.330078125,
      "loss": 0.0289306640625,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.09033203125,
      "step": 7594
    },
    {
      "epoch": 1.7040610275970383,
      "grad_norm": 0.3056989312171936,
      "learning_rate": 0.00020730381339905828,
      "loss": 0.0531,
      "step": 7595
    },
    {
      "epoch": 1.7040610275970383,
      "gripper_loss": 0.0211181640625,
      "loss": 0.048583984375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.1533203125,
      "step": 7595
    },
    {
      "epoch": 1.7042853937626206,
      "grad_norm": 0.43335583806037903,
      "learning_rate": 0.00020724414471797497,
      "loss": 0.0366,
      "step": 7596
    },
    {
      "epoch": 1.7042853937626206,
      "gripper_loss": 0.494140625,
      "loss": 0.032470703125,
      "pos_loss": 0.0576171875,
      "rot_loss": 0.087890625,
      "step": 7596
    },
    {
      "epoch": 1.7045097599282029,
      "grad_norm": 0.3934328258037567,
      "learning_rate": 0.0002071844785457858,
      "loss": 0.0388,
      "step": 7597
    },
    {
      "epoch": 1.7045097599282029,
      "gripper_loss": 0.640625,
      "loss": 0.041748046875,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.05615234375,
      "step": 7597
    },
    {
      "epoch": 1.704734126093785,
      "grad_norm": 0.42971959710121155,
      "learning_rate": 0.00020712481488599214,
      "loss": 0.0728,
      "step": 7598
    },
    {
      "epoch": 1.704734126093785,
      "gripper_loss": 0.021484375,
      "loss": 0.09521484375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.337890625,
      "step": 7598
    },
    {
      "epoch": 1.7049584922593672,
      "grad_norm": 0.3928427994251251,
      "learning_rate": 0.00020706515374209497,
      "loss": 0.0695,
      "step": 7599
    },
    {
      "epoch": 1.7049584922593672,
      "gripper_loss": 0.0419921875,
      "loss": 0.03173828125,
      "pos_loss": 0.25390625,
      "rot_loss": 0.042236328125,
      "step": 7599
    },
    {
      "epoch": 1.7051828584249495,
      "grad_norm": 0.6886091828346252,
      "learning_rate": 0.0002070054951175953,
      "loss": 0.0873,
      "step": 7600
    },
    {
      "epoch": 1.7051828584249495,
      "gripper_loss": 0.326171875,
      "loss": 0.0634765625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.0703125,
      "step": 7600
    },
    {
      "epoch": 1.7054072245905316,
      "grad_norm": 0.5162922143936157,
      "learning_rate": 0.00020694583901599366,
      "loss": 0.0738,
      "step": 7601
    },
    {
      "epoch": 1.7054072245905316,
      "gripper_loss": 0.314453125,
      "loss": 0.490234375,
      "pos_loss": 1.0859375,
      "rot_loss": 0.93359375,
      "step": 7601
    },
    {
      "epoch": 1.705631590756114,
      "grad_norm": 1.716814398765564,
      "learning_rate": 0.00020688618544079075,
      "loss": 0.3496,
      "step": 7602
    },
    {
      "epoch": 1.705631590756114,
      "gripper_loss": 0.007537841796875,
      "loss": 0.013427734375,
      "pos_loss": 0.032958984375,
      "rot_loss": 0.0732421875,
      "step": 7602
    },
    {
      "epoch": 1.7058559569216962,
      "grad_norm": 0.4873257875442505,
      "learning_rate": 0.000206826534395487,
      "loss": 0.073,
      "step": 7603
    },
    {
      "epoch": 1.7058559569216962,
      "gripper_loss": 0.26953125,
      "loss": 0.138671875,
      "pos_loss": 0.498046875,
      "rot_loss": 0.408203125,
      "step": 7603
    },
    {
      "epoch": 1.7060803230872783,
      "grad_norm": 1.1509877443313599,
      "learning_rate": 0.0002067668858835828,
      "loss": 0.1344,
      "step": 7604
    },
    {
      "epoch": 1.7060803230872783,
      "gripper_loss": 0.033935546875,
      "loss": 0.06396484375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.1884765625,
      "step": 7604
    },
    {
      "epoch": 1.7063046892528608,
      "grad_norm": 0.6790109276771545,
      "learning_rate": 0.0002067072399085781,
      "loss": 0.0684,
      "step": 7605
    },
    {
      "epoch": 1.7063046892528608,
      "gripper_loss": 0.765625,
      "loss": 0.05078125,
      "pos_loss": 0.203125,
      "rot_loss": 0.044921875,
      "step": 7605
    },
    {
      "epoch": 1.706529055418443,
      "grad_norm": 0.43115249276161194,
      "learning_rate": 0.00020664759647397299,
      "loss": 0.0622,
      "step": 7606
    },
    {
      "epoch": 1.706529055418443,
      "gripper_loss": 0.05712890625,
      "loss": 0.041748046875,
      "pos_loss": 0.080078125,
      "rot_loss": 0.259765625,
      "step": 7606
    },
    {
      "epoch": 1.706753421584025,
      "grad_norm": 0.37975555658340454,
      "learning_rate": 0.00020658795558326743,
      "loss": 0.0701,
      "step": 7607
    },
    {
      "epoch": 1.706753421584025,
      "gripper_loss": 0.01470947265625,
      "loss": 0.0245361328125,
      "pos_loss": 0.14453125,
      "rot_loss": 0.06884765625,
      "step": 7607
    },
    {
      "epoch": 1.7069777877496075,
      "grad_norm": 0.6204885840415955,
      "learning_rate": 0.00020652831723996096,
      "loss": 0.0638,
      "step": 7608
    },
    {
      "epoch": 1.7069777877496075,
      "gripper_loss": 0.08251953125,
      "loss": 0.05419921875,
      "pos_loss": 0.3125,
      "rot_loss": 0.15234375,
      "step": 7608
    },
    {
      "epoch": 1.7072021539151896,
      "grad_norm": 0.4166225492954254,
      "learning_rate": 0.00020646868144755332,
      "loss": 0.0597,
      "step": 7609
    },
    {
      "epoch": 1.7072021539151896,
      "gripper_loss": 0.0478515625,
      "loss": 0.059814453125,
      "pos_loss": 0.546875,
      "rot_loss": 0.029296875,
      "step": 7609
    },
    {
      "epoch": 1.7074265200807717,
      "grad_norm": 0.48406943678855896,
      "learning_rate": 0.0002064090482095437,
      "loss": 0.0706,
      "step": 7610
    },
    {
      "epoch": 1.7074265200807717,
      "gripper_loss": 0.63671875,
      "loss": 0.07958984375,
      "pos_loss": 0.3671875,
      "rot_loss": 0.1376953125,
      "step": 7610
    },
    {
      "epoch": 1.7076508862463542,
      "grad_norm": 0.5493909120559692,
      "learning_rate": 0.00020634941752943142,
      "loss": 0.0937,
      "step": 7611
    },
    {
      "epoch": 1.7076508862463542,
      "gripper_loss": 0.0303955078125,
      "loss": 0.138671875,
      "pos_loss": 0.37109375,
      "rot_loss": 1.0625,
      "step": 7611
    },
    {
      "epoch": 1.7078752524119363,
      "grad_norm": 0.3703756630420685,
      "learning_rate": 0.00020628978941071566,
      "loss": 0.0572,
      "step": 7612
    },
    {
      "epoch": 1.7078752524119363,
      "gripper_loss": 0.384765625,
      "loss": 0.091796875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.2734375,
      "step": 7612
    },
    {
      "epoch": 1.7080996185775184,
      "grad_norm": 0.6228168606758118,
      "learning_rate": 0.00020623016385689537,
      "loss": 0.0701,
      "step": 7613
    },
    {
      "epoch": 1.7080996185775184,
      "gripper_loss": 0.0203857421875,
      "loss": 0.061279296875,
      "pos_loss": 0.5,
      "rot_loss": 0.0927734375,
      "step": 7613
    },
    {
      "epoch": 1.7083239847431009,
      "grad_norm": 0.46140533685684204,
      "learning_rate": 0.0002061705408714692,
      "loss": 0.0797,
      "step": 7614
    },
    {
      "epoch": 1.7083239847431009,
      "gripper_loss": 0.031982421875,
      "loss": 0.037109375,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.0927734375,
      "step": 7614
    },
    {
      "epoch": 1.708548350908683,
      "grad_norm": 0.3325870931148529,
      "learning_rate": 0.0002061109204579359,
      "loss": 0.0421,
      "step": 7615
    },
    {
      "epoch": 1.708548350908683,
      "gripper_loss": 0.0155029296875,
      "loss": 0.060791015625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.01220703125,
      "step": 7615
    },
    {
      "epoch": 1.708772717074265,
      "grad_norm": 0.5362769365310669,
      "learning_rate": 0.00020605130261979398,
      "loss": 0.1036,
      "step": 7616
    },
    {
      "epoch": 1.708772717074265,
      "gripper_loss": 0.0238037109375,
      "loss": 0.1962890625,
      "pos_loss": 1.1015625,
      "rot_loss": 0.9296875,
      "step": 7616
    },
    {
      "epoch": 1.7089970832398476,
      "grad_norm": 0.41514432430267334,
      "learning_rate": 0.00020599168736054187,
      "loss": 0.1002,
      "step": 7617
    },
    {
      "epoch": 1.7089970832398476,
      "gripper_loss": 0.0634765625,
      "loss": 0.150390625,
      "pos_loss": 1.375,
      "rot_loss": 0.13671875,
      "step": 7617
    },
    {
      "epoch": 1.7092214494054296,
      "grad_norm": 0.3986591100692749,
      "learning_rate": 0.00020593207468367754,
      "loss": 0.068,
      "step": 7618
    },
    {
      "epoch": 1.7092214494054296,
      "gripper_loss": 0.12890625,
      "loss": 0.032958984375,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.02685546875,
      "step": 7618
    },
    {
      "epoch": 1.709445815571012,
      "grad_norm": 0.39494967460632324,
      "learning_rate": 0.00020587246459269926,
      "loss": 0.0669,
      "step": 7619
    },
    {
      "epoch": 1.709445815571012,
      "gripper_loss": 0.310546875,
      "loss": 0.0703125,
      "pos_loss": 0.59375,
      "rot_loss": 0.0213623046875,
      "step": 7619
    },
    {
      "epoch": 1.7096701817365942,
      "grad_norm": 0.5925086736679077,
      "learning_rate": 0.00020581285709110475,
      "loss": 0.0834,
      "step": 7620
    },
    {
      "epoch": 1.7096701817365942,
      "gripper_loss": 0.138671875,
      "loss": 0.051513671875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.052001953125,
      "step": 7620
    },
    {
      "epoch": 1.7098945479021763,
      "grad_norm": 0.3512810170650482,
      "learning_rate": 0.00020575325218239184,
      "loss": 0.0504,
      "step": 7621
    },
    {
      "epoch": 1.7098945479021763,
      "gripper_loss": 0.74609375,
      "loss": 0.0458984375,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.03857421875,
      "step": 7621
    },
    {
      "epoch": 1.7101189140677586,
      "grad_norm": 0.39778050780296326,
      "learning_rate": 0.00020569364987005822,
      "loss": 0.0685,
      "step": 7622
    },
    {
      "epoch": 1.7101189140677586,
      "gripper_loss": 1.0625,
      "loss": 0.1748046875,
      "pos_loss": 0.765625,
      "rot_loss": 0.7109375,
      "step": 7622
    },
    {
      "epoch": 1.710343280233341,
      "grad_norm": 0.5094947218894958,
      "learning_rate": 0.00020563405015760108,
      "loss": 0.0758,
      "step": 7623
    },
    {
      "epoch": 1.710343280233341,
      "gripper_loss": 0.138671875,
      "loss": 0.052490234375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.11474609375,
      "step": 7623
    },
    {
      "epoch": 1.710567646398923,
      "grad_norm": 0.45067548751831055,
      "learning_rate": 0.00020557445304851793,
      "loss": 0.0438,
      "step": 7624
    },
    {
      "epoch": 1.710567646398923,
      "gripper_loss": 0.28515625,
      "loss": 0.022705078125,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.038330078125,
      "step": 7624
    },
    {
      "epoch": 1.7107920125645053,
      "grad_norm": 0.2646542489528656,
      "learning_rate": 0.00020551485854630576,
      "loss": 0.048,
      "step": 7625
    },
    {
      "epoch": 1.7107920125645053,
      "gripper_loss": 0.22265625,
      "loss": 0.0634765625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.3125,
      "step": 7625
    },
    {
      "epoch": 1.7110163787300876,
      "grad_norm": 0.4469006359577179,
      "learning_rate": 0.00020545526665446167,
      "loss": 0.0456,
      "step": 7626
    },
    {
      "epoch": 1.7110163787300876,
      "gripper_loss": 1.4609375,
      "loss": 0.11376953125,
      "pos_loss": 0.216796875,
      "rot_loss": 0.451171875,
      "step": 7626
    },
    {
      "epoch": 1.7112407448956697,
      "grad_norm": 0.4331253468990326,
      "learning_rate": 0.00020539567737648236,
      "loss": 0.0717,
      "step": 7627
    },
    {
      "epoch": 1.7112407448956697,
      "gripper_loss": 0.76953125,
      "loss": 0.294921875,
      "pos_loss": 0.451171875,
      "rot_loss": 0.341796875,
      "step": 7627
    },
    {
      "epoch": 1.711465111061252,
      "grad_norm": 1.5449470281600952,
      "learning_rate": 0.0002053360907158645,
      "loss": 0.3574,
      "step": 7628
    },
    {
      "epoch": 1.711465111061252,
      "gripper_loss": 0.025390625,
      "loss": 0.059814453125,
      "pos_loss": 0.3984375,
      "rot_loss": 0.18359375,
      "step": 7628
    },
    {
      "epoch": 1.7116894772268343,
      "grad_norm": 0.3780522644519806,
      "learning_rate": 0.00020527650667610475,
      "loss": 0.0601,
      "step": 7629
    },
    {
      "epoch": 1.7116894772268343,
      "gripper_loss": 0.1181640625,
      "loss": 0.12890625,
      "pos_loss": 0.30078125,
      "rot_loss": 0.98828125,
      "step": 7629
    },
    {
      "epoch": 1.7119138433924164,
      "grad_norm": 0.9669504761695862,
      "learning_rate": 0.0002052169252606994,
      "loss": 0.0871,
      "step": 7630
    },
    {
      "epoch": 1.7119138433924164,
      "gripper_loss": 0.109375,
      "loss": 0.08203125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.443359375,
      "step": 7630
    },
    {
      "epoch": 1.7121382095579987,
      "grad_norm": 0.444624662399292,
      "learning_rate": 0.00020515734647314466,
      "loss": 0.0611,
      "step": 7631
    },
    {
      "epoch": 1.7121382095579987,
      "gripper_loss": 0.0064697265625,
      "loss": 0.1533203125,
      "pos_loss": 1.09375,
      "rot_loss": 0.484375,
      "step": 7631
    },
    {
      "epoch": 1.712362575723581,
      "grad_norm": 0.4983467757701874,
      "learning_rate": 0.0002050977703169365,
      "loss": 0.0655,
      "step": 7632
    },
    {
      "epoch": 1.712362575723581,
      "gripper_loss": 0.6875,
      "loss": 0.0279541015625,
      "pos_loss": 0.024169921875,
      "rot_loss": 0.00811767578125,
      "step": 7632
    },
    {
      "epoch": 1.712586941889163,
      "grad_norm": 0.3197847902774811,
      "learning_rate": 0.00020503819679557089,
      "loss": 0.0513,
      "step": 7633
    },
    {
      "epoch": 1.712586941889163,
      "gripper_loss": 0.84375,
      "loss": 0.3125,
      "pos_loss": 0.77734375,
      "rot_loss": 0.369140625,
      "step": 7633
    },
    {
      "epoch": 1.7128113080547454,
      "grad_norm": 1.3189235925674438,
      "learning_rate": 0.00020497862591254372,
      "loss": 0.3003,
      "step": 7634
    },
    {
      "epoch": 1.7128113080547454,
      "gripper_loss": 0.0279541015625,
      "loss": 0.1298828125,
      "pos_loss": 0.56640625,
      "rot_loss": 0.73828125,
      "step": 7634
    },
    {
      "epoch": 1.7130356742203277,
      "grad_norm": 0.4163150191307068,
      "learning_rate": 0.00020491905767135033,
      "loss": 0.072,
      "step": 7635
    },
    {
      "epoch": 1.7130356742203277,
      "gripper_loss": 0.033203125,
      "loss": 0.10107421875,
      "pos_loss": 0.68359375,
      "rot_loss": 0.32421875,
      "step": 7635
    },
    {
      "epoch": 1.7132600403859097,
      "grad_norm": 0.4073313772678375,
      "learning_rate": 0.0002048594920754863,
      "loss": 0.0808,
      "step": 7636
    },
    {
      "epoch": 1.7132600403859097,
      "gripper_loss": 0.68359375,
      "loss": 0.26953125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.37890625,
      "step": 7636
    },
    {
      "epoch": 1.713484406551492,
      "grad_norm": 1.709769368171692,
      "learning_rate": 0.0002047999291284469,
      "loss": 0.2976,
      "step": 7637
    },
    {
      "epoch": 1.713484406551492,
      "gripper_loss": 0.0301513671875,
      "loss": 0.283203125,
      "pos_loss": 1.7890625,
      "rot_loss": 1.171875,
      "step": 7637
    },
    {
      "epoch": 1.7137087727170743,
      "grad_norm": 0.5826647877693176,
      "learning_rate": 0.0002047403688337272,
      "loss": 0.098,
      "step": 7638
    },
    {
      "epoch": 1.7137087727170743,
      "gripper_loss": 0.294921875,
      "loss": 0.03515625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.0576171875,
      "step": 7638
    },
    {
      "epoch": 1.7139331388826564,
      "grad_norm": 0.34151652455329895,
      "learning_rate": 0.00020468081119482236,
      "loss": 0.0431,
      "step": 7639
    },
    {
      "epoch": 1.7139331388826564,
      "gripper_loss": 0.035888671875,
      "loss": 0.0167236328125,
      "pos_loss": 0.06396484375,
      "rot_loss": 0.05859375,
      "step": 7639
    },
    {
      "epoch": 1.7141575050482387,
      "grad_norm": 0.5846666693687439,
      "learning_rate": 0.0002046212562152269,
      "loss": 0.1073,
      "step": 7640
    },
    {
      "epoch": 1.7141575050482387,
      "gripper_loss": 0.1044921875,
      "loss": 0.056396484375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.11572265625,
      "step": 7640
    },
    {
      "epoch": 1.714381871213821,
      "grad_norm": 0.5536112785339355,
      "learning_rate": 0.0002045617038984357,
      "loss": 0.0924,
      "step": 7641
    },
    {
      "epoch": 1.714381871213821,
      "gripper_loss": 0.19140625,
      "loss": 0.12060546875,
      "pos_loss": 1.1640625,
      "rot_loss": 0.0181884765625,
      "step": 7641
    },
    {
      "epoch": 1.714606237379403,
      "grad_norm": 0.3648911416530609,
      "learning_rate": 0.00020450215424794315,
      "loss": 0.0774,
      "step": 7642
    },
    {
      "epoch": 1.714606237379403,
      "gripper_loss": 0.02197265625,
      "loss": 0.21484375,
      "pos_loss": 1.4140625,
      "rot_loss": 0.8203125,
      "step": 7642
    },
    {
      "epoch": 1.7148306035449854,
      "grad_norm": 0.43027496337890625,
      "learning_rate": 0.00020444260726724375,
      "loss": 0.0908,
      "step": 7643
    },
    {
      "epoch": 1.7148306035449854,
      "gripper_loss": 0.055908203125,
      "loss": 0.08544921875,
      "pos_loss": 0.396484375,
      "rot_loss": 0.2119140625,
      "step": 7643
    },
    {
      "epoch": 1.7150549697105677,
      "grad_norm": 0.8777982592582703,
      "learning_rate": 0.00020438306295983148,
      "loss": 0.1254,
      "step": 7644
    },
    {
      "epoch": 1.7150549697105677,
      "gripper_loss": 0.019287109375,
      "loss": 0.04345703125,
      "pos_loss": 0.173828125,
      "rot_loss": 0.2255859375,
      "step": 7644
    },
    {
      "epoch": 1.7152793358761498,
      "grad_norm": 0.4990329444408417,
      "learning_rate": 0.00020432352132920045,
      "loss": 0.0724,
      "step": 7645
    },
    {
      "epoch": 1.7152793358761498,
      "gripper_loss": 0.0234375,
      "loss": 0.11328125,
      "pos_loss": 0.8984375,
      "rot_loss": 0.2412109375,
      "step": 7645
    },
    {
      "epoch": 1.715503702041732,
      "grad_norm": 0.5128717422485352,
      "learning_rate": 0.00020426398237884458,
      "loss": 0.085,
      "step": 7646
    },
    {
      "epoch": 1.715503702041732,
      "gripper_loss": 0.412109375,
      "loss": 0.10009765625,
      "pos_loss": 0.421875,
      "rot_loss": 0.263671875,
      "step": 7646
    },
    {
      "epoch": 1.7157280682073144,
      "grad_norm": 0.9909334778785706,
      "learning_rate": 0.0002042044461122577,
      "loss": 0.1185,
      "step": 7647
    },
    {
      "epoch": 1.7157280682073144,
      "gripper_loss": 0.306640625,
      "loss": 0.10205078125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.416015625,
      "step": 7647
    },
    {
      "epoch": 1.7159524343728965,
      "grad_norm": 0.5758693814277649,
      "learning_rate": 0.00020414491253293313,
      "loss": 0.1068,
      "step": 7648
    },
    {
      "epoch": 1.7159524343728965,
      "gripper_loss": 0.03857421875,
      "loss": 0.059814453125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.240234375,
      "step": 7648
    },
    {
      "epoch": 1.7161768005384788,
      "grad_norm": 0.44695568084716797,
      "learning_rate": 0.00020408538164436437,
      "loss": 0.0607,
      "step": 7649
    },
    {
      "epoch": 1.7161768005384788,
      "gripper_loss": 0.004150390625,
      "loss": 0.038330078125,
      "pos_loss": 0.28125,
      "rot_loss": 0.0400390625,
      "step": 7649
    },
    {
      "epoch": 1.716401166704061,
      "grad_norm": 0.5220127105712891,
      "learning_rate": 0.00020402585345004464,
      "loss": 0.0525,
      "step": 7650
    },
    {
      "epoch": 1.716401166704061,
      "gripper_loss": 0.056396484375,
      "loss": 0.08837890625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.125,
      "step": 7650
    },
    {
      "epoch": 1.7166255328696431,
      "grad_norm": 0.5015388131141663,
      "learning_rate": 0.00020396632795346712,
      "loss": 0.0686,
      "step": 7651
    },
    {
      "epoch": 1.7166255328696431,
      "gripper_loss": 0.126953125,
      "loss": 0.07666015625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.0927734375,
      "step": 7651
    },
    {
      "epoch": 1.7168498990352254,
      "grad_norm": 0.4194267690181732,
      "learning_rate": 0.00020390680515812475,
      "loss": 0.0559,
      "step": 7652
    },
    {
      "epoch": 1.7168498990352254,
      "gripper_loss": 0.1904296875,
      "loss": 0.052490234375,
      "pos_loss": 0.20703125,
      "rot_loss": 0.1767578125,
      "step": 7652
    },
    {
      "epoch": 1.7170742652008077,
      "grad_norm": 0.7732142806053162,
      "learning_rate": 0.00020384728506751015,
      "loss": 0.1104,
      "step": 7653
    },
    {
      "epoch": 1.7170742652008077,
      "gripper_loss": 0.259765625,
      "loss": 0.0625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.00860595703125,
      "step": 7653
    },
    {
      "epoch": 1.7172986313663898,
      "grad_norm": 0.4202287793159485,
      "learning_rate": 0.00020378776768511608,
      "loss": 0.0558,
      "step": 7654
    },
    {
      "epoch": 1.7172986313663898,
      "gripper_loss": 0.064453125,
      "loss": 0.068359375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.294921875,
      "step": 7654
    },
    {
      "epoch": 1.7175229975319721,
      "grad_norm": 0.5802873373031616,
      "learning_rate": 0.00020372825301443487,
      "loss": 0.0476,
      "step": 7655
    },
    {
      "epoch": 1.7175229975319721,
      "gripper_loss": 0.041748046875,
      "loss": 0.150390625,
      "pos_loss": 1.015625,
      "rot_loss": 0.52734375,
      "step": 7655
    },
    {
      "epoch": 1.7177473636975544,
      "grad_norm": 0.4504411816596985,
      "learning_rate": 0.000203668741058959,
      "loss": 0.0638,
      "step": 7656
    },
    {
      "epoch": 1.7177473636975544,
      "gripper_loss": 0.57421875,
      "loss": 0.07275390625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.1650390625,
      "step": 7656
    },
    {
      "epoch": 1.7179717298631365,
      "grad_norm": 0.5725436806678772,
      "learning_rate": 0.00020360923182218037,
      "loss": 0.072,
      "step": 7657
    },
    {
      "epoch": 1.7179717298631365,
      "gripper_loss": 0.0194091796875,
      "loss": 0.050048828125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.0159912109375,
      "step": 7657
    },
    {
      "epoch": 1.718196096028719,
      "grad_norm": 0.5163395404815674,
      "learning_rate": 0.00020354972530759103,
      "loss": 0.076,
      "step": 7658
    },
    {
      "epoch": 1.718196096028719,
      "gripper_loss": 0.34375,
      "loss": 0.25,
      "pos_loss": 0.6796875,
      "rot_loss": 0.84375,
      "step": 7658
    },
    {
      "epoch": 1.7184204621943011,
      "grad_norm": 1.2763464450836182,
      "learning_rate": 0.00020349022151868292,
      "loss": 0.1965,
      "step": 7659
    },
    {
      "epoch": 1.7184204621943011,
      "gripper_loss": 0.061767578125,
      "loss": 0.01806640625,
      "pos_loss": 0.02880859375,
      "rot_loss": 0.0986328125,
      "step": 7659
    },
    {
      "epoch": 1.7186448283598832,
      "grad_norm": 0.4701705276966095,
      "learning_rate": 0.00020343072045894765,
      "loss": 0.0593,
      "step": 7660
    },
    {
      "epoch": 1.7186448283598832,
      "gripper_loss": 0.10546875,
      "loss": 0.28515625,
      "pos_loss": 0.57421875,
      "rot_loss": 1.109375,
      "step": 7660
    },
    {
      "epoch": 1.7188691945254657,
      "grad_norm": 1.2891435623168945,
      "learning_rate": 0.00020337122213187655,
      "loss": 0.2672,
      "step": 7661
    },
    {
      "epoch": 1.7188691945254657,
      "gripper_loss": 0.06005859375,
      "loss": 0.06884765625,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.51171875,
      "step": 7661
    },
    {
      "epoch": 1.7190935606910478,
      "grad_norm": 0.4696575701236725,
      "learning_rate": 0.00020331172654096112,
      "loss": 0.0564,
      "step": 7662
    },
    {
      "epoch": 1.7190935606910478,
      "gripper_loss": 0.0269775390625,
      "loss": 0.06689453125,
      "pos_loss": 0.345703125,
      "rot_loss": 0.3046875,
      "step": 7662
    },
    {
      "epoch": 1.7193179268566299,
      "grad_norm": 0.8051743507385254,
      "learning_rate": 0.00020325223368969245,
      "loss": 0.074,
      "step": 7663
    },
    {
      "epoch": 1.7193179268566299,
      "gripper_loss": 0.03173828125,
      "loss": 0.1279296875,
      "pos_loss": 0.828125,
      "rot_loss": 0.36328125,
      "step": 7663
    },
    {
      "epoch": 1.7195422930222124,
      "grad_norm": 0.687700629234314,
      "learning_rate": 0.00020319274358156174,
      "loss": 0.0832,
      "step": 7664
    },
    {
      "epoch": 1.7195422930222124,
      "gripper_loss": 0.80078125,
      "loss": 0.048095703125,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.1083984375,
      "step": 7664
    },
    {
      "epoch": 1.7197666591877945,
      "grad_norm": 0.36271852254867554,
      "learning_rate": 0.00020313325622005955,
      "loss": 0.0543,
      "step": 7665
    },
    {
      "epoch": 1.7197666591877945,
      "gripper_loss": 0.5703125,
      "loss": 0.038818359375,
      "pos_loss": 0.11669921875,
      "rot_loss": 0.060791015625,
      "step": 7665
    },
    {
      "epoch": 1.7199910253533766,
      "grad_norm": 0.41018107533454895,
      "learning_rate": 0.00020307377160867679,
      "loss": 0.0526,
      "step": 7666
    },
    {
      "epoch": 1.7199910253533766,
      "gripper_loss": 0.06494140625,
      "loss": 0.054931640625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.33203125,
      "step": 7666
    },
    {
      "epoch": 1.720215391518959,
      "grad_norm": 0.4282248616218567,
      "learning_rate": 0.00020301428975090386,
      "loss": 0.0618,
      "step": 7667
    },
    {
      "epoch": 1.720215391518959,
      "gripper_loss": 0.4765625,
      "loss": 0.083984375,
      "pos_loss": 0.416015625,
      "rot_loss": 0.251953125,
      "step": 7667
    },
    {
      "epoch": 1.7204397576845412,
      "grad_norm": 0.40661969780921936,
      "learning_rate": 0.0002029548106502312,
      "loss": 0.0589,
      "step": 7668
    },
    {
      "epoch": 1.7204397576845412,
      "gripper_loss": 0.337890625,
      "loss": 0.07568359375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.0810546875,
      "step": 7668
    },
    {
      "epoch": 1.7206641238501232,
      "grad_norm": 0.4635321795940399,
      "learning_rate": 0.00020289533431014912,
      "loss": 0.0737,
      "step": 7669
    },
    {
      "epoch": 1.7206641238501232,
      "gripper_loss": 0.05078125,
      "loss": 0.0654296875,
      "pos_loss": 0.46484375,
      "rot_loss": 0.1669921875,
      "step": 7669
    },
    {
      "epoch": 1.7208884900157058,
      "grad_norm": 0.45903658866882324,
      "learning_rate": 0.00020283586073414743,
      "loss": 0.0922,
      "step": 7670
    },
    {
      "epoch": 1.7208884900157058,
      "gripper_loss": 0.1708984375,
      "loss": 0.040771484375,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.244140625,
      "step": 7670
    },
    {
      "epoch": 1.7211128561812878,
      "grad_norm": 0.38133662939071655,
      "learning_rate": 0.00020277638992571617,
      "loss": 0.0454,
      "step": 7671
    },
    {
      "epoch": 1.7211128561812878,
      "gripper_loss": 0.029541015625,
      "loss": 0.037353515625,
      "pos_loss": 0.107421875,
      "rot_loss": 0.2353515625,
      "step": 7671
    },
    {
      "epoch": 1.7213372223468701,
      "grad_norm": 0.4440736472606659,
      "learning_rate": 0.000202716921888345,
      "loss": 0.0756,
      "step": 7672
    },
    {
      "epoch": 1.7213372223468701,
      "gripper_loss": 0.01275634765625,
      "loss": 0.09375,
      "pos_loss": 0.8828125,
      "rot_loss": 0.05419921875,
      "step": 7672
    },
    {
      "epoch": 1.7215615885124524,
      "grad_norm": 0.46444275975227356,
      "learning_rate": 0.00020265745662552357,
      "loss": 0.0775,
      "step": 7673
    },
    {
      "epoch": 1.7215615885124524,
      "gripper_loss": 0.0206298828125,
      "loss": 0.1298828125,
      "pos_loss": 0.89453125,
      "rot_loss": 0.423828125,
      "step": 7673
    },
    {
      "epoch": 1.7217859546780345,
      "grad_norm": 0.5156993269920349,
      "learning_rate": 0.0002025979941407411,
      "loss": 0.0903,
      "step": 7674
    },
    {
      "epoch": 1.7217859546780345,
      "gripper_loss": 0.333984375,
      "loss": 0.033447265625,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.07177734375,
      "step": 7674
    },
    {
      "epoch": 1.7220103208436168,
      "grad_norm": 0.5488528609275818,
      "learning_rate": 0.00020253853443748696,
      "loss": 0.0819,
      "step": 7675
    },
    {
      "epoch": 1.7220103208436168,
      "gripper_loss": 0.01385498046875,
      "loss": 0.103515625,
      "pos_loss": 0.486328125,
      "rot_loss": 0.56640625,
      "step": 7675
    },
    {
      "epoch": 1.7222346870091991,
      "grad_norm": 0.2882394790649414,
      "learning_rate": 0.00020247907751925023,
      "loss": 0.0625,
      "step": 7676
    },
    {
      "epoch": 1.7222346870091991,
      "gripper_loss": 0.039306640625,
      "loss": 0.031494140625,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.16015625,
      "step": 7676
    },
    {
      "epoch": 1.7224590531747812,
      "grad_norm": 0.6033053994178772,
      "learning_rate": 0.00020241962338951976,
      "loss": 0.0828,
      "step": 7677
    },
    {
      "epoch": 1.7224590531747812,
      "gripper_loss": 0.1513671875,
      "loss": 0.051025390625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.08203125,
      "step": 7677
    },
    {
      "epoch": 1.7226834193403635,
      "grad_norm": 0.3557993769645691,
      "learning_rate": 0.0002023601720517843,
      "loss": 0.0492,
      "step": 7678
    },
    {
      "epoch": 1.7226834193403635,
      "gripper_loss": 0.0198974609375,
      "loss": 0.06201171875,
      "pos_loss": 0.310546875,
      "rot_loss": 0.294921875,
      "step": 7678
    },
    {
      "epoch": 1.7229077855059458,
      "grad_norm": 0.4237067997455597,
      "learning_rate": 0.00020230072350953238,
      "loss": 0.0764,
      "step": 7679
    },
    {
      "epoch": 1.7229077855059458,
      "gripper_loss": 0.166015625,
      "loss": 0.046142578125,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.1962890625,
      "step": 7679
    },
    {
      "epoch": 1.723132151671528,
      "grad_norm": 0.37749847769737244,
      "learning_rate": 0.00020224127776625247,
      "loss": 0.08,
      "step": 7680
    },
    {
      "epoch": 1.723132151671528,
      "gripper_loss": 1.8046875,
      "loss": 0.134765625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.1474609375,
      "step": 7680
    },
    {
      "epoch": 1.7233565178371102,
      "grad_norm": 0.34760013222694397,
      "learning_rate": 0.0002021818348254328,
      "loss": 0.0601,
      "step": 7681
    },
    {
      "epoch": 1.7233565178371102,
      "gripper_loss": 0.447265625,
      "loss": 0.1181640625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.2578125,
      "step": 7681
    },
    {
      "epoch": 1.7235808840026925,
      "grad_norm": 1.1307663917541504,
      "learning_rate": 0.0002021223946905616,
      "loss": 0.1665,
      "step": 7682
    },
    {
      "epoch": 1.7235808840026925,
      "gripper_loss": 0.0751953125,
      "loss": 0.05224609375,
      "pos_loss": 0.3125,
      "rot_loss": 0.171875,
      "step": 7682
    },
    {
      "epoch": 1.7238052501682746,
      "grad_norm": 0.4333941340446472,
      "learning_rate": 0.00020206295736512658,
      "loss": 0.0534,
      "step": 7683
    },
    {
      "epoch": 1.7238052501682746,
      "gripper_loss": 0.0157470703125,
      "loss": 0.1015625,
      "pos_loss": 0.83984375,
      "rot_loss": 0.1708984375,
      "step": 7683
    },
    {
      "epoch": 1.7240296163338569,
      "grad_norm": 0.368161678314209,
      "learning_rate": 0.00020200352285261553,
      "loss": 0.0757,
      "step": 7684
    },
    {
      "epoch": 1.7240296163338569,
      "gripper_loss": 0.396484375,
      "loss": 0.04931640625,
      "pos_loss": 0.12109375,
      "rot_loss": 0.240234375,
      "step": 7684
    },
    {
      "epoch": 1.7242539824994392,
      "grad_norm": 0.6847928762435913,
      "learning_rate": 0.00020194409115651608,
      "loss": 0.0956,
      "step": 7685
    },
    {
      "epoch": 1.7242539824994392,
      "gripper_loss": 0.0986328125,
      "loss": 0.07568359375,
      "pos_loss": 0.20703125,
      "rot_loss": 0.494140625,
      "step": 7685
    },
    {
      "epoch": 1.7244783486650213,
      "grad_norm": 0.6962348222732544,
      "learning_rate": 0.00020188466228031576,
      "loss": 0.0712,
      "step": 7686
    },
    {
      "epoch": 1.7244783486650213,
      "gripper_loss": 0.0150146484375,
      "loss": 0.1171875,
      "pos_loss": 0.64453125,
      "rot_loss": 0.5390625,
      "step": 7686
    },
    {
      "epoch": 1.7247027148306036,
      "grad_norm": 0.3129207193851471,
      "learning_rate": 0.00020182523622750163,
      "loss": 0.0418,
      "step": 7687
    },
    {
      "epoch": 1.7247027148306036,
      "gripper_loss": 0.140625,
      "loss": 0.055908203125,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.42578125,
      "step": 7687
    },
    {
      "epoch": 1.7249270809961859,
      "grad_norm": 0.3298839330673218,
      "learning_rate": 0.00020176581300156095,
      "loss": 0.0536,
      "step": 7688
    },
    {
      "epoch": 1.7249270809961859,
      "gripper_loss": 0.2294921875,
      "loss": 0.05224609375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.0223388671875,
      "step": 7688
    },
    {
      "epoch": 1.725151447161768,
      "grad_norm": 0.40634045004844666,
      "learning_rate": 0.00020170639260598048,
      "loss": 0.0537,
      "step": 7689
    },
    {
      "epoch": 1.725151447161768,
      "gripper_loss": 0.0291748046875,
      "loss": 0.09423828125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.1884765625,
      "step": 7689
    },
    {
      "epoch": 1.7253758133273502,
      "grad_norm": 0.46679064631462097,
      "learning_rate": 0.00020164697504424723,
      "loss": 0.0665,
      "step": 7690
    },
    {
      "epoch": 1.7253758133273502,
      "gripper_loss": 0.0908203125,
      "loss": 0.1220703125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.75390625,
      "step": 7690
    },
    {
      "epoch": 1.7256001794929325,
      "grad_norm": 0.40551120042800903,
      "learning_rate": 0.00020158756031984752,
      "loss": 0.0745,
      "step": 7691
    },
    {
      "epoch": 1.7256001794929325,
      "gripper_loss": 0.004180908203125,
      "loss": 0.08544921875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.2177734375,
      "step": 7691
    },
    {
      "epoch": 1.7258245456585146,
      "grad_norm": 0.4688965380191803,
      "learning_rate": 0.00020152814843626791,
      "loss": 0.0666,
      "step": 7692
    },
    {
      "epoch": 1.7258245456585146,
      "gripper_loss": 0.052734375,
      "loss": 0.042724609375,
      "pos_loss": 0.3671875,
      "rot_loss": 0.01904296875,
      "step": 7692
    },
    {
      "epoch": 1.726048911824097,
      "grad_norm": 0.390324205160141,
      "learning_rate": 0.00020146873939699467,
      "loss": 0.0556,
      "step": 7693
    },
    {
      "epoch": 1.726048911824097,
      "gripper_loss": 0.04345703125,
      "loss": 0.031494140625,
      "pos_loss": 0.107421875,
      "rot_loss": 0.1708984375,
      "step": 7693
    },
    {
      "epoch": 1.7262732779896792,
      "grad_norm": 0.30951645970344543,
      "learning_rate": 0.00020140933320551396,
      "loss": 0.0509,
      "step": 7694
    },
    {
      "epoch": 1.7262732779896792,
      "gripper_loss": 0.5546875,
      "loss": 0.1259765625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.4375,
      "step": 7694
    },
    {
      "epoch": 1.7264976441552613,
      "grad_norm": 0.6361003518104553,
      "learning_rate": 0.00020134992986531162,
      "loss": 0.1213,
      "step": 7695
    },
    {
      "epoch": 1.7264976441552613,
      "gripper_loss": 0.185546875,
      "loss": 0.0123291015625,
      "pos_loss": 0.00982666015625,
      "rot_loss": 0.01141357421875,
      "step": 7695
    },
    {
      "epoch": 1.7267220103208436,
      "grad_norm": 0.3620952069759369,
      "learning_rate": 0.00020129052937987334,
      "loss": 0.0421,
      "step": 7696
    },
    {
      "epoch": 1.7267220103208436,
      "gripper_loss": 0.48828125,
      "loss": 0.0361328125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.0103759765625,
      "step": 7696
    },
    {
      "epoch": 1.726946376486426,
      "grad_norm": 0.47328296303749084,
      "learning_rate": 0.0002012311317526848,
      "loss": 0.0686,
      "step": 7697
    },
    {
      "epoch": 1.726946376486426,
      "gripper_loss": 0.00537109375,
      "loss": 0.17578125,
      "pos_loss": 1.7109375,
      "rot_loss": 0.103515625,
      "step": 7697
    },
    {
      "epoch": 1.727170742652008,
      "grad_norm": 0.48958444595336914,
      "learning_rate": 0.00020117173698723146,
      "loss": 0.0987,
      "step": 7698
    },
    {
      "epoch": 1.727170742652008,
      "gripper_loss": 0.0137939453125,
      "loss": 0.107421875,
      "pos_loss": 0.94140625,
      "rot_loss": 0.1357421875,
      "step": 7698
    },
    {
      "epoch": 1.7273951088175903,
      "grad_norm": 0.40192338824272156,
      "learning_rate": 0.00020111234508699864,
      "loss": 0.0618,
      "step": 7699
    },
    {
      "epoch": 1.7273951088175903,
      "gripper_loss": 0.66015625,
      "loss": 0.052734375,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.07666015625,
      "step": 7699
    },
    {
      "epoch": 1.7276194749831726,
      "grad_norm": 0.35993021726608276,
      "learning_rate": 0.00020105295605547119,
      "loss": 0.0635,
      "step": 7700
    },
    {
      "epoch": 1.7276194749831726,
      "gripper_loss": 0.0263671875,
      "loss": 0.09228515625,
      "pos_loss": 0.58203125,
      "rot_loss": 0.33984375,
      "step": 7700
    },
    {
      "epoch": 1.7278438411487547,
      "grad_norm": 0.42610612511634827,
      "learning_rate": 0.00020099356989613428,
      "loss": 0.0538,
      "step": 7701
    },
    {
      "epoch": 1.7278438411487547,
      "gripper_loss": 0.7109375,
      "loss": 0.0458984375,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.035888671875,
      "step": 7701
    },
    {
      "epoch": 1.728068207314337,
      "grad_norm": 0.2972373366355896,
      "learning_rate": 0.00020093418661247246,
      "loss": 0.0527,
      "step": 7702
    },
    {
      "epoch": 1.728068207314337,
      "gripper_loss": 0.0419921875,
      "loss": 0.0908203125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.451171875,
      "step": 7702
    },
    {
      "epoch": 1.7282925734799193,
      "grad_norm": 0.7300601005554199,
      "learning_rate": 0.00020087480620797053,
      "loss": 0.1015,
      "step": 7703
    },
    {
      "epoch": 1.7282925734799193,
      "gripper_loss": 0.0081787109375,
      "loss": 0.142578125,
      "pos_loss": 0.78515625,
      "rot_loss": 0.69140625,
      "step": 7703
    },
    {
      "epoch": 1.7285169396455013,
      "grad_norm": 0.4115309715270996,
      "learning_rate": 0.0002008154286861127,
      "loss": 0.0803,
      "step": 7704
    },
    {
      "epoch": 1.7285169396455013,
      "gripper_loss": 0.369140625,
      "loss": 0.07568359375,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.4921875,
      "step": 7704
    },
    {
      "epoch": 1.7287413058110837,
      "grad_norm": 0.322173148393631,
      "learning_rate": 0.00020075605405038324,
      "loss": 0.0518,
      "step": 7705
    },
    {
      "epoch": 1.7287413058110837,
      "gripper_loss": 0.049560546875,
      "loss": 0.032958984375,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.07421875,
      "step": 7705
    },
    {
      "epoch": 1.728965671976666,
      "grad_norm": 0.6332381367683411,
      "learning_rate": 0.0002006966823042664,
      "loss": 0.1012,
      "step": 7706
    },
    {
      "epoch": 1.728965671976666,
      "gripper_loss": 0.00897216796875,
      "loss": 0.1005859375,
      "pos_loss": 0.81640625,
      "rot_loss": 0.2060546875,
      "step": 7706
    },
    {
      "epoch": 1.729190038142248,
      "grad_norm": 0.5290012359619141,
      "learning_rate": 0.00020063731345124603,
      "loss": 0.0828,
      "step": 7707
    },
    {
      "epoch": 1.729190038142248,
      "gripper_loss": 0.00494384765625,
      "loss": 0.166015625,
      "pos_loss": 1.703125,
      "rot_loss": 0.01544189453125,
      "step": 7707
    },
    {
      "epoch": 1.7294144043078303,
      "grad_norm": 0.46732354164123535,
      "learning_rate": 0.0002005779474948057,
      "loss": 0.0832,
      "step": 7708
    },
    {
      "epoch": 1.7294144043078303,
      "gripper_loss": 0.0267333984375,
      "loss": 0.08837890625,
      "pos_loss": 0.66015625,
      "rot_loss": 0.212890625,
      "step": 7708
    },
    {
      "epoch": 1.7296387704734126,
      "grad_norm": 0.40820610523223877,
      "learning_rate": 0.00020051858443842908,
      "loss": 0.0636,
      "step": 7709
    },
    {
      "epoch": 1.7296387704734126,
      "gripper_loss": 0.0849609375,
      "loss": 0.03369140625,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.203125,
      "step": 7709
    },
    {
      "epoch": 1.7298631366389947,
      "grad_norm": 0.4652332067489624,
      "learning_rate": 0.00020045922428559956,
      "loss": 0.0539,
      "step": 7710
    },
    {
      "epoch": 1.7298631366389947,
      "gripper_loss": 0.08349609375,
      "loss": 0.057373046875,
      "pos_loss": 0.1123046875,
      "rot_loss": 0.43359375,
      "step": 7710
    },
    {
      "epoch": 1.730087502804577,
      "grad_norm": 0.4111781418323517,
      "learning_rate": 0.0002003998670398005,
      "loss": 0.0545,
      "step": 7711
    },
    {
      "epoch": 1.730087502804577,
      "gripper_loss": 0.177734375,
      "loss": 0.034423828125,
      "pos_loss": 0.1875,
      "rot_loss": 0.0732421875,
      "step": 7711
    },
    {
      "epoch": 1.7303118689701593,
      "grad_norm": 0.425716757774353,
      "learning_rate": 0.00020034051270451474,
      "loss": 0.0682,
      "step": 7712
    },
    {
      "epoch": 1.7303118689701593,
      "gripper_loss": 1.390625,
      "loss": 0.0615234375,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.00970458984375,
      "step": 7712
    },
    {
      "epoch": 1.7305362351357414,
      "grad_norm": 0.39904165267944336,
      "learning_rate": 0.00020028116128322534,
      "loss": 0.0555,
      "step": 7713
    },
    {
      "epoch": 1.7305362351357414,
      "gripper_loss": 0.07470703125,
      "loss": 0.0537109375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.134765625,
      "step": 7713
    },
    {
      "epoch": 1.730760601301324,
      "grad_norm": 0.4840148687362671,
      "learning_rate": 0.0002002218127794149,
      "loss": 0.0681,
      "step": 7714
    },
    {
      "epoch": 1.730760601301324,
      "gripper_loss": 0.419921875,
      "loss": 0.064453125,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1259765625,
      "step": 7714
    },
    {
      "epoch": 1.730984967466906,
      "grad_norm": 0.5073093771934509,
      "learning_rate": 0.00020016246719656598,
      "loss": 0.0699,
      "step": 7715
    },
    {
      "epoch": 1.730984967466906,
      "gripper_loss": 0.625,
      "loss": 0.06640625,
      "pos_loss": 0.259765625,
      "rot_loss": 0.1943359375,
      "step": 7715
    },
    {
      "epoch": 1.731209333632488,
      "grad_norm": 0.39928603172302246,
      "learning_rate": 0.0002001031245381611,
      "loss": 0.0753,
      "step": 7716
    },
    {
      "epoch": 1.731209333632488,
      "gripper_loss": 1.96875,
      "loss": 0.09033203125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.03515625,
      "step": 7716
    },
    {
      "epoch": 1.7314336997980706,
      "grad_norm": 0.44888216257095337,
      "learning_rate": 0.0002000437848076822,
      "loss": 0.0831,
      "step": 7717
    },
    {
      "epoch": 1.7314336997980706,
      "gripper_loss": 0.09814453125,
      "loss": 0.042724609375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.024169921875,
      "step": 7717
    },
    {
      "epoch": 1.7316580659636527,
      "grad_norm": 0.43032899498939514,
      "learning_rate": 0.00019998444800861155,
      "loss": 0.0572,
      "step": 7718
    },
    {
      "epoch": 1.7316580659636527,
      "gripper_loss": 0.046875,
      "loss": 0.03173828125,
      "pos_loss": 0.107421875,
      "rot_loss": 0.171875,
      "step": 7718
    },
    {
      "epoch": 1.7318824321292348,
      "grad_norm": 0.36779043078422546,
      "learning_rate": 0.00019992511414443083,
      "loss": 0.0614,
      "step": 7719
    },
    {
      "epoch": 1.7318824321292348,
      "gripper_loss": 0.0341796875,
      "loss": 0.054931640625,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.353515625,
      "step": 7719
    },
    {
      "epoch": 1.7321067982948173,
      "grad_norm": 0.49181896448135376,
      "learning_rate": 0.00019986578321862187,
      "loss": 0.0389,
      "step": 7720
    },
    {
      "epoch": 1.7321067982948173,
      "gripper_loss": 1.1171875,
      "loss": 0.1005859375,
      "pos_loss": 0.306640625,
      "rot_loss": 0.3515625,
      "step": 7720
    },
    {
      "epoch": 1.7323311644603994,
      "grad_norm": 0.464657723903656,
      "learning_rate": 0.00019980645523466604,
      "loss": 0.0777,
      "step": 7721
    },
    {
      "epoch": 1.7323311644603994,
      "gripper_loss": 0.0311279296875,
      "loss": 0.040283203125,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.1591796875,
      "step": 7721
    },
    {
      "epoch": 1.7325555306259814,
      "grad_norm": 0.3305826783180237,
      "learning_rate": 0.00019974713019604474,
      "loss": 0.0513,
      "step": 7722
    },
    {
      "epoch": 1.7325555306259814,
      "gripper_loss": 0.02734375,
      "loss": 0.0267333984375,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.1357421875,
      "step": 7722
    },
    {
      "epoch": 1.732779896791564,
      "grad_norm": 0.5066533088684082,
      "learning_rate": 0.0001996878081062392,
      "loss": 0.0711,
      "step": 7723
    },
    {
      "epoch": 1.732779896791564,
      "gripper_loss": 0.060302734375,
      "loss": 0.0703125,
      "pos_loss": 0.22265625,
      "rot_loss": 0.462890625,
      "step": 7723
    },
    {
      "epoch": 1.733004262957146,
      "grad_norm": 0.49801087379455566,
      "learning_rate": 0.00019962848896873034,
      "loss": 0.0724,
      "step": 7724
    },
    {
      "epoch": 1.733004262957146,
      "gripper_loss": 0.20703125,
      "loss": 0.040771484375,
      "pos_loss": 0.10595703125,
      "rot_loss": 0.224609375,
      "step": 7724
    },
    {
      "epoch": 1.7332286291227281,
      "grad_norm": 0.458484947681427,
      "learning_rate": 0.000199569172786999,
      "loss": 0.0551,
      "step": 7725
    },
    {
      "epoch": 1.7332286291227281,
      "gripper_loss": 0.1416015625,
      "loss": 0.0308837890625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.064453125,
      "step": 7725
    },
    {
      "epoch": 1.7334529952883106,
      "grad_norm": 0.3462669253349304,
      "learning_rate": 0.00019950985956452582,
      "loss": 0.0712,
      "step": 7726
    },
    {
      "epoch": 1.7334529952883106,
      "gripper_loss": 0.006439208984375,
      "loss": 0.05419921875,
      "pos_loss": 0.46484375,
      "rot_loss": 0.0625,
      "step": 7726
    },
    {
      "epoch": 1.7336773614538927,
      "grad_norm": 0.368836909532547,
      "learning_rate": 0.00019945054930479124,
      "loss": 0.0647,
      "step": 7727
    },
    {
      "epoch": 1.7336773614538927,
      "gripper_loss": 0.2470703125,
      "loss": 0.0157470703125,
      "pos_loss": 0.0174560546875,
      "rot_loss": 0.0147705078125,
      "step": 7727
    },
    {
      "epoch": 1.733901727619475,
      "grad_norm": 0.3058605492115021,
      "learning_rate": 0.0001993912420112756,
      "loss": 0.0584,
      "step": 7728
    },
    {
      "epoch": 1.733901727619475,
      "gripper_loss": 0.0693359375,
      "loss": 0.103515625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.451171875,
      "step": 7728
    },
    {
      "epoch": 1.7341260937850573,
      "grad_norm": 0.4627758264541626,
      "learning_rate": 0.0001993319376874591,
      "loss": 0.0823,
      "step": 7729
    },
    {
      "epoch": 1.7341260937850573,
      "gripper_loss": 0.3984375,
      "loss": 0.0595703125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.04296875,
      "step": 7729
    },
    {
      "epoch": 1.7343504599506394,
      "grad_norm": 0.3460361957550049,
      "learning_rate": 0.00019927263633682163,
      "loss": 0.0731,
      "step": 7730
    },
    {
      "epoch": 1.7343504599506394,
      "gripper_loss": 0.0120849609375,
      "loss": 0.224609375,
      "pos_loss": 0.94921875,
      "rot_loss": 1.40625,
      "step": 7730
    },
    {
      "epoch": 1.7345748261162217,
      "grad_norm": 0.46191221475601196,
      "learning_rate": 0.00019921333796284286,
      "loss": 0.093,
      "step": 7731
    },
    {
      "epoch": 1.7345748261162217,
      "gripper_loss": 0.0634765625,
      "loss": 0.0267333984375,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.02197265625,
      "step": 7731
    },
    {
      "epoch": 1.734799192281804,
      "grad_norm": 0.3340652883052826,
      "learning_rate": 0.00019915404256900247,
      "loss": 0.0654,
      "step": 7732
    },
    {
      "epoch": 1.734799192281804,
      "gripper_loss": 0.01190185546875,
      "loss": 0.078125,
      "pos_loss": 0.72265625,
      "rot_loss": 0.06494140625,
      "step": 7732
    },
    {
      "epoch": 1.735023558447386,
      "grad_norm": 0.38101303577423096,
      "learning_rate": 0.00019909475015878004,
      "loss": 0.0646,
      "step": 7733
    },
    {
      "epoch": 1.735023558447386,
      "gripper_loss": 0.021728515625,
      "loss": 0.1240234375,
      "pos_loss": 0.859375,
      "rot_loss": 0.41015625,
      "step": 7733
    },
    {
      "epoch": 1.7352479246129684,
      "grad_norm": 0.31849005818367004,
      "learning_rate": 0.00019903546073565454,
      "loss": 0.0659,
      "step": 7734
    },
    {
      "epoch": 1.7352479246129684,
      "gripper_loss": 0.09033203125,
      "loss": 0.1826171875,
      "pos_loss": 0.322265625,
      "rot_loss": 0.267578125,
      "step": 7734
    },
    {
      "epoch": 1.7354722907785507,
      "grad_norm": 1.7085860967636108,
      "learning_rate": 0.00019897617430310527,
      "loss": 0.2429,
      "step": 7735
    },
    {
      "epoch": 1.7354722907785507,
      "gripper_loss": 0.01153564453125,
      "loss": 0.0732421875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.216796875,
      "step": 7735
    },
    {
      "epoch": 1.7356966569441328,
      "grad_norm": 0.38872405886650085,
      "learning_rate": 0.00019891689086461097,
      "loss": 0.0883,
      "step": 7736
    },
    {
      "epoch": 1.7356966569441328,
      "gripper_loss": 0.0120849609375,
      "loss": 0.26171875,
      "pos_loss": 2.265625,
      "rot_loss": 0.482421875,
      "step": 7736
    },
    {
      "epoch": 1.735921023109715,
      "grad_norm": 0.541644275188446,
      "learning_rate": 0.00019885761042365055,
      "loss": 0.1026,
      "step": 7737
    },
    {
      "epoch": 1.735921023109715,
      "gripper_loss": 0.0186767578125,
      "loss": 0.058349609375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.0732421875,
      "step": 7737
    },
    {
      "epoch": 1.7361453892752974,
      "grad_norm": 0.4344794452190399,
      "learning_rate": 0.00019879833298370235,
      "loss": 0.0659,
      "step": 7738
    },
    {
      "epoch": 1.7361453892752974,
      "gripper_loss": 0.0341796875,
      "loss": 0.078125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.2197265625,
      "step": 7738
    },
    {
      "epoch": 1.7363697554408795,
      "grad_norm": 0.5548490285873413,
      "learning_rate": 0.00019873905854824486,
      "loss": 0.084,
      "step": 7739
    },
    {
      "epoch": 1.7363697554408795,
      "gripper_loss": 0.51171875,
      "loss": 0.0244140625,
      "pos_loss": 0.0279541015625,
      "rot_loss": 0.0235595703125,
      "step": 7739
    },
    {
      "epoch": 1.7365941216064618,
      "grad_norm": 0.43369850516319275,
      "learning_rate": 0.0001986797871207563,
      "loss": 0.0539,
      "step": 7740
    },
    {
      "epoch": 1.7365941216064618,
      "gripper_loss": 0.294921875,
      "loss": 0.0213623046875,
      "pos_loss": 0.064453125,
      "rot_loss": 0.0247802734375,
      "step": 7740
    },
    {
      "epoch": 1.736818487772044,
      "grad_norm": 0.34396809339523315,
      "learning_rate": 0.0001986205187047147,
      "loss": 0.0655,
      "step": 7741
    },
    {
      "epoch": 1.736818487772044,
      "gripper_loss": 0.216796875,
      "loss": 0.0262451171875,
      "pos_loss": 0.12890625,
      "rot_loss": 0.03564453125,
      "step": 7741
    },
    {
      "epoch": 1.7370428539376261,
      "grad_norm": 0.34735414385795593,
      "learning_rate": 0.00019856125330359784,
      "loss": 0.0579,
      "step": 7742
    },
    {
      "epoch": 1.7370428539376261,
      "gripper_loss": 0.0157470703125,
      "loss": 0.08203125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.060302734375,
      "step": 7742
    },
    {
      "epoch": 1.7372672201032084,
      "grad_norm": 0.48351529240608215,
      "learning_rate": 0.00019850199092088334,
      "loss": 0.0773,
      "step": 7743
    },
    {
      "epoch": 1.7372672201032084,
      "gripper_loss": 0.0140380859375,
      "loss": 0.09130859375,
      "pos_loss": 0.859375,
      "rot_loss": 0.07373046875,
      "step": 7743
    },
    {
      "epoch": 1.7374915862687907,
      "grad_norm": 0.45927542448043823,
      "learning_rate": 0.00019844273156004874,
      "loss": 0.0852,
      "step": 7744
    },
    {
      "epoch": 1.7374915862687907,
      "gripper_loss": 0.11962890625,
      "loss": 0.030517578125,
      "pos_loss": 0.064453125,
      "rot_loss": 0.1865234375,
      "step": 7744
    },
    {
      "epoch": 1.7377159524343728,
      "grad_norm": 0.3410395383834839,
      "learning_rate": 0.0001983834752245714,
      "loss": 0.0607,
      "step": 7745
    },
    {
      "epoch": 1.7377159524343728,
      "gripper_loss": 0.045654296875,
      "loss": 0.0986328125,
      "pos_loss": 0.9609375,
      "rot_loss": 0.0322265625,
      "step": 7745
    },
    {
      "epoch": 1.7379403185999551,
      "grad_norm": 0.358049601316452,
      "learning_rate": 0.0001983242219179285,
      "loss": 0.0717,
      "step": 7746
    },
    {
      "epoch": 1.7379403185999551,
      "gripper_loss": 0.423828125,
      "loss": 0.037109375,
      "pos_loss": 0.09765625,
      "rot_loss": 0.11279296875,
      "step": 7746
    },
    {
      "epoch": 1.7381646847655374,
      "grad_norm": 0.36000117659568787,
      "learning_rate": 0.00019826497164359685,
      "loss": 0.0541,
      "step": 7747
    },
    {
      "epoch": 1.7381646847655374,
      "gripper_loss": 1.0078125,
      "loss": 0.2119140625,
      "pos_loss": 1.2109375,
      "rot_loss": 0.671875,
      "step": 7747
    },
    {
      "epoch": 1.7383890509311195,
      "grad_norm": 0.4750634729862213,
      "learning_rate": 0.00019820572440505332,
      "loss": 0.1099,
      "step": 7748
    },
    {
      "epoch": 1.7383890509311195,
      "gripper_loss": 0.0654296875,
      "loss": 0.01513671875,
      "pos_loss": 0.03515625,
      "rot_loss": 0.061767578125,
      "step": 7748
    },
    {
      "epoch": 1.7386134170967018,
      "grad_norm": 0.3109833896160126,
      "learning_rate": 0.00019814648020577446,
      "loss": 0.0414,
      "step": 7749
    },
    {
      "epoch": 1.7386134170967018,
      "gripper_loss": 0.1767578125,
      "loss": 0.1796875,
      "pos_loss": 0.8125,
      "rot_loss": 0.38671875,
      "step": 7749
    },
    {
      "epoch": 1.738837783262284,
      "grad_norm": 0.9624409675598145,
      "learning_rate": 0.00019808723904923682,
      "loss": 0.1624,
      "step": 7750
    },
    {
      "epoch": 1.738837783262284,
      "gripper_loss": 0.0859375,
      "loss": 0.033203125,
      "pos_loss": 0.1484375,
      "rot_loss": 0.11669921875,
      "step": 7750
    },
    {
      "epoch": 1.7390621494278662,
      "grad_norm": 0.3643512725830078,
      "learning_rate": 0.00019802800093891642,
      "loss": 0.0651,
      "step": 7751
    },
    {
      "epoch": 1.7390621494278662,
      "gripper_loss": 0.03173828125,
      "loss": 0.0771484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.408203125,
      "step": 7751
    },
    {
      "epoch": 1.7392865155934485,
      "grad_norm": 0.4393610656261444,
      "learning_rate": 0.0001979687658782895,
      "loss": 0.0594,
      "step": 7752
    },
    {
      "epoch": 1.7392865155934485,
      "gripper_loss": 0.1064453125,
      "loss": 0.041259765625,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.1806640625,
      "step": 7752
    },
    {
      "epoch": 1.7395108817590308,
      "grad_norm": 0.538637101650238,
      "learning_rate": 0.00019790953387083195,
      "loss": 0.0619,
      "step": 7753
    },
    {
      "epoch": 1.7395108817590308,
      "gripper_loss": 0.026611328125,
      "loss": 0.1845703125,
      "pos_loss": 1.8359375,
      "rot_loss": 0.06884765625,
      "step": 7753
    },
    {
      "epoch": 1.7397352479246129,
      "grad_norm": 0.4807056784629822,
      "learning_rate": 0.00019785030492001937,
      "loss": 0.0678,
      "step": 7754
    },
    {
      "epoch": 1.7397352479246129,
      "gripper_loss": 0.142578125,
      "loss": 0.01446533203125,
      "pos_loss": 0.0400390625,
      "rot_loss": 0.0245361328125,
      "step": 7754
    },
    {
      "epoch": 1.7399596140901952,
      "grad_norm": 0.4991745352745056,
      "learning_rate": 0.0001977910790293274,
      "loss": 0.0614,
      "step": 7755
    },
    {
      "epoch": 1.7399596140901952,
      "gripper_loss": 0.05224609375,
      "loss": 0.1708984375,
      "pos_loss": 0.58984375,
      "rot_loss": 1.171875,
      "step": 7755
    },
    {
      "epoch": 1.7401839802557775,
      "grad_norm": 0.5298019051551819,
      "learning_rate": 0.00019773185620223127,
      "loss": 0.0964,
      "step": 7756
    },
    {
      "epoch": 1.7401839802557775,
      "gripper_loss": 1.359375,
      "loss": 0.08642578125,
      "pos_loss": 0.27734375,
      "rot_loss": 0.146484375,
      "step": 7756
    },
    {
      "epoch": 1.7404083464213596,
      "grad_norm": 0.4076745808124542,
      "learning_rate": 0.0001976726364422062,
      "loss": 0.0573,
      "step": 7757
    },
    {
      "epoch": 1.7404083464213596,
      "gripper_loss": 0.953125,
      "loss": 0.058837890625,
      "pos_loss": 0.11669921875,
      "rot_loss": 0.14453125,
      "step": 7757
    },
    {
      "epoch": 1.7406327125869419,
      "grad_norm": 0.3672785460948944,
      "learning_rate": 0.00019761341975272725,
      "loss": 0.0677,
      "step": 7758
    },
    {
      "epoch": 1.7406327125869419,
      "gripper_loss": 0.06396484375,
      "loss": 0.1533203125,
      "pos_loss": 0.5625,
      "rot_loss": 0.2470703125,
      "step": 7758
    },
    {
      "epoch": 1.7408570787525242,
      "grad_norm": 1.3498724699020386,
      "learning_rate": 0.0001975542061372692,
      "loss": 0.2098,
      "step": 7759
    },
    {
      "epoch": 1.7408570787525242,
      "gripper_loss": 0.01263427734375,
      "loss": 0.0301513671875,
      "pos_loss": 0.10400390625,
      "rot_loss": 0.16796875,
      "step": 7759
    },
    {
      "epoch": 1.7410814449181062,
      "grad_norm": 0.33128005266189575,
      "learning_rate": 0.00019749499559930663,
      "loss": 0.06,
      "step": 7760
    },
    {
      "epoch": 1.7410814449181062,
      "gripper_loss": 0.1416015625,
      "loss": 0.03271484375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.0087890625,
      "step": 7760
    },
    {
      "epoch": 1.7413058110836885,
      "grad_norm": 0.448274165391922,
      "learning_rate": 0.00019743578814231393,
      "loss": 0.0606,
      "step": 7761
    },
    {
      "epoch": 1.7413058110836885,
      "gripper_loss": 0.050537109375,
      "loss": 0.042236328125,
      "pos_loss": 0.201171875,
      "rot_loss": 0.1640625,
      "step": 7761
    },
    {
      "epoch": 1.7415301772492708,
      "grad_norm": 0.44507190585136414,
      "learning_rate": 0.00019737658376976544,
      "loss": 0.0535,
      "step": 7762
    },
    {
      "epoch": 1.7415301772492708,
      "gripper_loss": 0.07421875,
      "loss": 0.07763671875,
      "pos_loss": 0.6875,
      "rot_loss": 0.04248046875,
      "step": 7762
    },
    {
      "epoch": 1.741754543414853,
      "grad_norm": 0.5293344855308533,
      "learning_rate": 0.00019731738248513538,
      "loss": 0.0703,
      "step": 7763
    },
    {
      "epoch": 1.741754543414853,
      "gripper_loss": 0.0263671875,
      "loss": 0.10888671875,
      "pos_loss": 0.75,
      "rot_loss": 0.330078125,
      "step": 7763
    },
    {
      "epoch": 1.7419789095804352,
      "grad_norm": 0.6500474214553833,
      "learning_rate": 0.0001972581842918974,
      "loss": 0.0927,
      "step": 7764
    },
    {
      "epoch": 1.7419789095804352,
      "gripper_loss": 0.0181884765625,
      "loss": 0.0908203125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.578125,
      "step": 7764
    },
    {
      "epoch": 1.7422032757460175,
      "grad_norm": 0.4285516142845154,
      "learning_rate": 0.00019719898919352542,
      "loss": 0.0598,
      "step": 7765
    },
    {
      "epoch": 1.7422032757460175,
      "gripper_loss": 0.029296875,
      "loss": 0.1533203125,
      "pos_loss": 1.0859375,
      "rot_loss": 0.49609375,
      "step": 7765
    },
    {
      "epoch": 1.7424276419115996,
      "grad_norm": 0.38820961117744446,
      "learning_rate": 0.00019713979719349284,
      "loss": 0.0617,
      "step": 7766
    },
    {
      "epoch": 1.7424276419115996,
      "gripper_loss": 0.0159912109375,
      "loss": 0.052001953125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.2177734375,
      "step": 7766
    },
    {
      "epoch": 1.7426520080771821,
      "grad_norm": 0.4465968906879425,
      "learning_rate": 0.0001970806082952732,
      "loss": 0.0521,
      "step": 7767
    },
    {
      "epoch": 1.7426520080771821,
      "gripper_loss": 0.01806640625,
      "loss": 0.07275390625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.091796875,
      "step": 7767
    },
    {
      "epoch": 1.7428763742427642,
      "grad_norm": 0.3520485758781433,
      "learning_rate": 0.00019702142250233948,
      "loss": 0.0628,
      "step": 7768
    },
    {
      "epoch": 1.7428763742427642,
      "gripper_loss": 0.337890625,
      "loss": 0.1357421875,
      "pos_loss": 0.5625,
      "rot_loss": 0.220703125,
      "step": 7768
    },
    {
      "epoch": 1.7431007404083463,
      "grad_norm": 1.1881932020187378,
      "learning_rate": 0.00019696223981816475,
      "loss": 0.1829,
      "step": 7769
    },
    {
      "epoch": 1.7431007404083463,
      "gripper_loss": 0.5,
      "loss": 0.047119140625,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.043212890625,
      "step": 7769
    },
    {
      "epoch": 1.7433251065739288,
      "grad_norm": 0.45058637857437134,
      "learning_rate": 0.00019690306024622187,
      "loss": 0.0602,
      "step": 7770
    },
    {
      "epoch": 1.7433251065739288,
      "gripper_loss": 0.043701171875,
      "loss": 0.05126953125,
      "pos_loss": 0.19921875,
      "rot_loss": 0.271484375,
      "step": 7770
    },
    {
      "epoch": 1.7435494727395109,
      "grad_norm": 0.38203462958335876,
      "learning_rate": 0.00019684388378998346,
      "loss": 0.06,
      "step": 7771
    },
    {
      "epoch": 1.7435494727395109,
      "gripper_loss": 0.018310546875,
      "loss": 0.03759765625,
      "pos_loss": 0.25,
      "rot_loss": 0.076171875,
      "step": 7771
    },
    {
      "epoch": 1.743773838905093,
      "grad_norm": 0.39623576402664185,
      "learning_rate": 0.00019678471045292192,
      "loss": 0.0652,
      "step": 7772
    },
    {
      "epoch": 1.743773838905093,
      "gripper_loss": 0.1806640625,
      "loss": 0.08154296875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.2158203125,
      "step": 7772
    },
    {
      "epoch": 1.7439982050706755,
      "grad_norm": 0.40601274371147156,
      "learning_rate": 0.0001967255402385095,
      "loss": 0.0469,
      "step": 7773
    },
    {
      "epoch": 1.7439982050706755,
      "gripper_loss": 0.09033203125,
      "loss": 0.1259765625,
      "pos_loss": 0.458984375,
      "rot_loss": 0.609375,
      "step": 7773
    },
    {
      "epoch": 1.7442225712362576,
      "grad_norm": 0.692743718624115,
      "learning_rate": 0.00019666637315021832,
      "loss": 0.0797,
      "step": 7774
    },
    {
      "epoch": 1.7442225712362576,
      "gripper_loss": 0.052001953125,
      "loss": 0.07373046875,
      "pos_loss": 0.4453125,
      "rot_loss": 0.2236328125,
      "step": 7774
    },
    {
      "epoch": 1.7444469374018396,
      "grad_norm": 0.482259064912796,
      "learning_rate": 0.0001966072091915203,
      "loss": 0.0647,
      "step": 7775
    },
    {
      "epoch": 1.7444469374018396,
      "gripper_loss": 0.02880859375,
      "loss": 0.1748046875,
      "pos_loss": 1.0859375,
      "rot_loss": 0.703125,
      "step": 7775
    },
    {
      "epoch": 1.7446713035674222,
      "grad_norm": 0.5996061563491821,
      "learning_rate": 0.0001965480483658872,
      "loss": 0.0706,
      "step": 7776
    },
    {
      "epoch": 1.7446713035674222,
      "gripper_loss": 0.1962890625,
      "loss": 0.0223388671875,
      "pos_loss": 0.107421875,
      "rot_loss": 0.01904296875,
      "step": 7776
    },
    {
      "epoch": 1.7448956697330043,
      "grad_norm": 0.661194920539856,
      "learning_rate": 0.00019648889067679044,
      "loss": 0.0742,
      "step": 7777
    },
    {
      "epoch": 1.7448956697330043,
      "gripper_loss": 0.026611328125,
      "loss": 0.032470703125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.0205078125,
      "step": 7777
    },
    {
      "epoch": 1.7451200358985863,
      "grad_norm": 0.3978346884250641,
      "learning_rate": 0.00019642973612770136,
      "loss": 0.0723,
      "step": 7778
    },
    {
      "epoch": 1.7451200358985863,
      "gripper_loss": 0.92578125,
      "loss": 0.11083984375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.050048828125,
      "step": 7778
    },
    {
      "epoch": 1.7453444020641689,
      "grad_norm": 0.38745272159576416,
      "learning_rate": 0.00019637058472209116,
      "loss": 0.0591,
      "step": 7779
    },
    {
      "epoch": 1.7453444020641689,
      "gripper_loss": 0.051513671875,
      "loss": 0.03173828125,
      "pos_loss": 0.251953125,
      "rot_loss": 0.02587890625,
      "step": 7779
    },
    {
      "epoch": 1.745568768229751,
      "grad_norm": 0.360475093126297,
      "learning_rate": 0.00019631143646343095,
      "loss": 0.0529,
      "step": 7780
    },
    {
      "epoch": 1.745568768229751,
      "gripper_loss": 0.48046875,
      "loss": 0.025390625,
      "pos_loss": 0.042236328125,
      "rot_loss": 0.0301513671875,
      "step": 7780
    },
    {
      "epoch": 1.7457931343953332,
      "grad_norm": 0.3561185598373413,
      "learning_rate": 0.00019625229135519125,
      "loss": 0.0574,
      "step": 7781
    },
    {
      "epoch": 1.7457931343953332,
      "gripper_loss": 0.0869140625,
      "loss": 0.05859375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.1201171875,
      "step": 7781
    },
    {
      "epoch": 1.7460175005609155,
      "grad_norm": 0.4806853234767914,
      "learning_rate": 0.00019619314940084288,
      "loss": 0.0765,
      "step": 7782
    },
    {
      "epoch": 1.7460175005609155,
      "gripper_loss": 0.8359375,
      "loss": 0.09765625,
      "pos_loss": 0.63671875,
      "rot_loss": 0.08154296875,
      "step": 7782
    },
    {
      "epoch": 1.7462418667264976,
      "grad_norm": 0.4529411196708679,
      "learning_rate": 0.00019613401060385624,
      "loss": 0.0671,
      "step": 7783
    },
    {
      "epoch": 1.7462418667264976,
      "gripper_loss": 0.046630859375,
      "loss": 0.059326171875,
      "pos_loss": 0.30859375,
      "rot_loss": 0.251953125,
      "step": 7783
    },
    {
      "epoch": 1.74646623289208,
      "grad_norm": 0.40425360202789307,
      "learning_rate": 0.00019607487496770158,
      "loss": 0.06,
      "step": 7784
    },
    {
      "epoch": 1.74646623289208,
      "gripper_loss": 0.08154296875,
      "loss": 0.01141357421875,
      "pos_loss": 0.0216064453125,
      "rot_loss": 0.0155029296875,
      "step": 7784
    },
    {
      "epoch": 1.7466905990576622,
      "grad_norm": 0.32692086696624756,
      "learning_rate": 0.0001960157424958488,
      "loss": 0.0415,
      "step": 7785
    },
    {
      "epoch": 1.7466905990576622,
      "gripper_loss": 0.01348876953125,
      "loss": 0.034423828125,
      "pos_loss": 0.19140625,
      "rot_loss": 0.1318359375,
      "step": 7785
    },
    {
      "epoch": 1.7469149652232443,
      "grad_norm": 0.3476099669933319,
      "learning_rate": 0.00019595661319176785,
      "loss": 0.0616,
      "step": 7786
    },
    {
      "epoch": 1.7469149652232443,
      "gripper_loss": 0.052001953125,
      "loss": 0.052734375,
      "pos_loss": 0.03515625,
      "rot_loss": 0.47265625,
      "step": 7786
    },
    {
      "epoch": 1.7471393313888266,
      "grad_norm": 0.4419889450073242,
      "learning_rate": 0.00019589748705892845,
      "loss": 0.0747,
      "step": 7787
    },
    {
      "epoch": 1.7471393313888266,
      "gripper_loss": 0.02978515625,
      "loss": 0.0247802734375,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.11083984375,
      "step": 7787
    },
    {
      "epoch": 1.747363697554409,
      "grad_norm": 0.324710488319397,
      "learning_rate": 0.00019583836410080015,
      "loss": 0.056,
      "step": 7788
    },
    {
      "epoch": 1.747363697554409,
      "gripper_loss": 0.02587890625,
      "loss": 0.08642578125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.34375,
      "step": 7788
    },
    {
      "epoch": 1.747588063719991,
      "grad_norm": 0.39320141077041626,
      "learning_rate": 0.0001957792443208522,
      "loss": 0.0548,
      "step": 7789
    },
    {
      "epoch": 1.747588063719991,
      "gripper_loss": 0.01275634765625,
      "loss": 0.0751953125,
      "pos_loss": 0.60546875,
      "rot_loss": 0.1494140625,
      "step": 7789
    },
    {
      "epoch": 1.7478124298855733,
      "grad_norm": 0.35817158222198486,
      "learning_rate": 0.00019572012772255362,
      "loss": 0.0604,
      "step": 7790
    },
    {
      "epoch": 1.7478124298855733,
      "gripper_loss": 0.00933837890625,
      "loss": 0.042724609375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.11474609375,
      "step": 7790
    },
    {
      "epoch": 1.7480367960511556,
      "grad_norm": 0.491558700799942,
      "learning_rate": 0.00019566101430937345,
      "loss": 0.0676,
      "step": 7791
    },
    {
      "epoch": 1.7480367960511556,
      "gripper_loss": 0.1279296875,
      "loss": 0.11962890625,
      "pos_loss": 1.0859375,
      "rot_loss": 0.11474609375,
      "step": 7791
    },
    {
      "epoch": 1.7482611622167377,
      "grad_norm": 0.3786126673221588,
      "learning_rate": 0.00019560190408478037,
      "loss": 0.0934,
      "step": 7792
    },
    {
      "epoch": 1.7482611622167377,
      "gripper_loss": 0.091796875,
      "loss": 0.043701171875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.051513671875,
      "step": 7792
    },
    {
      "epoch": 1.74848552838232,
      "grad_norm": 0.330263614654541,
      "learning_rate": 0.00019554279705224316,
      "loss": 0.0577,
      "step": 7793
    },
    {
      "epoch": 1.74848552838232,
      "gripper_loss": 0.1962890625,
      "loss": 0.05810546875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.03857421875,
      "step": 7793
    },
    {
      "epoch": 1.7487098945479023,
      "grad_norm": 0.27702242136001587,
      "learning_rate": 0.00019548369321522986,
      "loss": 0.0529,
      "step": 7794
    },
    {
      "epoch": 1.7487098945479023,
      "gripper_loss": 0.06298828125,
      "loss": 0.0517578125,
      "pos_loss": 0.3671875,
      "rot_loss": 0.1103515625,
      "step": 7794
    },
    {
      "epoch": 1.7489342607134843,
      "grad_norm": 0.3575133979320526,
      "learning_rate": 0.0001954245925772089,
      "loss": 0.056,
      "step": 7795
    },
    {
      "epoch": 1.7489342607134843,
      "gripper_loss": 0.068359375,
      "loss": 0.0673828125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.1708984375,
      "step": 7795
    },
    {
      "epoch": 1.7491586268790666,
      "grad_norm": 0.380301296710968,
      "learning_rate": 0.00019536549514164814,
      "loss": 0.0803,
      "step": 7796
    },
    {
      "epoch": 1.7491586268790666,
      "gripper_loss": 0.0238037109375,
      "loss": 0.0235595703125,
      "pos_loss": 0.169921875,
      "rot_loss": 0.033935546875,
      "step": 7796
    },
    {
      "epoch": 1.749382993044649,
      "grad_norm": 0.33761465549468994,
      "learning_rate": 0.00019530640091201557,
      "loss": 0.0367,
      "step": 7797
    },
    {
      "epoch": 1.749382993044649,
      "gripper_loss": 0.041259765625,
      "loss": 0.0174560546875,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.021240234375,
      "step": 7797
    },
    {
      "epoch": 1.749607359210231,
      "grad_norm": 0.4139553904533386,
      "learning_rate": 0.0001952473098917786,
      "loss": 0.0809,
      "step": 7798
    },
    {
      "epoch": 1.749607359210231,
      "gripper_loss": 0.55078125,
      "loss": 0.06396484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.10400390625,
      "step": 7798
    },
    {
      "epoch": 1.7498317253758133,
      "grad_norm": 0.42851579189300537,
      "learning_rate": 0.00019518822208440474,
      "loss": 0.0606,
      "step": 7799
    },
    {
      "epoch": 1.7498317253758133,
      "gripper_loss": 0.0111083984375,
      "loss": 0.09619140625,
      "pos_loss": 0.71875,
      "rot_loss": 0.26953125,
      "step": 7799
    },
    {
      "epoch": 1.7500560915413956,
      "grad_norm": 0.3138999044895172,
      "learning_rate": 0.0001951291374933613,
      "loss": 0.0514,
      "step": 7800
    },
    {
      "epoch": 1.7500560915413956,
      "gripper_loss": 0.427734375,
      "loss": 0.1796875,
      "pos_loss": 1.6484375,
      "rot_loss": 0.09033203125,
      "step": 7800
    },
    {
      "epoch": 1.7502804577069777,
      "grad_norm": 0.4566476047039032,
      "learning_rate": 0.00019507005612211532,
      "loss": 0.0595,
      "step": 7801
    },
    {
      "epoch": 1.7502804577069777,
      "gripper_loss": 0.050537109375,
      "loss": 0.06982421875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.10400390625,
      "step": 7801
    },
    {
      "epoch": 1.75050482387256,
      "grad_norm": 0.6744861602783203,
      "learning_rate": 0.0001950109779741336,
      "loss": 0.0806,
      "step": 7802
    },
    {
      "epoch": 1.75050482387256,
      "gripper_loss": 0.33984375,
      "loss": 0.044677734375,
      "pos_loss": 0.08447265625,
      "rot_loss": 0.2421875,
      "step": 7802
    },
    {
      "epoch": 1.7507291900381423,
      "grad_norm": 0.2567313313484192,
      "learning_rate": 0.00019495190305288284,
      "loss": 0.0374,
      "step": 7803
    },
    {
      "epoch": 1.7507291900381423,
      "gripper_loss": 0.4296875,
      "loss": 0.185546875,
      "pos_loss": 0.404296875,
      "rot_loss": 0.3515625,
      "step": 7803
    },
    {
      "epoch": 1.7509535562037244,
      "grad_norm": 1.261189341545105,
      "learning_rate": 0.00019489283136182953,
      "loss": 0.2468,
      "step": 7804
    },
    {
      "epoch": 1.7509535562037244,
      "gripper_loss": 0.87109375,
      "loss": 0.201171875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.5078125,
      "step": 7804
    },
    {
      "epoch": 1.7511779223693067,
      "grad_norm": 1.1180158853530884,
      "learning_rate": 0.00019483376290444006,
      "loss": 0.1936,
      "step": 7805
    },
    {
      "epoch": 1.7511779223693067,
      "gripper_loss": 0.039794921875,
      "loss": 0.06982421875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.1708984375,
      "step": 7805
    },
    {
      "epoch": 1.751402288534889,
      "grad_norm": 0.6876943111419678,
      "learning_rate": 0.00019477469768418044,
      "loss": 0.0591,
      "step": 7806
    },
    {
      "epoch": 1.751402288534889,
      "gripper_loss": 0.0255126953125,
      "loss": 0.05517578125,
      "pos_loss": 0.22265625,
      "rot_loss": 0.30078125,
      "step": 7806
    },
    {
      "epoch": 1.751626654700471,
      "grad_norm": 0.5906774401664734,
      "learning_rate": 0.00019471563570451665,
      "loss": 0.0721,
      "step": 7807
    },
    {
      "epoch": 1.751626654700471,
      "gripper_loss": 0.1474609375,
      "loss": 0.023193359375,
      "pos_loss": 0.045654296875,
      "rot_loss": 0.054931640625,
      "step": 7807
    },
    {
      "epoch": 1.7518510208660534,
      "grad_norm": 0.6650320291519165,
      "learning_rate": 0.00019465657696891432,
      "loss": 0.0578,
      "step": 7808
    },
    {
      "epoch": 1.7518510208660534,
      "gripper_loss": 0.185546875,
      "loss": 0.09716796875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.22265625,
      "step": 7808
    },
    {
      "epoch": 1.7520753870316357,
      "grad_norm": 0.9933751225471497,
      "learning_rate": 0.00019459752148083905,
      "loss": 0.1185,
      "step": 7809
    },
    {
      "epoch": 1.7520753870316357,
      "gripper_loss": 0.0220947265625,
      "loss": 0.06689453125,
      "pos_loss": 0.5625,
      "rot_loss": 0.07568359375,
      "step": 7809
    },
    {
      "epoch": 1.7522997531972178,
      "grad_norm": 0.40053418278694153,
      "learning_rate": 0.0001945384692437563,
      "loss": 0.07,
      "step": 7810
    },
    {
      "epoch": 1.7522997531972178,
      "gripper_loss": 0.0115966796875,
      "loss": 0.1474609375,
      "pos_loss": 1.015625,
      "rot_loss": 0.515625,
      "step": 7810
    },
    {
      "epoch": 1.7525241193628,
      "grad_norm": 0.4793340265750885,
      "learning_rate": 0.00019447942026113108,
      "loss": 0.078,
      "step": 7811
    },
    {
      "epoch": 1.7525241193628,
      "gripper_loss": 0.37109375,
      "loss": 0.06298828125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.10791015625,
      "step": 7811
    },
    {
      "epoch": 1.7527484855283824,
      "grad_norm": 0.5415462255477905,
      "learning_rate": 0.0001944203745364284,
      "loss": 0.0483,
      "step": 7812
    },
    {
      "epoch": 1.7527484855283824,
      "gripper_loss": 0.1796875,
      "loss": 0.0966796875,
      "pos_loss": 0.91015625,
      "rot_loss": 0.020263671875,
      "step": 7812
    },
    {
      "epoch": 1.7529728516939644,
      "grad_norm": 0.5555729866027832,
      "learning_rate": 0.00019436133207311303,
      "loss": 0.0875,
      "step": 7813
    },
    {
      "epoch": 1.7529728516939644,
      "gripper_loss": 0.087890625,
      "loss": 0.0634765625,
      "pos_loss": 0.388671875,
      "rot_loss": 0.2177734375,
      "step": 7813
    },
    {
      "epoch": 1.7531972178595467,
      "grad_norm": 0.48744726181030273,
      "learning_rate": 0.00019430229287464962,
      "loss": 0.0741,
      "step": 7814
    },
    {
      "epoch": 1.7531972178595467,
      "gripper_loss": 0.020751953125,
      "loss": 0.0322265625,
      "pos_loss": 0.111328125,
      "rot_loss": 0.17578125,
      "step": 7814
    },
    {
      "epoch": 1.753421584025129,
      "grad_norm": 0.47273966670036316,
      "learning_rate": 0.00019424325694450246,
      "loss": 0.0641,
      "step": 7815
    },
    {
      "epoch": 1.753421584025129,
      "gripper_loss": 0.220703125,
      "loss": 0.08154296875,
      "pos_loss": 0.7265625,
      "rot_loss": 0.017578125,
      "step": 7815
    },
    {
      "epoch": 1.7536459501907111,
      "grad_norm": 0.378830224275589,
      "learning_rate": 0.00019418422428613575,
      "loss": 0.0404,
      "step": 7816
    },
    {
      "epoch": 1.7536459501907111,
      "gripper_loss": 0.1240234375,
      "loss": 0.053466796875,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.267578125,
      "step": 7816
    },
    {
      "epoch": 1.7538703163562934,
      "grad_norm": 0.973932147026062,
      "learning_rate": 0.00019412519490301364,
      "loss": 0.0968,
      "step": 7817
    },
    {
      "epoch": 1.7538703163562934,
      "gripper_loss": 0.0185546875,
      "loss": 0.01708984375,
      "pos_loss": 0.05615234375,
      "rot_loss": 0.0654296875,
      "step": 7817
    },
    {
      "epoch": 1.7540946825218757,
      "grad_norm": 0.40573716163635254,
      "learning_rate": 0.00019406616879859978,
      "loss": 0.0536,
      "step": 7818
    },
    {
      "epoch": 1.7540946825218757,
      "gripper_loss": 0.005218505859375,
      "loss": 0.10546875,
      "pos_loss": 1.0546875,
      "rot_loss": 0.0186767578125,
      "step": 7818
    },
    {
      "epoch": 1.7543190486874578,
      "grad_norm": 0.3653208613395691,
      "learning_rate": 0.000194007145976358,
      "loss": 0.0612,
      "step": 7819
    },
    {
      "epoch": 1.7543190486874578,
      "gripper_loss": 0.010986328125,
      "loss": 0.07470703125,
      "pos_loss": 0.59765625,
      "rot_loss": 0.1494140625,
      "step": 7819
    },
    {
      "epoch": 1.75454341485304,
      "grad_norm": 0.4668319821357727,
      "learning_rate": 0.0001939481264397515,
      "loss": 0.0731,
      "step": 7820
    },
    {
      "epoch": 1.75454341485304,
      "gripper_loss": 0.034423828125,
      "loss": 0.091796875,
      "pos_loss": 0.8203125,
      "rot_loss": 0.064453125,
      "step": 7820
    },
    {
      "epoch": 1.7547677810186224,
      "grad_norm": 0.47812435030937195,
      "learning_rate": 0.00019388911019224364,
      "loss": 0.0784,
      "step": 7821
    },
    {
      "epoch": 1.7547677810186224,
      "gripper_loss": 0.005279541015625,
      "loss": 0.07177734375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.205078125,
      "step": 7821
    },
    {
      "epoch": 1.7549921471842045,
      "grad_norm": 0.4438040554523468,
      "learning_rate": 0.00019383009723729743,
      "loss": 0.0588,
      "step": 7822
    },
    {
      "epoch": 1.7549921471842045,
      "gripper_loss": 0.71875,
      "loss": 0.059326171875,
      "pos_loss": 0.296875,
      "rot_loss": 0.048095703125,
      "step": 7822
    },
    {
      "epoch": 1.755216513349787,
      "grad_norm": 0.6154187321662903,
      "learning_rate": 0.0001937710875783759,
      "loss": 0.0805,
      "step": 7823
    },
    {
      "epoch": 1.755216513349787,
      "gripper_loss": 0.0174560546875,
      "loss": 0.047607421875,
      "pos_loss": 0.2734375,
      "rot_loss": 0.1796875,
      "step": 7823
    },
    {
      "epoch": 1.755440879515369,
      "grad_norm": 0.4000982642173767,
      "learning_rate": 0.00019371208121894145,
      "loss": 0.0486,
      "step": 7824
    },
    {
      "epoch": 1.755440879515369,
      "gripper_loss": 0.150390625,
      "loss": 0.1904296875,
      "pos_loss": 0.73828125,
      "rot_loss": 0.66796875,
      "step": 7824
    },
    {
      "epoch": 1.7556652456809512,
      "grad_norm": 0.9724529981613159,
      "learning_rate": 0.0001936530781624566,
      "loss": 0.1385,
      "step": 7825
    },
    {
      "epoch": 1.7556652456809512,
      "gripper_loss": 0.09423828125,
      "loss": 0.150390625,
      "pos_loss": 1.4453125,
      "rot_loss": 0.060791015625,
      "step": 7825
    },
    {
      "epoch": 1.7558896118465337,
      "grad_norm": 0.5293334126472473,
      "learning_rate": 0.0001935940784123837,
      "loss": 0.0762,
      "step": 7826
    },
    {
      "epoch": 1.7558896118465337,
      "gripper_loss": 0.058349609375,
      "loss": 0.0849609375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.279296875,
      "step": 7826
    },
    {
      "epoch": 1.7561139780121158,
      "grad_norm": 0.49607670307159424,
      "learning_rate": 0.00019353508197218492,
      "loss": 0.0616,
      "step": 7827
    },
    {
      "epoch": 1.7561139780121158,
      "gripper_loss": 0.130859375,
      "loss": 0.1455078125,
      "pos_loss": 0.94921875,
      "rot_loss": 0.32421875,
      "step": 7827
    },
    {
      "epoch": 1.7563383441776979,
      "grad_norm": 1.1080729961395264,
      "learning_rate": 0.00019347608884532193,
      "loss": 0.141,
      "step": 7828
    },
    {
      "epoch": 1.7563383441776979,
      "gripper_loss": 0.046142578125,
      "loss": 0.04833984375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.294921875,
      "step": 7828
    },
    {
      "epoch": 1.7565627103432804,
      "grad_norm": 0.42791947722435,
      "learning_rate": 0.00019341709903525649,
      "loss": 0.0425,
      "step": 7829
    },
    {
      "epoch": 1.7565627103432804,
      "gripper_loss": 0.1875,
      "loss": 0.0284423828125,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.103515625,
      "step": 7829
    },
    {
      "epoch": 1.7567870765088625,
      "grad_norm": 0.5383564829826355,
      "learning_rate": 0.00019335811254545015,
      "loss": 0.066,
      "step": 7830
    },
    {
      "epoch": 1.7567870765088625,
      "gripper_loss": 0.0247802734375,
      "loss": 0.040771484375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.1435546875,
      "step": 7830
    },
    {
      "epoch": 1.7570114426744445,
      "grad_norm": 0.3667413890361786,
      "learning_rate": 0.0001932991293793643,
      "loss": 0.0529,
      "step": 7831
    },
    {
      "epoch": 1.7570114426744445,
      "gripper_loss": 0.0242919921875,
      "loss": 0.068359375,
      "pos_loss": 0.4296875,
      "rot_loss": 0.2470703125,
      "step": 7831
    },
    {
      "epoch": 1.757235808840027,
      "grad_norm": 0.39944833517074585,
      "learning_rate": 0.00019324014954045978,
      "loss": 0.0429,
      "step": 7832
    },
    {
      "epoch": 1.757235808840027,
      "gripper_loss": 0.00927734375,
      "loss": 0.05712890625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.1416015625,
      "step": 7832
    },
    {
      "epoch": 1.7574601750056091,
      "grad_norm": 0.4693618416786194,
      "learning_rate": 0.0001931811730321977,
      "loss": 0.065,
      "step": 7833
    },
    {
      "epoch": 1.7574601750056091,
      "gripper_loss": 0.01416015625,
      "loss": 0.06787109375,
      "pos_loss": 0.640625,
      "rot_loss": 0.039306640625,
      "step": 7833
    },
    {
      "epoch": 1.7576845411711914,
      "grad_norm": 0.3032049536705017,
      "learning_rate": 0.0001931221998580387,
      "loss": 0.048,
      "step": 7834
    },
    {
      "epoch": 1.7576845411711914,
      "gripper_loss": 0.486328125,
      "loss": 0.07177734375,
      "pos_loss": 0.53125,
      "rot_loss": 0.0296630859375,
      "step": 7834
    },
    {
      "epoch": 1.7579089073367737,
      "grad_norm": 0.5455480813980103,
      "learning_rate": 0.00019306323002144337,
      "loss": 0.0872,
      "step": 7835
    },
    {
      "epoch": 1.7579089073367737,
      "gripper_loss": 0.06787109375,
      "loss": 0.060791015625,
      "pos_loss": 0.439453125,
      "rot_loss": 0.10107421875,
      "step": 7835
    },
    {
      "epoch": 1.7581332735023558,
      "grad_norm": 0.3725235164165497,
      "learning_rate": 0.00019300426352587206,
      "loss": 0.0561,
      "step": 7836
    },
    {
      "epoch": 1.7581332735023558,
      "gripper_loss": 0.083984375,
      "loss": 0.1982421875,
      "pos_loss": 0.703125,
      "rot_loss": 0.423828125,
      "step": 7836
    },
    {
      "epoch": 1.7583576396679381,
      "grad_norm": 1.3610751628875732,
      "learning_rate": 0.0001929453003747847,
      "loss": 0.2433,
      "step": 7837
    },
    {
      "epoch": 1.7583576396679381,
      "gripper_loss": 0.09619140625,
      "loss": 0.046630859375,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.134765625,
      "step": 7837
    },
    {
      "epoch": 1.7585820058335204,
      "grad_norm": 0.5860326290130615,
      "learning_rate": 0.00019288634057164136,
      "loss": 0.072,
      "step": 7838
    },
    {
      "epoch": 1.7585820058335204,
      "gripper_loss": 0.423828125,
      "loss": 0.04248046875,
      "pos_loss": 0.123046875,
      "rot_loss": 0.1396484375,
      "step": 7838
    },
    {
      "epoch": 1.7588063719991025,
      "grad_norm": 0.4992586374282837,
      "learning_rate": 0.00019282738411990175,
      "loss": 0.0934,
      "step": 7839
    },
    {
      "epoch": 1.7588063719991025,
      "gripper_loss": 0.142578125,
      "loss": 0.07421875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.28125,
      "step": 7839
    },
    {
      "epoch": 1.7590307381646848,
      "grad_norm": 0.4712943434715271,
      "learning_rate": 0.00019276843102302555,
      "loss": 0.0692,
      "step": 7840
    },
    {
      "epoch": 1.7590307381646848,
      "gripper_loss": 0.031982421875,
      "loss": 0.0810546875,
      "pos_loss": 0.515625,
      "rot_loss": 0.275390625,
      "step": 7840
    },
    {
      "epoch": 1.759255104330267,
      "grad_norm": 0.444857120513916,
      "learning_rate": 0.00019270948128447186,
      "loss": 0.0612,
      "step": 7841
    },
    {
      "epoch": 1.759255104330267,
      "gripper_loss": 0.91015625,
      "loss": 0.083984375,
      "pos_loss": 0.49609375,
      "rot_loss": 0.04150390625,
      "step": 7841
    },
    {
      "epoch": 1.7594794704958492,
      "grad_norm": 0.47878026962280273,
      "learning_rate": 0.00019265053490769997,
      "loss": 0.0856,
      "step": 7842
    },
    {
      "epoch": 1.7594794704958492,
      "gripper_loss": 0.6875,
      "loss": 0.036376953125,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.0245361328125,
      "step": 7842
    },
    {
      "epoch": 1.7597038366614315,
      "grad_norm": 0.4216943681240082,
      "learning_rate": 0.00019259159189616876,
      "loss": 0.054,
      "step": 7843
    },
    {
      "epoch": 1.7597038366614315,
      "gripper_loss": 0.1064453125,
      "loss": 0.0986328125,
      "pos_loss": 0.96484375,
      "rot_loss": 0.01324462890625,
      "step": 7843
    },
    {
      "epoch": 1.7599282028270138,
      "grad_norm": 0.4633059799671173,
      "learning_rate": 0.0001925326522533371,
      "loss": 0.0708,
      "step": 7844
    },
    {
      "epoch": 1.7599282028270138,
      "gripper_loss": 0.73046875,
      "loss": 0.0322265625,
      "pos_loss": 0.031494140625,
      "rot_loss": 0.037109375,
      "step": 7844
    },
    {
      "epoch": 1.7601525689925959,
      "grad_norm": 0.6493425965309143,
      "learning_rate": 0.00019247371598266337,
      "loss": 0.0694,
      "step": 7845
    },
    {
      "epoch": 1.7601525689925959,
      "gripper_loss": 0.94140625,
      "loss": 0.040771484375,
      "pos_loss": 0.04443359375,
      "rot_loss": 0.041748046875,
      "step": 7845
    },
    {
      "epoch": 1.7603769351581782,
      "grad_norm": 0.2435147762298584,
      "learning_rate": 0.00019241478308760595,
      "loss": 0.0423,
      "step": 7846
    },
    {
      "epoch": 1.7603769351581782,
      "gripper_loss": 0.0079345703125,
      "loss": 0.0267333984375,
      "pos_loss": 0.1875,
      "rot_loss": 0.0634765625,
      "step": 7846
    },
    {
      "epoch": 1.7606013013237605,
      "grad_norm": 0.35519346594810486,
      "learning_rate": 0.00019235585357162317,
      "loss": 0.0711,
      "step": 7847
    },
    {
      "epoch": 1.7606013013237605,
      "gripper_loss": 0.455078125,
      "loss": 0.048583984375,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.130859375,
      "step": 7847
    },
    {
      "epoch": 1.7608256674893425,
      "grad_norm": 0.5759210586547852,
      "learning_rate": 0.00019229692743817279,
      "loss": 0.0698,
      "step": 7848
    },
    {
      "epoch": 1.7608256674893425,
      "gripper_loss": 0.020751953125,
      "loss": 0.038818359375,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.1591796875,
      "step": 7848
    },
    {
      "epoch": 1.7610500336549249,
      "grad_norm": 0.3657648265361786,
      "learning_rate": 0.00019223800469071276,
      "loss": 0.0402,
      "step": 7849
    },
    {
      "epoch": 1.7610500336549249,
      "gripper_loss": 0.51953125,
      "loss": 0.024658203125,
      "pos_loss": 0.0240478515625,
      "rot_loss": 0.031982421875,
      "step": 7849
    },
    {
      "epoch": 1.7612743998205072,
      "grad_norm": 0.3299277126789093,
      "learning_rate": 0.00019217908533270044,
      "loss": 0.0424,
      "step": 7850
    },
    {
      "epoch": 1.7612743998205072,
      "gripper_loss": 0.029296875,
      "loss": 0.05712890625,
      "pos_loss": 0.470703125,
      "rot_loss": 0.08154296875,
      "step": 7850
    },
    {
      "epoch": 1.7614987659860892,
      "grad_norm": 0.42610958218574524,
      "learning_rate": 0.00019212016936759324,
      "loss": 0.0714,
      "step": 7851
    },
    {
      "epoch": 1.7614987659860892,
      "gripper_loss": 0.71875,
      "loss": 0.0517578125,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.068359375,
      "step": 7851
    },
    {
      "epoch": 1.7617231321516715,
      "grad_norm": 0.49484556913375854,
      "learning_rate": 0.00019206125679884845,
      "loss": 0.065,
      "step": 7852
    },
    {
      "epoch": 1.7617231321516715,
      "gripper_loss": 0.048583984375,
      "loss": 0.06396484375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.283203125,
      "step": 7852
    },
    {
      "epoch": 1.7619474983172538,
      "grad_norm": 0.4596632122993469,
      "learning_rate": 0.0001920023476299229,
      "loss": 0.0522,
      "step": 7853
    },
    {
      "epoch": 1.7619474983172538,
      "gripper_loss": 0.06201171875,
      "loss": 0.0703125,
      "pos_loss": 0.345703125,
      "rot_loss": 0.271484375,
      "step": 7853
    },
    {
      "epoch": 1.762171864482836,
      "grad_norm": 0.5233725905418396,
      "learning_rate": 0.00019194344186427342,
      "loss": 0.0704,
      "step": 7854
    },
    {
      "epoch": 1.762171864482836,
      "gripper_loss": 0.150390625,
      "loss": 0.062255859375,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.396484375,
      "step": 7854
    },
    {
      "epoch": 1.7623962306484182,
      "grad_norm": 0.49203822016716003,
      "learning_rate": 0.00019188453950535654,
      "loss": 0.0609,
      "step": 7855
    },
    {
      "epoch": 1.7623962306484182,
      "gripper_loss": 0.0225830078125,
      "loss": 0.083984375,
      "pos_loss": 0.609375,
      "rot_loss": 0.234375,
      "step": 7855
    },
    {
      "epoch": 1.7626205968140005,
      "grad_norm": 0.4381535053253174,
      "learning_rate": 0.0001918256405566286,
      "loss": 0.0838,
      "step": 7856
    },
    {
      "epoch": 1.7626205968140005,
      "gripper_loss": 0.07958984375,
      "loss": 0.03271484375,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.033935546875,
      "step": 7856
    },
    {
      "epoch": 1.7628449629795826,
      "grad_norm": 0.7908014059066772,
      "learning_rate": 0.0001917667450215459,
      "loss": 0.0521,
      "step": 7857
    },
    {
      "epoch": 1.7628449629795826,
      "gripper_loss": 0.0186767578125,
      "loss": 0.00927734375,
      "pos_loss": 0.03564453125,
      "rot_loss": 0.01318359375,
      "step": 7857
    },
    {
      "epoch": 1.763069329145165,
      "grad_norm": 0.48154309391975403,
      "learning_rate": 0.0001917078529035642,
      "loss": 0.0922,
      "step": 7858
    },
    {
      "epoch": 1.763069329145165,
      "gripper_loss": 0.87109375,
      "loss": 0.060302734375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.01129150390625,
      "step": 7858
    },
    {
      "epoch": 1.7632936953107472,
      "grad_norm": 0.6613182425498962,
      "learning_rate": 0.00019164896420613946,
      "loss": 0.0697,
      "step": 7859
    },
    {
      "epoch": 1.7632936953107472,
      "gripper_loss": 0.04638671875,
      "loss": 0.10595703125,
      "pos_loss": 0.46875,
      "rot_loss": 0.578125,
      "step": 7859
    },
    {
      "epoch": 1.7635180614763293,
      "grad_norm": 0.45081859827041626,
      "learning_rate": 0.00019159007893272703,
      "loss": 0.0699,
      "step": 7860
    },
    {
      "epoch": 1.7635180614763293,
      "gripper_loss": 0.2119140625,
      "loss": 0.04248046875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.197265625,
      "step": 7860
    },
    {
      "epoch": 1.7637424276419116,
      "grad_norm": 0.6225639581680298,
      "learning_rate": 0.00019153119708678254,
      "loss": 0.0632,
      "step": 7861
    },
    {
      "epoch": 1.7637424276419116,
      "gripper_loss": 0.036376953125,
      "loss": 0.0517578125,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.259765625,
      "step": 7861
    },
    {
      "epoch": 1.7639667938074939,
      "grad_norm": 0.6087043285369873,
      "learning_rate": 0.0001914723186717609,
      "loss": 0.078,
      "step": 7862
    },
    {
      "epoch": 1.7639667938074939,
      "gripper_loss": 0.017822265625,
      "loss": 0.25390625,
      "pos_loss": 1.015625,
      "rot_loss": 1.640625,
      "step": 7862
    },
    {
      "epoch": 1.764191159973076,
      "grad_norm": 0.5205055475234985,
      "learning_rate": 0.00019141344369111714,
      "loss": 0.0773,
      "step": 7863
    },
    {
      "epoch": 1.764191159973076,
      "gripper_loss": 0.130859375,
      "loss": 0.119140625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.81640625,
      "step": 7863
    },
    {
      "epoch": 1.7644155261386583,
      "grad_norm": 0.5187828540802002,
      "learning_rate": 0.0001913545721483061,
      "loss": 0.0842,
      "step": 7864
    },
    {
      "epoch": 1.7644155261386583,
      "gripper_loss": 0.181640625,
      "loss": 0.051513671875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.08056640625,
      "step": 7864
    },
    {
      "epoch": 1.7646398923042406,
      "grad_norm": 0.43721672892570496,
      "learning_rate": 0.00019129570404678226,
      "loss": 0.0629,
      "step": 7865
    },
    {
      "epoch": 1.7646398923042406,
      "gripper_loss": 0.6875,
      "loss": 0.23046875,
      "pos_loss": 1.25,
      "rot_loss": 0.9453125,
      "step": 7865
    },
    {
      "epoch": 1.7648642584698226,
      "grad_norm": 0.4804406464099884,
      "learning_rate": 0.00019123683939000006,
      "loss": 0.086,
      "step": 7866
    },
    {
      "epoch": 1.7648642584698226,
      "gripper_loss": 0.033447265625,
      "loss": 0.05615234375,
      "pos_loss": 0.384765625,
      "rot_loss": 0.1669921875,
      "step": 7866
    },
    {
      "epoch": 1.765088624635405,
      "grad_norm": 0.4401266276836395,
      "learning_rate": 0.0001911779781814135,
      "loss": 0.0886,
      "step": 7867
    },
    {
      "epoch": 1.765088624635405,
      "gripper_loss": 0.0419921875,
      "loss": 0.09130859375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.185546875,
      "step": 7867
    },
    {
      "epoch": 1.7653129908009872,
      "grad_norm": 0.4683004915714264,
      "learning_rate": 0.00019111912042447664,
      "loss": 0.0886,
      "step": 7868
    },
    {
      "epoch": 1.7653129908009872,
      "gripper_loss": 0.04541015625,
      "loss": 0.047607421875,
      "pos_loss": 0.375,
      "rot_loss": 0.08056640625,
      "step": 7868
    },
    {
      "epoch": 1.7655373569665693,
      "grad_norm": 0.6164374351501465,
      "learning_rate": 0.00019106026612264316,
      "loss": 0.0784,
      "step": 7869
    },
    {
      "epoch": 1.7655373569665693,
      "gripper_loss": 0.06005859375,
      "loss": 0.0439453125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.1474609375,
      "step": 7869
    },
    {
      "epoch": 1.7657617231321516,
      "grad_norm": 0.3813103437423706,
      "learning_rate": 0.00019100141527936677,
      "loss": 0.0746,
      "step": 7870
    },
    {
      "epoch": 1.7657617231321516,
      "gripper_loss": 0.19921875,
      "loss": 0.032958984375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.0771484375,
      "step": 7870
    },
    {
      "epoch": 1.765986089297734,
      "grad_norm": 0.4268335700035095,
      "learning_rate": 0.00019094256789810063,
      "loss": 0.0606,
      "step": 7871
    },
    {
      "epoch": 1.765986089297734,
      "gripper_loss": 0.10595703125,
      "loss": 0.08984375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.482421875,
      "step": 7871
    },
    {
      "epoch": 1.766210455463316,
      "grad_norm": 0.7442942261695862,
      "learning_rate": 0.0001908837239822979,
      "loss": 0.0833,
      "step": 7872
    },
    {
      "epoch": 1.766210455463316,
      "gripper_loss": 0.022216796875,
      "loss": 0.0283203125,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.1240234375,
      "step": 7872
    },
    {
      "epoch": 1.7664348216288983,
      "grad_norm": 0.4673481583595276,
      "learning_rate": 0.00019082488353541153,
      "loss": 0.05,
      "step": 7873
    },
    {
      "epoch": 1.7664348216288983,
      "gripper_loss": 0.0274658203125,
      "loss": 0.0400390625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.0225830078125,
      "step": 7873
    },
    {
      "epoch": 1.7666591877944806,
      "grad_norm": 0.32575708627700806,
      "learning_rate": 0.00019076604656089436,
      "loss": 0.0593,
      "step": 7874
    },
    {
      "epoch": 1.7666591877944806,
      "gripper_loss": 0.6796875,
      "loss": 0.09326171875,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.404296875,
      "step": 7874
    },
    {
      "epoch": 1.7668835539600627,
      "grad_norm": 0.5576355457305908,
      "learning_rate": 0.00019070721306219877,
      "loss": 0.0916,
      "step": 7875
    },
    {
      "epoch": 1.7668835539600627,
      "gripper_loss": 0.1767578125,
      "loss": 0.019287109375,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.04736328125,
      "step": 7875
    },
    {
      "epoch": 1.7671079201256452,
      "grad_norm": 0.3983595669269562,
      "learning_rate": 0.0001906483830427771,
      "loss": 0.0407,
      "step": 7876
    },
    {
      "epoch": 1.7671079201256452,
      "gripper_loss": 0.0167236328125,
      "loss": 0.11083984375,
      "pos_loss": 0.59765625,
      "rot_loss": 0.53515625,
      "step": 7876
    },
    {
      "epoch": 1.7673322862912273,
      "grad_norm": 0.7305407524108887,
      "learning_rate": 0.00019058955650608157,
      "loss": 0.079,
      "step": 7877
    },
    {
      "epoch": 1.7673322862912273,
      "gripper_loss": 0.0233154296875,
      "loss": 0.275390625,
      "pos_loss": 1.328125,
      "rot_loss": 1.5390625,
      "step": 7877
    },
    {
      "epoch": 1.7675566524568094,
      "grad_norm": 0.3646148145198822,
      "learning_rate": 0.00019053073345556398,
      "loss": 0.0713,
      "step": 7878
    },
    {
      "epoch": 1.7675566524568094,
      "gripper_loss": 0.041259765625,
      "loss": 0.10986328125,
      "pos_loss": 0.76953125,
      "rot_loss": 0.291015625,
      "step": 7878
    },
    {
      "epoch": 1.767781018622392,
      "grad_norm": 0.7565028071403503,
      "learning_rate": 0.00019047191389467622,
      "loss": 0.1203,
      "step": 7879
    },
    {
      "epoch": 1.767781018622392,
      "gripper_loss": 0.95703125,
      "loss": 0.052978515625,
      "pos_loss": 0.12890625,
      "rot_loss": 0.08447265625,
      "step": 7879
    },
    {
      "epoch": 1.768005384787974,
      "grad_norm": 0.40010908246040344,
      "learning_rate": 0.00019041309782686955,
      "loss": 0.061,
      "step": 7880
    },
    {
      "epoch": 1.768005384787974,
      "gripper_loss": 0.0216064453125,
      "loss": 0.08154296875,
      "pos_loss": 0.53125,
      "rot_loss": 0.263671875,
      "step": 7880
    },
    {
      "epoch": 1.768229750953556,
      "grad_norm": 0.4768839180469513,
      "learning_rate": 0.00019035428525559538,
      "loss": 0.0671,
      "step": 7881
    },
    {
      "epoch": 1.768229750953556,
      "gripper_loss": 0.0380859375,
      "loss": 0.0478515625,
      "pos_loss": 0.1875,
      "rot_loss": 0.271484375,
      "step": 7881
    },
    {
      "epoch": 1.7684541171191386,
      "grad_norm": 0.364873468875885,
      "learning_rate": 0.00019029547618430487,
      "loss": 0.0657,
      "step": 7882
    },
    {
      "epoch": 1.7684541171191386,
      "gripper_loss": 0.1083984375,
      "loss": 0.029052734375,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.11669921875,
      "step": 7882
    },
    {
      "epoch": 1.7686784832847207,
      "grad_norm": 0.3454958498477936,
      "learning_rate": 0.00019023667061644891,
      "loss": 0.0396,
      "step": 7883
    },
    {
      "epoch": 1.7686784832847207,
      "gripper_loss": 0.091796875,
      "loss": 0.025146484375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.05322265625,
      "step": 7883
    },
    {
      "epoch": 1.7689028494503027,
      "grad_norm": 0.4818620979785919,
      "learning_rate": 0.00019017786855547803,
      "loss": 0.0578,
      "step": 7884
    },
    {
      "epoch": 1.7689028494503027,
      "gripper_loss": 0.04345703125,
      "loss": 0.0947265625,
      "pos_loss": 0.39453125,
      "rot_loss": 0.5390625,
      "step": 7884
    },
    {
      "epoch": 1.7691272156158853,
      "grad_norm": 0.7787843942642212,
      "learning_rate": 0.0001901190700048428,
      "loss": 0.0698,
      "step": 7885
    },
    {
      "epoch": 1.7691272156158853,
      "gripper_loss": 0.1357421875,
      "loss": 0.181640625,
      "pos_loss": 0.546875,
      "rot_loss": 0.453125,
      "step": 7885
    },
    {
      "epoch": 1.7693515817814673,
      "grad_norm": 1.4016530513763428,
      "learning_rate": 0.0001900602749679935,
      "loss": 0.1912,
      "step": 7886
    },
    {
      "epoch": 1.7693515817814673,
      "gripper_loss": 0.014892578125,
      "loss": 0.044677734375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.091796875,
      "step": 7886
    },
    {
      "epoch": 1.7695759479470494,
      "grad_norm": 0.3873337507247925,
      "learning_rate": 0.0001900014834483803,
      "loss": 0.0688,
      "step": 7887
    },
    {
      "epoch": 1.7695759479470494,
      "gripper_loss": 0.396484375,
      "loss": 0.03857421875,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.08984375,
      "step": 7887
    },
    {
      "epoch": 1.769800314112632,
      "grad_norm": 0.4879612326622009,
      "learning_rate": 0.00018994269544945287,
      "loss": 0.0585,
      "step": 7888
    },
    {
      "epoch": 1.769800314112632,
      "gripper_loss": 0.671875,
      "loss": 0.043212890625,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.10009765625,
      "step": 7888
    },
    {
      "epoch": 1.770024680278214,
      "grad_norm": 0.635348379611969,
      "learning_rate": 0.00018988391097466095,
      "loss": 0.0782,
      "step": 7889
    },
    {
      "epoch": 1.770024680278214,
      "gripper_loss": 0.01141357421875,
      "loss": 0.055419921875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.072265625,
      "step": 7889
    },
    {
      "epoch": 1.7702490464437963,
      "grad_norm": 0.559431254863739,
      "learning_rate": 0.000189825130027454,
      "loss": 0.0856,
      "step": 7890
    },
    {
      "epoch": 1.7702490464437963,
      "gripper_loss": 0.07080078125,
      "loss": 0.0194091796875,
      "pos_loss": 0.12890625,
      "rot_loss": 0.0172119140625,
      "step": 7890
    },
    {
      "epoch": 1.7704734126093786,
      "grad_norm": 0.4191338121891022,
      "learning_rate": 0.0001897663526112813,
      "loss": 0.079,
      "step": 7891
    },
    {
      "epoch": 1.7704734126093786,
      "gripper_loss": 0.69140625,
      "loss": 0.038818359375,
      "pos_loss": 0.05078125,
      "rot_loss": 0.07275390625,
      "step": 7891
    },
    {
      "epoch": 1.7706977787749607,
      "grad_norm": 0.47254347801208496,
      "learning_rate": 0.00018970757872959173,
      "loss": 0.0737,
      "step": 7892
    },
    {
      "epoch": 1.7706977787749607,
      "gripper_loss": 0.12109375,
      "loss": 0.037109375,
      "pos_loss": 0.306640625,
      "rot_loss": 0.016357421875,
      "step": 7892
    },
    {
      "epoch": 1.770922144940543,
      "grad_norm": 0.3669849932193756,
      "learning_rate": 0.00018964880838583424,
      "loss": 0.0536,
      "step": 7893
    },
    {
      "epoch": 1.770922144940543,
      "gripper_loss": 0.0220947265625,
      "loss": 0.0439453125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.029296875,
      "step": 7893
    },
    {
      "epoch": 1.7711465111061253,
      "grad_norm": 0.4802337884902954,
      "learning_rate": 0.00018959004158345744,
      "loss": 0.0755,
      "step": 7894
    },
    {
      "epoch": 1.7711465111061253,
      "gripper_loss": 0.01611328125,
      "loss": 0.10888671875,
      "pos_loss": 0.99609375,
      "rot_loss": 0.1171875,
      "step": 7894
    },
    {
      "epoch": 1.7713708772717074,
      "grad_norm": 0.41216903924942017,
      "learning_rate": 0.00018953127832590965,
      "loss": 0.0473,
      "step": 7895
    },
    {
      "epoch": 1.7713708772717074,
      "gripper_loss": 0.0849609375,
      "loss": 0.0262451171875,
      "pos_loss": 0.09765625,
      "rot_loss": 0.1083984375,
      "step": 7895
    },
    {
      "epoch": 1.7715952434372897,
      "grad_norm": 0.37992218136787415,
      "learning_rate": 0.0001894725186166393,
      "loss": 0.0548,
      "step": 7896
    },
    {
      "epoch": 1.7715952434372897,
      "gripper_loss": 0.09130859375,
      "loss": 0.046875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.041259765625,
      "step": 7896
    },
    {
      "epoch": 1.771819609602872,
      "grad_norm": 0.4500005543231964,
      "learning_rate": 0.00018941376245909408,
      "loss": 0.0579,
      "step": 7897
    },
    {
      "epoch": 1.771819609602872,
      "gripper_loss": 0.390625,
      "loss": 0.07373046875,
      "pos_loss": 0.46484375,
      "rot_loss": 0.150390625,
      "step": 7897
    },
    {
      "epoch": 1.772043975768454,
      "grad_norm": 0.3667713701725006,
      "learning_rate": 0.0001893550098567219,
      "loss": 0.0684,
      "step": 7898
    },
    {
      "epoch": 1.772043975768454,
      "gripper_loss": 0.89453125,
      "loss": 0.11572265625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.0235595703125,
      "step": 7898
    },
    {
      "epoch": 1.7722683419340364,
      "grad_norm": 0.44023585319519043,
      "learning_rate": 0.00018929626081297046,
      "loss": 0.0768,
      "step": 7899
    },
    {
      "epoch": 1.7722683419340364,
      "gripper_loss": 0.1591796875,
      "loss": 0.0576171875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.08154296875,
      "step": 7899
    },
    {
      "epoch": 1.7724927080996187,
      "grad_norm": 0.3194979131221771,
      "learning_rate": 0.00018923751533128698,
      "loss": 0.0578,
      "step": 7900
    },
    {
      "epoch": 1.7724927080996187,
      "gripper_loss": 0.01123046875,
      "loss": 0.021484375,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.09912109375,
      "step": 7900
    },
    {
      "epoch": 1.7727170742652008,
      "grad_norm": 0.3143232762813568,
      "learning_rate": 0.00018917877341511868,
      "loss": 0.0525,
      "step": 7901
    },
    {
      "epoch": 1.7727170742652008,
      "gripper_loss": 0.322265625,
      "loss": 0.051025390625,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.1650390625,
      "step": 7901
    },
    {
      "epoch": 1.772941440430783,
      "grad_norm": 0.33261430263519287,
      "learning_rate": 0.00018912003506791242,
      "loss": 0.051,
      "step": 7902
    },
    {
      "epoch": 1.772941440430783,
      "gripper_loss": 0.671875,
      "loss": 0.09521484375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.042724609375,
      "step": 7902
    },
    {
      "epoch": 1.7731658065963654,
      "grad_norm": 0.3369804918766022,
      "learning_rate": 0.00018906130029311502,
      "loss": 0.0768,
      "step": 7903
    },
    {
      "epoch": 1.7731658065963654,
      "gripper_loss": 0.01409912109375,
      "loss": 0.0390625,
      "pos_loss": 0.208984375,
      "rot_loss": 0.1689453125,
      "step": 7903
    },
    {
      "epoch": 1.7733901727619474,
      "grad_norm": 0.36648523807525635,
      "learning_rate": 0.0001890025690941731,
      "loss": 0.0536,
      "step": 7904
    },
    {
      "epoch": 1.7733901727619474,
      "gripper_loss": 0.017578125,
      "loss": 0.07861328125,
      "pos_loss": 0.478515625,
      "rot_loss": 0.30078125,
      "step": 7904
    },
    {
      "epoch": 1.7736145389275297,
      "grad_norm": 0.33064785599708557,
      "learning_rate": 0.00018894384147453275,
      "loss": 0.0619,
      "step": 7905
    },
    {
      "epoch": 1.7736145389275297,
      "gripper_loss": 0.0184326171875,
      "loss": 0.080078125,
      "pos_loss": 0.37109375,
      "rot_loss": 0.4140625,
      "step": 7905
    },
    {
      "epoch": 1.773838905093112,
      "grad_norm": 0.39588508009910583,
      "learning_rate": 0.0001888851174376403,
      "loss": 0.0682,
      "step": 7906
    },
    {
      "epoch": 1.773838905093112,
      "gripper_loss": 0.427734375,
      "loss": 0.3125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.546875,
      "step": 7906
    },
    {
      "epoch": 1.7740632712586941,
      "grad_norm": 1.75658118724823,
      "learning_rate": 0.0001888263969869415,
      "loss": 0.3411,
      "step": 7907
    },
    {
      "epoch": 1.7740632712586941,
      "gripper_loss": 0.0299072265625,
      "loss": 0.0732421875,
      "pos_loss": 0.671875,
      "rot_loss": 0.07177734375,
      "step": 7907
    },
    {
      "epoch": 1.7742876374242764,
      "grad_norm": 0.3284708261489868,
      "learning_rate": 0.00018876768012588208,
      "loss": 0.066,
      "step": 7908
    },
    {
      "epoch": 1.7742876374242764,
      "gripper_loss": 0.1357421875,
      "loss": 0.01202392578125,
      "pos_loss": 0.0279541015625,
      "rot_loss": 0.0177001953125,
      "step": 7908
    },
    {
      "epoch": 1.7745120035898587,
      "grad_norm": 0.3596225678920746,
      "learning_rate": 0.00018870896685790764,
      "loss": 0.0527,
      "step": 7909
    },
    {
      "epoch": 1.7745120035898587,
      "gripper_loss": 0.030029296875,
      "loss": 0.09375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.31640625,
      "step": 7909
    },
    {
      "epoch": 1.7747363697554408,
      "grad_norm": 0.46587762236595154,
      "learning_rate": 0.00018865025718646327,
      "loss": 0.0711,
      "step": 7910
    },
    {
      "epoch": 1.7747363697554408,
      "gripper_loss": 0.384765625,
      "loss": 0.07421875,
      "pos_loss": 0.431640625,
      "rot_loss": 0.1923828125,
      "step": 7910
    },
    {
      "epoch": 1.774960735921023,
      "grad_norm": 0.42149898409843445,
      "learning_rate": 0.00018859155111499413,
      "loss": 0.067,
      "step": 7911
    },
    {
      "epoch": 1.774960735921023,
      "gripper_loss": 0.3359375,
      "loss": 0.154296875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.2236328125,
      "step": 7911
    },
    {
      "epoch": 1.7751851020866054,
      "grad_norm": 1.3642548322677612,
      "learning_rate": 0.00018853284864694497,
      "loss": 0.1459,
      "step": 7912
    },
    {
      "epoch": 1.7751851020866054,
      "gripper_loss": 0.1015625,
      "loss": 0.037353515625,
      "pos_loss": 0.296875,
      "rot_loss": 0.028076171875,
      "step": 7912
    },
    {
      "epoch": 1.7754094682521875,
      "grad_norm": 0.4946897327899933,
      "learning_rate": 0.00018847414978576064,
      "loss": 0.0896,
      "step": 7913
    },
    {
      "epoch": 1.7754094682521875,
      "gripper_loss": 0.045654296875,
      "loss": 0.052001953125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.08837890625,
      "step": 7913
    },
    {
      "epoch": 1.7756338344177698,
      "grad_norm": 0.44987890124320984,
      "learning_rate": 0.00018841545453488525,
      "loss": 0.0654,
      "step": 7914
    },
    {
      "epoch": 1.7756338344177698,
      "gripper_loss": 1.546875,
      "loss": 0.1044921875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.15234375,
      "step": 7914
    },
    {
      "epoch": 1.775858200583352,
      "grad_norm": 0.46154725551605225,
      "learning_rate": 0.00018835676289776323,
      "loss": 0.0603,
      "step": 7915
    },
    {
      "epoch": 1.775858200583352,
      "gripper_loss": 0.06787109375,
      "loss": 0.07470703125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.333984375,
      "step": 7915
    },
    {
      "epoch": 1.7760825667489342,
      "grad_norm": 0.5365614891052246,
      "learning_rate": 0.0001882980748778385,
      "loss": 0.0561,
      "step": 7916
    },
    {
      "epoch": 1.7760825667489342,
      "gripper_loss": 0.671875,
      "loss": 0.359375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.361328125,
      "step": 7916
    },
    {
      "epoch": 1.7763069329145165,
      "grad_norm": 1.7484914064407349,
      "learning_rate": 0.000188239390478555,
      "loss": 0.3699,
      "step": 7917
    },
    {
      "epoch": 1.7763069329145165,
      "gripper_loss": 0.337890625,
      "loss": 0.0341796875,
      "pos_loss": 0.154296875,
      "rot_loss": 0.056396484375,
      "step": 7917
    },
    {
      "epoch": 1.7765312990800988,
      "grad_norm": 0.4799177050590515,
      "learning_rate": 0.0001881807097033561,
      "loss": 0.0677,
      "step": 7918
    },
    {
      "epoch": 1.7765312990800988,
      "gripper_loss": 0.06396484375,
      "loss": 0.0576171875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.046142578125,
      "step": 7918
    },
    {
      "epoch": 1.7767556652456808,
      "grad_norm": 0.44131770730018616,
      "learning_rate": 0.00018812203255568518,
      "loss": 0.0547,
      "step": 7919
    },
    {
      "epoch": 1.7767556652456808,
      "gripper_loss": 0.019775390625,
      "loss": 0.0869140625,
      "pos_loss": 0.7734375,
      "rot_loss": 0.09716796875,
      "step": 7919
    },
    {
      "epoch": 1.7769800314112632,
      "grad_norm": 0.4135145843029022,
      "learning_rate": 0.00018806335903898548,
      "loss": 0.0608,
      "step": 7920
    },
    {
      "epoch": 1.7769800314112632,
      "gripper_loss": 0.00933837890625,
      "loss": 0.037109375,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.1396484375,
      "step": 7920
    },
    {
      "epoch": 1.7772043975768455,
      "grad_norm": 0.48949286341667175,
      "learning_rate": 0.00018800468915669997,
      "loss": 0.0597,
      "step": 7921
    },
    {
      "epoch": 1.7772043975768455,
      "gripper_loss": 0.005279541015625,
      "loss": 0.0791015625,
      "pos_loss": 0.486328125,
      "rot_loss": 0.283203125,
      "step": 7921
    },
    {
      "epoch": 1.7774287637424275,
      "grad_norm": 0.38572168350219727,
      "learning_rate": 0.0001879460229122712,
      "loss": 0.0457,
      "step": 7922
    },
    {
      "epoch": 1.7774287637424275,
      "gripper_loss": 0.0152587890625,
      "loss": 0.08837890625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.099609375,
      "step": 7922
    },
    {
      "epoch": 1.7776531299080098,
      "grad_norm": 0.4400444030761719,
      "learning_rate": 0.0001878873603091418,
      "loss": 0.062,
      "step": 7923
    },
    {
      "epoch": 1.7776531299080098,
      "gripper_loss": 0.0115966796875,
      "loss": 0.09130859375,
      "pos_loss": 0.71875,
      "rot_loss": 0.15625,
      "step": 7923
    },
    {
      "epoch": 1.7778774960735921,
      "grad_norm": 0.515630304813385,
      "learning_rate": 0.00018782870135075408,
      "loss": 0.0986,
      "step": 7924
    },
    {
      "epoch": 1.7778774960735921,
      "gripper_loss": 0.73046875,
      "loss": 0.06640625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.052490234375,
      "step": 7924
    },
    {
      "epoch": 1.7781018622391742,
      "grad_norm": 0.38123905658721924,
      "learning_rate": 0.00018777004604055003,
      "loss": 0.0454,
      "step": 7925
    },
    {
      "epoch": 1.7781018622391742,
      "gripper_loss": 0.14453125,
      "loss": 0.0478515625,
      "pos_loss": 0.375,
      "rot_loss": 0.04736328125,
      "step": 7925
    },
    {
      "epoch": 1.7783262284047565,
      "grad_norm": 0.3664420247077942,
      "learning_rate": 0.00018771139438197168,
      "loss": 0.0491,
      "step": 7926
    },
    {
      "epoch": 1.7783262284047565,
      "gripper_loss": 0.00421142578125,
      "loss": 0.0693359375,
      "pos_loss": 0.62890625,
      "rot_loss": 0.0615234375,
      "step": 7926
    },
    {
      "epoch": 1.7785505945703388,
      "grad_norm": 0.33205702900886536,
      "learning_rate": 0.00018765274637846049,
      "loss": 0.0567,
      "step": 7927
    },
    {
      "epoch": 1.7785505945703388,
      "gripper_loss": 0.01361083984375,
      "loss": 0.07763671875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.158203125,
      "step": 7927
    },
    {
      "epoch": 1.778774960735921,
      "grad_norm": 0.36648115515708923,
      "learning_rate": 0.00018759410203345798,
      "loss": 0.0555,
      "step": 7928
    },
    {
      "epoch": 1.778774960735921,
      "gripper_loss": 0.4453125,
      "loss": 0.03564453125,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.0625,
      "step": 7928
    },
    {
      "epoch": 1.7789993269015034,
      "grad_norm": 0.2540995180606842,
      "learning_rate": 0.00018753546135040546,
      "loss": 0.0471,
      "step": 7929
    },
    {
      "epoch": 1.7789993269015034,
      "gripper_loss": 0.03173828125,
      "loss": 0.0498046875,
      "pos_loss": 0.234375,
      "rot_loss": 0.2451171875,
      "step": 7929
    },
    {
      "epoch": 1.7792236930670855,
      "grad_norm": 0.33812040090560913,
      "learning_rate": 0.0001874768243327439,
      "loss": 0.0616,
      "step": 7930
    },
    {
      "epoch": 1.7792236930670855,
      "gripper_loss": 0.0113525390625,
      "loss": 0.0264892578125,
      "pos_loss": 0.1328125,
      "rot_loss": 0.10888671875,
      "step": 7930
    },
    {
      "epoch": 1.7794480592326676,
      "grad_norm": 0.3568851351737976,
      "learning_rate": 0.0001874181909839139,
      "loss": 0.0721,
      "step": 7931
    },
    {
      "epoch": 1.7794480592326676,
      "gripper_loss": 0.126953125,
      "loss": 0.022705078125,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.0791015625,
      "step": 7931
    },
    {
      "epoch": 1.77967242539825,
      "grad_norm": 0.41285789012908936,
      "learning_rate": 0.0001873595613073562,
      "loss": 0.0773,
      "step": 7932
    },
    {
      "epoch": 1.77967242539825,
      "gripper_loss": 0.00921630859375,
      "loss": 0.041015625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.00836181640625,
      "step": 7932
    },
    {
      "epoch": 1.7798967915638322,
      "grad_norm": 0.4494592249393463,
      "learning_rate": 0.0001873009353065112,
      "loss": 0.0666,
      "step": 7933
    },
    {
      "epoch": 1.7798967915638322,
      "gripper_loss": 0.05517578125,
      "loss": 0.0625,
      "pos_loss": 0.27734375,
      "rot_loss": 0.291015625,
      "step": 7933
    },
    {
      "epoch": 1.7801211577294143,
      "grad_norm": 0.4624040424823761,
      "learning_rate": 0.00018724231298481906,
      "loss": 0.0697,
      "step": 7934
    },
    {
      "epoch": 1.7801211577294143,
      "gripper_loss": 0.1298828125,
      "loss": 0.02099609375,
      "pos_loss": 0.052734375,
      "rot_loss": 0.0966796875,
      "step": 7934
    },
    {
      "epoch": 1.7803455238949968,
      "grad_norm": 0.31155234575271606,
      "learning_rate": 0.0001871836943457196,
      "loss": 0.0497,
      "step": 7935
    },
    {
      "epoch": 1.7803455238949968,
      "gripper_loss": 0.0732421875,
      "loss": 0.057861328125,
      "pos_loss": 0.396484375,
      "rot_loss": 0.1533203125,
      "step": 7935
    },
    {
      "epoch": 1.7805698900605789,
      "grad_norm": 0.3595227897167206,
      "learning_rate": 0.00018712507939265256,
      "loss": 0.0471,
      "step": 7936
    },
    {
      "epoch": 1.7805698900605789,
      "gripper_loss": 0.1884765625,
      "loss": 0.08349609375,
      "pos_loss": 0.166015625,
      "rot_loss": 0.1904296875,
      "step": 7936
    },
    {
      "epoch": 1.780794256226161,
      "grad_norm": 1.1433855295181274,
      "learning_rate": 0.00018706646812905746,
      "loss": 0.1247,
      "step": 7937
    },
    {
      "epoch": 1.780794256226161,
      "gripper_loss": 0.042236328125,
      "loss": 0.0634765625,
      "pos_loss": 0.3984375,
      "rot_loss": 0.2197265625,
      "step": 7937
    },
    {
      "epoch": 1.7810186223917435,
      "grad_norm": 0.3135256767272949,
      "learning_rate": 0.0001870078605583737,
      "loss": 0.0415,
      "step": 7938
    },
    {
      "epoch": 1.7810186223917435,
      "gripper_loss": 0.08837890625,
      "loss": 0.064453125,
      "pos_loss": 0.31640625,
      "rot_loss": 0.30078125,
      "step": 7938
    },
    {
      "epoch": 1.7812429885573255,
      "grad_norm": 0.35550275444984436,
      "learning_rate": 0.00018694925668404013,
      "loss": 0.0531,
      "step": 7939
    },
    {
      "epoch": 1.7812429885573255,
      "gripper_loss": 0.1943359375,
      "loss": 0.11572265625,
      "pos_loss": 1.0078125,
      "rot_loss": 0.12255859375,
      "step": 7939
    },
    {
      "epoch": 1.7814673547229076,
      "grad_norm": 0.38167038559913635,
      "learning_rate": 0.0001868906565094957,
      "loss": 0.0854,
      "step": 7940
    },
    {
      "epoch": 1.7814673547229076,
      "gripper_loss": 0.0189208984375,
      "loss": 0.057373046875,
      "pos_loss": 0.333984375,
      "rot_loss": 0.2265625,
      "step": 7940
    },
    {
      "epoch": 1.7816917208884901,
      "grad_norm": 0.41583961248397827,
      "learning_rate": 0.0001868320600381791,
      "loss": 0.0762,
      "step": 7941
    },
    {
      "epoch": 1.7816917208884901,
      "gripper_loss": 0.2099609375,
      "loss": 0.0732421875,
      "pos_loss": 0.197265625,
      "rot_loss": 0.255859375,
      "step": 7941
    },
    {
      "epoch": 1.7819160870540722,
      "grad_norm": 0.9583277702331543,
      "learning_rate": 0.00018677346727352862,
      "loss": 0.0968,
      "step": 7942
    },
    {
      "epoch": 1.7819160870540722,
      "gripper_loss": 0.169921875,
      "loss": 0.046142578125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.1337890625,
      "step": 7942
    },
    {
      "epoch": 1.7821404532196545,
      "grad_norm": 0.41343265771865845,
      "learning_rate": 0.00018671487821898263,
      "loss": 0.067,
      "step": 7943
    },
    {
      "epoch": 1.7821404532196545,
      "gripper_loss": 0.07177734375,
      "loss": 0.0181884765625,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.0751953125,
      "step": 7943
    },
    {
      "epoch": 1.7823648193852368,
      "grad_norm": 0.4326169490814209,
      "learning_rate": 0.00018665629287797892,
      "loss": 0.0402,
      "step": 7944
    },
    {
      "epoch": 1.7823648193852368,
      "gripper_loss": 0.0341796875,
      "loss": 0.0732421875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.0223388671875,
      "step": 7944
    },
    {
      "epoch": 1.782589185550819,
      "grad_norm": 0.512132465839386,
      "learning_rate": 0.00018659771125395533,
      "loss": 0.0587,
      "step": 7945
    },
    {
      "epoch": 1.782589185550819,
      "gripper_loss": 0.8515625,
      "loss": 0.0361328125,
      "pos_loss": 0.05078125,
      "rot_loss": 0.01507568359375,
      "step": 7945
    },
    {
      "epoch": 1.7828135517164012,
      "grad_norm": 0.49703964591026306,
      "learning_rate": 0.00018653913335034945,
      "loss": 0.0715,
      "step": 7946
    },
    {
      "epoch": 1.7828135517164012,
      "gripper_loss": 0.39453125,
      "loss": 0.032958984375,
      "pos_loss": 0.134765625,
      "rot_loss": 0.0478515625,
      "step": 7946
    },
    {
      "epoch": 1.7830379178819835,
      "grad_norm": 0.2879573702812195,
      "learning_rate": 0.0001864805591705986,
      "loss": 0.04,
      "step": 7947
    },
    {
      "epoch": 1.7830379178819835,
      "gripper_loss": 0.53125,
      "loss": 0.02685546875,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.01409912109375,
      "step": 7947
    },
    {
      "epoch": 1.7832622840475656,
      "grad_norm": 0.5041542053222656,
      "learning_rate": 0.00018642198871813981,
      "loss": 0.0528,
      "step": 7948
    },
    {
      "epoch": 1.7832622840475656,
      "gripper_loss": 0.03955078125,
      "loss": 0.07763671875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.1240234375,
      "step": 7948
    },
    {
      "epoch": 1.783486650213148,
      "grad_norm": 0.5730807185173035,
      "learning_rate": 0.00018636342199640997,
      "loss": 0.0674,
      "step": 7949
    },
    {
      "epoch": 1.783486650213148,
      "gripper_loss": 0.01458740234375,
      "loss": 0.031494140625,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.07958984375,
      "step": 7949
    },
    {
      "epoch": 1.7837110163787302,
      "grad_norm": 0.471803218126297,
      "learning_rate": 0.0001863048590088458,
      "loss": 0.0468,
      "step": 7950
    },
    {
      "epoch": 1.7837110163787302,
      "gripper_loss": 0.349609375,
      "loss": 0.0198974609375,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.0177001953125,
      "step": 7950
    },
    {
      "epoch": 1.7839353825443123,
      "grad_norm": 0.3374898433685303,
      "learning_rate": 0.00018624629975888386,
      "loss": 0.0477,
      "step": 7951
    },
    {
      "epoch": 1.7839353825443123,
      "gripper_loss": 0.1728515625,
      "loss": 0.04248046875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.072265625,
      "step": 7951
    },
    {
      "epoch": 1.7841597487098946,
      "grad_norm": 0.36069774627685547,
      "learning_rate": 0.00018618774424996012,
      "loss": 0.046,
      "step": 7952
    },
    {
      "epoch": 1.7841597487098946,
      "gripper_loss": 0.2216796875,
      "loss": 0.04248046875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.052978515625,
      "step": 7952
    },
    {
      "epoch": 1.7843841148754769,
      "grad_norm": 0.35124263167381287,
      "learning_rate": 0.0001861291924855108,
      "loss": 0.0334,
      "step": 7953
    },
    {
      "epoch": 1.7843841148754769,
      "gripper_loss": 0.365234375,
      "loss": 0.0703125,
      "pos_loss": 0.416015625,
      "rot_loss": 0.1796875,
      "step": 7953
    },
    {
      "epoch": 1.784608481041059,
      "grad_norm": 0.35074007511138916,
      "learning_rate": 0.00018607064446897156,
      "loss": 0.0727,
      "step": 7954
    },
    {
      "epoch": 1.784608481041059,
      "gripper_loss": 0.01214599609375,
      "loss": 0.1806640625,
      "pos_loss": 1.1484375,
      "rot_loss": 0.734375,
      "step": 7954
    },
    {
      "epoch": 1.7848328472066413,
      "grad_norm": 0.414939820766449,
      "learning_rate": 0.00018601210020377805,
      "loss": 0.1017,
      "step": 7955
    },
    {
      "epoch": 1.7848328472066413,
      "gripper_loss": 0.14453125,
      "loss": 0.0380859375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.013916015625,
      "step": 7955
    },
    {
      "epoch": 1.7850572133722236,
      "grad_norm": 0.5775321125984192,
      "learning_rate": 0.0001859535596933657,
      "loss": 0.0553,
      "step": 7956
    },
    {
      "epoch": 1.7850572133722236,
      "gripper_loss": 0.62109375,
      "loss": 0.05859375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.0673828125,
      "step": 7956
    },
    {
      "epoch": 1.7852815795378056,
      "grad_norm": 0.45523905754089355,
      "learning_rate": 0.00018589502294116939,
      "loss": 0.0728,
      "step": 7957
    },
    {
      "epoch": 1.7852815795378056,
      "gripper_loss": 0.12353515625,
      "loss": 0.01141357421875,
      "pos_loss": 0.01373291015625,
      "rot_loss": 0.035888671875,
      "step": 7957
    },
    {
      "epoch": 1.785505945703388,
      "grad_norm": 0.3470383584499359,
      "learning_rate": 0.00018583648995062425,
      "loss": 0.0597,
      "step": 7958
    },
    {
      "epoch": 1.785505945703388,
      "gripper_loss": 0.015869140625,
      "loss": 0.0791015625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.0830078125,
      "step": 7958
    },
    {
      "epoch": 1.7857303118689702,
      "grad_norm": 0.24933074414730072,
      "learning_rate": 0.0001857779607251649,
      "loss": 0.0537,
      "step": 7959
    },
    {
      "epoch": 1.7857303118689702,
      "gripper_loss": 0.05029296875,
      "loss": 0.06640625,
      "pos_loss": 0.126953125,
      "rot_loss": 0.3515625,
      "step": 7959
    },
    {
      "epoch": 1.7859546780345523,
      "grad_norm": 0.541412889957428,
      "learning_rate": 0.0001857194352682259,
      "loss": 0.0891,
      "step": 7960
    },
    {
      "epoch": 1.7859546780345523,
      "gripper_loss": 0.09619140625,
      "loss": 0.044921875,
      "pos_loss": 0.390625,
      "rot_loss": 0.016845703125,
      "step": 7960
    },
    {
      "epoch": 1.7861790442001346,
      "grad_norm": 0.42870041728019714,
      "learning_rate": 0.0001856609135832413,
      "loss": 0.0809,
      "step": 7961
    },
    {
      "epoch": 1.7861790442001346,
      "gripper_loss": 0.953125,
      "loss": 0.07177734375,
      "pos_loss": 0.30859375,
      "rot_loss": 0.10498046875,
      "step": 7961
    },
    {
      "epoch": 1.786403410365717,
      "grad_norm": 0.4690055847167969,
      "learning_rate": 0.00018560239567364523,
      "loss": 0.067,
      "step": 7962
    },
    {
      "epoch": 1.786403410365717,
      "gripper_loss": 0.306640625,
      "loss": 0.08203125,
      "pos_loss": 0.6875,
      "rot_loss": 0.044921875,
      "step": 7962
    },
    {
      "epoch": 1.786627776531299,
      "grad_norm": 0.29677700996398926,
      "learning_rate": 0.0001855438815428715,
      "loss": 0.0576,
      "step": 7963
    },
    {
      "epoch": 1.786627776531299,
      "gripper_loss": 0.1240234375,
      "loss": 0.03173828125,
      "pos_loss": 0.185546875,
      "rot_loss": 0.0751953125,
      "step": 7963
    },
    {
      "epoch": 1.7868521426968813,
      "grad_norm": 0.37529444694519043,
      "learning_rate": 0.0001854853711943538,
      "loss": 0.0747,
      "step": 7964
    },
    {
      "epoch": 1.7868521426968813,
      "gripper_loss": 0.134765625,
      "loss": 0.056884765625,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1923828125,
      "step": 7964
    },
    {
      "epoch": 1.7870765088624636,
      "grad_norm": 0.374038428068161,
      "learning_rate": 0.0001854268646315253,
      "loss": 0.054,
      "step": 7965
    },
    {
      "epoch": 1.7870765088624636,
      "gripper_loss": 0.1513671875,
      "loss": 0.03369140625,
      "pos_loss": 0.189453125,
      "rot_loss": 0.0869140625,
      "step": 7965
    },
    {
      "epoch": 1.7873008750280457,
      "grad_norm": 0.4519650340080261,
      "learning_rate": 0.0001853683618578192,
      "loss": 0.0658,
      "step": 7966
    },
    {
      "epoch": 1.7873008750280457,
      "gripper_loss": 0.0230712890625,
      "loss": 0.0260009765625,
      "pos_loss": 0.12890625,
      "rot_loss": 0.087890625,
      "step": 7966
    },
    {
      "epoch": 1.787525241193628,
      "grad_norm": 0.6473608613014221,
      "learning_rate": 0.00018530986287666846,
      "loss": 0.0849,
      "step": 7967
    },
    {
      "epoch": 1.787525241193628,
      "gripper_loss": 0.30078125,
      "loss": 0.1591796875,
      "pos_loss": 0.1875,
      "rot_loss": 0.4296875,
      "step": 7967
    },
    {
      "epoch": 1.7877496073592103,
      "grad_norm": 1.1724138259887695,
      "learning_rate": 0.0001852513676915058,
      "loss": 0.1556,
      "step": 7968
    },
    {
      "epoch": 1.7877496073592103,
      "gripper_loss": 0.028564453125,
      "loss": 0.10986328125,
      "pos_loss": 0.7421875,
      "rot_loss": 0.375,
      "step": 7968
    },
    {
      "epoch": 1.7879739735247924,
      "grad_norm": 0.3297624886035919,
      "learning_rate": 0.0001851928763057636,
      "loss": 0.0699,
      "step": 7969
    },
    {
      "epoch": 1.7879739735247924,
      "gripper_loss": 0.01129150390625,
      "loss": 0.087890625,
      "pos_loss": 0.453125,
      "rot_loss": 0.44140625,
      "step": 7969
    },
    {
      "epoch": 1.7881983396903747,
      "grad_norm": 0.483171671628952,
      "learning_rate": 0.0001851343887228741,
      "loss": 0.0547,
      "step": 7970
    },
    {
      "epoch": 1.7881983396903747,
      "gripper_loss": 0.021240234375,
      "loss": 0.0250244140625,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.07958984375,
      "step": 7970
    },
    {
      "epoch": 1.788422705855957,
      "grad_norm": 0.5433018207550049,
      "learning_rate": 0.00018507590494626944,
      "loss": 0.0594,
      "step": 7971
    },
    {
      "epoch": 1.788422705855957,
      "gripper_loss": 0.330078125,
      "loss": 0.05859375,
      "pos_loss": 0.216796875,
      "rot_loss": 0.21875,
      "step": 7971
    },
    {
      "epoch": 1.788647072021539,
      "grad_norm": 0.6263814568519592,
      "learning_rate": 0.00018501742497938132,
      "loss": 0.0744,
      "step": 7972
    },
    {
      "epoch": 1.788647072021539,
      "gripper_loss": 1.3046875,
      "loss": 0.06591796875,
      "pos_loss": 0.21484375,
      "rot_loss": 0.0166015625,
      "step": 7972
    },
    {
      "epoch": 1.7888714381871214,
      "grad_norm": 0.5708937644958496,
      "learning_rate": 0.00018495894882564147,
      "loss": 0.0437,
      "step": 7973
    },
    {
      "epoch": 1.7888714381871214,
      "gripper_loss": 0.01422119140625,
      "loss": 0.07958984375,
      "pos_loss": 0.466796875,
      "rot_loss": 0.32421875,
      "step": 7973
    },
    {
      "epoch": 1.7890958043527037,
      "grad_norm": 0.4721415340900421,
      "learning_rate": 0.00018490047648848096,
      "loss": 0.0679,
      "step": 7974
    },
    {
      "epoch": 1.7890958043527037,
      "gripper_loss": 0.10888671875,
      "loss": 0.072265625,
      "pos_loss": 0.06201171875,
      "rot_loss": 0.1923828125,
      "step": 7974
    },
    {
      "epoch": 1.7893201705182857,
      "grad_norm": 0.9670916199684143,
      "learning_rate": 0.00018484200797133117,
      "loss": 0.1435,
      "step": 7975
    },
    {
      "epoch": 1.7893201705182857,
      "gripper_loss": 0.038818359375,
      "loss": 0.0299072265625,
      "pos_loss": 0.048095703125,
      "rot_loss": 0.07470703125,
      "step": 7975
    },
    {
      "epoch": 1.789544536683868,
      "grad_norm": 0.6521604657173157,
      "learning_rate": 0.00018478354327762292,
      "loss": 0.1011,
      "step": 7976
    },
    {
      "epoch": 1.789544536683868,
      "gripper_loss": 0.006927490234375,
      "loss": 0.04736328125,
      "pos_loss": 0.185546875,
      "rot_loss": 0.263671875,
      "step": 7976
    },
    {
      "epoch": 1.7897689028494503,
      "grad_norm": 0.4223683774471283,
      "learning_rate": 0.00018472508241078694,
      "loss": 0.0478,
      "step": 7977
    },
    {
      "epoch": 1.7897689028494503,
      "gripper_loss": 0.287109375,
      "loss": 0.048583984375,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.123046875,
      "step": 7977
    },
    {
      "epoch": 1.7899932690150324,
      "grad_norm": 0.895335853099823,
      "learning_rate": 0.0001846666253742536,
      "loss": 0.1045,
      "step": 7978
    },
    {
      "epoch": 1.7899932690150324,
      "gripper_loss": 0.1796875,
      "loss": 0.11376953125,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.263671875,
      "step": 7978
    },
    {
      "epoch": 1.7902176351806147,
      "grad_norm": 0.8643505573272705,
      "learning_rate": 0.00018460817217145318,
      "loss": 0.1235,
      "step": 7979
    },
    {
      "epoch": 1.7902176351806147,
      "gripper_loss": 0.0106201171875,
      "loss": 0.0458984375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.06396484375,
      "step": 7979
    },
    {
      "epoch": 1.790442001346197,
      "grad_norm": 0.6422132253646851,
      "learning_rate": 0.00018454972280581566,
      "loss": 0.0675,
      "step": 7980
    },
    {
      "epoch": 1.790442001346197,
      "gripper_loss": 0.201171875,
      "loss": 0.064453125,
      "pos_loss": 0.43359375,
      "rot_loss": 0.1279296875,
      "step": 7980
    },
    {
      "epoch": 1.790666367511779,
      "grad_norm": 0.42483922839164734,
      "learning_rate": 0.00018449127728077094,
      "loss": 0.0606,
      "step": 7981
    },
    {
      "epoch": 1.790666367511779,
      "gripper_loss": 0.3203125,
      "loss": 0.0888671875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.443359375,
      "step": 7981
    },
    {
      "epoch": 1.7908907336773614,
      "grad_norm": 0.7578310966491699,
      "learning_rate": 0.00018443283559974838,
      "loss": 0.099,
      "step": 7982
    },
    {
      "epoch": 1.7908907336773614,
      "gripper_loss": 0.259765625,
      "loss": 0.04296875,
      "pos_loss": 0.296875,
      "rot_loss": 0.0185546875,
      "step": 7982
    },
    {
      "epoch": 1.7911150998429437,
      "grad_norm": 0.46764692664146423,
      "learning_rate": 0.00018437439776617748,
      "loss": 0.0756,
      "step": 7983
    },
    {
      "epoch": 1.7911150998429437,
      "gripper_loss": 0.92578125,
      "loss": 0.240234375,
      "pos_loss": 1.2421875,
      "rot_loss": 0.97265625,
      "step": 7983
    },
    {
      "epoch": 1.7913394660085258,
      "grad_norm": 0.6147459149360657,
      "learning_rate": 0.00018431596378348726,
      "loss": 0.0793,
      "step": 7984
    },
    {
      "epoch": 1.7913394660085258,
      "gripper_loss": 0.0076904296875,
      "loss": 0.03369140625,
      "pos_loss": 0.228515625,
      "rot_loss": 0.0966796875,
      "step": 7984
    },
    {
      "epoch": 1.7915638321741083,
      "grad_norm": 0.444764643907547,
      "learning_rate": 0.00018425753365510655,
      "loss": 0.0676,
      "step": 7985
    },
    {
      "epoch": 1.7915638321741083,
      "gripper_loss": 0.349609375,
      "loss": 0.0184326171875,
      "pos_loss": 0.023681640625,
      "rot_loss": 0.01513671875,
      "step": 7985
    },
    {
      "epoch": 1.7917881983396904,
      "grad_norm": 0.40404337644577026,
      "learning_rate": 0.00018419910738446424,
      "loss": 0.0569,
      "step": 7986
    },
    {
      "epoch": 1.7917881983396904,
      "gripper_loss": 0.236328125,
      "loss": 0.0159912109375,
      "pos_loss": 0.033935546875,
      "rot_loss": 0.021484375,
      "step": 7986
    },
    {
      "epoch": 1.7920125645052725,
      "grad_norm": 0.3011505603790283,
      "learning_rate": 0.00018414068497498847,
      "loss": 0.0482,
      "step": 7987
    },
    {
      "epoch": 1.7920125645052725,
      "gripper_loss": 0.08203125,
      "loss": 0.00946044921875,
      "pos_loss": 0.02978515625,
      "rot_loss": 0.01239013671875,
      "step": 7987
    },
    {
      "epoch": 1.792236930670855,
      "grad_norm": 0.5932508707046509,
      "learning_rate": 0.00018408226643010762,
      "loss": 0.0737,
      "step": 7988
    },
    {
      "epoch": 1.792236930670855,
      "gripper_loss": 0.005584716796875,
      "loss": 0.0595703125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.16015625,
      "step": 7988
    },
    {
      "epoch": 1.792461296836437,
      "grad_norm": 0.4200657308101654,
      "learning_rate": 0.00018402385175324954,
      "loss": 0.0573,
      "step": 7989
    },
    {
      "epoch": 1.792461296836437,
      "gripper_loss": 0.02001953125,
      "loss": 0.06982421875,
      "pos_loss": 0.3984375,
      "rot_loss": 0.263671875,
      "step": 7989
    },
    {
      "epoch": 1.7926856630020191,
      "grad_norm": 0.5324532985687256,
      "learning_rate": 0.00018396544094784214,
      "loss": 0.0699,
      "step": 7990
    },
    {
      "epoch": 1.7926856630020191,
      "gripper_loss": 0.0380859375,
      "loss": 0.041015625,
      "pos_loss": 0.302734375,
      "rot_loss": 0.07666015625,
      "step": 7990
    },
    {
      "epoch": 1.7929100291676017,
      "grad_norm": 0.41492459177970886,
      "learning_rate": 0.00018390703401731276,
      "loss": 0.0697,
      "step": 7991
    },
    {
      "epoch": 1.7929100291676017,
      "gripper_loss": 0.024169921875,
      "loss": 0.041259765625,
      "pos_loss": 0.357421875,
      "rot_loss": 0.018798828125,
      "step": 7991
    },
    {
      "epoch": 1.7931343953331838,
      "grad_norm": 0.45013174414634705,
      "learning_rate": 0.00018384863096508876,
      "loss": 0.058,
      "step": 7992
    },
    {
      "epoch": 1.7931343953331838,
      "gripper_loss": 0.05615234375,
      "loss": 0.050048828125,
      "pos_loss": 0.337890625,
      "rot_loss": 0.1220703125,
      "step": 7992
    },
    {
      "epoch": 1.7933587614987658,
      "grad_norm": 0.46698495745658875,
      "learning_rate": 0.0001837902317945973,
      "loss": 0.0566,
      "step": 7993
    },
    {
      "epoch": 1.7933587614987658,
      "gripper_loss": 0.154296875,
      "loss": 0.08642578125,
      "pos_loss": 0.328125,
      "rot_loss": 0.279296875,
      "step": 7993
    },
    {
      "epoch": 1.7935831276643484,
      "grad_norm": 0.39460206031799316,
      "learning_rate": 0.00018373183650926512,
      "loss": 0.069,
      "step": 7994
    },
    {
      "epoch": 1.7935831276643484,
      "gripper_loss": 0.01202392578125,
      "loss": 0.07373046875,
      "pos_loss": 0.6796875,
      "rot_loss": 0.04443359375,
      "step": 7994
    },
    {
      "epoch": 1.7938074938299304,
      "grad_norm": 0.511652946472168,
      "learning_rate": 0.00018367344511251884,
      "loss": 0.0527,
      "step": 7995
    },
    {
      "epoch": 1.7938074938299304,
      "gripper_loss": 0.064453125,
      "loss": 0.0181884765625,
      "pos_loss": 0.0216064453125,
      "rot_loss": 0.09765625,
      "step": 7995
    },
    {
      "epoch": 1.7940318599955125,
      "grad_norm": 0.6484244465827942,
      "learning_rate": 0.0001836150576077848,
      "loss": 0.0916,
      "step": 7996
    },
    {
      "epoch": 1.7940318599955125,
      "gripper_loss": 0.046875,
      "loss": 0.06982421875,
      "pos_loss": 0.2109375,
      "rot_loss": 0.380859375,
      "step": 7996
    },
    {
      "epoch": 1.794256226161095,
      "grad_norm": 0.33775293827056885,
      "learning_rate": 0.00018355667399848918,
      "loss": 0.0594,
      "step": 7997
    },
    {
      "epoch": 1.794256226161095,
      "gripper_loss": 0.2080078125,
      "loss": 0.038330078125,
      "pos_loss": 0.134765625,
      "rot_loss": 0.1494140625,
      "step": 7997
    },
    {
      "epoch": 1.7944805923266771,
      "grad_norm": 0.39030030369758606,
      "learning_rate": 0.0001834982942880581,
      "loss": 0.0638,
      "step": 7998
    },
    {
      "epoch": 1.7944805923266771,
      "gripper_loss": 0.014892578125,
      "loss": 0.07177734375,
      "pos_loss": 0.515625,
      "rot_loss": 0.1845703125,
      "step": 7998
    },
    {
      "epoch": 1.7947049584922594,
      "grad_norm": 0.4054524898529053,
      "learning_rate": 0.00018343991847991688,
      "loss": 0.0764,
      "step": 7999
    },
    {
      "epoch": 1.7947049584922594,
      "gripper_loss": 0.009765625,
      "loss": 0.078125,
      "pos_loss": 0.63671875,
      "rot_loss": 0.1494140625,
      "step": 7999
    },
    {
      "epoch": 1.7949293246578417,
      "grad_norm": 0.45358145236968994,
      "learning_rate": 0.0001833815465774913,
      "loss": 0.0592,
      "step": 8000
    },
    {
      "epoch": 1.7949293246578417,
      "gripper_loss": 0.031494140625,
      "loss": 0.06494140625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.0732421875,
      "step": 8000
    },
    {
      "epoch": 1.7951536908234238,
      "grad_norm": 0.37117063999176025,
      "learning_rate": 0.0001833231785842064,
      "loss": 0.0616,
      "step": 8001
    },
    {
      "epoch": 1.7951536908234238,
      "gripper_loss": 0.03955078125,
      "loss": 0.01708984375,
      "pos_loss": 0.061767578125,
      "rot_loss": 0.07275390625,
      "step": 8001
    },
    {
      "epoch": 1.795378056989006,
      "grad_norm": 0.2940322458744049,
      "learning_rate": 0.0001832648145034873,
      "loss": 0.0254,
      "step": 8002
    },
    {
      "epoch": 1.795378056989006,
      "gripper_loss": 1.7109375,
      "loss": 0.353515625,
      "pos_loss": 0.359375,
      "rot_loss": 0.66796875,
      "step": 8002
    },
    {
      "epoch": 1.7956024231545884,
      "grad_norm": 1.4891422986984253,
      "learning_rate": 0.00018320645433875883,
      "loss": 0.366,
      "step": 8003
    },
    {
      "epoch": 1.7956024231545884,
      "gripper_loss": 0.033203125,
      "loss": 0.0888671875,
      "pos_loss": 0.578125,
      "rot_loss": 0.279296875,
      "step": 8003
    },
    {
      "epoch": 1.7958267893201705,
      "grad_norm": 0.3743533194065094,
      "learning_rate": 0.00018314809809344532,
      "loss": 0.0592,
      "step": 8004
    },
    {
      "epoch": 1.7958267893201705,
      "gripper_loss": 0.00860595703125,
      "loss": 0.125,
      "pos_loss": 0.703125,
      "rot_loss": 0.5859375,
      "step": 8004
    },
    {
      "epoch": 1.7960511554857528,
      "grad_norm": 0.41772812604904175,
      "learning_rate": 0.00018308974577097126,
      "loss": 0.0623,
      "step": 8005
    },
    {
      "epoch": 1.7960511554857528,
      "gripper_loss": 0.03125,
      "loss": 0.044677734375,
      "pos_loss": 0.400390625,
      "rot_loss": 0.02197265625,
      "step": 8005
    },
    {
      "epoch": 1.796275521651335,
      "grad_norm": 0.31436243653297424,
      "learning_rate": 0.00018303139737476073,
      "loss": 0.0384,
      "step": 8006
    },
    {
      "epoch": 1.796275521651335,
      "gripper_loss": 0.006378173828125,
      "loss": 0.058349609375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.016357421875,
      "step": 8006
    },
    {
      "epoch": 1.7964998878169172,
      "grad_norm": 0.5542221665382385,
      "learning_rate": 0.00018297305290823762,
      "loss": 0.0649,
      "step": 8007
    },
    {
      "epoch": 1.7964998878169172,
      "gripper_loss": 0.0098876953125,
      "loss": 0.0361328125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0238037109375,
      "step": 8007
    },
    {
      "epoch": 1.7967242539824995,
      "grad_norm": 0.4044196903705597,
      "learning_rate": 0.0001829147123748254,
      "loss": 0.0557,
      "step": 8008
    },
    {
      "epoch": 1.7967242539824995,
      "gripper_loss": 0.058837890625,
      "loss": 0.02197265625,
      "pos_loss": 0.10400390625,
      "rot_loss": 0.03076171875,
      "step": 8008
    },
    {
      "epoch": 1.7969486201480818,
      "grad_norm": 0.4898926615715027,
      "learning_rate": 0.00018285637577794756,
      "loss": 0.0581,
      "step": 8009
    },
    {
      "epoch": 1.7969486201480818,
      "gripper_loss": 0.8125,
      "loss": 0.134765625,
      "pos_loss": 0.37890625,
      "rot_loss": 0.75390625,
      "step": 8009
    },
    {
      "epoch": 1.7971729863136638,
      "grad_norm": 0.25341442227363586,
      "learning_rate": 0.00018279804312102728,
      "loss": 0.0555,
      "step": 8010
    },
    {
      "epoch": 1.7971729863136638,
      "gripper_loss": 0.33203125,
      "loss": 0.0712890625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.138671875,
      "step": 8010
    },
    {
      "epoch": 1.7973973524792461,
      "grad_norm": 0.7798607349395752,
      "learning_rate": 0.00018273971440748755,
      "loss": 0.0946,
      "step": 8011
    },
    {
      "epoch": 1.7973973524792461,
      "gripper_loss": 0.01220703125,
      "loss": 0.0595703125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.024658203125,
      "step": 8011
    },
    {
      "epoch": 1.7976217186448284,
      "grad_norm": 0.4086790382862091,
      "learning_rate": 0.00018268138964075097,
      "loss": 0.0409,
      "step": 8012
    },
    {
      "epoch": 1.7976217186448284,
      "gripper_loss": 0.447265625,
      "loss": 0.05810546875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.0341796875,
      "step": 8012
    },
    {
      "epoch": 1.7978460848104105,
      "grad_norm": 0.4968535006046295,
      "learning_rate": 0.00018262306882423998,
      "loss": 0.0508,
      "step": 8013
    },
    {
      "epoch": 1.7978460848104105,
      "gripper_loss": 0.578125,
      "loss": 0.0673828125,
      "pos_loss": 0.3203125,
      "rot_loss": 0.12060546875,
      "step": 8013
    },
    {
      "epoch": 1.7980704509759928,
      "grad_norm": 0.48731160163879395,
      "learning_rate": 0.0001825647519613769,
      "loss": 0.0535,
      "step": 8014
    },
    {
      "epoch": 1.7980704509759928,
      "gripper_loss": 0.12353515625,
      "loss": 0.06884765625,
      "pos_loss": 0.45703125,
      "rot_loss": 0.1376953125,
      "step": 8014
    },
    {
      "epoch": 1.7982948171415751,
      "grad_norm": 0.6838923096656799,
      "learning_rate": 0.00018250643905558372,
      "loss": 0.0616,
      "step": 8015
    },
    {
      "epoch": 1.7982948171415751,
      "gripper_loss": 0.259765625,
      "loss": 0.15625,
      "pos_loss": 0.400390625,
      "rot_loss": 0.59375,
      "step": 8015
    },
    {
      "epoch": 1.7985191833071572,
      "grad_norm": 0.966932475566864,
      "learning_rate": 0.00018244813011028234,
      "loss": 0.2002,
      "step": 8016
    },
    {
      "epoch": 1.7985191833071572,
      "gripper_loss": 0.59765625,
      "loss": 0.09228515625,
      "pos_loss": 0.5625,
      "rot_loss": 0.1787109375,
      "step": 8016
    },
    {
      "epoch": 1.7987435494727395,
      "grad_norm": 0.44821906089782715,
      "learning_rate": 0.000182389825128894,
      "loss": 0.0782,
      "step": 8017
    },
    {
      "epoch": 1.7987435494727395,
      "gripper_loss": 0.07275390625,
      "loss": 0.01806640625,
      "pos_loss": 0.02294921875,
      "rot_loss": 0.0927734375,
      "step": 8017
    },
    {
      "epoch": 1.7989679156383218,
      "grad_norm": 0.4651201367378235,
      "learning_rate": 0.0001823315241148403,
      "loss": 0.0605,
      "step": 8018
    },
    {
      "epoch": 1.7989679156383218,
      "gripper_loss": 0.00421142578125,
      "loss": 0.177734375,
      "pos_loss": 1.6171875,
      "rot_loss": 0.2041015625,
      "step": 8018
    },
    {
      "epoch": 1.799192281803904,
      "grad_norm": 0.5678929686546326,
      "learning_rate": 0.00018227322707154215,
      "loss": 0.0894,
      "step": 8019
    },
    {
      "epoch": 1.799192281803904,
      "gripper_loss": 0.006011962890625,
      "loss": 0.054443359375,
      "pos_loss": 0.392578125,
      "rot_loss": 0.12255859375,
      "step": 8019
    },
    {
      "epoch": 1.7994166479694862,
      "grad_norm": 0.4366280436515808,
      "learning_rate": 0.00018221493400242053,
      "loss": 0.0818,
      "step": 8020
    },
    {
      "epoch": 1.7994166479694862,
      "gripper_loss": 0.05908203125,
      "loss": 0.0595703125,
      "pos_loss": 0.36328125,
      "rot_loss": 0.1337890625,
      "step": 8020
    },
    {
      "epoch": 1.7996410141350685,
      "grad_norm": 0.528994083404541,
      "learning_rate": 0.0001821566449108959,
      "loss": 0.0503,
      "step": 8021
    },
    {
      "epoch": 1.7996410141350685,
      "gripper_loss": 0.0986328125,
      "loss": 0.091796875,
      "pos_loss": 0.77734375,
      "rot_loss": 0.09228515625,
      "step": 8021
    },
    {
      "epoch": 1.7998653803006506,
      "grad_norm": 0.5070987343788147,
      "learning_rate": 0.00018209835980038868,
      "loss": 0.0598,
      "step": 8022
    },
    {
      "epoch": 1.7998653803006506,
      "gripper_loss": 0.1865234375,
      "loss": 0.053955078125,
      "pos_loss": 0.30078125,
      "rot_loss": 0.142578125,
      "step": 8022
    },
    {
      "epoch": 1.8000897464662329,
      "grad_norm": 0.3618485629558563,
      "learning_rate": 0.0001820400786743191,
      "loss": 0.0474,
      "step": 8023
    },
    {
      "epoch": 1.8000897464662329,
      "gripper_loss": 0.46875,
      "loss": 0.04736328125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.087890625,
      "step": 8023
    },
    {
      "epoch": 1.8003141126318152,
      "grad_norm": 0.4348776936531067,
      "learning_rate": 0.000181981801536107,
      "loss": 0.0614,
      "step": 8024
    },
    {
      "epoch": 1.8003141126318152,
      "gripper_loss": 0.466796875,
      "loss": 0.044921875,
      "pos_loss": 0.177734375,
      "rot_loss": 0.1083984375,
      "step": 8024
    },
    {
      "epoch": 1.8005384787973973,
      "grad_norm": 0.3008893132209778,
      "learning_rate": 0.00018192352838917208,
      "loss": 0.0432,
      "step": 8025
    },
    {
      "epoch": 1.8005384787973973,
      "gripper_loss": 0.1923828125,
      "loss": 0.1640625,
      "pos_loss": 0.78125,
      "rot_loss": 0.404296875,
      "step": 8025
    },
    {
      "epoch": 1.8007628449629796,
      "grad_norm": 0.8835946321487427,
      "learning_rate": 0.00018186525923693373,
      "loss": 0.1378,
      "step": 8026
    },
    {
      "epoch": 1.8007628449629796,
      "gripper_loss": 0.453125,
      "loss": 0.05322265625,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.12158203125,
      "step": 8026
    },
    {
      "epoch": 1.8009872111285619,
      "grad_norm": 0.46783247590065,
      "learning_rate": 0.0001818069940828112,
      "loss": 0.0518,
      "step": 8027
    },
    {
      "epoch": 1.8009872111285619,
      "gripper_loss": 0.03076171875,
      "loss": 0.091796875,
      "pos_loss": 0.53125,
      "rot_loss": 0.35546875,
      "step": 8027
    },
    {
      "epoch": 1.801211577294144,
      "grad_norm": 0.5428369641304016,
      "learning_rate": 0.00018174873293022353,
      "loss": 0.0713,
      "step": 8028
    },
    {
      "epoch": 1.801211577294144,
      "gripper_loss": 0.1826171875,
      "loss": 0.049072265625,
      "pos_loss": 0.314453125,
      "rot_loss": 0.0791015625,
      "step": 8028
    },
    {
      "epoch": 1.8014359434597262,
      "grad_norm": 0.6000585556030273,
      "learning_rate": 0.00018169047578258933,
      "loss": 0.0492,
      "step": 8029
    },
    {
      "epoch": 1.8014359434597262,
      "gripper_loss": 0.5390625,
      "loss": 0.10107421875,
      "pos_loss": 0.44921875,
      "rot_loss": 0.26171875,
      "step": 8029
    },
    {
      "epoch": 1.8016603096253085,
      "grad_norm": 0.8163251280784607,
      "learning_rate": 0.00018163222264332718,
      "loss": 0.0945,
      "step": 8030
    },
    {
      "epoch": 1.8016603096253085,
      "gripper_loss": 0.03125,
      "loss": 0.1396484375,
      "pos_loss": 0.94921875,
      "rot_loss": 0.439453125,
      "step": 8030
    },
    {
      "epoch": 1.8018846757908906,
      "grad_norm": 0.6979518532752991,
      "learning_rate": 0.00018157397351585528,
      "loss": 0.0835,
      "step": 8031
    },
    {
      "epoch": 1.8018846757908906,
      "gripper_loss": 0.0277099609375,
      "loss": 0.039306640625,
      "pos_loss": 0.103515625,
      "rot_loss": 0.251953125,
      "step": 8031
    },
    {
      "epoch": 1.802109041956473,
      "grad_norm": 0.486453652381897,
      "learning_rate": 0.00018151572840359172,
      "loss": 0.0629,
      "step": 8032
    },
    {
      "epoch": 1.802109041956473,
      "gripper_loss": 0.04443359375,
      "loss": 0.1162109375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.5703125,
      "step": 8032
    },
    {
      "epoch": 1.8023334081220552,
      "grad_norm": 0.5328130125999451,
      "learning_rate": 0.0001814574873099544,
      "loss": 0.082,
      "step": 8033
    },
    {
      "epoch": 1.8023334081220552,
      "gripper_loss": 0.0211181640625,
      "loss": 0.09375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.17578125,
      "step": 8033
    },
    {
      "epoch": 1.8025577742876373,
      "grad_norm": 0.5121509432792664,
      "learning_rate": 0.00018139925023836066,
      "loss": 0.0688,
      "step": 8034
    },
    {
      "epoch": 1.8025577742876373,
      "gripper_loss": 0.1533203125,
      "loss": 0.17578125,
      "pos_loss": 0.419921875,
      "rot_loss": 0.3515625,
      "step": 8034
    },
    {
      "epoch": 1.8027821404532196,
      "grad_norm": 1.4459149837493896,
      "learning_rate": 0.00018134101719222799,
      "loss": 0.2185,
      "step": 8035
    },
    {
      "epoch": 1.8027821404532196,
      "gripper_loss": 0.921875,
      "loss": 0.333984375,
      "pos_loss": 0.62890625,
      "rot_loss": 0.30078125,
      "step": 8035
    },
    {
      "epoch": 1.803006506618802,
      "grad_norm": 1.6579246520996094,
      "learning_rate": 0.00018128278817497334,
      "loss": 0.3557,
      "step": 8036
    },
    {
      "epoch": 1.803006506618802,
      "gripper_loss": 0.08056640625,
      "loss": 0.0130615234375,
      "pos_loss": 0.0205078125,
      "rot_loss": 0.04833984375,
      "step": 8036
    },
    {
      "epoch": 1.803230872784384,
      "grad_norm": 0.4168519973754883,
      "learning_rate": 0.0001812245631900138,
      "loss": 0.0569,
      "step": 8037
    },
    {
      "epoch": 1.803230872784384,
      "gripper_loss": 0.33203125,
      "loss": 0.05419921875,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.177734375,
      "step": 8037
    },
    {
      "epoch": 1.8034552389499665,
      "grad_norm": 0.9857940673828125,
      "learning_rate": 0.00018116634224076572,
      "loss": 0.0765,
      "step": 8038
    },
    {
      "epoch": 1.8034552389499665,
      "gripper_loss": 0.011474609375,
      "loss": 0.07373046875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.0546875,
      "step": 8038
    },
    {
      "epoch": 1.8036796051155486,
      "grad_norm": 0.4133155345916748,
      "learning_rate": 0.00018110812533064558,
      "loss": 0.0688,
      "step": 8039
    },
    {
      "epoch": 1.8036796051155486,
      "gripper_loss": 1.6640625,
      "loss": 0.080078125,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.208984375,
      "step": 8039
    },
    {
      "epoch": 1.8039039712811307,
      "grad_norm": 0.4696767032146454,
      "learning_rate": 0.00018104991246306956,
      "loss": 0.0558,
      "step": 8040
    },
    {
      "epoch": 1.8039039712811307,
      "gripper_loss": 0.1005859375,
      "loss": 0.158203125,
      "pos_loss": 1.25,
      "rot_loss": 0.357421875,
      "step": 8040
    },
    {
      "epoch": 1.8041283374467132,
      "grad_norm": 0.4723663032054901,
      "learning_rate": 0.00018099170364145356,
      "loss": 0.076,
      "step": 8041
    },
    {
      "epoch": 1.8041283374467132,
      "gripper_loss": 0.19921875,
      "loss": 0.0216064453125,
      "pos_loss": 0.04345703125,
      "rot_loss": 0.06298828125,
      "step": 8041
    },
    {
      "epoch": 1.8043527036122953,
      "grad_norm": 0.4827873110771179,
      "learning_rate": 0.00018093349886921323,
      "loss": 0.0482,
      "step": 8042
    },
    {
      "epoch": 1.8043527036122953,
      "gripper_loss": 0.201171875,
      "loss": 0.07177734375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.2890625,
      "step": 8042
    },
    {
      "epoch": 1.8045770697778774,
      "grad_norm": 0.5279192924499512,
      "learning_rate": 0.00018087529814976396,
      "loss": 0.0586,
      "step": 8043
    },
    {
      "epoch": 1.8045770697778774,
      "gripper_loss": 0.2099609375,
      "loss": 0.06591796875,
      "pos_loss": 0.30078125,
      "rot_loss": 0.2255859375,
      "step": 8043
    },
    {
      "epoch": 1.8048014359434599,
      "grad_norm": 0.6546807289123535,
      "learning_rate": 0.00018081710148652096,
      "loss": 0.0815,
      "step": 8044
    },
    {
      "epoch": 1.8048014359434599,
      "gripper_loss": 0.0245361328125,
      "loss": 0.02392578125,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.11376953125,
      "step": 8044
    },
    {
      "epoch": 1.805025802109042,
      "grad_norm": 0.3336767852306366,
      "learning_rate": 0.0001807589088828992,
      "loss": 0.0481,
      "step": 8045
    },
    {
      "epoch": 1.805025802109042,
      "gripper_loss": 0.08203125,
      "loss": 0.052978515625,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.3125,
      "step": 8045
    },
    {
      "epoch": 1.805250168274624,
      "grad_norm": 0.4057275354862213,
      "learning_rate": 0.0001807007203423135,
      "loss": 0.0638,
      "step": 8046
    },
    {
      "epoch": 1.805250168274624,
      "gripper_loss": 0.0230712890625,
      "loss": 0.037109375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.036376953125,
      "step": 8046
    },
    {
      "epoch": 1.8054745344402066,
      "grad_norm": 0.35419508814811707,
      "learning_rate": 0.00018064253586817816,
      "loss": 0.042,
      "step": 8047
    },
    {
      "epoch": 1.8054745344402066,
      "gripper_loss": 0.0135498046875,
      "loss": 0.036376953125,
      "pos_loss": 0.3203125,
      "rot_loss": 0.0172119140625,
      "step": 8047
    },
    {
      "epoch": 1.8056989006057886,
      "grad_norm": 0.4874233901500702,
      "learning_rate": 0.00018058435546390749,
      "loss": 0.0872,
      "step": 8048
    },
    {
      "epoch": 1.8056989006057886,
      "gripper_loss": 0.044189453125,
      "loss": 0.061767578125,
      "pos_loss": 0.515625,
      "rot_loss": 0.06787109375,
      "step": 8048
    },
    {
      "epoch": 1.8059232667713707,
      "grad_norm": 0.475536584854126,
      "learning_rate": 0.00018052617913291545,
      "loss": 0.0721,
      "step": 8049
    },
    {
      "epoch": 1.8059232667713707,
      "gripper_loss": 0.0269775390625,
      "loss": 0.0947265625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.31640625,
      "step": 8049
    },
    {
      "epoch": 1.8061476329369532,
      "grad_norm": 0.4340406060218811,
      "learning_rate": 0.00018046800687861598,
      "loss": 0.0592,
      "step": 8050
    },
    {
      "epoch": 1.8061476329369532,
      "gripper_loss": 0.03759765625,
      "loss": 0.041015625,
      "pos_loss": 0.234375,
      "rot_loss": 0.13671875,
      "step": 8050
    },
    {
      "epoch": 1.8063719991025353,
      "grad_norm": 0.39121735095977783,
      "learning_rate": 0.00018040983870442232,
      "loss": 0.0561,
      "step": 8051
    },
    {
      "epoch": 1.8063719991025353,
      "gripper_loss": 0.2294921875,
      "loss": 0.07470703125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.337890625,
      "step": 8051
    },
    {
      "epoch": 1.8065963652681176,
      "grad_norm": 0.41731515526771545,
      "learning_rate": 0.0001803516746137479,
      "loss": 0.0708,
      "step": 8052
    },
    {
      "epoch": 1.8065963652681176,
      "gripper_loss": 0.037353515625,
      "loss": 0.05615234375,
      "pos_loss": 0.328125,
      "rot_loss": 0.19921875,
      "step": 8052
    },
    {
      "epoch": 1.8068207314337,
      "grad_norm": 0.44402962923049927,
      "learning_rate": 0.00018029351461000583,
      "loss": 0.0837,
      "step": 8053
    },
    {
      "epoch": 1.8068207314337,
      "gripper_loss": 0.0228271484375,
      "loss": 0.08642578125,
      "pos_loss": 0.8125,
      "rot_loss": 0.056396484375,
      "step": 8053
    },
    {
      "epoch": 1.807045097599282,
      "grad_norm": 0.2982995808124542,
      "learning_rate": 0.0001802353586966089,
      "loss": 0.05,
      "step": 8054
    },
    {
      "epoch": 1.807045097599282,
      "gripper_loss": 0.0146484375,
      "loss": 0.0419921875,
      "pos_loss": 0.2109375,
      "rot_loss": 0.19140625,
      "step": 8054
    },
    {
      "epoch": 1.8072694637648643,
      "grad_norm": 0.36609044671058655,
      "learning_rate": 0.00018017720687696953,
      "loss": 0.0545,
      "step": 8055
    },
    {
      "epoch": 1.8072694637648643,
      "gripper_loss": 0.6875,
      "loss": 0.04638671875,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.07470703125,
      "step": 8055
    },
    {
      "epoch": 1.8074938299304466,
      "grad_norm": 1.223347544670105,
      "learning_rate": 0.0001801190591545001,
      "loss": 0.099,
      "step": 8056
    },
    {
      "epoch": 1.8074938299304466,
      "gripper_loss": 0.66796875,
      "loss": 0.0556640625,
      "pos_loss": 0.050048828125,
      "rot_loss": 0.279296875,
      "step": 8056
    },
    {
      "epoch": 1.8077181960960287,
      "grad_norm": 0.408212810754776,
      "learning_rate": 0.00018006091553261273,
      "loss": 0.0588,
      "step": 8057
    },
    {
      "epoch": 1.8077181960960287,
      "gripper_loss": 0.01177978515625,
      "loss": 0.0458984375,
      "pos_loss": 0.265625,
      "rot_loss": 0.1591796875,
      "step": 8057
    },
    {
      "epoch": 1.807942562261611,
      "grad_norm": 0.3840561509132385,
      "learning_rate": 0.00018000277601471935,
      "loss": 0.0665,
      "step": 8058
    },
    {
      "epoch": 1.807942562261611,
      "gripper_loss": 0.004608154296875,
      "loss": 0.00714111328125,
      "pos_loss": 0.02734375,
      "rot_loss": 0.01055908203125,
      "step": 8058
    },
    {
      "epoch": 1.8081669284271933,
      "grad_norm": 0.39977478981018066,
      "learning_rate": 0.00017994464060423141,
      "loss": 0.0729,
      "step": 8059
    },
    {
      "epoch": 1.8081669284271933,
      "gripper_loss": 0.41015625,
      "loss": 0.07958984375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.08935546875,
      "step": 8059
    },
    {
      "epoch": 1.8083912945927754,
      "grad_norm": 0.7760177850723267,
      "learning_rate": 0.00017988650930456028,
      "loss": 0.0942,
      "step": 8060
    },
    {
      "epoch": 1.8083912945927754,
      "gripper_loss": 0.34765625,
      "loss": 0.0196533203125,
      "pos_loss": 0.04248046875,
      "rot_loss": 0.0159912109375,
      "step": 8060
    },
    {
      "epoch": 1.8086156607583577,
      "grad_norm": 0.6287297606468201,
      "learning_rate": 0.0001798283821191171,
      "loss": 0.0657,
      "step": 8061
    },
    {
      "epoch": 1.8086156607583577,
      "gripper_loss": 0.107421875,
      "loss": 0.0927734375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.333984375,
      "step": 8061
    },
    {
      "epoch": 1.80884002692394,
      "grad_norm": 0.2955012917518616,
      "learning_rate": 0.00017977025905131279,
      "loss": 0.0579,
      "step": 8062
    },
    {
      "epoch": 1.80884002692394,
      "gripper_loss": 0.0263671875,
      "loss": 0.058837890625,
      "pos_loss": 0.4375,
      "rot_loss": 0.140625,
      "step": 8062
    },
    {
      "epoch": 1.809064393089522,
      "grad_norm": 0.5376467704772949,
      "learning_rate": 0.00017971214010455806,
      "loss": 0.0715,
      "step": 8063
    },
    {
      "epoch": 1.809064393089522,
      "gripper_loss": 0.12451171875,
      "loss": 0.0296630859375,
      "pos_loss": 0.205078125,
      "rot_loss": 0.025634765625,
      "step": 8063
    },
    {
      "epoch": 1.8092887592551044,
      "grad_norm": 0.3788158595561981,
      "learning_rate": 0.00017965402528226308,
      "loss": 0.0633,
      "step": 8064
    },
    {
      "epoch": 1.8092887592551044,
      "gripper_loss": 0.0286865234375,
      "loss": 0.0625,
      "pos_loss": 0.27734375,
      "rot_loss": 0.32421875,
      "step": 8064
    },
    {
      "epoch": 1.8095131254206867,
      "grad_norm": 0.42936208844184875,
      "learning_rate": 0.0001795959145878382,
      "loss": 0.0701,
      "step": 8065
    },
    {
      "epoch": 1.8095131254206867,
      "gripper_loss": 0.2041015625,
      "loss": 0.396484375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.72265625,
      "step": 8065
    },
    {
      "epoch": 1.8097374915862687,
      "grad_norm": 2.035804510116577,
      "learning_rate": 0.0001795378080246932,
      "loss": 0.4268,
      "step": 8066
    },
    {
      "epoch": 1.8097374915862687,
      "gripper_loss": 0.1884765625,
      "loss": 0.1259765625,
      "pos_loss": 1.0078125,
      "rot_loss": 0.2431640625,
      "step": 8066
    },
    {
      "epoch": 1.809961857751851,
      "grad_norm": 0.3927353024482727,
      "learning_rate": 0.0001794797055962379,
      "loss": 0.0717,
      "step": 8067
    },
    {
      "epoch": 1.809961857751851,
      "gripper_loss": 0.00836181640625,
      "loss": 0.11669921875,
      "pos_loss": 0.91796875,
      "rot_loss": 0.294921875,
      "step": 8067
    },
    {
      "epoch": 1.8101862239174333,
      "grad_norm": 0.351588636636734,
      "learning_rate": 0.00017942160730588153,
      "loss": 0.062,
      "step": 8068
    },
    {
      "epoch": 1.8101862239174333,
      "gripper_loss": 0.01177978515625,
      "loss": 0.04248046875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.0296630859375,
      "step": 8068
    },
    {
      "epoch": 1.8104105900830154,
      "grad_norm": 0.3517477810382843,
      "learning_rate": 0.00017936351315703337,
      "loss": 0.0641,
      "step": 8069
    },
    {
      "epoch": 1.8104105900830154,
      "gripper_loss": 0.423828125,
      "loss": 0.0228271484375,
      "pos_loss": 0.059814453125,
      "rot_loss": 0.0076904296875,
      "step": 8069
    },
    {
      "epoch": 1.8106349562485977,
      "grad_norm": 0.6105414032936096,
      "learning_rate": 0.0001793054231531024,
      "loss": 0.0715,
      "step": 8070
    },
    {
      "epoch": 1.8106349562485977,
      "gripper_loss": 0.341796875,
      "loss": 0.0361328125,
      "pos_loss": 0.095703125,
      "rot_loss": 0.1181640625,
      "step": 8070
    },
    {
      "epoch": 1.81085932241418,
      "grad_norm": 0.32923898100852966,
      "learning_rate": 0.00017924733729749728,
      "loss": 0.0477,
      "step": 8071
    },
    {
      "epoch": 1.81085932241418,
      "gripper_loss": 0.039794921875,
      "loss": 0.0400390625,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.0556640625,
      "step": 8071
    },
    {
      "epoch": 1.811083688579762,
      "grad_norm": 0.6590045690536499,
      "learning_rate": 0.00017918925559362649,
      "loss": 0.0823,
      "step": 8072
    },
    {
      "epoch": 1.811083688579762,
      "gripper_loss": 0.23046875,
      "loss": 0.0230712890625,
      "pos_loss": 0.03173828125,
      "rot_loss": 0.09716796875,
      "step": 8072
    },
    {
      "epoch": 1.8113080547453444,
      "grad_norm": 0.28430095314979553,
      "learning_rate": 0.0001791311780448981,
      "loss": 0.0315,
      "step": 8073
    },
    {
      "epoch": 1.8113080547453444,
      "gripper_loss": 0.0137939453125,
      "loss": 0.023681640625,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.14453125,
      "step": 8073
    },
    {
      "epoch": 1.8115324209109267,
      "grad_norm": 0.26700350642204285,
      "learning_rate": 0.0001790731046547202,
      "loss": 0.0372,
      "step": 8074
    },
    {
      "epoch": 1.8115324209109267,
      "gripper_loss": 0.053466796875,
      "loss": 0.0732421875,
      "pos_loss": 0.3984375,
      "rot_loss": 0.314453125,
      "step": 8074
    },
    {
      "epoch": 1.8117567870765088,
      "grad_norm": 0.4768514931201935,
      "learning_rate": 0.00017901503542650053,
      "loss": 0.0692,
      "step": 8075
    },
    {
      "epoch": 1.8117567870765088,
      "gripper_loss": 0.51171875,
      "loss": 0.0277099609375,
      "pos_loss": 0.0250244140625,
      "rot_loss": 0.06201171875,
      "step": 8075
    },
    {
      "epoch": 1.811981153242091,
      "grad_norm": 0.39535635709762573,
      "learning_rate": 0.00017895697036364653,
      "loss": 0.0625,
      "step": 8076
    },
    {
      "epoch": 1.811981153242091,
      "gripper_loss": 0.1162109375,
      "loss": 0.0439453125,
      "pos_loss": 0.25390625,
      "rot_loss": 0.134765625,
      "step": 8076
    },
    {
      "epoch": 1.8122055194076734,
      "grad_norm": 0.5562989711761475,
      "learning_rate": 0.00017889890946956542,
      "loss": 0.0532,
      "step": 8077
    },
    {
      "epoch": 1.8122055194076734,
      "gripper_loss": 0.1640625,
      "loss": 0.2060546875,
      "pos_loss": 0.73828125,
      "rot_loss": 0.49609375,
      "step": 8077
    },
    {
      "epoch": 1.8124298855732555,
      "grad_norm": 1.2391659021377563,
      "learning_rate": 0.00017884085274766416,
      "loss": 0.2192,
      "step": 8078
    },
    {
      "epoch": 1.8124298855732555,
      "gripper_loss": 0.35546875,
      "loss": 0.02880859375,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.1142578125,
      "step": 8078
    },
    {
      "epoch": 1.8126542517388378,
      "grad_norm": 0.47220027446746826,
      "learning_rate": 0.0001787828002013495,
      "loss": 0.0689,
      "step": 8079
    },
    {
      "epoch": 1.8126542517388378,
      "gripper_loss": 0.55859375,
      "loss": 0.0693359375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1826171875,
      "step": 8079
    },
    {
      "epoch": 1.81287861790442,
      "grad_norm": 0.3563465178012848,
      "learning_rate": 0.00017872475183402806,
      "loss": 0.0594,
      "step": 8080
    },
    {
      "epoch": 1.81287861790442,
      "gripper_loss": 0.357421875,
      "loss": 0.041748046875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.1357421875,
      "step": 8080
    },
    {
      "epoch": 1.8131029840700021,
      "grad_norm": 0.5124199986457825,
      "learning_rate": 0.0001786667076491059,
      "loss": 0.0613,
      "step": 8081
    },
    {
      "epoch": 1.8131029840700021,
      "gripper_loss": 0.2490234375,
      "loss": 0.09423828125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.091796875,
      "step": 8081
    },
    {
      "epoch": 1.8133273502355844,
      "grad_norm": 0.42326781153678894,
      "learning_rate": 0.00017860866764998916,
      "loss": 0.0699,
      "step": 8082
    },
    {
      "epoch": 1.8133273502355844,
      "gripper_loss": 0.1015625,
      "loss": 0.048828125,
      "pos_loss": 0.1953125,
      "rot_loss": 0.2373046875,
      "step": 8082
    },
    {
      "epoch": 1.8135517164011667,
      "grad_norm": 0.43848809599876404,
      "learning_rate": 0.00017855063184008354,
      "loss": 0.0546,
      "step": 8083
    },
    {
      "epoch": 1.8135517164011667,
      "gripper_loss": 0.291015625,
      "loss": 0.035400390625,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.15625,
      "step": 8083
    },
    {
      "epoch": 1.8137760825667488,
      "grad_norm": 0.3831510841846466,
      "learning_rate": 0.00017849260022279468,
      "loss": 0.0594,
      "step": 8084
    },
    {
      "epoch": 1.8137760825667488,
      "gripper_loss": 0.01275634765625,
      "loss": 0.06982421875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.15234375,
      "step": 8084
    },
    {
      "epoch": 1.8140004487323311,
      "grad_norm": 0.33354902267456055,
      "learning_rate": 0.00017843457280152764,
      "loss": 0.0546,
      "step": 8085
    },
    {
      "epoch": 1.8140004487323311,
      "gripper_loss": 0.0380859375,
      "loss": 0.0284423828125,
      "pos_loss": 0.171875,
      "rot_loss": 0.07861328125,
      "step": 8085
    },
    {
      "epoch": 1.8142248148979134,
      "grad_norm": 0.315987229347229,
      "learning_rate": 0.00017837654957968753,
      "loss": 0.075,
      "step": 8086
    },
    {
      "epoch": 1.8142248148979134,
      "gripper_loss": 0.0096435546875,
      "loss": 0.1416015625,
      "pos_loss": 1.046875,
      "rot_loss": 0.42578125,
      "step": 8086
    },
    {
      "epoch": 1.8144491810634955,
      "grad_norm": 0.6277425289154053,
      "learning_rate": 0.0001783185305606792,
      "loss": 0.0832,
      "step": 8087
    },
    {
      "epoch": 1.8144491810634955,
      "gripper_loss": 0.12353515625,
      "loss": 0.1357421875,
      "pos_loss": 0.44921875,
      "rot_loss": 0.92578125,
      "step": 8087
    },
    {
      "epoch": 1.8146735472290778,
      "grad_norm": 0.4636315107345581,
      "learning_rate": 0.00017826051574790713,
      "loss": 0.0567,
      "step": 8088
    },
    {
      "epoch": 1.8146735472290778,
      "gripper_loss": 0.01080322265625,
      "loss": 0.06591796875,
      "pos_loss": 0.60546875,
      "rot_loss": 0.056640625,
      "step": 8088
    },
    {
      "epoch": 1.8148979133946601,
      "grad_norm": 0.3145826458930969,
      "learning_rate": 0.0001782025051447756,
      "loss": 0.0466,
      "step": 8089
    },
    {
      "epoch": 1.8148979133946601,
      "gripper_loss": 0.330078125,
      "loss": 0.051025390625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.07177734375,
      "step": 8089
    },
    {
      "epoch": 1.8151222795602422,
      "grad_norm": 0.3447665274143219,
      "learning_rate": 0.00017814449875468857,
      "loss": 0.0417,
      "step": 8090
    },
    {
      "epoch": 1.8151222795602422,
      "gripper_loss": 0.052734375,
      "loss": 0.173828125,
      "pos_loss": 1.5390625,
      "rot_loss": 0.18359375,
      "step": 8090
    },
    {
      "epoch": 1.8153466457258245,
      "grad_norm": 0.49650582671165466,
      "learning_rate": 0.00017808649658104992,
      "loss": 0.0774,
      "step": 8091
    },
    {
      "epoch": 1.8153466457258245,
      "gripper_loss": 0.205078125,
      "loss": 0.025634765625,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.045654296875,
      "step": 8091
    },
    {
      "epoch": 1.8155710118914068,
      "grad_norm": 0.2738400995731354,
      "learning_rate": 0.00017802849862726317,
      "loss": 0.0652,
      "step": 8092
    },
    {
      "epoch": 1.8155710118914068,
      "gripper_loss": 0.40234375,
      "loss": 0.06982421875,
      "pos_loss": 0.52734375,
      "rot_loss": 0.052490234375,
      "step": 8092
    },
    {
      "epoch": 1.8157953780569889,
      "grad_norm": 0.3423144519329071,
      "learning_rate": 0.00017797050489673171,
      "loss": 0.0695,
      "step": 8093
    },
    {
      "epoch": 1.8157953780569889,
      "gripper_loss": 0.1025390625,
      "loss": 0.016845703125,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.033203125,
      "step": 8093
    },
    {
      "epoch": 1.8160197442225714,
      "grad_norm": 0.6381504535675049,
      "learning_rate": 0.00017791251539285848,
      "loss": 0.0629,
      "step": 8094
    },
    {
      "epoch": 1.8160197442225714,
      "gripper_loss": 0.0439453125,
      "loss": 0.0301513671875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.0277099609375,
      "step": 8094
    },
    {
      "epoch": 1.8162441103881535,
      "grad_norm": 0.501392126083374,
      "learning_rate": 0.0001778545301190462,
      "loss": 0.0671,
      "step": 8095
    },
    {
      "epoch": 1.8162441103881535,
      "gripper_loss": 0.25390625,
      "loss": 0.05908203125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.33984375,
      "step": 8095
    },
    {
      "epoch": 1.8164684765537356,
      "grad_norm": 0.351822167634964,
      "learning_rate": 0.00017779654907869752,
      "loss": 0.0715,
      "step": 8096
    },
    {
      "epoch": 1.8164684765537356,
      "gripper_loss": 0.306640625,
      "loss": 0.034423828125,
      "pos_loss": 0.055908203125,
      "rot_loss": 0.1611328125,
      "step": 8096
    },
    {
      "epoch": 1.816692842719318,
      "grad_norm": 0.2919391095638275,
      "learning_rate": 0.00017773857227521483,
      "loss": 0.0488,
      "step": 8097
    },
    {
      "epoch": 1.816692842719318,
      "gripper_loss": 1.1015625,
      "loss": 0.059814453125,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.142578125,
      "step": 8097
    },
    {
      "epoch": 1.8169172088849002,
      "grad_norm": 0.3356612026691437,
      "learning_rate": 0.00017768059971200002,
      "loss": 0.0554,
      "step": 8098
    },
    {
      "epoch": 1.8169172088849002,
      "gripper_loss": 0.09423828125,
      "loss": 0.03759765625,
      "pos_loss": 0.244140625,
      "rot_loss": 0.09130859375,
      "step": 8098
    },
    {
      "epoch": 1.8171415750504822,
      "grad_norm": 0.3310532867908478,
      "learning_rate": 0.00017762263139245495,
      "loss": 0.0528,
      "step": 8099
    },
    {
      "epoch": 1.8171415750504822,
      "gripper_loss": 0.02001953125,
      "loss": 0.1171875,
      "pos_loss": 0.765625,
      "rot_loss": 0.4375,
      "step": 8099
    },
    {
      "epoch": 1.8173659412160648,
      "grad_norm": 0.3761347532272339,
      "learning_rate": 0.00017756466731998118,
      "loss": 0.0659,
      "step": 8100
    },
    {
      "epoch": 1.8173659412160648,
      "gripper_loss": 0.455078125,
      "loss": 0.0927734375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.294921875,
      "step": 8100
    },
    {
      "epoch": 1.8175903073816468,
      "grad_norm": 0.3759802579879761,
      "learning_rate": 0.00017750670749798011,
      "loss": 0.0482,
      "step": 8101
    },
    {
      "epoch": 1.8175903073816468,
      "gripper_loss": 0.03173828125,
      "loss": 0.048828125,
      "pos_loss": 0.384765625,
      "rot_loss": 0.061279296875,
      "step": 8101
    },
    {
      "epoch": 1.817814673547229,
      "grad_norm": 0.46146470308303833,
      "learning_rate": 0.0001774487519298526,
      "loss": 0.0537,
      "step": 8102
    },
    {
      "epoch": 1.817814673547229,
      "gripper_loss": 0.02294921875,
      "loss": 0.0625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.1943359375,
      "step": 8102
    },
    {
      "epoch": 1.8180390397128114,
      "grad_norm": 0.38317471742630005,
      "learning_rate": 0.00017739080061899957,
      "loss": 0.067,
      "step": 8103
    },
    {
      "epoch": 1.8180390397128114,
      "gripper_loss": 0.00823974609375,
      "loss": 0.026123046875,
      "pos_loss": 0.21875,
      "rot_loss": 0.0257568359375,
      "step": 8103
    },
    {
      "epoch": 1.8182634058783935,
      "grad_norm": 0.5743467211723328,
      "learning_rate": 0.00017733285356882157,
      "loss": 0.1063,
      "step": 8104
    },
    {
      "epoch": 1.8182634058783935,
      "gripper_loss": 0.8828125,
      "loss": 0.038330078125,
      "pos_loss": 0.01507568359375,
      "rot_loss": 0.06982421875,
      "step": 8104
    },
    {
      "epoch": 1.8184877720439756,
      "grad_norm": 0.8306798338890076,
      "learning_rate": 0.00017727491078271893,
      "loss": 0.0754,
      "step": 8105
    },
    {
      "epoch": 1.8184877720439756,
      "gripper_loss": 0.09814453125,
      "loss": 0.03759765625,
      "pos_loss": 0.330078125,
      "rot_loss": 0.01275634765625,
      "step": 8105
    },
    {
      "epoch": 1.8187121382095581,
      "grad_norm": 0.3147360682487488,
      "learning_rate": 0.00017721697226409175,
      "loss": 0.0513,
      "step": 8106
    },
    {
      "epoch": 1.8187121382095581,
      "gripper_loss": 0.031982421875,
      "loss": 0.04345703125,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.2109375,
      "step": 8106
    },
    {
      "epoch": 1.8189365043751402,
      "grad_norm": 0.3350359797477722,
      "learning_rate": 0.00017715903801633967,
      "loss": 0.0643,
      "step": 8107
    },
    {
      "epoch": 1.8189365043751402,
      "gripper_loss": 0.00872802734375,
      "loss": 0.050537109375,
      "pos_loss": 0.365234375,
      "rot_loss": 0.1357421875,
      "step": 8107
    },
    {
      "epoch": 1.8191608705407225,
      "grad_norm": 0.5345276594161987,
      "learning_rate": 0.00017710110804286235,
      "loss": 0.0506,
      "step": 8108
    },
    {
      "epoch": 1.8191608705407225,
      "gripper_loss": 0.032470703125,
      "loss": 0.064453125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.2314453125,
      "step": 8108
    },
    {
      "epoch": 1.8193852367063048,
      "grad_norm": 0.3910709023475647,
      "learning_rate": 0.00017704318234705908,
      "loss": 0.0569,
      "step": 8109
    },
    {
      "epoch": 1.8193852367063048,
      "gripper_loss": 0.045166015625,
      "loss": 0.036865234375,
      "pos_loss": 0.154296875,
      "rot_loss": 0.15625,
      "step": 8109
    },
    {
      "epoch": 1.8196096028718869,
      "grad_norm": 0.38069748878479004,
      "learning_rate": 0.000176985260932329,
      "loss": 0.0557,
      "step": 8110
    },
    {
      "epoch": 1.8196096028718869,
      "gripper_loss": 0.003875732421875,
      "loss": 0.06201171875,
      "pos_loss": 0.470703125,
      "rot_loss": 0.146484375,
      "step": 8110
    },
    {
      "epoch": 1.8198339690374692,
      "grad_norm": 0.3464300036430359,
      "learning_rate": 0.00017692734380207075,
      "loss": 0.0419,
      "step": 8111
    },
    {
      "epoch": 1.8198339690374692,
      "gripper_loss": 0.18359375,
      "loss": 0.0198974609375,
      "pos_loss": 0.036376953125,
      "rot_loss": 0.0810546875,
      "step": 8111
    },
    {
      "epoch": 1.8200583352030515,
      "grad_norm": 0.31813767552375793,
      "learning_rate": 0.00017686943095968302,
      "loss": 0.0717,
      "step": 8112
    },
    {
      "epoch": 1.8200583352030515,
      "gripper_loss": 0.0130615234375,
      "loss": 0.1162109375,
      "pos_loss": 0.50390625,
      "rot_loss": 0.68359375,
      "step": 8112
    },
    {
      "epoch": 1.8202827013686336,
      "grad_norm": 0.598311722278595,
      "learning_rate": 0.00017681152240856402,
      "loss": 0.0813,
      "step": 8113
    },
    {
      "epoch": 1.8202827013686336,
      "gripper_loss": 0.01220703125,
      "loss": 0.062255859375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.322265625,
      "step": 8113
    },
    {
      "epoch": 1.8205070675342159,
      "grad_norm": 0.3538433611392975,
      "learning_rate": 0.00017675361815211192,
      "loss": 0.0544,
      "step": 8114
    },
    {
      "epoch": 1.8205070675342159,
      "gripper_loss": 0.33984375,
      "loss": 0.04833984375,
      "pos_loss": 0.21875,
      "rot_loss": 0.150390625,
      "step": 8114
    },
    {
      "epoch": 1.8207314336997982,
      "grad_norm": 0.5150889754295349,
      "learning_rate": 0.00017669571819372431,
      "loss": 0.0672,
      "step": 8115
    },
    {
      "epoch": 1.8207314336997982,
      "gripper_loss": 0.00933837890625,
      "loss": 0.016357421875,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.02978515625,
      "step": 8115
    },
    {
      "epoch": 1.8209557998653803,
      "grad_norm": 0.5877265930175781,
      "learning_rate": 0.00017663782253679887,
      "loss": 0.073,
      "step": 8116
    },
    {
      "epoch": 1.8209557998653803,
      "gripper_loss": 0.244140625,
      "loss": 0.193359375,
      "pos_loss": 0.482421875,
      "rot_loss": 0.6640625,
      "step": 8116
    },
    {
      "epoch": 1.8211801660309626,
      "grad_norm": 1.2889026403427124,
      "learning_rate": 0.00017657993118473292,
      "loss": 0.172,
      "step": 8117
    },
    {
      "epoch": 1.8211801660309626,
      "gripper_loss": 0.640625,
      "loss": 0.08984375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.234375,
      "step": 8117
    },
    {
      "epoch": 1.8214045321965449,
      "grad_norm": 0.33483371138572693,
      "learning_rate": 0.00017652204414092342,
      "loss": 0.0427,
      "step": 8118
    },
    {
      "epoch": 1.8214045321965449,
      "gripper_loss": 0.04443359375,
      "loss": 0.03955078125,
      "pos_loss": 0.078125,
      "rot_loss": 0.291015625,
      "step": 8118
    },
    {
      "epoch": 1.821628898362127,
      "grad_norm": 0.384123295545578,
      "learning_rate": 0.00017646416140876725,
      "loss": 0.0681,
      "step": 8119
    },
    {
      "epoch": 1.821628898362127,
      "gripper_loss": 0.5625,
      "loss": 0.06591796875,
      "pos_loss": 0.4140625,
      "rot_loss": 0.0673828125,
      "step": 8119
    },
    {
      "epoch": 1.8218532645277092,
      "grad_norm": 0.5038512945175171,
      "learning_rate": 0.00017640628299166078,
      "loss": 0.0719,
      "step": 8120
    },
    {
      "epoch": 1.8218532645277092,
      "gripper_loss": 0.37890625,
      "loss": 0.06396484375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.0380859375,
      "step": 8120
    },
    {
      "epoch": 1.8220776306932915,
      "grad_norm": 0.4133632779121399,
      "learning_rate": 0.0001763484088930004,
      "loss": 0.0541,
      "step": 8121
    },
    {
      "epoch": 1.8220776306932915,
      "gripper_loss": 0.0230712890625,
      "loss": 0.08056640625,
      "pos_loss": 0.65234375,
      "rot_loss": 0.130859375,
      "step": 8121
    },
    {
      "epoch": 1.8223019968588736,
      "grad_norm": 0.37192872166633606,
      "learning_rate": 0.00017629053911618218,
      "loss": 0.0415,
      "step": 8122
    },
    {
      "epoch": 1.8223019968588736,
      "gripper_loss": 0.033203125,
      "loss": 0.07470703125,
      "pos_loss": 0.59375,
      "rot_loss": 0.15234375,
      "step": 8122
    },
    {
      "epoch": 1.822526363024456,
      "grad_norm": 0.39106425642967224,
      "learning_rate": 0.00017623267366460182,
      "loss": 0.0643,
      "step": 8123
    },
    {
      "epoch": 1.822526363024456,
      "gripper_loss": 0.00592041015625,
      "loss": 0.0181884765625,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.0185546875,
      "step": 8123
    },
    {
      "epoch": 1.8227507291900382,
      "grad_norm": 0.39603129029273987,
      "learning_rate": 0.0001761748125416549,
      "loss": 0.0524,
      "step": 8124
    },
    {
      "epoch": 1.8227507291900382,
      "gripper_loss": 1.4453125,
      "loss": 0.050537109375,
      "pos_loss": 0.015625,
      "rot_loss": 0.0068359375,
      "step": 8124
    },
    {
      "epoch": 1.8229750953556203,
      "grad_norm": 0.351345032453537,
      "learning_rate": 0.00017611695575073656,
      "loss": 0.0486,
      "step": 8125
    },
    {
      "epoch": 1.8229750953556203,
      "gripper_loss": 1.0859375,
      "loss": 0.07470703125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.1083984375,
      "step": 8125
    },
    {
      "epoch": 1.8231994615212026,
      "grad_norm": 0.4381946921348572,
      "learning_rate": 0.00017605910329524186,
      "loss": 0.0574,
      "step": 8126
    },
    {
      "epoch": 1.8231994615212026,
      "gripper_loss": 0.2734375,
      "loss": 0.0281982421875,
      "pos_loss": 0.146484375,
      "rot_loss": 0.033447265625,
      "step": 8126
    },
    {
      "epoch": 1.823423827686785,
      "grad_norm": 0.28318530321121216,
      "learning_rate": 0.0001760012551785657,
      "loss": 0.0534,
      "step": 8127
    },
    {
      "epoch": 1.823423827686785,
      "gripper_loss": 0.2041015625,
      "loss": 0.0546875,
      "pos_loss": 0.240234375,
      "rot_loss": 0.1494140625,
      "step": 8127
    },
    {
      "epoch": 1.823648193852367,
      "grad_norm": 0.9311429858207703,
      "learning_rate": 0.00017594341140410243,
      "loss": 0.069,
      "step": 8128
    },
    {
      "epoch": 1.823648193852367,
      "gripper_loss": 0.0250244140625,
      "loss": 0.126953125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.07470703125,
      "step": 8128
    },
    {
      "epoch": 1.8238725600179493,
      "grad_norm": 0.46634313464164734,
      "learning_rate": 0.0001758855719752463,
      "loss": 0.0793,
      "step": 8129
    },
    {
      "epoch": 1.8238725600179493,
      "gripper_loss": 0.01507568359375,
      "loss": 0.03076171875,
      "pos_loss": 0.208984375,
      "rot_loss": 0.072265625,
      "step": 8129
    },
    {
      "epoch": 1.8240969261835316,
      "grad_norm": 0.5060876607894897,
      "learning_rate": 0.00017582773689539134,
      "loss": 0.0701,
      "step": 8130
    },
    {
      "epoch": 1.8240969261835316,
      "gripper_loss": 0.80859375,
      "loss": 0.0400390625,
      "pos_loss": 0.1015625,
      "rot_loss": 0.0179443359375,
      "step": 8130
    },
    {
      "epoch": 1.8243212923491137,
      "grad_norm": 0.5649775266647339,
      "learning_rate": 0.00017576990616793137,
      "loss": 0.0674,
      "step": 8131
    },
    {
      "epoch": 1.8243212923491137,
      "gripper_loss": 0.068359375,
      "loss": 0.01324462890625,
      "pos_loss": 0.046875,
      "rot_loss": 0.03515625,
      "step": 8131
    },
    {
      "epoch": 1.824545658514696,
      "grad_norm": 0.35049131512641907,
      "learning_rate": 0.00017571207979625968,
      "loss": 0.0785,
      "step": 8132
    },
    {
      "epoch": 1.824545658514696,
      "gripper_loss": 0.021728515625,
      "loss": 0.0927734375,
      "pos_loss": 0.7578125,
      "rot_loss": 0.169921875,
      "step": 8132
    },
    {
      "epoch": 1.8247700246802783,
      "grad_norm": 0.3341347575187683,
      "learning_rate": 0.0001756542577837696,
      "loss": 0.0489,
      "step": 8133
    },
    {
      "epoch": 1.8247700246802783,
      "gripper_loss": 0.484375,
      "loss": 0.0439453125,
      "pos_loss": 0.09375,
      "rot_loss": 0.14453125,
      "step": 8133
    },
    {
      "epoch": 1.8249943908458603,
      "grad_norm": 0.3574236333370209,
      "learning_rate": 0.00017559644013385412,
      "loss": 0.0719,
      "step": 8134
    },
    {
      "epoch": 1.8249943908458603,
      "gripper_loss": 0.0203857421875,
      "loss": 0.0517578125,
      "pos_loss": 0.451171875,
      "rot_loss": 0.058349609375,
      "step": 8134
    },
    {
      "epoch": 1.8252187570114426,
      "grad_norm": 0.4861137866973877,
      "learning_rate": 0.0001755386268499059,
      "loss": 0.0906,
      "step": 8135
    },
    {
      "epoch": 1.8252187570114426,
      "gripper_loss": 0.01904296875,
      "loss": 0.049072265625,
      "pos_loss": 0.228515625,
      "rot_loss": 0.2314453125,
      "step": 8135
    },
    {
      "epoch": 1.825443123177025,
      "grad_norm": 0.40355461835861206,
      "learning_rate": 0.00017548081793531753,
      "loss": 0.0796,
      "step": 8136
    },
    {
      "epoch": 1.825443123177025,
      "gripper_loss": 0.0576171875,
      "loss": 0.043701171875,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.296875,
      "step": 8136
    },
    {
      "epoch": 1.825667489342607,
      "grad_norm": 0.3498068153858185,
      "learning_rate": 0.00017542301339348103,
      "loss": 0.0481,
      "step": 8137
    },
    {
      "epoch": 1.825667489342607,
      "gripper_loss": 0.031005859375,
      "loss": 0.1533203125,
      "pos_loss": 0.57421875,
      "rot_loss": 1.015625,
      "step": 8137
    },
    {
      "epoch": 1.8258918555081893,
      "grad_norm": 0.4169701039791107,
      "learning_rate": 0.0001753652132277884,
      "loss": 0.0636,
      "step": 8138
    },
    {
      "epoch": 1.8258918555081893,
      "gripper_loss": 0.10595703125,
      "loss": 0.07666015625,
      "pos_loss": 0.494140625,
      "rot_loss": 0.1689453125,
      "step": 8138
    },
    {
      "epoch": 1.8261162216737716,
      "grad_norm": 0.5459766387939453,
      "learning_rate": 0.00017530741744163137,
      "loss": 0.0716,
      "step": 8139
    },
    {
      "epoch": 1.8261162216737716,
      "gripper_loss": 0.041015625,
      "loss": 0.04345703125,
      "pos_loss": 0.27734375,
      "rot_loss": 0.134765625,
      "step": 8139
    },
    {
      "epoch": 1.8263405878393537,
      "grad_norm": 0.5649470686912537,
      "learning_rate": 0.00017524962603840145,
      "loss": 0.0776,
      "step": 8140
    },
    {
      "epoch": 1.8263405878393537,
      "gripper_loss": 0.01348876953125,
      "loss": 0.10009765625,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.8203125,
      "step": 8140
    },
    {
      "epoch": 1.826564954004936,
      "grad_norm": 0.40616872906684875,
      "learning_rate": 0.00017519183902148962,
      "loss": 0.0679,
      "step": 8141
    },
    {
      "epoch": 1.826564954004936,
      "gripper_loss": 0.115234375,
      "loss": 0.048828125,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.1923828125,
      "step": 8141
    },
    {
      "epoch": 1.8267893201705183,
      "grad_norm": 0.40795132517814636,
      "learning_rate": 0.00017513405639428689,
      "loss": 0.0667,
      "step": 8142
    },
    {
      "epoch": 1.8267893201705183,
      "gripper_loss": 0.2734375,
      "loss": 0.07421875,
      "pos_loss": 0.26953125,
      "rot_loss": 0.38671875,
      "step": 8142
    },
    {
      "epoch": 1.8270136863361004,
      "grad_norm": 0.38567447662353516,
      "learning_rate": 0.0001750762781601839,
      "loss": 0.0592,
      "step": 8143
    },
    {
      "epoch": 1.8270136863361004,
      "gripper_loss": 0.166015625,
      "loss": 0.0126953125,
      "pos_loss": 0.0220947265625,
      "rot_loss": 0.0267333984375,
      "step": 8143
    },
    {
      "epoch": 1.8272380525016827,
      "grad_norm": 0.7791321277618408,
      "learning_rate": 0.0001750185043225712,
      "loss": 0.0968,
      "step": 8144
    },
    {
      "epoch": 1.8272380525016827,
      "gripper_loss": 0.2451171875,
      "loss": 0.0281982421875,
      "pos_loss": 0.138671875,
      "rot_loss": 0.04052734375,
      "step": 8144
    },
    {
      "epoch": 1.827462418667265,
      "grad_norm": 0.3506069481372833,
      "learning_rate": 0.00017496073488483868,
      "loss": 0.0597,
      "step": 8145
    },
    {
      "epoch": 1.827462418667265,
      "gripper_loss": 0.0255126953125,
      "loss": 0.1337890625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.5,
      "step": 8145
    },
    {
      "epoch": 1.827686784832847,
      "grad_norm": 0.3136432468891144,
      "learning_rate": 0.00017490296985037636,
      "loss": 0.0578,
      "step": 8146
    },
    {
      "epoch": 1.827686784832847,
      "gripper_loss": 0.06787109375,
      "loss": 0.0654296875,
      "pos_loss": 0.09765625,
      "rot_loss": 0.3046875,
      "step": 8146
    },
    {
      "epoch": 1.8279111509984296,
      "grad_norm": 0.7810413241386414,
      "learning_rate": 0.00017484520922257391,
      "loss": 0.1216,
      "step": 8147
    },
    {
      "epoch": 1.8279111509984296,
      "gripper_loss": 0.1396484375,
      "loss": 0.048828125,
      "pos_loss": 0.37890625,
      "rot_loss": 0.05712890625,
      "step": 8147
    },
    {
      "epoch": 1.8281355171640117,
      "grad_norm": 0.28104281425476074,
      "learning_rate": 0.00017478745300482067,
      "loss": 0.0516,
      "step": 8148
    },
    {
      "epoch": 1.8281355171640117,
      "gripper_loss": 0.158203125,
      "loss": 0.0264892578125,
      "pos_loss": 0.0322265625,
      "rot_loss": 0.1630859375,
      "step": 8148
    },
    {
      "epoch": 1.8283598833295938,
      "grad_norm": 0.46221354603767395,
      "learning_rate": 0.00017472970120050563,
      "loss": 0.0695,
      "step": 8149
    },
    {
      "epoch": 1.8283598833295938,
      "gripper_loss": 0.49609375,
      "loss": 0.423828125,
      "pos_loss": 0.83984375,
      "rot_loss": 0.328125,
      "step": 8149
    },
    {
      "epoch": 1.8285842494951763,
      "grad_norm": 1.3853626251220703,
      "learning_rate": 0.00017467195381301774,
      "loss": 0.3828,
      "step": 8150
    },
    {
      "epoch": 1.8285842494951763,
      "gripper_loss": 0.53125,
      "loss": 0.330078125,
      "pos_loss": 0.48828125,
      "rot_loss": 0.3359375,
      "step": 8150
    },
    {
      "epoch": 1.8288086156607584,
      "grad_norm": 1.4450792074203491,
      "learning_rate": 0.00017461421084574556,
      "loss": 0.3462,
      "step": 8151
    },
    {
      "epoch": 1.8288086156607584,
      "gripper_loss": 0.038818359375,
      "loss": 0.07421875,
      "pos_loss": 0.61328125,
      "rot_loss": 0.08349609375,
      "step": 8151
    },
    {
      "epoch": 1.8290329818263404,
      "grad_norm": 0.6378811597824097,
      "learning_rate": 0.0001745564723020775,
      "loss": 0.0706,
      "step": 8152
    },
    {
      "epoch": 1.8290329818263404,
      "gripper_loss": 0.55859375,
      "loss": 0.0244140625,
      "pos_loss": 0.01300048828125,
      "rot_loss": 0.021240234375,
      "step": 8152
    },
    {
      "epoch": 1.829257347991923,
      "grad_norm": 0.5359342098236084,
      "learning_rate": 0.00017449873818540157,
      "loss": 0.0782,
      "step": 8153
    },
    {
      "epoch": 1.829257347991923,
      "gripper_loss": 0.032958984375,
      "loss": 0.01220703125,
      "pos_loss": 0.047607421875,
      "rot_loss": 0.014404296875,
      "step": 8153
    },
    {
      "epoch": 1.829481714157505,
      "grad_norm": 0.4012066125869751,
      "learning_rate": 0.0001744410084991056,
      "loss": 0.0528,
      "step": 8154
    },
    {
      "epoch": 1.829481714157505,
      "gripper_loss": 1.03125,
      "loss": 0.08349609375,
      "pos_loss": 0.474609375,
      "rot_loss": 0.031494140625,
      "step": 8154
    },
    {
      "epoch": 1.8297060803230871,
      "grad_norm": 0.45772817730903625,
      "learning_rate": 0.00017438328324657709,
      "loss": 0.0554,
      "step": 8155
    },
    {
      "epoch": 1.8297060803230871,
      "gripper_loss": 0.04296875,
      "loss": 0.0235595703125,
      "pos_loss": 0.126953125,
      "rot_loss": 0.0257568359375,
      "step": 8155
    },
    {
      "epoch": 1.8299304464886696,
      "grad_norm": 0.4344920516014099,
      "learning_rate": 0.00017432556243120333,
      "loss": 0.0444,
      "step": 8156
    },
    {
      "epoch": 1.8299304464886696,
      "gripper_loss": 0.02490234375,
      "loss": 0.0244140625,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.0810546875,
      "step": 8156
    },
    {
      "epoch": 1.8301548126542517,
      "grad_norm": 0.3741638660430908,
      "learning_rate": 0.00017426784605637153,
      "loss": 0.0482,
      "step": 8157
    },
    {
      "epoch": 1.8301548126542517,
      "gripper_loss": 0.00592041015625,
      "loss": 0.031005859375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.04248046875,
      "step": 8157
    },
    {
      "epoch": 1.8303791788198338,
      "grad_norm": 0.31741276383399963,
      "learning_rate": 0.00017421013412546822,
      "loss": 0.0331,
      "step": 8158
    },
    {
      "epoch": 1.8303791788198338,
      "gripper_loss": 0.2001953125,
      "loss": 0.03369140625,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.10546875,
      "step": 8158
    },
    {
      "epoch": 1.8306035449854163,
      "grad_norm": 0.4027911424636841,
      "learning_rate": 0.00017415242664188004,
      "loss": 0.0621,
      "step": 8159
    },
    {
      "epoch": 1.8306035449854163,
      "gripper_loss": 0.32421875,
      "loss": 0.0556640625,
      "pos_loss": 0.404296875,
      "rot_loss": 0.049560546875,
      "step": 8159
    },
    {
      "epoch": 1.8308279111509984,
      "grad_norm": 0.3761655390262604,
      "learning_rate": 0.00017409472360899316,
      "loss": 0.0642,
      "step": 8160
    },
    {
      "epoch": 1.8308279111509984,
      "gripper_loss": 0.030517578125,
      "loss": 0.0191650390625,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.07275390625,
      "step": 8160
    },
    {
      "epoch": 1.8310522773165807,
      "grad_norm": 0.2874680757522583,
      "learning_rate": 0.00017403702503019375,
      "loss": 0.0477,
      "step": 8161
    },
    {
      "epoch": 1.8310522773165807,
      "gripper_loss": 0.1259765625,
      "loss": 0.1015625,
      "pos_loss": 0.380859375,
      "rot_loss": 0.2490234375,
      "step": 8161
    },
    {
      "epoch": 1.831276643482163,
      "grad_norm": 0.7379252910614014,
      "learning_rate": 0.00017397933090886728,
      "loss": 0.1154,
      "step": 8162
    },
    {
      "epoch": 1.831276643482163,
      "gripper_loss": 0.0220947265625,
      "loss": 0.0654296875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.13671875,
      "step": 8162
    },
    {
      "epoch": 1.831501009647745,
      "grad_norm": 0.35056260228157043,
      "learning_rate": 0.00017392164124839933,
      "loss": 0.0518,
      "step": 8163
    },
    {
      "epoch": 1.831501009647745,
      "gripper_loss": 0.03125,
      "loss": 0.0712890625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.38671875,
      "step": 8163
    },
    {
      "epoch": 1.8317253758133274,
      "grad_norm": 0.440644770860672,
      "learning_rate": 0.0001738639560521752,
      "loss": 0.0629,
      "step": 8164
    },
    {
      "epoch": 1.8317253758133274,
      "gripper_loss": 0.0380859375,
      "loss": 0.08740234375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.1552734375,
      "step": 8164
    },
    {
      "epoch": 1.8319497419789097,
      "grad_norm": 0.5522104501724243,
      "learning_rate": 0.00017380627532357973,
      "loss": 0.074,
      "step": 8165
    },
    {
      "epoch": 1.8319497419789097,
      "gripper_loss": 0.265625,
      "loss": 0.0458984375,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.279296875,
      "step": 8165
    },
    {
      "epoch": 1.8321741081444918,
      "grad_norm": 0.43536993861198425,
      "learning_rate": 0.0001737485990659976,
      "loss": 0.0729,
      "step": 8166
    },
    {
      "epoch": 1.8321741081444918,
      "gripper_loss": 1.4609375,
      "loss": 0.0556640625,
      "pos_loss": 0.022216796875,
      "rot_loss": 0.0380859375,
      "step": 8166
    },
    {
      "epoch": 1.832398474310074,
      "grad_norm": 0.49853137135505676,
      "learning_rate": 0.0001736909272828132,
      "loss": 0.0563,
      "step": 8167
    },
    {
      "epoch": 1.832398474310074,
      "gripper_loss": 0.046142578125,
      "loss": 0.04248046875,
      "pos_loss": 0.33203125,
      "rot_loss": 0.0390625,
      "step": 8167
    },
    {
      "epoch": 1.8326228404756564,
      "grad_norm": 0.45389649271965027,
      "learning_rate": 0.0001736332599774107,
      "loss": 0.0513,
      "step": 8168
    },
    {
      "epoch": 1.8326228404756564,
      "gripper_loss": 0.038818359375,
      "loss": 0.033203125,
      "pos_loss": 0.16796875,
      "rot_loss": 0.068359375,
      "step": 8168
    },
    {
      "epoch": 1.8328472066412385,
      "grad_norm": 0.5375381708145142,
      "learning_rate": 0.0001735755971531741,
      "loss": 0.0875,
      "step": 8169
    },
    {
      "epoch": 1.8328472066412385,
      "gripper_loss": 0.474609375,
      "loss": 0.11083984375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.65234375,
      "step": 8169
    },
    {
      "epoch": 1.8330715728068208,
      "grad_norm": 0.3794865906238556,
      "learning_rate": 0.00017351793881348692,
      "loss": 0.055,
      "step": 8170
    },
    {
      "epoch": 1.8330715728068208,
      "gripper_loss": 0.01068115234375,
      "loss": 0.0198974609375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.045166015625,
      "step": 8170
    },
    {
      "epoch": 1.833295938972403,
      "grad_norm": 0.5359048247337341,
      "learning_rate": 0.0001734602849617326,
      "loss": 0.0726,
      "step": 8171
    },
    {
      "epoch": 1.833295938972403,
      "gripper_loss": 0.494140625,
      "loss": 0.020751953125,
      "pos_loss": 0.017822265625,
      "rot_loss": 0.01220703125,
      "step": 8171
    },
    {
      "epoch": 1.8335203051379851,
      "grad_norm": 0.3565814793109894,
      "learning_rate": 0.0001734026356012941,
      "loss": 0.0454,
      "step": 8172
    },
    {
      "epoch": 1.8335203051379851,
      "gripper_loss": 0.005035400390625,
      "loss": 0.138671875,
      "pos_loss": 1.1015625,
      "rot_loss": 0.32421875,
      "step": 8172
    },
    {
      "epoch": 1.8337446713035674,
      "grad_norm": 0.5110669136047363,
      "learning_rate": 0.00017334499073555436,
      "loss": 0.0844,
      "step": 8173
    },
    {
      "epoch": 1.8337446713035674,
      "gripper_loss": 0.0130615234375,
      "loss": 0.039306640625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.08154296875,
      "step": 8173
    },
    {
      "epoch": 1.8339690374691497,
      "grad_norm": 0.5139676928520203,
      "learning_rate": 0.00017328735036789607,
      "loss": 0.0697,
      "step": 8174
    },
    {
      "epoch": 1.8339690374691497,
      "gripper_loss": 0.01556396484375,
      "loss": 0.053466796875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.1494140625,
      "step": 8174
    },
    {
      "epoch": 1.8341934036347318,
      "grad_norm": 0.4034523069858551,
      "learning_rate": 0.00017322971450170127,
      "loss": 0.0702,
      "step": 8175
    },
    {
      "epoch": 1.8341934036347318,
      "gripper_loss": 0.0810546875,
      "loss": 0.033935546875,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.0654296875,
      "step": 8175
    },
    {
      "epoch": 1.8344177698003141,
      "grad_norm": 0.4352922737598419,
      "learning_rate": 0.00017317208314035222,
      "loss": 0.0634,
      "step": 8176
    },
    {
      "epoch": 1.8344177698003141,
      "gripper_loss": 0.00616455078125,
      "loss": 0.1279296875,
      "pos_loss": 1.265625,
      "rot_loss": 0.054931640625,
      "step": 8176
    },
    {
      "epoch": 1.8346421359658964,
      "grad_norm": 0.5570465922355652,
      "learning_rate": 0.00017311445628723058,
      "loss": 0.0802,
      "step": 8177
    },
    {
      "epoch": 1.8346421359658964,
      "gripper_loss": 0.296875,
      "loss": 0.0673828125,
      "pos_loss": 0.47265625,
      "rot_loss": 0.07470703125,
      "step": 8177
    },
    {
      "epoch": 1.8348665021314785,
      "grad_norm": 0.4631143808364868,
      "learning_rate": 0.00017305683394571803,
      "loss": 0.0646,
      "step": 8178
    },
    {
      "epoch": 1.8348665021314785,
      "gripper_loss": 0.09716796875,
      "loss": 0.02783203125,
      "pos_loss": 0.05810546875,
      "rot_loss": 0.134765625,
      "step": 8178
    },
    {
      "epoch": 1.8350908682970608,
      "grad_norm": 0.5061622858047485,
      "learning_rate": 0.0001729992161191956,
      "loss": 0.0665,
      "step": 8179
    },
    {
      "epoch": 1.8350908682970608,
      "gripper_loss": 0.1435546875,
      "loss": 0.294921875,
      "pos_loss": 0.83203125,
      "rot_loss": 0.6953125,
      "step": 8179
    },
    {
      "epoch": 1.835315234462643,
      "grad_norm": 1.5095852613449097,
      "learning_rate": 0.00017294160281104443,
      "loss": 0.2118,
      "step": 8180
    },
    {
      "epoch": 1.835315234462643,
      "gripper_loss": 0.0201416015625,
      "loss": 0.028076171875,
      "pos_loss": 0.052978515625,
      "rot_loss": 0.1982421875,
      "step": 8180
    },
    {
      "epoch": 1.8355396006282252,
      "grad_norm": 0.3572646379470825,
      "learning_rate": 0.00017288399402464515,
      "loss": 0.0558,
      "step": 8181
    },
    {
      "epoch": 1.8355396006282252,
      "gripper_loss": 0.5,
      "loss": 0.10595703125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.205078125,
      "step": 8181
    },
    {
      "epoch": 1.8357639667938075,
      "grad_norm": 0.5084733963012695,
      "learning_rate": 0.0001728263897633784,
      "loss": 0.099,
      "step": 8182
    },
    {
      "epoch": 1.8357639667938075,
      "gripper_loss": 0.01190185546875,
      "loss": 0.0419921875,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.259765625,
      "step": 8182
    },
    {
      "epoch": 1.8359883329593898,
      "grad_norm": 0.5462802052497864,
      "learning_rate": 0.00017276879003062424,
      "loss": 0.0876,
      "step": 8183
    },
    {
      "epoch": 1.8359883329593898,
      "gripper_loss": 0.0245361328125,
      "loss": 0.0908203125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.267578125,
      "step": 8183
    },
    {
      "epoch": 1.8362126991249719,
      "grad_norm": 0.5421535968780518,
      "learning_rate": 0.00017271119482976255,
      "loss": 0.0793,
      "step": 8184
    },
    {
      "epoch": 1.8362126991249719,
      "gripper_loss": 0.11328125,
      "loss": 0.1015625,
      "pos_loss": 0.671875,
      "rot_loss": 0.2099609375,
      "step": 8184
    },
    {
      "epoch": 1.8364370652905542,
      "grad_norm": 0.771344006061554,
      "learning_rate": 0.000172653604164173,
      "loss": 0.0913,
      "step": 8185
    },
    {
      "epoch": 1.8364370652905542,
      "gripper_loss": 1.09375,
      "loss": 0.10693359375,
      "pos_loss": 0.71875,
      "rot_loss": 0.0106201171875,
      "step": 8185
    },
    {
      "epoch": 1.8366614314561365,
      "grad_norm": 0.40738222002983093,
      "learning_rate": 0.00017259601803723502,
      "loss": 0.0573,
      "step": 8186
    },
    {
      "epoch": 1.8366614314561365,
      "gripper_loss": 0.037841796875,
      "loss": 0.1064453125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.166015625,
      "step": 8186
    },
    {
      "epoch": 1.8368857976217186,
      "grad_norm": 1.164725661277771,
      "learning_rate": 0.00017253843645232786,
      "loss": 0.1431,
      "step": 8187
    },
    {
      "epoch": 1.8368857976217186,
      "gripper_loss": 0.1845703125,
      "loss": 0.04638671875,
      "pos_loss": 0.1953125,
      "rot_loss": 0.189453125,
      "step": 8187
    },
    {
      "epoch": 1.8371101637873009,
      "grad_norm": 0.5260910987854004,
      "learning_rate": 0.00017248085941283026,
      "loss": 0.0658,
      "step": 8188
    },
    {
      "epoch": 1.8371101637873009,
      "gripper_loss": 0.1552734375,
      "loss": 0.28515625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.462890625,
      "step": 8188
    },
    {
      "epoch": 1.8373345299528832,
      "grad_norm": 1.7071247100830078,
      "learning_rate": 0.00017242328692212072,
      "loss": 0.2817,
      "step": 8189
    },
    {
      "epoch": 1.8373345299528832,
      "gripper_loss": 0.00421142578125,
      "loss": 0.02685546875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.07763671875,
      "step": 8189
    },
    {
      "epoch": 1.8375588961184652,
      "grad_norm": 0.4537695646286011,
      "learning_rate": 0.00017236571898357768,
      "loss": 0.0471,
      "step": 8190
    },
    {
      "epoch": 1.8375588961184652,
      "gripper_loss": 0.158203125,
      "loss": 0.11181640625,
      "pos_loss": 0.89453125,
      "rot_loss": 0.189453125,
      "step": 8190
    },
    {
      "epoch": 1.8377832622840475,
      "grad_norm": 0.4518989026546478,
      "learning_rate": 0.00017230815560057927,
      "loss": 0.062,
      "step": 8191
    },
    {
      "epoch": 1.8377832622840475,
      "gripper_loss": 0.0067138671875,
      "loss": 0.107421875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.041015625,
      "step": 8191
    },
    {
      "epoch": 1.8380076284496298,
      "grad_norm": 0.6184303760528564,
      "learning_rate": 0.00017225059677650315,
      "loss": 0.073,
      "step": 8192
    },
    {
      "epoch": 1.8380076284496298,
      "gripper_loss": 0.68359375,
      "loss": 0.0859375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.26171875,
      "step": 8192
    },
    {
      "epoch": 1.838231994615212,
      "grad_norm": 0.7540043592453003,
      "learning_rate": 0.00017219304251472686,
      "loss": 0.0919,
      "step": 8193
    },
    {
      "epoch": 1.838231994615212,
      "gripper_loss": 0.0888671875,
      "loss": 0.041015625,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.0703125,
      "step": 8193
    },
    {
      "epoch": 1.8384563607807942,
      "grad_norm": 0.600082516670227,
      "learning_rate": 0.00017213549281862778,
      "loss": 0.0566,
      "step": 8194
    },
    {
      "epoch": 1.8384563607807942,
      "gripper_loss": 0.73046875,
      "loss": 0.06103515625,
      "pos_loss": 0.14453125,
      "rot_loss": 0.1806640625,
      "step": 8194
    },
    {
      "epoch": 1.8386807269463765,
      "grad_norm": 0.5943642258644104,
      "learning_rate": 0.00017207794769158284,
      "loss": 0.0612,
      "step": 8195
    },
    {
      "epoch": 1.8386807269463765,
      "gripper_loss": 0.00665283203125,
      "loss": 0.0068359375,
      "pos_loss": 0.0198974609375,
      "rot_loss": 0.005828857421875,
      "step": 8195
    },
    {
      "epoch": 1.8389050931119586,
      "grad_norm": 0.44655004143714905,
      "learning_rate": 0.00017202040713696864,
      "loss": 0.0714,
      "step": 8196
    },
    {
      "epoch": 1.8389050931119586,
      "gripper_loss": 0.0126953125,
      "loss": 0.03662109375,
      "pos_loss": 0.031494140625,
      "rot_loss": 0.279296875,
      "step": 8196
    },
    {
      "epoch": 1.839129459277541,
      "grad_norm": 0.4828769862651825,
      "learning_rate": 0.00017196287115816173,
      "loss": 0.0577,
      "step": 8197
    },
    {
      "epoch": 1.839129459277541,
      "gripper_loss": 0.412109375,
      "loss": 0.03466796875,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.0244140625,
      "step": 8197
    },
    {
      "epoch": 1.8393538254431232,
      "grad_norm": 0.34695038199424744,
      "learning_rate": 0.0001719053397585383,
      "loss": 0.0557,
      "step": 8198
    },
    {
      "epoch": 1.8393538254431232,
      "gripper_loss": 0.1630859375,
      "loss": 0.09765625,
      "pos_loss": 0.16796875,
      "rot_loss": 0.2451171875,
      "step": 8198
    },
    {
      "epoch": 1.8395781916087053,
      "grad_norm": 0.8360655903816223,
      "learning_rate": 0.00017184781294147435,
      "loss": 0.1002,
      "step": 8199
    },
    {
      "epoch": 1.8395781916087053,
      "gripper_loss": 0.0498046875,
      "loss": 0.037353515625,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.068359375,
      "step": 8199
    },
    {
      "epoch": 1.8398025577742876,
      "grad_norm": 0.3068981468677521,
      "learning_rate": 0.0001717902907103454,
      "loss": 0.0512,
      "step": 8200
    },
    {
      "epoch": 1.8398025577742876,
      "gripper_loss": 0.11669921875,
      "loss": 0.020263671875,
      "pos_loss": 0.091796875,
      "rot_loss": 0.024658203125,
      "step": 8200
    },
    {
      "epoch": 1.8400269239398699,
      "grad_norm": 0.35418322682380676,
      "learning_rate": 0.00017173277306852688,
      "loss": 0.0412,
      "step": 8201
    },
    {
      "epoch": 1.8400269239398699,
      "gripper_loss": 0.4140625,
      "loss": 0.025146484375,
      "pos_loss": 0.0262451171875,
      "rot_loss": 0.017333984375,
      "step": 8201
    },
    {
      "epoch": 1.840251290105452,
      "grad_norm": 0.5639309287071228,
      "learning_rate": 0.00017167526001939386,
      "loss": 0.0557,
      "step": 8202
    },
    {
      "epoch": 1.840251290105452,
      "gripper_loss": 0.0145263671875,
      "loss": 0.06591796875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.2060546875,
      "step": 8202
    },
    {
      "epoch": 1.8404756562710345,
      "grad_norm": 0.7401254773139954,
      "learning_rate": 0.00017161775156632116,
      "loss": 0.0549,
      "step": 8203
    },
    {
      "epoch": 1.8404756562710345,
      "gripper_loss": 0.201171875,
      "loss": 0.01953125,
      "pos_loss": 0.024169921875,
      "rot_loss": 0.014892578125,
      "step": 8203
    },
    {
      "epoch": 1.8407000224366166,
      "grad_norm": 0.7664936780929565,
      "learning_rate": 0.00017156024771268355,
      "loss": 0.0916,
      "step": 8204
    },
    {
      "epoch": 1.8407000224366166,
      "gripper_loss": 0.283203125,
      "loss": 0.04541015625,
      "pos_loss": 0.091796875,
      "rot_loss": 0.2412109375,
      "step": 8204
    },
    {
      "epoch": 1.8409243886021986,
      "grad_norm": 0.482546329498291,
      "learning_rate": 0.00017150274846185507,
      "loss": 0.071,
      "step": 8205
    },
    {
      "epoch": 1.8409243886021986,
      "gripper_loss": 0.0086669921875,
      "loss": 0.028564453125,
      "pos_loss": 0.197265625,
      "rot_loss": 0.0216064453125,
      "step": 8205
    },
    {
      "epoch": 1.8411487547677812,
      "grad_norm": 0.5177760124206543,
      "learning_rate": 0.0001714452538172099,
      "loss": 0.0676,
      "step": 8206
    },
    {
      "epoch": 1.8411487547677812,
      "gripper_loss": 0.12890625,
      "loss": 0.08642578125,
      "pos_loss": 0.6953125,
      "rot_loss": 0.06005859375,
      "step": 8206
    },
    {
      "epoch": 1.8413731209333632,
      "grad_norm": 0.49366632103919983,
      "learning_rate": 0.00017138776378212173,
      "loss": 0.0925,
      "step": 8207
    },
    {
      "epoch": 1.8413731209333632,
      "gripper_loss": 0.12890625,
      "loss": 0.109375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.193359375,
      "step": 8207
    },
    {
      "epoch": 1.8415974870989453,
      "grad_norm": 0.3189287483692169,
      "learning_rate": 0.00017133027835996415,
      "loss": 0.0649,
      "step": 8208
    },
    {
      "epoch": 1.8415974870989453,
      "gripper_loss": 0.006256103515625,
      "loss": 0.130859375,
      "pos_loss": 0.69921875,
      "rot_loss": 0.65234375,
      "step": 8208
    },
    {
      "epoch": 1.8418218532645279,
      "grad_norm": 0.5451096296310425,
      "learning_rate": 0.00017127279755411022,
      "loss": 0.0583,
      "step": 8209
    },
    {
      "epoch": 1.8418218532645279,
      "gripper_loss": 0.0284423828125,
      "loss": 0.06884765625,
      "pos_loss": 0.4921875,
      "rot_loss": 0.1435546875,
      "step": 8209
    },
    {
      "epoch": 1.84204621943011,
      "grad_norm": 0.3014090061187744,
      "learning_rate": 0.00017121532136793298,
      "loss": 0.062,
      "step": 8210
    },
    {
      "epoch": 1.84204621943011,
      "gripper_loss": 0.388671875,
      "loss": 0.053955078125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.037109375,
      "step": 8210
    },
    {
      "epoch": 1.842270585595692,
      "grad_norm": 0.30889540910720825,
      "learning_rate": 0.00017115784980480515,
      "loss": 0.0662,
      "step": 8211
    },
    {
      "epoch": 1.842270585595692,
      "gripper_loss": 0.369140625,
      "loss": 0.030517578125,
      "pos_loss": 0.0625,
      "rot_loss": 0.0966796875,
      "step": 8211
    },
    {
      "epoch": 1.8424949517612745,
      "grad_norm": 0.5121909379959106,
      "learning_rate": 0.00017110038286809903,
      "loss": 0.0683,
      "step": 8212
    },
    {
      "epoch": 1.8424949517612745,
      "gripper_loss": 0.76953125,
      "loss": 0.0654296875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.10888671875,
      "step": 8212
    },
    {
      "epoch": 1.8427193179268566,
      "grad_norm": 0.5135319232940674,
      "learning_rate": 0.00017104292056118692,
      "loss": 0.06,
      "step": 8213
    },
    {
      "epoch": 1.8427193179268566,
      "gripper_loss": 0.04052734375,
      "loss": 0.0751953125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.369140625,
      "step": 8213
    },
    {
      "epoch": 1.8429436840924387,
      "grad_norm": 0.4750470221042633,
      "learning_rate": 0.00017098546288744047,
      "loss": 0.068,
      "step": 8214
    },
    {
      "epoch": 1.8429436840924387,
      "gripper_loss": 0.01312255859375,
      "loss": 0.047607421875,
      "pos_loss": 0.265625,
      "rot_loss": 0.150390625,
      "step": 8214
    },
    {
      "epoch": 1.8431680502580212,
      "grad_norm": 0.5661689043045044,
      "learning_rate": 0.00017092800985023138,
      "loss": 0.0742,
      "step": 8215
    },
    {
      "epoch": 1.8431680502580212,
      "gripper_loss": 0.01092529296875,
      "loss": 0.049560546875,
      "pos_loss": 0.43359375,
      "rot_loss": 0.050537109375,
      "step": 8215
    },
    {
      "epoch": 1.8433924164236033,
      "grad_norm": 0.3490894138813019,
      "learning_rate": 0.00017087056145293102,
      "loss": 0.0569,
      "step": 8216
    },
    {
      "epoch": 1.8433924164236033,
      "gripper_loss": 0.41796875,
      "loss": 0.0478515625,
      "pos_loss": 0.23828125,
      "rot_loss": 0.09326171875,
      "step": 8216
    },
    {
      "epoch": 1.8436167825891856,
      "grad_norm": 0.3500385284423828,
      "learning_rate": 0.00017081311769891034,
      "loss": 0.0513,
      "step": 8217
    },
    {
      "epoch": 1.8436167825891856,
      "gripper_loss": 0.244140625,
      "loss": 0.0576171875,
      "pos_loss": 0.19140625,
      "rot_loss": 0.30078125,
      "step": 8217
    },
    {
      "epoch": 1.843841148754768,
      "grad_norm": 0.5180178284645081,
      "learning_rate": 0.00017075567859154017,
      "loss": 0.0702,
      "step": 8218
    },
    {
      "epoch": 1.843841148754768,
      "gripper_loss": 0.017822265625,
      "loss": 0.057373046875,
      "pos_loss": 0.146484375,
      "rot_loss": 0.42578125,
      "step": 8218
    },
    {
      "epoch": 1.84406551492035,
      "grad_norm": 0.43683475255966187,
      "learning_rate": 0.00017069824413419094,
      "loss": 0.0429,
      "step": 8219
    },
    {
      "epoch": 1.84406551492035,
      "gripper_loss": 0.036865234375,
      "loss": 0.0693359375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.318359375,
      "step": 8219
    },
    {
      "epoch": 1.8442898810859323,
      "grad_norm": 0.4187707006931305,
      "learning_rate": 0.00017064081433023294,
      "loss": 0.0595,
      "step": 8220
    },
    {
      "epoch": 1.8442898810859323,
      "gripper_loss": 0.302734375,
      "loss": 0.0908203125,
      "pos_loss": 0.765625,
      "rot_loss": 0.052001953125,
      "step": 8220
    },
    {
      "epoch": 1.8445142472515146,
      "grad_norm": 0.3666841685771942,
      "learning_rate": 0.00017058338918303622,
      "loss": 0.0632,
      "step": 8221
    },
    {
      "epoch": 1.8445142472515146,
      "gripper_loss": 1.4296875,
      "loss": 0.060791015625,
      "pos_loss": 0.04931640625,
      "rot_loss": 0.08544921875,
      "step": 8221
    },
    {
      "epoch": 1.8447386134170967,
      "grad_norm": 0.3978912830352783,
      "learning_rate": 0.00017052596869597026,
      "loss": 0.0625,
      "step": 8222
    },
    {
      "epoch": 1.8447386134170967,
      "gripper_loss": 0.01092529296875,
      "loss": 0.16015625,
      "pos_loss": 0.85546875,
      "rot_loss": 0.8046875,
      "step": 8222
    },
    {
      "epoch": 1.844962979582679,
      "grad_norm": 0.4448390603065491,
      "learning_rate": 0.00017046855287240463,
      "loss": 0.0798,
      "step": 8223
    },
    {
      "epoch": 1.844962979582679,
      "gripper_loss": 0.01312255859375,
      "loss": 0.056640625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.166015625,
      "step": 8223
    },
    {
      "epoch": 1.8451873457482613,
      "grad_norm": 0.3292905390262604,
      "learning_rate": 0.00017041114171570832,
      "loss": 0.0509,
      "step": 8224
    },
    {
      "epoch": 1.8451873457482613,
      "gripper_loss": 0.037353515625,
      "loss": 0.029296875,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.173828125,
      "step": 8224
    },
    {
      "epoch": 1.8454117119138433,
      "grad_norm": 0.3063231110572815,
      "learning_rate": 0.00017035373522925038,
      "loss": 0.0521,
      "step": 8225
    },
    {
      "epoch": 1.8454117119138433,
      "gripper_loss": 0.00933837890625,
      "loss": 0.06298828125,
      "pos_loss": 0.490234375,
      "rot_loss": 0.1484375,
      "step": 8225
    },
    {
      "epoch": 1.8456360780794256,
      "grad_norm": 0.2659340500831604,
      "learning_rate": 0.00017029633341639916,
      "loss": 0.0522,
      "step": 8226
    },
    {
      "epoch": 1.8456360780794256,
      "gripper_loss": 0.77734375,
      "loss": 0.0576171875,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.12158203125,
      "step": 8226
    },
    {
      "epoch": 1.845860444245008,
      "grad_norm": 0.37944722175598145,
      "learning_rate": 0.00017023893628052316,
      "loss": 0.0752,
      "step": 8227
    },
    {
      "epoch": 1.845860444245008,
      "gripper_loss": 0.58984375,
      "loss": 0.0291748046875,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.041259765625,
      "step": 8227
    },
    {
      "epoch": 1.84608481041059,
      "grad_norm": 0.3513008952140808,
      "learning_rate": 0.0001701815438249903,
      "loss": 0.051,
      "step": 8228
    },
    {
      "epoch": 1.84608481041059,
      "gripper_loss": 0.018310546875,
      "loss": 0.09912109375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.3125,
      "step": 8228
    },
    {
      "epoch": 1.8463091765761723,
      "grad_norm": 0.3587783873081207,
      "learning_rate": 0.0001701241560531685,
      "loss": 0.0508,
      "step": 8229
    },
    {
      "epoch": 1.8463091765761723,
      "gripper_loss": 0.01422119140625,
      "loss": 0.095703125,
      "pos_loss": 0.83984375,
      "rot_loss": 0.1435546875,
      "step": 8229
    },
    {
      "epoch": 1.8465335427417546,
      "grad_norm": 0.28882694244384766,
      "learning_rate": 0.00017006677296842516,
      "loss": 0.0537,
      "step": 8230
    },
    {
      "epoch": 1.8465335427417546,
      "gripper_loss": 0.333984375,
      "loss": 0.08984375,
      "pos_loss": 0.6484375,
      "rot_loss": 0.154296875,
      "step": 8230
    },
    {
      "epoch": 1.8467579089073367,
      "grad_norm": 0.403454065322876,
      "learning_rate": 0.0001700093945741274,
      "loss": 0.0736,
      "step": 8231
    },
    {
      "epoch": 1.8467579089073367,
      "gripper_loss": 0.0284423828125,
      "loss": 0.018310546875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.0108642578125,
      "step": 8231
    },
    {
      "epoch": 1.846982275072919,
      "grad_norm": 0.30358898639678955,
      "learning_rate": 0.00016995202087364227,
      "loss": 0.0439,
      "step": 8232
    },
    {
      "epoch": 1.846982275072919,
      "gripper_loss": 0.1201171875,
      "loss": 0.0556640625,
      "pos_loss": 0.4140625,
      "rot_loss": 0.07080078125,
      "step": 8232
    },
    {
      "epoch": 1.8472066412385013,
      "grad_norm": 0.350750207901001,
      "learning_rate": 0.00016989465187033638,
      "loss": 0.0598,
      "step": 8233
    },
    {
      "epoch": 1.8472066412385013,
      "gripper_loss": 0.007080078125,
      "loss": 0.10107421875,
      "pos_loss": 0.95703125,
      "rot_loss": 0.0908203125,
      "step": 8233
    },
    {
      "epoch": 1.8474310074040834,
      "grad_norm": 0.25085434317588806,
      "learning_rate": 0.00016983728756757622,
      "loss": 0.0486,
      "step": 8234
    },
    {
      "epoch": 1.8474310074040834,
      "gripper_loss": 0.010498046875,
      "loss": 0.058349609375,
      "pos_loss": 0.220703125,
      "rot_loss": 0.3515625,
      "step": 8234
    },
    {
      "epoch": 1.8476553735696657,
      "grad_norm": 0.43373364210128784,
      "learning_rate": 0.0001697799279687278,
      "loss": 0.0724,
      "step": 8235
    },
    {
      "epoch": 1.8476553735696657,
      "gripper_loss": 0.376953125,
      "loss": 0.08984375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.2099609375,
      "step": 8235
    },
    {
      "epoch": 1.847879739735248,
      "grad_norm": 0.34589266777038574,
      "learning_rate": 0.0001697225730771569,
      "loss": 0.0593,
      "step": 8236
    },
    {
      "epoch": 1.847879739735248,
      "gripper_loss": 0.7109375,
      "loss": 0.48046875,
      "pos_loss": 0.67578125,
      "rot_loss": 0.435546875,
      "step": 8236
    },
    {
      "epoch": 1.84810410590083,
      "grad_norm": 1.9079399108886719,
      "learning_rate": 0.0001696652228962292,
      "loss": 0.428,
      "step": 8237
    },
    {
      "epoch": 1.84810410590083,
      "gripper_loss": 0.11669921875,
      "loss": 0.0654296875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.087890625,
      "step": 8237
    },
    {
      "epoch": 1.8483284720664124,
      "grad_norm": 0.2141503393650055,
      "learning_rate": 0.00016960787742930999,
      "loss": 0.0316,
      "step": 8238
    },
    {
      "epoch": 1.8483284720664124,
      "gripper_loss": 0.01611328125,
      "loss": 0.0712890625,
      "pos_loss": 0.65234375,
      "rot_loss": 0.07275390625,
      "step": 8238
    },
    {
      "epoch": 1.8485528382319947,
      "grad_norm": 0.7523018717765808,
      "learning_rate": 0.00016955053667976416,
      "loss": 0.1155,
      "step": 8239
    },
    {
      "epoch": 1.8485528382319947,
      "gripper_loss": 0.016357421875,
      "loss": 0.028076171875,
      "pos_loss": 0.201171875,
      "rot_loss": 0.059814453125,
      "step": 8239
    },
    {
      "epoch": 1.8487772043975768,
      "grad_norm": 0.3350318670272827,
      "learning_rate": 0.00016949320065095651,
      "loss": 0.0567,
      "step": 8240
    },
    {
      "epoch": 1.8487772043975768,
      "gripper_loss": 0.0439453125,
      "loss": 0.09716796875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.318359375,
      "step": 8240
    },
    {
      "epoch": 1.849001570563159,
      "grad_norm": 0.511928379535675,
      "learning_rate": 0.00016943586934625154,
      "loss": 0.0629,
      "step": 8241
    },
    {
      "epoch": 1.849001570563159,
      "gripper_loss": 0.0223388671875,
      "loss": 0.01025390625,
      "pos_loss": 0.054931640625,
      "rot_loss": 0.01397705078125,
      "step": 8241
    },
    {
      "epoch": 1.8492259367287414,
      "grad_norm": 0.43992879986763,
      "learning_rate": 0.0001693785427690133,
      "loss": 0.0405,
      "step": 8242
    },
    {
      "epoch": 1.8492259367287414,
      "gripper_loss": 0.06298828125,
      "loss": 0.036376953125,
      "pos_loss": 0.283203125,
      "rot_loss": 0.046875,
      "step": 8242
    },
    {
      "epoch": 1.8494503028943234,
      "grad_norm": 0.3304376006126404,
      "learning_rate": 0.00016932122092260587,
      "loss": 0.0429,
      "step": 8243
    },
    {
      "epoch": 1.8494503028943234,
      "gripper_loss": 0.02978515625,
      "loss": 0.07470703125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.1298828125,
      "step": 8243
    },
    {
      "epoch": 1.8496746690599057,
      "grad_norm": 0.3767150640487671,
      "learning_rate": 0.00016926390381039267,
      "loss": 0.0645,
      "step": 8244
    },
    {
      "epoch": 1.8496746690599057,
      "gripper_loss": 0.9375,
      "loss": 0.0810546875,
      "pos_loss": 0.470703125,
      "rot_loss": 0.05029296875,
      "step": 8244
    },
    {
      "epoch": 1.849899035225488,
      "grad_norm": 0.348786860704422,
      "learning_rate": 0.00016920659143573714,
      "loss": 0.051,
      "step": 8245
    },
    {
      "epoch": 1.849899035225488,
      "gripper_loss": 0.2001953125,
      "loss": 0.025634765625,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.042724609375,
      "step": 8245
    },
    {
      "epoch": 1.8501234013910701,
      "grad_norm": 0.35429632663726807,
      "learning_rate": 0.00016914928380200233,
      "loss": 0.0496,
      "step": 8246
    },
    {
      "epoch": 1.8501234013910701,
      "gripper_loss": 0.7890625,
      "loss": 0.05078125,
      "pos_loss": 0.21484375,
      "rot_loss": 0.0274658203125,
      "step": 8246
    },
    {
      "epoch": 1.8503477675566524,
      "grad_norm": 0.2831547260284424,
      "learning_rate": 0.00016909198091255112,
      "loss": 0.0515,
      "step": 8247
    },
    {
      "epoch": 1.8503477675566524,
      "gripper_loss": 0.012451171875,
      "loss": 0.041748046875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.0240478515625,
      "step": 8247
    },
    {
      "epoch": 1.8505721337222347,
      "grad_norm": 0.4144320785999298,
      "learning_rate": 0.00016903468277074587,
      "loss": 0.0589,
      "step": 8248
    },
    {
      "epoch": 1.8505721337222347,
      "gripper_loss": 0.00836181640625,
      "loss": 0.1162109375,
      "pos_loss": 1.1484375,
      "rot_loss": 0.056396484375,
      "step": 8248
    },
    {
      "epoch": 1.8507964998878168,
      "grad_norm": 0.3196353614330292,
      "learning_rate": 0.00016897738937994884,
      "loss": 0.0705,
      "step": 8249
    },
    {
      "epoch": 1.8507964998878168,
      "gripper_loss": 0.08203125,
      "loss": 0.0546875,
      "pos_loss": 0.326171875,
      "rot_loss": 0.2041015625,
      "step": 8249
    },
    {
      "epoch": 1.851020866053399,
      "grad_norm": 0.2864789068698883,
      "learning_rate": 0.000168920100743522,
      "loss": 0.061,
      "step": 8250
    },
    {
      "epoch": 1.851020866053399,
      "gripper_loss": 0.0888671875,
      "loss": 0.0732421875,
      "pos_loss": 0.3828125,
      "rot_loss": 0.267578125,
      "step": 8250
    },
    {
      "epoch": 1.8512452322189814,
      "grad_norm": 0.5947864055633545,
      "learning_rate": 0.00016886281686482715,
      "loss": 0.071,
      "step": 8251
    },
    {
      "epoch": 1.8512452322189814,
      "gripper_loss": 0.51171875,
      "loss": 0.0419921875,
      "pos_loss": 0.1875,
      "rot_loss": 0.051513671875,
      "step": 8251
    },
    {
      "epoch": 1.8514695983845635,
      "grad_norm": 0.4367845058441162,
      "learning_rate": 0.00016880553774722545,
      "loss": 0.0802,
      "step": 8252
    },
    {
      "epoch": 1.8514695983845635,
      "gripper_loss": 0.16015625,
      "loss": 0.02294921875,
      "pos_loss": 0.0498046875,
      "rot_loss": 0.1015625,
      "step": 8252
    },
    {
      "epoch": 1.8516939645501458,
      "grad_norm": 0.6058112382888794,
      "learning_rate": 0.00016874826339407817,
      "loss": 0.0572,
      "step": 8253
    },
    {
      "epoch": 1.8516939645501458,
      "gripper_loss": 0.01251220703125,
      "loss": 0.0810546875,
      "pos_loss": 0.7734375,
      "rot_loss": 0.054443359375,
      "step": 8253
    },
    {
      "epoch": 1.851918330715728,
      "grad_norm": 0.2828562259674072,
      "learning_rate": 0.00016869099380874608,
      "loss": 0.0466,
      "step": 8254
    },
    {
      "epoch": 1.851918330715728,
      "gripper_loss": 0.439453125,
      "loss": 0.02978515625,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.0142822265625,
      "step": 8254
    },
    {
      "epoch": 1.8521426968813102,
      "grad_norm": 0.5214152336120605,
      "learning_rate": 0.00016863372899458983,
      "loss": 0.0507,
      "step": 8255
    },
    {
      "epoch": 1.8521426968813102,
      "gripper_loss": 0.6171875,
      "loss": 0.0303955078125,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.040283203125,
      "step": 8255
    },
    {
      "epoch": 1.8523670630468927,
      "grad_norm": 0.4122570753097534,
      "learning_rate": 0.00016857646895496954,
      "loss": 0.0433,
      "step": 8256
    },
    {
      "epoch": 1.8523670630468927,
      "gripper_loss": 0.068359375,
      "loss": 0.052734375,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.234375,
      "step": 8256
    },
    {
      "epoch": 1.8525914292124748,
      "grad_norm": 0.6265620589256287,
      "learning_rate": 0.00016851921369324523,
      "loss": 0.0835,
      "step": 8257
    },
    {
      "epoch": 1.8525914292124748,
      "gripper_loss": 0.2177734375,
      "loss": 0.0250244140625,
      "pos_loss": 0.018798828125,
      "rot_loss": 0.146484375,
      "step": 8257
    },
    {
      "epoch": 1.8528157953780569,
      "grad_norm": 0.3513574004173279,
      "learning_rate": 0.00016846196321277678,
      "loss": 0.0577,
      "step": 8258
    },
    {
      "epoch": 1.8528157953780569,
      "gripper_loss": 0.1064453125,
      "loss": 0.056884765625,
      "pos_loss": 0.453125,
      "rot_loss": 0.04150390625,
      "step": 8258
    },
    {
      "epoch": 1.8530401615436394,
      "grad_norm": 0.39816248416900635,
      "learning_rate": 0.0001684047175169234,
      "loss": 0.0598,
      "step": 8259
    },
    {
      "epoch": 1.8530401615436394,
      "gripper_loss": 0.01361083984375,
      "loss": 0.045166015625,
      "pos_loss": 0.3671875,
      "rot_loss": 0.07080078125,
      "step": 8259
    },
    {
      "epoch": 1.8532645277092215,
      "grad_norm": 0.36248132586479187,
      "learning_rate": 0.00016834747660904447,
      "loss": 0.039,
      "step": 8260
    },
    {
      "epoch": 1.8532645277092215,
      "gripper_loss": 0.51953125,
      "loss": 0.0400390625,
      "pos_loss": 0.166015625,
      "rot_loss": 0.052490234375,
      "step": 8260
    },
    {
      "epoch": 1.8534888938748035,
      "grad_norm": 0.30052557587623596,
      "learning_rate": 0.00016829024049249864,
      "loss": 0.0469,
      "step": 8261
    },
    {
      "epoch": 1.8534888938748035,
      "gripper_loss": 0.03564453125,
      "loss": 0.08203125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.181640625,
      "step": 8261
    },
    {
      "epoch": 1.853713260040386,
      "grad_norm": 0.38027429580688477,
      "learning_rate": 0.0001682330091706446,
      "loss": 0.07,
      "step": 8262
    },
    {
      "epoch": 1.853713260040386,
      "gripper_loss": 0.0751953125,
      "loss": 0.197265625,
      "pos_loss": 1.046875,
      "rot_loss": 1.0,
      "step": 8262
    },
    {
      "epoch": 1.8539376262059681,
      "grad_norm": 0.5390143990516663,
      "learning_rate": 0.00016817578264684068,
      "loss": 0.0831,
      "step": 8263
    },
    {
      "epoch": 1.8539376262059681,
      "gripper_loss": 0.037841796875,
      "loss": 0.052490234375,
      "pos_loss": 0.48828125,
      "rot_loss": 0.024169921875,
      "step": 8263
    },
    {
      "epoch": 1.8541619923715502,
      "grad_norm": 0.35543134808540344,
      "learning_rate": 0.0001681185609244449,
      "loss": 0.0437,
      "step": 8264
    },
    {
      "epoch": 1.8541619923715502,
      "gripper_loss": 0.036865234375,
      "loss": 0.00628662109375,
      "pos_loss": 0.006591796875,
      "rot_loss": 0.016357421875,
      "step": 8264
    },
    {
      "epoch": 1.8543863585371327,
      "grad_norm": 0.3905174434185028,
      "learning_rate": 0.000168061344006815,
      "loss": 0.0585,
      "step": 8265
    },
    {
      "epoch": 1.8543863585371327,
      "gripper_loss": 0.021728515625,
      "loss": 0.0439453125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.053955078125,
      "step": 8265
    },
    {
      "epoch": 1.8546107247027148,
      "grad_norm": 0.3535311222076416,
      "learning_rate": 0.00016800413189730834,
      "loss": 0.0511,
      "step": 8266
    },
    {
      "epoch": 1.8546107247027148,
      "gripper_loss": 0.5,
      "loss": 0.046875,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.2001953125,
      "step": 8266
    },
    {
      "epoch": 1.854835090868297,
      "grad_norm": 0.3094235062599182,
      "learning_rate": 0.00016794692459928224,
      "loss": 0.0477,
      "step": 8267
    },
    {
      "epoch": 1.854835090868297,
      "gripper_loss": 0.017578125,
      "loss": 0.03173828125,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.10107421875,
      "step": 8267
    },
    {
      "epoch": 1.8550594570338794,
      "grad_norm": 0.26994723081588745,
      "learning_rate": 0.0001678897221160936,
      "loss": 0.0389,
      "step": 8268
    },
    {
      "epoch": 1.8550594570338794,
      "gripper_loss": 0.068359375,
      "loss": 0.04443359375,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.322265625,
      "step": 8268
    },
    {
      "epoch": 1.8552838231994615,
      "grad_norm": 0.5293173789978027,
      "learning_rate": 0.00016783252445109892,
      "loss": 0.0717,
      "step": 8269
    },
    {
      "epoch": 1.8552838231994615,
      "gripper_loss": 1.234375,
      "loss": 0.09326171875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.369140625,
      "step": 8269
    },
    {
      "epoch": 1.8555081893650438,
      "grad_norm": 0.38783130049705505,
      "learning_rate": 0.00016777533160765464,
      "loss": 0.0657,
      "step": 8270
    },
    {
      "epoch": 1.8555081893650438,
      "gripper_loss": 0.10498046875,
      "loss": 0.050537109375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.052001953125,
      "step": 8270
    },
    {
      "epoch": 1.855732555530626,
      "grad_norm": 0.45089906454086304,
      "learning_rate": 0.0001677181435891167,
      "loss": 0.0791,
      "step": 8271
    },
    {
      "epoch": 1.855732555530626,
      "gripper_loss": 0.06884765625,
      "loss": 0.10693359375,
      "pos_loss": 0.59375,
      "rot_loss": 0.48046875,
      "step": 8271
    },
    {
      "epoch": 1.8559569216962082,
      "grad_norm": 0.3965862989425659,
      "learning_rate": 0.00016766096039884094,
      "loss": 0.0579,
      "step": 8272
    },
    {
      "epoch": 1.8559569216962082,
      "gripper_loss": 0.010009765625,
      "loss": 0.0380859375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.10693359375,
      "step": 8272
    },
    {
      "epoch": 1.8561812878617905,
      "grad_norm": 0.3895695209503174,
      "learning_rate": 0.00016760378204018294,
      "loss": 0.0551,
      "step": 8273
    },
    {
      "epoch": 1.8561812878617905,
      "gripper_loss": 0.0152587890625,
      "loss": 0.00885009765625,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.019287109375,
      "step": 8273
    },
    {
      "epoch": 1.8564056540273728,
      "grad_norm": 0.5915250182151794,
      "learning_rate": 0.00016754660851649771,
      "loss": 0.0697,
      "step": 8274
    },
    {
      "epoch": 1.8564056540273728,
      "gripper_loss": 1.046875,
      "loss": 0.06201171875,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.0966796875,
      "step": 8274
    },
    {
      "epoch": 1.8566300201929549,
      "grad_norm": 0.3988572061061859,
      "learning_rate": 0.00016748943983114023,
      "loss": 0.0731,
      "step": 8275
    },
    {
      "epoch": 1.8566300201929549,
      "gripper_loss": 0.1279296875,
      "loss": 0.0859375,
      "pos_loss": 0.6796875,
      "rot_loss": 0.1552734375,
      "step": 8275
    },
    {
      "epoch": 1.8568543863585372,
      "grad_norm": 0.44915202260017395,
      "learning_rate": 0.00016743227598746524,
      "loss": 0.0816,
      "step": 8276
    },
    {
      "epoch": 1.8568543863585372,
      "gripper_loss": 0.78515625,
      "loss": 0.04931640625,
      "pos_loss": 0.03662109375,
      "rot_loss": 0.1884765625,
      "step": 8276
    },
    {
      "epoch": 1.8570787525241195,
      "grad_norm": 0.4767986834049225,
      "learning_rate": 0.00016737511698882706,
      "loss": 0.0685,
      "step": 8277
    },
    {
      "epoch": 1.8570787525241195,
      "gripper_loss": 0.423828125,
      "loss": 0.03955078125,
      "pos_loss": 0.171875,
      "rot_loss": 0.07763671875,
      "step": 8277
    },
    {
      "epoch": 1.8573031186897015,
      "grad_norm": 0.2857777178287506,
      "learning_rate": 0.0001673179628385796,
      "loss": 0.0538,
      "step": 8278
    },
    {
      "epoch": 1.8573031186897015,
      "gripper_loss": 0.58203125,
      "loss": 0.04150390625,
      "pos_loss": 0.047119140625,
      "rot_loss": 0.1767578125,
      "step": 8278
    },
    {
      "epoch": 1.8575274848552839,
      "grad_norm": 0.39601030945777893,
      "learning_rate": 0.00016726081354007672,
      "loss": 0.0713,
      "step": 8279
    },
    {
      "epoch": 1.8575274848552839,
      "gripper_loss": 0.2109375,
      "loss": 0.04931640625,
      "pos_loss": 0.294921875,
      "rot_loss": 0.103515625,
      "step": 8279
    },
    {
      "epoch": 1.8577518510208662,
      "grad_norm": 0.507258951663971,
      "learning_rate": 0.0001672036690966719,
      "loss": 0.0614,
      "step": 8280
    },
    {
      "epoch": 1.8577518510208662,
      "gripper_loss": 0.028076171875,
      "loss": 0.035888671875,
      "pos_loss": 0.16015625,
      "rot_loss": 0.1689453125,
      "step": 8280
    },
    {
      "epoch": 1.8579762171864482,
      "grad_norm": 0.5536757707595825,
      "learning_rate": 0.00016714652951171856,
      "loss": 0.0638,
      "step": 8281
    },
    {
      "epoch": 1.8579762171864482,
      "gripper_loss": 0.0732421875,
      "loss": 0.033935546875,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.201171875,
      "step": 8281
    },
    {
      "epoch": 1.8582005833520305,
      "grad_norm": 0.29301249980926514,
      "learning_rate": 0.00016708939478856936,
      "loss": 0.0401,
      "step": 8282
    },
    {
      "epoch": 1.8582005833520305,
      "gripper_loss": 0.24609375,
      "loss": 0.0361328125,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.1865234375,
      "step": 8282
    },
    {
      "epoch": 1.8584249495176128,
      "grad_norm": 0.3762507140636444,
      "learning_rate": 0.000167032264930577,
      "loss": 0.0615,
      "step": 8283
    },
    {
      "epoch": 1.8584249495176128,
      "gripper_loss": 0.96484375,
      "loss": 0.06787109375,
      "pos_loss": 0.14453125,
      "rot_loss": 0.2197265625,
      "step": 8283
    },
    {
      "epoch": 1.858649315683195,
      "grad_norm": 0.5339888334274292,
      "learning_rate": 0.00016697513994109382,
      "loss": 0.079,
      "step": 8284
    },
    {
      "epoch": 1.858649315683195,
      "gripper_loss": 0.396484375,
      "loss": 0.035888671875,
      "pos_loss": 0.0291748046875,
      "rot_loss": 0.1884765625,
      "step": 8284
    },
    {
      "epoch": 1.8588736818487772,
      "grad_norm": 0.511362612247467,
      "learning_rate": 0.0001669180198234721,
      "loss": 0.075,
      "step": 8285
    },
    {
      "epoch": 1.8588736818487772,
      "gripper_loss": 0.0244140625,
      "loss": 0.09716796875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.345703125,
      "step": 8285
    },
    {
      "epoch": 1.8590980480143595,
      "grad_norm": 0.4684292674064636,
      "learning_rate": 0.00016686090458106328,
      "loss": 0.081,
      "step": 8286
    },
    {
      "epoch": 1.8590980480143595,
      "gripper_loss": 0.0146484375,
      "loss": 0.1875,
      "pos_loss": 1.0859375,
      "rot_loss": 0.87109375,
      "step": 8286
    },
    {
      "epoch": 1.8593224141799416,
      "grad_norm": 0.46516960859298706,
      "learning_rate": 0.00016680379421721907,
      "loss": 0.0687,
      "step": 8287
    },
    {
      "epoch": 1.8593224141799416,
      "gripper_loss": 0.1328125,
      "loss": 0.0791015625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.166015625,
      "step": 8287
    },
    {
      "epoch": 1.859546780345524,
      "grad_norm": 0.3004997670650482,
      "learning_rate": 0.00016674668873529073,
      "loss": 0.0623,
      "step": 8288
    },
    {
      "epoch": 1.859546780345524,
      "gripper_loss": 0.016845703125,
      "loss": 0.0322265625,
      "pos_loss": 0.259765625,
      "rot_loss": 0.04638671875,
      "step": 8288
    },
    {
      "epoch": 1.8597711465111062,
      "grad_norm": 0.25564470887184143,
      "learning_rate": 0.000166689588138629,
      "loss": 0.0284,
      "step": 8289
    },
    {
      "epoch": 1.8597711465111062,
      "gripper_loss": 0.036376953125,
      "loss": 0.0086669921875,
      "pos_loss": 0.020751953125,
      "rot_loss": 0.0185546875,
      "step": 8289
    },
    {
      "epoch": 1.8599955126766883,
      "grad_norm": 0.3014073073863983,
      "learning_rate": 0.00016663249243058473,
      "loss": 0.0387,
      "step": 8290
    },
    {
      "epoch": 1.8599955126766883,
      "gripper_loss": 0.41796875,
      "loss": 0.1796875,
      "pos_loss": 0.5078125,
      "rot_loss": 0.33984375,
      "step": 8290
    },
    {
      "epoch": 1.8602198788422706,
      "grad_norm": 1.023813009262085,
      "learning_rate": 0.00016657540161450806,
      "loss": 0.1963,
      "step": 8291
    },
    {
      "epoch": 1.8602198788422706,
      "gripper_loss": 0.07275390625,
      "loss": 0.08203125,
      "pos_loss": 0.73828125,
      "rot_loss": 0.068359375,
      "step": 8291
    },
    {
      "epoch": 1.8604442450078529,
      "grad_norm": 0.4367659389972687,
      "learning_rate": 0.00016651831569374916,
      "loss": 0.0755,
      "step": 8292
    },
    {
      "epoch": 1.8604442450078529,
      "gripper_loss": 0.007293701171875,
      "loss": 0.0086669921875,
      "pos_loss": 0.0279541015625,
      "rot_loss": 0.02685546875,
      "step": 8292
    },
    {
      "epoch": 1.860668611173435,
      "grad_norm": 0.4443241357803345,
      "learning_rate": 0.0001664612346716578,
      "loss": 0.0499,
      "step": 8293
    },
    {
      "epoch": 1.860668611173435,
      "gripper_loss": 0.609375,
      "loss": 0.059326171875,
      "pos_loss": 0.263671875,
      "rot_loss": 0.134765625,
      "step": 8293
    },
    {
      "epoch": 1.8608929773390173,
      "grad_norm": 0.3001161217689514,
      "learning_rate": 0.00016640415855158347,
      "loss": 0.0502,
      "step": 8294
    },
    {
      "epoch": 1.8608929773390173,
      "gripper_loss": 0.0118408203125,
      "loss": 0.044921875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.03662109375,
      "step": 8294
    },
    {
      "epoch": 1.8611173435045996,
      "grad_norm": 0.5532097220420837,
      "learning_rate": 0.0001663470873368754,
      "loss": 0.0796,
      "step": 8295
    },
    {
      "epoch": 1.8611173435045996,
      "gripper_loss": 1.0078125,
      "loss": 0.051025390625,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.05615234375,
      "step": 8295
    },
    {
      "epoch": 1.8613417096701816,
      "grad_norm": 0.4461008608341217,
      "learning_rate": 0.0001662900210308824,
      "loss": 0.053,
      "step": 8296
    },
    {
      "epoch": 1.8613417096701816,
      "gripper_loss": 0.142578125,
      "loss": 0.0147705078125,
      "pos_loss": 0.04052734375,
      "rot_loss": 0.038330078125,
      "step": 8296
    },
    {
      "epoch": 1.861566075835764,
      "grad_norm": 0.4060770869255066,
      "learning_rate": 0.00016623295963695317,
      "loss": 0.0543,
      "step": 8297
    },
    {
      "epoch": 1.861566075835764,
      "gripper_loss": 0.158203125,
      "loss": 0.05224609375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.064453125,
      "step": 8297
    },
    {
      "epoch": 1.8617904420013462,
      "grad_norm": 0.4214010238647461,
      "learning_rate": 0.00016617590315843613,
      "loss": 0.043,
      "step": 8298
    },
    {
      "epoch": 1.8617904420013462,
      "gripper_loss": 0.267578125,
      "loss": 0.0130615234375,
      "pos_loss": 0.015869140625,
      "rot_loss": 0.005859375,
      "step": 8298
    },
    {
      "epoch": 1.8620148081669283,
      "grad_norm": 0.25557762384414673,
      "learning_rate": 0.00016611885159867912,
      "loss": 0.046,
      "step": 8299
    },
    {
      "epoch": 1.8620148081669283,
      "gripper_loss": 0.01470947265625,
      "loss": 0.11181640625,
      "pos_loss": 1.0,
      "rot_loss": 0.142578125,
      "step": 8299
    },
    {
      "epoch": 1.8622391743325106,
      "grad_norm": 0.3287360668182373,
      "learning_rate": 0.00016606180496103008,
      "loss": 0.0573,
      "step": 8300
    },
    {
      "epoch": 1.8622391743325106,
      "gripper_loss": 0.0908203125,
      "loss": 0.07421875,
      "pos_loss": 0.609375,
      "rot_loss": 0.11279296875,
      "step": 8300
    },
    {
      "epoch": 1.862463540498093,
      "grad_norm": 0.33633723855018616,
      "learning_rate": 0.00016600476324883637,
      "loss": 0.0653,
      "step": 8301
    },
    {
      "epoch": 1.862463540498093,
      "gripper_loss": 0.0283203125,
      "loss": 0.1826171875,
      "pos_loss": 0.462890625,
      "rot_loss": 0.68359375,
      "step": 8301
    },
    {
      "epoch": 1.862687906663675,
      "grad_norm": 0.9937097430229187,
      "learning_rate": 0.0001659477264654452,
      "loss": 0.1832,
      "step": 8302
    },
    {
      "epoch": 1.862687906663675,
      "gripper_loss": 0.051025390625,
      "loss": 0.07080078125,
      "pos_loss": 0.328125,
      "rot_loss": 0.36328125,
      "step": 8302
    },
    {
      "epoch": 1.8629122728292573,
      "grad_norm": 0.3682962954044342,
      "learning_rate": 0.0001658906946142036,
      "loss": 0.0633,
      "step": 8303
    },
    {
      "epoch": 1.8629122728292573,
      "gripper_loss": 0.017333984375,
      "loss": 0.06298828125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.10888671875,
      "step": 8303
    },
    {
      "epoch": 1.8631366389948396,
      "grad_norm": 0.44571930170059204,
      "learning_rate": 0.000165833667698458,
      "loss": 0.0779,
      "step": 8304
    },
    {
      "epoch": 1.8631366389948396,
      "gripper_loss": 0.291015625,
      "loss": 0.058349609375,
      "pos_loss": 0.419921875,
      "rot_loss": 0.05224609375,
      "step": 8304
    },
    {
      "epoch": 1.8633610051604217,
      "grad_norm": 0.43532583117485046,
      "learning_rate": 0.00016577664572155472,
      "loss": 0.0444,
      "step": 8305
    },
    {
      "epoch": 1.8633610051604217,
      "gripper_loss": 0.62109375,
      "loss": 0.035400390625,
      "pos_loss": 0.045166015625,
      "rot_loss": 0.06982421875,
      "step": 8305
    },
    {
      "epoch": 1.863585371326004,
      "grad_norm": 0.6050612330436707,
      "learning_rate": 0.00016571962868683988,
      "loss": 0.0692,
      "step": 8306
    },
    {
      "epoch": 1.863585371326004,
      "gripper_loss": 0.02294921875,
      "loss": 0.0341796875,
      "pos_loss": 0.26953125,
      "rot_loss": 0.0211181640625,
      "step": 8306
    },
    {
      "epoch": 1.8638097374915863,
      "grad_norm": 0.5340138673782349,
      "learning_rate": 0.00016566261659765918,
      "loss": 0.0531,
      "step": 8307
    },
    {
      "epoch": 1.8638097374915863,
      "gripper_loss": 0.03515625,
      "loss": 0.1220703125,
      "pos_loss": 1.09375,
      "rot_loss": 0.11376953125,
      "step": 8307
    },
    {
      "epoch": 1.8640341036571684,
      "grad_norm": 0.49130979180336,
      "learning_rate": 0.00016560560945735802,
      "loss": 0.054,
      "step": 8308
    },
    {
      "epoch": 1.8640341036571684,
      "gripper_loss": 0.0791015625,
      "loss": 0.0810546875,
      "pos_loss": 0.671875,
      "rot_loss": 0.11767578125,
      "step": 8308
    },
    {
      "epoch": 1.8642584698227507,
      "grad_norm": 0.4209434986114502,
      "learning_rate": 0.00016554860726928155,
      "loss": 0.0627,
      "step": 8309
    },
    {
      "epoch": 1.8642584698227507,
      "gripper_loss": 0.00897216796875,
      "loss": 0.1171875,
      "pos_loss": 1.09375,
      "rot_loss": 0.1103515625,
      "step": 8309
    },
    {
      "epoch": 1.864482835988333,
      "grad_norm": 0.4300202429294586,
      "learning_rate": 0.0001654916100367747,
      "loss": 0.0512,
      "step": 8310
    },
    {
      "epoch": 1.864482835988333,
      "gripper_loss": 0.0179443359375,
      "loss": 0.0174560546875,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.038330078125,
      "step": 8310
    },
    {
      "epoch": 1.864707202153915,
      "grad_norm": 0.3345143795013428,
      "learning_rate": 0.00016543461776318206,
      "loss": 0.0445,
      "step": 8311
    },
    {
      "epoch": 1.864707202153915,
      "gripper_loss": 0.70703125,
      "loss": 0.05712890625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.037109375,
      "step": 8311
    },
    {
      "epoch": 1.8649315683194976,
      "grad_norm": 0.3412453234195709,
      "learning_rate": 0.00016537763045184784,
      "loss": 0.0525,
      "step": 8312
    },
    {
      "epoch": 1.8649315683194976,
      "gripper_loss": 0.015869140625,
      "loss": 0.12060546875,
      "pos_loss": 0.298828125,
      "rot_loss": 0.93359375,
      "step": 8312
    },
    {
      "epoch": 1.8651559344850797,
      "grad_norm": 0.37991467118263245,
      "learning_rate": 0.00016532064810611597,
      "loss": 0.0741,
      "step": 8313
    },
    {
      "epoch": 1.8651559344850797,
      "gripper_loss": 0.0306396484375,
      "loss": 0.056640625,
      "pos_loss": 0.408203125,
      "rot_loss": 0.09716796875,
      "step": 8313
    },
    {
      "epoch": 1.8653803006506617,
      "grad_norm": 0.5021569728851318,
      "learning_rate": 0.00016526367072933025,
      "loss": 0.0841,
      "step": 8314
    },
    {
      "epoch": 1.8653803006506617,
      "gripper_loss": 0.056396484375,
      "loss": 0.177734375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.451171875,
      "step": 8314
    },
    {
      "epoch": 1.8656046668162443,
      "grad_norm": 1.4733266830444336,
      "learning_rate": 0.00016520669832483415,
      "loss": 0.2229,
      "step": 8315
    },
    {
      "epoch": 1.8656046668162443,
      "gripper_loss": 0.0517578125,
      "loss": 0.021240234375,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.042724609375,
      "step": 8315
    },
    {
      "epoch": 1.8658290329818263,
      "grad_norm": 0.4807480573654175,
      "learning_rate": 0.00016514973089597063,
      "loss": 0.0536,
      "step": 8316
    },
    {
      "epoch": 1.8658290329818263,
      "gripper_loss": 0.0289306640625,
      "loss": 0.0703125,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.6015625,
      "step": 8316
    },
    {
      "epoch": 1.8660533991474084,
      "grad_norm": 0.6627175211906433,
      "learning_rate": 0.00016509276844608263,
      "loss": 0.0741,
      "step": 8317
    },
    {
      "epoch": 1.8660533991474084,
      "gripper_loss": 0.4609375,
      "loss": 0.267578125,
      "pos_loss": 0.984375,
      "rot_loss": 0.4921875,
      "step": 8317
    },
    {
      "epoch": 1.866277765312991,
      "grad_norm": 0.8574243783950806,
      "learning_rate": 0.00016503581097851257,
      "loss": 0.1087,
      "step": 8318
    },
    {
      "epoch": 1.866277765312991,
      "gripper_loss": 0.04296875,
      "loss": 0.06982421875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.220703125,
      "step": 8318
    },
    {
      "epoch": 1.866502131478573,
      "grad_norm": 0.574181854724884,
      "learning_rate": 0.00016497885849660272,
      "loss": 0.0804,
      "step": 8319
    },
    {
      "epoch": 1.866502131478573,
      "gripper_loss": 0.030517578125,
      "loss": 0.1484375,
      "pos_loss": 0.1259765625,
      "rot_loss": 1.375,
      "step": 8319
    },
    {
      "epoch": 1.866726497644155,
      "grad_norm": 0.46084529161453247,
      "learning_rate": 0.0001649219110036952,
      "loss": 0.0494,
      "step": 8320
    },
    {
      "epoch": 1.866726497644155,
      "gripper_loss": 0.027099609375,
      "loss": 0.058837890625,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.337890625,
      "step": 8320
    },
    {
      "epoch": 1.8669508638097376,
      "grad_norm": 0.7130218744277954,
      "learning_rate": 0.00016486496850313137,
      "loss": 0.0587,
      "step": 8321
    },
    {
      "epoch": 1.8669508638097376,
      "gripper_loss": 0.0224609375,
      "loss": 0.052001953125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.1806640625,
      "step": 8321
    },
    {
      "epoch": 1.8671752299753197,
      "grad_norm": 0.6211065053939819,
      "learning_rate": 0.00016480803099825278,
      "loss": 0.0658,
      "step": 8322
    },
    {
      "epoch": 1.8671752299753197,
      "gripper_loss": 0.0439453125,
      "loss": 0.043212890625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.087890625,
      "step": 8322
    },
    {
      "epoch": 1.867399596140902,
      "grad_norm": 0.4778032600879669,
      "learning_rate": 0.0001647510984924005,
      "loss": 0.0603,
      "step": 8323
    },
    {
      "epoch": 1.867399596140902,
      "gripper_loss": 0.0361328125,
      "loss": 0.1103515625,
      "pos_loss": 0.5,
      "rot_loss": 0.263671875,
      "step": 8323
    },
    {
      "epoch": 1.8676239623064843,
      "grad_norm": 0.48434826731681824,
      "learning_rate": 0.0001646941709889153,
      "loss": 0.0481,
      "step": 8324
    },
    {
      "epoch": 1.8676239623064843,
      "gripper_loss": 0.07470703125,
      "loss": 0.033447265625,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.055908203125,
      "step": 8324
    },
    {
      "epoch": 1.8678483284720664,
      "grad_norm": 0.40534043312072754,
      "learning_rate": 0.00016463724849113753,
      "loss": 0.054,
      "step": 8325
    },
    {
      "epoch": 1.8678483284720664,
      "gripper_loss": 0.21875,
      "loss": 0.03173828125,
      "pos_loss": 0.03466796875,
      "rot_loss": 0.1767578125,
      "step": 8325
    },
    {
      "epoch": 1.8680726946376487,
      "grad_norm": 0.38081803917884827,
      "learning_rate": 0.0001645803310024075,
      "loss": 0.0528,
      "step": 8326
    },
    {
      "epoch": 1.8680726946376487,
      "gripper_loss": 0.640625,
      "loss": 0.11376953125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.1787109375,
      "step": 8326
    },
    {
      "epoch": 1.868297060803231,
      "grad_norm": 0.925684928894043,
      "learning_rate": 0.000164523418526065,
      "loss": 0.1089,
      "step": 8327
    },
    {
      "epoch": 1.868297060803231,
      "gripper_loss": 0.0216064453125,
      "loss": 0.10205078125,
      "pos_loss": 0.96875,
      "rot_loss": 0.061279296875,
      "step": 8327
    },
    {
      "epoch": 1.868521426968813,
      "grad_norm": 0.3311680853366852,
      "learning_rate": 0.00016446651106544985,
      "loss": 0.0719,
      "step": 8328
    },
    {
      "epoch": 1.868521426968813,
      "gripper_loss": 0.02880859375,
      "loss": 0.0177001953125,
      "pos_loss": 0.0458984375,
      "rot_loss": 0.0751953125,
      "step": 8328
    },
    {
      "epoch": 1.8687457931343954,
      "grad_norm": 0.3090580701828003,
      "learning_rate": 0.00016440960862390113,
      "loss": 0.0523,
      "step": 8329
    },
    {
      "epoch": 1.8687457931343954,
      "gripper_loss": 0.244140625,
      "loss": 0.056640625,
      "pos_loss": 0.318359375,
      "rot_loss": 0.13671875,
      "step": 8329
    },
    {
      "epoch": 1.8689701592999777,
      "grad_norm": 0.5697594881057739,
      "learning_rate": 0.00016435271120475792,
      "loss": 0.0695,
      "step": 8330
    },
    {
      "epoch": 1.8689701592999777,
      "gripper_loss": 0.017333984375,
      "loss": 0.099609375,
      "pos_loss": 0.54296875,
      "rot_loss": 0.431640625,
      "step": 8330
    },
    {
      "epoch": 1.8691945254655598,
      "grad_norm": 0.5059648752212524,
      "learning_rate": 0.00016429581881135887,
      "loss": 0.0663,
      "step": 8331
    },
    {
      "epoch": 1.8691945254655598,
      "gripper_loss": 1.0234375,
      "loss": 0.0849609375,
      "pos_loss": 0.41015625,
      "rot_loss": 0.06787109375,
      "step": 8331
    },
    {
      "epoch": 1.869418891631142,
      "grad_norm": 0.5651358366012573,
      "learning_rate": 0.0001642389314470425,
      "loss": 0.0621,
      "step": 8332
    },
    {
      "epoch": 1.869418891631142,
      "gripper_loss": 0.0157470703125,
      "loss": 0.0245361328125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.06494140625,
      "step": 8332
    },
    {
      "epoch": 1.8696432577967244,
      "grad_norm": 0.5778495669364929,
      "learning_rate": 0.000164182049115147,
      "loss": 0.0486,
      "step": 8333
    },
    {
      "epoch": 1.8696432577967244,
      "gripper_loss": 0.09912109375,
      "loss": 0.02392578125,
      "pos_loss": 0.126953125,
      "rot_loss": 0.0225830078125,
      "step": 8333
    },
    {
      "epoch": 1.8698676239623064,
      "grad_norm": 0.6025601029396057,
      "learning_rate": 0.00016412517181901002,
      "loss": 0.0675,
      "step": 8334
    },
    {
      "epoch": 1.8698676239623064,
      "gripper_loss": 0.0103759765625,
      "loss": 0.0888671875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.255859375,
      "step": 8334
    },
    {
      "epoch": 1.8700919901278887,
      "grad_norm": 0.527355968952179,
      "learning_rate": 0.0001640682995619692,
      "loss": 0.0586,
      "step": 8335
    },
    {
      "epoch": 1.8700919901278887,
      "gripper_loss": 0.00860595703125,
      "loss": 0.06689453125,
      "pos_loss": 0.462890625,
      "rot_loss": 0.201171875,
      "step": 8335
    },
    {
      "epoch": 1.870316356293471,
      "grad_norm": 0.355498731136322,
      "learning_rate": 0.0001640114323473617,
      "loss": 0.0464,
      "step": 8336
    },
    {
      "epoch": 1.870316356293471,
      "gripper_loss": 0.16015625,
      "loss": 0.0419921875,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.1474609375,
      "step": 8336
    },
    {
      "epoch": 1.8705407224590531,
      "grad_norm": 0.3955071270465851,
      "learning_rate": 0.00016395457017852466,
      "loss": 0.0406,
      "step": 8337
    },
    {
      "epoch": 1.8705407224590531,
      "gripper_loss": 0.006195068359375,
      "loss": 0.021240234375,
      "pos_loss": 0.15234375,
      "rot_loss": 0.0286865234375,
      "step": 8337
    },
    {
      "epoch": 1.8707650886246354,
      "grad_norm": 0.30700764060020447,
      "learning_rate": 0.00016389771305879442,
      "loss": 0.0414,
      "step": 8338
    },
    {
      "epoch": 1.8707650886246354,
      "gripper_loss": 0.014404296875,
      "loss": 0.046875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.06787109375,
      "step": 8338
    },
    {
      "epoch": 1.8709894547902177,
      "grad_norm": 0.34452787041664124,
      "learning_rate": 0.00016384086099150753,
      "loss": 0.0593,
      "step": 8339
    },
    {
      "epoch": 1.8709894547902177,
      "gripper_loss": 0.0157470703125,
      "loss": 0.023193359375,
      "pos_loss": 0.181640625,
      "rot_loss": 0.032958984375,
      "step": 8339
    },
    {
      "epoch": 1.8712138209557998,
      "grad_norm": 0.47461238503456116,
      "learning_rate": 0.00016378401398000006,
      "loss": 0.0639,
      "step": 8340
    },
    {
      "epoch": 1.8712138209557998,
      "gripper_loss": 0.00994873046875,
      "loss": 0.0242919921875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.05859375,
      "step": 8340
    },
    {
      "epoch": 1.871438187121382,
      "grad_norm": 0.3887133300304413,
      "learning_rate": 0.0001637271720276077,
      "loss": 0.062,
      "step": 8341
    },
    {
      "epoch": 1.871438187121382,
      "gripper_loss": 0.0147705078125,
      "loss": 0.11328125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.65234375,
      "step": 8341
    },
    {
      "epoch": 1.8716625532869644,
      "grad_norm": 0.5182614922523499,
      "learning_rate": 0.00016367033513766595,
      "loss": 0.0682,
      "step": 8342
    },
    {
      "epoch": 1.8716625532869644,
      "gripper_loss": 0.01416015625,
      "loss": 0.0869140625,
      "pos_loss": 0.74609375,
      "rot_loss": 0.1328125,
      "step": 8342
    },
    {
      "epoch": 1.8718869194525465,
      "grad_norm": 0.41888919472694397,
      "learning_rate": 0.00016361350331350985,
      "loss": 0.0669,
      "step": 8343
    },
    {
      "epoch": 1.8718869194525465,
      "gripper_loss": 0.1318359375,
      "loss": 0.166015625,
      "pos_loss": 0.8203125,
      "rot_loss": 0.494140625,
      "step": 8343
    },
    {
      "epoch": 1.8721112856181288,
      "grad_norm": 1.2892286777496338,
      "learning_rate": 0.0001635566765584744,
      "loss": 0.1812,
      "step": 8344
    },
    {
      "epoch": 1.8721112856181288,
      "gripper_loss": 0.076171875,
      "loss": 0.018798828125,
      "pos_loss": 0.107421875,
      "rot_loss": 0.018798828125,
      "step": 8344
    },
    {
      "epoch": 1.872335651783711,
      "grad_norm": 0.329349547624588,
      "learning_rate": 0.0001634998548758942,
      "loss": 0.0476,
      "step": 8345
    },
    {
      "epoch": 1.872335651783711,
      "gripper_loss": 0.388671875,
      "loss": 0.05224609375,
      "pos_loss": 0.1484375,
      "rot_loss": 0.2412109375,
      "step": 8345
    },
    {
      "epoch": 1.8725600179492932,
      "grad_norm": 0.29901397228240967,
      "learning_rate": 0.0001634430382691034,
      "loss": 0.0519,
      "step": 8346
    },
    {
      "epoch": 1.8725600179492932,
      "gripper_loss": 0.177734375,
      "loss": 0.04345703125,
      "pos_loss": 0.33203125,
      "rot_loss": 0.03173828125,
      "step": 8346
    },
    {
      "epoch": 1.8727843841148755,
      "grad_norm": 0.6315276026725769,
      "learning_rate": 0.00016338622674143602,
      "loss": 0.0662,
      "step": 8347
    },
    {
      "epoch": 1.8727843841148755,
      "gripper_loss": 0.734375,
      "loss": 0.0712890625,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.1171875,
      "step": 8347
    },
    {
      "epoch": 1.8730087502804578,
      "grad_norm": 0.7176340222358704,
      "learning_rate": 0.00016332942029622573,
      "loss": 0.1068,
      "step": 8348
    },
    {
      "epoch": 1.8730087502804578,
      "gripper_loss": 0.2890625,
      "loss": 0.1669921875,
      "pos_loss": 0.71875,
      "rot_loss": 0.46484375,
      "step": 8348
    },
    {
      "epoch": 1.8732331164460398,
      "grad_norm": 0.8528302907943726,
      "learning_rate": 0.0001632726189368059,
      "loss": 0.1288,
      "step": 8349
    },
    {
      "epoch": 1.8732331164460398,
      "gripper_loss": 0.39453125,
      "loss": 0.059814453125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1650390625,
      "step": 8349
    },
    {
      "epoch": 1.8734574826116221,
      "grad_norm": 0.5645885467529297,
      "learning_rate": 0.0001632158226665097,
      "loss": 0.0691,
      "step": 8350
    },
    {
      "epoch": 1.8734574826116221,
      "gripper_loss": 1.3828125,
      "loss": 0.1181640625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.2041015625,
      "step": 8350
    },
    {
      "epoch": 1.8736818487772045,
      "grad_norm": 0.4917471706867218,
      "learning_rate": 0.00016315903148866979,
      "loss": 0.071,
      "step": 8351
    },
    {
      "epoch": 1.8736818487772045,
      "gripper_loss": 0.72265625,
      "loss": 0.1005859375,
      "pos_loss": 0.326171875,
      "rot_loss": 0.22265625,
      "step": 8351
    },
    {
      "epoch": 1.8739062149427865,
      "grad_norm": 0.7520748376846313,
      "learning_rate": 0.00016310224540661868,
      "loss": 0.1104,
      "step": 8352
    },
    {
      "epoch": 1.8739062149427865,
      "gripper_loss": 0.9609375,
      "loss": 0.05517578125,
      "pos_loss": 0.07275390625,
      "rot_loss": 0.11328125,
      "step": 8352
    },
    {
      "epoch": 1.8741305811083688,
      "grad_norm": 0.5251595377922058,
      "learning_rate": 0.00016304546442368856,
      "loss": 0.0648,
      "step": 8353
    },
    {
      "epoch": 1.8741305811083688,
      "gripper_loss": 0.64453125,
      "loss": 0.138671875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.1845703125,
      "step": 8353
    },
    {
      "epoch": 1.8743549472739511,
      "grad_norm": 1.0617324113845825,
      "learning_rate": 0.0001629886885432114,
      "loss": 0.1405,
      "step": 8354
    },
    {
      "epoch": 1.8743549472739511,
      "gripper_loss": 0.01055908203125,
      "loss": 0.08447265625,
      "pos_loss": 0.74609375,
      "rot_loss": 0.10205078125,
      "step": 8354
    },
    {
      "epoch": 1.8745793134395332,
      "grad_norm": 0.6023351550102234,
      "learning_rate": 0.0001629319177685186,
      "loss": 0.0822,
      "step": 8355
    },
    {
      "epoch": 1.8745793134395332,
      "gripper_loss": 0.015625,
      "loss": 0.08984375,
      "pos_loss": 0.828125,
      "rot_loss": 0.06005859375,
      "step": 8355
    },
    {
      "epoch": 1.8748036796051155,
      "grad_norm": 0.42678314447402954,
      "learning_rate": 0.00016287515210294153,
      "loss": 0.0685,
      "step": 8356
    },
    {
      "epoch": 1.8748036796051155,
      "gripper_loss": 0.040283203125,
      "loss": 0.0228271484375,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.09326171875,
      "step": 8356
    },
    {
      "epoch": 1.8750280457706978,
      "grad_norm": 0.41014665365219116,
      "learning_rate": 0.0001628183915498112,
      "loss": 0.0643,
      "step": 8357
    },
    {
      "epoch": 1.8750280457706978,
      "gripper_loss": 0.17578125,
      "loss": 0.11572265625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.042724609375,
      "step": 8357
    },
    {
      "epoch": 1.87525241193628,
      "grad_norm": 0.43350881338119507,
      "learning_rate": 0.00016276163611245843,
      "loss": 0.0647,
      "step": 8358
    },
    {
      "epoch": 1.87525241193628,
      "gripper_loss": 0.90625,
      "loss": 0.06494140625,
      "pos_loss": 0.224609375,
      "rot_loss": 0.12451171875,
      "step": 8358
    },
    {
      "epoch": 1.8754767781018622,
      "grad_norm": 0.3686366379261017,
      "learning_rate": 0.00016270488579421332,
      "loss": 0.0602,
      "step": 8359
    },
    {
      "epoch": 1.8754767781018622,
      "gripper_loss": 1.3515625,
      "loss": 0.06689453125,
      "pos_loss": 0.05419921875,
      "rot_loss": 0.15625,
      "step": 8359
    },
    {
      "epoch": 1.8757011442674445,
      "grad_norm": 0.5610754489898682,
      "learning_rate": 0.0001626481405984061,
      "loss": 0.0792,
      "step": 8360
    },
    {
      "epoch": 1.8757011442674445,
      "gripper_loss": 0.0830078125,
      "loss": 0.0274658203125,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.107421875,
      "step": 8360
    },
    {
      "epoch": 1.8759255104330266,
      "grad_norm": 0.4605942368507385,
      "learning_rate": 0.0001625914005283665,
      "loss": 0.061,
      "step": 8361
    },
    {
      "epoch": 1.8759255104330266,
      "gripper_loss": 0.0284423828125,
      "loss": 0.12890625,
      "pos_loss": 0.89453125,
      "rot_loss": 0.431640625,
      "step": 8361
    },
    {
      "epoch": 1.8761498765986089,
      "grad_norm": 0.5158147811889648,
      "learning_rate": 0.00016253466558742408,
      "loss": 0.066,
      "step": 8362
    },
    {
      "epoch": 1.8761498765986089,
      "gripper_loss": 0.036376953125,
      "loss": 0.053955078125,
      "pos_loss": 0.142578125,
      "rot_loss": 0.361328125,
      "step": 8362
    },
    {
      "epoch": 1.8763742427641912,
      "grad_norm": 0.5020043253898621,
      "learning_rate": 0.00016247793577890807,
      "loss": 0.0519,
      "step": 8363
    },
    {
      "epoch": 1.8763742427641912,
      "gripper_loss": 1.3671875,
      "loss": 0.055419921875,
      "pos_loss": 0.0419921875,
      "rot_loss": 0.04736328125,
      "step": 8363
    },
    {
      "epoch": 1.8765986089297733,
      "grad_norm": 0.3197582960128784,
      "learning_rate": 0.0001624212111061472,
      "loss": 0.0436,
      "step": 8364
    },
    {
      "epoch": 1.8765986089297733,
      "gripper_loss": 0.20703125,
      "loss": 0.015380859375,
      "pos_loss": 0.039794921875,
      "rot_loss": 0.0098876953125,
      "step": 8364
    },
    {
      "epoch": 1.8768229750953558,
      "grad_norm": 0.36583396792411804,
      "learning_rate": 0.00016236449157247009,
      "loss": 0.0428,
      "step": 8365
    },
    {
      "epoch": 1.8768229750953558,
      "gripper_loss": 0.3984375,
      "loss": 0.1748046875,
      "pos_loss": 0.47265625,
      "rot_loss": 1.0390625,
      "step": 8365
    },
    {
      "epoch": 1.8770473412609379,
      "grad_norm": 0.8955568671226501,
      "learning_rate": 0.00016230777718120504,
      "loss": 0.1097,
      "step": 8366
    },
    {
      "epoch": 1.8770473412609379,
      "gripper_loss": 3.203125,
      "loss": 0.10595703125,
      "pos_loss": 0.01165771484375,
      "rot_loss": 0.01123046875,
      "step": 8366
    },
    {
      "epoch": 1.87727170742652,
      "grad_norm": 0.6211460828781128,
      "learning_rate": 0.0001622510679356801,
      "loss": 0.0751,
      "step": 8367
    },
    {
      "epoch": 1.87727170742652,
      "gripper_loss": 0.12890625,
      "loss": 0.0595703125,
      "pos_loss": 0.474609375,
      "rot_loss": 0.07275390625,
      "step": 8367
    },
    {
      "epoch": 1.8774960735921025,
      "grad_norm": 0.3629814088344574,
      "learning_rate": 0.00016219436383922275,
      "loss": 0.0621,
      "step": 8368
    },
    {
      "epoch": 1.8774960735921025,
      "gripper_loss": 0.26171875,
      "loss": 0.04150390625,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.2373046875,
      "step": 8368
    },
    {
      "epoch": 1.8777204397576845,
      "grad_norm": 0.44781434535980225,
      "learning_rate": 0.0001621376648951605,
      "loss": 0.0565,
      "step": 8369
    },
    {
      "epoch": 1.8777204397576845,
      "gripper_loss": 0.0751953125,
      "loss": 0.0693359375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.103515625,
      "step": 8369
    },
    {
      "epoch": 1.8779448059232666,
      "grad_norm": 0.3979213535785675,
      "learning_rate": 0.0001620809711068204,
      "loss": 0.0467,
      "step": 8370
    },
    {
      "epoch": 1.8779448059232666,
      "gripper_loss": 0.1826171875,
      "loss": 0.046630859375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.0625,
      "step": 8370
    },
    {
      "epoch": 1.8781691720888491,
      "grad_norm": 0.6218546628952026,
      "learning_rate": 0.00016202428247752933,
      "loss": 0.0554,
      "step": 8371
    },
    {
      "epoch": 1.8781691720888491,
      "gripper_loss": 0.294921875,
      "loss": 0.035400390625,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.09033203125,
      "step": 8371
    },
    {
      "epoch": 1.8783935382544312,
      "grad_norm": 0.5075855851173401,
      "learning_rate": 0.00016196759901061347,
      "loss": 0.0706,
      "step": 8372
    },
    {
      "epoch": 1.8783935382544312,
      "gripper_loss": 0.0703125,
      "loss": 0.271484375,
      "pos_loss": 1.734375,
      "rot_loss": 1.078125,
      "step": 8372
    },
    {
      "epoch": 1.8786179044200133,
      "grad_norm": 0.5695419907569885,
      "learning_rate": 0.00016191092070939918,
      "loss": 0.1003,
      "step": 8373
    },
    {
      "epoch": 1.8786179044200133,
      "gripper_loss": 0.07421875,
      "loss": 0.046630859375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.0184326171875,
      "step": 8373
    },
    {
      "epoch": 1.8788422705855958,
      "grad_norm": 0.4112932085990906,
      "learning_rate": 0.0001618542475772123,
      "loss": 0.063,
      "step": 8374
    },
    {
      "epoch": 1.8788422705855958,
      "gripper_loss": 0.047119140625,
      "loss": 0.0255126953125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.0208740234375,
      "step": 8374
    },
    {
      "epoch": 1.879066636751178,
      "grad_norm": 0.3398539125919342,
      "learning_rate": 0.00016179757961737844,
      "loss": 0.0399,
      "step": 8375
    },
    {
      "epoch": 1.879066636751178,
      "gripper_loss": 0.51953125,
      "loss": 0.062255859375,
      "pos_loss": 0.283203125,
      "rot_loss": 0.1259765625,
      "step": 8375
    },
    {
      "epoch": 1.87929100291676,
      "grad_norm": 0.308763325214386,
      "learning_rate": 0.00016174091683322268,
      "loss": 0.0523,
      "step": 8376
    },
    {
      "epoch": 1.87929100291676,
      "gripper_loss": 0.1650390625,
      "loss": 0.0289306640625,
      "pos_loss": 0.16015625,
      "rot_loss": 0.05126953125,
      "step": 8376
    },
    {
      "epoch": 1.8795153690823425,
      "grad_norm": 0.4037397801876068,
      "learning_rate": 0.0001616842592280701,
      "loss": 0.0449,
      "step": 8377
    },
    {
      "epoch": 1.8795153690823425,
      "gripper_loss": 0.02783203125,
      "loss": 0.05078125,
      "pos_loss": 0.3515625,
      "rot_loss": 0.13671875,
      "step": 8377
    },
    {
      "epoch": 1.8797397352479246,
      "grad_norm": 0.34845322370529175,
      "learning_rate": 0.00016162760680524525,
      "loss": 0.0449,
      "step": 8378
    },
    {
      "epoch": 1.8797397352479246,
      "gripper_loss": 0.041748046875,
      "loss": 0.09033203125,
      "pos_loss": 0.77734375,
      "rot_loss": 0.1181640625,
      "step": 8378
    },
    {
      "epoch": 1.879964101413507,
      "grad_norm": 0.39379921555519104,
      "learning_rate": 0.00016157095956807256,
      "loss": 0.0696,
      "step": 8379
    },
    {
      "epoch": 1.879964101413507,
      "gripper_loss": 0.078125,
      "loss": 0.05517578125,
      "pos_loss": 0.328125,
      "rot_loss": 0.0712890625,
      "step": 8379
    },
    {
      "epoch": 1.8801884675790892,
      "grad_norm": 0.5080363154411316,
      "learning_rate": 0.00016151431751987606,
      "loss": 0.0641,
      "step": 8380
    },
    {
      "epoch": 1.8801884675790892,
      "gripper_loss": 0.33203125,
      "loss": 0.054443359375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.15625,
      "step": 8380
    },
    {
      "epoch": 1.8804128337446713,
      "grad_norm": 0.711202085018158,
      "learning_rate": 0.00016145768066397939,
      "loss": 0.0754,
      "step": 8381
    },
    {
      "epoch": 1.8804128337446713,
      "gripper_loss": 0.671875,
      "loss": 0.030029296875,
      "pos_loss": 0.0419921875,
      "rot_loss": 0.0242919921875,
      "step": 8381
    },
    {
      "epoch": 1.8806371999102536,
      "grad_norm": 0.43710198998451233,
      "learning_rate": 0.00016140104900370608,
      "loss": 0.0611,
      "step": 8382
    },
    {
      "epoch": 1.8806371999102536,
      "gripper_loss": 0.32421875,
      "loss": 0.130859375,
      "pos_loss": 0.77734375,
      "rot_loss": 0.263671875,
      "step": 8382
    },
    {
      "epoch": 1.8808615660758359,
      "grad_norm": 0.7519661784172058,
      "learning_rate": 0.00016134442254237916,
      "loss": 0.108,
      "step": 8383
    },
    {
      "epoch": 1.8808615660758359,
      "gripper_loss": 1.1171875,
      "loss": 0.078125,
      "pos_loss": 0.3125,
      "rot_loss": 0.11474609375,
      "step": 8383
    },
    {
      "epoch": 1.881085932241418,
      "grad_norm": 0.49398383498191833,
      "learning_rate": 0.00016128780128332157,
      "loss": 0.0692,
      "step": 8384
    },
    {
      "epoch": 1.881085932241418,
      "gripper_loss": 0.0228271484375,
      "loss": 0.038818359375,
      "pos_loss": 0.24609375,
      "rot_loss": 0.099609375,
      "step": 8384
    },
    {
      "epoch": 1.8813102984070003,
      "grad_norm": 0.45847442746162415,
      "learning_rate": 0.00016123118522985564,
      "loss": 0.0542,
      "step": 8385
    },
    {
      "epoch": 1.8813102984070003,
      "gripper_loss": 0.04296875,
      "loss": 0.0478515625,
      "pos_loss": 0.2890625,
      "rot_loss": 0.1513671875,
      "step": 8385
    },
    {
      "epoch": 1.8815346645725826,
      "grad_norm": 0.3831557631492615,
      "learning_rate": 0.0001611745743853037,
      "loss": 0.0458,
      "step": 8386
    },
    {
      "epoch": 1.8815346645725826,
      "gripper_loss": 0.030029296875,
      "loss": 0.017822265625,
      "pos_loss": 0.06640625,
      "rot_loss": 0.06787109375,
      "step": 8386
    },
    {
      "epoch": 1.8817590307381646,
      "grad_norm": 0.36599406599998474,
      "learning_rate": 0.00016111796875298761,
      "loss": 0.0524,
      "step": 8387
    },
    {
      "epoch": 1.8817590307381646,
      "gripper_loss": 0.035888671875,
      "loss": 0.072265625,
      "pos_loss": 0.404296875,
      "rot_loss": 0.2734375,
      "step": 8387
    },
    {
      "epoch": 1.881983396903747,
      "grad_norm": 0.43262919783592224,
      "learning_rate": 0.00016106136833622903,
      "loss": 0.063,
      "step": 8388
    },
    {
      "epoch": 1.881983396903747,
      "gripper_loss": 0.0274658203125,
      "loss": 0.04345703125,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.345703125,
      "step": 8388
    },
    {
      "epoch": 1.8822077630693292,
      "grad_norm": 0.4212074875831604,
      "learning_rate": 0.00016100477313834915,
      "loss": 0.0743,
      "step": 8389
    },
    {
      "epoch": 1.8822077630693292,
      "gripper_loss": 0.62109375,
      "loss": 0.2236328125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.341796875,
      "step": 8389
    },
    {
      "epoch": 1.8824321292349113,
      "grad_norm": 1.492448091506958,
      "learning_rate": 0.00016094818316266898,
      "loss": 0.2388,
      "step": 8390
    },
    {
      "epoch": 1.8824321292349113,
      "gripper_loss": 0.283203125,
      "loss": 0.095703125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.337890625,
      "step": 8390
    },
    {
      "epoch": 1.8826564954004936,
      "grad_norm": 1.4587346315383911,
      "learning_rate": 0.0001608915984125092,
      "loss": 0.0837,
      "step": 8391
    },
    {
      "epoch": 1.8826564954004936,
      "gripper_loss": 0.05029296875,
      "loss": 0.09765625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.375,
      "step": 8391
    },
    {
      "epoch": 1.882880861566076,
      "grad_norm": 0.3734748065471649,
      "learning_rate": 0.00016083501889119028,
      "loss": 0.0542,
      "step": 8392
    },
    {
      "epoch": 1.882880861566076,
      "gripper_loss": 0.01239013671875,
      "loss": 0.027587890625,
      "pos_loss": 0.1875,
      "rot_loss": 0.06689453125,
      "step": 8392
    },
    {
      "epoch": 1.883105227731658,
      "grad_norm": 0.46363478899002075,
      "learning_rate": 0.00016077844460203207,
      "loss": 0.0475,
      "step": 8393
    },
    {
      "epoch": 1.883105227731658,
      "gripper_loss": 0.212890625,
      "loss": 0.018310546875,
      "pos_loss": 0.06494140625,
      "rot_loss": 0.0167236328125,
      "step": 8393
    },
    {
      "epoch": 1.8833295938972403,
      "grad_norm": 0.6595486998558044,
      "learning_rate": 0.0001607218755483545,
      "loss": 0.0716,
      "step": 8394
    },
    {
      "epoch": 1.8833295938972403,
      "gripper_loss": 0.01043701171875,
      "loss": 0.09765625,
      "pos_loss": 0.875,
      "rot_loss": 0.115234375,
      "step": 8394
    },
    {
      "epoch": 1.8835539600628226,
      "grad_norm": 0.5240179300308228,
      "learning_rate": 0.00016066531173347686,
      "loss": 0.0744,
      "step": 8395
    },
    {
      "epoch": 1.8835539600628226,
      "gripper_loss": 0.042724609375,
      "loss": 0.125,
      "pos_loss": 1.0,
      "rot_loss": 0.2412109375,
      "step": 8395
    },
    {
      "epoch": 1.8837783262284047,
      "grad_norm": 0.47320133447647095,
      "learning_rate": 0.00016060875316071843,
      "loss": 0.0692,
      "step": 8396
    },
    {
      "epoch": 1.8837783262284047,
      "gripper_loss": 0.0213623046875,
      "loss": 0.0693359375,
      "pos_loss": 0.55859375,
      "rot_loss": 0.12451171875,
      "step": 8396
    },
    {
      "epoch": 1.884002692393987,
      "grad_norm": 0.40624937415122986,
      "learning_rate": 0.00016055219983339807,
      "loss": 0.0423,
      "step": 8397
    },
    {
      "epoch": 1.884002692393987,
      "gripper_loss": 0.014892578125,
      "loss": 0.0291748046875,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.1484375,
      "step": 8397
    },
    {
      "epoch": 1.8842270585595693,
      "grad_norm": 0.3084656596183777,
      "learning_rate": 0.00016049565175483416,
      "loss": 0.0441,
      "step": 8398
    },
    {
      "epoch": 1.8842270585595693,
      "gripper_loss": 0.1875,
      "loss": 0.08056640625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.1083984375,
      "step": 8398
    },
    {
      "epoch": 1.8844514247251514,
      "grad_norm": 0.7696075439453125,
      "learning_rate": 0.000160439108928345,
      "loss": 0.0853,
      "step": 8399
    },
    {
      "epoch": 1.8844514247251514,
      "gripper_loss": 0.005645751953125,
      "loss": 0.054931640625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.0859375,
      "step": 8399
    },
    {
      "epoch": 1.8846757908907337,
      "grad_norm": 0.3579872250556946,
      "learning_rate": 0.00016038257135724847,
      "loss": 0.0584,
      "step": 8400
    },
    {
      "epoch": 1.8846757908907337,
      "gripper_loss": 0.515625,
      "loss": 0.04833984375,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.1123046875,
      "step": 8400
    },
    {
      "epoch": 1.884900157056316,
      "grad_norm": 0.36622053384780884,
      "learning_rate": 0.00016032603904486226,
      "loss": 0.0521,
      "step": 8401
    },
    {
      "epoch": 1.884900157056316,
      "gripper_loss": 0.3203125,
      "loss": 0.046630859375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.03076171875,
      "step": 8401
    },
    {
      "epoch": 1.885124523221898,
      "grad_norm": 0.5910056829452515,
      "learning_rate": 0.00016026951199450345,
      "loss": 0.0657,
      "step": 8402
    },
    {
      "epoch": 1.885124523221898,
      "gripper_loss": 0.28125,
      "loss": 0.0194091796875,
      "pos_loss": 0.06103515625,
      "rot_loss": 0.01275634765625,
      "step": 8402
    },
    {
      "epoch": 1.8853488893874804,
      "grad_norm": 0.38433074951171875,
      "learning_rate": 0.0001602129902094892,
      "loss": 0.0395,
      "step": 8403
    },
    {
      "epoch": 1.8853488893874804,
      "gripper_loss": 0.10791015625,
      "loss": 0.05615234375,
      "pos_loss": 0.13671875,
      "rot_loss": 0.2177734375,
      "step": 8403
    },
    {
      "epoch": 1.8855732555530627,
      "grad_norm": 0.8002269268035889,
      "learning_rate": 0.00016015647369313612,
      "loss": 0.0914,
      "step": 8404
    },
    {
      "epoch": 1.8855732555530627,
      "gripper_loss": 0.1962890625,
      "loss": 0.1396484375,
      "pos_loss": 1.34375,
      "rot_loss": 0.027587890625,
      "step": 8404
    },
    {
      "epoch": 1.8857976217186447,
      "grad_norm": 0.6300094723701477,
      "learning_rate": 0.0001600999624487607,
      "loss": 0.0655,
      "step": 8405
    },
    {
      "epoch": 1.8857976217186447,
      "gripper_loss": 0.271484375,
      "loss": 0.02392578125,
      "pos_loss": 0.07421875,
      "rot_loss": 0.0185546875,
      "step": 8405
    },
    {
      "epoch": 1.886021987884227,
      "grad_norm": 0.6399683356285095,
      "learning_rate": 0.0001600434564796788,
      "loss": 0.0585,
      "step": 8406
    },
    {
      "epoch": 1.886021987884227,
      "gripper_loss": 0.04150390625,
      "loss": 0.0308837890625,
      "pos_loss": 0.06982421875,
      "rot_loss": 0.173828125,
      "step": 8406
    },
    {
      "epoch": 1.8862463540498093,
      "grad_norm": 0.54109126329422,
      "learning_rate": 0.00015998695578920623,
      "loss": 0.0604,
      "step": 8407
    },
    {
      "epoch": 1.8862463540498093,
      "gripper_loss": 0.0194091796875,
      "loss": 0.054931640625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.20703125,
      "step": 8407
    },
    {
      "epoch": 1.8864707202153914,
      "grad_norm": 0.4796563386917114,
      "learning_rate": 0.00015993046038065842,
      "loss": 0.0605,
      "step": 8408
    },
    {
      "epoch": 1.8864707202153914,
      "gripper_loss": 0.11865234375,
      "loss": 0.0859375,
      "pos_loss": 0.66015625,
      "rot_loss": 0.1435546875,
      "step": 8408
    },
    {
      "epoch": 1.8866950863809737,
      "grad_norm": 0.47877663373947144,
      "learning_rate": 0.0001598739702573505,
      "loss": 0.0668,
      "step": 8409
    },
    {
      "epoch": 1.8866950863809737,
      "gripper_loss": 0.9453125,
      "loss": 0.05712890625,
      "pos_loss": 0.12890625,
      "rot_loss": 0.115234375,
      "step": 8409
    },
    {
      "epoch": 1.886919452546556,
      "grad_norm": 0.5723587870597839,
      "learning_rate": 0.00015981748542259747,
      "loss": 0.0639,
      "step": 8410
    },
    {
      "epoch": 1.886919452546556,
      "gripper_loss": 0.2490234375,
      "loss": 0.026611328125,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.04150390625,
      "step": 8410
    },
    {
      "epoch": 1.887143818712138,
      "grad_norm": 0.33807748556137085,
      "learning_rate": 0.0001597610058797136,
      "loss": 0.0452,
      "step": 8411
    },
    {
      "epoch": 1.887143818712138,
      "gripper_loss": 0.345703125,
      "loss": 0.380859375,
      "pos_loss": 0.96875,
      "rot_loss": 0.56640625,
      "step": 8411
    },
    {
      "epoch": 1.8873681848777204,
      "grad_norm": 1.3633415699005127,
      "learning_rate": 0.00015970453163201303,
      "loss": 0.4082,
      "step": 8412
    },
    {
      "epoch": 1.8873681848777204,
      "gripper_loss": 0.24609375,
      "loss": 0.197265625,
      "pos_loss": 0.91015625,
      "rot_loss": 0.765625,
      "step": 8412
    },
    {
      "epoch": 1.8875925510433027,
      "grad_norm": 0.8726620674133301,
      "learning_rate": 0.00015964806268280984,
      "loss": 0.1207,
      "step": 8413
    },
    {
      "epoch": 1.8875925510433027,
      "gripper_loss": 0.337890625,
      "loss": 0.0341796875,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.1044921875,
      "step": 8413
    },
    {
      "epoch": 1.8878169172088848,
      "grad_norm": 1.2039899826049805,
      "learning_rate": 0.00015959159903541762,
      "loss": 0.0793,
      "step": 8414
    },
    {
      "epoch": 1.8878169172088848,
      "gripper_loss": 0.0098876953125,
      "loss": 0.0556640625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.2236328125,
      "step": 8414
    },
    {
      "epoch": 1.888041283374467,
      "grad_norm": 0.6981058120727539,
      "learning_rate": 0.00015953514069314942,
      "loss": 0.061,
      "step": 8415
    },
    {
      "epoch": 1.888041283374467,
      "gripper_loss": 0.01422119140625,
      "loss": 0.125,
      "pos_loss": 0.64453125,
      "rot_loss": 0.640625,
      "step": 8415
    },
    {
      "epoch": 1.8882656495400494,
      "grad_norm": 0.7676573991775513,
      "learning_rate": 0.00015947868765931833,
      "loss": 0.0807,
      "step": 8416
    },
    {
      "epoch": 1.8882656495400494,
      "gripper_loss": 0.1796875,
      "loss": 0.08251953125,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.12060546875,
      "step": 8416
    },
    {
      "epoch": 1.8884900157056315,
      "grad_norm": 0.8879680037498474,
      "learning_rate": 0.00015942223993723698,
      "loss": 0.1096,
      "step": 8417
    },
    {
      "epoch": 1.8884900157056315,
      "gripper_loss": 0.0120849609375,
      "loss": 0.0225830078125,
      "pos_loss": 0.154296875,
      "rot_loss": 0.039306640625,
      "step": 8417
    },
    {
      "epoch": 1.8887143818712138,
      "grad_norm": 0.5292392373085022,
      "learning_rate": 0.00015936579753021777,
      "loss": 0.0778,
      "step": 8418
    },
    {
      "epoch": 1.8887143818712138,
      "gripper_loss": 0.0361328125,
      "loss": 0.07080078125,
      "pos_loss": 0.453125,
      "rot_loss": 0.2060546875,
      "step": 8418
    },
    {
      "epoch": 1.888938748036796,
      "grad_norm": 0.5372058153152466,
      "learning_rate": 0.0001593093604415725,
      "loss": 0.0942,
      "step": 8419
    },
    {
      "epoch": 1.888938748036796,
      "gripper_loss": 0.5859375,
      "loss": 0.051513671875,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.2041015625,
      "step": 8419
    },
    {
      "epoch": 1.8891631142023781,
      "grad_norm": 0.4149446189403534,
      "learning_rate": 0.00015925292867461304,
      "loss": 0.058,
      "step": 8420
    },
    {
      "epoch": 1.8891631142023781,
      "gripper_loss": 0.1748046875,
      "loss": 0.1494140625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.5,
      "step": 8420
    },
    {
      "epoch": 1.8893874803679607,
      "grad_norm": 1.207266092300415,
      "learning_rate": 0.0001591965022326507,
      "loss": 0.1823,
      "step": 8421
    },
    {
      "epoch": 1.8893874803679607,
      "gripper_loss": 0.08544921875,
      "loss": 0.04296875,
      "pos_loss": 0.279296875,
      "rot_loss": 0.10888671875,
      "step": 8421
    },
    {
      "epoch": 1.8896118465335427,
      "grad_norm": 0.4264410436153412,
      "learning_rate": 0.00015914008111899674,
      "loss": 0.0666,
      "step": 8422
    },
    {
      "epoch": 1.8896118465335427,
      "gripper_loss": 0.474609375,
      "loss": 0.047607421875,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.091796875,
      "step": 8422
    },
    {
      "epoch": 1.8898362126991248,
      "grad_norm": 0.5073667168617249,
      "learning_rate": 0.00015908366533696168,
      "loss": 0.064,
      "step": 8423
    },
    {
      "epoch": 1.8898362126991248,
      "gripper_loss": 0.609375,
      "loss": 0.0308837890625,
      "pos_loss": 0.0498046875,
      "rot_loss": 0.033203125,
      "step": 8423
    },
    {
      "epoch": 1.8900605788647074,
      "grad_norm": 0.5399972200393677,
      "learning_rate": 0.0001590272548898561,
      "loss": 0.0509,
      "step": 8424
    },
    {
      "epoch": 1.8900605788647074,
      "gripper_loss": 0.018798828125,
      "loss": 0.06982421875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.1630859375,
      "step": 8424
    },
    {
      "epoch": 1.8902849450302894,
      "grad_norm": 0.5489277839660645,
      "learning_rate": 0.00015897084978099007,
      "loss": 0.0808,
      "step": 8425
    },
    {
      "epoch": 1.8902849450302894,
      "gripper_loss": 0.01953125,
      "loss": 0.08837890625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.1923828125,
      "step": 8425
    },
    {
      "epoch": 1.8905093111958715,
      "grad_norm": 0.48064568638801575,
      "learning_rate": 0.0001589144500136735,
      "loss": 0.0637,
      "step": 8426
    },
    {
      "epoch": 1.8905093111958715,
      "gripper_loss": 1.3828125,
      "loss": 0.09326171875,
      "pos_loss": 0.265625,
      "rot_loss": 0.18359375,
      "step": 8426
    },
    {
      "epoch": 1.890733677361454,
      "grad_norm": 0.5161621570587158,
      "learning_rate": 0.00015885805559121596,
      "loss": 0.0789,
      "step": 8427
    },
    {
      "epoch": 1.890733677361454,
      "gripper_loss": 0.099609375,
      "loss": 0.13671875,
      "pos_loss": 0.44921875,
      "rot_loss": 0.46875,
      "step": 8427
    },
    {
      "epoch": 1.8909580435270361,
      "grad_norm": 1.139543056488037,
      "learning_rate": 0.00015880166651692645,
      "loss": 0.1201,
      "step": 8428
    },
    {
      "epoch": 1.8909580435270361,
      "gripper_loss": 0.5,
      "loss": 0.5234375,
      "pos_loss": 0.74609375,
      "rot_loss": 1.078125,
      "step": 8428
    },
    {
      "epoch": 1.8911824096926182,
      "grad_norm": 1.2981228828430176,
      "learning_rate": 0.000158745282794114,
      "loss": 0.4502,
      "step": 8429
    },
    {
      "epoch": 1.8911824096926182,
      "gripper_loss": 0.8828125,
      "loss": 0.0546875,
      "pos_loss": 0.232421875,
      "rot_loss": 0.0172119140625,
      "step": 8429
    },
    {
      "epoch": 1.8914067758582007,
      "grad_norm": 0.4170915484428406,
      "learning_rate": 0.00015868890442608715,
      "loss": 0.0585,
      "step": 8430
    },
    {
      "epoch": 1.8914067758582007,
      "gripper_loss": 0.0162353515625,
      "loss": 0.02685546875,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.2001953125,
      "step": 8430
    },
    {
      "epoch": 1.8916311420237828,
      "grad_norm": 0.39024001359939575,
      "learning_rate": 0.00015863253141615419,
      "loss": 0.0747,
      "step": 8431
    },
    {
      "epoch": 1.8916311420237828,
      "gripper_loss": 0.006927490234375,
      "loss": 0.039794921875,
      "pos_loss": 0.345703125,
      "rot_loss": 0.02197265625,
      "step": 8431
    },
    {
      "epoch": 1.891855508189365,
      "grad_norm": 0.40011081099510193,
      "learning_rate": 0.0001585761637676229,
      "loss": 0.0506,
      "step": 8432
    },
    {
      "epoch": 1.891855508189365,
      "gripper_loss": 0.57421875,
      "loss": 0.04443359375,
      "pos_loss": 0.189453125,
      "rot_loss": 0.0556640625,
      "step": 8432
    },
    {
      "epoch": 1.8920798743549474,
      "grad_norm": 0.5014864206314087,
      "learning_rate": 0.0001585198014838011,
      "loss": 0.0895,
      "step": 8433
    },
    {
      "epoch": 1.8920798743549474,
      "gripper_loss": 0.015625,
      "loss": 0.02099609375,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.0191650390625,
      "step": 8433
    },
    {
      "epoch": 1.8923042405205295,
      "grad_norm": 0.4252761900424957,
      "learning_rate": 0.00015846344456799604,
      "loss": 0.0491,
      "step": 8434
    },
    {
      "epoch": 1.8923042405205295,
      "gripper_loss": 0.1943359375,
      "loss": 0.0703125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.06396484375,
      "step": 8434
    },
    {
      "epoch": 1.8925286066861118,
      "grad_norm": 0.39638155698776245,
      "learning_rate": 0.00015840709302351476,
      "loss": 0.0494,
      "step": 8435
    },
    {
      "epoch": 1.8925286066861118,
      "gripper_loss": 1.2109375,
      "loss": 0.1396484375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.271484375,
      "step": 8435
    },
    {
      "epoch": 1.892752972851694,
      "grad_norm": 1.0457853078842163,
      "learning_rate": 0.00015835074685366385,
      "loss": 0.1226,
      "step": 8436
    },
    {
      "epoch": 1.892752972851694,
      "gripper_loss": 0.033935546875,
      "loss": 0.0654296875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.0169677734375,
      "step": 8436
    },
    {
      "epoch": 1.8929773390172762,
      "grad_norm": 0.3923308253288269,
      "learning_rate": 0.00015829440606174972,
      "loss": 0.0627,
      "step": 8437
    },
    {
      "epoch": 1.8929773390172762,
      "gripper_loss": 0.0966796875,
      "loss": 0.0166015625,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.0281982421875,
      "step": 8437
    },
    {
      "epoch": 1.8932017051828585,
      "grad_norm": 0.47578614950180054,
      "learning_rate": 0.00015823807065107836,
      "loss": 0.0706,
      "step": 8438
    },
    {
      "epoch": 1.8932017051828585,
      "gripper_loss": 0.41015625,
      "loss": 0.07568359375,
      "pos_loss": 0.244140625,
      "rot_loss": 0.361328125,
      "step": 8438
    },
    {
      "epoch": 1.8934260713484408,
      "grad_norm": 0.5673145651817322,
      "learning_rate": 0.0001581817406249557,
      "loss": 0.0705,
      "step": 8439
    },
    {
      "epoch": 1.8934260713484408,
      "gripper_loss": 0.2890625,
      "loss": 0.0201416015625,
      "pos_loss": 0.046142578125,
      "rot_loss": 0.0277099609375,
      "step": 8439
    },
    {
      "epoch": 1.8936504375140228,
      "grad_norm": 0.40564700961112976,
      "learning_rate": 0.000158125415986687,
      "loss": 0.0529,
      "step": 8440
    },
    {
      "epoch": 1.8936504375140228,
      "gripper_loss": 0.11962890625,
      "loss": 0.07177734375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.050048828125,
      "step": 8440
    },
    {
      "epoch": 1.8938748036796051,
      "grad_norm": 0.5289484858512878,
      "learning_rate": 0.00015806909673957736,
      "loss": 0.0576,
      "step": 8441
    },
    {
      "epoch": 1.8938748036796051,
      "gripper_loss": 0.00933837890625,
      "loss": 0.0634765625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.0654296875,
      "step": 8441
    },
    {
      "epoch": 1.8940991698451874,
      "grad_norm": 0.44539153575897217,
      "learning_rate": 0.0001580127828869316,
      "loss": 0.0628,
      "step": 8442
    },
    {
      "epoch": 1.8940991698451874,
      "gripper_loss": 0.87109375,
      "loss": 0.048583984375,
      "pos_loss": 0.171875,
      "rot_loss": 0.01422119140625,
      "step": 8442
    },
    {
      "epoch": 1.8943235360107695,
      "grad_norm": 0.3701370060443878,
      "learning_rate": 0.0001579564744320542,
      "loss": 0.0471,
      "step": 8443
    },
    {
      "epoch": 1.8943235360107695,
      "gripper_loss": 0.103515625,
      "loss": 0.0196533203125,
      "pos_loss": 0.06396484375,
      "rot_loss": 0.06640625,
      "step": 8443
    },
    {
      "epoch": 1.8945479021763518,
      "grad_norm": 0.5593688488006592,
      "learning_rate": 0.00015790017137824942,
      "loss": 0.0485,
      "step": 8444
    },
    {
      "epoch": 1.8945479021763518,
      "gripper_loss": 0.0311279296875,
      "loss": 0.0185546875,
      "pos_loss": 0.09033203125,
      "rot_loss": 0.0537109375,
      "step": 8444
    },
    {
      "epoch": 1.8947722683419341,
      "grad_norm": 0.48510846495628357,
      "learning_rate": 0.00015784387372882086,
      "loss": 0.0651,
      "step": 8445
    },
    {
      "epoch": 1.8947722683419341,
      "gripper_loss": 0.072265625,
      "loss": 0.041259765625,
      "pos_loss": 0.33203125,
      "rot_loss": 0.0361328125,
      "step": 8445
    },
    {
      "epoch": 1.8949966345075162,
      "grad_norm": 0.368109792470932,
      "learning_rate": 0.00015778758148707222,
      "loss": 0.0442,
      "step": 8446
    },
    {
      "epoch": 1.8949966345075162,
      "gripper_loss": 0.08984375,
      "loss": 0.01611328125,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.05126953125,
      "step": 8446
    },
    {
      "epoch": 1.8952210006730985,
      "grad_norm": 0.3403511345386505,
      "learning_rate": 0.00015773129465630664,
      "loss": 0.0479,
      "step": 8447
    },
    {
      "epoch": 1.8952210006730985,
      "gripper_loss": 0.455078125,
      "loss": 0.052490234375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.12060546875,
      "step": 8447
    },
    {
      "epoch": 1.8954453668386808,
      "grad_norm": 0.8353334069252014,
      "learning_rate": 0.0001576750132398271,
      "loss": 0.0797,
      "step": 8448
    },
    {
      "epoch": 1.8954453668386808,
      "gripper_loss": 0.41015625,
      "loss": 0.05029296875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.09228515625,
      "step": 8448
    },
    {
      "epoch": 1.895669733004263,
      "grad_norm": 0.43064969778060913,
      "learning_rate": 0.00015761873724093596,
      "loss": 0.0572,
      "step": 8449
    },
    {
      "epoch": 1.895669733004263,
      "gripper_loss": 0.01385498046875,
      "loss": 0.0234375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.0223388671875,
      "step": 8449
    },
    {
      "epoch": 1.8958940991698452,
      "grad_norm": 0.3659573793411255,
      "learning_rate": 0.00015756246666293568,
      "loss": 0.0302,
      "step": 8450
    },
    {
      "epoch": 1.8958940991698452,
      "gripper_loss": 0.0184326171875,
      "loss": 0.0615234375,
      "pos_loss": 0.41796875,
      "rot_loss": 0.1826171875,
      "step": 8450
    },
    {
      "epoch": 1.8961184653354275,
      "grad_norm": 0.46542853116989136,
      "learning_rate": 0.00015750620150912803,
      "loss": 0.0772,
      "step": 8451
    },
    {
      "epoch": 1.8961184653354275,
      "gripper_loss": 0.0069580078125,
      "loss": 0.039306640625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.0162353515625,
      "step": 8451
    },
    {
      "epoch": 1.8963428315010096,
      "grad_norm": 0.591352641582489,
      "learning_rate": 0.00015744994178281484,
      "loss": 0.0582,
      "step": 8452
    },
    {
      "epoch": 1.8963428315010096,
      "gripper_loss": 0.0098876953125,
      "loss": 0.091796875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.265625,
      "step": 8452
    },
    {
      "epoch": 1.8965671976665919,
      "grad_norm": 0.394343763589859,
      "learning_rate": 0.0001573936874872972,
      "loss": 0.0629,
      "step": 8453
    },
    {
      "epoch": 1.8965671976665919,
      "gripper_loss": 0.06494140625,
      "loss": 0.078125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.255859375,
      "step": 8453
    },
    {
      "epoch": 1.8967915638321742,
      "grad_norm": 0.39558541774749756,
      "learning_rate": 0.00015733743862587614,
      "loss": 0.0474,
      "step": 8454
    },
    {
      "epoch": 1.8967915638321742,
      "gripper_loss": 0.361328125,
      "loss": 0.02099609375,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.0162353515625,
      "step": 8454
    },
    {
      "epoch": 1.8970159299977563,
      "grad_norm": 0.35849878191947937,
      "learning_rate": 0.00015728119520185227,
      "loss": 0.0413,
      "step": 8455
    },
    {
      "epoch": 1.8970159299977563,
      "gripper_loss": 0.035400390625,
      "loss": 0.0257568359375,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.05615234375,
      "step": 8455
    },
    {
      "epoch": 1.8972402961633386,
      "grad_norm": 0.3270642161369324,
      "learning_rate": 0.00015722495721852604,
      "loss": 0.0417,
      "step": 8456
    },
    {
      "epoch": 1.8972402961633386,
      "gripper_loss": 0.0791015625,
      "loss": 0.01043701171875,
      "pos_loss": 0.046142578125,
      "rot_loss": 0.007720947265625,
      "step": 8456
    },
    {
      "epoch": 1.8974646623289209,
      "grad_norm": 0.33831119537353516,
      "learning_rate": 0.00015716872467919752,
      "loss": 0.0713,
      "step": 8457
    },
    {
      "epoch": 1.8974646623289209,
      "gripper_loss": 0.2490234375,
      "loss": 0.056640625,
      "pos_loss": 0.228515625,
      "rot_loss": 0.26171875,
      "step": 8457
    },
    {
      "epoch": 1.897689028494503,
      "grad_norm": 0.2383323609828949,
      "learning_rate": 0.00015711249758716626,
      "loss": 0.0448,
      "step": 8458
    },
    {
      "epoch": 1.897689028494503,
      "gripper_loss": 0.2138671875,
      "loss": 0.208984375,
      "pos_loss": 0.66796875,
      "rot_loss": 0.53125,
      "step": 8458
    },
    {
      "epoch": 1.8979133946600852,
      "grad_norm": 1.3149797916412354,
      "learning_rate": 0.00015705627594573163,
      "loss": 0.1641,
      "step": 8459
    },
    {
      "epoch": 1.8979133946600852,
      "gripper_loss": 0.36328125,
      "loss": 0.043701171875,
      "pos_loss": 0.13671875,
      "rot_loss": 0.119140625,
      "step": 8459
    },
    {
      "epoch": 1.8981377608256675,
      "grad_norm": 0.5016175508499146,
      "learning_rate": 0.00015700005975819275,
      "loss": 0.0504,
      "step": 8460
    },
    {
      "epoch": 1.8981377608256675,
      "gripper_loss": 0.142578125,
      "loss": 0.03466796875,
      "pos_loss": 0.026123046875,
      "rot_loss": 0.26171875,
      "step": 8460
    },
    {
      "epoch": 1.8983621269912496,
      "grad_norm": 0.36883145570755005,
      "learning_rate": 0.00015694384902784848,
      "loss": 0.0445,
      "step": 8461
    },
    {
      "epoch": 1.8983621269912496,
      "gripper_loss": 0.373046875,
      "loss": 0.0869140625,
      "pos_loss": 0.318359375,
      "rot_loss": 0.431640625,
      "step": 8461
    },
    {
      "epoch": 1.898586493156832,
      "grad_norm": 0.3755665719509125,
      "learning_rate": 0.00015688764375799703,
      "loss": 0.0672,
      "step": 8462
    },
    {
      "epoch": 1.898586493156832,
      "gripper_loss": 0.0106201171875,
      "loss": 0.07080078125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.125,
      "step": 8462
    },
    {
      "epoch": 1.8988108593224142,
      "grad_norm": 0.4439498782157898,
      "learning_rate": 0.0001568314439519366,
      "loss": 0.0531,
      "step": 8463
    },
    {
      "epoch": 1.8988108593224142,
      "gripper_loss": 0.032958984375,
      "loss": 0.01007080078125,
      "pos_loss": 0.0225830078125,
      "rot_loss": 0.037353515625,
      "step": 8463
    },
    {
      "epoch": 1.8990352254879963,
      "grad_norm": 0.31507498025894165,
      "learning_rate": 0.00015677524961296496,
      "loss": 0.0508,
      "step": 8464
    },
    {
      "epoch": 1.8990352254879963,
      "gripper_loss": 0.0771484375,
      "loss": 0.045166015625,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.166015625,
      "step": 8464
    },
    {
      "epoch": 1.8992595916535786,
      "grad_norm": 0.48473596572875977,
      "learning_rate": 0.0001567190607443797,
      "loss": 0.0829,
      "step": 8465
    },
    {
      "epoch": 1.8992595916535786,
      "gripper_loss": 0.0245361328125,
      "loss": 0.05419921875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.12890625,
      "step": 8465
    },
    {
      "epoch": 1.899483957819161,
      "grad_norm": 0.4336400628089905,
      "learning_rate": 0.00015666287734947764,
      "loss": 0.0432,
      "step": 8466
    },
    {
      "epoch": 1.899483957819161,
      "gripper_loss": 0.142578125,
      "loss": 0.05517578125,
      "pos_loss": 0.296875,
      "rot_loss": 0.18359375,
      "step": 8466
    },
    {
      "epoch": 1.899708323984743,
      "grad_norm": 0.42648574709892273,
      "learning_rate": 0.00015660669943155586,
      "loss": 0.069,
      "step": 8467
    },
    {
      "epoch": 1.899708323984743,
      "gripper_loss": 0.1396484375,
      "loss": 0.01123046875,
      "pos_loss": 0.01031494140625,
      "rot_loss": 0.028076171875,
      "step": 8467
    },
    {
      "epoch": 1.8999326901503253,
      "grad_norm": 0.31730392575263977,
      "learning_rate": 0.00015655052699391076,
      "loss": 0.0553,
      "step": 8468
    },
    {
      "epoch": 1.8999326901503253,
      "gripper_loss": 0.19921875,
      "loss": 0.265625,
      "pos_loss": 1.0078125,
      "rot_loss": 1.3828125,
      "step": 8468
    },
    {
      "epoch": 1.9001570563159076,
      "grad_norm": 0.8845508694648743,
      "learning_rate": 0.00015649436003983857,
      "loss": 0.1214,
      "step": 8469
    },
    {
      "epoch": 1.9001570563159076,
      "gripper_loss": 0.0458984375,
      "loss": 0.1025390625,
      "pos_loss": 0.6796875,
      "rot_loss": 0.27734375,
      "step": 8469
    },
    {
      "epoch": 1.9003814224814897,
      "grad_norm": 0.540032684803009,
      "learning_rate": 0.0001564381985726351,
      "loss": 0.0838,
      "step": 8470
    },
    {
      "epoch": 1.9003814224814897,
      "gripper_loss": 0.0186767578125,
      "loss": 0.02734375,
      "pos_loss": 0.18359375,
      "rot_loss": 0.055419921875,
      "step": 8470
    },
    {
      "epoch": 1.900605788647072,
      "grad_norm": 0.4719005823135376,
      "learning_rate": 0.0001563820425955959,
      "loss": 0.0516,
      "step": 8471
    },
    {
      "epoch": 1.900605788647072,
      "gripper_loss": 0.0078125,
      "loss": 0.12109375,
      "pos_loss": 1.1953125,
      "rot_loss": 0.047119140625,
      "step": 8471
    },
    {
      "epoch": 1.9008301548126543,
      "grad_norm": 0.48499372601509094,
      "learning_rate": 0.0001563258921120161,
      "loss": 0.0856,
      "step": 8472
    },
    {
      "epoch": 1.9008301548126543,
      "gripper_loss": 0.01953125,
      "loss": 0.0177001953125,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.0625,
      "step": 8472
    },
    {
      "epoch": 1.9010545209782364,
      "grad_norm": 0.5526424646377563,
      "learning_rate": 0.00015626974712519066,
      "loss": 0.0633,
      "step": 8473
    },
    {
      "epoch": 1.9010545209782364,
      "gripper_loss": 0.01422119140625,
      "loss": 0.01953125,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.0208740234375,
      "step": 8473
    },
    {
      "epoch": 1.9012788871438189,
      "grad_norm": 0.44044560194015503,
      "learning_rate": 0.0001562136076384142,
      "loss": 0.0683,
      "step": 8474
    },
    {
      "epoch": 1.9012788871438189,
      "gripper_loss": 2.703125,
      "loss": 0.10498046875,
      "pos_loss": 0.1142578125,
      "rot_loss": 0.04736328125,
      "step": 8474
    },
    {
      "epoch": 1.901503253309401,
      "grad_norm": 0.591766893863678,
      "learning_rate": 0.00015615747365498085,
      "loss": 0.0528,
      "step": 8475
    },
    {
      "epoch": 1.901503253309401,
      "gripper_loss": 0.03369140625,
      "loss": 0.06591796875,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.458984375,
      "step": 8475
    },
    {
      "epoch": 1.901727619474983,
      "grad_norm": 0.6250123381614685,
      "learning_rate": 0.00015610134517818455,
      "loss": 0.0803,
      "step": 8476
    },
    {
      "epoch": 1.901727619474983,
      "gripper_loss": 0.240234375,
      "loss": 0.0223388671875,
      "pos_loss": 0.06201171875,
      "rot_loss": 0.055908203125,
      "step": 8476
    },
    {
      "epoch": 1.9019519856405656,
      "grad_norm": 0.40700089931488037,
      "learning_rate": 0.0001560452222113189,
      "loss": 0.0509,
      "step": 8477
    },
    {
      "epoch": 1.9019519856405656,
      "gripper_loss": 0.0115966796875,
      "loss": 0.0089111328125,
      "pos_loss": 0.04345703125,
      "rot_loss": 0.01373291015625,
      "step": 8477
    },
    {
      "epoch": 1.9021763518061476,
      "grad_norm": 0.36074188351631165,
      "learning_rate": 0.00015598910475767724,
      "loss": 0.0436,
      "step": 8478
    },
    {
      "epoch": 1.9021763518061476,
      "gripper_loss": 0.390625,
      "loss": 0.017822265625,
      "pos_loss": 0.0203857421875,
      "rot_loss": 0.00982666015625,
      "step": 8478
    },
    {
      "epoch": 1.9024007179717297,
      "grad_norm": 0.33191800117492676,
      "learning_rate": 0.0001559329928205524,
      "loss": 0.0593,
      "step": 8479
    },
    {
      "epoch": 1.9024007179717297,
      "gripper_loss": 0.07861328125,
      "loss": 0.03125,
      "pos_loss": 0.142578125,
      "rot_loss": 0.07763671875,
      "step": 8479
    },
    {
      "epoch": 1.9026250841373122,
      "grad_norm": 0.671825110912323,
      "learning_rate": 0.00015587688640323705,
      "loss": 0.0805,
      "step": 8480
    },
    {
      "epoch": 1.9026250841373122,
      "gripper_loss": 0.0174560546875,
      "loss": 0.10107421875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.6328125,
      "step": 8480
    },
    {
      "epoch": 1.9028494503028943,
      "grad_norm": 0.6979144215583801,
      "learning_rate": 0.00015582078550902353,
      "loss": 0.0672,
      "step": 8481
    },
    {
      "epoch": 1.9028494503028943,
      "gripper_loss": 0.318359375,
      "loss": 0.0888671875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.5546875,
      "step": 8481
    },
    {
      "epoch": 1.9030738164684764,
      "grad_norm": 0.5974739789962769,
      "learning_rate": 0.0001557646901412038,
      "loss": 0.083,
      "step": 8482
    },
    {
      "epoch": 1.9030738164684764,
      "gripper_loss": 0.1611328125,
      "loss": 0.01611328125,
      "pos_loss": 0.05029296875,
      "rot_loss": 0.0240478515625,
      "step": 8482
    },
    {
      "epoch": 1.903298182634059,
      "grad_norm": 0.49090319871902466,
      "learning_rate": 0.0001557086003030695,
      "loss": 0.0836,
      "step": 8483
    },
    {
      "epoch": 1.903298182634059,
      "gripper_loss": 0.043701171875,
      "loss": 0.0196533203125,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.07177734375,
      "step": 8483
    },
    {
      "epoch": 1.903522548799641,
      "grad_norm": 0.4423412084579468,
      "learning_rate": 0.00015565251599791187,
      "loss": 0.054,
      "step": 8484
    },
    {
      "epoch": 1.903522548799641,
      "gripper_loss": 0.01409912109375,
      "loss": 0.0703125,
      "pos_loss": 0.421875,
      "rot_loss": 0.275390625,
      "step": 8484
    },
    {
      "epoch": 1.903746914965223,
      "grad_norm": 0.4762609899044037,
      "learning_rate": 0.000155596437229022,
      "loss": 0.0439,
      "step": 8485
    },
    {
      "epoch": 1.903746914965223,
      "gripper_loss": 0.451171875,
      "loss": 0.07470703125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.02001953125,
      "step": 8485
    },
    {
      "epoch": 1.9039712811308056,
      "grad_norm": 0.40224599838256836,
      "learning_rate": 0.00015554036399969062,
      "loss": 0.0525,
      "step": 8486
    },
    {
      "epoch": 1.9039712811308056,
      "gripper_loss": 0.01171875,
      "loss": 0.026123046875,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.0252685546875,
      "step": 8486
    },
    {
      "epoch": 1.9041956472963877,
      "grad_norm": 0.5460111498832703,
      "learning_rate": 0.00015548429631320805,
      "loss": 0.0566,
      "step": 8487
    },
    {
      "epoch": 1.9041956472963877,
      "gripper_loss": 0.0166015625,
      "loss": 0.01544189453125,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.0673828125,
      "step": 8487
    },
    {
      "epoch": 1.90442001346197,
      "grad_norm": 0.45336389541625977,
      "learning_rate": 0.00015542823417286425,
      "loss": 0.0704,
      "step": 8488
    },
    {
      "epoch": 1.90442001346197,
      "gripper_loss": 0.01171875,
      "loss": 0.05322265625,
      "pos_loss": 0.380859375,
      "rot_loss": 0.15234375,
      "step": 8488
    },
    {
      "epoch": 1.9046443796275523,
      "grad_norm": 0.29290771484375,
      "learning_rate": 0.00015537217758194893,
      "loss": 0.0456,
      "step": 8489
    },
    {
      "epoch": 1.9046443796275523,
      "gripper_loss": 0.05419921875,
      "loss": 0.0966796875,
      "pos_loss": 0.74609375,
      "rot_loss": 0.2001953125,
      "step": 8489
    },
    {
      "epoch": 1.9048687457931344,
      "grad_norm": 0.49696028232574463,
      "learning_rate": 0.00015531612654375149,
      "loss": 0.0585,
      "step": 8490
    },
    {
      "epoch": 1.9048687457931344,
      "gripper_loss": 0.267578125,
      "loss": 0.0228271484375,
      "pos_loss": 0.099609375,
      "rot_loss": 0.0164794921875,
      "step": 8490
    },
    {
      "epoch": 1.9050931119587167,
      "grad_norm": 0.2611086666584015,
      "learning_rate": 0.00015526008106156108,
      "loss": 0.0518,
      "step": 8491
    },
    {
      "epoch": 1.9050931119587167,
      "gripper_loss": 0.2333984375,
      "loss": 0.0177001953125,
      "pos_loss": 0.0400390625,
      "rot_loss": 0.04052734375,
      "step": 8491
    },
    {
      "epoch": 1.905317478124299,
      "grad_norm": 0.34007883071899414,
      "learning_rate": 0.00015520404113866622,
      "loss": 0.0599,
      "step": 8492
    },
    {
      "epoch": 1.905317478124299,
      "gripper_loss": 0.486328125,
      "loss": 0.333984375,
      "pos_loss": 0.62890625,
      "rot_loss": 0.375,
      "step": 8492
    },
    {
      "epoch": 1.905541844289881,
      "grad_norm": 1.6546134948730469,
      "learning_rate": 0.00015514800677835546,
      "loss": 0.3796,
      "step": 8493
    },
    {
      "epoch": 1.905541844289881,
      "gripper_loss": 0.021484375,
      "loss": 0.1044921875,
      "pos_loss": 0.7734375,
      "rot_loss": 0.298828125,
      "step": 8493
    },
    {
      "epoch": 1.9057662104554633,
      "grad_norm": 0.3399335443973541,
      "learning_rate": 0.0001550919779839168,
      "loss": 0.0571,
      "step": 8494
    },
    {
      "epoch": 1.9057662104554633,
      "gripper_loss": 0.0308837890625,
      "loss": 0.040771484375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.048583984375,
      "step": 8494
    },
    {
      "epoch": 1.9059905766210457,
      "grad_norm": 0.3577268421649933,
      "learning_rate": 0.0001550359547586381,
      "loss": 0.0561,
      "step": 8495
    },
    {
      "epoch": 1.9059905766210457,
      "gripper_loss": 0.00836181640625,
      "loss": 0.1005859375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.0228271484375,
      "step": 8495
    },
    {
      "epoch": 1.9062149427866277,
      "grad_norm": 0.4761993885040283,
      "learning_rate": 0.0001549799371058066,
      "loss": 0.0769,
      "step": 8496
    },
    {
      "epoch": 1.9062149427866277,
      "gripper_loss": 0.01031494140625,
      "loss": 0.076171875,
      "pos_loss": 0.45703125,
      "rot_loss": 0.31640625,
      "step": 8496
    },
    {
      "epoch": 1.90643930895221,
      "grad_norm": 0.37860938906669617,
      "learning_rate": 0.00015492392502870945,
      "loss": 0.0548,
      "step": 8497
    },
    {
      "epoch": 1.90643930895221,
      "gripper_loss": 0.00506591796875,
      "loss": 0.038330078125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.0177001953125,
      "step": 8497
    },
    {
      "epoch": 1.9066636751177923,
      "grad_norm": 0.3377079665660858,
      "learning_rate": 0.0001548679185306335,
      "loss": 0.0447,
      "step": 8498
    },
    {
      "epoch": 1.9066636751177923,
      "gripper_loss": 0.021728515625,
      "loss": 0.0235595703125,
      "pos_loss": 0.16796875,
      "rot_loss": 0.04052734375,
      "step": 8498
    },
    {
      "epoch": 1.9068880412833744,
      "grad_norm": 0.3956352174282074,
      "learning_rate": 0.0001548119176148651,
      "loss": 0.0561,
      "step": 8499
    },
    {
      "epoch": 1.9068880412833744,
      "gripper_loss": 0.0169677734375,
      "loss": 0.03125,
      "pos_loss": 0.13671875,
      "rot_loss": 0.1572265625,
      "step": 8499
    },
    {
      "epoch": 1.9071124074489567,
      "grad_norm": 0.3133544921875,
      "learning_rate": 0.00015475592228469048,
      "loss": 0.0518,
      "step": 8500
    },
    {
      "epoch": 1.9071124074489567,
      "gripper_loss": 0.0732421875,
      "loss": 0.0289306640625,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.064453125,
      "step": 8500
    },
    {
      "epoch": 1.907336773614539,
      "grad_norm": 0.32348349690437317,
      "learning_rate": 0.0001546999325433952,
      "loss": 0.0508,
      "step": 8501
    },
    {
      "epoch": 1.907336773614539,
      "gripper_loss": 0.0177001953125,
      "loss": 0.0284423828125,
      "pos_loss": 0.224609375,
      "rot_loss": 0.0303955078125,
      "step": 8501
    },
    {
      "epoch": 1.907561139780121,
      "grad_norm": 0.37771135568618774,
      "learning_rate": 0.00015464394839426489,
      "loss": 0.057,
      "step": 8502
    },
    {
      "epoch": 1.907561139780121,
      "gripper_loss": 0.65234375,
      "loss": 0.11767578125,
      "pos_loss": 0.82421875,
      "rot_loss": 0.1748046875,
      "step": 8502
    },
    {
      "epoch": 1.9077855059457034,
      "grad_norm": 0.2617432177066803,
      "learning_rate": 0.00015458796984058458,
      "loss": 0.0628,
      "step": 8503
    },
    {
      "epoch": 1.9077855059457034,
      "gripper_loss": 0.1357421875,
      "loss": 0.07080078125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.310546875,
      "step": 8503
    },
    {
      "epoch": 1.9080098721112857,
      "grad_norm": 0.707062304019928,
      "learning_rate": 0.00015453199688563924,
      "loss": 0.0643,
      "step": 8504
    },
    {
      "epoch": 1.9080098721112857,
      "gripper_loss": 0.29296875,
      "loss": 0.0419921875,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.10205078125,
      "step": 8504
    },
    {
      "epoch": 1.9082342382768678,
      "grad_norm": 0.2196093052625656,
      "learning_rate": 0.00015447602953271312,
      "loss": 0.0355,
      "step": 8505
    },
    {
      "epoch": 1.9082342382768678,
      "gripper_loss": 2.484375,
      "loss": 0.162109375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.5703125,
      "step": 8505
    },
    {
      "epoch": 1.90845860444245,
      "grad_norm": 0.43347036838531494,
      "learning_rate": 0.00015442006778509042,
      "loss": 0.0568,
      "step": 8506
    },
    {
      "epoch": 1.90845860444245,
      "gripper_loss": 1.8984375,
      "loss": 0.06787109375,
      "pos_loss": 0.0284423828125,
      "rot_loss": 0.031982421875,
      "step": 8506
    },
    {
      "epoch": 1.9086829706080324,
      "grad_norm": 0.38233375549316406,
      "learning_rate": 0.00015436411164605496,
      "loss": 0.0633,
      "step": 8507
    },
    {
      "epoch": 1.9086829706080324,
      "gripper_loss": 0.060791015625,
      "loss": 0.03466796875,
      "pos_loss": 0.275390625,
      "rot_loss": 0.037353515625,
      "step": 8507
    },
    {
      "epoch": 1.9089073367736145,
      "grad_norm": 0.2815927267074585,
      "learning_rate": 0.00015430816111889037,
      "loss": 0.0432,
      "step": 8508
    },
    {
      "epoch": 1.9089073367736145,
      "gripper_loss": 0.01251220703125,
      "loss": 0.047607421875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.062255859375,
      "step": 8508
    },
    {
      "epoch": 1.9091317029391968,
      "grad_norm": 0.40430667996406555,
      "learning_rate": 0.00015425221620687956,
      "loss": 0.0613,
      "step": 8509
    },
    {
      "epoch": 1.9091317029391968,
      "gripper_loss": 0.0201416015625,
      "loss": 0.05419921875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.125,
      "step": 8509
    },
    {
      "epoch": 1.909356069104779,
      "grad_norm": 0.4678634703159332,
      "learning_rate": 0.00015419627691330546,
      "loss": 0.0624,
      "step": 8510
    },
    {
      "epoch": 1.909356069104779,
      "gripper_loss": 0.01080322265625,
      "loss": 0.130859375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.349609375,
      "step": 8510
    },
    {
      "epoch": 1.9095804352703611,
      "grad_norm": 0.355652779340744,
      "learning_rate": 0.0001541403432414506,
      "loss": 0.0706,
      "step": 8511
    },
    {
      "epoch": 1.9095804352703611,
      "gripper_loss": 0.142578125,
      "loss": 0.049560546875,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.314453125,
      "step": 8511
    },
    {
      "epoch": 1.9098048014359434,
      "grad_norm": 0.5807403326034546,
      "learning_rate": 0.0001540844151945972,
      "loss": 0.0785,
      "step": 8512
    },
    {
      "epoch": 1.9098048014359434,
      "gripper_loss": 0.515625,
      "loss": 0.11669921875,
      "pos_loss": 0.71875,
      "rot_loss": 0.322265625,
      "step": 8512
    },
    {
      "epoch": 1.9100291676015257,
      "grad_norm": 0.4462306499481201,
      "learning_rate": 0.00015402849277602686,
      "loss": 0.0892,
      "step": 8513
    },
    {
      "epoch": 1.9100291676015257,
      "gripper_loss": 0.007568359375,
      "loss": 0.038818359375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.0478515625,
      "step": 8513
    },
    {
      "epoch": 1.9102535337671078,
      "grad_norm": 0.2781648635864258,
      "learning_rate": 0.00015397257598902123,
      "loss": 0.0541,
      "step": 8514
    },
    {
      "epoch": 1.9102535337671078,
      "gripper_loss": 0.494140625,
      "loss": 0.07958984375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.197265625,
      "step": 8514
    },
    {
      "epoch": 1.9104778999326901,
      "grad_norm": 0.3780193030834198,
      "learning_rate": 0.00015391666483686146,
      "loss": 0.0747,
      "step": 8515
    },
    {
      "epoch": 1.9104778999326901,
      "gripper_loss": 0.024169921875,
      "loss": 0.040283203125,
      "pos_loss": 0.1875,
      "rot_loss": 0.185546875,
      "step": 8515
    },
    {
      "epoch": 1.9107022660982724,
      "grad_norm": 0.38306158781051636,
      "learning_rate": 0.0001538607593228285,
      "loss": 0.0436,
      "step": 8516
    },
    {
      "epoch": 1.9107022660982724,
      "gripper_loss": 1.453125,
      "loss": 0.060791015625,
      "pos_loss": 0.115234375,
      "rot_loss": 0.025634765625,
      "step": 8516
    },
    {
      "epoch": 1.9109266322638545,
      "grad_norm": 0.542244017124176,
      "learning_rate": 0.00015380485945020272,
      "loss": 0.0581,
      "step": 8517
    },
    {
      "epoch": 1.9109266322638545,
      "gripper_loss": 0.08935546875,
      "loss": 0.07275390625,
      "pos_loss": 0.67578125,
      "rot_loss": 0.039794921875,
      "step": 8517
    },
    {
      "epoch": 1.9111509984294368,
      "grad_norm": 0.27879682183265686,
      "learning_rate": 0.00015374896522226436,
      "loss": 0.0714,
      "step": 8518
    },
    {
      "epoch": 1.9111509984294368,
      "gripper_loss": 0.0130615234375,
      "loss": 0.1484375,
      "pos_loss": 1.4609375,
      "rot_loss": 0.0947265625,
      "step": 8518
    },
    {
      "epoch": 1.911375364595019,
      "grad_norm": 0.3940713107585907,
      "learning_rate": 0.0001536930766422932,
      "loss": 0.0712,
      "step": 8519
    },
    {
      "epoch": 1.911375364595019,
      "gripper_loss": 0.392578125,
      "loss": 0.05078125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.125,
      "step": 8519
    },
    {
      "epoch": 1.9115997307606012,
      "grad_norm": 0.4604025185108185,
      "learning_rate": 0.00015363719371356882,
      "loss": 0.0594,
      "step": 8520
    },
    {
      "epoch": 1.9115997307606012,
      "gripper_loss": 0.5625,
      "loss": 0.060791015625,
      "pos_loss": 0.353515625,
      "rot_loss": 0.076171875,
      "step": 8520
    },
    {
      "epoch": 1.9118240969261835,
      "grad_norm": 0.6308923959732056,
      "learning_rate": 0.0001535813164393705,
      "loss": 0.0901,
      "step": 8521
    },
    {
      "epoch": 1.9118240969261835,
      "gripper_loss": 0.060546875,
      "loss": 0.021484375,
      "pos_loss": 0.09228515625,
      "rot_loss": 0.0771484375,
      "step": 8521
    },
    {
      "epoch": 1.9120484630917658,
      "grad_norm": 0.2870528995990753,
      "learning_rate": 0.00015352544482297688,
      "loss": 0.0557,
      "step": 8522
    },
    {
      "epoch": 1.9120484630917658,
      "gripper_loss": 0.03759765625,
      "loss": 0.07568359375,
      "pos_loss": 0.36328125,
      "rot_loss": 0.375,
      "step": 8522
    },
    {
      "epoch": 1.9122728292573479,
      "grad_norm": 0.2832013964653015,
      "learning_rate": 0.0001534695788676666,
      "loss": 0.0405,
      "step": 8523
    },
    {
      "epoch": 1.9122728292573479,
      "gripper_loss": 0.279296875,
      "loss": 0.12109375,
      "pos_loss": 1.078125,
      "rot_loss": 0.09130859375,
      "step": 8523
    },
    {
      "epoch": 1.9124971954229302,
      "grad_norm": 0.48704615235328674,
      "learning_rate": 0.00015341371857671783,
      "loss": 0.0756,
      "step": 8524
    },
    {
      "epoch": 1.9124971954229302,
      "gripper_loss": 0.26953125,
      "loss": 0.0181884765625,
      "pos_loss": 0.017822265625,
      "rot_loss": 0.059326171875,
      "step": 8524
    },
    {
      "epoch": 1.9127215615885125,
      "grad_norm": 0.48939523100852966,
      "learning_rate": 0.00015335786395340853,
      "loss": 0.059,
      "step": 8525
    },
    {
      "epoch": 1.9127215615885125,
      "gripper_loss": 0.01116943359375,
      "loss": 0.0625,
      "pos_loss": 0.373046875,
      "rot_loss": 0.265625,
      "step": 8525
    },
    {
      "epoch": 1.9129459277540946,
      "grad_norm": 0.31450068950653076,
      "learning_rate": 0.00015330201500101604,
      "loss": 0.0604,
      "step": 8526
    },
    {
      "epoch": 1.9129459277540946,
      "gripper_loss": 0.1279296875,
      "loss": 0.08056640625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.162109375,
      "step": 8526
    },
    {
      "epoch": 1.913170293919677,
      "grad_norm": 0.30523058772087097,
      "learning_rate": 0.00015324617172281764,
      "loss": 0.0611,
      "step": 8527
    },
    {
      "epoch": 1.913170293919677,
      "gripper_loss": 0.022705078125,
      "loss": 0.1025390625,
      "pos_loss": 0.9765625,
      "rot_loss": 0.0810546875,
      "step": 8527
    },
    {
      "epoch": 1.9133946600852592,
      "grad_norm": 0.35036957263946533,
      "learning_rate": 0.00015319033412209023,
      "loss": 0.0651,
      "step": 8528
    },
    {
      "epoch": 1.9133946600852592,
      "gripper_loss": 0.00921630859375,
      "loss": 0.08154296875,
      "pos_loss": 0.3828125,
      "rot_loss": 0.44921875,
      "step": 8528
    },
    {
      "epoch": 1.9136190262508412,
      "grad_norm": 0.6199723482131958,
      "learning_rate": 0.00015313450220211022,
      "loss": 0.0768,
      "step": 8529
    },
    {
      "epoch": 1.9136190262508412,
      "gripper_loss": 0.1337890625,
      "loss": 0.04345703125,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.1826171875,
      "step": 8529
    },
    {
      "epoch": 1.9138433924164238,
      "grad_norm": 0.3123137056827545,
      "learning_rate": 0.000153078675966154,
      "loss": 0.05,
      "step": 8530
    },
    {
      "epoch": 1.9138433924164238,
      "gripper_loss": 0.0634765625,
      "loss": 0.091796875,
      "pos_loss": 0.87109375,
      "rot_loss": 0.058349609375,
      "step": 8530
    },
    {
      "epoch": 1.9140677585820058,
      "grad_norm": 0.30816999077796936,
      "learning_rate": 0.00015302285541749717,
      "loss": 0.0424,
      "step": 8531
    },
    {
      "epoch": 1.9140677585820058,
      "gripper_loss": 0.10009765625,
      "loss": 0.0517578125,
      "pos_loss": 0.244140625,
      "rot_loss": 0.1884765625,
      "step": 8531
    },
    {
      "epoch": 1.914292124747588,
      "grad_norm": 0.4406832754611969,
      "learning_rate": 0.0001529670405594154,
      "loss": 0.0764,
      "step": 8532
    },
    {
      "epoch": 1.914292124747588,
      "gripper_loss": 0.080078125,
      "loss": 0.0296630859375,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.1435546875,
      "step": 8532
    },
    {
      "epoch": 1.9145164909131704,
      "grad_norm": 0.3448772430419922,
      "learning_rate": 0.00015291123139518395,
      "loss": 0.0458,
      "step": 8533
    },
    {
      "epoch": 1.9145164909131704,
      "gripper_loss": 0.134765625,
      "loss": 0.042236328125,
      "pos_loss": 0.3125,
      "rot_loss": 0.06396484375,
      "step": 8533
    },
    {
      "epoch": 1.9147408570787525,
      "grad_norm": 0.3673514425754547,
      "learning_rate": 0.00015285542792807758,
      "loss": 0.0564,
      "step": 8534
    },
    {
      "epoch": 1.9147408570787525,
      "gripper_loss": 0.00933837890625,
      "loss": 0.017333984375,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.0128173828125,
      "step": 8534
    },
    {
      "epoch": 1.9149652232443346,
      "grad_norm": 0.4515957534313202,
      "learning_rate": 0.00015279963016137082,
      "loss": 0.0494,
      "step": 8535
    },
    {
      "epoch": 1.9149652232443346,
      "gripper_loss": 0.365234375,
      "loss": 0.0390625,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.07373046875,
      "step": 8535
    },
    {
      "epoch": 1.9151895894099171,
      "grad_norm": 0.38600990176200867,
      "learning_rate": 0.00015274383809833782,
      "loss": 0.0667,
      "step": 8536
    },
    {
      "epoch": 1.9151895894099171,
      "gripper_loss": 0.01483154296875,
      "loss": 0.09033203125,
      "pos_loss": 0.71875,
      "rot_loss": 0.208984375,
      "step": 8536
    },
    {
      "epoch": 1.9154139555754992,
      "grad_norm": 0.2964000999927521,
      "learning_rate": 0.00015268805174225246,
      "loss": 0.0444,
      "step": 8537
    },
    {
      "epoch": 1.9154139555754992,
      "gripper_loss": 0.08056640625,
      "loss": 0.00970458984375,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.01397705078125,
      "step": 8537
    },
    {
      "epoch": 1.9156383217410813,
      "grad_norm": 0.25442537665367126,
      "learning_rate": 0.00015263227109638843,
      "loss": 0.042,
      "step": 8538
    },
    {
      "epoch": 1.9156383217410813,
      "gripper_loss": 0.051025390625,
      "loss": 0.010986328125,
      "pos_loss": 0.029296875,
      "rot_loss": 0.044189453125,
      "step": 8538
    },
    {
      "epoch": 1.9158626879066638,
      "grad_norm": 0.33669352531433105,
      "learning_rate": 0.00015257649616401864,
      "loss": 0.0504,
      "step": 8539
    },
    {
      "epoch": 1.9158626879066638,
      "gripper_loss": 0.034912109375,
      "loss": 0.09765625,
      "pos_loss": 0.71875,
      "rot_loss": 0.255859375,
      "step": 8539
    },
    {
      "epoch": 1.9160870540722459,
      "grad_norm": 0.38057589530944824,
      "learning_rate": 0.00015252072694841608,
      "loss": 0.0661,
      "step": 8540
    },
    {
      "epoch": 1.9160870540722459,
      "gripper_loss": 0.0267333984375,
      "loss": 0.0908203125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.3125,
      "step": 8540
    },
    {
      "epoch": 1.9163114202378282,
      "grad_norm": 0.5057911276817322,
      "learning_rate": 0.00015246496345285322,
      "loss": 0.0749,
      "step": 8541
    },
    {
      "epoch": 1.9163114202378282,
      "gripper_loss": 0.86328125,
      "loss": 0.052978515625,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.0255126953125,
      "step": 8541
    },
    {
      "epoch": 1.9165357864034105,
      "grad_norm": 0.2977270483970642,
      "learning_rate": 0.00015240920568060232,
      "loss": 0.061,
      "step": 8542
    },
    {
      "epoch": 1.9165357864034105,
      "gripper_loss": 0.0081787109375,
      "loss": 0.02392578125,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.036376953125,
      "step": 8542
    },
    {
      "epoch": 1.9167601525689926,
      "grad_norm": 0.45567548274993896,
      "learning_rate": 0.00015235345363493507,
      "loss": 0.0716,
      "step": 8543
    },
    {
      "epoch": 1.9167601525689926,
      "gripper_loss": 0.1591796875,
      "loss": 0.0146484375,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.02783203125,
      "step": 8543
    },
    {
      "epoch": 1.9169845187345749,
      "grad_norm": 0.29020169377326965,
      "learning_rate": 0.00015229770731912308,
      "loss": 0.0455,
      "step": 8544
    },
    {
      "epoch": 1.9169845187345749,
      "gripper_loss": 0.061767578125,
      "loss": 0.017333984375,
      "pos_loss": 0.036376953125,
      "rot_loss": 0.1025390625,
      "step": 8544
    },
    {
      "epoch": 1.9172088849001572,
      "grad_norm": 0.31886541843414307,
      "learning_rate": 0.00015224196673643747,
      "loss": 0.0534,
      "step": 8545
    },
    {
      "epoch": 1.9172088849001572,
      "gripper_loss": 0.5703125,
      "loss": 0.0242919921875,
      "pos_loss": 0.00799560546875,
      "rot_loss": 0.03759765625,
      "step": 8545
    },
    {
      "epoch": 1.9174332510657393,
      "grad_norm": 0.3879960775375366,
      "learning_rate": 0.00015218623189014918,
      "loss": 0.058,
      "step": 8546
    },
    {
      "epoch": 1.9174332510657393,
      "gripper_loss": 0.216796875,
      "loss": 0.0302734375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.046142578125,
      "step": 8546
    },
    {
      "epoch": 1.9176576172313216,
      "grad_norm": 0.33489465713500977,
      "learning_rate": 0.0001521305027835287,
      "loss": 0.0734,
      "step": 8547
    },
    {
      "epoch": 1.9176576172313216,
      "gripper_loss": 0.00909423828125,
      "loss": 0.026611328125,
      "pos_loss": 0.1875,
      "rot_loss": 0.05810546875,
      "step": 8547
    },
    {
      "epoch": 1.9178819833969039,
      "grad_norm": 0.24706901609897614,
      "learning_rate": 0.000152074779419846,
      "loss": 0.0428,
      "step": 8548
    },
    {
      "epoch": 1.9178819833969039,
      "gripper_loss": 0.03271484375,
      "loss": 0.0203857421875,
      "pos_loss": 0.138671875,
      "rot_loss": 0.033447265625,
      "step": 8548
    },
    {
      "epoch": 1.918106349562486,
      "grad_norm": 0.3650789260864258,
      "learning_rate": 0.00015201906180237098,
      "loss": 0.0503,
      "step": 8549
    },
    {
      "epoch": 1.918106349562486,
      "gripper_loss": 0.08935546875,
      "loss": 0.04345703125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.08642578125,
      "step": 8549
    },
    {
      "epoch": 1.9183307157280682,
      "grad_norm": 0.49338865280151367,
      "learning_rate": 0.00015196334993437322,
      "loss": 0.0589,
      "step": 8550
    },
    {
      "epoch": 1.9183307157280682,
      "gripper_loss": 0.0986328125,
      "loss": 0.06982421875,
      "pos_loss": 0.61328125,
      "rot_loss": 0.06298828125,
      "step": 8550
    },
    {
      "epoch": 1.9185550818936505,
      "grad_norm": 0.39474767446517944,
      "learning_rate": 0.00015190764381912186,
      "loss": 0.0549,
      "step": 8551
    },
    {
      "epoch": 1.9185550818936505,
      "gripper_loss": 0.01080322265625,
      "loss": 0.01251220703125,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.0250244140625,
      "step": 8551
    },
    {
      "epoch": 1.9187794480592326,
      "grad_norm": 0.21726976335048676,
      "learning_rate": 0.00015185194345988562,
      "loss": 0.0285,
      "step": 8552
    },
    {
      "epoch": 1.9187794480592326,
      "gripper_loss": 0.1826171875,
      "loss": 0.044189453125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.0198974609375,
      "step": 8552
    },
    {
      "epoch": 1.919003814224815,
      "grad_norm": 0.3596203923225403,
      "learning_rate": 0.000151796248859933,
      "loss": 0.0454,
      "step": 8553
    },
    {
      "epoch": 1.919003814224815,
      "gripper_loss": 0.203125,
      "loss": 0.036865234375,
      "pos_loss": 0.08984375,
      "rot_loss": 0.19921875,
      "step": 8553
    },
    {
      "epoch": 1.9192281803903972,
      "grad_norm": 0.32148802280426025,
      "learning_rate": 0.00015174056002253215,
      "loss": 0.0472,
      "step": 8554
    },
    {
      "epoch": 1.9192281803903972,
      "gripper_loss": 0.00836181640625,
      "loss": 0.09619140625,
      "pos_loss": 0.734375,
      "rot_loss": 0.25390625,
      "step": 8554
    },
    {
      "epoch": 1.9194525465559793,
      "grad_norm": 0.6686570048332214,
      "learning_rate": 0.00015168487695095092,
      "loss": 0.0979,
      "step": 8555
    },
    {
      "epoch": 1.9194525465559793,
      "gripper_loss": 0.1669921875,
      "loss": 0.08203125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.462890625,
      "step": 8555
    },
    {
      "epoch": 1.9196769127215616,
      "grad_norm": 2.9278128147125244,
      "learning_rate": 0.00015162919964845664,
      "loss": 0.0791,
      "step": 8556
    },
    {
      "epoch": 1.9196769127215616,
      "gripper_loss": 0.5703125,
      "loss": 0.027587890625,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.01123046875,
      "step": 8556
    },
    {
      "epoch": 1.919901278887144,
      "grad_norm": 0.3497197926044464,
      "learning_rate": 0.00015157352811831647,
      "loss": 0.0699,
      "step": 8557
    },
    {
      "epoch": 1.919901278887144,
      "gripper_loss": 0.00946044921875,
      "loss": 0.046142578125,
      "pos_loss": 0.40625,
      "rot_loss": 0.052734375,
      "step": 8557
    },
    {
      "epoch": 1.920125645052726,
      "grad_norm": 0.6840819716453552,
      "learning_rate": 0.00015151786236379733,
      "loss": 0.0945,
      "step": 8558
    },
    {
      "epoch": 1.920125645052726,
      "gripper_loss": 0.1904296875,
      "loss": 0.01165771484375,
      "pos_loss": 0.0252685546875,
      "rot_loss": 0.00848388671875,
      "step": 8558
    },
    {
      "epoch": 1.9203500112183083,
      "grad_norm": 1.2038800716400146,
      "learning_rate": 0.00015146220238816544,
      "loss": 0.0736,
      "step": 8559
    },
    {
      "epoch": 1.9203500112183083,
      "gripper_loss": 0.9609375,
      "loss": 0.0341796875,
      "pos_loss": 0.01007080078125,
      "rot_loss": 0.007110595703125,
      "step": 8559
    },
    {
      "epoch": 1.9205743773838906,
      "grad_norm": 0.35292157530784607,
      "learning_rate": 0.00015140654819468713,
      "loss": 0.0519,
      "step": 8560
    },
    {
      "epoch": 1.9205743773838906,
      "gripper_loss": 0.341796875,
      "loss": 0.017578125,
      "pos_loss": 0.025634765625,
      "rot_loss": 0.0198974609375,
      "step": 8560
    },
    {
      "epoch": 1.9207987435494727,
      "grad_norm": 0.34724506735801697,
      "learning_rate": 0.00015135089978662798,
      "loss": 0.0532,
      "step": 8561
    },
    {
      "epoch": 1.9207987435494727,
      "gripper_loss": 0.52734375,
      "loss": 0.1435546875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.365234375,
      "step": 8561
    },
    {
      "epoch": 1.921023109715055,
      "grad_norm": 1.08390474319458,
      "learning_rate": 0.00015129525716725342,
      "loss": 0.1267,
      "step": 8562
    },
    {
      "epoch": 1.921023109715055,
      "gripper_loss": 0.06884765625,
      "loss": 0.06494140625,
      "pos_loss": 0.44921875,
      "rot_loss": 0.1640625,
      "step": 8562
    },
    {
      "epoch": 1.9212474758806373,
      "grad_norm": 0.35601186752319336,
      "learning_rate": 0.0001512396203398287,
      "loss": 0.0626,
      "step": 8563
    },
    {
      "epoch": 1.9212474758806373,
      "gripper_loss": 0.66015625,
      "loss": 0.03369140625,
      "pos_loss": 0.0286865234375,
      "rot_loss": 0.0849609375,
      "step": 8563
    },
    {
      "epoch": 1.9214718420462193,
      "grad_norm": 0.7760363817214966,
      "learning_rate": 0.0001511839893076184,
      "loss": 0.0713,
      "step": 8564
    },
    {
      "epoch": 1.9214718420462193,
      "gripper_loss": 0.027099609375,
      "loss": 0.1103515625,
      "pos_loss": 1.0234375,
      "rot_loss": 0.1064453125,
      "step": 8564
    },
    {
      "epoch": 1.9216962082118016,
      "grad_norm": 0.35351353883743286,
      "learning_rate": 0.00015112836407388703,
      "loss": 0.0492,
      "step": 8565
    },
    {
      "epoch": 1.9216962082118016,
      "gripper_loss": 0.134765625,
      "loss": 0.046630859375,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.17578125,
      "step": 8565
    },
    {
      "epoch": 1.921920574377384,
      "grad_norm": 0.4182591140270233,
      "learning_rate": 0.00015107274464189852,
      "loss": 0.0596,
      "step": 8566
    },
    {
      "epoch": 1.921920574377384,
      "gripper_loss": 0.0908203125,
      "loss": 0.0771484375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.2080078125,
      "step": 8566
    },
    {
      "epoch": 1.922144940542966,
      "grad_norm": 0.7566494345664978,
      "learning_rate": 0.0001510171310149167,
      "loss": 0.0862,
      "step": 8567
    },
    {
      "epoch": 1.922144940542966,
      "gripper_loss": 0.029541015625,
      "loss": 0.0244140625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.047607421875,
      "step": 8567
    },
    {
      "epoch": 1.9223693067085483,
      "grad_norm": 0.5788151025772095,
      "learning_rate": 0.00015096152319620505,
      "loss": 0.0619,
      "step": 8568
    },
    {
      "epoch": 1.9223693067085483,
      "gripper_loss": 0.03564453125,
      "loss": 0.0245361328125,
      "pos_loss": 0.134765625,
      "rot_loss": 0.08740234375,
      "step": 8568
    },
    {
      "epoch": 1.9225936728741306,
      "grad_norm": 1.2933876514434814,
      "learning_rate": 0.00015090592118902635,
      "loss": 0.1008,
      "step": 8569
    },
    {
      "epoch": 1.9225936728741306,
      "gripper_loss": 0.01385498046875,
      "loss": 0.047119140625,
      "pos_loss": 0.447265625,
      "rot_loss": 0.0203857421875,
      "step": 8569
    },
    {
      "epoch": 1.9228180390397127,
      "grad_norm": 0.4855284094810486,
      "learning_rate": 0.0001508503249966435,
      "loss": 0.0617,
      "step": 8570
    },
    {
      "epoch": 1.9228180390397127,
      "gripper_loss": 0.06689453125,
      "loss": 0.05322265625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.1455078125,
      "step": 8570
    },
    {
      "epoch": 1.923042405205295,
      "grad_norm": 0.43591922521591187,
      "learning_rate": 0.00015079473462231878,
      "loss": 0.0516,
      "step": 8571
    },
    {
      "epoch": 1.923042405205295,
      "gripper_loss": 0.6171875,
      "loss": 0.05712890625,
      "pos_loss": 0.158203125,
      "rot_loss": 0.20703125,
      "step": 8571
    },
    {
      "epoch": 1.9232667713708773,
      "grad_norm": 0.5350510478019714,
      "learning_rate": 0.00015073915006931428,
      "loss": 0.0628,
      "step": 8572
    },
    {
      "epoch": 1.9232667713708773,
      "gripper_loss": 0.05419921875,
      "loss": 0.052001953125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.0693359375,
      "step": 8572
    },
    {
      "epoch": 1.9234911375364594,
      "grad_norm": 0.37960076332092285,
      "learning_rate": 0.00015068357134089157,
      "loss": 0.0643,
      "step": 8573
    },
    {
      "epoch": 1.9234911375364594,
      "gripper_loss": 0.08984375,
      "loss": 0.2109375,
      "pos_loss": 0.65625,
      "rot_loss": 0.58984375,
      "step": 8573
    },
    {
      "epoch": 1.9237155037020417,
      "grad_norm": 1.4084683656692505,
      "learning_rate": 0.00015062799844031206,
      "loss": 0.2151,
      "step": 8574
    },
    {
      "epoch": 1.9237155037020417,
      "gripper_loss": 0.01318359375,
      "loss": 0.0732421875,
      "pos_loss": 0.609375,
      "rot_loss": 0.1318359375,
      "step": 8574
    },
    {
      "epoch": 1.923939869867624,
      "grad_norm": 0.29814112186431885,
      "learning_rate": 0.0001505724313708367,
      "loss": 0.0544,
      "step": 8575
    },
    {
      "epoch": 1.923939869867624,
      "gripper_loss": 0.142578125,
      "loss": 0.1708984375,
      "pos_loss": 1.1640625,
      "rot_loss": 0.263671875,
      "step": 8575
    },
    {
      "epoch": 1.924164236033206,
      "grad_norm": 0.671148419380188,
      "learning_rate": 0.00015051687013572617,
      "loss": 0.0963,
      "step": 8576
    },
    {
      "epoch": 1.924164236033206,
      "gripper_loss": 0.15625,
      "loss": 0.0517578125,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.298828125,
      "step": 8576
    },
    {
      "epoch": 1.9243886021987884,
      "grad_norm": 0.3854480981826782,
      "learning_rate": 0.00015046131473824088,
      "loss": 0.0623,
      "step": 8577
    },
    {
      "epoch": 1.9243886021987884,
      "gripper_loss": 0.016845703125,
      "loss": 0.048583984375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.1455078125,
      "step": 8577
    },
    {
      "epoch": 1.9246129683643707,
      "grad_norm": 0.3822183609008789,
      "learning_rate": 0.00015040576518164056,
      "loss": 0.0672,
      "step": 8578
    },
    {
      "epoch": 1.9246129683643707,
      "gripper_loss": 0.0164794921875,
      "loss": 0.055908203125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.2177734375,
      "step": 8578
    },
    {
      "epoch": 1.9248373345299528,
      "grad_norm": 0.7164115309715271,
      "learning_rate": 0.00015035022146918497,
      "loss": 0.063,
      "step": 8579
    },
    {
      "epoch": 1.9248373345299528,
      "gripper_loss": 0.08056640625,
      "loss": 0.0439453125,
      "pos_loss": 0.06884765625,
      "rot_loss": 0.326171875,
      "step": 8579
    },
    {
      "epoch": 1.925061700695535,
      "grad_norm": 0.4425448477268219,
      "learning_rate": 0.00015029468360413338,
      "loss": 0.0555,
      "step": 8580
    },
    {
      "epoch": 1.925061700695535,
      "gripper_loss": 0.1806640625,
      "loss": 0.021728515625,
      "pos_loss": 0.0546875,
      "rot_loss": 0.07177734375,
      "step": 8580
    },
    {
      "epoch": 1.9252860668611174,
      "grad_norm": 0.4018736183643341,
      "learning_rate": 0.00015023915158974484,
      "loss": 0.0494,
      "step": 8581
    },
    {
      "epoch": 1.9252860668611174,
      "gripper_loss": 0.2373046875,
      "loss": 0.134765625,
      "pos_loss": 1.15625,
      "rot_loss": 0.1181640625,
      "step": 8581
    },
    {
      "epoch": 1.9255104330266994,
      "grad_norm": 0.5767000317573547,
      "learning_rate": 0.00015018362542927778,
      "loss": 0.0836,
      "step": 8582
    },
    {
      "epoch": 1.9255104330266994,
      "gripper_loss": 0.10595703125,
      "loss": 0.05224609375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.32421875,
      "step": 8582
    },
    {
      "epoch": 1.925734799192282,
      "grad_norm": 0.34288445115089417,
      "learning_rate": 0.0001501281051259904,
      "loss": 0.0491,
      "step": 8583
    },
    {
      "epoch": 1.925734799192282,
      "gripper_loss": 0.021484375,
      "loss": 0.0859375,
      "pos_loss": 0.421875,
      "rot_loss": 0.44921875,
      "step": 8583
    },
    {
      "epoch": 1.925959165357864,
      "grad_norm": 0.3611658215522766,
      "learning_rate": 0.00015007259068314078,
      "loss": 0.0491,
      "step": 8584
    },
    {
      "epoch": 1.925959165357864,
      "gripper_loss": 0.369140625,
      "loss": 0.032958984375,
      "pos_loss": 0.1015625,
      "rot_loss": 0.09375,
      "step": 8584
    },
    {
      "epoch": 1.9261835315234461,
      "grad_norm": 0.4435339570045471,
      "learning_rate": 0.00015001708210398646,
      "loss": 0.063,
      "step": 8585
    },
    {
      "epoch": 1.9261835315234461,
      "gripper_loss": 0.0634765625,
      "loss": 0.033447265625,
      "pos_loss": 0.1484375,
      "rot_loss": 0.142578125,
      "step": 8585
    },
    {
      "epoch": 1.9264078976890286,
      "grad_norm": 0.48085707426071167,
      "learning_rate": 0.00014996157939178455,
      "loss": 0.0496,
      "step": 8586
    },
    {
      "epoch": 1.9264078976890286,
      "gripper_loss": 0.0191650390625,
      "loss": 0.046875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.06982421875,
      "step": 8586
    },
    {
      "epoch": 1.9266322638546107,
      "grad_norm": 0.3733288645744324,
      "learning_rate": 0.00014990608254979198,
      "loss": 0.051,
      "step": 8587
    },
    {
      "epoch": 1.9266322638546107,
      "gripper_loss": 0.8203125,
      "loss": 0.03955078125,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.0184326171875,
      "step": 8587
    },
    {
      "epoch": 1.9268566300201928,
      "grad_norm": 0.40520593523979187,
      "learning_rate": 0.0001498505915812653,
      "loss": 0.0632,
      "step": 8588
    },
    {
      "epoch": 1.9268566300201928,
      "gripper_loss": 0.036865234375,
      "loss": 0.051025390625,
      "pos_loss": 0.33984375,
      "rot_loss": 0.1279296875,
      "step": 8588
    },
    {
      "epoch": 1.9270809961857753,
      "grad_norm": 0.34368202090263367,
      "learning_rate": 0.00014979510648946065,
      "loss": 0.0693,
      "step": 8589
    },
    {
      "epoch": 1.9270809961857753,
      "gripper_loss": 0.0269775390625,
      "loss": 0.10302734375,
      "pos_loss": 0.76953125,
      "rot_loss": 0.26953125,
      "step": 8589
    },
    {
      "epoch": 1.9273053623513574,
      "grad_norm": 0.3657997250556946,
      "learning_rate": 0.00014973962727763397,
      "loss": 0.058,
      "step": 8590
    },
    {
      "epoch": 1.9273053623513574,
      "gripper_loss": 0.3359375,
      "loss": 0.055908203125,
      "pos_loss": 0.14453125,
      "rot_loss": 0.216796875,
      "step": 8590
    },
    {
      "epoch": 1.9275297285169395,
      "grad_norm": 0.5459538698196411,
      "learning_rate": 0.0001496841539490406,
      "loss": 0.0809,
      "step": 8591
    },
    {
      "epoch": 1.9275297285169395,
      "gripper_loss": 0.008544921875,
      "loss": 0.0791015625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.07275390625,
      "step": 8591
    },
    {
      "epoch": 1.927754094682522,
      "grad_norm": 0.7765994071960449,
      "learning_rate": 0.00014962868650693578,
      "loss": 0.0973,
      "step": 8592
    },
    {
      "epoch": 1.927754094682522,
      "gripper_loss": 0.008056640625,
      "loss": 0.1845703125,
      "pos_loss": 1.015625,
      "rot_loss": 0.91015625,
      "step": 8592
    },
    {
      "epoch": 1.927978460848104,
      "grad_norm": 0.5375251173973083,
      "learning_rate": 0.00014957322495457438,
      "loss": 0.0735,
      "step": 8593
    },
    {
      "epoch": 1.927978460848104,
      "gripper_loss": 0.2001953125,
      "loss": 0.03759765625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.0966796875,
      "step": 8593
    },
    {
      "epoch": 1.9282028270136862,
      "grad_norm": 0.2758990228176117,
      "learning_rate": 0.00014951776929521076,
      "loss": 0.0433,
      "step": 8594
    },
    {
      "epoch": 1.9282028270136862,
      "gripper_loss": 0.27734375,
      "loss": 0.1259765625,
      "pos_loss": 0.3359375,
      "rot_loss": 0.412109375,
      "step": 8594
    },
    {
      "epoch": 1.9284271931792687,
      "grad_norm": 1.1820746660232544,
      "learning_rate": 0.00014946231953209905,
      "loss": 0.1425,
      "step": 8595
    },
    {
      "epoch": 1.9284271931792687,
      "gripper_loss": 0.2451171875,
      "loss": 0.023681640625,
      "pos_loss": 0.06494140625,
      "rot_loss": 0.07275390625,
      "step": 8595
    },
    {
      "epoch": 1.9286515593448508,
      "grad_norm": 0.5771192908287048,
      "learning_rate": 0.00014940687566849297,
      "loss": 0.0553,
      "step": 8596
    },
    {
      "epoch": 1.9286515593448508,
      "gripper_loss": 0.93359375,
      "loss": 0.057373046875,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.154296875,
      "step": 8596
    },
    {
      "epoch": 1.928875925510433,
      "grad_norm": 0.35178959369659424,
      "learning_rate": 0.000149351437707646,
      "loss": 0.0399,
      "step": 8597
    },
    {
      "epoch": 1.928875925510433,
      "gripper_loss": 0.022216796875,
      "loss": 0.07763671875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.259765625,
      "step": 8597
    },
    {
      "epoch": 1.9291002916760154,
      "grad_norm": 0.4355279207229614,
      "learning_rate": 0.00014929600565281132,
      "loss": 0.0687,
      "step": 8598
    },
    {
      "epoch": 1.9291002916760154,
      "gripper_loss": 0.032958984375,
      "loss": 0.021484375,
      "pos_loss": 0.1328125,
      "rot_loss": 0.04443359375,
      "step": 8598
    },
    {
      "epoch": 1.9293246578415975,
      "grad_norm": 0.4859361946582794,
      "learning_rate": 0.00014924057950724146,
      "loss": 0.0552,
      "step": 8599
    },
    {
      "epoch": 1.9293246578415975,
      "gripper_loss": 0.21484375,
      "loss": 0.09912109375,
      "pos_loss": 0.419921875,
      "rot_loss": 0.455078125,
      "step": 8599
    },
    {
      "epoch": 1.9295490240071798,
      "grad_norm": 0.7333012223243713,
      "learning_rate": 0.00014918515927418895,
      "loss": 0.0962,
      "step": 8600
    },
    {
      "epoch": 1.9295490240071798,
      "gripper_loss": 0.1865234375,
      "loss": 0.057861328125,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.322265625,
      "step": 8600
    },
    {
      "epoch": 1.929773390172762,
      "grad_norm": 0.43396496772766113,
      "learning_rate": 0.00014912974495690567,
      "loss": 0.0762,
      "step": 8601
    },
    {
      "epoch": 1.929773390172762,
      "gripper_loss": 0.028076171875,
      "loss": 0.0303955078125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.12158203125,
      "step": 8601
    },
    {
      "epoch": 1.9299977563383441,
      "grad_norm": 0.2821684777736664,
      "learning_rate": 0.00014907433655864355,
      "loss": 0.0394,
      "step": 8602
    },
    {
      "epoch": 1.9299977563383441,
      "gripper_loss": 0.00823974609375,
      "loss": 0.007720947265625,
      "pos_loss": 0.023681640625,
      "rot_loss": 0.0283203125,
      "step": 8602
    },
    {
      "epoch": 1.9302221225039264,
      "grad_norm": 0.3663122355937958,
      "learning_rate": 0.00014901893408265365,
      "loss": 0.0516,
      "step": 8603
    },
    {
      "epoch": 1.9302221225039264,
      "gripper_loss": 0.1123046875,
      "loss": 0.0498046875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.1171875,
      "step": 8603
    },
    {
      "epoch": 1.9304464886695087,
      "grad_norm": 0.2766220271587372,
      "learning_rate": 0.0001489635375321871,
      "loss": 0.0353,
      "step": 8604
    },
    {
      "epoch": 1.9304464886695087,
      "gripper_loss": 0.2197265625,
      "loss": 0.1259765625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.341796875,
      "step": 8604
    },
    {
      "epoch": 1.9306708548350908,
      "grad_norm": 0.549393355846405,
      "learning_rate": 0.0001489081469104946,
      "loss": 0.0799,
      "step": 8605
    },
    {
      "epoch": 1.9306708548350908,
      "gripper_loss": 0.00921630859375,
      "loss": 0.016845703125,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.08154296875,
      "step": 8605
    },
    {
      "epoch": 1.9308952210006731,
      "grad_norm": 0.37228310108184814,
      "learning_rate": 0.00014885276222082632,
      "loss": 0.0471,
      "step": 8606
    },
    {
      "epoch": 1.9308952210006731,
      "gripper_loss": 0.1142578125,
      "loss": 0.04052734375,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.099609375,
      "step": 8606
    },
    {
      "epoch": 1.9311195871662554,
      "grad_norm": 0.3424794375896454,
      "learning_rate": 0.0001487973834664324,
      "loss": 0.0383,
      "step": 8607
    },
    {
      "epoch": 1.9311195871662554,
      "gripper_loss": 0.34375,
      "loss": 0.0264892578125,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.0233154296875,
      "step": 8607
    },
    {
      "epoch": 1.9313439533318375,
      "grad_norm": 0.4175375998020172,
      "learning_rate": 0.00014874201065056216,
      "loss": 0.0537,
      "step": 8608
    },
    {
      "epoch": 1.9313439533318375,
      "gripper_loss": 0.01153564453125,
      "loss": 0.228515625,
      "pos_loss": 1.671875,
      "rot_loss": 0.71875,
      "step": 8608
    },
    {
      "epoch": 1.9315683194974198,
      "grad_norm": 0.42906641960144043,
      "learning_rate": 0.00014868664377646506,
      "loss": 0.0589,
      "step": 8609
    },
    {
      "epoch": 1.9315683194974198,
      "gripper_loss": 0.85546875,
      "loss": 0.0927734375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.2158203125,
      "step": 8609
    },
    {
      "epoch": 1.931792685663002,
      "grad_norm": 0.4375750720500946,
      "learning_rate": 0.00014863128284738997,
      "loss": 0.0644,
      "step": 8610
    },
    {
      "epoch": 1.931792685663002,
      "gripper_loss": 0.020263671875,
      "loss": 0.047119140625,
      "pos_loss": 0.240234375,
      "rot_loss": 0.2138671875,
      "step": 8610
    },
    {
      "epoch": 1.9320170518285842,
      "grad_norm": 0.34483087062835693,
      "learning_rate": 0.00014857592786658545,
      "loss": 0.0539,
      "step": 8611
    },
    {
      "epoch": 1.9320170518285842,
      "gripper_loss": 0.07080078125,
      "loss": 0.10107421875,
      "pos_loss": 0.024169921875,
      "rot_loss": 0.9921875,
      "step": 8611
    },
    {
      "epoch": 1.9322414179941665,
      "grad_norm": 0.4106849431991577,
      "learning_rate": 0.00014852057883729965,
      "loss": 0.0697,
      "step": 8612
    },
    {
      "epoch": 1.9322414179941665,
      "gripper_loss": 1.4375,
      "loss": 0.08935546875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.1611328125,
      "step": 8612
    },
    {
      "epoch": 1.9324657841597488,
      "grad_norm": 0.32365262508392334,
      "learning_rate": 0.00014846523576278041,
      "loss": 0.0616,
      "step": 8613
    },
    {
      "epoch": 1.9324657841597488,
      "gripper_loss": 0.0296630859375,
      "loss": 0.04443359375,
      "pos_loss": 0.224609375,
      "rot_loss": 0.205078125,
      "step": 8613
    },
    {
      "epoch": 1.9326901503253309,
      "grad_norm": 0.26700112223625183,
      "learning_rate": 0.0001484098986462753,
      "loss": 0.0484,
      "step": 8614
    },
    {
      "epoch": 1.9326901503253309,
      "gripper_loss": 0.0172119140625,
      "loss": 0.043701171875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.059814453125,
      "step": 8614
    },
    {
      "epoch": 1.9329145164909132,
      "grad_norm": 0.35156524181365967,
      "learning_rate": 0.00014835456749103155,
      "loss": 0.0523,
      "step": 8615
    },
    {
      "epoch": 1.9329145164909132,
      "gripper_loss": 0.396484375,
      "loss": 0.033935546875,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.02734375,
      "step": 8615
    },
    {
      "epoch": 1.9331388826564955,
      "grad_norm": 0.34919044375419617,
      "learning_rate": 0.00014829924230029575,
      "loss": 0.0465,
      "step": 8616
    },
    {
      "epoch": 1.9331388826564955,
      "gripper_loss": 0.248046875,
      "loss": 0.1279296875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.1318359375,
      "step": 8616
    },
    {
      "epoch": 1.9333632488220776,
      "grad_norm": 1.1434264183044434,
      "learning_rate": 0.00014824392307731453,
      "loss": 0.1342,
      "step": 8617
    },
    {
      "epoch": 1.9333632488220776,
      "gripper_loss": 0.0751953125,
      "loss": 0.0400390625,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.126953125,
      "step": 8617
    },
    {
      "epoch": 1.9335876149876599,
      "grad_norm": 0.43023088574409485,
      "learning_rate": 0.00014818860982533395,
      "loss": 0.0504,
      "step": 8618
    },
    {
      "epoch": 1.9335876149876599,
      "gripper_loss": 0.25,
      "loss": 0.054443359375,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.255859375,
      "step": 8618
    },
    {
      "epoch": 1.9338119811532422,
      "grad_norm": 0.3521398901939392,
      "learning_rate": 0.00014813330254759985,
      "loss": 0.0673,
      "step": 8619
    },
    {
      "epoch": 1.9338119811532422,
      "gripper_loss": 0.53125,
      "loss": 0.091796875,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.56640625,
      "step": 8619
    },
    {
      "epoch": 1.9340363473188242,
      "grad_norm": 0.7810103893280029,
      "learning_rate": 0.00014807800124735744,
      "loss": 0.0779,
      "step": 8620
    },
    {
      "epoch": 1.9340363473188242,
      "gripper_loss": 0.05322265625,
      "loss": 0.0703125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1474609375,
      "step": 8620
    },
    {
      "epoch": 1.9342607134844065,
      "grad_norm": 0.392573744058609,
      "learning_rate": 0.00014802270592785189,
      "loss": 0.0387,
      "step": 8621
    },
    {
      "epoch": 1.9342607134844065,
      "gripper_loss": 0.22265625,
      "loss": 0.12255859375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.369140625,
      "step": 8621
    },
    {
      "epoch": 1.9344850796499888,
      "grad_norm": 0.9861447215080261,
      "learning_rate": 0.00014796741659232795,
      "loss": 0.1282,
      "step": 8622
    },
    {
      "epoch": 1.9344850796499888,
      "gripper_loss": 0.4453125,
      "loss": 0.0279541015625,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.0225830078125,
      "step": 8622
    },
    {
      "epoch": 1.934709445815571,
      "grad_norm": 0.48142531514167786,
      "learning_rate": 0.0001479121332440299,
      "loss": 0.0726,
      "step": 8623
    },
    {
      "epoch": 1.934709445815571,
      "gripper_loss": 0.01153564453125,
      "loss": 0.0791015625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.057861328125,
      "step": 8623
    },
    {
      "epoch": 1.9349338119811532,
      "grad_norm": 0.8248263597488403,
      "learning_rate": 0.00014785685588620184,
      "loss": 0.1012,
      "step": 8624
    },
    {
      "epoch": 1.9349338119811532,
      "gripper_loss": 0.171875,
      "loss": 0.06396484375,
      "pos_loss": 0.169921875,
      "rot_loss": 0.380859375,
      "step": 8624
    },
    {
      "epoch": 1.9351581781467355,
      "grad_norm": 0.4422854781150818,
      "learning_rate": 0.00014780158452208726,
      "loss": 0.0816,
      "step": 8625
    },
    {
      "epoch": 1.9351581781467355,
      "gripper_loss": 0.011962890625,
      "loss": 0.0177001953125,
      "pos_loss": 0.12109375,
      "rot_loss": 0.0174560546875,
      "step": 8625
    },
    {
      "epoch": 1.9353825443123176,
      "grad_norm": 0.42764654755592346,
      "learning_rate": 0.00014774631915492954,
      "loss": 0.0637,
      "step": 8626
    },
    {
      "epoch": 1.9353825443123176,
      "gripper_loss": 0.1162109375,
      "loss": 0.046142578125,
      "pos_loss": 0.240234375,
      "rot_loss": 0.1796875,
      "step": 8626
    },
    {
      "epoch": 1.9356069104779,
      "grad_norm": 0.378828227519989,
      "learning_rate": 0.0001476910597879716,
      "loss": 0.0436,
      "step": 8627
    },
    {
      "epoch": 1.9356069104779,
      "gripper_loss": 0.00604248046875,
      "loss": 0.06494140625,
      "pos_loss": 0.5625,
      "rot_loss": 0.0703125,
      "step": 8627
    },
    {
      "epoch": 1.9358312766434822,
      "grad_norm": 0.43925946950912476,
      "learning_rate": 0.0001476358064244562,
      "loss": 0.0548,
      "step": 8628
    },
    {
      "epoch": 1.9358312766434822,
      "gripper_loss": 0.2138671875,
      "loss": 0.03125,
      "pos_loss": 0.099609375,
      "rot_loss": 0.126953125,
      "step": 8628
    },
    {
      "epoch": 1.9360556428090643,
      "grad_norm": 0.37476846575737,
      "learning_rate": 0.0001475805590676254,
      "loss": 0.06,
      "step": 8629
    },
    {
      "epoch": 1.9360556428090643,
      "gripper_loss": 0.353515625,
      "loss": 0.02587890625,
      "pos_loss": 0.07080078125,
      "rot_loss": 0.044189453125,
      "step": 8629
    },
    {
      "epoch": 1.9362800089746466,
      "grad_norm": 0.32495301961898804,
      "learning_rate": 0.0001475253177207211,
      "loss": 0.032,
      "step": 8630
    },
    {
      "epoch": 1.9362800089746466,
      "gripper_loss": 0.3125,
      "loss": 0.02392578125,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.0306396484375,
      "step": 8630
    },
    {
      "epoch": 1.9365043751402289,
      "grad_norm": 0.31018686294555664,
      "learning_rate": 0.00014747008238698487,
      "loss": 0.0466,
      "step": 8631
    },
    {
      "epoch": 1.9365043751402289,
      "gripper_loss": 0.046142578125,
      "loss": 0.04833984375,
      "pos_loss": 0.435546875,
      "rot_loss": 0.0242919921875,
      "step": 8631
    },
    {
      "epoch": 1.936728741305811,
      "grad_norm": 0.3243829905986786,
      "learning_rate": 0.000147414853069658,
      "loss": 0.0499,
      "step": 8632
    },
    {
      "epoch": 1.936728741305811,
      "gripper_loss": 0.033935546875,
      "loss": 0.099609375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.6328125,
      "step": 8632
    },
    {
      "epoch": 1.9369531074713933,
      "grad_norm": 0.42639774084091187,
      "learning_rate": 0.0001473596297719811,
      "loss": 0.0727,
      "step": 8633
    },
    {
      "epoch": 1.9369531074713933,
      "gripper_loss": 0.0196533203125,
      "loss": 0.00927734375,
      "pos_loss": 0.05029296875,
      "rot_loss": 0.00750732421875,
      "step": 8633
    },
    {
      "epoch": 1.9371774736369756,
      "grad_norm": 0.5323013067245483,
      "learning_rate": 0.00014730441249719486,
      "loss": 0.045,
      "step": 8634
    },
    {
      "epoch": 1.9371774736369756,
      "gripper_loss": 0.008544921875,
      "loss": 0.06298828125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.17578125,
      "step": 8634
    },
    {
      "epoch": 1.9374018398025576,
      "grad_norm": 0.38465532660484314,
      "learning_rate": 0.00014724920124853925,
      "loss": 0.0476,
      "step": 8635
    },
    {
      "epoch": 1.9374018398025576,
      "gripper_loss": 0.0211181640625,
      "loss": 0.109375,
      "pos_loss": 0.96875,
      "rot_loss": 0.1181640625,
      "step": 8635
    },
    {
      "epoch": 1.9376262059681402,
      "grad_norm": 0.3056238889694214,
      "learning_rate": 0.0001471939960292541,
      "loss": 0.0621,
      "step": 8636
    },
    {
      "epoch": 1.9376262059681402,
      "gripper_loss": 0.123046875,
      "loss": 0.10888671875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.490234375,
      "step": 8636
    },
    {
      "epoch": 1.9378505721337222,
      "grad_norm": 0.48057153820991516,
      "learning_rate": 0.00014713879684257898,
      "loss": 0.0588,
      "step": 8637
    },
    {
      "epoch": 1.9378505721337222,
      "gripper_loss": 0.484375,
      "loss": 0.0272216796875,
      "pos_loss": 0.037353515625,
      "rot_loss": 0.06787109375,
      "step": 8637
    },
    {
      "epoch": 1.9380749382993043,
      "grad_norm": 0.268404096364975,
      "learning_rate": 0.00014708360369175265,
      "loss": 0.0381,
      "step": 8638
    },
    {
      "epoch": 1.9380749382993043,
      "gripper_loss": 0.0079345703125,
      "loss": 0.017578125,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.0673828125,
      "step": 8638
    },
    {
      "epoch": 1.9382993044648869,
      "grad_norm": 0.28233087062835693,
      "learning_rate": 0.00014702841658001398,
      "loss": 0.041,
      "step": 8639
    },
    {
      "epoch": 1.9382993044648869,
      "gripper_loss": 0.033203125,
      "loss": 0.038330078125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.061767578125,
      "step": 8639
    },
    {
      "epoch": 1.938523670630469,
      "grad_norm": 0.3871760368347168,
      "learning_rate": 0.0001469732355106014,
      "loss": 0.0651,
      "step": 8640
    },
    {
      "epoch": 1.938523670630469,
      "gripper_loss": 0.57421875,
      "loss": 0.03564453125,
      "pos_loss": 0.05078125,
      "rot_loss": 0.10400390625,
      "step": 8640
    },
    {
      "epoch": 1.938748036796051,
      "grad_norm": 0.5213462114334106,
      "learning_rate": 0.00014691806048675287,
      "loss": 0.0816,
      "step": 8641
    },
    {
      "epoch": 1.938748036796051,
      "gripper_loss": 0.016357421875,
      "loss": 0.119140625,
      "pos_loss": 0.7890625,
      "rot_loss": 0.43359375,
      "step": 8641
    },
    {
      "epoch": 1.9389724029616335,
      "grad_norm": 0.3194691240787506,
      "learning_rate": 0.0001468628915117059,
      "loss": 0.0463,
      "step": 8642
    },
    {
      "epoch": 1.9389724029616335,
      "gripper_loss": 0.27734375,
      "loss": 0.037841796875,
      "pos_loss": 0.236328125,
      "rot_loss": 0.043701171875,
      "step": 8642
    },
    {
      "epoch": 1.9391967691272156,
      "grad_norm": 0.273587167263031,
      "learning_rate": 0.0001468077285886979,
      "loss": 0.0469,
      "step": 8643
    },
    {
      "epoch": 1.9391967691272156,
      "gripper_loss": 0.08349609375,
      "loss": 0.06982421875,
      "pos_loss": 0.609375,
      "rot_loss": 0.043701171875,
      "step": 8643
    },
    {
      "epoch": 1.9394211352927977,
      "grad_norm": 0.4244074821472168,
      "learning_rate": 0.00014675257172096573,
      "loss": 0.0467,
      "step": 8644
    },
    {
      "epoch": 1.9394211352927977,
      "gripper_loss": 0.021240234375,
      "loss": 0.07275390625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.294921875,
      "step": 8644
    },
    {
      "epoch": 1.9396455014583802,
      "grad_norm": 0.28206971287727356,
      "learning_rate": 0.00014669742091174618,
      "loss": 0.0426,
      "step": 8645
    },
    {
      "epoch": 1.9396455014583802,
      "gripper_loss": 0.043701171875,
      "loss": 0.0361328125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0294189453125,
      "step": 8645
    },
    {
      "epoch": 1.9398698676239623,
      "grad_norm": 0.5371720194816589,
      "learning_rate": 0.00014664227616427517,
      "loss": 0.0368,
      "step": 8646
    },
    {
      "epoch": 1.9398698676239623,
      "gripper_loss": 0.1455078125,
      "loss": 0.01409912109375,
      "pos_loss": 0.025390625,
      "rot_loss": 0.040771484375,
      "step": 8646
    },
    {
      "epoch": 1.9400942337895444,
      "grad_norm": 0.3795532286167145,
      "learning_rate": 0.0001465871374817888,
      "loss": 0.0578,
      "step": 8647
    },
    {
      "epoch": 1.9400942337895444,
      "gripper_loss": 0.0283203125,
      "loss": 0.087890625,
      "pos_loss": 0.8671875,
      "rot_loss": 0.0299072265625,
      "step": 8647
    },
    {
      "epoch": 1.940318599955127,
      "grad_norm": 0.38276994228363037,
      "learning_rate": 0.00014653200486752243,
      "loss": 0.0597,
      "step": 8648
    },
    {
      "epoch": 1.940318599955127,
      "gripper_loss": 0.05224609375,
      "loss": 0.0849609375,
      "pos_loss": 0.34375,
      "rot_loss": 0.49609375,
      "step": 8648
    },
    {
      "epoch": 1.940542966120709,
      "grad_norm": 0.325639933347702,
      "learning_rate": 0.0001464768783247114,
      "loss": 0.038,
      "step": 8649
    },
    {
      "epoch": 1.940542966120709,
      "gripper_loss": 0.03955078125,
      "loss": 0.0361328125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.07958984375,
      "step": 8649
    },
    {
      "epoch": 1.9407673322862913,
      "grad_norm": 0.29330533742904663,
      "learning_rate": 0.00014642175785659032,
      "loss": 0.0415,
      "step": 8650
    },
    {
      "epoch": 1.9407673322862913,
      "gripper_loss": 0.75390625,
      "loss": 0.039306640625,
      "pos_loss": 0.0234375,
      "rot_loss": 0.107421875,
      "step": 8650
    },
    {
      "epoch": 1.9409916984518736,
      "grad_norm": 0.4238070547580719,
      "learning_rate": 0.00014636664346639365,
      "loss": 0.0655,
      "step": 8651
    },
    {
      "epoch": 1.9409916984518736,
      "gripper_loss": 0.37109375,
      "loss": 0.2275390625,
      "pos_loss": 0.333984375,
      "rot_loss": 0.421875,
      "step": 8651
    },
    {
      "epoch": 1.9412160646174557,
      "grad_norm": 1.8087959289550781,
      "learning_rate": 0.00014631153515735565,
      "loss": 0.2816,
      "step": 8652
    },
    {
      "epoch": 1.9412160646174557,
      "gripper_loss": 0.171875,
      "loss": 0.022216796875,
      "pos_loss": 0.0654296875,
      "rot_loss": 0.0830078125,
      "step": 8652
    },
    {
      "epoch": 1.941440430783038,
      "grad_norm": 0.4021163284778595,
      "learning_rate": 0.00014625643293270988,
      "loss": 0.0589,
      "step": 8653
    },
    {
      "epoch": 1.941440430783038,
      "gripper_loss": 0.63671875,
      "loss": 0.052978515625,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.216796875,
      "step": 8653
    },
    {
      "epoch": 1.9416647969486203,
      "grad_norm": 0.7704842686653137,
      "learning_rate": 0.00014620133679568985,
      "loss": 0.0768,
      "step": 8654
    },
    {
      "epoch": 1.9416647969486203,
      "gripper_loss": 0.00592041015625,
      "loss": 0.0390625,
      "pos_loss": 0.33984375,
      "rot_loss": 0.033935546875,
      "step": 8654
    },
    {
      "epoch": 1.9418891631142023,
      "grad_norm": 0.29368630051612854,
      "learning_rate": 0.0001461462467495284,
      "loss": 0.0375,
      "step": 8655
    },
    {
      "epoch": 1.9418891631142023,
      "gripper_loss": 0.00811767578125,
      "loss": 0.060302734375,
      "pos_loss": 0.59375,
      "rot_loss": 0.010009765625,
      "step": 8655
    },
    {
      "epoch": 1.9421135292797846,
      "grad_norm": 0.5697017908096313,
      "learning_rate": 0.00014609116279745832,
      "loss": 0.0776,
      "step": 8656
    },
    {
      "epoch": 1.9421135292797846,
      "gripper_loss": 0.275390625,
      "loss": 0.02001953125,
      "pos_loss": 0.04443359375,
      "rot_loss": 0.039794921875,
      "step": 8656
    },
    {
      "epoch": 1.942337895445367,
      "grad_norm": 0.39571496844291687,
      "learning_rate": 0.00014603608494271193,
      "loss": 0.0516,
      "step": 8657
    },
    {
      "epoch": 1.942337895445367,
      "gripper_loss": 0.1171875,
      "loss": 0.0111083984375,
      "pos_loss": 0.00994873046875,
      "rot_loss": 0.01318359375,
      "step": 8657
    },
    {
      "epoch": 1.942562261610949,
      "grad_norm": 0.44232264161109924,
      "learning_rate": 0.00014598101318852107,
      "loss": 0.0511,
      "step": 8658
    },
    {
      "epoch": 1.942562261610949,
      "gripper_loss": 0.011474609375,
      "loss": 0.049072265625,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.283203125,
      "step": 8658
    },
    {
      "epoch": 1.9427866277765313,
      "grad_norm": 0.37417876720428467,
      "learning_rate": 0.00014592594753811745,
      "loss": 0.0443,
      "step": 8659
    },
    {
      "epoch": 1.9427866277765313,
      "gripper_loss": 0.4140625,
      "loss": 0.11474609375,
      "pos_loss": 0.484375,
      "rot_loss": 0.375,
      "step": 8659
    },
    {
      "epoch": 1.9430109939421136,
      "grad_norm": 0.7549185156822205,
      "learning_rate": 0.00014587088799473215,
      "loss": 0.1195,
      "step": 8660
    },
    {
      "epoch": 1.9430109939421136,
      "gripper_loss": 0.0220947265625,
      "loss": 0.087890625,
      "pos_loss": 0.62890625,
      "rot_loss": 0.265625,
      "step": 8660
    },
    {
      "epoch": 1.9432353601076957,
      "grad_norm": 0.34686189889907837,
      "learning_rate": 0.00014581583456159609,
      "loss": 0.0611,
      "step": 8661
    },
    {
      "epoch": 1.9432353601076957,
      "gripper_loss": 0.171875,
      "loss": 0.01214599609375,
      "pos_loss": 0.01287841796875,
      "rot_loss": 0.0306396484375,
      "step": 8661
    },
    {
      "epoch": 1.943459726273278,
      "grad_norm": 0.5062852501869202,
      "learning_rate": 0.00014576078724193992,
      "loss": 0.0626,
      "step": 8662
    },
    {
      "epoch": 1.943459726273278,
      "gripper_loss": 0.78125,
      "loss": 0.06298828125,
      "pos_loss": 0.3671875,
      "rot_loss": 0.01324462890625,
      "step": 8662
    },
    {
      "epoch": 1.9436840924388603,
      "grad_norm": 0.39945632219314575,
      "learning_rate": 0.0001457057460389936,
      "loss": 0.067,
      "step": 8663
    },
    {
      "epoch": 1.9436840924388603,
      "gripper_loss": 0.0189208984375,
      "loss": 0.12353515625,
      "pos_loss": 1.25,
      "rot_loss": 0.02197265625,
      "step": 8663
    },
    {
      "epoch": 1.9439084586044424,
      "grad_norm": 0.3893595337867737,
      "learning_rate": 0.00014565071095598697,
      "loss": 0.0562,
      "step": 8664
    },
    {
      "epoch": 1.9439084586044424,
      "gripper_loss": 0.007171630859375,
      "loss": 0.12109375,
      "pos_loss": 1.1875,
      "rot_loss": 0.0673828125,
      "step": 8664
    },
    {
      "epoch": 1.9441328247700247,
      "grad_norm": 0.2939607501029968,
      "learning_rate": 0.00014559568199614954,
      "loss": 0.0438,
      "step": 8665
    },
    {
      "epoch": 1.9441328247700247,
      "gripper_loss": 0.0181884765625,
      "loss": 0.06591796875,
      "pos_loss": 0.59765625,
      "rot_loss": 0.06396484375,
      "step": 8665
    },
    {
      "epoch": 1.944357190935607,
      "grad_norm": 0.3454633355140686,
      "learning_rate": 0.0001455406591627104,
      "loss": 0.0639,
      "step": 8666
    },
    {
      "epoch": 1.944357190935607,
      "gripper_loss": 0.016845703125,
      "loss": 0.059814453125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.134765625,
      "step": 8666
    },
    {
      "epoch": 1.944581557101189,
      "grad_norm": 0.45777755975723267,
      "learning_rate": 0.00014548564245889822,
      "loss": 0.0579,
      "step": 8667
    },
    {
      "epoch": 1.944581557101189,
      "gripper_loss": 0.01483154296875,
      "loss": 0.06298828125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.146484375,
      "step": 8667
    },
    {
      "epoch": 1.9448059232667714,
      "grad_norm": 0.4464063048362732,
      "learning_rate": 0.00014543063188794124,
      "loss": 0.073,
      "step": 8668
    },
    {
      "epoch": 1.9448059232667714,
      "gripper_loss": 0.62890625,
      "loss": 0.06298828125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.07421875,
      "step": 8668
    },
    {
      "epoch": 1.9450302894323537,
      "grad_norm": 0.3339986801147461,
      "learning_rate": 0.00014537562745306753,
      "loss": 0.0646,
      "step": 8669
    },
    {
      "epoch": 1.9450302894323537,
      "gripper_loss": 0.04541015625,
      "loss": 0.039306640625,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.1357421875,
      "step": 8669
    },
    {
      "epoch": 1.9452546555979358,
      "grad_norm": 0.4413132965564728,
      "learning_rate": 0.00014532062915750482,
      "loss": 0.0829,
      "step": 8670
    },
    {
      "epoch": 1.9452546555979358,
      "gripper_loss": 0.55859375,
      "loss": 0.11669921875,
      "pos_loss": 0.85546875,
      "rot_loss": 0.16015625,
      "step": 8670
    },
    {
      "epoch": 1.945479021763518,
      "grad_norm": 0.3558897376060486,
      "learning_rate": 0.00014526563700448036,
      "loss": 0.0584,
      "step": 8671
    },
    {
      "epoch": 1.945479021763518,
      "gripper_loss": 0.00823974609375,
      "loss": 0.043701171875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1494140625,
      "step": 8671
    },
    {
      "epoch": 1.9457033879291004,
      "grad_norm": 0.2837088108062744,
      "learning_rate": 0.00014521065099722095,
      "loss": 0.0357,
      "step": 8672
    },
    {
      "epoch": 1.9457033879291004,
      "gripper_loss": 0.3203125,
      "loss": 0.040283203125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.08203125,
      "step": 8672
    },
    {
      "epoch": 1.9459277540946824,
      "grad_norm": 0.441190242767334,
      "learning_rate": 0.00014515567113895317,
      "loss": 0.0584,
      "step": 8673
    },
    {
      "epoch": 1.9459277540946824,
      "gripper_loss": 0.1240234375,
      "loss": 0.03369140625,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.2060546875,
      "step": 8673
    },
    {
      "epoch": 1.9461521202602647,
      "grad_norm": 0.6645408868789673,
      "learning_rate": 0.00014510069743290332,
      "loss": 0.06,
      "step": 8674
    },
    {
      "epoch": 1.9461521202602647,
      "gripper_loss": 0.01055908203125,
      "loss": 0.0830078125,
      "pos_loss": 0.482421875,
      "rot_loss": 0.36328125,
      "step": 8674
    },
    {
      "epoch": 1.946376486425847,
      "grad_norm": 0.3167843520641327,
      "learning_rate": 0.00014504572988229724,
      "loss": 0.0599,
      "step": 8675
    },
    {
      "epoch": 1.946376486425847,
      "gripper_loss": 0.578125,
      "loss": 0.0260009765625,
      "pos_loss": 0.032470703125,
      "rot_loss": 0.0228271484375,
      "step": 8675
    },
    {
      "epoch": 1.9466008525914291,
      "grad_norm": 0.39748844504356384,
      "learning_rate": 0.00014499076849036025,
      "loss": 0.0379,
      "step": 8676
    },
    {
      "epoch": 1.9466008525914291,
      "gripper_loss": 0.02294921875,
      "loss": 0.030517578125,
      "pos_loss": 0.234375,
      "rot_loss": 0.042724609375,
      "step": 8676
    },
    {
      "epoch": 1.9468252187570114,
      "grad_norm": 0.31356918811798096,
      "learning_rate": 0.00014493581326031752,
      "loss": 0.05,
      "step": 8677
    },
    {
      "epoch": 1.9468252187570114,
      "gripper_loss": 0.01544189453125,
      "loss": 0.050048828125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.1767578125,
      "step": 8677
    },
    {
      "epoch": 1.9470495849225937,
      "grad_norm": 0.3827528953552246,
      "learning_rate": 0.0001448808641953939,
      "loss": 0.063,
      "step": 8678
    },
    {
      "epoch": 1.9470495849225937,
      "gripper_loss": 0.451171875,
      "loss": 0.0235595703125,
      "pos_loss": 0.050537109375,
      "rot_loss": 0.015625,
      "step": 8678
    },
    {
      "epoch": 1.9472739510881758,
      "grad_norm": 0.2863895297050476,
      "learning_rate": 0.00014482592129881362,
      "loss": 0.0442,
      "step": 8679
    },
    {
      "epoch": 1.9472739510881758,
      "gripper_loss": 0.006195068359375,
      "loss": 0.04443359375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.10791015625,
      "step": 8679
    },
    {
      "epoch": 1.947498317253758,
      "grad_norm": 0.26992887258529663,
      "learning_rate": 0.0001447709845738009,
      "loss": 0.0415,
      "step": 8680
    },
    {
      "epoch": 1.947498317253758,
      "gripper_loss": 0.2275390625,
      "loss": 0.015869140625,
      "pos_loss": 0.018798828125,
      "rot_loss": 0.03662109375,
      "step": 8680
    },
    {
      "epoch": 1.9477226834193404,
      "grad_norm": 0.3959229588508606,
      "learning_rate": 0.00014471605402357915,
      "loss": 0.0495,
      "step": 8681
    },
    {
      "epoch": 1.9477226834193404,
      "gripper_loss": 0.07666015625,
      "loss": 0.0269775390625,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.08154296875,
      "step": 8681
    },
    {
      "epoch": 1.9479470495849225,
      "grad_norm": 0.3879229724407196,
      "learning_rate": 0.0001446611296513718,
      "loss": 0.0488,
      "step": 8682
    },
    {
      "epoch": 1.9479470495849225,
      "gripper_loss": 0.859375,
      "loss": 0.06982421875,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.259765625,
      "step": 8682
    },
    {
      "epoch": 1.9481714157505048,
      "grad_norm": 0.791581928730011,
      "learning_rate": 0.00014460621146040182,
      "loss": 0.077,
      "step": 8683
    },
    {
      "epoch": 1.9481714157505048,
      "gripper_loss": 0.01055908203125,
      "loss": 0.123046875,
      "pos_loss": 0.828125,
      "rot_loss": 0.447265625,
      "step": 8683
    },
    {
      "epoch": 1.948395781916087,
      "grad_norm": 0.4775165617465973,
      "learning_rate": 0.00014455129945389184,
      "loss": 0.0731,
      "step": 8684
    },
    {
      "epoch": 1.948395781916087,
      "gripper_loss": 0.01708984375,
      "loss": 0.080078125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.375,
      "step": 8684
    },
    {
      "epoch": 1.9486201480816692,
      "grad_norm": 0.3852216303348541,
      "learning_rate": 0.0001444963936350639,
      "loss": 0.0707,
      "step": 8685
    },
    {
      "epoch": 1.9486201480816692,
      "gripper_loss": 0.11474609375,
      "loss": 0.01025390625,
      "pos_loss": 0.032958984375,
      "rot_loss": 0.00848388671875,
      "step": 8685
    },
    {
      "epoch": 1.9488445142472515,
      "grad_norm": 0.29445382952690125,
      "learning_rate": 0.00014444149400713992,
      "loss": 0.0345,
      "step": 8686
    },
    {
      "epoch": 1.9488445142472515,
      "gripper_loss": 0.0247802734375,
      "loss": 0.06591796875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.042236328125,
      "step": 8686
    },
    {
      "epoch": 1.9490688804128338,
      "grad_norm": 0.3433941602706909,
      "learning_rate": 0.00014438660057334142,
      "loss": 0.0502,
      "step": 8687
    },
    {
      "epoch": 1.9490688804128338,
      "gripper_loss": 0.93359375,
      "loss": 0.042724609375,
      "pos_loss": 0.0400390625,
      "rot_loss": 0.072265625,
      "step": 8687
    },
    {
      "epoch": 1.9492932465784159,
      "grad_norm": 0.39270228147506714,
      "learning_rate": 0.00014433171333688957,
      "loss": 0.0483,
      "step": 8688
    },
    {
      "epoch": 1.9492932465784159,
      "gripper_loss": 0.11474609375,
      "loss": 0.018798828125,
      "pos_loss": 0.050537109375,
      "rot_loss": 0.0830078125,
      "step": 8688
    },
    {
      "epoch": 1.9495176127439982,
      "grad_norm": 0.3170183002948761,
      "learning_rate": 0.00014427683230100496,
      "loss": 0.0385,
      "step": 8689
    },
    {
      "epoch": 1.9495176127439982,
      "gripper_loss": 0.3203125,
      "loss": 0.0220947265625,
      "pos_loss": 0.0380859375,
      "rot_loss": 0.056884765625,
      "step": 8689
    },
    {
      "epoch": 1.9497419789095805,
      "grad_norm": 0.9521088004112244,
      "learning_rate": 0.0001442219574689082,
      "loss": 0.0781,
      "step": 8690
    },
    {
      "epoch": 1.9497419789095805,
      "gripper_loss": 0.2470703125,
      "loss": 0.056640625,
      "pos_loss": 0.3828125,
      "rot_loss": 0.0888671875,
      "step": 8690
    },
    {
      "epoch": 1.9499663450751625,
      "grad_norm": 0.5246080756187439,
      "learning_rate": 0.00014416708884381913,
      "loss": 0.062,
      "step": 8691
    },
    {
      "epoch": 1.9499663450751625,
      "gripper_loss": 0.0205078125,
      "loss": 0.1064453125,
      "pos_loss": 0.96875,
      "rot_loss": 0.126953125,
      "step": 8691
    },
    {
      "epoch": 1.950190711240745,
      "grad_norm": 0.33619266748428345,
      "learning_rate": 0.00014411222642895754,
      "loss": 0.0493,
      "step": 8692
    },
    {
      "epoch": 1.950190711240745,
      "gripper_loss": 0.0252685546875,
      "loss": 0.006988525390625,
      "pos_loss": 0.0322265625,
      "rot_loss": 0.0076904296875,
      "step": 8692
    },
    {
      "epoch": 1.9504150774063271,
      "grad_norm": 0.2617436349391937,
      "learning_rate": 0.0001440573702275426,
      "loss": 0.0548,
      "step": 8693
    },
    {
      "epoch": 1.9504150774063271,
      "gripper_loss": 0.01025390625,
      "loss": 0.07177734375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.0191650390625,
      "step": 8693
    },
    {
      "epoch": 1.9506394435719092,
      "grad_norm": 0.4780693054199219,
      "learning_rate": 0.00014400252024279338,
      "loss": 0.0592,
      "step": 8694
    },
    {
      "epoch": 1.9506394435719092,
      "gripper_loss": 0.376953125,
      "loss": 0.2236328125,
      "pos_loss": 0.87109375,
      "rot_loss": 0.49609375,
      "step": 8694
    },
    {
      "epoch": 1.9508638097374917,
      "grad_norm": 0.9912133812904358,
      "learning_rate": 0.00014394767647792834,
      "loss": 0.1655,
      "step": 8695
    },
    {
      "epoch": 1.9508638097374917,
      "gripper_loss": 0.0341796875,
      "loss": 0.1298828125,
      "pos_loss": 0.9375,
      "rot_loss": 0.390625,
      "step": 8695
    },
    {
      "epoch": 1.9510881759030738,
      "grad_norm": 0.5305328965187073,
      "learning_rate": 0.00014389283893616577,
      "loss": 0.0874,
      "step": 8696
    },
    {
      "epoch": 1.9510881759030738,
      "gripper_loss": 0.462890625,
      "loss": 0.1806640625,
      "pos_loss": 1.5546875,
      "rot_loss": 0.189453125,
      "step": 8696
    },
    {
      "epoch": 1.951312542068656,
      "grad_norm": 0.4024862051010132,
      "learning_rate": 0.00014383800762072363,
      "loss": 0.0636,
      "step": 8697
    },
    {
      "epoch": 1.951312542068656,
      "gripper_loss": 0.007568359375,
      "loss": 0.09814453125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.46484375,
      "step": 8697
    },
    {
      "epoch": 1.9515369082342384,
      "grad_norm": 0.3105090260505676,
      "learning_rate": 0.0001437831825348191,
      "loss": 0.0419,
      "step": 8698
    },
    {
      "epoch": 1.9515369082342384,
      "gripper_loss": 0.5703125,
      "loss": 0.04833984375,
      "pos_loss": 0.04638671875,
      "rot_loss": 0.1904296875,
      "step": 8698
    },
    {
      "epoch": 1.9517612743998205,
      "grad_norm": 0.5694701075553894,
      "learning_rate": 0.00014372836368166947,
      "loss": 0.0735,
      "step": 8699
    },
    {
      "epoch": 1.9517612743998205,
      "gripper_loss": 0.34765625,
      "loss": 0.1259765625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.41015625,
      "step": 8699
    },
    {
      "epoch": 1.9519856405654026,
      "grad_norm": 0.9266729950904846,
      "learning_rate": 0.0001436735510644915,
      "loss": 0.0953,
      "step": 8700
    },
    {
      "epoch": 1.9519856405654026,
      "gripper_loss": 0.03759765625,
      "loss": 0.06640625,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.451171875,
      "step": 8700
    },
    {
      "epoch": 1.952210006730985,
      "grad_norm": 0.3590010106563568,
      "learning_rate": 0.0001436187446865016,
      "loss": 0.0556,
      "step": 8701
    },
    {
      "epoch": 1.952210006730985,
      "gripper_loss": 0.027099609375,
      "loss": 0.060302734375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.251953125,
      "step": 8701
    },
    {
      "epoch": 1.9524343728965672,
      "grad_norm": 0.4558143615722656,
      "learning_rate": 0.0001435639445509157,
      "loss": 0.0751,
      "step": 8702
    },
    {
      "epoch": 1.9524343728965672,
      "gripper_loss": 0.29296875,
      "loss": 0.267578125,
      "pos_loss": 0.59375,
      "rot_loss": 0.55078125,
      "step": 8702
    },
    {
      "epoch": 1.9526587390621493,
      "grad_norm": 1.723207950592041,
      "learning_rate": 0.00014350915066094937,
      "loss": 0.2493,
      "step": 8703
    },
    {
      "epoch": 1.9526587390621493,
      "gripper_loss": 0.12890625,
      "loss": 0.056640625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.23046875,
      "step": 8703
    },
    {
      "epoch": 1.9528831052277318,
      "grad_norm": 0.5123260021209717,
      "learning_rate": 0.00014345436301981804,
      "loss": 0.0538,
      "step": 8704
    },
    {
      "epoch": 1.9528831052277318,
      "gripper_loss": 0.05126953125,
      "loss": 0.039794921875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.053466796875,
      "step": 8704
    },
    {
      "epoch": 1.9531074713933139,
      "grad_norm": 0.36896318197250366,
      "learning_rate": 0.00014339958163073663,
      "loss": 0.0495,
      "step": 8705
    },
    {
      "epoch": 1.9531074713933139,
      "gripper_loss": 0.036376953125,
      "loss": 0.0185546875,
      "pos_loss": 0.049072265625,
      "rot_loss": 0.0966796875,
      "step": 8705
    },
    {
      "epoch": 1.9533318375588962,
      "grad_norm": 0.44814953207969666,
      "learning_rate": 0.00014334480649691954,
      "loss": 0.0524,
      "step": 8706
    },
    {
      "epoch": 1.9533318375588962,
      "gripper_loss": 0.236328125,
      "loss": 0.0164794921875,
      "pos_loss": 0.0238037109375,
      "rot_loss": 0.015869140625,
      "step": 8706
    },
    {
      "epoch": 1.9535562037244785,
      "grad_norm": 0.5713430047035217,
      "learning_rate": 0.00014329003762158105,
      "loss": 0.0543,
      "step": 8707
    },
    {
      "epoch": 1.9535562037244785,
      "gripper_loss": 1.6640625,
      "loss": 0.20703125,
      "pos_loss": 0.265625,
      "rot_loss": 0.486328125,
      "step": 8707
    },
    {
      "epoch": 1.9537805698900605,
      "grad_norm": 1.4358819723129272,
      "learning_rate": 0.00014323527500793493,
      "loss": 0.1951,
      "step": 8708
    },
    {
      "epoch": 1.9537805698900605,
      "gripper_loss": 0.1171875,
      "loss": 0.053955078125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.15234375,
      "step": 8708
    },
    {
      "epoch": 1.9540049360556428,
      "grad_norm": 0.4464222192764282,
      "learning_rate": 0.0001431805186591948,
      "loss": 0.0557,
      "step": 8709
    },
    {
      "epoch": 1.9540049360556428,
      "gripper_loss": 0.3046875,
      "loss": 0.0419921875,
      "pos_loss": 0.21484375,
      "rot_loss": 0.061767578125,
      "step": 8709
    },
    {
      "epoch": 1.9542293022212252,
      "grad_norm": 0.46980926394462585,
      "learning_rate": 0.00014312576857857345,
      "loss": 0.0535,
      "step": 8710
    },
    {
      "epoch": 1.9542293022212252,
      "gripper_loss": 0.019287109375,
      "loss": 0.042236328125,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.19921875,
      "step": 8710
    },
    {
      "epoch": 1.9544536683868072,
      "grad_norm": 0.4250844419002533,
      "learning_rate": 0.00014307102476928375,
      "loss": 0.0523,
      "step": 8711
    },
    {
      "epoch": 1.9544536683868072,
      "gripper_loss": 0.076171875,
      "loss": 0.08544921875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.244140625,
      "step": 8711
    },
    {
      "epoch": 1.9546780345523895,
      "grad_norm": 0.5568675994873047,
      "learning_rate": 0.00014301628723453804,
      "loss": 0.0557,
      "step": 8712
    },
    {
      "epoch": 1.9546780345523895,
      "gripper_loss": 0.314453125,
      "loss": 0.05322265625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.09619140625,
      "step": 8712
    },
    {
      "epoch": 1.9549024007179718,
      "grad_norm": 0.5078508257865906,
      "learning_rate": 0.00014296155597754833,
      "loss": 0.0616,
      "step": 8713
    },
    {
      "epoch": 1.9549024007179718,
      "gripper_loss": 0.038818359375,
      "loss": 0.037841796875,
      "pos_loss": 0.25,
      "rot_loss": 0.052734375,
      "step": 8713
    },
    {
      "epoch": 1.955126766883554,
      "grad_norm": 0.46340423822402954,
      "learning_rate": 0.00014290683100152623,
      "loss": 0.0633,
      "step": 8714
    },
    {
      "epoch": 1.955126766883554,
      "gripper_loss": 0.318359375,
      "loss": 0.040283203125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.1181640625,
      "step": 8714
    },
    {
      "epoch": 1.9553511330491362,
      "grad_norm": 0.37955939769744873,
      "learning_rate": 0.0001428521123096828,
      "loss": 0.0381,
      "step": 8715
    },
    {
      "epoch": 1.9553511330491362,
      "gripper_loss": 0.14453125,
      "loss": 0.06591796875,
      "pos_loss": 0.447265625,
      "rot_loss": 0.1376953125,
      "step": 8715
    },
    {
      "epoch": 1.9555754992147185,
      "grad_norm": 0.9757653474807739,
      "learning_rate": 0.00014279739990522906,
      "loss": 0.0845,
      "step": 8716
    },
    {
      "epoch": 1.9555754992147185,
      "gripper_loss": 0.0634765625,
      "loss": 0.130859375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.77734375,
      "step": 8716
    },
    {
      "epoch": 1.9557998653803006,
      "grad_norm": 0.459443598985672,
      "learning_rate": 0.00014274269379137543,
      "loss": 0.0547,
      "step": 8717
    },
    {
      "epoch": 1.9557998653803006,
      "gripper_loss": 0.0179443359375,
      "loss": 0.10595703125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.043212890625,
      "step": 8717
    },
    {
      "epoch": 1.956024231545883,
      "grad_norm": 0.5240479111671448,
      "learning_rate": 0.0001426879939713322,
      "loss": 0.075,
      "step": 8718
    },
    {
      "epoch": 1.956024231545883,
      "gripper_loss": 0.0216064453125,
      "loss": 0.07763671875,
      "pos_loss": 0.3984375,
      "rot_loss": 0.3828125,
      "step": 8718
    },
    {
      "epoch": 1.9562485977114652,
      "grad_norm": 0.43918851017951965,
      "learning_rate": 0.00014263330044830897,
      "loss": 0.0621,
      "step": 8719
    },
    {
      "epoch": 1.9562485977114652,
      "gripper_loss": 0.0299072265625,
      "loss": 0.040283203125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.022705078125,
      "step": 8719
    },
    {
      "epoch": 1.9564729638770473,
      "grad_norm": 0.3858151137828827,
      "learning_rate": 0.00014257861322551513,
      "loss": 0.0468,
      "step": 8720
    },
    {
      "epoch": 1.9564729638770473,
      "gripper_loss": 0.1162109375,
      "loss": 0.05078125,
      "pos_loss": 0.3984375,
      "rot_loss": 0.05908203125,
      "step": 8720
    },
    {
      "epoch": 1.9566973300426296,
      "grad_norm": 0.34711024165153503,
      "learning_rate": 0.00014252393230615977,
      "loss": 0.0488,
      "step": 8721
    },
    {
      "epoch": 1.9566973300426296,
      "gripper_loss": 0.0712890625,
      "loss": 0.0712890625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.294921875,
      "step": 8721
    },
    {
      "epoch": 1.9569216962082119,
      "grad_norm": 0.4746261239051819,
      "learning_rate": 0.00014246925769345161,
      "loss": 0.0644,
      "step": 8722
    },
    {
      "epoch": 1.9569216962082119,
      "gripper_loss": 0.69140625,
      "loss": 0.06396484375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.1513671875,
      "step": 8722
    },
    {
      "epoch": 1.957146062373794,
      "grad_norm": 0.903251051902771,
      "learning_rate": 0.00014241458939059877,
      "loss": 0.1141,
      "step": 8723
    },
    {
      "epoch": 1.957146062373794,
      "gripper_loss": 0.032958984375,
      "loss": 0.037353515625,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.21484375,
      "step": 8723
    },
    {
      "epoch": 1.9573704285393763,
      "grad_norm": 0.29172080755233765,
      "learning_rate": 0.00014235992740080922,
      "loss": 0.0472,
      "step": 8724
    },
    {
      "epoch": 1.9573704285393763,
      "gripper_loss": 0.54296875,
      "loss": 0.059814453125,
      "pos_loss": 0.345703125,
      "rot_loss": 0.08154296875,
      "step": 8724
    },
    {
      "epoch": 1.9575947947049586,
      "grad_norm": 0.3601275384426117,
      "learning_rate": 0.00014230527172729064,
      "loss": 0.0677,
      "step": 8725
    },
    {
      "epoch": 1.9575947947049586,
      "gripper_loss": 0.80078125,
      "loss": 0.2275390625,
      "pos_loss": 1.3828125,
      "rot_loss": 0.7421875,
      "step": 8725
    },
    {
      "epoch": 1.9578191608705406,
      "grad_norm": 0.5609356760978699,
      "learning_rate": 0.00014225062237324998,
      "loss": 0.1246,
      "step": 8726
    },
    {
      "epoch": 1.9578191608705406,
      "gripper_loss": 0.1181640625,
      "loss": 0.08935546875,
      "pos_loss": 0.263671875,
      "rot_loss": 0.44140625,
      "step": 8726
    },
    {
      "epoch": 1.958043527036123,
      "grad_norm": 0.5407552719116211,
      "learning_rate": 0.00014219597934189422,
      "loss": 0.0944,
      "step": 8727
    },
    {
      "epoch": 1.958043527036123,
      "gripper_loss": 0.859375,
      "loss": 0.04638671875,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.07421875,
      "step": 8727
    },
    {
      "epoch": 1.9582678932017052,
      "grad_norm": 0.4858981966972351,
      "learning_rate": 0.00014214134263642957,
      "loss": 0.0441,
      "step": 8728
    },
    {
      "epoch": 1.9582678932017052,
      "gripper_loss": 0.034912109375,
      "loss": 0.05419921875,
      "pos_loss": 0.36328125,
      "rot_loss": 0.1689453125,
      "step": 8728
    },
    {
      "epoch": 1.9584922593672873,
      "grad_norm": 0.38556456565856934,
      "learning_rate": 0.0001420867122600623,
      "loss": 0.0546,
      "step": 8729
    },
    {
      "epoch": 1.9584922593672873,
      "gripper_loss": 0.1826171875,
      "loss": 0.0252685546875,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.0771484375,
      "step": 8729
    },
    {
      "epoch": 1.9587166255328696,
      "grad_norm": 0.4087492823600769,
      "learning_rate": 0.000142032088215998,
      "loss": 0.0659,
      "step": 8730
    },
    {
      "epoch": 1.9587166255328696,
      "gripper_loss": 0.0172119140625,
      "loss": 0.043701171875,
      "pos_loss": 0.33984375,
      "rot_loss": 0.0869140625,
      "step": 8730
    },
    {
      "epoch": 1.958940991698452,
      "grad_norm": 0.3230522572994232,
      "learning_rate": 0.0001419774705074421,
      "loss": 0.0369,
      "step": 8731
    },
    {
      "epoch": 1.958940991698452,
      "gripper_loss": 0.0279541015625,
      "loss": 0.03564453125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.05126953125,
      "step": 8731
    },
    {
      "epoch": 1.959165357864034,
      "grad_norm": 0.45594003796577454,
      "learning_rate": 0.0001419228591375993,
      "loss": 0.0685,
      "step": 8732
    },
    {
      "epoch": 1.959165357864034,
      "gripper_loss": 0.0130615234375,
      "loss": 0.052978515625,
      "pos_loss": 0.23046875,
      "rot_loss": 0.30078125,
      "step": 8732
    },
    {
      "epoch": 1.9593897240296163,
      "grad_norm": 0.466575026512146,
      "learning_rate": 0.00014186825410967435,
      "loss": 0.0549,
      "step": 8733
    },
    {
      "epoch": 1.9593897240296163,
      "gripper_loss": 0.4453125,
      "loss": 0.091796875,
      "pos_loss": 0.35546875,
      "rot_loss": 0.443359375,
      "step": 8733
    },
    {
      "epoch": 1.9596140901951986,
      "grad_norm": 0.3626437485218048,
      "learning_rate": 0.0001418136554268714,
      "loss": 0.0412,
      "step": 8734
    },
    {
      "epoch": 1.9596140901951986,
      "gripper_loss": 0.050048828125,
      "loss": 0.0908203125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.154296875,
      "step": 8734
    },
    {
      "epoch": 1.9598384563607807,
      "grad_norm": 0.434520959854126,
      "learning_rate": 0.00014175906309239444,
      "loss": 0.0615,
      "step": 8735
    },
    {
      "epoch": 1.9598384563607807,
      "gripper_loss": 1.03125,
      "loss": 0.10009765625,
      "pos_loss": 0.63671875,
      "rot_loss": 0.06396484375,
      "step": 8735
    },
    {
      "epoch": 1.960062822526363,
      "grad_norm": 0.32594382762908936,
      "learning_rate": 0.00014170447710944663,
      "loss": 0.0552,
      "step": 8736
    },
    {
      "epoch": 1.960062822526363,
      "gripper_loss": 0.016357421875,
      "loss": 0.12109375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.6640625,
      "step": 8736
    },
    {
      "epoch": 1.9602871886919453,
      "grad_norm": 0.4390295743942261,
      "learning_rate": 0.0001416498974812313,
      "loss": 0.0596,
      "step": 8737
    },
    {
      "epoch": 1.9602871886919453,
      "gripper_loss": 0.357421875,
      "loss": 0.0223388671875,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.021484375,
      "step": 8737
    },
    {
      "epoch": 1.9605115548575274,
      "grad_norm": 0.4522716701030731,
      "learning_rate": 0.000141595324210951,
      "loss": 0.0819,
      "step": 8738
    },
    {
      "epoch": 1.9605115548575274,
      "gripper_loss": 0.037109375,
      "loss": 0.05615234375,
      "pos_loss": 0.416015625,
      "rot_loss": 0.1337890625,
      "step": 8738
    },
    {
      "epoch": 1.9607359210231097,
      "grad_norm": 0.3992452025413513,
      "learning_rate": 0.00014154075730180815,
      "loss": 0.0569,
      "step": 8739
    },
    {
      "epoch": 1.9607359210231097,
      "gripper_loss": 0.016845703125,
      "loss": 0.061767578125,
      "pos_loss": 0.5,
      "rot_loss": 0.126953125,
      "step": 8739
    },
    {
      "epoch": 1.960960287188692,
      "grad_norm": 0.6243095993995667,
      "learning_rate": 0.00014148619675700464,
      "loss": 0.0832,
      "step": 8740
    },
    {
      "epoch": 1.960960287188692,
      "gripper_loss": 1.8125,
      "loss": 0.06298828125,
      "pos_loss": 0.0277099609375,
      "rot_loss": 0.0146484375,
      "step": 8740
    },
    {
      "epoch": 1.961184653354274,
      "grad_norm": 0.36851850152015686,
      "learning_rate": 0.00014143164257974207,
      "loss": 0.0614,
      "step": 8741
    },
    {
      "epoch": 1.961184653354274,
      "gripper_loss": 0.01507568359375,
      "loss": 0.068359375,
      "pos_loss": 0.400390625,
      "rot_loss": 0.2890625,
      "step": 8741
    },
    {
      "epoch": 1.9614090195198564,
      "grad_norm": 0.3912910223007202,
      "learning_rate": 0.0001413770947732217,
      "loss": 0.0616,
      "step": 8742
    },
    {
      "epoch": 1.9614090195198564,
      "gripper_loss": 0.031982421875,
      "loss": 0.033935546875,
      "pos_loss": 0.205078125,
      "rot_loss": 0.1171875,
      "step": 8742
    },
    {
      "epoch": 1.9616333856854387,
      "grad_norm": 0.574574887752533,
      "learning_rate": 0.00014132255334064431,
      "loss": 0.0644,
      "step": 8743
    },
    {
      "epoch": 1.9616333856854387,
      "gripper_loss": 0.349609375,
      "loss": 0.04052734375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.0264892578125,
      "step": 8743
    },
    {
      "epoch": 1.9618577518510207,
      "grad_norm": 0.4200955629348755,
      "learning_rate": 0.00014126801828521053,
      "loss": 0.0431,
      "step": 8744
    },
    {
      "epoch": 1.9618577518510207,
      "gripper_loss": 0.16796875,
      "loss": 0.095703125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.25390625,
      "step": 8744
    },
    {
      "epoch": 1.9620821180166033,
      "grad_norm": 0.5802561044692993,
      "learning_rate": 0.00014121348961012027,
      "loss": 0.0874,
      "step": 8745
    },
    {
      "epoch": 1.9620821180166033,
      "gripper_loss": 0.1875,
      "loss": 0.064453125,
      "pos_loss": 0.220703125,
      "rot_loss": 0.369140625,
      "step": 8745
    },
    {
      "epoch": 1.9623064841821853,
      "grad_norm": 0.5043330192565918,
      "learning_rate": 0.00014115896731857326,
      "loss": 0.0576,
      "step": 8746
    },
    {
      "epoch": 1.9623064841821853,
      "gripper_loss": 0.0191650390625,
      "loss": 0.03173828125,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.1015625,
      "step": 8746
    },
    {
      "epoch": 1.9625308503477674,
      "grad_norm": 0.2973022162914276,
      "learning_rate": 0.00014110445141376894,
      "loss": 0.0453,
      "step": 8747
    },
    {
      "epoch": 1.9625308503477674,
      "gripper_loss": 0.61328125,
      "loss": 0.08203125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.1669921875,
      "step": 8747
    },
    {
      "epoch": 1.96275521651335,
      "grad_norm": 0.3997547924518585,
      "learning_rate": 0.0001410499418989063,
      "loss": 0.0732,
      "step": 8748
    },
    {
      "epoch": 1.96275521651335,
      "gripper_loss": 0.01519775390625,
      "loss": 0.0311279296875,
      "pos_loss": 0.265625,
      "rot_loss": 0.032958984375,
      "step": 8748
    },
    {
      "epoch": 1.962979582678932,
      "grad_norm": 0.5364747047424316,
      "learning_rate": 0.00014099543877718384,
      "loss": 0.0716,
      "step": 8749
    },
    {
      "epoch": 1.962979582678932,
      "gripper_loss": 0.236328125,
      "loss": 0.043701171875,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.1904296875,
      "step": 8749
    },
    {
      "epoch": 1.963203948844514,
      "grad_norm": 0.38730624318122864,
      "learning_rate": 0.00014094094205179976,
      "loss": 0.0554,
      "step": 8750
    },
    {
      "epoch": 1.963203948844514,
      "gripper_loss": 0.447265625,
      "loss": 0.0242919921875,
      "pos_loss": 0.03662109375,
      "rot_loss": 0.04248046875,
      "step": 8750
    },
    {
      "epoch": 1.9634283150100966,
      "grad_norm": 0.3694228529930115,
      "learning_rate": 0.00014088645172595192,
      "loss": 0.0421,
      "step": 8751
    },
    {
      "epoch": 1.9634283150100966,
      "gripper_loss": 0.0194091796875,
      "loss": 0.03515625,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.0830078125,
      "step": 8751
    },
    {
      "epoch": 1.9636526811756787,
      "grad_norm": 0.36163875460624695,
      "learning_rate": 0.0001408319678028379,
      "loss": 0.0658,
      "step": 8752
    },
    {
      "epoch": 1.9636526811756787,
      "gripper_loss": 0.056396484375,
      "loss": 0.08544921875,
      "pos_loss": 0.7265625,
      "rot_loss": 0.138671875,
      "step": 8752
    },
    {
      "epoch": 1.9638770473412608,
      "grad_norm": 0.35781246423721313,
      "learning_rate": 0.00014077749028565468,
      "loss": 0.0532,
      "step": 8753
    },
    {
      "epoch": 1.9638770473412608,
      "gripper_loss": 0.037841796875,
      "loss": 0.053955078125,
      "pos_loss": 0.375,
      "rot_loss": 0.1181640625,
      "step": 8753
    },
    {
      "epoch": 1.9641014135068433,
      "grad_norm": 0.42911744117736816,
      "learning_rate": 0.00014072301917759895,
      "loss": 0.0608,
      "step": 8754
    },
    {
      "epoch": 1.9641014135068433,
      "gripper_loss": 0.0150146484375,
      "loss": 0.035400390625,
      "pos_loss": 0.216796875,
      "rot_loss": 0.1201171875,
      "step": 8754
    },
    {
      "epoch": 1.9643257796724254,
      "grad_norm": 0.340850293636322,
      "learning_rate": 0.0001406685544818671,
      "loss": 0.0643,
      "step": 8755
    },
    {
      "epoch": 1.9643257796724254,
      "gripper_loss": 0.03076171875,
      "loss": 0.052978515625,
      "pos_loss": 0.466796875,
      "rot_loss": 0.05859375,
      "step": 8755
    },
    {
      "epoch": 1.9645501458380075,
      "grad_norm": 0.4336949586868286,
      "learning_rate": 0.0001406140962016551,
      "loss": 0.0663,
      "step": 8756
    },
    {
      "epoch": 1.9645501458380075,
      "gripper_loss": 0.083984375,
      "loss": 0.0216064453125,
      "pos_loss": 0.049072265625,
      "rot_loss": 0.09716796875,
      "step": 8756
    },
    {
      "epoch": 1.96477451200359,
      "grad_norm": 0.2427876591682434,
      "learning_rate": 0.00014055964434015863,
      "loss": 0.0385,
      "step": 8757
    },
    {
      "epoch": 1.96477451200359,
      "gripper_loss": 0.049072265625,
      "loss": 0.03955078125,
      "pos_loss": 0.19921875,
      "rot_loss": 0.1806640625,
      "step": 8757
    },
    {
      "epoch": 1.964998878169172,
      "grad_norm": 0.40477508306503296,
      "learning_rate": 0.00014050519890057274,
      "loss": 0.0529,
      "step": 8758
    },
    {
      "epoch": 1.964998878169172,
      "gripper_loss": 0.0791015625,
      "loss": 0.07275390625,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.41796875,
      "step": 8758
    },
    {
      "epoch": 1.9652232443347544,
      "grad_norm": 0.7476478815078735,
      "learning_rate": 0.00014045075988609228,
      "loss": 0.0781,
      "step": 8759
    },
    {
      "epoch": 1.9652232443347544,
      "gripper_loss": 0.61328125,
      "loss": 0.068359375,
      "pos_loss": 0.482421875,
      "rot_loss": 0.0118408203125,
      "step": 8759
    },
    {
      "epoch": 1.9654476105003367,
      "grad_norm": 0.33642542362213135,
      "learning_rate": 0.0001403963272999119,
      "loss": 0.0526,
      "step": 8760
    },
    {
      "epoch": 1.9654476105003367,
      "gripper_loss": 0.0093994140625,
      "loss": 0.0247802734375,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.044189453125,
      "step": 8760
    },
    {
      "epoch": 1.9656719766659188,
      "grad_norm": 0.2620563209056854,
      "learning_rate": 0.00014034190114522543,
      "loss": 0.0323,
      "step": 8761
    },
    {
      "epoch": 1.9656719766659188,
      "gripper_loss": 0.034423828125,
      "loss": 0.05126953125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.1435546875,
      "step": 8761
    },
    {
      "epoch": 1.965896342831501,
      "grad_norm": 0.8022497892379761,
      "learning_rate": 0.00014028748142522673,
      "loss": 0.0965,
      "step": 8762
    },
    {
      "epoch": 1.965896342831501,
      "gripper_loss": 0.357421875,
      "loss": 0.03369140625,
      "pos_loss": 0.181640625,
      "rot_loss": 0.0250244140625,
      "step": 8762
    },
    {
      "epoch": 1.9661207089970834,
      "grad_norm": 0.5170660614967346,
      "learning_rate": 0.00014023306814310905,
      "loss": 0.0715,
      "step": 8763
    },
    {
      "epoch": 1.9661207089970834,
      "gripper_loss": 0.00933837890625,
      "loss": 0.053466796875,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.287109375,
      "step": 8763
    },
    {
      "epoch": 1.9663450751626654,
      "grad_norm": 0.3900061249732971,
      "learning_rate": 0.0001401786613020653,
      "loss": 0.0435,
      "step": 8764
    },
    {
      "epoch": 1.9663450751626654,
      "gripper_loss": 0.369140625,
      "loss": 0.03857421875,
      "pos_loss": 0.107421875,
      "rot_loss": 0.1396484375,
      "step": 8764
    },
    {
      "epoch": 1.9665694413282477,
      "grad_norm": 0.4599277079105377,
      "learning_rate": 0.00014012426090528825,
      "loss": 0.0461,
      "step": 8765
    },
    {
      "epoch": 1.9665694413282477,
      "gripper_loss": 0.17578125,
      "loss": 0.04248046875,
      "pos_loss": 0.1875,
      "rot_loss": 0.173828125,
      "step": 8765
    },
    {
      "epoch": 1.96679380749383,
      "grad_norm": 0.32666659355163574,
      "learning_rate": 0.00014006986695596979,
      "loss": 0.0439,
      "step": 8766
    },
    {
      "epoch": 1.96679380749383,
      "gripper_loss": 0.3359375,
      "loss": 0.224609375,
      "pos_loss": 0.671875,
      "rot_loss": 0.546875,
      "step": 8766
    },
    {
      "epoch": 1.9670181736594121,
      "grad_norm": 1.408245325088501,
      "learning_rate": 0.00014001547945730194,
      "loss": 0.2225,
      "step": 8767
    },
    {
      "epoch": 1.9670181736594121,
      "gripper_loss": 0.58203125,
      "loss": 0.0289306640625,
      "pos_loss": 0.040283203125,
      "rot_loss": 0.044921875,
      "step": 8767
    },
    {
      "epoch": 1.9672425398249944,
      "grad_norm": 0.4430331587791443,
      "learning_rate": 0.00013996109841247605,
      "loss": 0.0643,
      "step": 8768
    },
    {
      "epoch": 1.9672425398249944,
      "gripper_loss": 0.14453125,
      "loss": 0.1083984375,
      "pos_loss": 0.408203125,
      "rot_loss": 0.61328125,
      "step": 8768
    },
    {
      "epoch": 1.9674669059905767,
      "grad_norm": 0.6228100657463074,
      "learning_rate": 0.00013990672382468338,
      "loss": 0.0891,
      "step": 8769
    },
    {
      "epoch": 1.9674669059905767,
      "gripper_loss": 0.302734375,
      "loss": 0.035400390625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.07080078125,
      "step": 8769
    },
    {
      "epoch": 1.9676912721561588,
      "grad_norm": 0.3287130296230316,
      "learning_rate": 0.00013985235569711427,
      "loss": 0.0567,
      "step": 8770
    },
    {
      "epoch": 1.9676912721561588,
      "gripper_loss": 0.01116943359375,
      "loss": 0.034423828125,
      "pos_loss": 0.205078125,
      "rot_loss": 0.11962890625,
      "step": 8770
    },
    {
      "epoch": 1.967915638321741,
      "grad_norm": 0.42034807801246643,
      "learning_rate": 0.0001397979940329592,
      "loss": 0.0561,
      "step": 8771
    },
    {
      "epoch": 1.967915638321741,
      "gripper_loss": 0.0179443359375,
      "loss": 0.064453125,
      "pos_loss": 0.609375,
      "rot_loss": 0.033447265625,
      "step": 8771
    },
    {
      "epoch": 1.9681400044873234,
      "grad_norm": 0.42342808842658997,
      "learning_rate": 0.0001397436388354082,
      "loss": 0.0704,
      "step": 8772
    },
    {
      "epoch": 1.9681400044873234,
      "gripper_loss": 0.0185546875,
      "loss": 0.034912109375,
      "pos_loss": 0.306640625,
      "rot_loss": 0.0184326171875,
      "step": 8772
    },
    {
      "epoch": 1.9683643706529055,
      "grad_norm": 0.37241944670677185,
      "learning_rate": 0.00013968929010765052,
      "loss": 0.0395,
      "step": 8773
    },
    {
      "epoch": 1.9683643706529055,
      "gripper_loss": 0.44921875,
      "loss": 0.1650390625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.25390625,
      "step": 8773
    },
    {
      "epoch": 1.9685887368184878,
      "grad_norm": 1.0989139080047607,
      "learning_rate": 0.0001396349478528756,
      "loss": 0.179,
      "step": 8774
    },
    {
      "epoch": 1.9685887368184878,
      "gripper_loss": 0.0205078125,
      "loss": 0.0125732421875,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.044189453125,
      "step": 8774
    },
    {
      "epoch": 1.96881310298407,
      "grad_norm": 0.47990381717681885,
      "learning_rate": 0.00013958061207427203,
      "loss": 0.0424,
      "step": 8775
    },
    {
      "epoch": 1.96881310298407,
      "gripper_loss": 0.1796875,
      "loss": 0.07568359375,
      "pos_loss": 0.53125,
      "rot_loss": 0.181640625,
      "step": 8775
    },
    {
      "epoch": 1.9690374691496522,
      "grad_norm": 0.5294948816299438,
      "learning_rate": 0.00013952628277502828,
      "loss": 0.0548,
      "step": 8776
    },
    {
      "epoch": 1.9690374691496522,
      "gripper_loss": 0.3515625,
      "loss": 0.019775390625,
      "pos_loss": 0.0206298828125,
      "rot_loss": 0.041259765625,
      "step": 8776
    },
    {
      "epoch": 1.9692618353152345,
      "grad_norm": 0.42998361587524414,
      "learning_rate": 0.00013947195995833234,
      "loss": 0.0697,
      "step": 8777
    },
    {
      "epoch": 1.9692618353152345,
      "gripper_loss": 0.2099609375,
      "loss": 0.02880859375,
      "pos_loss": 0.058349609375,
      "rot_loss": 0.11962890625,
      "step": 8777
    },
    {
      "epoch": 1.9694862014808168,
      "grad_norm": 0.5098342299461365,
      "learning_rate": 0.00013941764362737196,
      "loss": 0.0734,
      "step": 8778
    },
    {
      "epoch": 1.9694862014808168,
      "gripper_loss": 0.74609375,
      "loss": 0.0830078125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.06103515625,
      "step": 8778
    },
    {
      "epoch": 1.9697105676463988,
      "grad_norm": 0.4383973181247711,
      "learning_rate": 0.0001393633337853342,
      "loss": 0.061,
      "step": 8779
    },
    {
      "epoch": 1.9697105676463988,
      "gripper_loss": 0.02587890625,
      "loss": 0.019287109375,
      "pos_loss": 0.03662109375,
      "rot_loss": 0.11962890625,
      "step": 8779
    },
    {
      "epoch": 1.9699349338119811,
      "grad_norm": 0.43007221817970276,
      "learning_rate": 0.0001393090304354061,
      "loss": 0.0635,
      "step": 8780
    },
    {
      "epoch": 1.9699349338119811,
      "gripper_loss": 0.01513671875,
      "loss": 0.0419921875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1220703125,
      "step": 8780
    },
    {
      "epoch": 1.9701592999775634,
      "grad_norm": 0.5520063638687134,
      "learning_rate": 0.00013925473358077412,
      "loss": 0.0641,
      "step": 8781
    },
    {
      "epoch": 1.9701592999775634,
      "gripper_loss": 0.26953125,
      "loss": 0.037841796875,
      "pos_loss": 0.205078125,
      "rot_loss": 0.06689453125,
      "step": 8781
    },
    {
      "epoch": 1.9703836661431455,
      "grad_norm": 0.5209242105484009,
      "learning_rate": 0.00013920044322462442,
      "loss": 0.0652,
      "step": 8782
    },
    {
      "epoch": 1.9703836661431455,
      "gripper_loss": 0.01171875,
      "loss": 0.047119140625,
      "pos_loss": 0.40625,
      "rot_loss": 0.0595703125,
      "step": 8782
    },
    {
      "epoch": 1.9706080323087278,
      "grad_norm": 0.5807563066482544,
      "learning_rate": 0.00013914615937014258,
      "loss": 0.0667,
      "step": 8783
    },
    {
      "epoch": 1.9706080323087278,
      "gripper_loss": 0.005401611328125,
      "loss": 0.07177734375,
      "pos_loss": 0.53125,
      "rot_loss": 0.1943359375,
      "step": 8783
    },
    {
      "epoch": 1.9708323984743101,
      "grad_norm": 0.32096847891807556,
      "learning_rate": 0.00013909188202051415,
      "loss": 0.0707,
      "step": 8784
    },
    {
      "epoch": 1.9708323984743101,
      "gripper_loss": 0.921875,
      "loss": 0.0751953125,
      "pos_loss": 0.37109375,
      "rot_loss": 0.08935546875,
      "step": 8784
    },
    {
      "epoch": 1.9710567646398922,
      "grad_norm": 0.27492818236351013,
      "learning_rate": 0.00013903761117892388,
      "loss": 0.047,
      "step": 8785
    },
    {
      "epoch": 1.9710567646398922,
      "gripper_loss": 0.022705078125,
      "loss": 0.068359375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.27734375,
      "step": 8785
    },
    {
      "epoch": 1.9712811308054745,
      "grad_norm": 0.33678510785102844,
      "learning_rate": 0.00013898334684855646,
      "loss": 0.0534,
      "step": 8786
    },
    {
      "epoch": 1.9712811308054745,
      "gripper_loss": 0.019775390625,
      "loss": 0.0966796875,
      "pos_loss": 0.7578125,
      "rot_loss": 0.2294921875,
      "step": 8786
    },
    {
      "epoch": 1.9715054969710568,
      "grad_norm": 0.3733275532722473,
      "learning_rate": 0.00013892908903259625,
      "loss": 0.0687,
      "step": 8787
    },
    {
      "epoch": 1.9715054969710568,
      "gripper_loss": 0.01336669921875,
      "loss": 0.09814453125,
      "pos_loss": 0.8046875,
      "rot_loss": 0.205078125,
      "step": 8787
    },
    {
      "epoch": 1.971729863136639,
      "grad_norm": 0.40079501271247864,
      "learning_rate": 0.0001388748377342268,
      "loss": 0.0532,
      "step": 8788
    },
    {
      "epoch": 1.971729863136639,
      "gripper_loss": 0.03271484375,
      "loss": 0.07958984375,
      "pos_loss": 0.17578125,
      "rot_loss": 0.62890625,
      "step": 8788
    },
    {
      "epoch": 1.9719542293022212,
      "grad_norm": 0.4473327100276947,
      "learning_rate": 0.00013882059295663171,
      "loss": 0.0613,
      "step": 8789
    },
    {
      "epoch": 1.9719542293022212,
      "gripper_loss": 0.11474609375,
      "loss": 0.0517578125,
      "pos_loss": 0.298828125,
      "rot_loss": 0.1826171875,
      "step": 8789
    },
    {
      "epoch": 1.9721785954678035,
      "grad_norm": 0.31953808665275574,
      "learning_rate": 0.00013876635470299405,
      "loss": 0.0468,
      "step": 8790
    },
    {
      "epoch": 1.9721785954678035,
      "gripper_loss": 0.177734375,
      "loss": 0.10693359375,
      "pos_loss": 0.484375,
      "rot_loss": 0.44921875,
      "step": 8790
    },
    {
      "epoch": 1.9724029616333856,
      "grad_norm": 0.7628759145736694,
      "learning_rate": 0.00013871212297649648,
      "loss": 0.1075,
      "step": 8791
    },
    {
      "epoch": 1.9724029616333856,
      "gripper_loss": 0.0086669921875,
      "loss": 0.0439453125,
      "pos_loss": 0.416015625,
      "rot_loss": 0.0093994140625,
      "step": 8791
    },
    {
      "epoch": 1.9726273277989679,
      "grad_norm": 0.3193921744823456,
      "learning_rate": 0.00013865789778032123,
      "loss": 0.0352,
      "step": 8792
    },
    {
      "epoch": 1.9726273277989679,
      "gripper_loss": 0.0078125,
      "loss": 0.04931640625,
      "pos_loss": 0.294921875,
      "rot_loss": 0.1923828125,
      "step": 8792
    },
    {
      "epoch": 1.9728516939645502,
      "grad_norm": 0.433633953332901,
      "learning_rate": 0.00013860367911765025,
      "loss": 0.0985,
      "step": 8793
    },
    {
      "epoch": 1.9728516939645502,
      "gripper_loss": 0.0238037109375,
      "loss": 0.048828125,
      "pos_loss": 0.275390625,
      "rot_loss": 0.203125,
      "step": 8793
    },
    {
      "epoch": 1.9730760601301323,
      "grad_norm": 0.5246060490608215,
      "learning_rate": 0.00013854946699166503,
      "loss": 0.0683,
      "step": 8794
    },
    {
      "epoch": 1.9730760601301323,
      "gripper_loss": 0.006500244140625,
      "loss": 0.1650390625,
      "pos_loss": 1.6171875,
      "rot_loss": 0.09814453125,
      "step": 8794
    },
    {
      "epoch": 1.9733004262957146,
      "grad_norm": 0.4780291020870209,
      "learning_rate": 0.0001384952614055469,
      "loss": 0.0698,
      "step": 8795
    },
    {
      "epoch": 1.9733004262957146,
      "gripper_loss": 0.494140625,
      "loss": 0.044189453125,
      "pos_loss": 0.23828125,
      "rot_loss": 0.035888671875,
      "step": 8795
    },
    {
      "epoch": 1.9735247924612969,
      "grad_norm": 0.36182233691215515,
      "learning_rate": 0.00013844106236247648,
      "loss": 0.0655,
      "step": 8796
    },
    {
      "epoch": 1.9735247924612969,
      "gripper_loss": 0.01287841796875,
      "loss": 0.0157470703125,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.0556640625,
      "step": 8796
    },
    {
      "epoch": 1.973749158626879,
      "grad_norm": 0.3308764100074768,
      "learning_rate": 0.000138386869865634,
      "loss": 0.0455,
      "step": 8797
    },
    {
      "epoch": 1.973749158626879,
      "gripper_loss": 0.1279296875,
      "loss": 0.0181884765625,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.01007080078125,
      "step": 8797
    },
    {
      "epoch": 1.9739735247924612,
      "grad_norm": 0.4142865240573883,
      "learning_rate": 0.00013833268391819965,
      "loss": 0.0575,
      "step": 8798
    },
    {
      "epoch": 1.9739735247924612,
      "gripper_loss": 0.07275390625,
      "loss": 0.0308837890625,
      "pos_loss": 0.0478515625,
      "rot_loss": 0.224609375,
      "step": 8798
    },
    {
      "epoch": 1.9741978909580435,
      "grad_norm": 0.5341194868087769,
      "learning_rate": 0.000138278504523353,
      "loss": 0.0685,
      "step": 8799
    },
    {
      "epoch": 1.9741978909580435,
      "gripper_loss": 0.032958984375,
      "loss": 0.0086669921875,
      "pos_loss": 0.0086669921875,
      "rot_loss": 0.039794921875,
      "step": 8799
    },
    {
      "epoch": 1.9744222571236256,
      "grad_norm": 0.3112444579601288,
      "learning_rate": 0.0001382243316842732,
      "loss": 0.0667,
      "step": 8800
    },
    {
      "epoch": 1.9744222571236256,
      "gripper_loss": 0.1875,
      "loss": 0.06005859375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.1455078125,
      "step": 8800
    },
    {
      "epoch": 1.9746466232892081,
      "grad_norm": 0.4569215178489685,
      "learning_rate": 0.00013817016540413913,
      "loss": 0.0629,
      "step": 8801
    },
    {
      "epoch": 1.9746466232892081,
      "gripper_loss": 0.10595703125,
      "loss": 0.03759765625,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.130859375,
      "step": 8801
    },
    {
      "epoch": 1.9748709894547902,
      "grad_norm": 0.5069832801818848,
      "learning_rate": 0.00013811600568612925,
      "loss": 0.0514,
      "step": 8802
    },
    {
      "epoch": 1.9748709894547902,
      "gripper_loss": 0.0177001953125,
      "loss": 0.0771484375,
      "pos_loss": 0.466796875,
      "rot_loss": 0.298828125,
      "step": 8802
    },
    {
      "epoch": 1.9750953556203723,
      "grad_norm": 0.37979573011398315,
      "learning_rate": 0.00013806185253342163,
      "loss": 0.0603,
      "step": 8803
    },
    {
      "epoch": 1.9750953556203723,
      "gripper_loss": 0.015625,
      "loss": 0.1572265625,
      "pos_loss": 1.5390625,
      "rot_loss": 0.06884765625,
      "step": 8803
    },
    {
      "epoch": 1.9753197217859548,
      "grad_norm": 0.39505550265312195,
      "learning_rate": 0.00013800770594919404,
      "loss": 0.0756,
      "step": 8804
    },
    {
      "epoch": 1.9753197217859548,
      "gripper_loss": 0.546875,
      "loss": 0.21875,
      "pos_loss": 0.3046875,
      "rot_loss": 0.1787109375,
      "step": 8804
    },
    {
      "epoch": 1.975544087951537,
      "grad_norm": 1.6541095972061157,
      "learning_rate": 0.00013795356593662359,
      "loss": 0.2174,
      "step": 8805
    },
    {
      "epoch": 1.975544087951537,
      "gripper_loss": 0.419921875,
      "loss": 0.056396484375,
      "pos_loss": 0.29296875,
      "rot_loss": 0.1328125,
      "step": 8805
    },
    {
      "epoch": 1.975768454117119,
      "grad_norm": 0.4994456171989441,
      "learning_rate": 0.00013789943249888732,
      "loss": 0.0599,
      "step": 8806
    },
    {
      "epoch": 1.975768454117119,
      "gripper_loss": 0.390625,
      "loss": 0.06787109375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.01953125,
      "step": 8806
    },
    {
      "epoch": 1.9759928202827015,
      "grad_norm": 0.6447516083717346,
      "learning_rate": 0.00013784530563916176,
      "loss": 0.0601,
      "step": 8807
    },
    {
      "epoch": 1.9759928202827015,
      "gripper_loss": 0.042236328125,
      "loss": 0.056884765625,
      "pos_loss": 0.453125,
      "rot_loss": 0.0712890625,
      "step": 8807
    },
    {
      "epoch": 1.9762171864482836,
      "grad_norm": 0.5243062376976013,
      "learning_rate": 0.00013779118536062296,
      "loss": 0.0594,
      "step": 8808
    },
    {
      "epoch": 1.9762171864482836,
      "gripper_loss": 0.038330078125,
      "loss": 0.06689453125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.1416015625,
      "step": 8808
    },
    {
      "epoch": 1.9764415526138657,
      "grad_norm": 0.5341277718544006,
      "learning_rate": 0.00013773707166644684,
      "loss": 0.06,
      "step": 8809
    },
    {
      "epoch": 1.9764415526138657,
      "gripper_loss": 0.1806640625,
      "loss": 0.051025390625,
      "pos_loss": 0.42578125,
      "rot_loss": 0.02001953125,
      "step": 8809
    },
    {
      "epoch": 1.9766659187794482,
      "grad_norm": 0.4890974760055542,
      "learning_rate": 0.00013768296455980852,
      "loss": 0.0547,
      "step": 8810
    },
    {
      "epoch": 1.9766659187794482,
      "gripper_loss": 0.005859375,
      "loss": 0.1279296875,
      "pos_loss": 1.28125,
      "rot_loss": 0.03759765625,
      "step": 8810
    },
    {
      "epoch": 1.9768902849450303,
      "grad_norm": 0.7426919937133789,
      "learning_rate": 0.00013762886404388315,
      "loss": 0.0683,
      "step": 8811
    },
    {
      "epoch": 1.9768902849450303,
      "gripper_loss": 1.53125,
      "loss": 0.06494140625,
      "pos_loss": 0.06787109375,
      "rot_loss": 0.059326171875,
      "step": 8811
    },
    {
      "epoch": 1.9771146511106124,
      "grad_norm": 0.4982035160064697,
      "learning_rate": 0.00013757477012184537,
      "loss": 0.0677,
      "step": 8812
    },
    {
      "epoch": 1.9771146511106124,
      "gripper_loss": 0.123046875,
      "loss": 0.09619140625,
      "pos_loss": 0.173828125,
      "rot_loss": 0.26171875,
      "step": 8812
    },
    {
      "epoch": 1.9773390172761949,
      "grad_norm": 1.1862118244171143,
      "learning_rate": 0.0001375206827968692,
      "loss": 0.1076,
      "step": 8813
    },
    {
      "epoch": 1.9773390172761949,
      "gripper_loss": 0.279296875,
      "loss": 0.024169921875,
      "pos_loss": 0.10498046875,
      "rot_loss": 0.03271484375,
      "step": 8813
    },
    {
      "epoch": 1.977563383441777,
      "grad_norm": 0.39835652709007263,
      "learning_rate": 0.00013746660207212858,
      "loss": 0.0503,
      "step": 8814
    },
    {
      "epoch": 1.977563383441777,
      "gripper_loss": 0.1689453125,
      "loss": 0.037841796875,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.1064453125,
      "step": 8814
    },
    {
      "epoch": 1.9777877496073593,
      "grad_norm": 0.4225756824016571,
      "learning_rate": 0.00013741252795079696,
      "loss": 0.0562,
      "step": 8815
    },
    {
      "epoch": 1.9777877496073593,
      "gripper_loss": 0.197265625,
      "loss": 0.0174560546875,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.05029296875,
      "step": 8815
    },
    {
      "epoch": 1.9780121157729416,
      "grad_norm": 0.34805747866630554,
      "learning_rate": 0.00013735846043604728,
      "loss": 0.0629,
      "step": 8816
    },
    {
      "epoch": 1.9780121157729416,
      "gripper_loss": 0.48828125,
      "loss": 0.0220947265625,
      "pos_loss": 0.020751953125,
      "rot_loss": 0.00616455078125,
      "step": 8816
    },
    {
      "epoch": 1.9782364819385236,
      "grad_norm": 0.34757888317108154,
      "learning_rate": 0.00013730439953105243,
      "loss": 0.0443,
      "step": 8817
    },
    {
      "epoch": 1.9782364819385236,
      "gripper_loss": 0.00390625,
      "loss": 0.040771484375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.07763671875,
      "step": 8817
    },
    {
      "epoch": 1.978460848104106,
      "grad_norm": 0.46818721294403076,
      "learning_rate": 0.00013725034523898438,
      "loss": 0.049,
      "step": 8818
    },
    {
      "epoch": 1.978460848104106,
      "gripper_loss": 0.1201171875,
      "loss": 0.05908203125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.032958984375,
      "step": 8818
    },
    {
      "epoch": 1.9786852142696882,
      "grad_norm": 0.5027595162391663,
      "learning_rate": 0.00013719629756301526,
      "loss": 0.0517,
      "step": 8819
    },
    {
      "epoch": 1.9786852142696882,
      "gripper_loss": 0.0162353515625,
      "loss": 0.0634765625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.0849609375,
      "step": 8819
    },
    {
      "epoch": 1.9789095804352703,
      "grad_norm": 0.6287893056869507,
      "learning_rate": 0.0001371422565063164,
      "loss": 0.0664,
      "step": 8820
    },
    {
      "epoch": 1.9789095804352703,
      "gripper_loss": 0.2158203125,
      "loss": 0.0234375,
      "pos_loss": 0.046630859375,
      "rot_loss": 0.0927734375,
      "step": 8820
    },
    {
      "epoch": 1.9791339466008526,
      "grad_norm": 0.5272377133369446,
      "learning_rate": 0.00013708822207205904,
      "loss": 0.0491,
      "step": 8821
    },
    {
      "epoch": 1.9791339466008526,
      "gripper_loss": 0.212890625,
      "loss": 0.12451171875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.48046875,
      "step": 8821
    },
    {
      "epoch": 1.979358312766435,
      "grad_norm": 0.7623946666717529,
      "learning_rate": 0.00013703419426341367,
      "loss": 0.0882,
      "step": 8822
    },
    {
      "epoch": 1.979358312766435,
      "gripper_loss": 0.79296875,
      "loss": 0.041748046875,
      "pos_loss": 0.09765625,
      "rot_loss": 0.049072265625,
      "step": 8822
    },
    {
      "epoch": 1.979582678932017,
      "grad_norm": 0.2847825884819031,
      "learning_rate": 0.0001369801730835508,
      "loss": 0.0427,
      "step": 8823
    },
    {
      "epoch": 1.979582678932017,
      "gripper_loss": 0.85546875,
      "loss": 0.046875,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.049560546875,
      "step": 8823
    },
    {
      "epoch": 1.9798070450975993,
      "grad_norm": 0.3335987329483032,
      "learning_rate": 0.0001369261585356404,
      "loss": 0.0508,
      "step": 8824
    },
    {
      "epoch": 1.9798070450975993,
      "gripper_loss": 0.1923828125,
      "loss": 0.10791015625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.453125,
      "step": 8824
    },
    {
      "epoch": 1.9800314112631816,
      "grad_norm": 0.563510537147522,
      "learning_rate": 0.00013687215062285196,
      "loss": 0.0467,
      "step": 8825
    },
    {
      "epoch": 1.9800314112631816,
      "gripper_loss": 0.3046875,
      "loss": 0.0267333984375,
      "pos_loss": 0.12109375,
      "rot_loss": 0.0272216796875,
      "step": 8825
    },
    {
      "epoch": 1.9802557774287637,
      "grad_norm": 0.5002197623252869,
      "learning_rate": 0.00013681814934835457,
      "loss": 0.0393,
      "step": 8826
    },
    {
      "epoch": 1.9802557774287637,
      "gripper_loss": 0.26953125,
      "loss": 0.064453125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.1611328125,
      "step": 8826
    },
    {
      "epoch": 1.980480143594346,
      "grad_norm": 0.34972092509269714,
      "learning_rate": 0.00013676415471531702,
      "loss": 0.0383,
      "step": 8827
    },
    {
      "epoch": 1.980480143594346,
      "gripper_loss": 0.04541015625,
      "loss": 0.0390625,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.2578125,
      "step": 8827
    },
    {
      "epoch": 1.9807045097599283,
      "grad_norm": 0.3798167407512665,
      "learning_rate": 0.0001367101667269078,
      "loss": 0.0428,
      "step": 8828
    },
    {
      "epoch": 1.9807045097599283,
      "gripper_loss": 0.01904296875,
      "loss": 0.060302734375,
      "pos_loss": 0.455078125,
      "rot_loss": 0.138671875,
      "step": 8828
    },
    {
      "epoch": 1.9809288759255104,
      "grad_norm": 0.39563900232315063,
      "learning_rate": 0.00013665618538629488,
      "loss": 0.0596,
      "step": 8829
    },
    {
      "epoch": 1.9809288759255104,
      "gripper_loss": 0.032470703125,
      "loss": 0.08935546875,
      "pos_loss": 0.6953125,
      "rot_loss": 0.2119140625,
      "step": 8829
    },
    {
      "epoch": 1.9811532420910927,
      "grad_norm": 0.29574039578437805,
      "learning_rate": 0.00013660221069664572,
      "loss": 0.0769,
      "step": 8830
    },
    {
      "epoch": 1.9811532420910927,
      "gripper_loss": 0.1845703125,
      "loss": 0.08984375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.294921875,
      "step": 8830
    },
    {
      "epoch": 1.981377608256675,
      "grad_norm": 0.69710773229599,
      "learning_rate": 0.00013654824266112774,
      "loss": 0.0863,
      "step": 8831
    },
    {
      "epoch": 1.981377608256675,
      "gripper_loss": 0.11181640625,
      "loss": 0.025390625,
      "pos_loss": 0.05615234375,
      "rot_loss": 0.1337890625,
      "step": 8831
    },
    {
      "epoch": 1.981601974422257,
      "grad_norm": 0.3295699954032898,
      "learning_rate": 0.00013649428128290753,
      "loss": 0.0546,
      "step": 8832
    },
    {
      "epoch": 1.981601974422257,
      "gripper_loss": 0.004974365234375,
      "loss": 0.044189453125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.0380859375,
      "step": 8832
    },
    {
      "epoch": 1.9818263405878394,
      "grad_norm": 0.34916144609451294,
      "learning_rate": 0.00013644032656515164,
      "loss": 0.044,
      "step": 8833
    },
    {
      "epoch": 1.9818263405878394,
      "gripper_loss": 0.0203857421875,
      "loss": 0.07177734375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.1005859375,
      "step": 8833
    },
    {
      "epoch": 1.9820507067534217,
      "grad_norm": 0.34966403245925903,
      "learning_rate": 0.0001363863785110262,
      "loss": 0.0586,
      "step": 8834
    },
    {
      "epoch": 1.9820507067534217,
      "gripper_loss": 0.189453125,
      "loss": 0.019775390625,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.024169921875,
      "step": 8834
    },
    {
      "epoch": 1.9822750729190037,
      "grad_norm": 0.4271527826786041,
      "learning_rate": 0.0001363324371236967,
      "loss": 0.0553,
      "step": 8835
    },
    {
      "epoch": 1.9822750729190037,
      "gripper_loss": 0.314453125,
      "loss": 0.06298828125,
      "pos_loss": 0.48828125,
      "rot_loss": 0.03369140625,
      "step": 8835
    },
    {
      "epoch": 1.982499439084586,
      "grad_norm": 0.42100489139556885,
      "learning_rate": 0.00013627850240632838,
      "loss": 0.0677,
      "step": 8836
    },
    {
      "epoch": 1.982499439084586,
      "gripper_loss": 0.0263671875,
      "loss": 0.045654296875,
      "pos_loss": 0.045654296875,
      "rot_loss": 0.388671875,
      "step": 8836
    },
    {
      "epoch": 1.9827238052501683,
      "grad_norm": 0.32318395376205444,
      "learning_rate": 0.00013622457436208624,
      "loss": 0.0384,
      "step": 8837
    },
    {
      "epoch": 1.9827238052501683,
      "gripper_loss": 0.06298828125,
      "loss": 0.043701171875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.07861328125,
      "step": 8837
    },
    {
      "epoch": 1.9829481714157504,
      "grad_norm": 0.41479310393333435,
      "learning_rate": 0.00013617065299413478,
      "loss": 0.0517,
      "step": 8838
    },
    {
      "epoch": 1.9829481714157504,
      "gripper_loss": 0.00799560546875,
      "loss": 0.0234375,
      "pos_loss": 0.0303955078125,
      "rot_loss": 0.1884765625,
      "step": 8838
    },
    {
      "epoch": 1.9831725375813327,
      "grad_norm": 0.36079394817352295,
      "learning_rate": 0.00013611673830563788,
      "loss": 0.0586,
      "step": 8839
    },
    {
      "epoch": 1.9831725375813327,
      "gripper_loss": 0.00445556640625,
      "loss": 0.0869140625,
      "pos_loss": 0.3828125,
      "rot_loss": 0.5078125,
      "step": 8839
    },
    {
      "epoch": 1.983396903746915,
      "grad_norm": 0.39900848269462585,
      "learning_rate": 0.0001360628302997594,
      "loss": 0.0473,
      "step": 8840
    },
    {
      "epoch": 1.983396903746915,
      "gripper_loss": 0.376953125,
      "loss": 0.033935546875,
      "pos_loss": 0.14453125,
      "rot_loss": 0.06494140625,
      "step": 8840
    },
    {
      "epoch": 1.983621269912497,
      "grad_norm": 0.34999197721481323,
      "learning_rate": 0.00013600892897966253,
      "loss": 0.0703,
      "step": 8841
    },
    {
      "epoch": 1.983621269912497,
      "gripper_loss": 0.12353515625,
      "loss": 0.0260009765625,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.0595703125,
      "step": 8841
    },
    {
      "epoch": 1.9838456360780794,
      "grad_norm": 0.25592753291130066,
      "learning_rate": 0.0001359550343485103,
      "loss": 0.0433,
      "step": 8842
    },
    {
      "epoch": 1.9838456360780794,
      "gripper_loss": 1.0625,
      "loss": 0.0556640625,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.109375,
      "step": 8842
    },
    {
      "epoch": 1.9840700022436617,
      "grad_norm": 0.30889591574668884,
      "learning_rate": 0.0001359011464094652,
      "loss": 0.0581,
      "step": 8843
    },
    {
      "epoch": 1.9840700022436617,
      "gripper_loss": 0.0927734375,
      "loss": 0.03369140625,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.03173828125,
      "step": 8843
    },
    {
      "epoch": 1.9842943684092438,
      "grad_norm": 0.40107154846191406,
      "learning_rate": 0.0001358472651656892,
      "loss": 0.0717,
      "step": 8844
    },
    {
      "epoch": 1.9842943684092438,
      "gripper_loss": 0.05712890625,
      "loss": 0.0458984375,
      "pos_loss": 0.185546875,
      "rot_loss": 0.25390625,
      "step": 8844
    },
    {
      "epoch": 1.984518734574826,
      "grad_norm": 0.36001351475715637,
      "learning_rate": 0.00013579339062034411,
      "loss": 0.0603,
      "step": 8845
    },
    {
      "epoch": 1.984518734574826,
      "gripper_loss": 0.02587890625,
      "loss": 0.060302734375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.021484375,
      "step": 8845
    },
    {
      "epoch": 1.9847431007404084,
      "grad_norm": 0.37431374192237854,
      "learning_rate": 0.0001357395227765914,
      "loss": 0.0694,
      "step": 8846
    },
    {
      "epoch": 1.9847431007404084,
      "gripper_loss": 0.01446533203125,
      "loss": 0.05517578125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.05615234375,
      "step": 8846
    },
    {
      "epoch": 1.9849674669059905,
      "grad_norm": 0.3452538251876831,
      "learning_rate": 0.00013568566163759177,
      "loss": 0.047,
      "step": 8847
    },
    {
      "epoch": 1.9849674669059905,
      "gripper_loss": 0.0107421875,
      "loss": 0.0322265625,
      "pos_loss": 0.0203857421875,
      "rot_loss": 0.291015625,
      "step": 8847
    },
    {
      "epoch": 1.9851918330715728,
      "grad_norm": 0.35127103328704834,
      "learning_rate": 0.00013563180720650592,
      "loss": 0.0665,
      "step": 8848
    },
    {
      "epoch": 1.9851918330715728,
      "gripper_loss": 1.0078125,
      "loss": 0.07275390625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.0615234375,
      "step": 8848
    },
    {
      "epoch": 1.985416199237155,
      "grad_norm": 0.34015461802482605,
      "learning_rate": 0.00013557795948649395,
      "loss": 0.0619,
      "step": 8849
    },
    {
      "epoch": 1.985416199237155,
      "gripper_loss": 0.0634765625,
      "loss": 0.09814453125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.33984375,
      "step": 8849
    },
    {
      "epoch": 1.9856405654027371,
      "grad_norm": 0.497897207736969,
      "learning_rate": 0.00013552411848071568,
      "loss": 0.0776,
      "step": 8850
    },
    {
      "epoch": 1.9856405654027371,
      "gripper_loss": 0.373046875,
      "loss": 0.08935546875,
      "pos_loss": 0.734375,
      "rot_loss": 0.0625,
      "step": 8850
    },
    {
      "epoch": 1.9858649315683194,
      "grad_norm": 0.32174795866012573,
      "learning_rate": 0.00013547028419233048,
      "loss": 0.0483,
      "step": 8851
    },
    {
      "epoch": 1.9858649315683194,
      "gripper_loss": 0.58203125,
      "loss": 0.06689453125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.05517578125,
      "step": 8851
    },
    {
      "epoch": 1.9860892977339017,
      "grad_norm": 0.44814449548721313,
      "learning_rate": 0.00013541645662449719,
      "loss": 0.0643,
      "step": 8852
    },
    {
      "epoch": 1.9860892977339017,
      "gripper_loss": 0.28125,
      "loss": 0.06201171875,
      "pos_loss": 0.17578125,
      "rot_loss": 0.35546875,
      "step": 8852
    },
    {
      "epoch": 1.9863136638994838,
      "grad_norm": 0.5817786455154419,
      "learning_rate": 0.0001353626357803745,
      "loss": 0.1108,
      "step": 8853
    },
    {
      "epoch": 1.9863136638994838,
      "gripper_loss": 0.419921875,
      "loss": 0.05615234375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.0654296875,
      "step": 8853
    },
    {
      "epoch": 1.9865380300650664,
      "grad_norm": 0.508175253868103,
      "learning_rate": 0.00013530882166312068,
      "loss": 0.0497,
      "step": 8854
    },
    {
      "epoch": 1.9865380300650664,
      "gripper_loss": 0.017333984375,
      "loss": 0.033203125,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.193359375,
      "step": 8854
    },
    {
      "epoch": 1.9867623962306484,
      "grad_norm": 0.5080350041389465,
      "learning_rate": 0.0001352550142758933,
      "loss": 0.0704,
      "step": 8855
    },
    {
      "epoch": 1.9867623962306484,
      "gripper_loss": 0.15625,
      "loss": 0.035400390625,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.06787109375,
      "step": 8855
    },
    {
      "epoch": 1.9869867623962305,
      "grad_norm": 0.35305047035217285,
      "learning_rate": 0.00013520121362184994,
      "loss": 0.0388,
      "step": 8856
    },
    {
      "epoch": 1.9869867623962305,
      "gripper_loss": 0.1875,
      "loss": 0.05126953125,
      "pos_loss": 0.203125,
      "rot_loss": 0.2470703125,
      "step": 8856
    },
    {
      "epoch": 1.987211128561813,
      "grad_norm": 0.35368451476097107,
      "learning_rate": 0.00013514741970414745,
      "loss": 0.0545,
      "step": 8857
    },
    {
      "epoch": 1.987211128561813,
      "gripper_loss": 0.0166015625,
      "loss": 0.05615234375,
      "pos_loss": 0.54296875,
      "rot_loss": 0.017578125,
      "step": 8857
    },
    {
      "epoch": 1.9874354947273951,
      "grad_norm": 0.40537381172180176,
      "learning_rate": 0.0001350936325259425,
      "loss": 0.06,
      "step": 8858
    },
    {
      "epoch": 1.9874354947273951,
      "gripper_loss": 0.2109375,
      "loss": 0.111328125,
      "pos_loss": 0.625,
      "rot_loss": 0.37109375,
      "step": 8858
    },
    {
      "epoch": 1.9876598608929772,
      "grad_norm": 0.48835188150405884,
      "learning_rate": 0.00013503985209039137,
      "loss": 0.0742,
      "step": 8859
    },
    {
      "epoch": 1.9876598608929772,
      "gripper_loss": 0.126953125,
      "loss": 0.0145263671875,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.038330078125,
      "step": 8859
    },
    {
      "epoch": 1.9878842270585597,
      "grad_norm": 0.46689167618751526,
      "learning_rate": 0.0001349860784006497,
      "loss": 0.0715,
      "step": 8860
    },
    {
      "epoch": 1.9878842270585597,
      "gripper_loss": 0.31640625,
      "loss": 0.01507568359375,
      "pos_loss": 0.01190185546875,
      "rot_loss": 0.01336669921875,
      "step": 8860
    },
    {
      "epoch": 1.9881085932241418,
      "grad_norm": 0.4605696201324463,
      "learning_rate": 0.00013493231145987307,
      "loss": 0.0932,
      "step": 8861
    },
    {
      "epoch": 1.9881085932241418,
      "gripper_loss": 0.734375,
      "loss": 0.0869140625,
      "pos_loss": 0.470703125,
      "rot_loss": 0.1845703125,
      "step": 8861
    },
    {
      "epoch": 1.9883329593897239,
      "grad_norm": 0.20728342235088348,
      "learning_rate": 0.0001348785512712164,
      "loss": 0.0429,
      "step": 8862
    },
    {
      "epoch": 1.9883329593897239,
      "gripper_loss": 0.609375,
      "loss": 0.06591796875,
      "pos_loss": 0.11669921875,
      "rot_loss": 0.3359375,
      "step": 8862
    },
    {
      "epoch": 1.9885573255553064,
      "grad_norm": 0.33151787519454956,
      "learning_rate": 0.00013482479783783434,
      "loss": 0.0745,
      "step": 8863
    },
    {
      "epoch": 1.9885573255553064,
      "gripper_loss": 0.0166015625,
      "loss": 0.052978515625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.07666015625,
      "step": 8863
    },
    {
      "epoch": 1.9887816917208885,
      "grad_norm": 0.31546923518180847,
      "learning_rate": 0.00013477105116288125,
      "loss": 0.0816,
      "step": 8864
    },
    {
      "epoch": 1.9887816917208885,
      "gripper_loss": 0.0130615234375,
      "loss": 0.1904296875,
      "pos_loss": 1.609375,
      "rot_loss": 0.3671875,
      "step": 8864
    },
    {
      "epoch": 1.9890060578864706,
      "grad_norm": 0.374517023563385,
      "learning_rate": 0.0001347173112495107,
      "loss": 0.0675,
      "step": 8865
    },
    {
      "epoch": 1.9890060578864706,
      "gripper_loss": 0.00897216796875,
      "loss": 0.11181640625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.099609375,
      "step": 8865
    },
    {
      "epoch": 1.989230424052053,
      "grad_norm": 0.34186404943466187,
      "learning_rate": 0.0001346635781008764,
      "loss": 0.0445,
      "step": 8866
    },
    {
      "epoch": 1.989230424052053,
      "gripper_loss": 1.2734375,
      "loss": 0.07177734375,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.146484375,
      "step": 8866
    },
    {
      "epoch": 1.9894547902176352,
      "grad_norm": 0.5489065647125244,
      "learning_rate": 0.00013460985172013113,
      "loss": 0.0504,
      "step": 8867
    },
    {
      "epoch": 1.9894547902176352,
      "gripper_loss": 0.060302734375,
      "loss": 0.06396484375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.28125,
      "step": 8867
    },
    {
      "epoch": 1.9896791563832175,
      "grad_norm": 0.3964720368385315,
      "learning_rate": 0.00013455613211042777,
      "loss": 0.0674,
      "step": 8868
    },
    {
      "epoch": 1.9896791563832175,
      "gripper_loss": 0.330078125,
      "loss": 0.0439453125,
      "pos_loss": 0.251953125,
      "rot_loss": 0.06884765625,
      "step": 8868
    },
    {
      "epoch": 1.9899035225487998,
      "grad_norm": 0.45666930079460144,
      "learning_rate": 0.00013450241927491835,
      "loss": 0.0604,
      "step": 8869
    },
    {
      "epoch": 1.9899035225487998,
      "gripper_loss": 0.06982421875,
      "loss": 0.06787109375,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.5703125,
      "step": 8869
    },
    {
      "epoch": 1.9901278887143818,
      "grad_norm": 0.3866443932056427,
      "learning_rate": 0.0001344487132167548,
      "loss": 0.051,
      "step": 8870
    },
    {
      "epoch": 1.9901278887143818,
      "gripper_loss": 0.0164794921875,
      "loss": 0.0537109375,
      "pos_loss": 0.37890625,
      "rot_loss": 0.14453125,
      "step": 8870
    },
    {
      "epoch": 1.9903522548799641,
      "grad_norm": 0.2734975516796112,
      "learning_rate": 0.00013439501393908853,
      "loss": 0.0498,
      "step": 8871
    },
    {
      "epoch": 1.9903522548799641,
      "gripper_loss": 0.028076171875,
      "loss": 0.0269775390625,
      "pos_loss": 0.16796875,
      "rot_loss": 0.06396484375,
      "step": 8871
    },
    {
      "epoch": 1.9905766210455464,
      "grad_norm": 0.514877438545227,
      "learning_rate": 0.00013434132144507076,
      "loss": 0.0504,
      "step": 8872
    },
    {
      "epoch": 1.9905766210455464,
      "gripper_loss": 0.0159912109375,
      "loss": 0.039794921875,
      "pos_loss": 0.123046875,
      "rot_loss": 0.26953125,
      "step": 8872
    },
    {
      "epoch": 1.9908009872111285,
      "grad_norm": 0.9123138785362244,
      "learning_rate": 0.00013428763573785193,
      "loss": 0.0837,
      "step": 8873
    },
    {
      "epoch": 1.9908009872111285,
      "gripper_loss": 0.1044921875,
      "loss": 0.0169677734375,
      "pos_loss": 0.06982421875,
      "rot_loss": 0.05322265625,
      "step": 8873
    },
    {
      "epoch": 1.9910253533767108,
      "grad_norm": 0.25767412781715393,
      "learning_rate": 0.00013423395682058236,
      "loss": 0.046,
      "step": 8874
    },
    {
      "epoch": 1.9910253533767108,
      "gripper_loss": 0.0191650390625,
      "loss": 0.037109375,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.16015625,
      "step": 8874
    },
    {
      "epoch": 1.9912497195422931,
      "grad_norm": 0.39654409885406494,
      "learning_rate": 0.00013418028469641195,
      "loss": 0.0693,
      "step": 8875
    },
    {
      "epoch": 1.9912497195422931,
      "gripper_loss": 0.064453125,
      "loss": 0.037353515625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.03955078125,
      "step": 8875
    },
    {
      "epoch": 1.9914740857078752,
      "grad_norm": 0.38965967297554016,
      "learning_rate": 0.00013412661936849018,
      "loss": 0.0575,
      "step": 8876
    },
    {
      "epoch": 1.9914740857078752,
      "gripper_loss": 0.98046875,
      "loss": 0.1044921875,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.224609375,
      "step": 8876
    },
    {
      "epoch": 1.9916984518734575,
      "grad_norm": 0.8229032158851624,
      "learning_rate": 0.000134072960839966,
      "loss": 0.1113,
      "step": 8877
    },
    {
      "epoch": 1.9916984518734575,
      "gripper_loss": 0.0113525390625,
      "loss": 0.0206298828125,
      "pos_loss": 0.11328125,
      "rot_loss": 0.07470703125,
      "step": 8877
    },
    {
      "epoch": 1.9919228180390398,
      "grad_norm": 0.41613563895225525,
      "learning_rate": 0.00013401930911398824,
      "loss": 0.0608,
      "step": 8878
    },
    {
      "epoch": 1.9919228180390398,
      "gripper_loss": 0.025634765625,
      "loss": 0.0244140625,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.07470703125,
      "step": 8878
    },
    {
      "epoch": 1.992147184204622,
      "grad_norm": 0.26354411244392395,
      "learning_rate": 0.0001339656641937049,
      "loss": 0.0398,
      "step": 8879
    },
    {
      "epoch": 1.992147184204622,
      "gripper_loss": 0.0174560546875,
      "loss": 0.07470703125,
      "pos_loss": 0.453125,
      "rot_loss": 0.298828125,
      "step": 8879
    },
    {
      "epoch": 1.9923715503702042,
      "grad_norm": 0.413312166929245,
      "learning_rate": 0.00013391202608226398,
      "loss": 0.0449,
      "step": 8880
    },
    {
      "epoch": 1.9923715503702042,
      "gripper_loss": 0.0380859375,
      "loss": 0.0262451171875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.05126953125,
      "step": 8880
    },
    {
      "epoch": 1.9925959165357865,
      "grad_norm": 1.0344340801239014,
      "learning_rate": 0.0001338583947828131,
      "loss": 0.0966,
      "step": 8881
    },
    {
      "epoch": 1.9925959165357865,
      "gripper_loss": 0.009521484375,
      "loss": 0.046630859375,
      "pos_loss": 0.2890625,
      "rot_loss": 0.169921875,
      "step": 8881
    },
    {
      "epoch": 1.9928202827013686,
      "grad_norm": 0.30234280228614807,
      "learning_rate": 0.00013380477029849899,
      "loss": 0.0336,
      "step": 8882
    },
    {
      "epoch": 1.9928202827013686,
      "gripper_loss": 0.01373291015625,
      "loss": 0.07080078125,
      "pos_loss": 0.625,
      "rot_loss": 0.0810546875,
      "step": 8882
    },
    {
      "epoch": 1.9930446488669509,
      "grad_norm": 0.444477915763855,
      "learning_rate": 0.0001337511526324685,
      "loss": 0.0572,
      "step": 8883
    },
    {
      "epoch": 1.9930446488669509,
      "gripper_loss": 0.00555419921875,
      "loss": 0.0654296875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.515625,
      "step": 8883
    },
    {
      "epoch": 1.9932690150325332,
      "grad_norm": 0.5075781941413879,
      "learning_rate": 0.0001336975417878679,
      "loss": 0.0824,
      "step": 8884
    },
    {
      "epoch": 1.9932690150325332,
      "gripper_loss": 0.047119140625,
      "loss": 0.018798828125,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.07177734375,
      "step": 8884
    },
    {
      "epoch": 1.9934933811981153,
      "grad_norm": 0.3909047842025757,
      "learning_rate": 0.0001336439377678431,
      "loss": 0.0665,
      "step": 8885
    },
    {
      "epoch": 1.9934933811981153,
      "gripper_loss": 0.1787109375,
      "loss": 0.0262451171875,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.016845703125,
      "step": 8885
    },
    {
      "epoch": 1.9937177473636976,
      "grad_norm": 0.41511407494544983,
      "learning_rate": 0.00013359034057553942,
      "loss": 0.0564,
      "step": 8886
    },
    {
      "epoch": 1.9937177473636976,
      "gripper_loss": 0.06640625,
      "loss": 0.0751953125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.1357421875,
      "step": 8886
    },
    {
      "epoch": 1.9939421135292799,
      "grad_norm": 0.3777875304222107,
      "learning_rate": 0.00013353675021410196,
      "loss": 0.0611,
      "step": 8887
    },
    {
      "epoch": 1.9939421135292799,
      "gripper_loss": 0.05859375,
      "loss": 0.026123046875,
      "pos_loss": 0.056396484375,
      "rot_loss": 0.1787109375,
      "step": 8887
    },
    {
      "epoch": 1.994166479694862,
      "grad_norm": 0.36757445335388184,
      "learning_rate": 0.00013348316668667542,
      "loss": 0.0522,
      "step": 8888
    },
    {
      "epoch": 1.994166479694862,
      "gripper_loss": 0.006072998046875,
      "loss": 0.038330078125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.06396484375,
      "step": 8888
    },
    {
      "epoch": 1.9943908458604442,
      "grad_norm": 0.4557855427265167,
      "learning_rate": 0.00013342958999640412,
      "loss": 0.0598,
      "step": 8889
    },
    {
      "epoch": 1.9943908458604442,
      "gripper_loss": 0.013671875,
      "loss": 0.0216064453125,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.08154296875,
      "step": 8889
    },
    {
      "epoch": 1.9946152120260265,
      "grad_norm": 0.2896118760108948,
      "learning_rate": 0.00013337602014643185,
      "loss": 0.0446,
      "step": 8890
    },
    {
      "epoch": 1.9946152120260265,
      "gripper_loss": 0.66015625,
      "loss": 0.037841796875,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.0166015625,
      "step": 8890
    },
    {
      "epoch": 1.9948395781916086,
      "grad_norm": 0.22123125195503235,
      "learning_rate": 0.00013332245713990192,
      "loss": 0.0331,
      "step": 8891
    },
    {
      "epoch": 1.9948395781916086,
      "gripper_loss": 0.007415771484375,
      "loss": 0.040283203125,
      "pos_loss": 0.34375,
      "rot_loss": 0.052978515625,
      "step": 8891
    },
    {
      "epoch": 1.995063944357191,
      "grad_norm": 0.352968692779541,
      "learning_rate": 0.00013326890097995752,
      "loss": 0.0527,
      "step": 8892
    },
    {
      "epoch": 1.995063944357191,
      "gripper_loss": 0.2470703125,
      "loss": 0.0274658203125,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.037841796875,
      "step": 8892
    },
    {
      "epoch": 1.9952883105227732,
      "grad_norm": 0.3450911343097687,
      "learning_rate": 0.0001332153516697413,
      "loss": 0.051,
      "step": 8893
    },
    {
      "epoch": 1.9952883105227732,
      "gripper_loss": 0.63671875,
      "loss": 0.043701171875,
      "pos_loss": 0.134765625,
      "rot_loss": 0.09423828125,
      "step": 8893
    },
    {
      "epoch": 1.9955126766883553,
      "grad_norm": 0.3010748326778412,
      "learning_rate": 0.00013316180921239563,
      "loss": 0.069,
      "step": 8894
    },
    {
      "epoch": 1.9955126766883553,
      "gripper_loss": 0.1845703125,
      "loss": 0.07373046875,
      "pos_loss": 0.66796875,
      "rot_loss": 0.021484375,
      "step": 8894
    },
    {
      "epoch": 1.9957370428539376,
      "grad_norm": 0.5919921398162842,
      "learning_rate": 0.00013310827361106208,
      "loss": 0.0612,
      "step": 8895
    },
    {
      "epoch": 1.9957370428539376,
      "gripper_loss": 1.7109375,
      "loss": 0.05859375,
      "pos_loss": 0.0147705078125,
      "rot_loss": 0.00848388671875,
      "step": 8895
    },
    {
      "epoch": 1.99596140901952,
      "grad_norm": 0.341038316488266,
      "learning_rate": 0.0001330547448688823,
      "loss": 0.0551,
      "step": 8896
    },
    {
      "epoch": 1.99596140901952,
      "gripper_loss": 0.01287841796875,
      "loss": 0.072265625,
      "pos_loss": 0.7109375,
      "rot_loss": 0.03125,
      "step": 8896
    },
    {
      "epoch": 1.996185775185102,
      "grad_norm": 0.32805636525154114,
      "learning_rate": 0.00013300122298899724,
      "loss": 0.051,
      "step": 8897
    },
    {
      "epoch": 1.996185775185102,
      "gripper_loss": 0.08984375,
      "loss": 0.125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.365234375,
      "step": 8897
    },
    {
      "epoch": 1.9964101413506843,
      "grad_norm": 1.398883581161499,
      "learning_rate": 0.0001329477079745477,
      "loss": 0.1353,
      "step": 8898
    },
    {
      "epoch": 1.9964101413506843,
      "gripper_loss": 0.080078125,
      "loss": 0.04052734375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.06591796875,
      "step": 8898
    },
    {
      "epoch": 1.9966345075162666,
      "grad_norm": 0.5147802829742432,
      "learning_rate": 0.00013289419982867365,
      "loss": 0.0585,
      "step": 8899
    },
    {
      "epoch": 1.9966345075162666,
      "gripper_loss": 0.2255859375,
      "loss": 0.06298828125,
      "pos_loss": 0.53125,
      "rot_loss": 0.0301513671875,
      "step": 8899
    },
    {
      "epoch": 1.9968588736818487,
      "grad_norm": 0.4422491490840912,
      "learning_rate": 0.0001328406985545151,
      "loss": 0.0768,
      "step": 8900
    },
    {
      "epoch": 1.9968588736818487,
      "gripper_loss": 0.0076904296875,
      "loss": 0.0093994140625,
      "pos_loss": 0.044677734375,
      "rot_loss": 0.022705078125,
      "step": 8900
    },
    {
      "epoch": 1.997083239847431,
      "grad_norm": 0.3178292214870453,
      "learning_rate": 0.00013278720415521155,
      "loss": 0.0388,
      "step": 8901
    },
    {
      "epoch": 1.997083239847431,
      "gripper_loss": 1.625,
      "loss": 0.388671875,
      "pos_loss": 0.80078125,
      "rot_loss": 0.59375,
      "step": 8901
    },
    {
      "epoch": 1.9973076060130133,
      "grad_norm": 1.4153865575790405,
      "learning_rate": 0.00013273371663390183,
      "loss": 0.285,
      "step": 8902
    },
    {
      "epoch": 1.9973076060130133,
      "gripper_loss": 0.26953125,
      "loss": 0.07763671875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.20703125,
      "step": 8902
    },
    {
      "epoch": 1.9975319721785953,
      "grad_norm": 0.4939001202583313,
      "learning_rate": 0.00013268023599372476,
      "loss": 0.0622,
      "step": 8903
    },
    {
      "epoch": 1.9975319721785953,
      "gripper_loss": 0.1572265625,
      "loss": 0.06884765625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.049072265625,
      "step": 8903
    },
    {
      "epoch": 1.9977563383441777,
      "grad_norm": 0.48815420269966125,
      "learning_rate": 0.00013262676223781833,
      "loss": 0.0637,
      "step": 8904
    },
    {
      "epoch": 1.9977563383441777,
      "gripper_loss": 1.9921875,
      "loss": 0.07275390625,
      "pos_loss": 0.037841796875,
      "rot_loss": 0.0322265625,
      "step": 8904
    },
    {
      "epoch": 1.99798070450976,
      "grad_norm": 0.4889427721500397,
      "learning_rate": 0.0001325732953693205,
      "loss": 0.0539,
      "step": 8905
    },
    {
      "epoch": 1.99798070450976,
      "gripper_loss": 0.04296875,
      "loss": 0.09716796875,
      "pos_loss": 0.6953125,
      "rot_loss": 0.208984375,
      "step": 8905
    },
    {
      "epoch": 1.998205070675342,
      "grad_norm": 0.4782649576663971,
      "learning_rate": 0.00013251983539136876,
      "loss": 0.0608,
      "step": 8906
    },
    {
      "epoch": 1.998205070675342,
      "gripper_loss": 0.02490234375,
      "loss": 0.031494140625,
      "pos_loss": 0.16796875,
      "rot_loss": 0.11328125,
      "step": 8906
    },
    {
      "epoch": 1.9984294368409243,
      "grad_norm": 0.4012596905231476,
      "learning_rate": 0.00013246638230709996,
      "loss": 0.0654,
      "step": 8907
    },
    {
      "epoch": 1.9984294368409243,
      "gripper_loss": 0.8359375,
      "loss": 0.051513671875,
      "pos_loss": 0.125,
      "rot_loss": 0.10986328125,
      "step": 8907
    },
    {
      "epoch": 1.9986538030065066,
      "grad_norm": 0.4516032636165619,
      "learning_rate": 0.00013241293611965073,
      "loss": 0.0588,
      "step": 8908
    },
    {
      "epoch": 1.9986538030065066,
      "gripper_loss": 0.154296875,
      "loss": 0.052978515625,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.2734375,
      "step": 8908
    },
    {
      "epoch": 1.9988781691720887,
      "grad_norm": 0.6495451331138611,
      "learning_rate": 0.0001323594968321573,
      "loss": 0.0673,
      "step": 8909
    },
    {
      "epoch": 1.9988781691720887,
      "gripper_loss": 0.474609375,
      "loss": 0.02490234375,
      "pos_loss": 0.050537109375,
      "rot_loss": 0.028564453125,
      "step": 8909
    },
    {
      "epoch": 1.9991025353376712,
      "grad_norm": 0.3287295401096344,
      "learning_rate": 0.0001323060644477555,
      "loss": 0.0483,
      "step": 8910
    },
    {
      "epoch": 1.9991025353376712,
      "gripper_loss": 0.00860595703125,
      "loss": 0.1015625,
      "pos_loss": 0.796875,
      "rot_loss": 0.2578125,
      "step": 8910
    },
    {
      "epoch": 1.9993269015032533,
      "grad_norm": 0.4359818398952484,
      "learning_rate": 0.00013225263896958074,
      "loss": 0.0479,
      "step": 8911
    },
    {
      "epoch": 1.9993269015032533,
      "gripper_loss": 0.57421875,
      "loss": 0.047607421875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.06884765625,
      "step": 8911
    },
    {
      "epoch": 1.9995512676688354,
      "grad_norm": 0.39192140102386475,
      "learning_rate": 0.0001321992204007679,
      "loss": 0.0617,
      "step": 8912
    },
    {
      "epoch": 1.9995512676688354,
      "gripper_loss": 0.0120849609375,
      "loss": 0.02294921875,
      "pos_loss": 0.1328125,
      "rot_loss": 0.072265625,
      "step": 8912
    },
    {
      "epoch": 1.999775633834418,
      "grad_norm": 0.3350934684276581,
      "learning_rate": 0.00013214580874445171,
      "loss": 0.0566,
      "step": 8913
    },
    {
      "epoch": 1.999775633834418,
      "gripper_loss": 0.54296875,
      "loss": 0.0537109375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.008544921875,
      "step": 8913
    },
    {
      "epoch": 2.0,
      "grad_norm": 0.3980320394039154,
      "learning_rate": 0.0001320924040037661,
      "loss": 0.0546,
      "step": 8914
    },
    {
      "epoch": 2.0,
      "gripper_loss": 0.034423828125,
      "loss": 0.0673828125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.326171875,
      "step": 8914
    },
    {
      "epoch": 2.000224366165582,
      "grad_norm": 0.7657018303871155,
      "learning_rate": 0.00013203900618184508,
      "loss": 0.067,
      "step": 8915
    },
    {
      "epoch": 2.000224366165582,
      "gripper_loss": 0.11962890625,
      "loss": 0.011474609375,
      "pos_loss": 0.0125732421875,
      "rot_loss": 0.0240478515625,
      "step": 8915
    },
    {
      "epoch": 2.0004487323311646,
      "grad_norm": 0.3138901889324188,
      "learning_rate": 0.00013198561528182182,
      "loss": 0.0357,
      "step": 8916
    },
    {
      "epoch": 2.0004487323311646,
      "gripper_loss": 0.05322265625,
      "loss": 0.0203857421875,
      "pos_loss": 0.03857421875,
      "rot_loss": 0.12158203125,
      "step": 8916
    },
    {
      "epoch": 2.0006730984967467,
      "grad_norm": 0.5657656788825989,
      "learning_rate": 0.00013193223130682935,
      "loss": 0.0905,
      "step": 8917
    },
    {
      "epoch": 2.0006730984967467,
      "gripper_loss": 0.439453125,
      "loss": 0.038330078125,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.06884765625,
      "step": 8917
    },
    {
      "epoch": 2.0008974646623288,
      "grad_norm": 0.4988568127155304,
      "learning_rate": 0.00013187885426000024,
      "loss": 0.0589,
      "step": 8918
    },
    {
      "epoch": 2.0008974646623288,
      "gripper_loss": 0.006805419921875,
      "loss": 0.03466796875,
      "pos_loss": 0.181640625,
      "rot_loss": 0.1298828125,
      "step": 8918
    },
    {
      "epoch": 2.0011218308279113,
      "grad_norm": 0.2718910574913025,
      "learning_rate": 0.00013182548414446672,
      "loss": 0.056,
      "step": 8919
    },
    {
      "epoch": 2.0011218308279113,
      "gripper_loss": 1.09375,
      "loss": 0.10009765625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.369140625,
      "step": 8919
    },
    {
      "epoch": 2.0013461969934934,
      "grad_norm": 0.5244148969650269,
      "learning_rate": 0.00013177212096336028,
      "loss": 0.0671,
      "step": 8920
    },
    {
      "epoch": 2.0013461969934934,
      "gripper_loss": 0.5390625,
      "loss": 0.0341796875,
      "pos_loss": 0.0174560546875,
      "rot_loss": 0.130859375,
      "step": 8920
    },
    {
      "epoch": 2.0015705631590754,
      "grad_norm": 0.33915960788726807,
      "learning_rate": 0.00013171876471981242,
      "loss": 0.0386,
      "step": 8921
    },
    {
      "epoch": 2.0015705631590754,
      "gripper_loss": 0.0174560546875,
      "loss": 0.05712890625,
      "pos_loss": 0.408203125,
      "rot_loss": 0.1572265625,
      "step": 8921
    },
    {
      "epoch": 2.001794929324658,
      "grad_norm": 0.6133776307106018,
      "learning_rate": 0.00013166541541695403,
      "loss": 0.1057,
      "step": 8922
    },
    {
      "epoch": 2.001794929324658,
      "gripper_loss": 0.0108642578125,
      "loss": 0.1298828125,
      "pos_loss": 1.328125,
      "rot_loss": 0.0211181640625,
      "step": 8922
    },
    {
      "epoch": 2.00201929549024,
      "grad_norm": 0.38100337982177734,
      "learning_rate": 0.00013161207305791562,
      "loss": 0.0543,
      "step": 8923
    },
    {
      "epoch": 2.00201929549024,
      "gripper_loss": 0.02294921875,
      "loss": 0.0556640625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.0257568359375,
      "step": 8923
    },
    {
      "epoch": 2.002243661655822,
      "grad_norm": 0.44383782148361206,
      "learning_rate": 0.00013155873764582738,
      "loss": 0.0581,
      "step": 8924
    },
    {
      "epoch": 2.002243661655822,
      "gripper_loss": 0.03466796875,
      "loss": 0.0262451171875,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.1435546875,
      "step": 8924
    },
    {
      "epoch": 2.0024680278214047,
      "grad_norm": 0.332378089427948,
      "learning_rate": 0.00013150540918381896,
      "loss": 0.0474,
      "step": 8925
    },
    {
      "epoch": 2.0024680278214047,
      "gripper_loss": 0.365234375,
      "loss": 0.050537109375,
      "pos_loss": 0.16796875,
      "rot_loss": 0.2197265625,
      "step": 8925
    },
    {
      "epoch": 2.0026923939869867,
      "grad_norm": 0.3133791387081146,
      "learning_rate": 0.00013145208767501948,
      "loss": 0.0538,
      "step": 8926
    },
    {
      "epoch": 2.0026923939869867,
      "gripper_loss": 0.12158203125,
      "loss": 0.06689453125,
      "pos_loss": 0.498046875,
      "rot_loss": 0.1396484375,
      "step": 8926
    },
    {
      "epoch": 2.002916760152569,
      "grad_norm": 0.2922307848930359,
      "learning_rate": 0.000131398773122558,
      "loss": 0.0549,
      "step": 8927
    },
    {
      "epoch": 2.002916760152569,
      "gripper_loss": 0.462890625,
      "loss": 0.265625,
      "pos_loss": 0.421875,
      "rot_loss": 0.435546875,
      "step": 8927
    },
    {
      "epoch": 2.0031411263181513,
      "grad_norm": 1.7097171545028687,
      "learning_rate": 0.000131345465529563,
      "loss": 0.3169,
      "step": 8928
    },
    {
      "epoch": 2.0031411263181513,
      "gripper_loss": 0.21875,
      "loss": 0.031982421875,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.1455078125,
      "step": 8928
    },
    {
      "epoch": 2.0033654924837334,
      "grad_norm": 0.38106104731559753,
      "learning_rate": 0.00013129216489916244,
      "loss": 0.0453,
      "step": 8929
    },
    {
      "epoch": 2.0033654924837334,
      "gripper_loss": 0.01336669921875,
      "loss": 0.0164794921875,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.0286865234375,
      "step": 8929
    },
    {
      "epoch": 2.0035898586493155,
      "grad_norm": 0.2649313509464264,
      "learning_rate": 0.00013123887123448402,
      "loss": 0.0487,
      "step": 8930
    },
    {
      "epoch": 2.0035898586493155,
      "gripper_loss": 0.0224609375,
      "loss": 0.028564453125,
      "pos_loss": 0.125,
      "rot_loss": 0.1455078125,
      "step": 8930
    },
    {
      "epoch": 2.003814224814898,
      "grad_norm": 0.3952428102493286,
      "learning_rate": 0.00013118558453865497,
      "loss": 0.0565,
      "step": 8931
    },
    {
      "epoch": 2.003814224814898,
      "gripper_loss": 0.421875,
      "loss": 0.0179443359375,
      "pos_loss": 0.01202392578125,
      "rot_loss": 0.0098876953125,
      "step": 8931
    },
    {
      "epoch": 2.00403859098048,
      "grad_norm": 0.4320988655090332,
      "learning_rate": 0.0001311323048148023,
      "loss": 0.0468,
      "step": 8932
    },
    {
      "epoch": 2.00403859098048,
      "gripper_loss": 0.054443359375,
      "loss": 0.07470703125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.482421875,
      "step": 8932
    },
    {
      "epoch": 2.004262957146062,
      "grad_norm": 0.6491193175315857,
      "learning_rate": 0.00013107903206605222,
      "loss": 0.0695,
      "step": 8933
    },
    {
      "epoch": 2.004262957146062,
      "gripper_loss": 0.1845703125,
      "loss": 0.07373046875,
      "pos_loss": 0.3125,
      "rot_loss": 0.376953125,
      "step": 8933
    },
    {
      "epoch": 2.0044873233116447,
      "grad_norm": 0.3243061900138855,
      "learning_rate": 0.00013102576629553077,
      "loss": 0.0487,
      "step": 8934
    },
    {
      "epoch": 2.0044873233116447,
      "gripper_loss": 0.01239013671875,
      "loss": 0.05126953125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.038330078125,
      "step": 8934
    },
    {
      "epoch": 2.0047116894772268,
      "grad_norm": 0.29981738328933716,
      "learning_rate": 0.00013097250750636368,
      "loss": 0.0388,
      "step": 8935
    },
    {
      "epoch": 2.0047116894772268,
      "gripper_loss": 1.1015625,
      "loss": 0.03955078125,
      "pos_loss": 0.018798828125,
      "rot_loss": 0.00927734375,
      "step": 8935
    },
    {
      "epoch": 2.004936055642809,
      "grad_norm": 0.4671572744846344,
      "learning_rate": 0.00013091925570167618,
      "loss": 0.077,
      "step": 8936
    },
    {
      "epoch": 2.004936055642809,
      "gripper_loss": 0.015869140625,
      "loss": 0.037109375,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.064453125,
      "step": 8936
    },
    {
      "epoch": 2.0051604218083914,
      "grad_norm": 0.45837199687957764,
      "learning_rate": 0.00013086601088459289,
      "loss": 0.0691,
      "step": 8937
    },
    {
      "epoch": 2.0051604218083914,
      "gripper_loss": 0.59765625,
      "loss": 0.054443359375,
      "pos_loss": 0.251953125,
      "rot_loss": 0.10302734375,
      "step": 8937
    },
    {
      "epoch": 2.0053847879739735,
      "grad_norm": 0.7304294109344482,
      "learning_rate": 0.00013081277305823836,
      "loss": 0.0675,
      "step": 8938
    },
    {
      "epoch": 2.0053847879739735,
      "gripper_loss": 0.0133056640625,
      "loss": 0.05712890625,
      "pos_loss": 0.39453125,
      "rot_loss": 0.1806640625,
      "step": 8938
    },
    {
      "epoch": 2.0056091541395555,
      "grad_norm": 0.28297045826911926,
      "learning_rate": 0.00013075954222573636,
      "loss": 0.049,
      "step": 8939
    },
    {
      "epoch": 2.0056091541395555,
      "gripper_loss": 0.05517578125,
      "loss": 0.050537109375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.05908203125,
      "step": 8939
    },
    {
      "epoch": 2.005833520305138,
      "grad_norm": 0.374622642993927,
      "learning_rate": 0.00013070631839021056,
      "loss": 0.0779,
      "step": 8940
    },
    {
      "epoch": 2.005833520305138,
      "gripper_loss": 0.490234375,
      "loss": 0.05712890625,
      "pos_loss": 0.3125,
      "rot_loss": 0.103515625,
      "step": 8940
    },
    {
      "epoch": 2.00605788647072,
      "grad_norm": 0.3809936046600342,
      "learning_rate": 0.00013065310155478427,
      "loss": 0.0568,
      "step": 8941
    },
    {
      "epoch": 2.00605788647072,
      "gripper_loss": 0.012451171875,
      "loss": 0.0208740234375,
      "pos_loss": 0.080078125,
      "rot_loss": 0.09814453125,
      "step": 8941
    },
    {
      "epoch": 2.0062822526363027,
      "grad_norm": 0.26303231716156006,
      "learning_rate": 0.00013059989172257996,
      "loss": 0.0513,
      "step": 8942
    },
    {
      "epoch": 2.0062822526363027,
      "gripper_loss": 0.5546875,
      "loss": 0.0419921875,
      "pos_loss": 0.177734375,
      "rot_loss": 0.03955078125,
      "step": 8942
    },
    {
      "epoch": 2.0065066188018847,
      "grad_norm": 0.3155093193054199,
      "learning_rate": 0.0001305466888967201,
      "loss": 0.0525,
      "step": 8943
    },
    {
      "epoch": 2.0065066188018847,
      "gripper_loss": 1.5859375,
      "loss": 0.0693359375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.0125732421875,
      "step": 8943
    },
    {
      "epoch": 2.006730984967467,
      "grad_norm": 0.28211092948913574,
      "learning_rate": 0.0001304934930803266,
      "loss": 0.0363,
      "step": 8944
    },
    {
      "epoch": 2.006730984967467,
      "gripper_loss": 0.00616455078125,
      "loss": 0.09521484375,
      "pos_loss": 0.72265625,
      "rot_loss": 0.259765625,
      "step": 8944
    },
    {
      "epoch": 2.0069553511330493,
      "grad_norm": 0.4524414539337158,
      "learning_rate": 0.00013044030427652103,
      "loss": 0.0679,
      "step": 8945
    },
    {
      "epoch": 2.0069553511330493,
      "gripper_loss": 0.0048828125,
      "loss": 0.1083984375,
      "pos_loss": 0.65234375,
      "rot_loss": 0.470703125,
      "step": 8945
    },
    {
      "epoch": 2.0071797172986314,
      "grad_norm": 0.5745914578437805,
      "learning_rate": 0.00013038712248842433,
      "loss": 0.0712,
      "step": 8946
    },
    {
      "epoch": 2.0071797172986314,
      "gripper_loss": 0.72265625,
      "loss": 0.03955078125,
      "pos_loss": 0.060302734375,
      "rot_loss": 0.09033203125,
      "step": 8946
    },
    {
      "epoch": 2.0074040834642135,
      "grad_norm": 0.30859941244125366,
      "learning_rate": 0.00013033394771915725,
      "loss": 0.033,
      "step": 8947
    },
    {
      "epoch": 2.0074040834642135,
      "gripper_loss": 1.375,
      "loss": 0.06103515625,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.09228515625,
      "step": 8947
    },
    {
      "epoch": 2.007628449629796,
      "grad_norm": 0.33761903643608093,
      "learning_rate": 0.00013028077997184016,
      "loss": 0.0644,
      "step": 8948
    },
    {
      "epoch": 2.007628449629796,
      "gripper_loss": 0.142578125,
      "loss": 0.044677734375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.052978515625,
      "step": 8948
    },
    {
      "epoch": 2.007852815795378,
      "grad_norm": 0.360060453414917,
      "learning_rate": 0.00013022761924959275,
      "loss": 0.0766,
      "step": 8949
    },
    {
      "epoch": 2.007852815795378,
      "gripper_loss": 0.4296875,
      "loss": 0.029296875,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.05029296875,
      "step": 8949
    },
    {
      "epoch": 2.00807718196096,
      "grad_norm": 0.33204755187034607,
      "learning_rate": 0.00013017446555553463,
      "loss": 0.0597,
      "step": 8950
    },
    {
      "epoch": 2.00807718196096,
      "gripper_loss": 0.00897216796875,
      "loss": 0.0537109375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.205078125,
      "step": 8950
    },
    {
      "epoch": 2.0083015481265427,
      "grad_norm": 0.3188117444515228,
      "learning_rate": 0.0001301213188927847,
      "loss": 0.0392,
      "step": 8951
    },
    {
      "epoch": 2.0083015481265427,
      "gripper_loss": 0.00848388671875,
      "loss": 0.08447265625,
      "pos_loss": 0.796875,
      "rot_loss": 0.0703125,
      "step": 8951
    },
    {
      "epoch": 2.008525914292125,
      "grad_norm": 0.52326500415802,
      "learning_rate": 0.00013006817926446162,
      "loss": 0.081,
      "step": 8952
    },
    {
      "epoch": 2.008525914292125,
      "gripper_loss": 0.01513671875,
      "loss": 0.039794921875,
      "pos_loss": 0.359375,
      "rot_loss": 0.031494140625,
      "step": 8952
    },
    {
      "epoch": 2.008750280457707,
      "grad_norm": 0.3406909704208374,
      "learning_rate": 0.00013001504667368362,
      "loss": 0.0654,
      "step": 8953
    },
    {
      "epoch": 2.008750280457707,
      "gripper_loss": 0.04296875,
      "loss": 0.048583984375,
      "pos_loss": 0.15234375,
      "rot_loss": 0.2041015625,
      "step": 8953
    },
    {
      "epoch": 2.0089746466232894,
      "grad_norm": 0.6397700309753418,
      "learning_rate": 0.00012996192112356859,
      "loss": 0.0797,
      "step": 8954
    },
    {
      "epoch": 2.0089746466232894,
      "gripper_loss": 0.01300048828125,
      "loss": 0.032470703125,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.0810546875,
      "step": 8954
    },
    {
      "epoch": 2.0091990127888715,
      "grad_norm": 0.388104647397995,
      "learning_rate": 0.0001299088026172337,
      "loss": 0.0768,
      "step": 8955
    },
    {
      "epoch": 2.0091990127888715,
      "gripper_loss": 0.2451171875,
      "loss": 0.04443359375,
      "pos_loss": 0.181640625,
      "rot_loss": 0.130859375,
      "step": 8955
    },
    {
      "epoch": 2.0094233789544536,
      "grad_norm": 0.45827171206474304,
      "learning_rate": 0.00012985569115779604,
      "loss": 0.074,
      "step": 8956
    },
    {
      "epoch": 2.0094233789544536,
      "gripper_loss": 0.009765625,
      "loss": 0.05224609375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.2314453125,
      "step": 8956
    },
    {
      "epoch": 2.009647745120036,
      "grad_norm": 0.2858131229877472,
      "learning_rate": 0.0001298025867483722,
      "loss": 0.0741,
      "step": 8957
    },
    {
      "epoch": 2.009647745120036,
      "gripper_loss": 0.025146484375,
      "loss": 0.03955078125,
      "pos_loss": 0.333984375,
      "rot_loss": 0.03466796875,
      "step": 8957
    },
    {
      "epoch": 2.009872111285618,
      "grad_norm": 0.34887775778770447,
      "learning_rate": 0.00012974948939207837,
      "loss": 0.0341,
      "step": 8958
    },
    {
      "epoch": 2.009872111285618,
      "gripper_loss": 0.017333984375,
      "loss": 0.040283203125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.1337890625,
      "step": 8958
    },
    {
      "epoch": 2.0100964774512002,
      "grad_norm": 0.3296198844909668,
      "learning_rate": 0.00012969639909203007,
      "loss": 0.0579,
      "step": 8959
    },
    {
      "epoch": 2.0100964774512002,
      "gripper_loss": 0.54296875,
      "loss": 0.1826171875,
      "pos_loss": 0.90234375,
      "rot_loss": 0.53125,
      "step": 8959
    },
    {
      "epoch": 2.0103208436167828,
      "grad_norm": 0.9024932384490967,
      "learning_rate": 0.00012964331585134286,
      "loss": 0.1045,
      "step": 8960
    },
    {
      "epoch": 2.0103208436167828,
      "gripper_loss": 0.265625,
      "loss": 0.06982421875,
      "pos_loss": 0.470703125,
      "rot_loss": 0.1572265625,
      "step": 8960
    },
    {
      "epoch": 2.010545209782365,
      "grad_norm": 0.33011114597320557,
      "learning_rate": 0.00012959023967313145,
      "loss": 0.0501,
      "step": 8961
    },
    {
      "epoch": 2.010545209782365,
      "gripper_loss": 0.26171875,
      "loss": 0.0361328125,
      "pos_loss": 0.25,
      "rot_loss": 0.0174560546875,
      "step": 8961
    },
    {
      "epoch": 2.010769575947947,
      "grad_norm": 0.3007415235042572,
      "learning_rate": 0.00012953717056051045,
      "loss": 0.0344,
      "step": 8962
    },
    {
      "epoch": 2.010769575947947,
      "gripper_loss": 0.01123046875,
      "loss": 0.0458984375,
      "pos_loss": 0.34375,
      "rot_loss": 0.10546875,
      "step": 8962
    },
    {
      "epoch": 2.0109939421135294,
      "grad_norm": 0.45876747369766235,
      "learning_rate": 0.00012948410851659382,
      "loss": 0.0635,
      "step": 8963
    },
    {
      "epoch": 2.0109939421135294,
      "gripper_loss": 0.007171630859375,
      "loss": 0.19921875,
      "pos_loss": 2.078125,
      "rot_loss": 0.016845703125,
      "step": 8963
    },
    {
      "epoch": 2.0112183082791115,
      "grad_norm": 0.4727446436882019,
      "learning_rate": 0.00012943105354449525,
      "loss": 0.0728,
      "step": 8964
    },
    {
      "epoch": 2.0112183082791115,
      "gripper_loss": 0.01556396484375,
      "loss": 0.041748046875,
      "pos_loss": 0.21875,
      "rot_loss": 0.1787109375,
      "step": 8964
    },
    {
      "epoch": 2.0114426744446936,
      "grad_norm": 0.3903173506259918,
      "learning_rate": 0.00012937800564732802,
      "loss": 0.045,
      "step": 8965
    },
    {
      "epoch": 2.0114426744446936,
      "gripper_loss": 0.234375,
      "loss": 0.01263427734375,
      "pos_loss": 0.0174560546875,
      "rot_loss": 0.01068115234375,
      "step": 8965
    },
    {
      "epoch": 2.011667040610276,
      "grad_norm": 0.37391018867492676,
      "learning_rate": 0.00012932496482820504,
      "loss": 0.0635,
      "step": 8966
    },
    {
      "epoch": 2.011667040610276,
      "gripper_loss": 0.17578125,
      "loss": 0.03662109375,
      "pos_loss": 0.265625,
      "rot_loss": 0.037109375,
      "step": 8966
    },
    {
      "epoch": 2.011891406775858,
      "grad_norm": 0.4339752793312073,
      "learning_rate": 0.00012927193109023855,
      "loss": 0.0851,
      "step": 8967
    },
    {
      "epoch": 2.011891406775858,
      "gripper_loss": 0.1337890625,
      "loss": 0.027587890625,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.030517578125,
      "step": 8967
    },
    {
      "epoch": 2.0121157729414403,
      "grad_norm": 0.2888619899749756,
      "learning_rate": 0.0001292189044365406,
      "loss": 0.0314,
      "step": 8968
    },
    {
      "epoch": 2.0121157729414403,
      "gripper_loss": 0.150390625,
      "loss": 0.07373046875,
      "pos_loss": 0.65625,
      "rot_loss": 0.0546875,
      "step": 8968
    },
    {
      "epoch": 2.012340139107023,
      "grad_norm": 0.27702394127845764,
      "learning_rate": 0.00012916588487022276,
      "loss": 0.0504,
      "step": 8969
    },
    {
      "epoch": 2.012340139107023,
      "gripper_loss": 2.125,
      "loss": 0.072265625,
      "pos_loss": 0.02099609375,
      "rot_loss": 0.0133056640625,
      "step": 8969
    },
    {
      "epoch": 2.012564505272605,
      "grad_norm": 0.238889679312706,
      "learning_rate": 0.00012911287239439625,
      "loss": 0.0409,
      "step": 8970
    },
    {
      "epoch": 2.012564505272605,
      "gripper_loss": 0.318359375,
      "loss": 0.0174560546875,
      "pos_loss": 0.044921875,
      "rot_loss": 0.00970458984375,
      "step": 8970
    },
    {
      "epoch": 2.012788871438187,
      "grad_norm": 0.33447760343551636,
      "learning_rate": 0.00012905986701217194,
      "loss": 0.0518,
      "step": 8971
    },
    {
      "epoch": 2.012788871438187,
      "gripper_loss": 0.80078125,
      "loss": 0.09423828125,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.314453125,
      "step": 8971
    },
    {
      "epoch": 2.0130132376037695,
      "grad_norm": 0.8390923142433167,
      "learning_rate": 0.00012900686872665995,
      "loss": 0.0961,
      "step": 8972
    },
    {
      "epoch": 2.0130132376037695,
      "gripper_loss": 0.011962890625,
      "loss": 0.06982421875,
      "pos_loss": 0.59375,
      "rot_loss": 0.1025390625,
      "step": 8972
    },
    {
      "epoch": 2.0132376037693516,
      "grad_norm": 0.3896726369857788,
      "learning_rate": 0.00012895387754097018,
      "loss": 0.0445,
      "step": 8973
    },
    {
      "epoch": 2.0132376037693516,
      "gripper_loss": 0.01226806640625,
      "loss": 0.048828125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.146484375,
      "step": 8973
    },
    {
      "epoch": 2.0134619699349336,
      "grad_norm": 0.5275447368621826,
      "learning_rate": 0.00012890089345821222,
      "loss": 0.0724,
      "step": 8974
    },
    {
      "epoch": 2.0134619699349336,
      "gripper_loss": 0.111328125,
      "loss": 0.11865234375,
      "pos_loss": 0.423828125,
      "rot_loss": 0.306640625,
      "step": 8974
    },
    {
      "epoch": 2.013686336100516,
      "grad_norm": 0.9173446893692017,
      "learning_rate": 0.00012884791648149524,
      "loss": 0.1421,
      "step": 8975
    },
    {
      "epoch": 2.013686336100516,
      "gripper_loss": 0.2109375,
      "loss": 0.024169921875,
      "pos_loss": 0.09765625,
      "rot_loss": 0.052490234375,
      "step": 8975
    },
    {
      "epoch": 2.0139107022660983,
      "grad_norm": 0.3107090890407562,
      "learning_rate": 0.0001287949466139277,
      "loss": 0.0367,
      "step": 8976
    },
    {
      "epoch": 2.0139107022660983,
      "gripper_loss": 0.73046875,
      "loss": 0.049560546875,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.0634765625,
      "step": 8976
    },
    {
      "epoch": 2.0141350684316803,
      "grad_norm": 0.40439850091934204,
      "learning_rate": 0.00012874198385861795,
      "loss": 0.0624,
      "step": 8977
    },
    {
      "epoch": 2.0141350684316803,
      "gripper_loss": 0.16015625,
      "loss": 0.050537109375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.13671875,
      "step": 8977
    },
    {
      "epoch": 2.014359434597263,
      "grad_norm": 0.5347443222999573,
      "learning_rate": 0.00012868902821867384,
      "loss": 0.0515,
      "step": 8978
    },
    {
      "epoch": 2.014359434597263,
      "gripper_loss": 0.357421875,
      "loss": 0.0498046875,
      "pos_loss": 0.35546875,
      "rot_loss": 0.0230712890625,
      "step": 8978
    },
    {
      "epoch": 2.014583800762845,
      "grad_norm": 0.4705621302127838,
      "learning_rate": 0.00012863607969720286,
      "loss": 0.0643,
      "step": 8979
    },
    {
      "epoch": 2.014583800762845,
      "gripper_loss": 0.0179443359375,
      "loss": 0.0947265625,
      "pos_loss": 0.875,
      "rot_loss": 0.095703125,
      "step": 8979
    },
    {
      "epoch": 2.014808166928427,
      "grad_norm": 0.5577739477157593,
      "learning_rate": 0.00012858313829731182,
      "loss": 0.0695,
      "step": 8980
    },
    {
      "epoch": 2.014808166928427,
      "gripper_loss": 0.1865234375,
      "loss": 0.1552734375,
      "pos_loss": 0.640625,
      "rot_loss": 0.6640625,
      "step": 8980
    },
    {
      "epoch": 2.0150325330940095,
      "grad_norm": 0.6526703834533691,
      "learning_rate": 0.0001285302040221074,
      "loss": 0.0926,
      "step": 8981
    },
    {
      "epoch": 2.0150325330940095,
      "gripper_loss": 0.0654296875,
      "loss": 0.03515625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.05126953125,
      "step": 8981
    },
    {
      "epoch": 2.0152568992595916,
      "grad_norm": 0.4528370201587677,
      "learning_rate": 0.00012847727687469575,
      "loss": 0.0539,
      "step": 8982
    },
    {
      "epoch": 2.0152568992595916,
      "gripper_loss": 0.73046875,
      "loss": 0.04296875,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.01385498046875,
      "step": 8982
    },
    {
      "epoch": 2.0154812654251737,
      "grad_norm": 0.4741695821285248,
      "learning_rate": 0.0001284243568581827,
      "loss": 0.0733,
      "step": 8983
    },
    {
      "epoch": 2.0154812654251737,
      "gripper_loss": 0.01708984375,
      "loss": 0.018310546875,
      "pos_loss": 0.078125,
      "rot_loss": 0.042236328125,
      "step": 8983
    },
    {
      "epoch": 2.015705631590756,
      "grad_norm": 0.3481294810771942,
      "learning_rate": 0.0001283714439756734,
      "loss": 0.0524,
      "step": 8984
    },
    {
      "epoch": 2.015705631590756,
      "gripper_loss": 0.0086669921875,
      "loss": 0.055908203125,
      "pos_loss": 0.439453125,
      "rot_loss": 0.09130859375,
      "step": 8984
    },
    {
      "epoch": 2.0159299977563383,
      "grad_norm": 0.49798205494880676,
      "learning_rate": 0.00012831853823027292,
      "loss": 0.0835,
      "step": 8985
    },
    {
      "epoch": 2.0159299977563383,
      "gripper_loss": 0.029052734375,
      "loss": 0.08837890625,
      "pos_loss": 0.1171875,
      "rot_loss": 0.78125,
      "step": 8985
    },
    {
      "epoch": 2.0161543639219204,
      "grad_norm": 0.289587140083313,
      "learning_rate": 0.00012826563962508558,
      "loss": 0.035,
      "step": 8986
    },
    {
      "epoch": 2.0161543639219204,
      "gripper_loss": 0.3046875,
      "loss": 0.447265625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.84375,
      "step": 8986
    },
    {
      "epoch": 2.016378730087503,
      "grad_norm": 1.4112566709518433,
      "learning_rate": 0.00012821274816321551,
      "loss": 0.3838,
      "step": 8987
    },
    {
      "epoch": 2.016378730087503,
      "gripper_loss": 0.0341796875,
      "loss": 0.06640625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.04638671875,
      "step": 8987
    },
    {
      "epoch": 2.016603096253085,
      "grad_norm": 0.39064377546310425,
      "learning_rate": 0.00012815986384776652,
      "loss": 0.0623,
      "step": 8988
    },
    {
      "epoch": 2.016603096253085,
      "gripper_loss": 0.828125,
      "loss": 0.0361328125,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.006622314453125,
      "step": 8988
    },
    {
      "epoch": 2.016827462418667,
      "grad_norm": 0.36967769265174866,
      "learning_rate": 0.00012810698668184155,
      "loss": 0.0359,
      "step": 8989
    },
    {
      "epoch": 2.016827462418667,
      "gripper_loss": 0.00946044921875,
      "loss": 0.09912109375,
      "pos_loss": 0.66015625,
      "rot_loss": 0.349609375,
      "step": 8989
    },
    {
      "epoch": 2.0170518285842496,
      "grad_norm": 0.3231796324253082,
      "learning_rate": 0.00012805411666854356,
      "loss": 0.0399,
      "step": 8990
    },
    {
      "epoch": 2.0170518285842496,
      "gripper_loss": 0.71484375,
      "loss": 0.04150390625,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.0810546875,
      "step": 8990
    },
    {
      "epoch": 2.0172761947498317,
      "grad_norm": 0.4142533838748932,
      "learning_rate": 0.00012800125381097493,
      "loss": 0.0635,
      "step": 8991
    },
    {
      "epoch": 2.0172761947498317,
      "gripper_loss": 0.21875,
      "loss": 0.013916015625,
      "pos_loss": 0.00897216796875,
      "rot_loss": 0.0272216796875,
      "step": 8991
    },
    {
      "epoch": 2.0175005609154137,
      "grad_norm": 0.36940404772758484,
      "learning_rate": 0.00012794839811223774,
      "loss": 0.0492,
      "step": 8992
    },
    {
      "epoch": 2.0175005609154137,
      "gripper_loss": 0.0703125,
      "loss": 0.0198974609375,
      "pos_loss": 0.0703125,
      "rot_loss": 0.076171875,
      "step": 8992
    },
    {
      "epoch": 2.0177249270809963,
      "grad_norm": 0.46759232878685,
      "learning_rate": 0.00012789554957543333,
      "loss": 0.0766,
      "step": 8993
    },
    {
      "epoch": 2.0177249270809963,
      "gripper_loss": 0.006622314453125,
      "loss": 0.083984375,
      "pos_loss": 0.78125,
      "rot_loss": 0.07470703125,
      "step": 8993
    },
    {
      "epoch": 2.0179492932465783,
      "grad_norm": 0.4499756097793579,
      "learning_rate": 0.00012784270820366295,
      "loss": 0.0623,
      "step": 8994
    },
    {
      "epoch": 2.0179492932465783,
      "gripper_loss": 0.431640625,
      "loss": 0.03564453125,
      "pos_loss": 0.051513671875,
      "rot_loss": 0.146484375,
      "step": 8994
    },
    {
      "epoch": 2.0181736594121604,
      "grad_norm": 0.31473058462142944,
      "learning_rate": 0.00012778987400002733,
      "loss": 0.03,
      "step": 8995
    },
    {
      "epoch": 2.0181736594121604,
      "gripper_loss": 0.07666015625,
      "loss": 0.0234375,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.09423828125,
      "step": 8995
    },
    {
      "epoch": 2.018398025577743,
      "grad_norm": 0.41426989436149597,
      "learning_rate": 0.00012773704696762667,
      "loss": 0.0465,
      "step": 8996
    },
    {
      "epoch": 2.018398025577743,
      "gripper_loss": 0.10888671875,
      "loss": 0.11767578125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.294921875,
      "step": 8996
    },
    {
      "epoch": 2.018622391743325,
      "grad_norm": 0.45145973563194275,
      "learning_rate": 0.00012768422710956093,
      "loss": 0.072,
      "step": 8997
    },
    {
      "epoch": 2.018622391743325,
      "gripper_loss": 0.029052734375,
      "loss": 0.0302734375,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.0546875,
      "step": 8997
    },
    {
      "epoch": 2.0188467579089076,
      "grad_norm": 0.37000101804733276,
      "learning_rate": 0.00012763141442892945,
      "loss": 0.0721,
      "step": 8998
    },
    {
      "epoch": 2.0188467579089076,
      "gripper_loss": 0.0218505859375,
      "loss": 0.05419921875,
      "pos_loss": 0.326171875,
      "rot_loss": 0.203125,
      "step": 8998
    },
    {
      "epoch": 2.0190711240744896,
      "grad_norm": 0.34221234917640686,
      "learning_rate": 0.00012757860892883129,
      "loss": 0.0597,
      "step": 8999
    },
    {
      "epoch": 2.0190711240744896,
      "gripper_loss": 0.00494384765625,
      "loss": 0.0189208984375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.041748046875,
      "step": 8999
    },
    {
      "epoch": 2.0192954902400717,
      "grad_norm": 0.3642135560512543,
      "learning_rate": 0.00012752581061236504,
      "loss": 0.0528,
      "step": 9000
    },
    {
      "epoch": 2.0192954902400717,
      "gripper_loss": 0.0264892578125,
      "loss": 0.046630859375,
      "pos_loss": 0.2890625,
      "rot_loss": 0.1552734375,
      "step": 9000
    },
    {
      "epoch": 2.0195198564056542,
      "grad_norm": 0.35995712876319885,
      "learning_rate": 0.00012747301948262904,
      "loss": 0.0449,
      "step": 9001
    },
    {
      "epoch": 2.0195198564056542,
      "gripper_loss": 0.0091552734375,
      "loss": 0.1630859375,
      "pos_loss": 1.2890625,
      "rot_loss": 0.421875,
      "step": 9001
    },
    {
      "epoch": 2.0197442225712363,
      "grad_norm": 0.5534418225288391,
      "learning_rate": 0.0001274202355427208,
      "loss": 0.0647,
      "step": 9002
    },
    {
      "epoch": 2.0197442225712363,
      "gripper_loss": 0.400390625,
      "loss": 0.142578125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.421875,
      "step": 9002
    },
    {
      "epoch": 2.0199685887368184,
      "grad_norm": 0.8704965114593506,
      "learning_rate": 0.00012736745879573784,
      "loss": 0.1246,
      "step": 9003
    },
    {
      "epoch": 2.0199685887368184,
      "gripper_loss": 0.12060546875,
      "loss": 0.0311279296875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.04150390625,
      "step": 9003
    },
    {
      "epoch": 2.020192954902401,
      "grad_norm": 0.4421931207180023,
      "learning_rate": 0.00012731468924477696,
      "loss": 0.0517,
      "step": 9004
    },
    {
      "epoch": 2.020192954902401,
      "gripper_loss": 0.1962890625,
      "loss": 0.0703125,
      "pos_loss": 0.4609375,
      "rot_loss": 0.19140625,
      "step": 9004
    },
    {
      "epoch": 2.020417321067983,
      "grad_norm": 0.3598720133304596,
      "learning_rate": 0.00012726192689293481,
      "loss": 0.0371,
      "step": 9005
    },
    {
      "epoch": 2.020417321067983,
      "gripper_loss": 1.4765625,
      "loss": 0.109375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.37890625,
      "step": 9005
    },
    {
      "epoch": 2.020641687233565,
      "grad_norm": 0.5844182968139648,
      "learning_rate": 0.0001272091717433073,
      "loss": 0.0644,
      "step": 9006
    },
    {
      "epoch": 2.020641687233565,
      "gripper_loss": 0.205078125,
      "loss": 0.061767578125,
      "pos_loss": 0.453125,
      "rot_loss": 0.091796875,
      "step": 9006
    },
    {
      "epoch": 2.0208660533991476,
      "grad_norm": 0.43870240449905396,
      "learning_rate": 0.0001271564237989902,
      "loss": 0.045,
      "step": 9007
    },
    {
      "epoch": 2.0208660533991476,
      "gripper_loss": 0.1328125,
      "loss": 0.020263671875,
      "pos_loss": 0.09521484375,
      "rot_loss": 0.040771484375,
      "step": 9007
    },
    {
      "epoch": 2.0210904195647297,
      "grad_norm": 0.4456442892551422,
      "learning_rate": 0.00012710368306307859,
      "loss": 0.0449,
      "step": 9008
    },
    {
      "epoch": 2.0210904195647297,
      "gripper_loss": 0.0196533203125,
      "loss": 0.0810546875,
      "pos_loss": 0.478515625,
      "rot_loss": 0.33984375,
      "step": 9008
    },
    {
      "epoch": 2.0213147857303118,
      "grad_norm": 0.43000364303588867,
      "learning_rate": 0.00012705094953866747,
      "loss": 0.0486,
      "step": 9009
    },
    {
      "epoch": 2.0213147857303118,
      "gripper_loss": 0.00982666015625,
      "loss": 0.048095703125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.10693359375,
      "step": 9009
    },
    {
      "epoch": 2.0215391518958943,
      "grad_norm": 0.417574018239975,
      "learning_rate": 0.00012699822322885095,
      "loss": 0.0619,
      "step": 9010
    },
    {
      "epoch": 2.0215391518958943,
      "gripper_loss": 0.15625,
      "loss": 0.0118408203125,
      "pos_loss": 0.0272216796875,
      "rot_loss": 0.018798828125,
      "step": 9010
    },
    {
      "epoch": 2.0217635180614764,
      "grad_norm": 0.27971991896629333,
      "learning_rate": 0.0001269455041367232,
      "loss": 0.0358,
      "step": 9011
    },
    {
      "epoch": 2.0217635180614764,
      "gripper_loss": 1.640625,
      "loss": 0.09521484375,
      "pos_loss": 0.40625,
      "rot_loss": 0.037109375,
      "step": 9011
    },
    {
      "epoch": 2.0219878842270584,
      "grad_norm": 0.48996680974960327,
      "learning_rate": 0.0001268927922653777,
      "loss": 0.066,
      "step": 9012
    },
    {
      "epoch": 2.0219878842270584,
      "gripper_loss": 0.181640625,
      "loss": 0.0299072265625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.078125,
      "step": 9012
    },
    {
      "epoch": 2.022212250392641,
      "grad_norm": 0.3741310238838196,
      "learning_rate": 0.00012684008761790753,
      "loss": 0.0438,
      "step": 9013
    },
    {
      "epoch": 2.022212250392641,
      "gripper_loss": 1.296875,
      "loss": 0.1318359375,
      "pos_loss": 0.93359375,
      "rot_loss": 0.0184326171875,
      "step": 9013
    },
    {
      "epoch": 2.022436616558223,
      "grad_norm": 0.3846805989742279,
      "learning_rate": 0.00012678739019740548,
      "loss": 0.0853,
      "step": 9014
    },
    {
      "epoch": 2.022436616558223,
      "gripper_loss": 0.11181640625,
      "loss": 0.030517578125,
      "pos_loss": 0.076171875,
      "rot_loss": 0.16796875,
      "step": 9014
    },
    {
      "epoch": 2.022660982723805,
      "grad_norm": 0.3828514516353607,
      "learning_rate": 0.00012673470000696365,
      "loss": 0.052,
      "step": 9015
    },
    {
      "epoch": 2.022660982723805,
      "gripper_loss": 0.109375,
      "loss": 0.054931640625,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.1875,
      "step": 9015
    },
    {
      "epoch": 2.0228853488893876,
      "grad_norm": 0.4487645626068115,
      "learning_rate": 0.00012668201704967396,
      "loss": 0.0563,
      "step": 9016
    },
    {
      "epoch": 2.0228853488893876,
      "gripper_loss": 0.318359375,
      "loss": 0.1123046875,
      "pos_loss": 0.439453125,
      "rot_loss": 0.33203125,
      "step": 9016
    },
    {
      "epoch": 2.0231097150549697,
      "grad_norm": 0.6845796704292297,
      "learning_rate": 0.0001266293413286278,
      "loss": 0.1251,
      "step": 9017
    },
    {
      "epoch": 2.0231097150549697,
      "gripper_loss": 0.0135498046875,
      "loss": 0.08740234375,
      "pos_loss": 0.400390625,
      "rot_loss": 0.4921875,
      "step": 9017
    },
    {
      "epoch": 2.023334081220552,
      "grad_norm": 0.3508356511592865,
      "learning_rate": 0.0001265766728469163,
      "loss": 0.0703,
      "step": 9018
    },
    {
      "epoch": 2.023334081220552,
      "gripper_loss": 0.08154296875,
      "loss": 0.010986328125,
      "pos_loss": 0.0289306640625,
      "rot_loss": 0.0235595703125,
      "step": 9018
    },
    {
      "epoch": 2.0235584473861343,
      "grad_norm": 0.2951793372631073,
      "learning_rate": 0.00012652401160762988,
      "loss": 0.042,
      "step": 9019
    },
    {
      "epoch": 2.0235584473861343,
      "gripper_loss": 0.01031494140625,
      "loss": 0.10107421875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.5234375,
      "step": 9019
    },
    {
      "epoch": 2.0237828135517164,
      "grad_norm": 0.3599402904510498,
      "learning_rate": 0.00012647135761385857,
      "loss": 0.0638,
      "step": 9020
    },
    {
      "epoch": 2.0237828135517164,
      "gripper_loss": 0.00909423828125,
      "loss": 0.054443359375,
      "pos_loss": 0.4140625,
      "rot_loss": 0.11279296875,
      "step": 9020
    },
    {
      "epoch": 2.0240071797172985,
      "grad_norm": 1.0571601390838623,
      "learning_rate": 0.00012641871086869227,
      "loss": 0.0493,
      "step": 9021
    },
    {
      "epoch": 2.0240071797172985,
      "gripper_loss": 0.00726318359375,
      "loss": 0.0703125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1796875,
      "step": 9021
    },
    {
      "epoch": 2.024231545882881,
      "grad_norm": 0.49839165806770325,
      "learning_rate": 0.00012636607137522026,
      "loss": 0.0609,
      "step": 9022
    },
    {
      "epoch": 2.024231545882881,
      "gripper_loss": 0.00830078125,
      "loss": 0.05322265625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.1640625,
      "step": 9022
    },
    {
      "epoch": 2.024455912048463,
      "grad_norm": 0.3966130018234253,
      "learning_rate": 0.00012631343913653125,
      "loss": 0.0536,
      "step": 9023
    },
    {
      "epoch": 2.024455912048463,
      "gripper_loss": 0.134765625,
      "loss": 0.150390625,
      "pos_loss": 1.3515625,
      "rot_loss": 0.1640625,
      "step": 9023
    },
    {
      "epoch": 2.024680278214045,
      "grad_norm": 1.0614804029464722,
      "learning_rate": 0.0001262608141557138,
      "loss": 0.0961,
      "step": 9024
    },
    {
      "epoch": 2.024680278214045,
      "gripper_loss": 0.00823974609375,
      "loss": 0.048828125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1494140625,
      "step": 9024
    },
    {
      "epoch": 2.0249046443796277,
      "grad_norm": 0.3678228557109833,
      "learning_rate": 0.0001262081964358559,
      "loss": 0.0602,
      "step": 9025
    },
    {
      "epoch": 2.0249046443796277,
      "gripper_loss": 0.01251220703125,
      "loss": 0.023681640625,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.068359375,
      "step": 9025
    },
    {
      "epoch": 2.0251290105452098,
      "grad_norm": 0.32516345381736755,
      "learning_rate": 0.00012615558598004517,
      "loss": 0.0644,
      "step": 9026
    },
    {
      "epoch": 2.0251290105452098,
      "gripper_loss": 0.28515625,
      "loss": 0.050048828125,
      "pos_loss": 0.326171875,
      "rot_loss": 0.0830078125,
      "step": 9026
    },
    {
      "epoch": 2.025353376710792,
      "grad_norm": 0.35885533690452576,
      "learning_rate": 0.00012610298279136867,
      "loss": 0.0502,
      "step": 9027
    },
    {
      "epoch": 2.025353376710792,
      "gripper_loss": 0.046875,
      "loss": 0.01300048828125,
      "pos_loss": 0.03466796875,
      "rot_loss": 0.06103515625,
      "step": 9027
    },
    {
      "epoch": 2.0255777428763744,
      "grad_norm": 0.29723623394966125,
      "learning_rate": 0.0001260503868729132,
      "loss": 0.0366,
      "step": 9028
    },
    {
      "epoch": 2.0255777428763744,
      "gripper_loss": 0.4140625,
      "loss": 0.1005859375,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.66796875,
      "step": 9028
    },
    {
      "epoch": 2.0258021090419565,
      "grad_norm": 0.60202556848526,
      "learning_rate": 0.00012599779822776503,
      "loss": 0.0862,
      "step": 9029
    },
    {
      "epoch": 2.0258021090419565,
      "gripper_loss": 0.01055908203125,
      "loss": 0.01434326171875,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.016357421875,
      "step": 9029
    },
    {
      "epoch": 2.0260264752075385,
      "grad_norm": 0.26771247386932373,
      "learning_rate": 0.00012594521685901013,
      "loss": 0.0563,
      "step": 9030
    },
    {
      "epoch": 2.0260264752075385,
      "gripper_loss": 0.005767822265625,
      "loss": 0.16796875,
      "pos_loss": 0.8515625,
      "rot_loss": 0.9140625,
      "step": 9030
    },
    {
      "epoch": 2.026250841373121,
      "grad_norm": 0.3772355318069458,
      "learning_rate": 0.00012589264276973382,
      "loss": 0.0684,
      "step": 9031
    },
    {
      "epoch": 2.026250841373121,
      "gripper_loss": 0.23828125,
      "loss": 0.0302734375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.05322265625,
      "step": 9031
    },
    {
      "epoch": 2.026475207538703,
      "grad_norm": 0.26214835047721863,
      "learning_rate": 0.00012584007596302127,
      "loss": 0.0417,
      "step": 9032
    },
    {
      "epoch": 2.026475207538703,
      "gripper_loss": 0.447265625,
      "loss": 0.1591796875,
      "pos_loss": 1.515625,
      "rot_loss": 0.0113525390625,
      "step": 9032
    },
    {
      "epoch": 2.026699573704285,
      "grad_norm": 0.4026753902435303,
      "learning_rate": 0.00012578751644195691,
      "loss": 0.0473,
      "step": 9033
    },
    {
      "epoch": 2.026699573704285,
      "gripper_loss": 0.1767578125,
      "loss": 0.08935546875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.302734375,
      "step": 9033
    },
    {
      "epoch": 2.0269239398698677,
      "grad_norm": 0.5961844325065613,
      "learning_rate": 0.00012573496420962497,
      "loss": 0.0757,
      "step": 9034
    },
    {
      "epoch": 2.0269239398698677,
      "gripper_loss": 0.09375,
      "loss": 0.059814453125,
      "pos_loss": 0.4140625,
      "rot_loss": 0.1494140625,
      "step": 9034
    },
    {
      "epoch": 2.02714830603545,
      "grad_norm": 0.24784262478351593,
      "learning_rate": 0.0001256824192691093,
      "loss": 0.0487,
      "step": 9035
    },
    {
      "epoch": 2.02714830603545,
      "gripper_loss": 0.045654296875,
      "loss": 0.10595703125,
      "pos_loss": 0.41015625,
      "rot_loss": 0.64453125,
      "step": 9035
    },
    {
      "epoch": 2.027372672201032,
      "grad_norm": 0.33416593074798584,
      "learning_rate": 0.00012562988162349303,
      "loss": 0.0504,
      "step": 9036
    },
    {
      "epoch": 2.027372672201032,
      "gripper_loss": 2.21875,
      "loss": 0.07421875,
      "pos_loss": 0.01251220703125,
      "rot_loss": 0.006561279296875,
      "step": 9036
    },
    {
      "epoch": 2.0275970383666144,
      "grad_norm": 0.4534081518650055,
      "learning_rate": 0.00012557735127585918,
      "loss": 0.0481,
      "step": 9037
    },
    {
      "epoch": 2.0275970383666144,
      "gripper_loss": 0.89453125,
      "loss": 0.07421875,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.359375,
      "step": 9037
    },
    {
      "epoch": 2.0278214045321965,
      "grad_norm": 0.3388061821460724,
      "learning_rate": 0.00012552482822929012,
      "loss": 0.0598,
      "step": 9038
    },
    {
      "epoch": 2.0278214045321965,
      "gripper_loss": 1.1953125,
      "loss": 0.20703125,
      "pos_loss": 0.890625,
      "rot_loss": 0.890625,
      "step": 9038
    },
    {
      "epoch": 2.0280457706977786,
      "grad_norm": 0.9941477179527283,
      "learning_rate": 0.000125472312486868,
      "loss": 0.074,
      "step": 9039
    },
    {
      "epoch": 2.0280457706977786,
      "gripper_loss": 0.00469970703125,
      "loss": 0.11083984375,
      "pos_loss": 1.046875,
      "rot_loss": 0.107421875,
      "step": 9039
    },
    {
      "epoch": 2.028270136863361,
      "grad_norm": 0.4107730984687805,
      "learning_rate": 0.0001254198040516743,
      "loss": 0.0636,
      "step": 9040
    },
    {
      "epoch": 2.028270136863361,
      "gripper_loss": 0.3125,
      "loss": 0.1357421875,
      "pos_loss": 1.265625,
      "rot_loss": 0.048095703125,
      "step": 9040
    },
    {
      "epoch": 2.028494503028943,
      "grad_norm": 0.48694169521331787,
      "learning_rate": 0.00012536730292679021,
      "loss": 0.0557,
      "step": 9041
    },
    {
      "epoch": 2.028494503028943,
      "gripper_loss": 0.27734375,
      "loss": 0.01312255859375,
      "pos_loss": 0.01104736328125,
      "rot_loss": 0.006500244140625,
      "step": 9041
    },
    {
      "epoch": 2.0287188691945253,
      "grad_norm": 0.22658608853816986,
      "learning_rate": 0.00012531480911529664,
      "loss": 0.0359,
      "step": 9042
    },
    {
      "epoch": 2.0287188691945253,
      "gripper_loss": 0.5546875,
      "loss": 0.03466796875,
      "pos_loss": 0.078125,
      "rot_loss": 0.0849609375,
      "step": 9042
    },
    {
      "epoch": 2.028943235360108,
      "grad_norm": 0.48400285840034485,
      "learning_rate": 0.00012526232262027363,
      "loss": 0.0599,
      "step": 9043
    },
    {
      "epoch": 2.028943235360108,
      "gripper_loss": 0.006256103515625,
      "loss": 0.01300048828125,
      "pos_loss": 0.09765625,
      "rot_loss": 0.014404296875,
      "step": 9043
    },
    {
      "epoch": 2.02916760152569,
      "grad_norm": 0.3940739929676056,
      "learning_rate": 0.0001252098434448013,
      "loss": 0.0517,
      "step": 9044
    },
    {
      "epoch": 2.02916760152569,
      "gripper_loss": 0.0218505859375,
      "loss": 0.0311279296875,
      "pos_loss": 0.1484375,
      "rot_loss": 0.1513671875,
      "step": 9044
    },
    {
      "epoch": 2.029391967691272,
      "grad_norm": 0.3700331449508667,
      "learning_rate": 0.0001251573715919589,
      "loss": 0.0547,
      "step": 9045
    },
    {
      "epoch": 2.029391967691272,
      "gripper_loss": 0.01422119140625,
      "loss": 0.060302734375,
      "pos_loss": 0.546875,
      "rot_loss": 0.061279296875,
      "step": 9045
    },
    {
      "epoch": 2.0296163338568545,
      "grad_norm": 0.3432298004627228,
      "learning_rate": 0.00012510490706482553,
      "loss": 0.0608,
      "step": 9046
    },
    {
      "epoch": 2.0296163338568545,
      "gripper_loss": 0.06103515625,
      "loss": 0.0732421875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.453125,
      "step": 9046
    },
    {
      "epoch": 2.0298407000224366,
      "grad_norm": 0.38532084226608276,
      "learning_rate": 0.00012505244986647985,
      "loss": 0.0694,
      "step": 9047
    },
    {
      "epoch": 2.0298407000224366,
      "gripper_loss": 0.0091552734375,
      "loss": 0.0235595703125,
      "pos_loss": 0.09765625,
      "rot_loss": 0.125,
      "step": 9047
    },
    {
      "epoch": 2.0300650661880186,
      "grad_norm": 0.42177262902259827,
      "learning_rate": 0.00012500000000000006,
      "loss": 0.0534,
      "step": 9048
    },
    {
      "epoch": 2.0300650661880186,
      "gripper_loss": 0.1630859375,
      "loss": 0.01171875,
      "pos_loss": 0.0189208984375,
      "rot_loss": 0.028564453125,
      "step": 9048
    },
    {
      "epoch": 2.030289432353601,
      "grad_norm": 0.2264605164527893,
      "learning_rate": 0.00012494755746846373,
      "loss": 0.0433,
      "step": 9049
    },
    {
      "epoch": 2.030289432353601,
      "gripper_loss": 0.00811767578125,
      "loss": 0.048095703125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.011962890625,
      "step": 9049
    },
    {
      "epoch": 2.0305137985191832,
      "grad_norm": 0.29752683639526367,
      "learning_rate": 0.00012489512227494823,
      "loss": 0.0465,
      "step": 9050
    },
    {
      "epoch": 2.0305137985191832,
      "gripper_loss": 0.162109375,
      "loss": 0.0118408203125,
      "pos_loss": 0.0308837890625,
      "rot_loss": 0.01513671875,
      "step": 9050
    },
    {
      "epoch": 2.0307381646847658,
      "grad_norm": 0.41665250062942505,
      "learning_rate": 0.0001248426944225305,
      "loss": 0.0613,
      "step": 9051
    },
    {
      "epoch": 2.0307381646847658,
      "gripper_loss": 0.049072265625,
      "loss": 0.06494140625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.04541015625,
      "step": 9051
    },
    {
      "epoch": 2.030962530850348,
      "grad_norm": 0.319265216588974,
      "learning_rate": 0.00012479027391428698,
      "loss": 0.0515,
      "step": 9052
    },
    {
      "epoch": 2.030962530850348,
      "gripper_loss": 0.019287109375,
      "loss": 0.06787109375,
      "pos_loss": 0.326171875,
      "rot_loss": 0.34765625,
      "step": 9052
    },
    {
      "epoch": 2.03118689701593,
      "grad_norm": 0.44182640314102173,
      "learning_rate": 0.00012473786075329357,
      "loss": 0.0639,
      "step": 9053
    },
    {
      "epoch": 2.03118689701593,
      "gripper_loss": 0.466796875,
      "loss": 0.1357421875,
      "pos_loss": 0.59375,
      "rot_loss": 0.67578125,
      "step": 9053
    },
    {
      "epoch": 2.0314112631815124,
      "grad_norm": 0.30584660172462463,
      "learning_rate": 0.00012468545494262603,
      "loss": 0.0582,
      "step": 9054
    },
    {
      "epoch": 2.0314112631815124,
      "gripper_loss": 0.0081787109375,
      "loss": 0.00946044921875,
      "pos_loss": 0.0322265625,
      "rot_loss": 0.03759765625,
      "step": 9054
    },
    {
      "epoch": 2.0316356293470945,
      "grad_norm": 0.259945273399353,
      "learning_rate": 0.0001246330564853593,
      "loss": 0.0284,
      "step": 9055
    },
    {
      "epoch": 2.0316356293470945,
      "gripper_loss": 0.84375,
      "loss": 0.044921875,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.0595703125,
      "step": 9055
    },
    {
      "epoch": 2.0318599955126766,
      "grad_norm": 0.3368590474128723,
      "learning_rate": 0.00012458066538456827,
      "loss": 0.0443,
      "step": 9056
    },
    {
      "epoch": 2.0318599955126766,
      "gripper_loss": 0.007171630859375,
      "loss": 0.04248046875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.171875,
      "step": 9056
    },
    {
      "epoch": 2.032084361678259,
      "grad_norm": 0.35574811697006226,
      "learning_rate": 0.00012452828164332712,
      "loss": 0.0577,
      "step": 9057
    },
    {
      "epoch": 2.032084361678259,
      "gripper_loss": 1.078125,
      "loss": 0.048828125,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.048583984375,
      "step": 9057
    },
    {
      "epoch": 2.032308727843841,
      "grad_norm": 0.6431037187576294,
      "learning_rate": 0.00012447590526470966,
      "loss": 0.0544,
      "step": 9058
    },
    {
      "epoch": 2.032308727843841,
      "gripper_loss": 0.0152587890625,
      "loss": 0.06396484375,
      "pos_loss": 0.546875,
      "rot_loss": 0.09423828125,
      "step": 9058
    },
    {
      "epoch": 2.0325330940094233,
      "grad_norm": 0.2788737118244171,
      "learning_rate": 0.00012442353625178942,
      "loss": 0.0413,
      "step": 9059
    },
    {
      "epoch": 2.0325330940094233,
      "gripper_loss": 0.12255859375,
      "loss": 0.060546875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.3203125,
      "step": 9059
    },
    {
      "epoch": 2.032757460175006,
      "grad_norm": 0.37277254462242126,
      "learning_rate": 0.00012437117460763937,
      "loss": 0.046,
      "step": 9060
    },
    {
      "epoch": 2.032757460175006,
      "gripper_loss": 0.0218505859375,
      "loss": 0.0167236328125,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.02490234375,
      "step": 9060
    },
    {
      "epoch": 2.032981826340588,
      "grad_norm": 0.3198036849498749,
      "learning_rate": 0.00012431882033533219,
      "loss": 0.0424,
      "step": 9061
    },
    {
      "epoch": 2.032981826340588,
      "gripper_loss": 0.138671875,
      "loss": 0.0211181640625,
      "pos_loss": 0.1083984375,
      "rot_loss": 0.0380859375,
      "step": 9061
    },
    {
      "epoch": 2.03320619250617,
      "grad_norm": 0.2790375351905823,
      "learning_rate": 0.00012426647343793972,
      "loss": 0.0619,
      "step": 9062
    },
    {
      "epoch": 2.03320619250617,
      "gripper_loss": 0.400390625,
      "loss": 0.1181640625,
      "pos_loss": 0.375,
      "rot_loss": 0.56640625,
      "step": 9062
    },
    {
      "epoch": 2.0334305586717525,
      "grad_norm": 0.6508107781410217,
      "learning_rate": 0.00012421413391853383,
      "loss": 0.1042,
      "step": 9063
    },
    {
      "epoch": 2.0334305586717525,
      "gripper_loss": 0.08935546875,
      "loss": 0.039306640625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.10205078125,
      "step": 9063
    },
    {
      "epoch": 2.0336549248373346,
      "grad_norm": 0.41440749168395996,
      "learning_rate": 0.00012416180178018577,
      "loss": 0.0563,
      "step": 9064
    },
    {
      "epoch": 2.0336549248373346,
      "gripper_loss": 0.6015625,
      "loss": 0.02880859375,
      "pos_loss": 0.068359375,
      "rot_loss": 0.0113525390625,
      "step": 9064
    },
    {
      "epoch": 2.0338792910029166,
      "grad_norm": 0.47527873516082764,
      "learning_rate": 0.00012410947702596643,
      "loss": 0.0553,
      "step": 9065
    },
    {
      "epoch": 2.0338792910029166,
      "gripper_loss": 0.2734375,
      "loss": 0.03857421875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.058349609375,
      "step": 9065
    },
    {
      "epoch": 2.034103657168499,
      "grad_norm": 0.37392303347587585,
      "learning_rate": 0.00012405715965894612,
      "loss": 0.0681,
      "step": 9066
    },
    {
      "epoch": 2.034103657168499,
      "gripper_loss": 0.19921875,
      "loss": 0.06396484375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.06396484375,
      "step": 9066
    },
    {
      "epoch": 2.0343280233340812,
      "grad_norm": 0.3924620747566223,
      "learning_rate": 0.00012400484968219468,
      "loss": 0.053,
      "step": 9067
    },
    {
      "epoch": 2.0343280233340812,
      "gripper_loss": 0.10888671875,
      "loss": 0.1455078125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.38671875,
      "step": 9067
    },
    {
      "epoch": 2.0345523894996633,
      "grad_norm": 0.46473559737205505,
      "learning_rate": 0.00012395254709878181,
      "loss": 0.0774,
      "step": 9068
    },
    {
      "epoch": 2.0345523894996633,
      "gripper_loss": 0.0242919921875,
      "loss": 0.1220703125,
      "pos_loss": 0.77734375,
      "rot_loss": 0.47265625,
      "step": 9068
    },
    {
      "epoch": 2.034776755665246,
      "grad_norm": 0.39805787801742554,
      "learning_rate": 0.00012390025191177665,
      "loss": 0.0762,
      "step": 9069
    },
    {
      "epoch": 2.034776755665246,
      "gripper_loss": 0.0186767578125,
      "loss": 0.034423828125,
      "pos_loss": 0.298828125,
      "rot_loss": 0.03466796875,
      "step": 9069
    },
    {
      "epoch": 2.035001121830828,
      "grad_norm": 0.39039987325668335,
      "learning_rate": 0.00012384796412424762,
      "loss": 0.0327,
      "step": 9070
    },
    {
      "epoch": 2.035001121830828,
      "gripper_loss": 0.87890625,
      "loss": 0.057861328125,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.134765625,
      "step": 9070
    },
    {
      "epoch": 2.03522548799641,
      "grad_norm": 0.4188176095485687,
      "learning_rate": 0.00012379568373926313,
      "loss": 0.0498,
      "step": 9071
    },
    {
      "epoch": 2.03522548799641,
      "gripper_loss": 0.0067138671875,
      "loss": 0.130859375,
      "pos_loss": 0.83984375,
      "rot_loss": 0.51953125,
      "step": 9071
    },
    {
      "epoch": 2.0354498541619925,
      "grad_norm": 0.4314248561859131,
      "learning_rate": 0.0001237434107598909,
      "loss": 0.0642,
      "step": 9072
    },
    {
      "epoch": 2.0354498541619925,
      "gripper_loss": 0.58203125,
      "loss": 0.02197265625,
      "pos_loss": 0.007171630859375,
      "rot_loss": 0.0101318359375,
      "step": 9072
    },
    {
      "epoch": 2.0356742203275746,
      "grad_norm": 0.28699907660484314,
      "learning_rate": 0.00012369114518919838,
      "loss": 0.0473,
      "step": 9073
    },
    {
      "epoch": 2.0356742203275746,
      "gripper_loss": 0.018798828125,
      "loss": 0.005523681640625,
      "pos_loss": 0.0185546875,
      "rot_loss": 0.01104736328125,
      "step": 9073
    },
    {
      "epoch": 2.0358985864931567,
      "grad_norm": 0.2974897623062134,
      "learning_rate": 0.00012363888703025236,
      "loss": 0.0493,
      "step": 9074
    },
    {
      "epoch": 2.0358985864931567,
      "gripper_loss": 0.01177978515625,
      "loss": 0.0260009765625,
      "pos_loss": 0.16796875,
      "rot_loss": 0.0810546875,
      "step": 9074
    },
    {
      "epoch": 2.036122952658739,
      "grad_norm": 0.3228396475315094,
      "learning_rate": 0.00012358663628611938,
      "loss": 0.0407,
      "step": 9075
    },
    {
      "epoch": 2.036122952658739,
      "gripper_loss": 0.03173828125,
      "loss": 0.09228515625,
      "pos_loss": 0.82421875,
      "rot_loss": 0.1181640625,
      "step": 9075
    },
    {
      "epoch": 2.0363473188243213,
      "grad_norm": 0.3532830774784088,
      "learning_rate": 0.00012353439295986548,
      "loss": 0.0621,
      "step": 9076
    },
    {
      "epoch": 2.0363473188243213,
      "gripper_loss": 0.2041015625,
      "loss": 0.062255859375,
      "pos_loss": 0.11279296875,
      "rot_loss": 0.451171875,
      "step": 9076
    },
    {
      "epoch": 2.0365716849899034,
      "grad_norm": 0.5940090417861938,
      "learning_rate": 0.0001234821570545564,
      "loss": 0.0891,
      "step": 9077
    },
    {
      "epoch": 2.0365716849899034,
      "gripper_loss": 1.1015625,
      "loss": 0.0595703125,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.02490234375,
      "step": 9077
    },
    {
      "epoch": 2.036796051155486,
      "grad_norm": 0.27558064460754395,
      "learning_rate": 0.00012342992857325706,
      "loss": 0.057,
      "step": 9078
    },
    {
      "epoch": 2.036796051155486,
      "gripper_loss": 0.7890625,
      "loss": 0.03662109375,
      "pos_loss": 0.03955078125,
      "rot_loss": 0.0654296875,
      "step": 9078
    },
    {
      "epoch": 2.037020417321068,
      "grad_norm": 0.3184360861778259,
      "learning_rate": 0.00012337770751903252,
      "loss": 0.0625,
      "step": 9079
    },
    {
      "epoch": 2.037020417321068,
      "gripper_loss": 0.12060546875,
      "loss": 0.021728515625,
      "pos_loss": 0.0302734375,
      "rot_loss": 0.126953125,
      "step": 9079
    },
    {
      "epoch": 2.03724478348665,
      "grad_norm": 0.3088301122188568,
      "learning_rate": 0.00012332549389494678,
      "loss": 0.0562,
      "step": 9080
    },
    {
      "epoch": 2.03724478348665,
      "gripper_loss": 0.298828125,
      "loss": 0.07958984375,
      "pos_loss": 0.453125,
      "rot_loss": 0.2099609375,
      "step": 9080
    },
    {
      "epoch": 2.0374691496522326,
      "grad_norm": 0.2990330159664154,
      "learning_rate": 0.00012327328770406386,
      "loss": 0.0566,
      "step": 9081
    },
    {
      "epoch": 2.0374691496522326,
      "gripper_loss": 0.00799560546875,
      "loss": 0.0888671875,
      "pos_loss": 0.7734375,
      "rot_loss": 0.1396484375,
      "step": 9081
    },
    {
      "epoch": 2.0376935158178147,
      "grad_norm": 0.2993534803390503,
      "learning_rate": 0.00012322108894944727,
      "loss": 0.068,
      "step": 9082
    },
    {
      "epoch": 2.0376935158178147,
      "gripper_loss": 0.0257568359375,
      "loss": 0.04638671875,
      "pos_loss": 0.4375,
      "rot_loss": 0.0216064453125,
      "step": 9082
    },
    {
      "epoch": 2.0379178819833967,
      "grad_norm": 0.2654155194759369,
      "learning_rate": 0.00012316889763415984,
      "loss": 0.0724,
      "step": 9083
    },
    {
      "epoch": 2.0379178819833967,
      "gripper_loss": 0.00921630859375,
      "loss": 0.058349609375,
      "pos_loss": 0.421875,
      "rot_loss": 0.171875,
      "step": 9083
    },
    {
      "epoch": 2.0381422481489793,
      "grad_norm": 0.2514224946498871,
      "learning_rate": 0.00012311671376126425,
      "loss": 0.0518,
      "step": 9084
    },
    {
      "epoch": 2.0381422481489793,
      "gripper_loss": 0.06298828125,
      "loss": 0.1396484375,
      "pos_loss": 1.3046875,
      "rot_loss": 0.11962890625,
      "step": 9084
    },
    {
      "epoch": 2.0383666143145613,
      "grad_norm": 0.4671171307563782,
      "learning_rate": 0.00012306453733382252,
      "loss": 0.0693,
      "step": 9085
    },
    {
      "epoch": 2.0383666143145613,
      "gripper_loss": 0.0189208984375,
      "loss": 0.0625,
      "pos_loss": 0.53125,
      "rot_loss": 0.10546875,
      "step": 9085
    },
    {
      "epoch": 2.0385909804801434,
      "grad_norm": 0.44425398111343384,
      "learning_rate": 0.00012301236835489656,
      "loss": 0.0504,
      "step": 9086
    },
    {
      "epoch": 2.0385909804801434,
      "gripper_loss": 0.02197265625,
      "loss": 0.052734375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.1923828125,
      "step": 9086
    },
    {
      "epoch": 2.038815346645726,
      "grad_norm": 0.2504310607910156,
      "learning_rate": 0.0001229602068275474,
      "loss": 0.0512,
      "step": 9087
    },
    {
      "epoch": 2.038815346645726,
      "gripper_loss": 0.01104736328125,
      "loss": 0.1005859375,
      "pos_loss": 0.75390625,
      "rot_loss": 0.271484375,
      "step": 9087
    },
    {
      "epoch": 2.039039712811308,
      "grad_norm": 0.43637022376060486,
      "learning_rate": 0.00012290805275483587,
      "loss": 0.0772,
      "step": 9088
    },
    {
      "epoch": 2.039039712811308,
      "gripper_loss": 0.10791015625,
      "loss": 0.0283203125,
      "pos_loss": 0.205078125,
      "rot_loss": 0.02734375,
      "step": 9088
    },
    {
      "epoch": 2.03926407897689,
      "grad_norm": 0.2669617831707001,
      "learning_rate": 0.00012285590613982255,
      "loss": 0.0444,
      "step": 9089
    },
    {
      "epoch": 2.03926407897689,
      "gripper_loss": 0.01043701171875,
      "loss": 0.08837890625,
      "pos_loss": 0.37890625,
      "rot_loss": 0.5234375,
      "step": 9089
    },
    {
      "epoch": 2.0394884451424726,
      "grad_norm": 0.3740500211715698,
      "learning_rate": 0.00012280376698556715,
      "loss": 0.067,
      "step": 9090
    },
    {
      "epoch": 2.0394884451424726,
      "gripper_loss": 0.1748046875,
      "loss": 0.010009765625,
      "pos_loss": 0.0142822265625,
      "rot_loss": 0.01165771484375,
      "step": 9090
    },
    {
      "epoch": 2.0397128113080547,
      "grad_norm": 0.35212284326553345,
      "learning_rate": 0.00012275163529512935,
      "loss": 0.0442,
      "step": 9091
    },
    {
      "epoch": 2.0397128113080547,
      "gripper_loss": 0.05859375,
      "loss": 0.08447265625,
      "pos_loss": 0.67578125,
      "rot_loss": 0.1533203125,
      "step": 9091
    },
    {
      "epoch": 2.039937177473637,
      "grad_norm": 0.2836790382862091,
      "learning_rate": 0.000122699511071568,
      "loss": 0.0544,
      "step": 9092
    },
    {
      "epoch": 2.039937177473637,
      "gripper_loss": 0.028076171875,
      "loss": 0.053955078125,
      "pos_loss": 0.181640625,
      "rot_loss": 0.34765625,
      "step": 9092
    },
    {
      "epoch": 2.0401615436392193,
      "grad_norm": 0.3174706995487213,
      "learning_rate": 0.00012264739431794186,
      "loss": 0.0551,
      "step": 9093
    },
    {
      "epoch": 2.0401615436392193,
      "gripper_loss": 0.01531982421875,
      "loss": 0.052978515625,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.451171875,
      "step": 9093
    },
    {
      "epoch": 2.0403859098048014,
      "grad_norm": 0.45792263746261597,
      "learning_rate": 0.0001225952850373091,
      "loss": 0.0464,
      "step": 9094
    },
    {
      "epoch": 2.0403859098048014,
      "gripper_loss": 0.00537109375,
      "loss": 0.05859375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.2314453125,
      "step": 9094
    },
    {
      "epoch": 2.0406102759703835,
      "grad_norm": 1.4557746648788452,
      "learning_rate": 0.0001225431832327276,
      "loss": 0.0886,
      "step": 9095
    },
    {
      "epoch": 2.0406102759703835,
      "gripper_loss": 0.041748046875,
      "loss": 0.06103515625,
      "pos_loss": 0.298828125,
      "rot_loss": 0.28515625,
      "step": 9095
    },
    {
      "epoch": 2.040834642135966,
      "grad_norm": 0.5398971438407898,
      "learning_rate": 0.00012249108890725443,
      "loss": 0.0614,
      "step": 9096
    },
    {
      "epoch": 2.040834642135966,
      "gripper_loss": 0.01519775390625,
      "loss": 0.0128173828125,
      "pos_loss": 0.046142578125,
      "rot_loss": 0.060302734375,
      "step": 9096
    },
    {
      "epoch": 2.041059008301548,
      "grad_norm": 0.9501532316207886,
      "learning_rate": 0.0001224390020639466,
      "loss": 0.0614,
      "step": 9097
    },
    {
      "epoch": 2.041059008301548,
      "gripper_loss": 0.90625,
      "loss": 0.0341796875,
      "pos_loss": 0.029541015625,
      "rot_loss": 0.005950927734375,
      "step": 9097
    },
    {
      "epoch": 2.04128337446713,
      "grad_norm": 0.2775680720806122,
      "learning_rate": 0.0001223869227058605,
      "loss": 0.0408,
      "step": 9098
    },
    {
      "epoch": 2.04128337446713,
      "gripper_loss": 0.3203125,
      "loss": 0.044189453125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.054931640625,
      "step": 9098
    },
    {
      "epoch": 2.0415077406327127,
      "grad_norm": 0.41711851954460144,
      "learning_rate": 0.00012233485083605226,
      "loss": 0.0599,
      "step": 9099
    },
    {
      "epoch": 2.0415077406327127,
      "gripper_loss": 0.03857421875,
      "loss": 0.0869140625,
      "pos_loss": 0.83203125,
      "rot_loss": 0.038818359375,
      "step": 9099
    },
    {
      "epoch": 2.0417321067982948,
      "grad_norm": 0.5151047706604004,
      "learning_rate": 0.00012228278645757718,
      "loss": 0.0835,
      "step": 9100
    },
    {
      "epoch": 2.0417321067982948,
      "gripper_loss": 0.23828125,
      "loss": 0.138671875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.83203125,
      "step": 9100
    },
    {
      "epoch": 2.041956472963877,
      "grad_norm": 0.6571575999259949,
      "learning_rate": 0.00012223072957349065,
      "loss": 0.0743,
      "step": 9101
    },
    {
      "epoch": 2.041956472963877,
      "gripper_loss": 0.02978515625,
      "loss": 0.0625,
      "pos_loss": 0.5703125,
      "rot_loss": 0.0625,
      "step": 9101
    },
    {
      "epoch": 2.0421808391294594,
      "grad_norm": 0.5909551382064819,
      "learning_rate": 0.00012217868018684708,
      "loss": 0.0672,
      "step": 9102
    },
    {
      "epoch": 2.0421808391294594,
      "gripper_loss": 0.00726318359375,
      "loss": 0.08203125,
      "pos_loss": 0.77734375,
      "rot_loss": 0.064453125,
      "step": 9102
    },
    {
      "epoch": 2.0424052052950414,
      "grad_norm": 0.7984028458595276,
      "learning_rate": 0.00012212663830070094,
      "loss": 0.0858,
      "step": 9103
    },
    {
      "epoch": 2.0424052052950414,
      "gripper_loss": 0.041015625,
      "loss": 0.046142578125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.142578125,
      "step": 9103
    },
    {
      "epoch": 2.0426295714606235,
      "grad_norm": 0.43263307213783264,
      "learning_rate": 0.00012207460391810586,
      "loss": 0.074,
      "step": 9104
    },
    {
      "epoch": 2.0426295714606235,
      "gripper_loss": 0.15234375,
      "loss": 0.0322265625,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.0693359375,
      "step": 9104
    },
    {
      "epoch": 2.042853937626206,
      "grad_norm": 0.27304136753082275,
      "learning_rate": 0.0001220225770421152,
      "loss": 0.0526,
      "step": 9105
    },
    {
      "epoch": 2.042853937626206,
      "gripper_loss": 0.00225830078125,
      "loss": 0.0849609375,
      "pos_loss": 0.7421875,
      "rot_loss": 0.1416015625,
      "step": 9105
    },
    {
      "epoch": 2.043078303791788,
      "grad_norm": 0.3319559693336487,
      "learning_rate": 0.00012197055767578194,
      "loss": 0.0656,
      "step": 9106
    },
    {
      "epoch": 2.043078303791788,
      "gripper_loss": 1.078125,
      "loss": 0.15234375,
      "pos_loss": 1.1640625,
      "rot_loss": 0.080078125,
      "step": 9106
    },
    {
      "epoch": 2.0433026699573706,
      "grad_norm": 0.38110411167144775,
      "learning_rate": 0.00012191854582215853,
      "loss": 0.0546,
      "step": 9107
    },
    {
      "epoch": 2.0433026699573706,
      "gripper_loss": 0.0177001953125,
      "loss": 0.05517578125,
      "pos_loss": 0.123046875,
      "rot_loss": 0.400390625,
      "step": 9107
    },
    {
      "epoch": 2.0435270361229527,
      "grad_norm": 0.2893969714641571,
      "learning_rate": 0.0001218665414842971,
      "loss": 0.0542,
      "step": 9108
    },
    {
      "epoch": 2.0435270361229527,
      "gripper_loss": 0.01470947265625,
      "loss": 0.0302734375,
      "pos_loss": 0.091796875,
      "rot_loss": 0.1962890625,
      "step": 9108
    },
    {
      "epoch": 2.043751402288535,
      "grad_norm": 0.3565083146095276,
      "learning_rate": 0.00012181454466524906,
      "loss": 0.0612,
      "step": 9109
    },
    {
      "epoch": 2.043751402288535,
      "gripper_loss": 0.4453125,
      "loss": 0.0595703125,
      "pos_loss": 0.271484375,
      "rot_loss": 0.1865234375,
      "step": 9109
    },
    {
      "epoch": 2.0439757684541173,
      "grad_norm": 0.5397861003875732,
      "learning_rate": 0.00012176255536806565,
      "loss": 0.0796,
      "step": 9110
    },
    {
      "epoch": 2.0439757684541173,
      "gripper_loss": 0.5546875,
      "loss": 0.07861328125,
      "pos_loss": 0.498046875,
      "rot_loss": 0.1298828125,
      "step": 9110
    },
    {
      "epoch": 2.0442001346196994,
      "grad_norm": 0.31700074672698975,
      "learning_rate": 0.00012171057359579757,
      "loss": 0.056,
      "step": 9111
    },
    {
      "epoch": 2.0442001346196994,
      "gripper_loss": 0.010986328125,
      "loss": 0.07177734375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.091796875,
      "step": 9111
    },
    {
      "epoch": 2.0444245007852815,
      "grad_norm": 0.30658844113349915,
      "learning_rate": 0.0001216585993514952,
      "loss": 0.0472,
      "step": 9112
    },
    {
      "epoch": 2.0444245007852815,
      "gripper_loss": 0.03125,
      "loss": 0.015380859375,
      "pos_loss": 0.037353515625,
      "rot_loss": 0.09130859375,
      "step": 9112
    },
    {
      "epoch": 2.044648866950864,
      "grad_norm": 0.22813686728477478,
      "learning_rate": 0.00012160663263820818,
      "loss": 0.0474,
      "step": 9113
    },
    {
      "epoch": 2.044648866950864,
      "gripper_loss": 0.333984375,
      "loss": 0.0888671875,
      "pos_loss": 0.318359375,
      "rot_loss": 0.201171875,
      "step": 9113
    },
    {
      "epoch": 2.044873233116446,
      "grad_norm": 0.9564526677131653,
      "learning_rate": 0.00012155467345898602,
      "loss": 0.1097,
      "step": 9114
    },
    {
      "epoch": 2.044873233116446,
      "gripper_loss": 0.007659912109375,
      "loss": 0.05517578125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.2314453125,
      "step": 9114
    },
    {
      "epoch": 2.045097599282028,
      "grad_norm": 0.23460516333580017,
      "learning_rate": 0.00012150272181687755,
      "loss": 0.0534,
      "step": 9115
    },
    {
      "epoch": 2.045097599282028,
      "gripper_loss": 0.400390625,
      "loss": 0.037841796875,
      "pos_loss": 0.1015625,
      "rot_loss": 0.13671875,
      "step": 9115
    },
    {
      "epoch": 2.0453219654476107,
      "grad_norm": 0.30393287539482117,
      "learning_rate": 0.00012145077771493143,
      "loss": 0.0442,
      "step": 9116
    },
    {
      "epoch": 2.0453219654476107,
      "gripper_loss": 0.158203125,
      "loss": 0.01165771484375,
      "pos_loss": 0.03466796875,
      "rot_loss": 0.00970458984375,
      "step": 9116
    },
    {
      "epoch": 2.0455463316131928,
      "grad_norm": 0.6868413686752319,
      "learning_rate": 0.00012139884115619554,
      "loss": 0.0687,
      "step": 9117
    },
    {
      "epoch": 2.0455463316131928,
      "gripper_loss": 0.07861328125,
      "loss": 0.041259765625,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.30859375,
      "step": 9117
    },
    {
      "epoch": 2.045770697778775,
      "grad_norm": 0.3510649800300598,
      "learning_rate": 0.00012134691214371755,
      "loss": 0.0454,
      "step": 9118
    },
    {
      "epoch": 2.045770697778775,
      "gripper_loss": 0.0169677734375,
      "loss": 0.059326171875,
      "pos_loss": 0.17578125,
      "rot_loss": 0.423828125,
      "step": 9118
    },
    {
      "epoch": 2.0459950639443574,
      "grad_norm": 0.3980591893196106,
      "learning_rate": 0.00012129499068054465,
      "loss": 0.0514,
      "step": 9119
    },
    {
      "epoch": 2.0459950639443574,
      "gripper_loss": 0.07421875,
      "loss": 0.10546875,
      "pos_loss": 0.7578125,
      "rot_loss": 0.291015625,
      "step": 9119
    },
    {
      "epoch": 2.0462194301099395,
      "grad_norm": 0.5728029608726501,
      "learning_rate": 0.00012124307676972357,
      "loss": 0.047,
      "step": 9120
    },
    {
      "epoch": 2.0462194301099395,
      "gripper_loss": 0.2109375,
      "loss": 0.01409912109375,
      "pos_loss": 0.0220947265625,
      "rot_loss": 0.0224609375,
      "step": 9120
    },
    {
      "epoch": 2.0464437962755215,
      "grad_norm": 0.5316087007522583,
      "learning_rate": 0.00012119117041430073,
      "loss": 0.0404,
      "step": 9121
    },
    {
      "epoch": 2.0464437962755215,
      "gripper_loss": 0.0155029296875,
      "loss": 0.12060546875,
      "pos_loss": 0.5625,
      "rot_loss": 0.52734375,
      "step": 9121
    },
    {
      "epoch": 2.046668162441104,
      "grad_norm": 0.8273681998252869,
      "learning_rate": 0.00012113927161732169,
      "loss": 0.087,
      "step": 9122
    },
    {
      "epoch": 2.046668162441104,
      "gripper_loss": 0.015625,
      "loss": 0.039306640625,
      "pos_loss": 0.294921875,
      "rot_loss": 0.08837890625,
      "step": 9122
    },
    {
      "epoch": 2.046892528606686,
      "grad_norm": 0.23212334513664246,
      "learning_rate": 0.00012108738038183203,
      "loss": 0.0439,
      "step": 9123
    },
    {
      "epoch": 2.046892528606686,
      "gripper_loss": 0.0128173828125,
      "loss": 0.158203125,
      "pos_loss": 1.4296875,
      "rot_loss": 0.21875,
      "step": 9123
    },
    {
      "epoch": 2.047116894772268,
      "grad_norm": 0.5141308307647705,
      "learning_rate": 0.00012103549671087677,
      "loss": 0.0679,
      "step": 9124
    },
    {
      "epoch": 2.047116894772268,
      "gripper_loss": 0.058349609375,
      "loss": 0.021728515625,
      "pos_loss": 0.17578125,
      "rot_loss": 0.01287841796875,
      "step": 9124
    },
    {
      "epoch": 2.0473412609378507,
      "grad_norm": 0.30526548624038696,
      "learning_rate": 0.00012098362060750021,
      "loss": 0.0333,
      "step": 9125
    },
    {
      "epoch": 2.0473412609378507,
      "gripper_loss": 0.43359375,
      "loss": 0.07275390625,
      "pos_loss": 0.34765625,
      "rot_loss": 0.251953125,
      "step": 9125
    },
    {
      "epoch": 2.047565627103433,
      "grad_norm": 0.3874390721321106,
      "learning_rate": 0.00012093175207474663,
      "loss": 0.0545,
      "step": 9126
    },
    {
      "epoch": 2.047565627103433,
      "gripper_loss": 0.220703125,
      "loss": 0.1064453125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.478515625,
      "step": 9126
    },
    {
      "epoch": 2.047789993269015,
      "grad_norm": 0.7729251980781555,
      "learning_rate": 0.00012087989111565945,
      "loss": 0.0866,
      "step": 9127
    },
    {
      "epoch": 2.047789993269015,
      "gripper_loss": 0.349609375,
      "loss": 0.06982421875,
      "pos_loss": 0.28515625,
      "rot_loss": 0.3046875,
      "step": 9127
    },
    {
      "epoch": 2.0480143594345974,
      "grad_norm": 0.48604926466941833,
      "learning_rate": 0.00012082803773328194,
      "loss": 0.0736,
      "step": 9128
    },
    {
      "epoch": 2.0480143594345974,
      "gripper_loss": 0.017578125,
      "loss": 0.0157470703125,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.038330078125,
      "step": 9128
    },
    {
      "epoch": 2.0482387256001795,
      "grad_norm": 0.3860246539115906,
      "learning_rate": 0.00012077619193065695,
      "loss": 0.0493,
      "step": 9129
    },
    {
      "epoch": 2.0482387256001795,
      "gripper_loss": 0.0198974609375,
      "loss": 0.048828125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.09375,
      "step": 9129
    },
    {
      "epoch": 2.0484630917657616,
      "grad_norm": 0.508591890335083,
      "learning_rate": 0.00012072435371082657,
      "loss": 0.0474,
      "step": 9130
    },
    {
      "epoch": 2.0484630917657616,
      "gripper_loss": 0.0240478515625,
      "loss": 0.08349609375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.08349609375,
      "step": 9130
    },
    {
      "epoch": 2.048687457931344,
      "grad_norm": 0.5680292844772339,
      "learning_rate": 0.00012067252307683272,
      "loss": 0.0538,
      "step": 9131
    },
    {
      "epoch": 2.048687457931344,
      "gripper_loss": 0.66015625,
      "loss": 0.07373046875,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.361328125,
      "step": 9131
    },
    {
      "epoch": 2.048911824096926,
      "grad_norm": 0.3945957124233246,
      "learning_rate": 0.00012062070003171679,
      "loss": 0.0415,
      "step": 9132
    },
    {
      "epoch": 2.048911824096926,
      "gripper_loss": 0.029541015625,
      "loss": 0.064453125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.134765625,
      "step": 9132
    },
    {
      "epoch": 2.0491361902625083,
      "grad_norm": 0.5999893546104431,
      "learning_rate": 0.00012056888457851989,
      "loss": 0.0526,
      "step": 9133
    },
    {
      "epoch": 2.0491361902625083,
      "gripper_loss": 0.390625,
      "loss": 0.1328125,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.36328125,
      "step": 9133
    },
    {
      "epoch": 2.049360556428091,
      "grad_norm": 1.1896188259124756,
      "learning_rate": 0.00012051707672028228,
      "loss": 0.1533,
      "step": 9134
    },
    {
      "epoch": 2.049360556428091,
      "gripper_loss": 1.4765625,
      "loss": 0.11279296875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.05224609375,
      "step": 9134
    },
    {
      "epoch": 2.049584922593673,
      "grad_norm": 0.42294609546661377,
      "learning_rate": 0.00012046527646004413,
      "loss": 0.0503,
      "step": 9135
    },
    {
      "epoch": 2.049584922593673,
      "gripper_loss": 0.01361083984375,
      "loss": 0.0732421875,
      "pos_loss": 0.7265625,
      "rot_loss": 0.015869140625,
      "step": 9135
    },
    {
      "epoch": 2.049809288759255,
      "grad_norm": 0.5608084797859192,
      "learning_rate": 0.00012041348380084513,
      "loss": 0.0539,
      "step": 9136
    },
    {
      "epoch": 2.049809288759255,
      "gripper_loss": 0.185546875,
      "loss": 0.11376953125,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.185546875,
      "step": 9136
    },
    {
      "epoch": 2.0500336549248375,
      "grad_norm": 1.1666803359985352,
      "learning_rate": 0.00012036169874572431,
      "loss": 0.1724,
      "step": 9137
    },
    {
      "epoch": 2.0500336549248375,
      "gripper_loss": 0.2109375,
      "loss": 0.1279296875,
      "pos_loss": 0.80859375,
      "rot_loss": 0.451171875,
      "step": 9137
    },
    {
      "epoch": 2.0502580210904195,
      "grad_norm": 0.5378168821334839,
      "learning_rate": 0.00012030992129772056,
      "loss": 0.0643,
      "step": 9138
    },
    {
      "epoch": 2.0502580210904195,
      "gripper_loss": 0.0206298828125,
      "loss": 0.083984375,
      "pos_loss": 0.21875,
      "rot_loss": 0.62890625,
      "step": 9138
    },
    {
      "epoch": 2.0504823872560016,
      "grad_norm": 0.5333824753761292,
      "learning_rate": 0.00012025815145987193,
      "loss": 0.0666,
      "step": 9139
    },
    {
      "epoch": 2.0504823872560016,
      "gripper_loss": 0.0179443359375,
      "loss": 0.0830078125,
      "pos_loss": 0.78125,
      "rot_loss": 0.0556640625,
      "step": 9139
    },
    {
      "epoch": 2.050706753421584,
      "grad_norm": 0.5785687565803528,
      "learning_rate": 0.0001202063892352164,
      "loss": 0.0739,
      "step": 9140
    },
    {
      "epoch": 2.050706753421584,
      "gripper_loss": 0.0135498046875,
      "loss": 0.0830078125,
      "pos_loss": 0.76953125,
      "rot_loss": 0.064453125,
      "step": 9140
    },
    {
      "epoch": 2.0509311195871662,
      "grad_norm": 0.6186802387237549,
      "learning_rate": 0.00012015463462679136,
      "loss": 0.0579,
      "step": 9141
    },
    {
      "epoch": 2.0509311195871662,
      "gripper_loss": 0.045166015625,
      "loss": 0.0751953125,
      "pos_loss": 0.455078125,
      "rot_loss": 0.263671875,
      "step": 9141
    },
    {
      "epoch": 2.0511554857527483,
      "grad_norm": 0.4446108639240265,
      "learning_rate": 0.00012010288763763377,
      "loss": 0.0471,
      "step": 9142
    },
    {
      "epoch": 2.0511554857527483,
      "gripper_loss": 0.39453125,
      "loss": 0.04638671875,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.0771484375,
      "step": 9142
    },
    {
      "epoch": 2.051379851918331,
      "grad_norm": 0.45276060700416565,
      "learning_rate": 0.00012005114827078,
      "loss": 0.0562,
      "step": 9143
    },
    {
      "epoch": 2.051379851918331,
      "gripper_loss": 0.5078125,
      "loss": 0.0242919921875,
      "pos_loss": 0.0185546875,
      "rot_loss": 0.03173828125,
      "step": 9143
    },
    {
      "epoch": 2.051604218083913,
      "grad_norm": 0.4507756531238556,
      "learning_rate": 0.00011999941652926616,
      "loss": 0.0607,
      "step": 9144
    },
    {
      "epoch": 2.051604218083913,
      "gripper_loss": 0.01531982421875,
      "loss": 0.11376953125,
      "pos_loss": 0.8203125,
      "rot_loss": 0.345703125,
      "step": 9144
    },
    {
      "epoch": 2.051828584249495,
      "grad_norm": 0.506480872631073,
      "learning_rate": 0.00011994769241612785,
      "loss": 0.0673,
      "step": 9145
    },
    {
      "epoch": 2.051828584249495,
      "gripper_loss": 0.392578125,
      "loss": 0.0546875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.01519775390625,
      "step": 9145
    },
    {
      "epoch": 2.0520529504150775,
      "grad_norm": 0.3175050616264343,
      "learning_rate": 0.00011989597593440033,
      "loss": 0.0487,
      "step": 9146
    },
    {
      "epoch": 2.0520529504150775,
      "gripper_loss": 0.02197265625,
      "loss": 0.10888671875,
      "pos_loss": 0.8046875,
      "rot_loss": 0.3203125,
      "step": 9146
    },
    {
      "epoch": 2.0522773165806596,
      "grad_norm": 0.41334035992622375,
      "learning_rate": 0.00011984426708711805,
      "loss": 0.0719,
      "step": 9147
    },
    {
      "epoch": 2.0522773165806596,
      "gripper_loss": 0.00830078125,
      "loss": 0.0869140625,
      "pos_loss": 0.87109375,
      "rot_loss": 0.0283203125,
      "step": 9147
    },
    {
      "epoch": 2.0525016827462417,
      "grad_norm": 0.40264707803726196,
      "learning_rate": 0.00011979256587731551,
      "loss": 0.0592,
      "step": 9148
    },
    {
      "epoch": 2.0525016827462417,
      "gripper_loss": 0.216796875,
      "loss": 0.052978515625,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.1328125,
      "step": 9148
    },
    {
      "epoch": 2.052726048911824,
      "grad_norm": 0.7806060910224915,
      "learning_rate": 0.00011974087230802632,
      "loss": 0.0663,
      "step": 9149
    },
    {
      "epoch": 2.052726048911824,
      "gripper_loss": 0.255859375,
      "loss": 0.056640625,
      "pos_loss": 0.09765625,
      "rot_loss": 0.388671875,
      "step": 9149
    },
    {
      "epoch": 2.0529504150774063,
      "grad_norm": 0.3999297320842743,
      "learning_rate": 0.0001196891863822839,
      "loss": 0.0581,
      "step": 9150
    },
    {
      "epoch": 2.0529504150774063,
      "gripper_loss": 0.0103759765625,
      "loss": 0.0478515625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.0751953125,
      "step": 9150
    },
    {
      "epoch": 2.0531747812429884,
      "grad_norm": 0.34583067893981934,
      "learning_rate": 0.00011963750810312127,
      "loss": 0.0577,
      "step": 9151
    },
    {
      "epoch": 2.0531747812429884,
      "gripper_loss": 0.0625,
      "loss": 0.1357421875,
      "pos_loss": 0.5,
      "rot_loss": 0.4140625,
      "step": 9151
    },
    {
      "epoch": 2.053399147408571,
      "grad_norm": 1.0055769681930542,
      "learning_rate": 0.00011958583747357072,
      "loss": 0.1257,
      "step": 9152
    },
    {
      "epoch": 2.053399147408571,
      "gripper_loss": 0.7421875,
      "loss": 0.06982421875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.048828125,
      "step": 9152
    },
    {
      "epoch": 2.053623513574153,
      "grad_norm": 0.9339610934257507,
      "learning_rate": 0.0001195341744966643,
      "loss": 0.0518,
      "step": 9153
    },
    {
      "epoch": 2.053623513574153,
      "gripper_loss": 1.40625,
      "loss": 0.060302734375,
      "pos_loss": 0.0218505859375,
      "rot_loss": 0.1015625,
      "step": 9153
    },
    {
      "epoch": 2.053847879739735,
      "grad_norm": 0.36417677998542786,
      "learning_rate": 0.00011948251917543362,
      "loss": 0.053,
      "step": 9154
    },
    {
      "epoch": 2.053847879739735,
      "gripper_loss": 0.13671875,
      "loss": 0.01531982421875,
      "pos_loss": 0.03955078125,
      "rot_loss": 0.0274658203125,
      "step": 9154
    },
    {
      "epoch": 2.0540722459053176,
      "grad_norm": 0.5544646978378296,
      "learning_rate": 0.00011943087151290985,
      "loss": 0.0528,
      "step": 9155
    },
    {
      "epoch": 2.0540722459053176,
      "gripper_loss": 0.361328125,
      "loss": 0.388671875,
      "pos_loss": 1.1484375,
      "rot_loss": 0.609375,
      "step": 9155
    },
    {
      "epoch": 2.0542966120708996,
      "grad_norm": 1.6039435863494873,
      "learning_rate": 0.00011937923151212349,
      "loss": 0.3116,
      "step": 9156
    },
    {
      "epoch": 2.0542966120708996,
      "gripper_loss": 0.40234375,
      "loss": 0.061279296875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.0869140625,
      "step": 9156
    },
    {
      "epoch": 2.0545209782364817,
      "grad_norm": 0.46482810378074646,
      "learning_rate": 0.00011932759917610483,
      "loss": 0.0516,
      "step": 9157
    },
    {
      "epoch": 2.0545209782364817,
      "gripper_loss": 0.5703125,
      "loss": 0.036865234375,
      "pos_loss": 0.0172119140625,
      "rot_loss": 0.1279296875,
      "step": 9157
    },
    {
      "epoch": 2.0547453444020642,
      "grad_norm": 0.6414275765419006,
      "learning_rate": 0.00011927597450788364,
      "loss": 0.0587,
      "step": 9158
    },
    {
      "epoch": 2.0547453444020642,
      "gripper_loss": 0.85546875,
      "loss": 0.08544921875,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.291015625,
      "step": 9158
    },
    {
      "epoch": 2.0549697105676463,
      "grad_norm": 0.8748810291290283,
      "learning_rate": 0.00011922435751048932,
      "loss": 0.0936,
      "step": 9159
    },
    {
      "epoch": 2.0549697105676463,
      "gripper_loss": 0.09326171875,
      "loss": 0.1279296875,
      "pos_loss": 0.376953125,
      "rot_loss": 0.37109375,
      "step": 9159
    },
    {
      "epoch": 2.055194076733229,
      "grad_norm": 0.9577423930168152,
      "learning_rate": 0.00011917274818695056,
      "loss": 0.1075,
      "step": 9160
    },
    {
      "epoch": 2.055194076733229,
      "gripper_loss": 0.01611328125,
      "loss": 0.050537109375,
      "pos_loss": 0.4140625,
      "rot_loss": 0.07177734375,
      "step": 9160
    },
    {
      "epoch": 2.055418442898811,
      "grad_norm": 0.48945799469947815,
      "learning_rate": 0.00011912114654029593,
      "loss": 0.0698,
      "step": 9161
    },
    {
      "epoch": 2.055418442898811,
      "gripper_loss": 0.1962890625,
      "loss": 0.1103515625,
      "pos_loss": 0.40234375,
      "rot_loss": 0.33203125,
      "step": 9161
    },
    {
      "epoch": 2.055642809064393,
      "grad_norm": 0.6178638339042664,
      "learning_rate": 0.00011906955257355323,
      "loss": 0.0925,
      "step": 9162
    },
    {
      "epoch": 2.055642809064393,
      "gripper_loss": 0.004974365234375,
      "loss": 0.1181640625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.55859375,
      "step": 9162
    },
    {
      "epoch": 2.0558671752299755,
      "grad_norm": 0.43462732434272766,
      "learning_rate": 0.00011901796628975015,
      "loss": 0.0567,
      "step": 9163
    },
    {
      "epoch": 2.0558671752299755,
      "gripper_loss": 0.173828125,
      "loss": 0.04638671875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.12158203125,
      "step": 9163
    },
    {
      "epoch": 2.0560915413955576,
      "grad_norm": 0.5262556076049805,
      "learning_rate": 0.00011896638769191357,
      "loss": 0.0536,
      "step": 9164
    },
    {
      "epoch": 2.0560915413955576,
      "gripper_loss": 0.011474609375,
      "loss": 0.06884765625,
      "pos_loss": 0.6484375,
      "rot_loss": 0.039306640625,
      "step": 9164
    },
    {
      "epoch": 2.0563159075611397,
      "grad_norm": 0.43631798028945923,
      "learning_rate": 0.00011891481678307014,
      "loss": 0.0686,
      "step": 9165
    },
    {
      "epoch": 2.0563159075611397,
      "gripper_loss": 0.83984375,
      "loss": 0.115234375,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.7421875,
      "step": 9165
    },
    {
      "epoch": 2.056540273726722,
      "grad_norm": 0.37930718064308167,
      "learning_rate": 0.00011886325356624612,
      "loss": 0.053,
      "step": 9166
    },
    {
      "epoch": 2.056540273726722,
      "gripper_loss": 1.2265625,
      "loss": 0.0625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.0179443359375,
      "step": 9166
    },
    {
      "epoch": 2.0567646398923043,
      "grad_norm": 0.46066927909851074,
      "learning_rate": 0.00011881169804446712,
      "loss": 0.0435,
      "step": 9167
    },
    {
      "epoch": 2.0567646398923043,
      "gripper_loss": 0.00933837890625,
      "loss": 0.0228271484375,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.0556640625,
      "step": 9167
    },
    {
      "epoch": 2.0569890060578864,
      "grad_norm": 0.5223285555839539,
      "learning_rate": 0.00011876015022075853,
      "loss": 0.0509,
      "step": 9168
    },
    {
      "epoch": 2.0569890060578864,
      "gripper_loss": 0.08251953125,
      "loss": 0.1025390625,
      "pos_loss": 0.875,
      "rot_loss": 0.1318359375,
      "step": 9168
    },
    {
      "epoch": 2.057213372223469,
      "grad_norm": 0.37447595596313477,
      "learning_rate": 0.00011870861009814498,
      "loss": 0.0482,
      "step": 9169
    },
    {
      "epoch": 2.057213372223469,
      "gripper_loss": 0.015869140625,
      "loss": 0.031982421875,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.049560546875,
      "step": 9169
    },
    {
      "epoch": 2.057437738389051,
      "grad_norm": 0.3325365483760834,
      "learning_rate": 0.00011865707767965089,
      "loss": 0.0459,
      "step": 9170
    },
    {
      "epoch": 2.057437738389051,
      "gripper_loss": 0.030029296875,
      "loss": 0.0908203125,
      "pos_loss": 0.76953125,
      "rot_loss": 0.126953125,
      "step": 9170
    },
    {
      "epoch": 2.057662104554633,
      "grad_norm": 0.41678622364997864,
      "learning_rate": 0.00011860555296830025,
      "loss": 0.0676,
      "step": 9171
    },
    {
      "epoch": 2.057662104554633,
      "gripper_loss": 0.63671875,
      "loss": 0.05224609375,
      "pos_loss": 0.1953125,
      "rot_loss": 0.095703125,
      "step": 9171
    },
    {
      "epoch": 2.0578864707202156,
      "grad_norm": 0.5930968523025513,
      "learning_rate": 0.00011855403596711636,
      "loss": 0.0727,
      "step": 9172
    },
    {
      "epoch": 2.0578864707202156,
      "gripper_loss": 0.00958251953125,
      "loss": 0.03857421875,
      "pos_loss": 0.140625,
      "rot_loss": 0.2373046875,
      "step": 9172
    },
    {
      "epoch": 2.0581108368857977,
      "grad_norm": 0.6179611086845398,
      "learning_rate": 0.00011850252667912234,
      "loss": 0.0619,
      "step": 9173
    },
    {
      "epoch": 2.0581108368857977,
      "gripper_loss": 0.019287109375,
      "loss": 0.0177001953125,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.035888671875,
      "step": 9173
    },
    {
      "epoch": 2.0583352030513797,
      "grad_norm": 0.4499399662017822,
      "learning_rate": 0.00011845102510734057,
      "loss": 0.0522,
      "step": 9174
    },
    {
      "epoch": 2.0583352030513797,
      "gripper_loss": 0.00994873046875,
      "loss": 0.031494140625,
      "pos_loss": 0.244140625,
      "rot_loss": 0.059814453125,
      "step": 9174
    },
    {
      "epoch": 2.0585595692169623,
      "grad_norm": 0.4252062141895294,
      "learning_rate": 0.00011839953125479328,
      "loss": 0.0597,
      "step": 9175
    },
    {
      "epoch": 2.0585595692169623,
      "gripper_loss": 0.416015625,
      "loss": 0.04052734375,
      "pos_loss": 0.19921875,
      "rot_loss": 0.06103515625,
      "step": 9175
    },
    {
      "epoch": 2.0587839353825443,
      "grad_norm": 0.3052886128425598,
      "learning_rate": 0.00011834804512450212,
      "loss": 0.0687,
      "step": 9176
    },
    {
      "epoch": 2.0587839353825443,
      "gripper_loss": 0.06640625,
      "loss": 0.0208740234375,
      "pos_loss": 0.09765625,
      "rot_loss": 0.05322265625,
      "step": 9176
    },
    {
      "epoch": 2.0590083015481264,
      "grad_norm": 0.30391401052474976,
      "learning_rate": 0.00011829656671948813,
      "loss": 0.0392,
      "step": 9177
    },
    {
      "epoch": 2.0590083015481264,
      "gripper_loss": 0.306640625,
      "loss": 0.033935546875,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.1591796875,
      "step": 9177
    },
    {
      "epoch": 2.059232667713709,
      "grad_norm": 0.32866525650024414,
      "learning_rate": 0.00011824509604277211,
      "loss": 0.0635,
      "step": 9178
    },
    {
      "epoch": 2.059232667713709,
      "gripper_loss": 1.0859375,
      "loss": 0.045654296875,
      "pos_loss": 0.041015625,
      "rot_loss": 0.050537109375,
      "step": 9178
    },
    {
      "epoch": 2.059457033879291,
      "grad_norm": 0.31723958253860474,
      "learning_rate": 0.00011819363309737438,
      "loss": 0.0395,
      "step": 9179
    },
    {
      "epoch": 2.059457033879291,
      "gripper_loss": 0.0194091796875,
      "loss": 0.05029296875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.04443359375,
      "step": 9179
    },
    {
      "epoch": 2.059681400044873,
      "grad_norm": 0.44439736008644104,
      "learning_rate": 0.00011814217788631474,
      "loss": 0.0593,
      "step": 9180
    },
    {
      "epoch": 2.059681400044873,
      "gripper_loss": 0.875,
      "loss": 0.09912109375,
      "pos_loss": 0.62890625,
      "rot_loss": 0.0947265625,
      "step": 9180
    },
    {
      "epoch": 2.0599057662104556,
      "grad_norm": 0.33105042576789856,
      "learning_rate": 0.00011809073041261262,
      "loss": 0.0484,
      "step": 9181
    },
    {
      "epoch": 2.0599057662104556,
      "gripper_loss": 2.140625,
      "loss": 0.1435546875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.2109375,
      "step": 9181
    },
    {
      "epoch": 2.0601301323760377,
      "grad_norm": 0.6260401010513306,
      "learning_rate": 0.00011803929067928679,
      "loss": 0.0811,
      "step": 9182
    },
    {
      "epoch": 2.0601301323760377,
      "gripper_loss": 0.03515625,
      "loss": 0.01495361328125,
      "pos_loss": 0.062255859375,
      "rot_loss": 0.052734375,
      "step": 9182
    },
    {
      "epoch": 2.06035449854162,
      "grad_norm": 0.25943228602409363,
      "learning_rate": 0.00011798785868935585,
      "loss": 0.0352,
      "step": 9183
    },
    {
      "epoch": 2.06035449854162,
      "gripper_loss": 0.2353515625,
      "loss": 0.0196533203125,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.01806640625,
      "step": 9183
    },
    {
      "epoch": 2.0605788647072023,
      "grad_norm": 0.24436575174331665,
      "learning_rate": 0.00011793643444583768,
      "loss": 0.0291,
      "step": 9184
    },
    {
      "epoch": 2.0605788647072023,
      "gripper_loss": 0.1943359375,
      "loss": 0.0264892578125,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.09912109375,
      "step": 9184
    },
    {
      "epoch": 2.0608032308727844,
      "grad_norm": 0.33121705055236816,
      "learning_rate": 0.00011788501795174999,
      "loss": 0.057,
      "step": 9185
    },
    {
      "epoch": 2.0608032308727844,
      "gripper_loss": 0.25390625,
      "loss": 0.059326171875,
      "pos_loss": 0.4453125,
      "rot_loss": 0.05322265625,
      "step": 9185
    },
    {
      "epoch": 2.0610275970383665,
      "grad_norm": 0.325886607170105,
      "learning_rate": 0.0001178336092101097,
      "loss": 0.0451,
      "step": 9186
    },
    {
      "epoch": 2.0610275970383665,
      "gripper_loss": 0.75,
      "loss": 0.06787109375,
      "pos_loss": 0.396484375,
      "rot_loss": 0.037109375,
      "step": 9186
    },
    {
      "epoch": 2.061251963203949,
      "grad_norm": 0.34602904319763184,
      "learning_rate": 0.00011778220822393352,
      "loss": 0.058,
      "step": 9187
    },
    {
      "epoch": 2.061251963203949,
      "gripper_loss": 0.388671875,
      "loss": 0.031982421875,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.080078125,
      "step": 9187
    },
    {
      "epoch": 2.061476329369531,
      "grad_norm": 0.24570275843143463,
      "learning_rate": 0.00011773081499623764,
      "loss": 0.0348,
      "step": 9188
    },
    {
      "epoch": 2.061476329369531,
      "gripper_loss": 0.63671875,
      "loss": 0.056396484375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.1513671875,
      "step": 9188
    },
    {
      "epoch": 2.061700695535113,
      "grad_norm": 0.6295709609985352,
      "learning_rate": 0.0001176794295300379,
      "loss": 0.0639,
      "step": 9189
    },
    {
      "epoch": 2.061700695535113,
      "gripper_loss": 0.16796875,
      "loss": 0.0206298828125,
      "pos_loss": 0.042724609375,
      "rot_loss": 0.095703125,
      "step": 9189
    },
    {
      "epoch": 2.0619250617006957,
      "grad_norm": 0.28527891635894775,
      "learning_rate": 0.0001176280518283494,
      "loss": 0.0363,
      "step": 9190
    },
    {
      "epoch": 2.0619250617006957,
      "gripper_loss": 0.01300048828125,
      "loss": 0.052001953125,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.384765625,
      "step": 9190
    },
    {
      "epoch": 2.0621494278662778,
      "grad_norm": 0.31707262992858887,
      "learning_rate": 0.00011757668189418702,
      "loss": 0.058,
      "step": 9191
    },
    {
      "epoch": 2.0621494278662778,
      "gripper_loss": 1.59375,
      "loss": 0.08544921875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.0673828125,
      "step": 9191
    },
    {
      "epoch": 2.06237379403186,
      "grad_norm": 0.4407299757003784,
      "learning_rate": 0.00011752531973056515,
      "loss": 0.0509,
      "step": 9192
    },
    {
      "epoch": 2.06237379403186,
      "gripper_loss": 0.01226806640625,
      "loss": 0.0771484375,
      "pos_loss": 0.65234375,
      "rot_loss": 0.13671875,
      "step": 9192
    },
    {
      "epoch": 2.0625981601974424,
      "grad_norm": 0.4414854943752289,
      "learning_rate": 0.00011747396534049778,
      "loss": 0.0624,
      "step": 9193
    },
    {
      "epoch": 2.0625981601974424,
      "gripper_loss": 0.047607421875,
      "loss": 0.029052734375,
      "pos_loss": 0.044921875,
      "rot_loss": 0.2197265625,
      "step": 9193
    },
    {
      "epoch": 2.0628225263630244,
      "grad_norm": 0.24029451608657837,
      "learning_rate": 0.0001174226187269982,
      "loss": 0.0543,
      "step": 9194
    },
    {
      "epoch": 2.0628225263630244,
      "gripper_loss": 0.54296875,
      "loss": 0.072265625,
      "pos_loss": 0.5078125,
      "rot_loss": 0.055419921875,
      "step": 9194
    },
    {
      "epoch": 2.0630468925286065,
      "grad_norm": 0.5126399397850037,
      "learning_rate": 0.00011737127989307955,
      "loss": 0.0637,
      "step": 9195
    },
    {
      "epoch": 2.0630468925286065,
      "gripper_loss": 1.3046875,
      "loss": 0.060791015625,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.0458984375,
      "step": 9195
    },
    {
      "epoch": 2.063271258694189,
      "grad_norm": 0.2494734823703766,
      "learning_rate": 0.00011731994884175421,
      "loss": 0.0434,
      "step": 9196
    },
    {
      "epoch": 2.063271258694189,
      "gripper_loss": 0.07568359375,
      "loss": 0.0771484375,
      "pos_loss": 0.365234375,
      "rot_loss": 0.275390625,
      "step": 9196
    },
    {
      "epoch": 2.063495624859771,
      "grad_norm": 0.5021852850914001,
      "learning_rate": 0.00011726862557603435,
      "loss": 0.0774,
      "step": 9197
    },
    {
      "epoch": 2.063495624859771,
      "gripper_loss": 0.038330078125,
      "loss": 0.036865234375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.09375,
      "step": 9197
    },
    {
      "epoch": 2.063719991025353,
      "grad_norm": 0.29024791717529297,
      "learning_rate": 0.0001172173100989317,
      "loss": 0.0407,
      "step": 9198
    },
    {
      "epoch": 2.063719991025353,
      "gripper_loss": 0.0234375,
      "loss": 0.0260009765625,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.11669921875,
      "step": 9198
    },
    {
      "epoch": 2.0639443571909357,
      "grad_norm": 0.22672969102859497,
      "learning_rate": 0.00011716600241345723,
      "loss": 0.0503,
      "step": 9199
    },
    {
      "epoch": 2.0639443571909357,
      "gripper_loss": 0.00445556640625,
      "loss": 0.059326171875,
      "pos_loss": 0.45703125,
      "rot_loss": 0.146484375,
      "step": 9199
    },
    {
      "epoch": 2.064168723356518,
      "grad_norm": 0.7606073617935181,
      "learning_rate": 0.00011711470252262175,
      "loss": 0.0734,
      "step": 9200
    },
    {
      "epoch": 2.064168723356518,
      "gripper_loss": 0.0048828125,
      "loss": 0.04345703125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.0791015625,
      "step": 9200
    },
    {
      "epoch": 2.0643930895221,
      "grad_norm": 0.2545780837535858,
      "learning_rate": 0.00011706341042943553,
      "loss": 0.0493,
      "step": 9201
    },
    {
      "epoch": 2.0643930895221,
      "gripper_loss": 0.009521484375,
      "loss": 0.0498046875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.09228515625,
      "step": 9201
    },
    {
      "epoch": 2.0646174556876824,
      "grad_norm": 0.3217410445213318,
      "learning_rate": 0.0001170121261369084,
      "loss": 0.0531,
      "step": 9202
    },
    {
      "epoch": 2.0646174556876824,
      "gripper_loss": 0.0224609375,
      "loss": 0.0673828125,
      "pos_loss": 0.228515625,
      "rot_loss": 0.44921875,
      "step": 9202
    },
    {
      "epoch": 2.0648418218532645,
      "grad_norm": 0.48629269003868103,
      "learning_rate": 0.0001169608496480496,
      "loss": 0.0534,
      "step": 9203
    },
    {
      "epoch": 2.0648418218532645,
      "gripper_loss": 0.044677734375,
      "loss": 0.0947265625,
      "pos_loss": 0.45703125,
      "rot_loss": 0.48828125,
      "step": 9203
    },
    {
      "epoch": 2.0650661880188466,
      "grad_norm": 0.40890446305274963,
      "learning_rate": 0.00011690958096586804,
      "loss": 0.0583,
      "step": 9204
    },
    {
      "epoch": 2.0650661880188466,
      "gripper_loss": 0.02490234375,
      "loss": 0.10302734375,
      "pos_loss": 1.015625,
      "rot_loss": 0.040771484375,
      "step": 9204
    },
    {
      "epoch": 2.065290554184429,
      "grad_norm": 0.4125625789165497,
      "learning_rate": 0.00011685832009337216,
      "loss": 0.0515,
      "step": 9205
    },
    {
      "epoch": 2.065290554184429,
      "gripper_loss": 0.01123046875,
      "loss": 0.0224609375,
      "pos_loss": 0.1640625,
      "rot_loss": 0.038330078125,
      "step": 9205
    },
    {
      "epoch": 2.065514920350011,
      "grad_norm": 0.26569128036499023,
      "learning_rate": 0.00011680706703357003,
      "loss": 0.0428,
      "step": 9206
    },
    {
      "epoch": 2.065514920350011,
      "gripper_loss": 0.07763671875,
      "loss": 0.1044921875,
      "pos_loss": 0.65625,
      "rot_loss": 0.392578125,
      "step": 9206
    },
    {
      "epoch": 2.0657392865155932,
      "grad_norm": 0.32111018896102905,
      "learning_rate": 0.00011675582178946897,
      "loss": 0.0537,
      "step": 9207
    },
    {
      "epoch": 2.0657392865155932,
      "gripper_loss": 0.451171875,
      "loss": 0.038818359375,
      "pos_loss": 0.13671875,
      "rot_loss": 0.10546875,
      "step": 9207
    },
    {
      "epoch": 2.0659636526811758,
      "grad_norm": 0.39390334486961365,
      "learning_rate": 0.00011670458436407618,
      "loss": 0.0559,
      "step": 9208
    },
    {
      "epoch": 2.0659636526811758,
      "gripper_loss": 0.267578125,
      "loss": 0.02783203125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.0291748046875,
      "step": 9208
    },
    {
      "epoch": 2.066188018846758,
      "grad_norm": 0.41597265005111694,
      "learning_rate": 0.00011665335476039812,
      "loss": 0.0586,
      "step": 9209
    },
    {
      "epoch": 2.066188018846758,
      "gripper_loss": 0.012451171875,
      "loss": 0.0120849609375,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.0478515625,
      "step": 9209
    },
    {
      "epoch": 2.06641238501234,
      "grad_norm": 0.3777056336402893,
      "learning_rate": 0.00011660213298144098,
      "loss": 0.0566,
      "step": 9210
    },
    {
      "epoch": 2.06641238501234,
      "gripper_loss": 0.10107421875,
      "loss": 0.03173828125,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.07568359375,
      "step": 9210
    },
    {
      "epoch": 2.0666367511779224,
      "grad_norm": 0.4187593162059784,
      "learning_rate": 0.00011655091903021051,
      "loss": 0.0601,
      "step": 9211
    },
    {
      "epoch": 2.0666367511779224,
      "gripper_loss": 0.0291748046875,
      "loss": 0.0247802734375,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.04638671875,
      "step": 9211
    },
    {
      "epoch": 2.0668611173435045,
      "grad_norm": 0.29317378997802734,
      "learning_rate": 0.00011649971290971176,
      "loss": 0.0541,
      "step": 9212
    },
    {
      "epoch": 2.0668611173435045,
      "gripper_loss": 0.0361328125,
      "loss": 0.158203125,
      "pos_loss": 0.78125,
      "rot_loss": 0.408203125,
      "step": 9212
    },
    {
      "epoch": 2.0670854835090866,
      "grad_norm": 0.8627809882164001,
      "learning_rate": 0.00011644851462294955,
      "loss": 0.1528,
      "step": 9213
    },
    {
      "epoch": 2.0670854835090866,
      "gripper_loss": 0.12353515625,
      "loss": 0.0673828125,
      "pos_loss": 0.3203125,
      "rot_loss": 0.32421875,
      "step": 9213
    },
    {
      "epoch": 2.067309849674669,
      "grad_norm": 0.44058945775032043,
      "learning_rate": 0.0001163973241729282,
      "loss": 0.056,
      "step": 9214
    },
    {
      "epoch": 2.067309849674669,
      "gripper_loss": 0.310546875,
      "loss": 0.034423828125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.0196533203125,
      "step": 9214
    },
    {
      "epoch": 2.067534215840251,
      "grad_norm": 0.48356422781944275,
      "learning_rate": 0.00011634614156265163,
      "loss": 0.0474,
      "step": 9215
    },
    {
      "epoch": 2.067534215840251,
      "gripper_loss": 0.025146484375,
      "loss": 0.04150390625,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.1259765625,
      "step": 9215
    },
    {
      "epoch": 2.0677585820058337,
      "grad_norm": 0.34699442982673645,
      "learning_rate": 0.00011629496679512303,
      "loss": 0.0501,
      "step": 9216
    },
    {
      "epoch": 2.0677585820058337,
      "gripper_loss": 0.1787109375,
      "loss": 0.05517578125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.146484375,
      "step": 9216
    },
    {
      "epoch": 2.067982948171416,
      "grad_norm": 0.42253580689430237,
      "learning_rate": 0.00011624379987334538,
      "loss": 0.0604,
      "step": 9217
    },
    {
      "epoch": 2.067982948171416,
      "gripper_loss": 0.0184326171875,
      "loss": 0.0634765625,
      "pos_loss": 0.26953125,
      "rot_loss": 0.353515625,
      "step": 9217
    },
    {
      "epoch": 2.068207314336998,
      "grad_norm": 0.5128234624862671,
      "learning_rate": 0.00011619264080032124,
      "loss": 0.0722,
      "step": 9218
    },
    {
      "epoch": 2.068207314336998,
      "gripper_loss": 0.2265625,
      "loss": 0.083984375,
      "pos_loss": 0.765625,
      "rot_loss": 0.0203857421875,
      "step": 9218
    },
    {
      "epoch": 2.0684316805025804,
      "grad_norm": 0.41209301352500916,
      "learning_rate": 0.0001161414895790524,
      "loss": 0.0754,
      "step": 9219
    },
    {
      "epoch": 2.0684316805025804,
      "gripper_loss": 0.8671875,
      "loss": 0.1083984375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.271484375,
      "step": 9219
    },
    {
      "epoch": 2.0686560466681625,
      "grad_norm": 0.44208404421806335,
      "learning_rate": 0.0001160903462125406,
      "loss": 0.0652,
      "step": 9220
    },
    {
      "epoch": 2.0686560466681625,
      "gripper_loss": 0.018310546875,
      "loss": 0.00811767578125,
      "pos_loss": 0.020263671875,
      "rot_loss": 0.031494140625,
      "step": 9220
    },
    {
      "epoch": 2.0688804128337446,
      "grad_norm": 0.30175912380218506,
      "learning_rate": 0.00011603921070378675,
      "loss": 0.033,
      "step": 9221
    },
    {
      "epoch": 2.0688804128337446,
      "gripper_loss": 0.00958251953125,
      "loss": 0.05712890625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.0279541015625,
      "step": 9221
    },
    {
      "epoch": 2.069104778999327,
      "grad_norm": 0.2631729543209076,
      "learning_rate": 0.00011598808305579148,
      "loss": 0.0635,
      "step": 9222
    },
    {
      "epoch": 2.069104778999327,
      "gripper_loss": 0.0203857421875,
      "loss": 0.032470703125,
      "pos_loss": 0.24609375,
      "rot_loss": 0.04638671875,
      "step": 9222
    },
    {
      "epoch": 2.069329145164909,
      "grad_norm": 0.27291399240493774,
      "learning_rate": 0.00011593696327155509,
      "loss": 0.04,
      "step": 9223
    },
    {
      "epoch": 2.069329145164909,
      "gripper_loss": 0.25390625,
      "loss": 0.0693359375,
      "pos_loss": 0.5625,
      "rot_loss": 0.06396484375,
      "step": 9223
    },
    {
      "epoch": 2.0695535113304913,
      "grad_norm": 0.5218134522438049,
      "learning_rate": 0.00011588585135407706,
      "loss": 0.0623,
      "step": 9224
    },
    {
      "epoch": 2.0695535113304913,
      "gripper_loss": 0.052734375,
      "loss": 0.00787353515625,
      "pos_loss": 0.0269775390625,
      "rot_loss": 0.01507568359375,
      "step": 9224
    },
    {
      "epoch": 2.069777877496074,
      "grad_norm": 0.23044303059577942,
      "learning_rate": 0.00011583474730635668,
      "loss": 0.0389,
      "step": 9225
    },
    {
      "epoch": 2.069777877496074,
      "gripper_loss": 0.0245361328125,
      "loss": 0.05908203125,
      "pos_loss": 0.412109375,
      "rot_loss": 0.16015625,
      "step": 9225
    },
    {
      "epoch": 2.070002243661656,
      "grad_norm": 0.44426971673965454,
      "learning_rate": 0.00011578365113139278,
      "loss": 0.0729,
      "step": 9226
    },
    {
      "epoch": 2.070002243661656,
      "gripper_loss": 0.01483154296875,
      "loss": 0.0458984375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.291015625,
      "step": 9226
    },
    {
      "epoch": 2.070226609827238,
      "grad_norm": 0.42140814661979675,
      "learning_rate": 0.00011573256283218359,
      "loss": 0.0535,
      "step": 9227
    },
    {
      "epoch": 2.070226609827238,
      "gripper_loss": 0.01300048828125,
      "loss": 0.038818359375,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.1435546875,
      "step": 9227
    },
    {
      "epoch": 2.0704509759928205,
      "grad_norm": 0.27141034603118896,
      "learning_rate": 0.00011568148241172704,
      "loss": 0.0423,
      "step": 9228
    },
    {
      "epoch": 2.0704509759928205,
      "gripper_loss": 0.01226806640625,
      "loss": 0.033447265625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.06884765625,
      "step": 9228
    },
    {
      "epoch": 2.0706753421584025,
      "grad_norm": 0.40606221556663513,
      "learning_rate": 0.0001156304098730204,
      "loss": 0.0841,
      "step": 9229
    },
    {
      "epoch": 2.0706753421584025,
      "gripper_loss": 0.1953125,
      "loss": 0.10693359375,
      "pos_loss": 0.58203125,
      "rot_loss": 0.451171875,
      "step": 9229
    },
    {
      "epoch": 2.0708997083239846,
      "grad_norm": 0.42241746187210083,
      "learning_rate": 0.0001155793452190607,
      "loss": 0.0871,
      "step": 9230
    },
    {
      "epoch": 2.0708997083239846,
      "gripper_loss": 0.56640625,
      "loss": 0.10400390625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.25,
      "step": 9230
    },
    {
      "epoch": 2.071124074489567,
      "grad_norm": 0.3627622425556183,
      "learning_rate": 0.00011552828845284422,
      "loss": 0.0422,
      "step": 9231
    },
    {
      "epoch": 2.071124074489567,
      "gripper_loss": 0.07421875,
      "loss": 0.1015625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.41796875,
      "step": 9231
    },
    {
      "epoch": 2.0713484406551492,
      "grad_norm": 0.4337261915206909,
      "learning_rate": 0.00011547723957736713,
      "loss": 0.0593,
      "step": 9232
    },
    {
      "epoch": 2.0713484406551492,
      "gripper_loss": 0.029052734375,
      "loss": 0.09521484375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.375,
      "step": 9232
    },
    {
      "epoch": 2.0715728068207313,
      "grad_norm": 0.5239481329917908,
      "learning_rate": 0.00011542619859562478,
      "loss": 0.0571,
      "step": 9233
    },
    {
      "epoch": 2.0715728068207313,
      "gripper_loss": 0.021728515625,
      "loss": 0.01300048828125,
      "pos_loss": 0.0230712890625,
      "rot_loss": 0.068359375,
      "step": 9233
    },
    {
      "epoch": 2.071797172986314,
      "grad_norm": 0.34765058755874634,
      "learning_rate": 0.00011537516551061234,
      "loss": 0.0598,
      "step": 9234
    },
    {
      "epoch": 2.071797172986314,
      "gripper_loss": 0.061767578125,
      "loss": 0.0625,
      "pos_loss": 0.5,
      "rot_loss": 0.0869140625,
      "step": 9234
    },
    {
      "epoch": 2.072021539151896,
      "grad_norm": 0.41439688205718994,
      "learning_rate": 0.00011532414032532437,
      "loss": 0.0553,
      "step": 9235
    },
    {
      "epoch": 2.072021539151896,
      "gripper_loss": 0.0225830078125,
      "loss": 0.078125,
      "pos_loss": 0.703125,
      "rot_loss": 0.07177734375,
      "step": 9235
    },
    {
      "epoch": 2.072245905317478,
      "grad_norm": 0.45891138911247253,
      "learning_rate": 0.00011527312304275514,
      "loss": 0.06,
      "step": 9236
    },
    {
      "epoch": 2.072245905317478,
      "gripper_loss": 0.158203125,
      "loss": 0.025146484375,
      "pos_loss": 0.12890625,
      "rot_loss": 0.05908203125,
      "step": 9236
    },
    {
      "epoch": 2.0724702714830605,
      "grad_norm": 0.3258957862854004,
      "learning_rate": 0.00011522211366589811,
      "loss": 0.0406,
      "step": 9237
    },
    {
      "epoch": 2.0724702714830605,
      "gripper_loss": 0.0174560546875,
      "loss": 0.0595703125,
      "pos_loss": 0.48046875,
      "rot_loss": 0.08642578125,
      "step": 9237
    },
    {
      "epoch": 2.0726946376486426,
      "grad_norm": 0.30794060230255127,
      "learning_rate": 0.00011517111219774656,
      "loss": 0.0364,
      "step": 9238
    },
    {
      "epoch": 2.0726946376486426,
      "gripper_loss": 0.287109375,
      "loss": 0.10009765625,
      "pos_loss": 0.9140625,
      "rot_loss": 0.031982421875,
      "step": 9238
    },
    {
      "epoch": 2.0729190038142247,
      "grad_norm": 0.537426233291626,
      "learning_rate": 0.00011512011864129326,
      "loss": 0.0582,
      "step": 9239
    },
    {
      "epoch": 2.0729190038142247,
      "gripper_loss": 0.046142578125,
      "loss": 0.034423828125,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.2158203125,
      "step": 9239
    },
    {
      "epoch": 2.073143369979807,
      "grad_norm": 0.4267120957374573,
      "learning_rate": 0.0001150691329995305,
      "loss": 0.0554,
      "step": 9240
    },
    {
      "epoch": 2.073143369979807,
      "gripper_loss": 0.53515625,
      "loss": 0.0250244140625,
      "pos_loss": 0.02197265625,
      "rot_loss": 0.043701171875,
      "step": 9240
    },
    {
      "epoch": 2.0733677361453893,
      "grad_norm": 0.2832126021385193,
      "learning_rate": 0.00011501815527545017,
      "loss": 0.0475,
      "step": 9241
    },
    {
      "epoch": 2.0733677361453893,
      "gripper_loss": 0.6171875,
      "loss": 0.0791015625,
      "pos_loss": 0.4921875,
      "rot_loss": 0.1123046875,
      "step": 9241
    },
    {
      "epoch": 2.0735921023109714,
      "grad_norm": 0.6736268401145935,
      "learning_rate": 0.00011496718547204351,
      "loss": 0.0789,
      "step": 9242
    },
    {
      "epoch": 2.0735921023109714,
      "gripper_loss": 0.03515625,
      "loss": 0.1123046875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.3515625,
      "step": 9242
    },
    {
      "epoch": 2.073816468476554,
      "grad_norm": 0.9366050362586975,
      "learning_rate": 0.00011491622359230137,
      "loss": 0.1178,
      "step": 9243
    },
    {
      "epoch": 2.073816468476554,
      "gripper_loss": 0.0106201171875,
      "loss": 0.0419921875,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.27734375,
      "step": 9243
    },
    {
      "epoch": 2.074040834642136,
      "grad_norm": 0.28353407979011536,
      "learning_rate": 0.00011486526963921417,
      "loss": 0.04,
      "step": 9244
    },
    {
      "epoch": 2.074040834642136,
      "gripper_loss": 0.039794921875,
      "loss": 0.03662109375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.01177978515625,
      "step": 9244
    },
    {
      "epoch": 2.074265200807718,
      "grad_norm": 0.33594420552253723,
      "learning_rate": 0.00011481432361577204,
      "loss": 0.0391,
      "step": 9245
    },
    {
      "epoch": 2.074265200807718,
      "gripper_loss": 0.0247802734375,
      "loss": 0.06396484375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.421875,
      "step": 9245
    },
    {
      "epoch": 2.0744895669733006,
      "grad_norm": 0.3379323184490204,
      "learning_rate": 0.00011476338552496426,
      "loss": 0.0476,
      "step": 9246
    },
    {
      "epoch": 2.0744895669733006,
      "gripper_loss": 0.0150146484375,
      "loss": 0.09912109375,
      "pos_loss": 0.203125,
      "rot_loss": 0.80078125,
      "step": 9246
    },
    {
      "epoch": 2.0747139331388826,
      "grad_norm": 0.389843225479126,
      "learning_rate": 0.00011471245536977995,
      "loss": 0.0495,
      "step": 9247
    },
    {
      "epoch": 2.0747139331388826,
      "gripper_loss": 0.0283203125,
      "loss": 0.049560546875,
      "pos_loss": 0.33203125,
      "rot_loss": 0.1572265625,
      "step": 9247
    },
    {
      "epoch": 2.0749382993044647,
      "grad_norm": 0.42669638991355896,
      "learning_rate": 0.00011466153315320765,
      "loss": 0.045,
      "step": 9248
    },
    {
      "epoch": 2.0749382993044647,
      "gripper_loss": 0.02490234375,
      "loss": 0.0849609375,
      "pos_loss": 0.3671875,
      "rot_loss": 0.50390625,
      "step": 9248
    },
    {
      "epoch": 2.0751626654700472,
      "grad_norm": 0.4165933430194855,
      "learning_rate": 0.00011461061887823557,
      "loss": 0.0621,
      "step": 9249
    },
    {
      "epoch": 2.0751626654700472,
      "gripper_loss": 0.27734375,
      "loss": 0.0142822265625,
      "pos_loss": 0.0146484375,
      "rot_loss": 0.01080322265625,
      "step": 9249
    },
    {
      "epoch": 2.0753870316356293,
      "grad_norm": 0.2783777117729187,
      "learning_rate": 0.00011455971254785114,
      "loss": 0.0421,
      "step": 9250
    },
    {
      "epoch": 2.0753870316356293,
      "gripper_loss": 0.0125732421875,
      "loss": 0.0189208984375,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.049560546875,
      "step": 9250
    },
    {
      "epoch": 2.0756113978012114,
      "grad_norm": 0.28429460525512695,
      "learning_rate": 0.00011450881416504159,
      "loss": 0.0414,
      "step": 9251
    },
    {
      "epoch": 2.0756113978012114,
      "gripper_loss": 0.018310546875,
      "loss": 0.0064697265625,
      "pos_loss": 0.0262451171875,
      "rot_loss": 0.01025390625,
      "step": 9251
    },
    {
      "epoch": 2.075835763966794,
      "grad_norm": 0.26095840334892273,
      "learning_rate": 0.00011445792373279364,
      "loss": 0.0536,
      "step": 9252
    },
    {
      "epoch": 2.075835763966794,
      "gripper_loss": 0.03271484375,
      "loss": 0.0181884765625,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.061279296875,
      "step": 9252
    },
    {
      "epoch": 2.076060130132376,
      "grad_norm": 0.3942793607711792,
      "learning_rate": 0.0001144070412540936,
      "loss": 0.0481,
      "step": 9253
    },
    {
      "epoch": 2.076060130132376,
      "gripper_loss": 0.0283203125,
      "loss": 0.049072265625,
      "pos_loss": 0.341796875,
      "rot_loss": 0.1416015625,
      "step": 9253
    },
    {
      "epoch": 2.076284496297958,
      "grad_norm": 0.41878077387809753,
      "learning_rate": 0.00011435616673192705,
      "loss": 0.0596,
      "step": 9254
    },
    {
      "epoch": 2.076284496297958,
      "gripper_loss": 0.6796875,
      "loss": 0.06884765625,
      "pos_loss": 0.310546875,
      "rot_loss": 0.1689453125,
      "step": 9254
    },
    {
      "epoch": 2.0765088624635406,
      "grad_norm": 0.40214940905570984,
      "learning_rate": 0.00011430530016927951,
      "loss": 0.06,
      "step": 9255
    },
    {
      "epoch": 2.0765088624635406,
      "gripper_loss": 0.244140625,
      "loss": 0.12109375,
      "pos_loss": 1.0,
      "rot_loss": 0.1826171875,
      "step": 9255
    },
    {
      "epoch": 2.0767332286291227,
      "grad_norm": 0.3761429190635681,
      "learning_rate": 0.00011425444156913555,
      "loss": 0.0572,
      "step": 9256
    },
    {
      "epoch": 2.0767332286291227,
      "gripper_loss": 0.01318359375,
      "loss": 0.0267333984375,
      "pos_loss": 0.134765625,
      "rot_loss": 0.1171875,
      "step": 9256
    },
    {
      "epoch": 2.0769575947947048,
      "grad_norm": 0.19447758793830872,
      "learning_rate": 0.00011420359093447966,
      "loss": 0.0302,
      "step": 9257
    },
    {
      "epoch": 2.0769575947947048,
      "gripper_loss": 1.109375,
      "loss": 0.0517578125,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.03857421875,
      "step": 9257
    },
    {
      "epoch": 2.0771819609602873,
      "grad_norm": 0.3595847487449646,
      "learning_rate": 0.00011415274826829581,
      "loss": 0.0499,
      "step": 9258
    },
    {
      "epoch": 2.0771819609602873,
      "gripper_loss": 0.019775390625,
      "loss": 0.051513671875,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.33203125,
      "step": 9258
    },
    {
      "epoch": 2.0774063271258694,
      "grad_norm": 0.5767939686775208,
      "learning_rate": 0.00011410191357356726,
      "loss": 0.057,
      "step": 9259
    },
    {
      "epoch": 2.0774063271258694,
      "gripper_loss": 0.0159912109375,
      "loss": 0.0419921875,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.318359375,
      "step": 9259
    },
    {
      "epoch": 2.0776306932914514,
      "grad_norm": 0.45975279808044434,
      "learning_rate": 0.00011405108685327706,
      "loss": 0.0499,
      "step": 9260
    },
    {
      "epoch": 2.0776306932914514,
      "gripper_loss": 0.009765625,
      "loss": 0.05615234375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.224609375,
      "step": 9260
    },
    {
      "epoch": 2.077855059457034,
      "grad_norm": 0.31958839297294617,
      "learning_rate": 0.00011400026811040767,
      "loss": 0.054,
      "step": 9261
    },
    {
      "epoch": 2.077855059457034,
      "gripper_loss": 0.008056640625,
      "loss": 0.06787109375,
      "pos_loss": 0.53125,
      "rot_loss": 0.16015625,
      "step": 9261
    },
    {
      "epoch": 2.078079425622616,
      "grad_norm": 0.2787588834762573,
      "learning_rate": 0.0001139494573479412,
      "loss": 0.054,
      "step": 9262
    },
    {
      "epoch": 2.078079425622616,
      "gripper_loss": 0.02001953125,
      "loss": 0.00634765625,
      "pos_loss": 0.0186767578125,
      "rot_loss": 0.014892578125,
      "step": 9262
    },
    {
      "epoch": 2.078303791788198,
      "grad_norm": 0.26671361923217773,
      "learning_rate": 0.00011389865456885909,
      "loss": 0.0424,
      "step": 9263
    },
    {
      "epoch": 2.078303791788198,
      "gripper_loss": 0.020751953125,
      "loss": 0.0732421875,
      "pos_loss": 0.466796875,
      "rot_loss": 0.2314453125,
      "step": 9263
    },
    {
      "epoch": 2.0785281579537807,
      "grad_norm": 0.477768212556839,
      "learning_rate": 0.00011384785977614242,
      "loss": 0.0646,
      "step": 9264
    },
    {
      "epoch": 2.0785281579537807,
      "gripper_loss": 0.031005859375,
      "loss": 0.03515625,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.1455078125,
      "step": 9264
    },
    {
      "epoch": 2.0787525241193627,
      "grad_norm": 0.2866189181804657,
      "learning_rate": 0.00011379707297277197,
      "loss": 0.0495,
      "step": 9265
    },
    {
      "epoch": 2.0787525241193627,
      "gripper_loss": 0.0162353515625,
      "loss": 0.11083984375,
      "pos_loss": 1.078125,
      "rot_loss": 0.06298828125,
      "step": 9265
    },
    {
      "epoch": 2.0789768902849453,
      "grad_norm": 0.3865145444869995,
      "learning_rate": 0.00011374629416172766,
      "loss": 0.0643,
      "step": 9266
    },
    {
      "epoch": 2.0789768902849453,
      "gripper_loss": 0.1259765625,
      "loss": 0.0634765625,
      "pos_loss": 0.466796875,
      "rot_loss": 0.1318359375,
      "step": 9266
    },
    {
      "epoch": 2.0792012564505273,
      "grad_norm": 0.3761385381221771,
      "learning_rate": 0.00011369552334598938,
      "loss": 0.0541,
      "step": 9267
    },
    {
      "epoch": 2.0792012564505273,
      "gripper_loss": 0.00946044921875,
      "loss": 0.1328125,
      "pos_loss": 1.359375,
      "rot_loss": 0.0201416015625,
      "step": 9267
    },
    {
      "epoch": 2.0794256226161094,
      "grad_norm": 0.5281491875648499,
      "learning_rate": 0.00011364476052853614,
      "loss": 0.0829,
      "step": 9268
    },
    {
      "epoch": 2.0794256226161094,
      "gripper_loss": 0.0098876953125,
      "loss": 0.053955078125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.134765625,
      "step": 9268
    },
    {
      "epoch": 2.079649988781692,
      "grad_norm": 0.4038163721561432,
      "learning_rate": 0.00011359400571234677,
      "loss": 0.0527,
      "step": 9269
    },
    {
      "epoch": 2.079649988781692,
      "gripper_loss": 0.019775390625,
      "loss": 0.06494140625,
      "pos_loss": 0.53515625,
      "rot_loss": 0.125,
      "step": 9269
    },
    {
      "epoch": 2.079874354947274,
      "grad_norm": 0.4068209230899811,
      "learning_rate": 0.00011354325890039954,
      "loss": 0.0615,
      "step": 9270
    },
    {
      "epoch": 2.079874354947274,
      "gripper_loss": 0.51953125,
      "loss": 0.055908203125,
      "pos_loss": 0.3828125,
      "rot_loss": 0.01611328125,
      "step": 9270
    },
    {
      "epoch": 2.080098721112856,
      "grad_norm": 0.4363705515861511,
      "learning_rate": 0.00011349252009567234,
      "loss": 0.0643,
      "step": 9271
    },
    {
      "epoch": 2.080098721112856,
      "gripper_loss": 0.018310546875,
      "loss": 0.09619140625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.5078125,
      "step": 9271
    },
    {
      "epoch": 2.0803230872784386,
      "grad_norm": 0.23268772661685944,
      "learning_rate": 0.00011344178930114232,
      "loss": 0.0461,
      "step": 9272
    },
    {
      "epoch": 2.0803230872784386,
      "gripper_loss": 0.1884765625,
      "loss": 0.03173828125,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.11962890625,
      "step": 9272
    },
    {
      "epoch": 2.0805474534440207,
      "grad_norm": 0.5042720437049866,
      "learning_rate": 0.00011339106651978642,
      "loss": 0.0594,
      "step": 9273
    },
    {
      "epoch": 2.0805474534440207,
      "gripper_loss": 0.0081787109375,
      "loss": 0.052978515625,
      "pos_loss": 0.43359375,
      "rot_loss": 0.1005859375,
      "step": 9273
    },
    {
      "epoch": 2.080771819609603,
      "grad_norm": 0.6289656758308411,
      "learning_rate": 0.00011334035175458108,
      "loss": 0.0757,
      "step": 9274
    },
    {
      "epoch": 2.080771819609603,
      "gripper_loss": 0.220703125,
      "loss": 0.0546875,
      "pos_loss": 0.240234375,
      "rot_loss": 0.23828125,
      "step": 9274
    },
    {
      "epoch": 2.0809961857751853,
      "grad_norm": 0.4257413148880005,
      "learning_rate": 0.00011328964500850225,
      "loss": 0.0621,
      "step": 9275
    },
    {
      "epoch": 2.0809961857751853,
      "gripper_loss": 0.00946044921875,
      "loss": 0.12255859375,
      "pos_loss": 1.1015625,
      "rot_loss": 0.173828125,
      "step": 9275
    },
    {
      "epoch": 2.0812205519407674,
      "grad_norm": 0.6740674376487732,
      "learning_rate": 0.00011323894628452521,
      "loss": 0.0803,
      "step": 9276
    },
    {
      "epoch": 2.0812205519407674,
      "gripper_loss": 0.028564453125,
      "loss": 0.04736328125,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.203125,
      "step": 9276
    },
    {
      "epoch": 2.0814449181063495,
      "grad_norm": 0.32947686314582825,
      "learning_rate": 0.00011318825558562515,
      "loss": 0.0505,
      "step": 9277
    },
    {
      "epoch": 2.0814449181063495,
      "gripper_loss": 0.205078125,
      "loss": 0.091796875,
      "pos_loss": 0.46484375,
      "rot_loss": 0.41796875,
      "step": 9277
    },
    {
      "epoch": 2.081669284271932,
      "grad_norm": 0.38410186767578125,
      "learning_rate": 0.00011313757291477638,
      "loss": 0.072,
      "step": 9278
    },
    {
      "epoch": 2.081669284271932,
      "gripper_loss": 0.359375,
      "loss": 0.040771484375,
      "pos_loss": 0.240234375,
      "rot_loss": 0.04345703125,
      "step": 9278
    },
    {
      "epoch": 2.081893650437514,
      "grad_norm": 0.2850852310657501,
      "learning_rate": 0.00011308689827495311,
      "loss": 0.0401,
      "step": 9279
    },
    {
      "epoch": 2.081893650437514,
      "gripper_loss": 0.06298828125,
      "loss": 0.04833984375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.1884765625,
      "step": 9279
    },
    {
      "epoch": 2.082118016603096,
      "grad_norm": 0.35924625396728516,
      "learning_rate": 0.00011303623166912871,
      "loss": 0.0517,
      "step": 9280
    },
    {
      "epoch": 2.082118016603096,
      "gripper_loss": 1.4609375,
      "loss": 0.064453125,
      "pos_loss": 0.06201171875,
      "rot_loss": 0.10791015625,
      "step": 9280
    },
    {
      "epoch": 2.0823423827686787,
      "grad_norm": 0.39371609687805176,
      "learning_rate": 0.00011298557310027637,
      "loss": 0.0473,
      "step": 9281
    },
    {
      "epoch": 2.0823423827686787,
      "gripper_loss": 0.6875,
      "loss": 0.0419921875,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.0693359375,
      "step": 9281
    },
    {
      "epoch": 2.0825667489342607,
      "grad_norm": 0.4155018627643585,
      "learning_rate": 0.00011293492257136876,
      "loss": 0.0728,
      "step": 9282
    },
    {
      "epoch": 2.0825667489342607,
      "gripper_loss": 0.013427734375,
      "loss": 0.06298828125,
      "pos_loss": 0.6015625,
      "rot_loss": 0.0419921875,
      "step": 9282
    },
    {
      "epoch": 2.082791115099843,
      "grad_norm": 0.318817675113678,
      "learning_rate": 0.00011288428008537807,
      "loss": 0.0582,
      "step": 9283
    },
    {
      "epoch": 2.082791115099843,
      "gripper_loss": 0.09765625,
      "loss": 0.08544921875,
      "pos_loss": 0.451171875,
      "rot_loss": 0.376953125,
      "step": 9283
    },
    {
      "epoch": 2.0830154812654254,
      "grad_norm": 0.3127460181713104,
      "learning_rate": 0.00011283364564527582,
      "loss": 0.0575,
      "step": 9284
    },
    {
      "epoch": 2.0830154812654254,
      "gripper_loss": 0.0166015625,
      "loss": 0.062255859375,
      "pos_loss": 0.494140625,
      "rot_loss": 0.1318359375,
      "step": 9284
    },
    {
      "epoch": 2.0832398474310074,
      "grad_norm": 0.5865518450737,
      "learning_rate": 0.00011278301925403328,
      "loss": 0.0631,
      "step": 9285
    },
    {
      "epoch": 2.0832398474310074,
      "gripper_loss": 0.006500244140625,
      "loss": 0.06640625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.11572265625,
      "step": 9285
    },
    {
      "epoch": 2.0834642135965895,
      "grad_norm": 0.3139398396015167,
      "learning_rate": 0.0001127324009146212,
      "loss": 0.044,
      "step": 9286
    },
    {
      "epoch": 2.0834642135965895,
      "gripper_loss": 0.0101318359375,
      "loss": 0.08447265625,
      "pos_loss": 0.609375,
      "rot_loss": 0.251953125,
      "step": 9286
    },
    {
      "epoch": 2.083688579762172,
      "grad_norm": 0.2463352382183075,
      "learning_rate": 0.00011268179063000985,
      "loss": 0.0407,
      "step": 9287
    },
    {
      "epoch": 2.083688579762172,
      "gripper_loss": 0.03369140625,
      "loss": 0.041748046875,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.14453125,
      "step": 9287
    },
    {
      "epoch": 2.083912945927754,
      "grad_norm": 0.41581490635871887,
      "learning_rate": 0.00011263118840316911,
      "loss": 0.0556,
      "step": 9288
    },
    {
      "epoch": 2.083912945927754,
      "gripper_loss": 0.1552734375,
      "loss": 0.031494140625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.12109375,
      "step": 9288
    },
    {
      "epoch": 2.084137312093336,
      "grad_norm": 0.6070709228515625,
      "learning_rate": 0.00011258059423706821,
      "loss": 0.0595,
      "step": 9289
    },
    {
      "epoch": 2.084137312093336,
      "gripper_loss": 0.1435546875,
      "loss": 0.0093994140625,
      "pos_loss": 0.016357421875,
      "rot_loss": 0.01251220703125,
      "step": 9289
    },
    {
      "epoch": 2.0843616782589187,
      "grad_norm": 0.28045302629470825,
      "learning_rate": 0.00011253000813467584,
      "loss": 0.0447,
      "step": 9290
    },
    {
      "epoch": 2.0843616782589187,
      "gripper_loss": 0.0106201171875,
      "loss": 0.07958984375,
      "pos_loss": 0.44140625,
      "rot_loss": 0.369140625,
      "step": 9290
    },
    {
      "epoch": 2.084586044424501,
      "grad_norm": 0.3449595272541046,
      "learning_rate": 0.00011247943009896056,
      "loss": 0.0533,
      "step": 9291
    },
    {
      "epoch": 2.084586044424501,
      "gripper_loss": 0.38671875,
      "loss": 0.1298828125,
      "pos_loss": 0.546875,
      "rot_loss": 0.310546875,
      "step": 9291
    },
    {
      "epoch": 2.084810410590083,
      "grad_norm": 0.9965440630912781,
      "learning_rate": 0.00011242886013289027,
      "loss": 0.1511,
      "step": 9292
    },
    {
      "epoch": 2.084810410590083,
      "gripper_loss": 0.034423828125,
      "loss": 0.0771484375,
      "pos_loss": 0.609375,
      "rot_loss": 0.12451171875,
      "step": 9292
    },
    {
      "epoch": 2.0850347767556654,
      "grad_norm": 0.41356927156448364,
      "learning_rate": 0.00011237829823943227,
      "loss": 0.0727,
      "step": 9293
    },
    {
      "epoch": 2.0850347767556654,
      "gripper_loss": 1.3671875,
      "loss": 0.05859375,
      "pos_loss": 0.0595703125,
      "rot_loss": 0.080078125,
      "step": 9293
    },
    {
      "epoch": 2.0852591429212475,
      "grad_norm": 0.35001516342163086,
      "learning_rate": 0.00011232774442155359,
      "loss": 0.0528,
      "step": 9294
    },
    {
      "epoch": 2.0852591429212475,
      "gripper_loss": 0.369140625,
      "loss": 0.041748046875,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.0634765625,
      "step": 9294
    },
    {
      "epoch": 2.0854835090868296,
      "grad_norm": 0.452580064535141,
      "learning_rate": 0.00011227719868222067,
      "loss": 0.0558,
      "step": 9295
    },
    {
      "epoch": 2.0854835090868296,
      "gripper_loss": 0.09228515625,
      "loss": 0.037841796875,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.232421875,
      "step": 9295
    },
    {
      "epoch": 2.085707875252412,
      "grad_norm": 0.5370518565177917,
      "learning_rate": 0.00011222666102439963,
      "loss": 0.0728,
      "step": 9296
    },
    {
      "epoch": 2.085707875252412,
      "gripper_loss": 0.044921875,
      "loss": 0.06689453125,
      "pos_loss": 0.4375,
      "rot_loss": 0.2216796875,
      "step": 9296
    },
    {
      "epoch": 2.085932241417994,
      "grad_norm": 0.4045586884021759,
      "learning_rate": 0.00011217613145105579,
      "loss": 0.052,
      "step": 9297
    },
    {
      "epoch": 2.085932241417994,
      "gripper_loss": 0.9140625,
      "loss": 0.091796875,
      "pos_loss": 0.193359375,
      "rot_loss": 0.3046875,
      "step": 9297
    },
    {
      "epoch": 2.0861566075835762,
      "grad_norm": 0.795619785785675,
      "learning_rate": 0.00011212560996515433,
      "loss": 0.0865,
      "step": 9298
    },
    {
      "epoch": 2.0861566075835762,
      "gripper_loss": 0.12451171875,
      "loss": 0.0654296875,
      "pos_loss": 0.3046875,
      "rot_loss": 0.2001953125,
      "step": 9298
    },
    {
      "epoch": 2.0863809737491588,
      "grad_norm": 0.8196781277656555,
      "learning_rate": 0.00011207509656965983,
      "loss": 0.0773,
      "step": 9299
    },
    {
      "epoch": 2.0863809737491588,
      "gripper_loss": 0.00408935546875,
      "loss": 0.072265625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.28515625,
      "step": 9299
    },
    {
      "epoch": 2.086605339914741,
      "grad_norm": 0.3571625351905823,
      "learning_rate": 0.00011202459126753645,
      "loss": 0.0621,
      "step": 9300
    },
    {
      "epoch": 2.086605339914741,
      "gripper_loss": 0.30078125,
      "loss": 0.17578125,
      "pos_loss": 0.7109375,
      "rot_loss": 1.03125,
      "step": 9300
    },
    {
      "epoch": 2.086829706080323,
      "grad_norm": 0.5293896794319153,
      "learning_rate": 0.00011197409406174766,
      "loss": 0.0719,
      "step": 9301
    },
    {
      "epoch": 2.086829706080323,
      "gripper_loss": 0.322265625,
      "loss": 0.0157470703125,
      "pos_loss": 0.01904296875,
      "rot_loss": 0.0118408203125,
      "step": 9301
    },
    {
      "epoch": 2.0870540722459054,
      "grad_norm": 0.3017105758190155,
      "learning_rate": 0.00011192360495525678,
      "loss": 0.0296,
      "step": 9302
    },
    {
      "epoch": 2.0870540722459054,
      "gripper_loss": 0.60546875,
      "loss": 0.060302734375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.056884765625,
      "step": 9302
    },
    {
      "epoch": 2.0872784384114875,
      "grad_norm": 0.509356677532196,
      "learning_rate": 0.0001118731239510263,
      "loss": 0.0622,
      "step": 9303
    },
    {
      "epoch": 2.0872784384114875,
      "gripper_loss": 0.6953125,
      "loss": 0.0732421875,
      "pos_loss": 0.341796875,
      "rot_loss": 0.146484375,
      "step": 9303
    },
    {
      "epoch": 2.0875028045770696,
      "grad_norm": 0.5113028883934021,
      "learning_rate": 0.00011182265105201856,
      "loss": 0.0534,
      "step": 9304
    },
    {
      "epoch": 2.0875028045770696,
      "gripper_loss": 0.0341796875,
      "loss": 0.030029296875,
      "pos_loss": 0.06640625,
      "rot_loss": 0.1865234375,
      "step": 9304
    },
    {
      "epoch": 2.087727170742652,
      "grad_norm": 0.5530681610107422,
      "learning_rate": 0.00011177218626119534,
      "loss": 0.0643,
      "step": 9305
    },
    {
      "epoch": 2.087727170742652,
      "gripper_loss": 0.1103515625,
      "loss": 0.036376953125,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.05224609375,
      "step": 9305
    },
    {
      "epoch": 2.087951536908234,
      "grad_norm": 0.6437498927116394,
      "learning_rate": 0.00011172172958151769,
      "loss": 0.0701,
      "step": 9306
    },
    {
      "epoch": 2.087951536908234,
      "gripper_loss": 0.0390625,
      "loss": 0.0322265625,
      "pos_loss": 0.05615234375,
      "rot_loss": 0.21484375,
      "step": 9306
    },
    {
      "epoch": 2.0881759030738163,
      "grad_norm": 0.49791210889816284,
      "learning_rate": 0.00011167128101594651,
      "loss": 0.0648,
      "step": 9307
    },
    {
      "epoch": 2.0881759030738163,
      "gripper_loss": 0.019287109375,
      "loss": 0.07177734375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.07763671875,
      "step": 9307
    },
    {
      "epoch": 2.088400269239399,
      "grad_norm": 0.39741119742393494,
      "learning_rate": 0.0001116208405674421,
      "loss": 0.0717,
      "step": 9308
    },
    {
      "epoch": 2.088400269239399,
      "gripper_loss": 0.267578125,
      "loss": 0.045654296875,
      "pos_loss": 0.353515625,
      "rot_loss": 0.0159912109375,
      "step": 9308
    },
    {
      "epoch": 2.088624635404981,
      "grad_norm": 0.34684115648269653,
      "learning_rate": 0.00011157040823896437,
      "loss": 0.0418,
      "step": 9309
    },
    {
      "epoch": 2.088624635404981,
      "gripper_loss": 0.359375,
      "loss": 0.0191650390625,
      "pos_loss": 0.016357421875,
      "rot_loss": 0.036865234375,
      "step": 9309
    },
    {
      "epoch": 2.088849001570563,
      "grad_norm": 0.374472051858902,
      "learning_rate": 0.00011151998403347244,
      "loss": 0.0644,
      "step": 9310
    },
    {
      "epoch": 2.088849001570563,
      "gripper_loss": 0.01080322265625,
      "loss": 0.03173828125,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.0751953125,
      "step": 9310
    },
    {
      "epoch": 2.0890733677361455,
      "grad_norm": 0.2909065783023834,
      "learning_rate": 0.00011146956795392532,
      "loss": 0.0539,
      "step": 9311
    },
    {
      "epoch": 2.0890733677361455,
      "gripper_loss": 0.09716796875,
      "loss": 0.0439453125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.09619140625,
      "step": 9311
    },
    {
      "epoch": 2.0892977339017276,
      "grad_norm": 0.40205422043800354,
      "learning_rate": 0.00011141916000328151,
      "loss": 0.0548,
      "step": 9312
    },
    {
      "epoch": 2.0892977339017276,
      "gripper_loss": 0.007781982421875,
      "loss": 0.04638671875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.2099609375,
      "step": 9312
    },
    {
      "epoch": 2.0895221000673097,
      "grad_norm": 0.3585948646068573,
      "learning_rate": 0.00011136876018449868,
      "loss": 0.0546,
      "step": 9313
    },
    {
      "epoch": 2.0895221000673097,
      "gripper_loss": 0.08984375,
      "loss": 0.02197265625,
      "pos_loss": 0.130859375,
      "rot_loss": 0.036865234375,
      "step": 9313
    },
    {
      "epoch": 2.089746466232892,
      "grad_norm": 0.5112655162811279,
      "learning_rate": 0.00011131836850053451,
      "loss": 0.0579,
      "step": 9314
    },
    {
      "epoch": 2.089746466232892,
      "gripper_loss": 0.21484375,
      "loss": 0.279296875,
      "pos_loss": 0.8671875,
      "rot_loss": 0.59375,
      "step": 9314
    },
    {
      "epoch": 2.0899708323984743,
      "grad_norm": 1.258307933807373,
      "learning_rate": 0.00011126798495434576,
      "loss": 0.234,
      "step": 9315
    },
    {
      "epoch": 2.0899708323984743,
      "gripper_loss": 0.00762939453125,
      "loss": 0.0206298828125,
      "pos_loss": 0.109375,
      "rot_loss": 0.07958984375,
      "step": 9315
    },
    {
      "epoch": 2.0901951985640563,
      "grad_norm": 0.3884034752845764,
      "learning_rate": 0.00011121760954888896,
      "loss": 0.0412,
      "step": 9316
    },
    {
      "epoch": 2.0901951985640563,
      "gripper_loss": 0.01055908203125,
      "loss": 0.0771484375,
      "pos_loss": 0.734375,
      "rot_loss": 0.041015625,
      "step": 9316
    },
    {
      "epoch": 2.090419564729639,
      "grad_norm": 0.30042141675949097,
      "learning_rate": 0.00011116724228712019,
      "loss": 0.0571,
      "step": 9317
    },
    {
      "epoch": 2.090419564729639,
      "gripper_loss": 0.018798828125,
      "loss": 0.02392578125,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.03173828125,
      "step": 9317
    },
    {
      "epoch": 2.090643930895221,
      "grad_norm": 0.4178265333175659,
      "learning_rate": 0.00011111688317199503,
      "loss": 0.0732,
      "step": 9318
    },
    {
      "epoch": 2.090643930895221,
      "gripper_loss": 0.0223388671875,
      "loss": 0.09033203125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.158203125,
      "step": 9318
    },
    {
      "epoch": 2.090868297060803,
      "grad_norm": 0.41259118914604187,
      "learning_rate": 0.00011106653220646837,
      "loss": 0.0517,
      "step": 9319
    },
    {
      "epoch": 2.090868297060803,
      "gripper_loss": 0.0069580078125,
      "loss": 0.020263671875,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.029296875,
      "step": 9319
    },
    {
      "epoch": 2.0910926632263855,
      "grad_norm": 0.7452662587165833,
      "learning_rate": 0.0001110161893934948,
      "loss": 0.0658,
      "step": 9320
    },
    {
      "epoch": 2.0910926632263855,
      "gripper_loss": 0.0291748046875,
      "loss": 0.0198974609375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.0255126953125,
      "step": 9320
    },
    {
      "epoch": 2.0913170293919676,
      "grad_norm": 0.304703027009964,
      "learning_rate": 0.00011096585473602852,
      "loss": 0.0297,
      "step": 9321
    },
    {
      "epoch": 2.0913170293919676,
      "gripper_loss": 0.0205078125,
      "loss": 0.03466796875,
      "pos_loss": 0.2109375,
      "rot_loss": 0.11181640625,
      "step": 9321
    },
    {
      "epoch": 2.0915413955575497,
      "grad_norm": 0.40924397110939026,
      "learning_rate": 0.00011091552823702319,
      "loss": 0.0475,
      "step": 9322
    },
    {
      "epoch": 2.0915413955575497,
      "gripper_loss": 0.01385498046875,
      "loss": 0.03857421875,
      "pos_loss": 0.3125,
      "rot_loss": 0.05322265625,
      "step": 9322
    },
    {
      "epoch": 2.091765761723132,
      "grad_norm": 0.42543795704841614,
      "learning_rate": 0.00011086520989943174,
      "loss": 0.0466,
      "step": 9323
    },
    {
      "epoch": 2.091765761723132,
      "gripper_loss": 0.00836181640625,
      "loss": 0.123046875,
      "pos_loss": 0.70703125,
      "rot_loss": 0.57421875,
      "step": 9323
    },
    {
      "epoch": 2.0919901278887143,
      "grad_norm": 0.4622243344783783,
      "learning_rate": 0.00011081489972620703,
      "loss": 0.0676,
      "step": 9324
    },
    {
      "epoch": 2.0919901278887143,
      "gripper_loss": 0.030517578125,
      "loss": 0.044677734375,
      "pos_loss": 0.279296875,
      "rot_loss": 0.158203125,
      "step": 9324
    },
    {
      "epoch": 2.092214494054297,
      "grad_norm": 0.3103032410144806,
      "learning_rate": 0.00011076459772030107,
      "loss": 0.0659,
      "step": 9325
    },
    {
      "epoch": 2.092214494054297,
      "gripper_loss": 0.0174560546875,
      "loss": 0.05322265625,
      "pos_loss": 0.5078125,
      "rot_loss": 0.0213623046875,
      "step": 9325
    },
    {
      "epoch": 2.092438860219879,
      "grad_norm": 0.31345516443252563,
      "learning_rate": 0.00011071430388466572,
      "loss": 0.0522,
      "step": 9326
    },
    {
      "epoch": 2.092438860219879,
      "gripper_loss": 0.006805419921875,
      "loss": 0.064453125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.1513671875,
      "step": 9326
    },
    {
      "epoch": 2.092663226385461,
      "grad_norm": 0.3349212110042572,
      "learning_rate": 0.000110664018222252,
      "loss": 0.054,
      "step": 9327
    },
    {
      "epoch": 2.092663226385461,
      "gripper_loss": 0.0264892578125,
      "loss": 0.023681640625,
      "pos_loss": 0.068359375,
      "rot_loss": 0.1142578125,
      "step": 9327
    },
    {
      "epoch": 2.0928875925510435,
      "grad_norm": 0.5963716506958008,
      "learning_rate": 0.0001106137407360108,
      "loss": 0.0819,
      "step": 9328
    },
    {
      "epoch": 2.0928875925510435,
      "gripper_loss": 0.00689697265625,
      "loss": 0.02978515625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.0244140625,
      "step": 9328
    },
    {
      "epoch": 2.0931119587166256,
      "grad_norm": 0.2981289029121399,
      "learning_rate": 0.00011056347142889231,
      "loss": 0.0582,
      "step": 9329
    },
    {
      "epoch": 2.0931119587166256,
      "gripper_loss": 0.007110595703125,
      "loss": 0.01904296875,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.1015625,
      "step": 9329
    },
    {
      "epoch": 2.0933363248822077,
      "grad_norm": 0.3558112680912018,
      "learning_rate": 0.00011051321030384648,
      "loss": 0.0623,
      "step": 9330
    },
    {
      "epoch": 2.0933363248822077,
      "gripper_loss": 0.55078125,
      "loss": 0.049072265625,
      "pos_loss": 0.271484375,
      "rot_loss": 0.03955078125,
      "step": 9330
    },
    {
      "epoch": 2.09356069104779,
      "grad_norm": 0.3069082796573639,
      "learning_rate": 0.00011046295736382233,
      "loss": 0.0506,
      "step": 9331
    },
    {
      "epoch": 2.09356069104779,
      "gripper_loss": 0.006622314453125,
      "loss": 0.12158203125,
      "pos_loss": 1.171875,
      "rot_loss": 0.09423828125,
      "step": 9331
    },
    {
      "epoch": 2.0937850572133723,
      "grad_norm": 0.3078167140483856,
      "learning_rate": 0.00011041271261176888,
      "loss": 0.0497,
      "step": 9332
    },
    {
      "epoch": 2.0937850572133723,
      "gripper_loss": 0.00982666015625,
      "loss": 0.057373046875,
      "pos_loss": 0.421875,
      "rot_loss": 0.1494140625,
      "step": 9332
    },
    {
      "epoch": 2.0940094233789543,
      "grad_norm": 0.3136847913265228,
      "learning_rate": 0.00011036247605063438,
      "loss": 0.0373,
      "step": 9333
    },
    {
      "epoch": 2.0940094233789543,
      "gripper_loss": 0.00592041015625,
      "loss": 0.05908203125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.0091552734375,
      "step": 9333
    },
    {
      "epoch": 2.094233789544537,
      "grad_norm": 0.4090103805065155,
      "learning_rate": 0.00011031224768336673,
      "loss": 0.0477,
      "step": 9334
    },
    {
      "epoch": 2.094233789544537,
      "gripper_loss": 0.6328125,
      "loss": 0.33203125,
      "pos_loss": 0.59765625,
      "rot_loss": 0.71875,
      "step": 9334
    },
    {
      "epoch": 2.094458155710119,
      "grad_norm": 1.761305809020996,
      "learning_rate": 0.0001102620275129134,
      "loss": 0.3359,
      "step": 9335
    },
    {
      "epoch": 2.094458155710119,
      "gripper_loss": 0.376953125,
      "loss": 0.11328125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.79296875,
      "step": 9335
    },
    {
      "epoch": 2.094682521875701,
      "grad_norm": 0.34346941113471985,
      "learning_rate": 0.0001102118155422211,
      "loss": 0.0763,
      "step": 9336
    },
    {
      "epoch": 2.094682521875701,
      "gripper_loss": 0.0093994140625,
      "loss": 0.06005859375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.06103515625,
      "step": 9336
    },
    {
      "epoch": 2.0949068880412836,
      "grad_norm": 0.5692481398582458,
      "learning_rate": 0.00011016161177423642,
      "loss": 0.0752,
      "step": 9337
    },
    {
      "epoch": 2.0949068880412836,
      "gripper_loss": 0.6015625,
      "loss": 0.0240478515625,
      "pos_loss": 0.00738525390625,
      "rot_loss": 0.018798828125,
      "step": 9337
    },
    {
      "epoch": 2.0951312542068656,
      "grad_norm": 0.6352932453155518,
      "learning_rate": 0.00011011141621190513,
      "loss": 0.0529,
      "step": 9338
    },
    {
      "epoch": 2.0951312542068656,
      "gripper_loss": 0.0263671875,
      "loss": 0.072265625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.1806640625,
      "step": 9338
    },
    {
      "epoch": 2.0953556203724477,
      "grad_norm": 0.46004703640937805,
      "learning_rate": 0.00011006122885817283,
      "loss": 0.0714,
      "step": 9339
    },
    {
      "epoch": 2.0953556203724477,
      "gripper_loss": 0.1787109375,
      "loss": 0.0186767578125,
      "pos_loss": 0.053466796875,
      "rot_loss": 0.039306640625,
      "step": 9339
    },
    {
      "epoch": 2.0955799865380302,
      "grad_norm": 0.45286428928375244,
      "learning_rate": 0.00011001104971598433,
      "loss": 0.0528,
      "step": 9340
    },
    {
      "epoch": 2.0955799865380302,
      "gripper_loss": 0.01953125,
      "loss": 0.03466796875,
      "pos_loss": 0.044189453125,
      "rot_loss": 0.28125,
      "step": 9340
    },
    {
      "epoch": 2.0958043527036123,
      "grad_norm": 0.39407217502593994,
      "learning_rate": 0.00010996087878828423,
      "loss": 0.0461,
      "step": 9341
    },
    {
      "epoch": 2.0958043527036123,
      "gripper_loss": 0.80859375,
      "loss": 0.052001953125,
      "pos_loss": 0.053955078125,
      "rot_loss": 0.205078125,
      "step": 9341
    },
    {
      "epoch": 2.0960287188691944,
      "grad_norm": 0.4642177224159241,
      "learning_rate": 0.0001099107160780165,
      "loss": 0.0531,
      "step": 9342
    },
    {
      "epoch": 2.0960287188691944,
      "gripper_loss": 0.00439453125,
      "loss": 0.0771484375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.482421875,
      "step": 9342
    },
    {
      "epoch": 2.096253085034777,
      "grad_norm": 0.9071098566055298,
      "learning_rate": 0.0001098605615881248,
      "loss": 0.0754,
      "step": 9343
    },
    {
      "epoch": 2.096253085034777,
      "gripper_loss": 0.0322265625,
      "loss": 0.06982421875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.154296875,
      "step": 9343
    },
    {
      "epoch": 2.096477451200359,
      "grad_norm": 0.4844723641872406,
      "learning_rate": 0.00010981041532155195,
      "loss": 0.0525,
      "step": 9344
    },
    {
      "epoch": 2.096477451200359,
      "gripper_loss": 0.007476806640625,
      "loss": 0.07666015625,
      "pos_loss": 0.490234375,
      "rot_loss": 0.291015625,
      "step": 9344
    },
    {
      "epoch": 2.096701817365941,
      "grad_norm": 0.3386196196079254,
      "learning_rate": 0.00010976027728124063,
      "loss": 0.0584,
      "step": 9345
    },
    {
      "epoch": 2.096701817365941,
      "gripper_loss": 0.08203125,
      "loss": 0.0380859375,
      "pos_loss": 0.296875,
      "rot_loss": 0.0380859375,
      "step": 9345
    },
    {
      "epoch": 2.0969261835315236,
      "grad_norm": 0.3386828601360321,
      "learning_rate": 0.00010971014747013291,
      "loss": 0.0437,
      "step": 9346
    },
    {
      "epoch": 2.0969261835315236,
      "gripper_loss": 0.0257568359375,
      "loss": 0.03125,
      "pos_loss": 0.248046875,
      "rot_loss": 0.04638671875,
      "step": 9346
    },
    {
      "epoch": 2.0971505496971057,
      "grad_norm": 0.3454558551311493,
      "learning_rate": 0.00010966002589117044,
      "loss": 0.0434,
      "step": 9347
    },
    {
      "epoch": 2.0971505496971057,
      "gripper_loss": 0.01251220703125,
      "loss": 0.016357421875,
      "pos_loss": 0.125,
      "rot_loss": 0.01263427734375,
      "step": 9347
    },
    {
      "epoch": 2.0973749158626878,
      "grad_norm": 0.3020976781845093,
      "learning_rate": 0.00010960991254729421,
      "loss": 0.0408,
      "step": 9348
    },
    {
      "epoch": 2.0973749158626878,
      "gripper_loss": 0.006805419921875,
      "loss": 0.07080078125,
      "pos_loss": 0.6953125,
      "rot_loss": 0.027099609375,
      "step": 9348
    },
    {
      "epoch": 2.0975992820282703,
      "grad_norm": 0.3519707918167114,
      "learning_rate": 0.000109559807441445,
      "loss": 0.0414,
      "step": 9349
    },
    {
      "epoch": 2.0975992820282703,
      "gripper_loss": 0.031982421875,
      "loss": 0.03662109375,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.203125,
      "step": 9349
    },
    {
      "epoch": 2.0978236481938524,
      "grad_norm": 0.43410608172416687,
      "learning_rate": 0.00010950971057656276,
      "loss": 0.053,
      "step": 9350
    },
    {
      "epoch": 2.0978236481938524,
      "gripper_loss": 0.390625,
      "loss": 0.0400390625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.09326171875,
      "step": 9350
    },
    {
      "epoch": 2.0980480143594344,
      "grad_norm": 1.1032558679580688,
      "learning_rate": 0.00010945962195558726,
      "loss": 0.0619,
      "step": 9351
    },
    {
      "epoch": 2.0980480143594344,
      "gripper_loss": 0.017578125,
      "loss": 0.07177734375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.390625,
      "step": 9351
    },
    {
      "epoch": 2.098272380525017,
      "grad_norm": 0.4702284634113312,
      "learning_rate": 0.00010940954158145778,
      "loss": 0.0479,
      "step": 9352
    },
    {
      "epoch": 2.098272380525017,
      "gripper_loss": 0.023681640625,
      "loss": 0.1171875,
      "pos_loss": 1.0859375,
      "rot_loss": 0.12451171875,
      "step": 9352
    },
    {
      "epoch": 2.098496746690599,
      "grad_norm": 0.41153645515441895,
      "learning_rate": 0.00010935946945711279,
      "loss": 0.0784,
      "step": 9353
    },
    {
      "epoch": 2.098496746690599,
      "gripper_loss": 0.09130859375,
      "loss": 0.07421875,
      "pos_loss": 0.703125,
      "rot_loss": 0.030029296875,
      "step": 9353
    },
    {
      "epoch": 2.098721112856181,
      "grad_norm": 0.4065934121608734,
      "learning_rate": 0.00010930940558549063,
      "loss": 0.0442,
      "step": 9354
    },
    {
      "epoch": 2.098721112856181,
      "gripper_loss": 3.015625,
      "loss": 0.126953125,
      "pos_loss": 0.298828125,
      "rot_loss": 0.021728515625,
      "step": 9354
    },
    {
      "epoch": 2.0989454790217636,
      "grad_norm": 0.7072397470474243,
      "learning_rate": 0.00010925934996952902,
      "loss": 0.0861,
      "step": 9355
    },
    {
      "epoch": 2.0989454790217636,
      "gripper_loss": 0.08251953125,
      "loss": 0.0177001953125,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.03759765625,
      "step": 9355
    },
    {
      "epoch": 2.0991698451873457,
      "grad_norm": 0.29286420345306396,
      "learning_rate": 0.00010920930261216527,
      "loss": 0.0325,
      "step": 9356
    },
    {
      "epoch": 2.0991698451873457,
      "gripper_loss": 0.0263671875,
      "loss": 0.0615234375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.263671875,
      "step": 9356
    },
    {
      "epoch": 2.099394211352928,
      "grad_norm": 0.4605291187763214,
      "learning_rate": 0.00010915926351633598,
      "loss": 0.0556,
      "step": 9357
    },
    {
      "epoch": 2.099394211352928,
      "gripper_loss": 0.011962890625,
      "loss": 0.06494140625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.32421875,
      "step": 9357
    },
    {
      "epoch": 2.0996185775185103,
      "grad_norm": 0.25442758202552795,
      "learning_rate": 0.00010910923268497749,
      "loss": 0.0339,
      "step": 9358
    },
    {
      "epoch": 2.0996185775185103,
      "gripper_loss": 0.01385498046875,
      "loss": 0.0281982421875,
      "pos_loss": 0.220703125,
      "rot_loss": 0.050537109375,
      "step": 9358
    },
    {
      "epoch": 2.0998429436840924,
      "grad_norm": 0.39177384972572327,
      "learning_rate": 0.00010905921012102571,
      "loss": 0.0529,
      "step": 9359
    },
    {
      "epoch": 2.0998429436840924,
      "gripper_loss": 0.0115966796875,
      "loss": 0.060302734375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.036865234375,
      "step": 9359
    },
    {
      "epoch": 2.1000673098496745,
      "grad_norm": 0.34806501865386963,
      "learning_rate": 0.00010900919582741572,
      "loss": 0.0689,
      "step": 9360
    },
    {
      "epoch": 2.1000673098496745,
      "gripper_loss": 0.0203857421875,
      "loss": 0.0537109375,
      "pos_loss": 0.4296875,
      "rot_loss": 0.087890625,
      "step": 9360
    },
    {
      "epoch": 2.100291676015257,
      "grad_norm": 0.37171030044555664,
      "learning_rate": 0.00010895918980708255,
      "loss": 0.0419,
      "step": 9361
    },
    {
      "epoch": 2.100291676015257,
      "gripper_loss": 0.005706787109375,
      "loss": 0.08251953125,
      "pos_loss": 0.3125,
      "rot_loss": 0.52734375,
      "step": 9361
    },
    {
      "epoch": 2.100516042180839,
      "grad_norm": 0.4519960582256317,
      "learning_rate": 0.00010890919206296035,
      "loss": 0.0707,
      "step": 9362
    },
    {
      "epoch": 2.100516042180839,
      "gripper_loss": 0.007354736328125,
      "loss": 0.0196533203125,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.07763671875,
      "step": 9362
    },
    {
      "epoch": 2.100740408346421,
      "grad_norm": 0.5017601847648621,
      "learning_rate": 0.00010885920259798301,
      "loss": 0.083,
      "step": 9363
    },
    {
      "epoch": 2.100740408346421,
      "gripper_loss": 0.158203125,
      "loss": 0.02001953125,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.0128173828125,
      "step": 9363
    },
    {
      "epoch": 2.1009647745120037,
      "grad_norm": 0.30389323830604553,
      "learning_rate": 0.00010880922141508392,
      "loss": 0.0357,
      "step": 9364
    },
    {
      "epoch": 2.1009647745120037,
      "gripper_loss": 0.71484375,
      "loss": 0.03955078125,
      "pos_loss": 0.06201171875,
      "rot_loss": 0.09375,
      "step": 9364
    },
    {
      "epoch": 2.1011891406775858,
      "grad_norm": 0.35335639119148254,
      "learning_rate": 0.00010875924851719607,
      "loss": 0.0575,
      "step": 9365
    },
    {
      "epoch": 2.1011891406775858,
      "gripper_loss": 0.00830078125,
      "loss": 0.07666015625,
      "pos_loss": 0.3671875,
      "rot_loss": 0.421875,
      "step": 9365
    },
    {
      "epoch": 2.101413506843168,
      "grad_norm": 0.46715864539146423,
      "learning_rate": 0.00010870928390725162,
      "loss": 0.0595,
      "step": 9366
    },
    {
      "epoch": 2.101413506843168,
      "gripper_loss": 0.251953125,
      "loss": 0.1669921875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.53125,
      "step": 9366
    },
    {
      "epoch": 2.1016378730087504,
      "grad_norm": 1.4279648065567017,
      "learning_rate": 0.00010865932758818259,
      "loss": 0.1888,
      "step": 9367
    },
    {
      "epoch": 2.1016378730087504,
      "gripper_loss": 0.0576171875,
      "loss": 0.028564453125,
      "pos_loss": 0.068359375,
      "rot_loss": 0.181640625,
      "step": 9367
    },
    {
      "epoch": 2.1018622391743325,
      "grad_norm": 0.3305104970932007,
      "learning_rate": 0.00010860937956292039,
      "loss": 0.052,
      "step": 9368
    },
    {
      "epoch": 2.1018622391743325,
      "gripper_loss": 0.07568359375,
      "loss": 0.03564453125,
      "pos_loss": 0.049072265625,
      "rot_loss": 0.279296875,
      "step": 9368
    },
    {
      "epoch": 2.1020866053399145,
      "grad_norm": 0.3072490394115448,
      "learning_rate": 0.00010855943983439604,
      "loss": 0.0387,
      "step": 9369
    },
    {
      "epoch": 2.1020866053399145,
      "gripper_loss": 0.004974365234375,
      "loss": 0.0703125,
      "pos_loss": 0.6796875,
      "rot_loss": 0.04248046875,
      "step": 9369
    },
    {
      "epoch": 2.102310971505497,
      "grad_norm": 0.34431806206703186,
      "learning_rate": 0.00010850950840553978,
      "loss": 0.0438,
      "step": 9370
    },
    {
      "epoch": 2.102310971505497,
      "gripper_loss": 0.004608154296875,
      "loss": 0.1962890625,
      "pos_loss": 1.1953125,
      "rot_loss": 0.8671875,
      "step": 9370
    },
    {
      "epoch": 2.102535337671079,
      "grad_norm": 0.4541817903518677,
      "learning_rate": 0.00010845958527928176,
      "loss": 0.0712,
      "step": 9371
    },
    {
      "epoch": 2.102535337671079,
      "gripper_loss": 0.022705078125,
      "loss": 0.009033203125,
      "pos_loss": 0.0286865234375,
      "rot_loss": 0.0283203125,
      "step": 9371
    },
    {
      "epoch": 2.102759703836661,
      "grad_norm": 0.38399001955986023,
      "learning_rate": 0.00010840967045855127,
      "loss": 0.0541,
      "step": 9372
    },
    {
      "epoch": 2.102759703836661,
      "gripper_loss": 0.006011962890625,
      "loss": 0.0986328125,
      "pos_loss": 0.8828125,
      "rot_loss": 0.1318359375,
      "step": 9372
    },
    {
      "epoch": 2.1029840700022437,
      "grad_norm": 0.4101022183895111,
      "learning_rate": 0.00010835976394627748,
      "loss": 0.0558,
      "step": 9373
    },
    {
      "epoch": 2.1029840700022437,
      "gripper_loss": 0.1103515625,
      "loss": 0.049072265625,
      "pos_loss": 0.26953125,
      "rot_loss": 0.12158203125,
      "step": 9373
    },
    {
      "epoch": 2.103208436167826,
      "grad_norm": 0.6374643445014954,
      "learning_rate": 0.00010830986574538865,
      "loss": 0.0627,
      "step": 9374
    },
    {
      "epoch": 2.103208436167826,
      "gripper_loss": 0.0257568359375,
      "loss": 0.041748046875,
      "pos_loss": 0.29296875,
      "rot_loss": 0.109375,
      "step": 9374
    },
    {
      "epoch": 2.1034328023334083,
      "grad_norm": 0.3904469907283783,
      "learning_rate": 0.00010825997585881291,
      "loss": 0.0678,
      "step": 9375
    },
    {
      "epoch": 2.1034328023334083,
      "gripper_loss": 0.55078125,
      "loss": 0.0673828125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.169921875,
      "step": 9375
    },
    {
      "epoch": 2.1036571684989904,
      "grad_norm": 0.34719640016555786,
      "learning_rate": 0.0001082100942894778,
      "loss": 0.0406,
      "step": 9376
    },
    {
      "epoch": 2.1036571684989904,
      "gripper_loss": 0.173828125,
      "loss": 0.04443359375,
      "pos_loss": 0.1953125,
      "rot_loss": 0.1650390625,
      "step": 9376
    },
    {
      "epoch": 2.1038815346645725,
      "grad_norm": 0.47900477051734924,
      "learning_rate": 0.00010816022104031032,
      "loss": 0.0706,
      "step": 9377
    },
    {
      "epoch": 2.1038815346645725,
      "gripper_loss": 0.0301513671875,
      "loss": 0.0272216796875,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.10400390625,
      "step": 9377
    },
    {
      "epoch": 2.104105900830155,
      "grad_norm": 0.3925155699253082,
      "learning_rate": 0.00010811035611423709,
      "loss": 0.0468,
      "step": 9378
    },
    {
      "epoch": 2.104105900830155,
      "gripper_loss": 0.90625,
      "loss": 0.04541015625,
      "pos_loss": 0.0274658203125,
      "rot_loss": 0.1279296875,
      "step": 9378
    },
    {
      "epoch": 2.104330266995737,
      "grad_norm": 0.24838876724243164,
      "learning_rate": 0.00010806049951418401,
      "loss": 0.0414,
      "step": 9379
    },
    {
      "epoch": 2.104330266995737,
      "gripper_loss": 0.019287109375,
      "loss": 0.036865234375,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.126953125,
      "step": 9379
    },
    {
      "epoch": 2.104554633161319,
      "grad_norm": 0.38002824783325195,
      "learning_rate": 0.00010801065124307671,
      "loss": 0.0448,
      "step": 9380
    },
    {
      "epoch": 2.104554633161319,
      "gripper_loss": 0.03857421875,
      "loss": 0.052490234375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.1552734375,
      "step": 9380
    },
    {
      "epoch": 2.1047789993269017,
      "grad_norm": 0.4246479272842407,
      "learning_rate": 0.00010796081130384025,
      "loss": 0.0929,
      "step": 9381
    },
    {
      "epoch": 2.1047789993269017,
      "gripper_loss": 0.0218505859375,
      "loss": 0.0233154296875,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.033447265625,
      "step": 9381
    },
    {
      "epoch": 2.105003365492484,
      "grad_norm": 0.44163239002227783,
      "learning_rate": 0.00010791097969939937,
      "loss": 0.0397,
      "step": 9382
    },
    {
      "epoch": 2.105003365492484,
      "gripper_loss": 0.283203125,
      "loss": 0.10498046875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.39453125,
      "step": 9382
    },
    {
      "epoch": 2.105227731658066,
      "grad_norm": 0.9171966910362244,
      "learning_rate": 0.0001078611564326779,
      "loss": 0.115,
      "step": 9383
    },
    {
      "epoch": 2.105227731658066,
      "gripper_loss": 0.396484375,
      "loss": 0.06787109375,
      "pos_loss": 0.54296875,
      "rot_loss": 0.010009765625,
      "step": 9383
    },
    {
      "epoch": 2.1054520978236484,
      "grad_norm": 0.4226215183734894,
      "learning_rate": 0.00010781134150659968,
      "loss": 0.0531,
      "step": 9384
    },
    {
      "epoch": 2.1054520978236484,
      "gripper_loss": 0.201171875,
      "loss": 0.08740234375,
      "pos_loss": 0.6484375,
      "rot_loss": 0.1591796875,
      "step": 9384
    },
    {
      "epoch": 2.1056764639892305,
      "grad_norm": 0.49737420678138733,
      "learning_rate": 0.00010776153492408766,
      "loss": 0.0865,
      "step": 9385
    },
    {
      "epoch": 2.1056764639892305,
      "gripper_loss": 0.039306640625,
      "loss": 0.11328125,
      "pos_loss": 0.96875,
      "rot_loss": 0.1787109375,
      "step": 9385
    },
    {
      "epoch": 2.1059008301548126,
      "grad_norm": 0.35145458579063416,
      "learning_rate": 0.00010771173668806461,
      "loss": 0.0618,
      "step": 9386
    },
    {
      "epoch": 2.1059008301548126,
      "gripper_loss": 0.0439453125,
      "loss": 0.068359375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.119140625,
      "step": 9386
    },
    {
      "epoch": 2.106125196320395,
      "grad_norm": 0.553551435470581,
      "learning_rate": 0.0001076619468014525,
      "loss": 0.0739,
      "step": 9387
    },
    {
      "epoch": 2.106125196320395,
      "gripper_loss": 0.025390625,
      "loss": 0.10400390625,
      "pos_loss": 0.87890625,
      "rot_loss": 0.169921875,
      "step": 9387
    },
    {
      "epoch": 2.106349562485977,
      "grad_norm": 0.4643590450286865,
      "learning_rate": 0.00010761216526717307,
      "loss": 0.0623,
      "step": 9388
    },
    {
      "epoch": 2.106349562485977,
      "gripper_loss": 0.019775390625,
      "loss": 0.026611328125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.05126953125,
      "step": 9388
    },
    {
      "epoch": 2.1065739286515592,
      "grad_norm": 0.5405508279800415,
      "learning_rate": 0.00010756239208814747,
      "loss": 0.0677,
      "step": 9389
    },
    {
      "epoch": 2.1065739286515592,
      "gripper_loss": 0.0234375,
      "loss": 0.042236328125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.126953125,
      "step": 9389
    },
    {
      "epoch": 2.1067982948171418,
      "grad_norm": 0.3518177568912506,
      "learning_rate": 0.00010751262726729649,
      "loss": 0.0447,
      "step": 9390
    },
    {
      "epoch": 2.1067982948171418,
      "gripper_loss": 0.87890625,
      "loss": 0.1357421875,
      "pos_loss": 1.1015625,
      "rot_loss": 0.017578125,
      "step": 9390
    },
    {
      "epoch": 2.107022660982724,
      "grad_norm": 0.7837654948234558,
      "learning_rate": 0.00010746287080754009,
      "loss": 0.0802,
      "step": 9391
    },
    {
      "epoch": 2.107022660982724,
      "gripper_loss": 0.0072021484375,
      "loss": 0.0201416015625,
      "pos_loss": 0.1171875,
      "rot_loss": 0.06591796875,
      "step": 9391
    },
    {
      "epoch": 2.107247027148306,
      "grad_norm": 0.39132049679756165,
      "learning_rate": 0.00010741312271179804,
      "loss": 0.0435,
      "step": 9392
    },
    {
      "epoch": 2.107247027148306,
      "gripper_loss": 0.10546875,
      "loss": 0.0162353515625,
      "pos_loss": 0.044189453125,
      "rot_loss": 0.0673828125,
      "step": 9392
    },
    {
      "epoch": 2.1074713933138884,
      "grad_norm": 0.43597280979156494,
      "learning_rate": 0.00010736338298298958,
      "loss": 0.054,
      "step": 9393
    },
    {
      "epoch": 2.1074713933138884,
      "gripper_loss": 0.515625,
      "loss": 0.05126953125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.185546875,
      "step": 9393
    },
    {
      "epoch": 2.1076957594794705,
      "grad_norm": 0.4008044898509979,
      "learning_rate": 0.00010731365162403348,
      "loss": 0.0703,
      "step": 9394
    },
    {
      "epoch": 2.1076957594794705,
      "gripper_loss": 0.022705078125,
      "loss": 0.0556640625,
      "pos_loss": 0.123046875,
      "rot_loss": 0.4140625,
      "step": 9394
    },
    {
      "epoch": 2.1079201256450526,
      "grad_norm": 0.3887213468551636,
      "learning_rate": 0.00010726392863784776,
      "loss": 0.0429,
      "step": 9395
    },
    {
      "epoch": 2.1079201256450526,
      "gripper_loss": 0.158203125,
      "loss": 0.048095703125,
      "pos_loss": 0.2890625,
      "rot_loss": 0.1396484375,
      "step": 9395
    },
    {
      "epoch": 2.108144491810635,
      "grad_norm": 0.3191168010234833,
      "learning_rate": 0.00010721421402735035,
      "loss": 0.0467,
      "step": 9396
    },
    {
      "epoch": 2.108144491810635,
      "gripper_loss": 0.026611328125,
      "loss": 0.0322265625,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.1328125,
      "step": 9396
    },
    {
      "epoch": 2.108368857976217,
      "grad_norm": 0.24444735050201416,
      "learning_rate": 0.00010716450779545828,
      "loss": 0.0404,
      "step": 9397
    },
    {
      "epoch": 2.108368857976217,
      "gripper_loss": 0.038330078125,
      "loss": 0.04541015625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.12353515625,
      "step": 9397
    },
    {
      "epoch": 2.1085932241417993,
      "grad_norm": 0.3012845814228058,
      "learning_rate": 0.00010711480994508838,
      "loss": 0.0393,
      "step": 9398
    },
    {
      "epoch": 2.1085932241417993,
      "gripper_loss": 0.0032958984375,
      "loss": 0.0269775390625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.0120849609375,
      "step": 9398
    },
    {
      "epoch": 2.108817590307382,
      "grad_norm": 0.3918410539627075,
      "learning_rate": 0.00010706512047915701,
      "loss": 0.0381,
      "step": 9399
    },
    {
      "epoch": 2.108817590307382,
      "gripper_loss": 0.09375,
      "loss": 0.046142578125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.251953125,
      "step": 9399
    },
    {
      "epoch": 2.109041956472964,
      "grad_norm": 0.43165913224220276,
      "learning_rate": 0.00010701543940057973,
      "loss": 0.0517,
      "step": 9400
    },
    {
      "epoch": 2.109041956472964,
      "gripper_loss": 1.265625,
      "loss": 0.10205078125,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.2890625,
      "step": 9400
    },
    {
      "epoch": 2.109266322638546,
      "grad_norm": 0.6356053948402405,
      "learning_rate": 0.00010696576671227187,
      "loss": 0.0905,
      "step": 9401
    },
    {
      "epoch": 2.109266322638546,
      "gripper_loss": 0.055419921875,
      "loss": 0.0220947265625,
      "pos_loss": 0.087890625,
      "rot_loss": 0.0810546875,
      "step": 9401
    },
    {
      "epoch": 2.1094906888041285,
      "grad_norm": 0.3635946810245514,
      "learning_rate": 0.00010691610241714825,
      "loss": 0.0512,
      "step": 9402
    },
    {
      "epoch": 2.1094906888041285,
      "gripper_loss": 0.01446533203125,
      "loss": 0.0380859375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.1220703125,
      "step": 9402
    },
    {
      "epoch": 2.1097150549697106,
      "grad_norm": 0.2814496159553528,
      "learning_rate": 0.00010686644651812319,
      "loss": 0.0547,
      "step": 9403
    },
    {
      "epoch": 2.1097150549697106,
      "gripper_loss": 0.007080078125,
      "loss": 0.0224609375,
      "pos_loss": 0.109375,
      "rot_loss": 0.0888671875,
      "step": 9403
    },
    {
      "epoch": 2.1099394211352926,
      "grad_norm": 0.44463080167770386,
      "learning_rate": 0.00010681679901811032,
      "loss": 0.0481,
      "step": 9404
    },
    {
      "epoch": 2.1099394211352926,
      "gripper_loss": 0.1376953125,
      "loss": 0.05078125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.30078125,
      "step": 9404
    },
    {
      "epoch": 2.110163787300875,
      "grad_norm": 0.2964460849761963,
      "learning_rate": 0.00010676715992002303,
      "loss": 0.0478,
      "step": 9405
    },
    {
      "epoch": 2.110163787300875,
      "gripper_loss": 0.166015625,
      "loss": 0.044921875,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.296875,
      "step": 9405
    },
    {
      "epoch": 2.1103881534664573,
      "grad_norm": 0.38655877113342285,
      "learning_rate": 0.0001067175292267742,
      "loss": 0.051,
      "step": 9406
    },
    {
      "epoch": 2.1103881534664573,
      "gripper_loss": 0.004486083984375,
      "loss": 0.0546875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.16015625,
      "step": 9406
    },
    {
      "epoch": 2.1106125196320393,
      "grad_norm": 0.4583984315395355,
      "learning_rate": 0.00010666790694127596,
      "loss": 0.0504,
      "step": 9407
    },
    {
      "epoch": 2.1106125196320393,
      "gripper_loss": 0.03076171875,
      "loss": 0.03955078125,
      "pos_loss": 0.328125,
      "rot_loss": 0.059326171875,
      "step": 9407
    },
    {
      "epoch": 2.110836885797622,
      "grad_norm": 0.47693637013435364,
      "learning_rate": 0.0001066182930664403,
      "loss": 0.0557,
      "step": 9408
    },
    {
      "epoch": 2.110836885797622,
      "gripper_loss": 0.00543212890625,
      "loss": 0.03369140625,
      "pos_loss": 0.240234375,
      "rot_loss": 0.087890625,
      "step": 9408
    },
    {
      "epoch": 2.111061251963204,
      "grad_norm": 0.4278535544872284,
      "learning_rate": 0.00010656868760517835,
      "loss": 0.0468,
      "step": 9409
    },
    {
      "epoch": 2.111061251963204,
      "gripper_loss": 0.02880859375,
      "loss": 0.01806640625,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.08203125,
      "step": 9409
    },
    {
      "epoch": 2.111285618128786,
      "grad_norm": 0.3570746183395386,
      "learning_rate": 0.00010651909056040104,
      "loss": 0.07,
      "step": 9410
    },
    {
      "epoch": 2.111285618128786,
      "gripper_loss": 0.02001953125,
      "loss": 0.0888671875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.390625,
      "step": 9410
    },
    {
      "epoch": 2.1115099842943685,
      "grad_norm": 0.3229590356349945,
      "learning_rate": 0.0001064695019350187,
      "loss": 0.0483,
      "step": 9411
    },
    {
      "epoch": 2.1115099842943685,
      "gripper_loss": 0.369140625,
      "loss": 0.021728515625,
      "pos_loss": 0.0211181640625,
      "rot_loss": 0.059326171875,
      "step": 9411
    },
    {
      "epoch": 2.1117343504599506,
      "grad_norm": 0.24615639448165894,
      "learning_rate": 0.00010641992173194126,
      "loss": 0.0341,
      "step": 9412
    },
    {
      "epoch": 2.1117343504599506,
      "gripper_loss": 0.046142578125,
      "loss": 0.07568359375,
      "pos_loss": 0.734375,
      "rot_loss": 0.025390625,
      "step": 9412
    },
    {
      "epoch": 2.1119587166255327,
      "grad_norm": 0.3284721076488495,
      "learning_rate": 0.00010637034995407788,
      "loss": 0.0432,
      "step": 9413
    },
    {
      "epoch": 2.1119587166255327,
      "gripper_loss": 1.0703125,
      "loss": 0.0537109375,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.015869140625,
      "step": 9413
    },
    {
      "epoch": 2.112183082791115,
      "grad_norm": 0.4340510070323944,
      "learning_rate": 0.0001063207866043375,
      "loss": 0.045,
      "step": 9414
    },
    {
      "epoch": 2.112183082791115,
      "gripper_loss": 0.0128173828125,
      "loss": 0.060302734375,
      "pos_loss": 0.314453125,
      "rot_loss": 0.287109375,
      "step": 9414
    },
    {
      "epoch": 2.1124074489566973,
      "grad_norm": 0.3196333646774292,
      "learning_rate": 0.00010627123168562847,
      "loss": 0.0571,
      "step": 9415
    },
    {
      "epoch": 2.1124074489566973,
      "gripper_loss": 0.47265625,
      "loss": 0.08984375,
      "pos_loss": 0.50390625,
      "rot_loss": 0.26171875,
      "step": 9415
    },
    {
      "epoch": 2.1126318151222794,
      "grad_norm": 0.3799491822719574,
      "learning_rate": 0.00010622168520085874,
      "loss": 0.0528,
      "step": 9416
    },
    {
      "epoch": 2.1126318151222794,
      "gripper_loss": 0.58984375,
      "loss": 0.041015625,
      "pos_loss": 0.17578125,
      "rot_loss": 0.032958984375,
      "step": 9416
    },
    {
      "epoch": 2.112856181287862,
      "grad_norm": 0.3933563828468323,
      "learning_rate": 0.00010617214715293549,
      "loss": 0.0544,
      "step": 9417
    },
    {
      "epoch": 2.112856181287862,
      "gripper_loss": 0.625,
      "loss": 0.031494140625,
      "pos_loss": 0.06884765625,
      "rot_loss": 0.02880859375,
      "step": 9417
    },
    {
      "epoch": 2.113080547453444,
      "grad_norm": 0.3237079977989197,
      "learning_rate": 0.00010612261754476582,
      "loss": 0.0409,
      "step": 9418
    },
    {
      "epoch": 2.113080547453444,
      "gripper_loss": 0.076171875,
      "loss": 0.0283203125,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.07666015625,
      "step": 9418
    },
    {
      "epoch": 2.113304913619026,
      "grad_norm": 0.35961371660232544,
      "learning_rate": 0.00010607309637925585,
      "loss": 0.0461,
      "step": 9419
    },
    {
      "epoch": 2.113304913619026,
      "gripper_loss": 0.2314453125,
      "loss": 0.030517578125,
      "pos_loss": 0.15625,
      "rot_loss": 0.04150390625,
      "step": 9419
    },
    {
      "epoch": 2.1135292797846086,
      "grad_norm": 0.23903007805347443,
      "learning_rate": 0.00010602358365931169,
      "loss": 0.0354,
      "step": 9420
    },
    {
      "epoch": 2.1135292797846086,
      "gripper_loss": 1.1484375,
      "loss": 0.083984375,
      "pos_loss": 0.474609375,
      "rot_loss": 0.01373291015625,
      "step": 9420
    },
    {
      "epoch": 2.1137536459501907,
      "grad_norm": 0.4471832811832428,
      "learning_rate": 0.00010597407938783855,
      "loss": 0.044,
      "step": 9421
    },
    {
      "epoch": 2.1137536459501907,
      "gripper_loss": 0.007598876953125,
      "loss": 0.037353515625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.11083984375,
      "step": 9421
    },
    {
      "epoch": 2.1139780121157727,
      "grad_norm": 0.3527944087982178,
      "learning_rate": 0.00010592458356774134,
      "loss": 0.0458,
      "step": 9422
    },
    {
      "epoch": 2.1139780121157727,
      "gripper_loss": 0.296875,
      "loss": 0.0172119140625,
      "pos_loss": 0.0267333984375,
      "rot_loss": 0.029296875,
      "step": 9422
    },
    {
      "epoch": 2.1142023782813553,
      "grad_norm": 0.26648786664009094,
      "learning_rate": 0.00010587509620192453,
      "loss": 0.0276,
      "step": 9423
    },
    {
      "epoch": 2.1142023782813553,
      "gripper_loss": 0.058837890625,
      "loss": 0.07421875,
      "pos_loss": 0.484375,
      "rot_loss": 0.263671875,
      "step": 9423
    },
    {
      "epoch": 2.1144267444469373,
      "grad_norm": 0.3949108123779297,
      "learning_rate": 0.00010582561729329199,
      "loss": 0.0471,
      "step": 9424
    },
    {
      "epoch": 2.1144267444469373,
      "gripper_loss": 0.0089111328125,
      "loss": 0.10693359375,
      "pos_loss": 0.875,
      "rot_loss": 0.2158203125,
      "step": 9424
    },
    {
      "epoch": 2.1146511106125194,
      "grad_norm": 0.3521965742111206,
      "learning_rate": 0.0001057761468447472,
      "loss": 0.0668,
      "step": 9425
    },
    {
      "epoch": 2.1146511106125194,
      "gripper_loss": 0.017333984375,
      "loss": 0.045166015625,
      "pos_loss": 0.302734375,
      "rot_loss": 0.146484375,
      "step": 9425
    },
    {
      "epoch": 2.114875476778102,
      "grad_norm": 0.5749922394752502,
      "learning_rate": 0.0001057266848591929,
      "loss": 0.0538,
      "step": 9426
    },
    {
      "epoch": 2.114875476778102,
      "gripper_loss": 0.00518798828125,
      "loss": 0.01519775390625,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.06787109375,
      "step": 9426
    },
    {
      "epoch": 2.115099842943684,
      "grad_norm": 0.5301616787910461,
      "learning_rate": 0.00010567723133953155,
      "loss": 0.0532,
      "step": 9427
    },
    {
      "epoch": 2.115099842943684,
      "gripper_loss": 1.78125,
      "loss": 0.06494140625,
      "pos_loss": 0.01611328125,
      "rot_loss": 0.05908203125,
      "step": 9427
    },
    {
      "epoch": 2.115324209109266,
      "grad_norm": 0.29743313789367676,
      "learning_rate": 0.00010562778628866513,
      "loss": 0.0553,
      "step": 9428
    },
    {
      "epoch": 2.115324209109266,
      "gripper_loss": 0.0279541015625,
      "loss": 0.052490234375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.1845703125,
      "step": 9428
    },
    {
      "epoch": 2.1155485752748486,
      "grad_norm": 0.4240890145301819,
      "learning_rate": 0.00010557834970949507,
      "loss": 0.0427,
      "step": 9429
    },
    {
      "epoch": 2.1155485752748486,
      "gripper_loss": 0.1044921875,
      "loss": 0.07958984375,
      "pos_loss": 0.29296875,
      "rot_loss": 0.181640625,
      "step": 9429
    },
    {
      "epoch": 2.1157729414404307,
      "grad_norm": 0.9279640316963196,
      "learning_rate": 0.00010552892160492213,
      "loss": 0.0764,
      "step": 9430
    },
    {
      "epoch": 2.1157729414404307,
      "gripper_loss": 0.0035247802734375,
      "loss": 0.035400390625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.09912109375,
      "step": 9430
    },
    {
      "epoch": 2.115997307606013,
      "grad_norm": 0.4138621389865875,
      "learning_rate": 0.00010547950197784694,
      "loss": 0.0432,
      "step": 9431
    },
    {
      "epoch": 2.115997307606013,
      "gripper_loss": 0.030517578125,
      "loss": 0.06982421875,
      "pos_loss": 0.396484375,
      "rot_loss": 0.2451171875,
      "step": 9431
    },
    {
      "epoch": 2.1162216737715953,
      "grad_norm": 0.6274796724319458,
      "learning_rate": 0.00010543009083116919,
      "loss": 0.078,
      "step": 9432
    },
    {
      "epoch": 2.1162216737715953,
      "gripper_loss": 0.287109375,
      "loss": 0.059814453125,
      "pos_loss": 0.455078125,
      "rot_loss": 0.053955078125,
      "step": 9432
    },
    {
      "epoch": 2.1164460399371774,
      "grad_norm": 0.3372971713542938,
      "learning_rate": 0.00010538068816778854,
      "loss": 0.0617,
      "step": 9433
    },
    {
      "epoch": 2.1164460399371774,
      "gripper_loss": 0.96875,
      "loss": 0.15234375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.298828125,
      "step": 9433
    },
    {
      "epoch": 2.11667040610276,
      "grad_norm": 0.8653473854064941,
      "learning_rate": 0.00010533129399060368,
      "loss": 0.1603,
      "step": 9434
    },
    {
      "epoch": 2.11667040610276,
      "gripper_loss": 0.142578125,
      "loss": 0.0257568359375,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.09716796875,
      "step": 9434
    },
    {
      "epoch": 2.116894772268342,
      "grad_norm": 0.31764793395996094,
      "learning_rate": 0.00010528190830251317,
      "loss": 0.048,
      "step": 9435
    },
    {
      "epoch": 2.116894772268342,
      "gripper_loss": 0.03125,
      "loss": 0.0322265625,
      "pos_loss": 0.03076171875,
      "rot_loss": 0.271484375,
      "step": 9435
    },
    {
      "epoch": 2.117119138433924,
      "grad_norm": 0.3634975850582123,
      "learning_rate": 0.00010523253110641492,
      "loss": 0.0466,
      "step": 9436
    },
    {
      "epoch": 2.117119138433924,
      "gripper_loss": 0.1103515625,
      "loss": 0.02001953125,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.0966796875,
      "step": 9436
    },
    {
      "epoch": 2.1173435045995066,
      "grad_norm": 0.42419224977493286,
      "learning_rate": 0.00010518316240520636,
      "loss": 0.0577,
      "step": 9437
    },
    {
      "epoch": 2.1173435045995066,
      "gripper_loss": 0.004302978515625,
      "loss": 0.099609375,
      "pos_loss": 0.8671875,
      "rot_loss": 0.162109375,
      "step": 9437
    },
    {
      "epoch": 2.1175678707650887,
      "grad_norm": 1.087899923324585,
      "learning_rate": 0.00010513380220178453,
      "loss": 0.0512,
      "step": 9438
    },
    {
      "epoch": 2.1175678707650887,
      "gripper_loss": 0.0245361328125,
      "loss": 0.057373046875,
      "pos_loss": 0.279296875,
      "rot_loss": 0.185546875,
      "step": 9438
    },
    {
      "epoch": 2.1177922369306708,
      "grad_norm": 0.540225088596344,
      "learning_rate": 0.00010508445049904569,
      "loss": 0.0736,
      "step": 9439
    },
    {
      "epoch": 2.1177922369306708,
      "gripper_loss": 0.1064453125,
      "loss": 0.05029296875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.16796875,
      "step": 9439
    },
    {
      "epoch": 2.1180166030962533,
      "grad_norm": 0.41991126537323,
      "learning_rate": 0.00010503510729988583,
      "loss": 0.0475,
      "step": 9440
    },
    {
      "epoch": 2.1180166030962533,
      "gripper_loss": 0.08740234375,
      "loss": 0.046875,
      "pos_loss": 0.341796875,
      "rot_loss": 0.0673828125,
      "step": 9440
    },
    {
      "epoch": 2.1182409692618354,
      "grad_norm": 0.6683031320571899,
      "learning_rate": 0.00010498577260720049,
      "loss": 0.0616,
      "step": 9441
    },
    {
      "epoch": 2.1182409692618354,
      "gripper_loss": 0.040771484375,
      "loss": 0.029296875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.03125,
      "step": 9441
    },
    {
      "epoch": 2.1184653354274174,
      "grad_norm": 0.28804588317871094,
      "learning_rate": 0.00010493644642388444,
      "loss": 0.0415,
      "step": 9442
    },
    {
      "epoch": 2.1184653354274174,
      "gripper_loss": 0.00634765625,
      "loss": 0.048828125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.08447265625,
      "step": 9442
    },
    {
      "epoch": 2.118689701593,
      "grad_norm": 0.3724914491176605,
      "learning_rate": 0.00010488712875283229,
      "loss": 0.0577,
      "step": 9443
    },
    {
      "epoch": 2.118689701593,
      "gripper_loss": 0.01007080078125,
      "loss": 0.0380859375,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.1396484375,
      "step": 9443
    },
    {
      "epoch": 2.118914067758582,
      "grad_norm": 0.589487612247467,
      "learning_rate": 0.0001048378195969378,
      "loss": 0.045,
      "step": 9444
    },
    {
      "epoch": 2.118914067758582,
      "gripper_loss": 0.19140625,
      "loss": 0.029541015625,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.1513671875,
      "step": 9444
    },
    {
      "epoch": 2.119138433924164,
      "grad_norm": 0.29066982865333557,
      "learning_rate": 0.0001047885189590945,
      "loss": 0.0369,
      "step": 9445
    },
    {
      "epoch": 2.119138433924164,
      "gripper_loss": 0.265625,
      "loss": 0.0869140625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.13671875,
      "step": 9445
    },
    {
      "epoch": 2.1193628000897466,
      "grad_norm": 1.0888333320617676,
      "learning_rate": 0.00010473922684219542,
      "loss": 0.1015,
      "step": 9446
    },
    {
      "epoch": 2.1193628000897466,
      "gripper_loss": 0.1044921875,
      "loss": 0.0186767578125,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.09423828125,
      "step": 9446
    },
    {
      "epoch": 2.1195871662553287,
      "grad_norm": 0.3581719696521759,
      "learning_rate": 0.00010468994324913281,
      "loss": 0.038,
      "step": 9447
    },
    {
      "epoch": 2.1195871662553287,
      "gripper_loss": 0.478515625,
      "loss": 0.046142578125,
      "pos_loss": 0.119140625,
      "rot_loss": 0.17578125,
      "step": 9447
    },
    {
      "epoch": 2.119811532420911,
      "grad_norm": 0.4099363684654236,
      "learning_rate": 0.00010464066818279871,
      "loss": 0.0451,
      "step": 9448
    },
    {
      "epoch": 2.119811532420911,
      "gripper_loss": 0.006683349609375,
      "loss": 0.0274658203125,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.056640625,
      "step": 9448
    },
    {
      "epoch": 2.1200358985864933,
      "grad_norm": 0.44870525598526,
      "learning_rate": 0.00010459140164608454,
      "loss": 0.0556,
      "step": 9449
    },
    {
      "epoch": 2.1200358985864933,
      "gripper_loss": 0.00537109375,
      "loss": 0.205078125,
      "pos_loss": 0.96484375,
      "rot_loss": 1.1796875,
      "step": 9449
    },
    {
      "epoch": 2.1202602647520754,
      "grad_norm": 1.202757477760315,
      "learning_rate": 0.00010454214364188139,
      "loss": 0.0858,
      "step": 9450
    },
    {
      "epoch": 2.1202602647520754,
      "gripper_loss": 0.07275390625,
      "loss": 0.08935546875,
      "pos_loss": 0.8671875,
      "rot_loss": 0.01953125,
      "step": 9450
    },
    {
      "epoch": 2.1204846309176575,
      "grad_norm": 0.39451590180397034,
      "learning_rate": 0.00010449289417307944,
      "loss": 0.0556,
      "step": 9451
    },
    {
      "epoch": 2.1204846309176575,
      "gripper_loss": 0.0615234375,
      "loss": 0.091796875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.408203125,
      "step": 9451
    },
    {
      "epoch": 2.12070899708324,
      "grad_norm": 0.6507951617240906,
      "learning_rate": 0.00010444365324256874,
      "loss": 0.0626,
      "step": 9452
    },
    {
      "epoch": 2.12070899708324,
      "gripper_loss": 0.01556396484375,
      "loss": 0.1337890625,
      "pos_loss": 0.6875,
      "rot_loss": 0.68359375,
      "step": 9452
    },
    {
      "epoch": 2.120933363248822,
      "grad_norm": 0.7049063444137573,
      "learning_rate": 0.00010439442085323883,
      "loss": 0.0712,
      "step": 9453
    },
    {
      "epoch": 2.120933363248822,
      "gripper_loss": 0.6015625,
      "loss": 0.0308837890625,
      "pos_loss": 0.023193359375,
      "rot_loss": 0.07275390625,
      "step": 9453
    },
    {
      "epoch": 2.121157729414404,
      "grad_norm": 0.6517685651779175,
      "learning_rate": 0.00010434519700797846,
      "loss": 0.0536,
      "step": 9454
    },
    {
      "epoch": 2.121157729414404,
      "gripper_loss": 0.0291748046875,
      "loss": 0.07470703125,
      "pos_loss": 0.734375,
      "rot_loss": 0.0152587890625,
      "step": 9454
    },
    {
      "epoch": 2.1213820955799867,
      "grad_norm": 0.7974573969841003,
      "learning_rate": 0.00010429598170967624,
      "loss": 0.0674,
      "step": 9455
    },
    {
      "epoch": 2.1213820955799867,
      "gripper_loss": 0.07666015625,
      "loss": 0.1611328125,
      "pos_loss": 1.28125,
      "rot_loss": 0.232421875,
      "step": 9455
    },
    {
      "epoch": 2.1216064617455688,
      "grad_norm": 0.6966612935066223,
      "learning_rate": 0.00010424677496121993,
      "loss": 0.0855,
      "step": 9456
    },
    {
      "epoch": 2.1216064617455688,
      "gripper_loss": 0.09521484375,
      "loss": 0.07470703125,
      "pos_loss": 0.37109375,
      "rot_loss": 0.2333984375,
      "step": 9456
    },
    {
      "epoch": 2.121830827911151,
      "grad_norm": 0.6926537752151489,
      "learning_rate": 0.00010419757676549705,
      "loss": 0.0739,
      "step": 9457
    },
    {
      "epoch": 2.121830827911151,
      "gripper_loss": 0.0517578125,
      "loss": 0.15625,
      "pos_loss": 0.7421875,
      "rot_loss": 0.44140625,
      "step": 9457
    },
    {
      "epoch": 2.1220551940767334,
      "grad_norm": 1.2135306596755981,
      "learning_rate": 0.00010414838712539448,
      "loss": 0.1509,
      "step": 9458
    },
    {
      "epoch": 2.1220551940767334,
      "gripper_loss": 0.0203857421875,
      "loss": 0.1826171875,
      "pos_loss": 0.4921875,
      "rot_loss": 1.421875,
      "step": 9458
    },
    {
      "epoch": 2.1222795602423155,
      "grad_norm": 0.6309521198272705,
      "learning_rate": 0.0001040992060437988,
      "loss": 0.0862,
      "step": 9459
    },
    {
      "epoch": 2.1222795602423155,
      "gripper_loss": 0.013916015625,
      "loss": 0.087890625,
      "pos_loss": 0.66015625,
      "rot_loss": 0.224609375,
      "step": 9459
    },
    {
      "epoch": 2.1225039264078975,
      "grad_norm": 0.4620494246482849,
      "learning_rate": 0.00010405003352359573,
      "loss": 0.0684,
      "step": 9460
    },
    {
      "epoch": 2.1225039264078975,
      "gripper_loss": 0.0123291015625,
      "loss": 0.04248046875,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.236328125,
      "step": 9460
    },
    {
      "epoch": 2.12272829257348,
      "grad_norm": 0.4325621426105499,
      "learning_rate": 0.00010400086956767077,
      "loss": 0.046,
      "step": 9461
    },
    {
      "epoch": 2.12272829257348,
      "gripper_loss": 0.2041015625,
      "loss": 0.02490234375,
      "pos_loss": 0.050537109375,
      "rot_loss": 0.0830078125,
      "step": 9461
    },
    {
      "epoch": 2.122952658739062,
      "grad_norm": 0.5311267375946045,
      "learning_rate": 0.00010395171417890886,
      "loss": 0.0583,
      "step": 9462
    },
    {
      "epoch": 2.122952658739062,
      "gripper_loss": 0.66796875,
      "loss": 0.032958984375,
      "pos_loss": 0.020263671875,
      "rot_loss": 0.0556640625,
      "step": 9462
    },
    {
      "epoch": 2.123177024904644,
      "grad_norm": 0.5138424038887024,
      "learning_rate": 0.00010390256736019449,
      "loss": 0.0615,
      "step": 9463
    },
    {
      "epoch": 2.123177024904644,
      "gripper_loss": 0.0206298828125,
      "loss": 0.1455078125,
      "pos_loss": 1.3125,
      "rot_loss": 0.1826171875,
      "step": 9463
    },
    {
      "epoch": 2.1234013910702267,
      "grad_norm": 0.5928286910057068,
      "learning_rate": 0.0001038534291144114,
      "loss": 0.0667,
      "step": 9464
    },
    {
      "epoch": 2.1234013910702267,
      "gripper_loss": 0.0034942626953125,
      "loss": 0.05615234375,
      "pos_loss": 0.4609375,
      "rot_loss": 0.08984375,
      "step": 9464
    },
    {
      "epoch": 2.123625757235809,
      "grad_norm": 0.3518555164337158,
      "learning_rate": 0.00010380429944444317,
      "loss": 0.0416,
      "step": 9465
    },
    {
      "epoch": 2.123625757235809,
      "gripper_loss": 0.025634765625,
      "loss": 0.025634765625,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.1220703125,
      "step": 9465
    },
    {
      "epoch": 2.123850123401391,
      "grad_norm": 0.47130340337753296,
      "learning_rate": 0.00010375517835317255,
      "loss": 0.0438,
      "step": 9466
    },
    {
      "epoch": 2.123850123401391,
      "gripper_loss": 0.1455078125,
      "loss": 0.0322265625,
      "pos_loss": 0.10400390625,
      "rot_loss": 0.1318359375,
      "step": 9466
    },
    {
      "epoch": 2.1240744895669734,
      "grad_norm": 0.4574108123779297,
      "learning_rate": 0.00010370606584348202,
      "loss": 0.0565,
      "step": 9467
    },
    {
      "epoch": 2.1240744895669734,
      "gripper_loss": 0.016357421875,
      "loss": 0.0205078125,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.1064453125,
      "step": 9467
    },
    {
      "epoch": 2.1242988557325555,
      "grad_norm": 0.40854179859161377,
      "learning_rate": 0.00010365696191825354,
      "loss": 0.0571,
      "step": 9468
    },
    {
      "epoch": 2.1242988557325555,
      "gripper_loss": 0.2060546875,
      "loss": 0.035400390625,
      "pos_loss": 0.087890625,
      "rot_loss": 0.19140625,
      "step": 9468
    },
    {
      "epoch": 2.1245232218981376,
      "grad_norm": 0.26707369089126587,
      "learning_rate": 0.00010360786658036839,
      "loss": 0.0494,
      "step": 9469
    },
    {
      "epoch": 2.1245232218981376,
      "gripper_loss": 0.490234375,
      "loss": 0.0498046875,
      "pos_loss": 0.177734375,
      "rot_loss": 0.1669921875,
      "step": 9469
    },
    {
      "epoch": 2.12474758806372,
      "grad_norm": 0.39058220386505127,
      "learning_rate": 0.00010355877983270751,
      "loss": 0.0448,
      "step": 9470
    },
    {
      "epoch": 2.12474758806372,
      "gripper_loss": 0.74609375,
      "loss": 0.03857421875,
      "pos_loss": 0.0235595703125,
      "rot_loss": 0.11279296875,
      "step": 9470
    },
    {
      "epoch": 2.124971954229302,
      "grad_norm": 0.3863063156604767,
      "learning_rate": 0.00010350970167815127,
      "loss": 0.0411,
      "step": 9471
    },
    {
      "epoch": 2.124971954229302,
      "gripper_loss": 0.3984375,
      "loss": 0.030029296875,
      "pos_loss": 0.064453125,
      "rot_loss": 0.0927734375,
      "step": 9471
    },
    {
      "epoch": 2.1251963203948843,
      "grad_norm": 0.6397883892059326,
      "learning_rate": 0.00010346063211957968,
      "loss": 0.0912,
      "step": 9472
    },
    {
      "epoch": 2.1251963203948843,
      "gripper_loss": 0.029296875,
      "loss": 0.08837890625,
      "pos_loss": 0.447265625,
      "rot_loss": 0.423828125,
      "step": 9472
    },
    {
      "epoch": 2.125420686560467,
      "grad_norm": 0.3128027617931366,
      "learning_rate": 0.00010341157115987194,
      "loss": 0.048,
      "step": 9473
    },
    {
      "epoch": 2.125420686560467,
      "gripper_loss": 0.06298828125,
      "loss": 0.0093994140625,
      "pos_loss": 0.0235595703125,
      "rot_loss": 0.02685546875,
      "step": 9473
    },
    {
      "epoch": 2.125645052726049,
      "grad_norm": 0.3790588974952698,
      "learning_rate": 0.000103362518801907,
      "loss": 0.0541,
      "step": 9474
    },
    {
      "epoch": 2.125645052726049,
      "gripper_loss": 0.16015625,
      "loss": 0.1357421875,
      "pos_loss": 1.34375,
      "rot_loss": 0.0159912109375,
      "step": 9474
    },
    {
      "epoch": 2.125869418891631,
      "grad_norm": 0.40578824281692505,
      "learning_rate": 0.00010331347504856322,
      "loss": 0.0622,
      "step": 9475
    },
    {
      "epoch": 2.125869418891631,
      "gripper_loss": 1.0390625,
      "loss": 0.056640625,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.09521484375,
      "step": 9475
    },
    {
      "epoch": 2.1260937850572135,
      "grad_norm": 0.6295914053916931,
      "learning_rate": 0.00010326443990271859,
      "loss": 0.0407,
      "step": 9476
    },
    {
      "epoch": 2.1260937850572135,
      "gripper_loss": 0.283203125,
      "loss": 0.03857421875,
      "pos_loss": 0.1328125,
      "rot_loss": 0.146484375,
      "step": 9476
    },
    {
      "epoch": 2.1263181512227955,
      "grad_norm": 0.3491382300853729,
      "learning_rate": 0.00010321541336725027,
      "loss": 0.0531,
      "step": 9477
    },
    {
      "epoch": 2.1263181512227955,
      "gripper_loss": 0.0240478515625,
      "loss": 0.0211181640625,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.0576171875,
      "step": 9477
    },
    {
      "epoch": 2.1265425173883776,
      "grad_norm": 0.24353677034378052,
      "learning_rate": 0.00010316639544503529,
      "loss": 0.0366,
      "step": 9478
    },
    {
      "epoch": 2.1265425173883776,
      "gripper_loss": 0.244140625,
      "loss": 0.046630859375,
      "pos_loss": 0.291015625,
      "rot_loss": 0.09130859375,
      "step": 9478
    },
    {
      "epoch": 2.12676688355396,
      "grad_norm": 0.40683403611183167,
      "learning_rate": 0.0001031173861389498,
      "loss": 0.0411,
      "step": 9479
    },
    {
      "epoch": 2.12676688355396,
      "gripper_loss": 0.318359375,
      "loss": 0.0361328125,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.08984375,
      "step": 9479
    },
    {
      "epoch": 2.1269912497195422,
      "grad_norm": 0.343167781829834,
      "learning_rate": 0.00010306838545186987,
      "loss": 0.0572,
      "step": 9480
    },
    {
      "epoch": 2.1269912497195422,
      "gripper_loss": 0.01080322265625,
      "loss": 0.06787109375,
      "pos_loss": 0.46875,
      "rot_loss": 0.2197265625,
      "step": 9480
    },
    {
      "epoch": 2.1272156158851248,
      "grad_norm": 0.33186104893684387,
      "learning_rate": 0.00010301939338667063,
      "loss": 0.0588,
      "step": 9481
    },
    {
      "epoch": 2.1272156158851248,
      "gripper_loss": 0.57421875,
      "loss": 0.024658203125,
      "pos_loss": 0.0223388671875,
      "rot_loss": 0.025390625,
      "step": 9481
    },
    {
      "epoch": 2.127439982050707,
      "grad_norm": 0.26466065645217896,
      "learning_rate": 0.000102970409946227,
      "loss": 0.0514,
      "step": 9482
    },
    {
      "epoch": 2.127439982050707,
      "gripper_loss": 0.054931640625,
      "loss": 0.060791015625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.2890625,
      "step": 9482
    },
    {
      "epoch": 2.127664348216289,
      "grad_norm": 0.315339058637619,
      "learning_rate": 0.00010292143513341331,
      "loss": 0.0723,
      "step": 9483
    },
    {
      "epoch": 2.127664348216289,
      "gripper_loss": 0.365234375,
      "loss": 0.341796875,
      "pos_loss": 0.53125,
      "rot_loss": 0.21484375,
      "step": 9483
    },
    {
      "epoch": 2.1278887143818714,
      "grad_norm": 1.6431905031204224,
      "learning_rate": 0.00010287246895110341,
      "loss": 0.384,
      "step": 9484
    },
    {
      "epoch": 2.1278887143818714,
      "gripper_loss": 0.4921875,
      "loss": 0.035888671875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.0478515625,
      "step": 9484
    },
    {
      "epoch": 2.1281130805474535,
      "grad_norm": 0.251116544008255,
      "learning_rate": 0.00010282351140217067,
      "loss": 0.0497,
      "step": 9485
    },
    {
      "epoch": 2.1281130805474535,
      "gripper_loss": 0.56640625,
      "loss": 0.0703125,
      "pos_loss": 0.283203125,
      "rot_loss": 0.25390625,
      "step": 9485
    },
    {
      "epoch": 2.1283374467130356,
      "grad_norm": 0.33182525634765625,
      "learning_rate": 0.00010277456248948772,
      "loss": 0.0635,
      "step": 9486
    },
    {
      "epoch": 2.1283374467130356,
      "gripper_loss": 0.02490234375,
      "loss": 0.0947265625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.55078125,
      "step": 9486
    },
    {
      "epoch": 2.128561812878618,
      "grad_norm": 0.3531361520290375,
      "learning_rate": 0.00010272562221592694,
      "loss": 0.0405,
      "step": 9487
    },
    {
      "epoch": 2.128561812878618,
      "gripper_loss": 0.004241943359375,
      "loss": 0.01177978515625,
      "pos_loss": 0.054931640625,
      "rot_loss": 0.03857421875,
      "step": 9487
    },
    {
      "epoch": 2.1287861790442,
      "grad_norm": 0.3356938064098358,
      "learning_rate": 0.00010267669058436025,
      "loss": 0.027,
      "step": 9488
    },
    {
      "epoch": 2.1287861790442,
      "gripper_loss": 0.00872802734375,
      "loss": 0.044921875,
      "pos_loss": 0.09521484375,
      "rot_loss": 0.349609375,
      "step": 9488
    },
    {
      "epoch": 2.1290105452097823,
      "grad_norm": 0.2807876467704773,
      "learning_rate": 0.00010262776759765871,
      "loss": 0.0406,
      "step": 9489
    },
    {
      "epoch": 2.1290105452097823,
      "gripper_loss": 0.01483154296875,
      "loss": 0.046875,
      "pos_loss": 0.42578125,
      "rot_loss": 0.0400390625,
      "step": 9489
    },
    {
      "epoch": 2.129234911375365,
      "grad_norm": 0.29985758662223816,
      "learning_rate": 0.00010257885325869332,
      "loss": 0.0536,
      "step": 9490
    },
    {
      "epoch": 2.129234911375365,
      "gripper_loss": 0.451171875,
      "loss": 0.0517578125,
      "pos_loss": 0.19140625,
      "rot_loss": 0.166015625,
      "step": 9490
    },
    {
      "epoch": 2.129459277540947,
      "grad_norm": 0.3805354833602905,
      "learning_rate": 0.00010252994757033415,
      "loss": 0.0439,
      "step": 9491
    },
    {
      "epoch": 2.129459277540947,
      "gripper_loss": 0.20703125,
      "loss": 0.06201171875,
      "pos_loss": 0.546875,
      "rot_loss": 0.014404296875,
      "step": 9491
    },
    {
      "epoch": 2.129683643706529,
      "grad_norm": 0.422462522983551,
      "learning_rate": 0.00010248105053545106,
      "loss": 0.0756,
      "step": 9492
    },
    {
      "epoch": 2.129683643706529,
      "gripper_loss": 0.6015625,
      "loss": 0.03759765625,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.0693359375,
      "step": 9492
    },
    {
      "epoch": 2.1299080098721115,
      "grad_norm": 0.2836282253265381,
      "learning_rate": 0.0001024321621569134,
      "loss": 0.0336,
      "step": 9493
    },
    {
      "epoch": 2.1299080098721115,
      "gripper_loss": 0.01373291015625,
      "loss": 0.09033203125,
      "pos_loss": 0.3984375,
      "rot_loss": 0.51953125,
      "step": 9493
    },
    {
      "epoch": 2.1301323760376936,
      "grad_norm": 0.39449307322502136,
      "learning_rate": 0.00010238328243758971,
      "loss": 0.0495,
      "step": 9494
    },
    {
      "epoch": 2.1301323760376936,
      "gripper_loss": 0.045166015625,
      "loss": 0.04052734375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.052490234375,
      "step": 9494
    },
    {
      "epoch": 2.1303567422032756,
      "grad_norm": 0.5651689171791077,
      "learning_rate": 0.00010233441138034835,
      "loss": 0.0563,
      "step": 9495
    },
    {
      "epoch": 2.1303567422032756,
      "gripper_loss": 0.2138671875,
      "loss": 0.046142578125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.1376953125,
      "step": 9495
    },
    {
      "epoch": 2.130581108368858,
      "grad_norm": 0.2693236470222473,
      "learning_rate": 0.00010228554898805705,
      "loss": 0.0524,
      "step": 9496
    },
    {
      "epoch": 2.130581108368858,
      "gripper_loss": 0.447265625,
      "loss": 0.052978515625,
      "pos_loss": 0.291015625,
      "rot_loss": 0.09814453125,
      "step": 9496
    },
    {
      "epoch": 2.1308054745344402,
      "grad_norm": 0.7359275817871094,
      "learning_rate": 0.00010223669526358304,
      "loss": 0.0593,
      "step": 9497
    },
    {
      "epoch": 2.1308054745344402,
      "gripper_loss": 0.0133056640625,
      "loss": 0.11767578125,
      "pos_loss": 0.8359375,
      "rot_loss": 0.388671875,
      "step": 9497
    },
    {
      "epoch": 2.1310298407000223,
      "grad_norm": 0.4760141670703888,
      "learning_rate": 0.00010218785020979307,
      "loss": 0.0578,
      "step": 9498
    },
    {
      "epoch": 2.1310298407000223,
      "gripper_loss": 0.01129150390625,
      "loss": 0.054443359375,
      "pos_loss": 0.427734375,
      "rot_loss": 0.0966796875,
      "step": 9498
    },
    {
      "epoch": 2.131254206865605,
      "grad_norm": 0.23043106496334076,
      "learning_rate": 0.00010213901382955323,
      "loss": 0.0367,
      "step": 9499
    },
    {
      "epoch": 2.131254206865605,
      "gripper_loss": 0.019287109375,
      "loss": 0.041015625,
      "pos_loss": 0.3828125,
      "rot_loss": 0.0230712890625,
      "step": 9499
    },
    {
      "epoch": 2.131478573031187,
      "grad_norm": 0.38577306270599365,
      "learning_rate": 0.00010209018612572938,
      "loss": 0.0706,
      "step": 9500
    },
    {
      "epoch": 2.131478573031187,
      "gripper_loss": 0.01141357421875,
      "loss": 0.01495361328125,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.040283203125,
      "step": 9500
    },
    {
      "epoch": 2.131702939196769,
      "grad_norm": 0.3012399971485138,
      "learning_rate": 0.00010204136710118649,
      "loss": 0.0284,
      "step": 9501
    },
    {
      "epoch": 2.131702939196769,
      "gripper_loss": 0.0211181640625,
      "loss": 0.03759765625,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.29296875,
      "step": 9501
    },
    {
      "epoch": 2.1319273053623515,
      "grad_norm": 0.36349451541900635,
      "learning_rate": 0.00010199255675878948,
      "loss": 0.0287,
      "step": 9502
    },
    {
      "epoch": 2.1319273053623515,
      "gripper_loss": 0.453125,
      "loss": 0.052490234375,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.271484375,
      "step": 9502
    },
    {
      "epoch": 2.1321516715279336,
      "grad_norm": 0.3496339023113251,
      "learning_rate": 0.0001019437551014023,
      "loss": 0.0533,
      "step": 9503
    },
    {
      "epoch": 2.1321516715279336,
      "gripper_loss": 0.10595703125,
      "loss": 0.0693359375,
      "pos_loss": 0.359375,
      "rot_loss": 0.19921875,
      "step": 9503
    },
    {
      "epoch": 2.1323760376935157,
      "grad_norm": 0.6290654540061951,
      "learning_rate": 0.00010189496213188872,
      "loss": 0.0667,
      "step": 9504
    },
    {
      "epoch": 2.1323760376935157,
      "gripper_loss": 0.0098876953125,
      "loss": 0.126953125,
      "pos_loss": 0.8046875,
      "rot_loss": 0.515625,
      "step": 9504
    },
    {
      "epoch": 2.132600403859098,
      "grad_norm": 0.2420179396867752,
      "learning_rate": 0.00010184617785311188,
      "loss": 0.0522,
      "step": 9505
    },
    {
      "epoch": 2.132600403859098,
      "gripper_loss": 0.044677734375,
      "loss": 0.036376953125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.055419921875,
      "step": 9505
    },
    {
      "epoch": 2.1328247700246803,
      "grad_norm": 0.295641154050827,
      "learning_rate": 0.00010179740226793446,
      "loss": 0.0568,
      "step": 9506
    },
    {
      "epoch": 2.1328247700246803,
      "gripper_loss": 0.06396484375,
      "loss": 0.047119140625,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.1533203125,
      "step": 9506
    },
    {
      "epoch": 2.1330491361902624,
      "grad_norm": 0.5822752118110657,
      "learning_rate": 0.00010174863537921849,
      "loss": 0.0617,
      "step": 9507
    },
    {
      "epoch": 2.1330491361902624,
      "gripper_loss": 0.29296875,
      "loss": 0.043212890625,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.2373046875,
      "step": 9507
    },
    {
      "epoch": 2.133273502355845,
      "grad_norm": 0.3528956472873688,
      "learning_rate": 0.00010169987718982562,
      "loss": 0.0493,
      "step": 9508
    },
    {
      "epoch": 2.133273502355845,
      "gripper_loss": 0.08447265625,
      "loss": 0.023681640625,
      "pos_loss": 0.0595703125,
      "rot_loss": 0.1201171875,
      "step": 9508
    },
    {
      "epoch": 2.133497868521427,
      "grad_norm": 0.47986921668052673,
      "learning_rate": 0.00010165112770261703,
      "loss": 0.0528,
      "step": 9509
    },
    {
      "epoch": 2.133497868521427,
      "gripper_loss": 0.00335693359375,
      "loss": 0.095703125,
      "pos_loss": 0.71484375,
      "rot_loss": 0.275390625,
      "step": 9509
    },
    {
      "epoch": 2.133722234687009,
      "grad_norm": 0.48721206188201904,
      "learning_rate": 0.00010160238692045331,
      "loss": 0.0623,
      "step": 9510
    },
    {
      "epoch": 2.133722234687009,
      "gripper_loss": 0.078125,
      "loss": 0.03955078125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.1455078125,
      "step": 9510
    },
    {
      "epoch": 2.1339466008525916,
      "grad_norm": 0.633101761341095,
      "learning_rate": 0.00010155365484619445,
      "loss": 0.0775,
      "step": 9511
    },
    {
      "epoch": 2.1339466008525916,
      "gripper_loss": 0.00958251953125,
      "loss": 0.018798828125,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.0498046875,
      "step": 9511
    },
    {
      "epoch": 2.1341709670181737,
      "grad_norm": 0.3141785264015198,
      "learning_rate": 0.00010150493148270006,
      "loss": 0.0403,
      "step": 9512
    },
    {
      "epoch": 2.1341709670181737,
      "gripper_loss": 0.014892578125,
      "loss": 0.04541015625,
      "pos_loss": 0.34765625,
      "rot_loss": 0.0947265625,
      "step": 9512
    },
    {
      "epoch": 2.1343953331837557,
      "grad_norm": 0.4118889272212982,
      "learning_rate": 0.00010145621683282932,
      "loss": 0.051,
      "step": 9513
    },
    {
      "epoch": 2.1343953331837557,
      "gripper_loss": 0.1552734375,
      "loss": 0.13671875,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.27734375,
      "step": 9513
    },
    {
      "epoch": 2.1346196993493383,
      "grad_norm": 1.0472497940063477,
      "learning_rate": 0.00010140751089944062,
      "loss": 0.158,
      "step": 9514
    },
    {
      "epoch": 2.1346196993493383,
      "gripper_loss": 0.00372314453125,
      "loss": 0.10302734375,
      "pos_loss": 0.609375,
      "rot_loss": 0.45703125,
      "step": 9514
    },
    {
      "epoch": 2.1348440655149203,
      "grad_norm": 0.35628026723861694,
      "learning_rate": 0.00010135881368539215,
      "loss": 0.0542,
      "step": 9515
    },
    {
      "epoch": 2.1348440655149203,
      "gripper_loss": 0.44140625,
      "loss": 0.05712890625,
      "pos_loss": 0.22265625,
      "rot_loss": 0.2119140625,
      "step": 9515
    },
    {
      "epoch": 2.1350684316805024,
      "grad_norm": 0.2935132384300232,
      "learning_rate": 0.0001013101251935413,
      "loss": 0.0452,
      "step": 9516
    },
    {
      "epoch": 2.1350684316805024,
      "gripper_loss": 0.01226806640625,
      "loss": 0.02880859375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.1328125,
      "step": 9516
    },
    {
      "epoch": 2.135292797846085,
      "grad_norm": 0.34163856506347656,
      "learning_rate": 0.00010126144542674512,
      "loss": 0.0513,
      "step": 9517
    },
    {
      "epoch": 2.135292797846085,
      "gripper_loss": 0.318359375,
      "loss": 0.018310546875,
      "pos_loss": 0.0252685546875,
      "rot_loss": 0.0279541015625,
      "step": 9517
    },
    {
      "epoch": 2.135517164011667,
      "grad_norm": 0.3740716874599457,
      "learning_rate": 0.00010121277438786017,
      "loss": 0.0426,
      "step": 9518
    },
    {
      "epoch": 2.135517164011667,
      "gripper_loss": 0.09423828125,
      "loss": 0.03271484375,
      "pos_loss": 0.26953125,
      "rot_loss": 0.0185546875,
      "step": 9518
    },
    {
      "epoch": 2.135741530177249,
      "grad_norm": 0.393769234418869,
      "learning_rate": 0.00010116411207974252,
      "loss": 0.0522,
      "step": 9519
    },
    {
      "epoch": 2.135741530177249,
      "gripper_loss": 0.007781982421875,
      "loss": 0.0732421875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.08056640625,
      "step": 9519
    },
    {
      "epoch": 2.1359658963428316,
      "grad_norm": 0.4622584283351898,
      "learning_rate": 0.00010111545850524745,
      "loss": 0.0565,
      "step": 9520
    },
    {
      "epoch": 2.1359658963428316,
      "gripper_loss": 0.423828125,
      "loss": 0.41015625,
      "pos_loss": 0.9375,
      "rot_loss": 0.6796875,
      "step": 9520
    },
    {
      "epoch": 2.1361902625084137,
      "grad_norm": 1.3524224758148193,
      "learning_rate": 0.00010106681366723005,
      "loss": 0.2676,
      "step": 9521
    },
    {
      "epoch": 2.1361902625084137,
      "gripper_loss": 0.353515625,
      "loss": 0.05517578125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.1669921875,
      "step": 9521
    },
    {
      "epoch": 2.136414628673996,
      "grad_norm": 0.4552510380744934,
      "learning_rate": 0.00010101817756854476,
      "loss": 0.0459,
      "step": 9522
    },
    {
      "epoch": 2.136414628673996,
      "gripper_loss": 0.02490234375,
      "loss": 0.1259765625,
      "pos_loss": 1.1796875,
      "rot_loss": 0.11865234375,
      "step": 9522
    },
    {
      "epoch": 2.1366389948395783,
      "grad_norm": 0.5897086262702942,
      "learning_rate": 0.00010096955021204562,
      "loss": 0.0807,
      "step": 9523
    },
    {
      "epoch": 2.1366389948395783,
      "gripper_loss": 0.20703125,
      "loss": 0.03955078125,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.0966796875,
      "step": 9523
    },
    {
      "epoch": 2.1368633610051604,
      "grad_norm": 0.34868496656417847,
      "learning_rate": 0.00010092093160058587,
      "loss": 0.0476,
      "step": 9524
    },
    {
      "epoch": 2.1368633610051604,
      "gripper_loss": 0.515625,
      "loss": 0.078125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.171875,
      "step": 9524
    },
    {
      "epoch": 2.1370877271707425,
      "grad_norm": 0.5247689485549927,
      "learning_rate": 0.00010087232173701862,
      "loss": 0.0817,
      "step": 9525
    },
    {
      "epoch": 2.1370877271707425,
      "gripper_loss": 0.1357421875,
      "loss": 0.031982421875,
      "pos_loss": 0.201171875,
      "rot_loss": 0.0634765625,
      "step": 9525
    },
    {
      "epoch": 2.137312093336325,
      "grad_norm": 0.3964572548866272,
      "learning_rate": 0.00010082372062419612,
      "loss": 0.0486,
      "step": 9526
    },
    {
      "epoch": 2.137312093336325,
      "gripper_loss": 0.009033203125,
      "loss": 0.0556640625,
      "pos_loss": 0.1796875,
      "rot_loss": 0.37109375,
      "step": 9526
    },
    {
      "epoch": 2.137536459501907,
      "grad_norm": 0.35912221670150757,
      "learning_rate": 0.00010077512826497038,
      "loss": 0.0639,
      "step": 9527
    },
    {
      "epoch": 2.137536459501907,
      "gripper_loss": 0.0078125,
      "loss": 0.049560546875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.11572265625,
      "step": 9527
    },
    {
      "epoch": 2.137760825667489,
      "grad_norm": 0.5320621132850647,
      "learning_rate": 0.00010072654466219264,
      "loss": 0.0748,
      "step": 9528
    },
    {
      "epoch": 2.137760825667489,
      "gripper_loss": 0.1923828125,
      "loss": 0.01202392578125,
      "pos_loss": 0.01708984375,
      "rot_loss": 0.00836181640625,
      "step": 9528
    },
    {
      "epoch": 2.1379851918330717,
      "grad_norm": 0.3176473081111908,
      "learning_rate": 0.00010067796981871386,
      "loss": 0.0296,
      "step": 9529
    },
    {
      "epoch": 2.1379851918330717,
      "gripper_loss": 0.06201171875,
      "loss": 0.017333984375,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.0859375,
      "step": 9529
    },
    {
      "epoch": 2.1382095579986538,
      "grad_norm": 0.36491143703460693,
      "learning_rate": 0.00010062940373738436,
      "loss": 0.0445,
      "step": 9530
    },
    {
      "epoch": 2.1382095579986538,
      "gripper_loss": 0.083984375,
      "loss": 0.01434326171875,
      "pos_loss": 0.07275390625,
      "rot_loss": 0.0179443359375,
      "step": 9530
    },
    {
      "epoch": 2.138433924164236,
      "grad_norm": 0.35027986764907837,
      "learning_rate": 0.000100580846421054,
      "loss": 0.0475,
      "step": 9531
    },
    {
      "epoch": 2.138433924164236,
      "gripper_loss": 0.0703125,
      "loss": 0.0390625,
      "pos_loss": 0.330078125,
      "rot_loss": 0.03271484375,
      "step": 9531
    },
    {
      "epoch": 2.1386582903298184,
      "grad_norm": 0.2790614068508148,
      "learning_rate": 0.00010053229787257218,
      "loss": 0.0572,
      "step": 9532
    },
    {
      "epoch": 2.1386582903298184,
      "gripper_loss": 0.212890625,
      "loss": 0.034912109375,
      "pos_loss": 0.154296875,
      "rot_loss": 0.10888671875,
      "step": 9532
    },
    {
      "epoch": 2.1388826564954004,
      "grad_norm": 0.24450896680355072,
      "learning_rate": 0.00010048375809478751,
      "loss": 0.0337,
      "step": 9533
    },
    {
      "epoch": 2.1388826564954004,
      "gripper_loss": 0.0159912109375,
      "loss": 0.0224609375,
      "pos_loss": 0.134765625,
      "rot_loss": 0.06494140625,
      "step": 9533
    },
    {
      "epoch": 2.1391070226609825,
      "grad_norm": 0.28381213545799255,
      "learning_rate": 0.00010043522709054842,
      "loss": 0.0358,
      "step": 9534
    },
    {
      "epoch": 2.1391070226609825,
      "gripper_loss": 0.009033203125,
      "loss": 0.0634765625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.0947265625,
      "step": 9534
    },
    {
      "epoch": 2.139331388826565,
      "grad_norm": 0.3316250443458557,
      "learning_rate": 0.00010038670486270273,
      "loss": 0.0488,
      "step": 9535
    },
    {
      "epoch": 2.139331388826565,
      "gripper_loss": 0.038330078125,
      "loss": 0.05810546875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.1787109375,
      "step": 9535
    },
    {
      "epoch": 2.139555754992147,
      "grad_norm": 0.3448449671268463,
      "learning_rate": 0.00010033819141409756,
      "loss": 0.0526,
      "step": 9536
    },
    {
      "epoch": 2.139555754992147,
      "gripper_loss": 0.1455078125,
      "loss": 0.049560546875,
      "pos_loss": 0.1083984375,
      "rot_loss": 0.28125,
      "step": 9536
    },
    {
      "epoch": 2.139780121157729,
      "grad_norm": 0.4889459013938904,
      "learning_rate": 0.00010028968674757983,
      "loss": 0.0612,
      "step": 9537
    },
    {
      "epoch": 2.139780121157729,
      "gripper_loss": 0.1513671875,
      "loss": 0.0341796875,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.212890625,
      "step": 9537
    },
    {
      "epoch": 2.1400044873233117,
      "grad_norm": 0.4310693144798279,
      "learning_rate": 0.00010024119086599554,
      "loss": 0.0461,
      "step": 9538
    },
    {
      "epoch": 2.1400044873233117,
      "gripper_loss": 0.75390625,
      "loss": 0.04833984375,
      "pos_loss": 0.189453125,
      "rot_loss": 0.03857421875,
      "step": 9538
    },
    {
      "epoch": 2.140228853488894,
      "grad_norm": 0.22168408334255219,
      "learning_rate": 0.00010019270377219055,
      "loss": 0.0399,
      "step": 9539
    },
    {
      "epoch": 2.140228853488894,
      "gripper_loss": 0.0081787109375,
      "loss": 0.043212890625,
      "pos_loss": 0.21484375,
      "rot_loss": 0.2109375,
      "step": 9539
    },
    {
      "epoch": 2.140453219654476,
      "grad_norm": 0.3873499035835266,
      "learning_rate": 0.00010014422546901017,
      "loss": 0.0646,
      "step": 9540
    },
    {
      "epoch": 2.140453219654476,
      "gripper_loss": 0.416015625,
      "loss": 0.1357421875,
      "pos_loss": 0.83203125,
      "rot_loss": 0.4453125,
      "step": 9540
    },
    {
      "epoch": 2.1406775858200584,
      "grad_norm": 0.5804221034049988,
      "learning_rate": 0.00010009575595929884,
      "loss": 0.0684,
      "step": 9541
    },
    {
      "epoch": 2.1406775858200584,
      "gripper_loss": 0.08251953125,
      "loss": 0.030517578125,
      "pos_loss": 0.177734375,
      "rot_loss": 0.08349609375,
      "step": 9541
    },
    {
      "epoch": 2.1409019519856405,
      "grad_norm": 0.21810714900493622,
      "learning_rate": 0.00010004729524590086,
      "loss": 0.0304,
      "step": 9542
    },
    {
      "epoch": 2.1409019519856405,
      "gripper_loss": 0.06298828125,
      "loss": 0.0732421875,
      "pos_loss": 0.427734375,
      "rot_loss": 0.130859375,
      "step": 9542
    },
    {
      "epoch": 2.1411263181512226,
      "grad_norm": 0.765651524066925,
      "learning_rate": 9.999884333165988e-05,
      "loss": 0.1053,
      "step": 9543
    },
    {
      "epoch": 2.1411263181512226,
      "gripper_loss": 0.0174560546875,
      "loss": 0.00732421875,
      "pos_loss": 0.024169921875,
      "rot_loss": 0.0201416015625,
      "step": 9543
    },
    {
      "epoch": 2.141350684316805,
      "grad_norm": 0.2750030755996704,
      "learning_rate": 9.995040021941904e-05,
      "loss": 0.0442,
      "step": 9544
    },
    {
      "epoch": 2.141350684316805,
      "gripper_loss": 0.00628662109375,
      "loss": 0.02001953125,
      "pos_loss": 0.1220703125,
      "rot_loss": 0.059326171875,
      "step": 9544
    },
    {
      "epoch": 2.141575050482387,
      "grad_norm": 0.3541843295097351,
      "learning_rate": 9.990196591202103e-05,
      "loss": 0.0536,
      "step": 9545
    },
    {
      "epoch": 2.141575050482387,
      "gripper_loss": 0.0289306640625,
      "loss": 0.060546875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.032958984375,
      "step": 9545
    },
    {
      "epoch": 2.1417994166479697,
      "grad_norm": 0.362394243478775,
      "learning_rate": 9.985354041230777e-05,
      "loss": 0.0561,
      "step": 9546
    },
    {
      "epoch": 2.1417994166479697,
      "gripper_loss": 0.404296875,
      "loss": 0.058837890625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.2041015625,
      "step": 9546
    },
    {
      "epoch": 2.1420237828135518,
      "grad_norm": 0.4160028100013733,
      "learning_rate": 9.980512372312106e-05,
      "loss": 0.0599,
      "step": 9547
    },
    {
      "epoch": 2.1420237828135518,
      "gripper_loss": 0.193359375,
      "loss": 0.2099609375,
      "pos_loss": 0.55859375,
      "rot_loss": 0.208984375,
      "step": 9547
    },
    {
      "epoch": 2.142248148979134,
      "grad_norm": 1.3584156036376953,
      "learning_rate": 9.975671584730175e-05,
      "loss": 0.2332,
      "step": 9548
    },
    {
      "epoch": 2.142248148979134,
      "gripper_loss": 0.2255859375,
      "loss": 0.0216064453125,
      "pos_loss": 0.0615234375,
      "rot_loss": 0.06005859375,
      "step": 9548
    },
    {
      "epoch": 2.1424725151447164,
      "grad_norm": 0.354975163936615,
      "learning_rate": 9.970831678769063e-05,
      "loss": 0.0485,
      "step": 9549
    },
    {
      "epoch": 2.1424725151447164,
      "gripper_loss": 0.30078125,
      "loss": 0.049072265625,
      "pos_loss": 0.318359375,
      "rot_loss": 0.07421875,
      "step": 9549
    },
    {
      "epoch": 2.1426968813102985,
      "grad_norm": 0.27492836117744446,
      "learning_rate": 9.965992654712749e-05,
      "loss": 0.0361,
      "step": 9550
    },
    {
      "epoch": 2.1426968813102985,
      "gripper_loss": 0.068359375,
      "loss": 0.06982421875,
      "pos_loss": 0.431640625,
      "rot_loss": 0.2138671875,
      "step": 9550
    },
    {
      "epoch": 2.1429212474758805,
      "grad_norm": 0.6006338596343994,
      "learning_rate": 9.961154512845197e-05,
      "loss": 0.0801,
      "step": 9551
    },
    {
      "epoch": 2.1429212474758805,
      "gripper_loss": 0.01031494140625,
      "loss": 0.03369140625,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.130859375,
      "step": 9551
    },
    {
      "epoch": 2.143145613641463,
      "grad_norm": 0.4535396695137024,
      "learning_rate": 9.956317253450306e-05,
      "loss": 0.0629,
      "step": 9552
    },
    {
      "epoch": 2.143145613641463,
      "gripper_loss": 0.357421875,
      "loss": 0.044921875,
      "pos_loss": 0.1953125,
      "rot_loss": 0.130859375,
      "step": 9552
    },
    {
      "epoch": 2.143369979807045,
      "grad_norm": 0.2919178903102875,
      "learning_rate": 9.951480876811933e-05,
      "loss": 0.0442,
      "step": 9553
    },
    {
      "epoch": 2.143369979807045,
      "gripper_loss": 0.203125,
      "loss": 0.10302734375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.330078125,
      "step": 9553
    },
    {
      "epoch": 2.143594345972627,
      "grad_norm": 1.0302752256393433,
      "learning_rate": 9.946645383213859e-05,
      "loss": 0.1391,
      "step": 9554
    },
    {
      "epoch": 2.143594345972627,
      "gripper_loss": 0.17578125,
      "loss": 0.0205078125,
      "pos_loss": 0.07421875,
      "rot_loss": 0.02734375,
      "step": 9554
    },
    {
      "epoch": 2.1438187121382097,
      "grad_norm": 0.4422294497489929,
      "learning_rate": 9.941810772939835e-05,
      "loss": 0.0378,
      "step": 9555
    },
    {
      "epoch": 2.1438187121382097,
      "gripper_loss": 0.1435546875,
      "loss": 0.055419921875,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.1416015625,
      "step": 9555
    },
    {
      "epoch": 2.144043078303792,
      "grad_norm": 0.8887416124343872,
      "learning_rate": 9.936977046273554e-05,
      "loss": 0.0786,
      "step": 9556
    },
    {
      "epoch": 2.144043078303792,
      "gripper_loss": 0.006256103515625,
      "loss": 0.052490234375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.19140625,
      "step": 9556
    },
    {
      "epoch": 2.144267444469374,
      "grad_norm": 0.42645272612571716,
      "learning_rate": 9.932144203498666e-05,
      "loss": 0.0816,
      "step": 9557
    },
    {
      "epoch": 2.144267444469374,
      "gripper_loss": 0.018798828125,
      "loss": 0.04248046875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.09521484375,
      "step": 9557
    },
    {
      "epoch": 2.1444918106349564,
      "grad_norm": 0.5800671577453613,
      "learning_rate": 9.927312244898746e-05,
      "loss": 0.0709,
      "step": 9558
    },
    {
      "epoch": 2.1444918106349564,
      "gripper_loss": 0.109375,
      "loss": 0.01385498046875,
      "pos_loss": 0.037841796875,
      "rot_loss": 0.0274658203125,
      "step": 9558
    },
    {
      "epoch": 2.1447161768005385,
      "grad_norm": 0.45426034927368164,
      "learning_rate": 9.92248117075733e-05,
      "loss": 0.042,
      "step": 9559
    },
    {
      "epoch": 2.1447161768005385,
      "gripper_loss": 0.019775390625,
      "loss": 0.0791015625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1640625,
      "step": 9559
    },
    {
      "epoch": 2.1449405429661206,
      "grad_norm": 0.4013778269290924,
      "learning_rate": 9.917650981357922e-05,
      "loss": 0.0495,
      "step": 9560
    },
    {
      "epoch": 2.1449405429661206,
      "gripper_loss": 0.02880859375,
      "loss": 0.050048828125,
      "pos_loss": 0.29296875,
      "rot_loss": 0.16015625,
      "step": 9560
    },
    {
      "epoch": 2.145164909131703,
      "grad_norm": 0.5949097871780396,
      "learning_rate": 9.912821676983935e-05,
      "loss": 0.0556,
      "step": 9561
    },
    {
      "epoch": 2.145164909131703,
      "gripper_loss": 0.115234375,
      "loss": 0.031982421875,
      "pos_loss": 0.1328125,
      "rot_loss": 0.12109375,
      "step": 9561
    },
    {
      "epoch": 2.145389275297285,
      "grad_norm": 0.6435823440551758,
      "learning_rate": 9.907993257918768e-05,
      "loss": 0.0681,
      "step": 9562
    },
    {
      "epoch": 2.145389275297285,
      "gripper_loss": 0.01336669921875,
      "loss": 0.06103515625,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.349609375,
      "step": 9562
    },
    {
      "epoch": 2.1456136414628673,
      "grad_norm": 0.4256366789340973,
      "learning_rate": 9.903165724445728e-05,
      "loss": 0.0513,
      "step": 9563
    },
    {
      "epoch": 2.1456136414628673,
      "gripper_loss": 1.3203125,
      "loss": 0.057373046875,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.04345703125,
      "step": 9563
    },
    {
      "epoch": 2.14583800762845,
      "grad_norm": 0.3640643358230591,
      "learning_rate": 9.898339076848109e-05,
      "loss": 0.0429,
      "step": 9564
    },
    {
      "epoch": 2.14583800762845,
      "gripper_loss": 0.00848388671875,
      "loss": 0.016357421875,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.028076171875,
      "step": 9564
    },
    {
      "epoch": 2.146062373794032,
      "grad_norm": 0.3221052289009094,
      "learning_rate": 9.893513315409134e-05,
      "loss": 0.037,
      "step": 9565
    },
    {
      "epoch": 2.146062373794032,
      "gripper_loss": 0.96875,
      "loss": 0.08056640625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.171875,
      "step": 9565
    },
    {
      "epoch": 2.146286739959614,
      "grad_norm": 0.4036142826080322,
      "learning_rate": 9.88868844041198e-05,
      "loss": 0.049,
      "step": 9566
    },
    {
      "epoch": 2.146286739959614,
      "gripper_loss": 0.0654296875,
      "loss": 0.12158203125,
      "pos_loss": 0.98828125,
      "rot_loss": 0.2431640625,
      "step": 9566
    },
    {
      "epoch": 2.1465111061251965,
      "grad_norm": 0.3802134394645691,
      "learning_rate": 9.883864452139757e-05,
      "loss": 0.0707,
      "step": 9567
    },
    {
      "epoch": 2.1465111061251965,
      "gripper_loss": 0.75,
      "loss": 0.1142578125,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.4296875,
      "step": 9567
    },
    {
      "epoch": 2.1467354722907785,
      "grad_norm": 0.5169467926025391,
      "learning_rate": 9.879041350875542e-05,
      "loss": 0.0658,
      "step": 9568
    },
    {
      "epoch": 2.1467354722907785,
      "gripper_loss": 0.228515625,
      "loss": 0.0203857421875,
      "pos_loss": 0.0220947265625,
      "rot_loss": 0.0859375,
      "step": 9568
    },
    {
      "epoch": 2.1469598384563606,
      "grad_norm": 0.31655406951904297,
      "learning_rate": 9.874219136902352e-05,
      "loss": 0.0317,
      "step": 9569
    },
    {
      "epoch": 2.1469598384563606,
      "gripper_loss": 0.07666015625,
      "loss": 0.03515625,
      "pos_loss": 0.13671875,
      "rot_loss": 0.150390625,
      "step": 9569
    },
    {
      "epoch": 2.147184204621943,
      "grad_norm": 0.3766130208969116,
      "learning_rate": 9.869397810503162e-05,
      "loss": 0.0523,
      "step": 9570
    },
    {
      "epoch": 2.147184204621943,
      "gripper_loss": 0.123046875,
      "loss": 0.056396484375,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.40234375,
      "step": 9570
    },
    {
      "epoch": 2.1474085707875252,
      "grad_norm": 0.3407585918903351,
      "learning_rate": 9.864577371960862e-05,
      "loss": 0.0519,
      "step": 9571
    },
    {
      "epoch": 2.1474085707875252,
      "gripper_loss": 0.038818359375,
      "loss": 0.12255859375,
      "pos_loss": 0.498046875,
      "rot_loss": 0.765625,
      "step": 9571
    },
    {
      "epoch": 2.1476329369531073,
      "grad_norm": 0.5062538981437683,
      "learning_rate": 9.859757821558338e-05,
      "loss": 0.0726,
      "step": 9572
    },
    {
      "epoch": 2.1476329369531073,
      "gripper_loss": 0.0228271484375,
      "loss": 0.07421875,
      "pos_loss": 0.34375,
      "rot_loss": 0.392578125,
      "step": 9572
    },
    {
      "epoch": 2.14785730311869,
      "grad_norm": 0.40833696722984314,
      "learning_rate": 9.85493915957838e-05,
      "loss": 0.0459,
      "step": 9573
    },
    {
      "epoch": 2.14785730311869,
      "gripper_loss": 0.0162353515625,
      "loss": 0.0272216796875,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.208984375,
      "step": 9573
    },
    {
      "epoch": 2.148081669284272,
      "grad_norm": 0.5323898792266846,
      "learning_rate": 9.85012138630375e-05,
      "loss": 0.041,
      "step": 9574
    },
    {
      "epoch": 2.148081669284272,
      "gripper_loss": 0.1787109375,
      "loss": 0.05322265625,
      "pos_loss": 0.171875,
      "rot_loss": 0.28125,
      "step": 9574
    },
    {
      "epoch": 2.148306035449854,
      "grad_norm": 0.34950193762779236,
      "learning_rate": 9.845304502017166e-05,
      "loss": 0.0394,
      "step": 9575
    },
    {
      "epoch": 2.148306035449854,
      "gripper_loss": 0.08642578125,
      "loss": 0.07373046875,
      "pos_loss": 0.470703125,
      "rot_loss": 0.251953125,
      "step": 9575
    },
    {
      "epoch": 2.1485304016154365,
      "grad_norm": 0.352629691362381,
      "learning_rate": 9.84048850700126e-05,
      "loss": 0.0552,
      "step": 9576
    },
    {
      "epoch": 2.1485304016154365,
      "gripper_loss": 1.0859375,
      "loss": 0.07421875,
      "pos_loss": 0.314453125,
      "rot_loss": 0.07177734375,
      "step": 9576
    },
    {
      "epoch": 2.1487547677810186,
      "grad_norm": 0.3214433491230011,
      "learning_rate": 9.835673401538641e-05,
      "loss": 0.045,
      "step": 9577
    },
    {
      "epoch": 2.1487547677810186,
      "gripper_loss": 0.55859375,
      "loss": 0.031494140625,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.040283203125,
      "step": 9577
    },
    {
      "epoch": 2.1489791339466007,
      "grad_norm": 0.33819931745529175,
      "learning_rate": 9.830859185911861e-05,
      "loss": 0.0609,
      "step": 9578
    },
    {
      "epoch": 2.1489791339466007,
      "gripper_loss": 0.21875,
      "loss": 0.041259765625,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.1376953125,
      "step": 9578
    },
    {
      "epoch": 2.149203500112183,
      "grad_norm": 0.30118122696876526,
      "learning_rate": 9.826045860403421e-05,
      "loss": 0.0484,
      "step": 9579
    },
    {
      "epoch": 2.149203500112183,
      "gripper_loss": 0.76171875,
      "loss": 0.3671875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.609375,
      "step": 9579
    },
    {
      "epoch": 2.1494278662777653,
      "grad_norm": 1.3451848030090332,
      "learning_rate": 9.821233425295748e-05,
      "loss": 0.3665,
      "step": 9580
    },
    {
      "epoch": 2.1494278662777653,
      "gripper_loss": 0.0546875,
      "loss": 0.041748046875,
      "pos_loss": 0.35546875,
      "rot_loss": 0.0361328125,
      "step": 9580
    },
    {
      "epoch": 2.1496522324433474,
      "grad_norm": 0.3488234281539917,
      "learning_rate": 9.816421880871243e-05,
      "loss": 0.0589,
      "step": 9581
    },
    {
      "epoch": 2.1496522324433474,
      "gripper_loss": 0.00982666015625,
      "loss": 0.0223388671875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.022216796875,
      "step": 9581
    },
    {
      "epoch": 2.14987659860893,
      "grad_norm": 0.2709442377090454,
      "learning_rate": 9.811611227412254e-05,
      "loss": 0.0491,
      "step": 9582
    },
    {
      "epoch": 2.14987659860893,
      "gripper_loss": 0.267578125,
      "loss": 0.045166015625,
      "pos_loss": 0.1875,
      "rot_loss": 0.1240234375,
      "step": 9582
    },
    {
      "epoch": 2.150100964774512,
      "grad_norm": 0.3497063219547272,
      "learning_rate": 9.806801465201052e-05,
      "loss": 0.0499,
      "step": 9583
    },
    {
      "epoch": 2.150100964774512,
      "gripper_loss": 0.035888671875,
      "loss": 0.040771484375,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.1435546875,
      "step": 9583
    },
    {
      "epoch": 2.150325330940094,
      "grad_norm": 0.33138415217399597,
      "learning_rate": 9.801992594519885e-05,
      "loss": 0.044,
      "step": 9584
    },
    {
      "epoch": 2.150325330940094,
      "gripper_loss": 0.1298828125,
      "loss": 0.1494140625,
      "pos_loss": 0.83203125,
      "rot_loss": 0.287109375,
      "step": 9584
    },
    {
      "epoch": 2.1505496971056766,
      "grad_norm": 0.8842069506645203,
      "learning_rate": 9.79718461565092e-05,
      "loss": 0.1291,
      "step": 9585
    },
    {
      "epoch": 2.1505496971056766,
      "gripper_loss": 0.0216064453125,
      "loss": 0.0167236328125,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.06298828125,
      "step": 9585
    },
    {
      "epoch": 2.1507740632712586,
      "grad_norm": 0.2966729700565338,
      "learning_rate": 9.792377528876295e-05,
      "loss": 0.0447,
      "step": 9586
    },
    {
      "epoch": 2.1507740632712586,
      "gripper_loss": 0.0771484375,
      "loss": 0.01470947265625,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.0244140625,
      "step": 9586
    },
    {
      "epoch": 2.1509984294368407,
      "grad_norm": 0.3030543327331543,
      "learning_rate": 9.787571334478101e-05,
      "loss": 0.0559,
      "step": 9587
    },
    {
      "epoch": 2.1509984294368407,
      "gripper_loss": 0.0172119140625,
      "loss": 0.111328125,
      "pos_loss": 0.6640625,
      "rot_loss": 0.44140625,
      "step": 9587
    },
    {
      "epoch": 2.1512227956024232,
      "grad_norm": 0.38435426354408264,
      "learning_rate": 9.782766032738341e-05,
      "loss": 0.0658,
      "step": 9588
    },
    {
      "epoch": 2.1512227956024232,
      "gripper_loss": 0.15625,
      "loss": 0.055419921875,
      "pos_loss": 0.30859375,
      "rot_loss": 0.19921875,
      "step": 9588
    },
    {
      "epoch": 2.1514471617680053,
      "grad_norm": 0.395908921957016,
      "learning_rate": 9.777961623938997e-05,
      "loss": 0.0454,
      "step": 9589
    },
    {
      "epoch": 2.1514471617680053,
      "gripper_loss": 0.004669189453125,
      "loss": 0.12109375,
      "pos_loss": 1.0625,
      "rot_loss": 0.1943359375,
      "step": 9589
    },
    {
      "epoch": 2.151671527933588,
      "grad_norm": 0.3996415436267853,
      "learning_rate": 9.77315810836199e-05,
      "loss": 0.0553,
      "step": 9590
    },
    {
      "epoch": 2.151671527933588,
      "gripper_loss": 0.0150146484375,
      "loss": 0.057861328125,
      "pos_loss": 0.384765625,
      "rot_loss": 0.1884765625,
      "step": 9590
    },
    {
      "epoch": 2.15189589409917,
      "grad_norm": 0.3694319725036621,
      "learning_rate": 9.768355486289187e-05,
      "loss": 0.0597,
      "step": 9591
    },
    {
      "epoch": 2.15189589409917,
      "gripper_loss": 1.15625,
      "loss": 0.058349609375,
      "pos_loss": 0.189453125,
      "rot_loss": 0.0181884765625,
      "step": 9591
    },
    {
      "epoch": 2.152120260264752,
      "grad_norm": 0.4240518808364868,
      "learning_rate": 9.763553758002419e-05,
      "loss": 0.0672,
      "step": 9592
    },
    {
      "epoch": 2.152120260264752,
      "gripper_loss": 0.00799560546875,
      "loss": 0.039306640625,
      "pos_loss": 0.25,
      "rot_loss": 0.130859375,
      "step": 9592
    },
    {
      "epoch": 2.1523446264303345,
      "grad_norm": 0.391311913728714,
      "learning_rate": 9.758752923783423e-05,
      "loss": 0.0403,
      "step": 9593
    },
    {
      "epoch": 2.1523446264303345,
      "gripper_loss": 0.0196533203125,
      "loss": 0.02099609375,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.019287109375,
      "step": 9593
    },
    {
      "epoch": 2.1525689925959166,
      "grad_norm": 0.2826700806617737,
      "learning_rate": 9.753952983913933e-05,
      "loss": 0.0304,
      "step": 9594
    },
    {
      "epoch": 2.1525689925959166,
      "gripper_loss": 0.01904296875,
      "loss": 0.08984375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.279296875,
      "step": 9594
    },
    {
      "epoch": 2.1527933587614987,
      "grad_norm": 0.3563956320285797,
      "learning_rate": 9.749153938675587e-05,
      "loss": 0.0544,
      "step": 9595
    },
    {
      "epoch": 2.1527933587614987,
      "gripper_loss": 0.00653076171875,
      "loss": 0.025146484375,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.022705078125,
      "step": 9595
    },
    {
      "epoch": 2.153017724927081,
      "grad_norm": 0.2488817721605301,
      "learning_rate": 9.744355788350009e-05,
      "loss": 0.0379,
      "step": 9596
    },
    {
      "epoch": 2.153017724927081,
      "gripper_loss": 0.00421142578125,
      "loss": 0.0634765625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.020263671875,
      "step": 9596
    },
    {
      "epoch": 2.1532420910926633,
      "grad_norm": 0.31984463334083557,
      "learning_rate": 9.739558533218734e-05,
      "loss": 0.0428,
      "step": 9597
    },
    {
      "epoch": 2.1532420910926633,
      "gripper_loss": 0.051025390625,
      "loss": 0.07958984375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.06640625,
      "step": 9597
    },
    {
      "epoch": 2.1534664572582454,
      "grad_norm": 0.33684515953063965,
      "learning_rate": 9.734762173563275e-05,
      "loss": 0.0415,
      "step": 9598
    },
    {
      "epoch": 2.1534664572582454,
      "gripper_loss": 0.80078125,
      "loss": 0.050048828125,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.0157470703125,
      "step": 9598
    },
    {
      "epoch": 2.153690823423828,
      "grad_norm": 0.5238585472106934,
      "learning_rate": 9.729966709665075e-05,
      "loss": 0.0693,
      "step": 9599
    },
    {
      "epoch": 2.153690823423828,
      "gripper_loss": 0.006317138671875,
      "loss": 0.0712890625,
      "pos_loss": 0.482421875,
      "rot_loss": 0.251953125,
      "step": 9599
    },
    {
      "epoch": 2.15391518958941,
      "grad_norm": 0.40643489360809326,
      "learning_rate": 9.725172141805544e-05,
      "loss": 0.069,
      "step": 9600
    },
    {
      "epoch": 2.15391518958941,
      "gripper_loss": 0.049560546875,
      "loss": 0.035888671875,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.1337890625,
      "step": 9600
    },
    {
      "epoch": 2.154139555754992,
      "grad_norm": 0.3034064471721649,
      "learning_rate": 9.720378470266003e-05,
      "loss": 0.0501,
      "step": 9601
    },
    {
      "epoch": 2.154139555754992,
      "gripper_loss": 0.00811767578125,
      "loss": 0.050048828125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.0322265625,
      "step": 9601
    },
    {
      "epoch": 2.1543639219205746,
      "grad_norm": 0.38391804695129395,
      "learning_rate": 9.715585695327753e-05,
      "loss": 0.0651,
      "step": 9602
    },
    {
      "epoch": 2.1543639219205746,
      "gripper_loss": 0.1396484375,
      "loss": 0.030029296875,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.1494140625,
      "step": 9602
    },
    {
      "epoch": 2.1545882880861567,
      "grad_norm": 0.3847082555294037,
      "learning_rate": 9.710793817272031e-05,
      "loss": 0.0332,
      "step": 9603
    },
    {
      "epoch": 2.1545882880861567,
      "gripper_loss": 0.014404296875,
      "loss": 0.01611328125,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.011474609375,
      "step": 9603
    },
    {
      "epoch": 2.1548126542517387,
      "grad_norm": 0.35317036509513855,
      "learning_rate": 9.706002836380026e-05,
      "loss": 0.0485,
      "step": 9604
    },
    {
      "epoch": 2.1548126542517387,
      "gripper_loss": 0.058837890625,
      "loss": 0.05810546875,
      "pos_loss": 0.33203125,
      "rot_loss": 0.2431640625,
      "step": 9604
    },
    {
      "epoch": 2.1550370204173213,
      "grad_norm": 0.30035674571990967,
      "learning_rate": 9.701212752932873e-05,
      "loss": 0.0496,
      "step": 9605
    },
    {
      "epoch": 2.1550370204173213,
      "gripper_loss": 0.007110595703125,
      "loss": 0.1298828125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.890625,
      "step": 9605
    },
    {
      "epoch": 2.1552613865829033,
      "grad_norm": 0.387459397315979,
      "learning_rate": 9.69642356721164e-05,
      "loss": 0.0462,
      "step": 9606
    },
    {
      "epoch": 2.1552613865829033,
      "gripper_loss": 0.06591796875,
      "loss": 0.1376953125,
      "pos_loss": 1.328125,
      "rot_loss": 0.09521484375,
      "step": 9606
    },
    {
      "epoch": 2.1554857527484854,
      "grad_norm": 0.35641714930534363,
      "learning_rate": 9.691635279497369e-05,
      "loss": 0.0715,
      "step": 9607
    },
    {
      "epoch": 2.1554857527484854,
      "gripper_loss": 0.00567626953125,
      "loss": 0.07763671875,
      "pos_loss": 0.62890625,
      "rot_loss": 0.171875,
      "step": 9607
    },
    {
      "epoch": 2.155710118914068,
      "grad_norm": 0.3073669373989105,
      "learning_rate": 9.686847890071018e-05,
      "loss": 0.0329,
      "step": 9608
    },
    {
      "epoch": 2.155710118914068,
      "gripper_loss": 0.0294189453125,
      "loss": 0.054443359375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.1611328125,
      "step": 9608
    },
    {
      "epoch": 2.15593448507965,
      "grad_norm": 0.3729960024356842,
      "learning_rate": 9.682061399213524e-05,
      "loss": 0.0583,
      "step": 9609
    },
    {
      "epoch": 2.15593448507965,
      "gripper_loss": 0.0059814453125,
      "loss": 0.0306396484375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.130859375,
      "step": 9609
    },
    {
      "epoch": 2.156158851245232,
      "grad_norm": 0.3333304524421692,
      "learning_rate": 9.677275807205743e-05,
      "loss": 0.0527,
      "step": 9610
    },
    {
      "epoch": 2.156158851245232,
      "gripper_loss": 0.05712890625,
      "loss": 0.037841796875,
      "pos_loss": 0.326171875,
      "rot_loss": 0.0279541015625,
      "step": 9610
    },
    {
      "epoch": 2.1563832174108146,
      "grad_norm": 0.5753360986709595,
      "learning_rate": 9.672491114328497e-05,
      "loss": 0.0634,
      "step": 9611
    },
    {
      "epoch": 2.1563832174108146,
      "gripper_loss": 0.0712890625,
      "loss": 0.1142578125,
      "pos_loss": 0.474609375,
      "rot_loss": 0.5859375,
      "step": 9611
    },
    {
      "epoch": 2.1566075835763967,
      "grad_norm": 0.5121892690658569,
      "learning_rate": 9.667707320862548e-05,
      "loss": 0.0808,
      "step": 9612
    },
    {
      "epoch": 2.1566075835763967,
      "gripper_loss": 0.09814453125,
      "loss": 0.04833984375,
      "pos_loss": 0.248046875,
      "rot_loss": 0.1787109375,
      "step": 9612
    },
    {
      "epoch": 2.156831949741979,
      "grad_norm": 0.4009433090686798,
      "learning_rate": 9.66292442708862e-05,
      "loss": 0.0613,
      "step": 9613
    },
    {
      "epoch": 2.156831949741979,
      "gripper_loss": 0.1298828125,
      "loss": 0.0283203125,
      "pos_loss": 0.1484375,
      "rot_loss": 0.076171875,
      "step": 9613
    },
    {
      "epoch": 2.1570563159075613,
      "grad_norm": 0.5841062068939209,
      "learning_rate": 9.658142433287353e-05,
      "loss": 0.0613,
      "step": 9614
    },
    {
      "epoch": 2.1570563159075613,
      "gripper_loss": 0.01025390625,
      "loss": 0.035400390625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.048095703125,
      "step": 9614
    },
    {
      "epoch": 2.1572806820731434,
      "grad_norm": 0.44134190678596497,
      "learning_rate": 9.653361339739358e-05,
      "loss": 0.0493,
      "step": 9615
    },
    {
      "epoch": 2.1572806820731434,
      "gripper_loss": 0.0191650390625,
      "loss": 0.064453125,
      "pos_loss": 0.41796875,
      "rot_loss": 0.23046875,
      "step": 9615
    },
    {
      "epoch": 2.1575050482387255,
      "grad_norm": 0.35527244210243225,
      "learning_rate": 9.648581146725188e-05,
      "loss": 0.0553,
      "step": 9616
    },
    {
      "epoch": 2.1575050482387255,
      "gripper_loss": 0.00958251953125,
      "loss": 0.045654296875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.054443359375,
      "step": 9616
    },
    {
      "epoch": 2.157729414404308,
      "grad_norm": 0.2870886027812958,
      "learning_rate": 9.643801854525352e-05,
      "loss": 0.0471,
      "step": 9617
    },
    {
      "epoch": 2.157729414404308,
      "gripper_loss": 0.1357421875,
      "loss": 0.05712890625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.25390625,
      "step": 9617
    },
    {
      "epoch": 2.15795378056989,
      "grad_norm": 0.610944390296936,
      "learning_rate": 9.639023463420282e-05,
      "loss": 0.0721,
      "step": 9618
    },
    {
      "epoch": 2.15795378056989,
      "gripper_loss": 0.1240234375,
      "loss": 0.0279541015625,
      "pos_loss": 0.055908203125,
      "rot_loss": 0.1650390625,
      "step": 9618
    },
    {
      "epoch": 2.158178146735472,
      "grad_norm": 0.3639369010925293,
      "learning_rate": 9.634245973690384e-05,
      "loss": 0.048,
      "step": 9619
    },
    {
      "epoch": 2.158178146735472,
      "gripper_loss": 0.337890625,
      "loss": 0.031494140625,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.1376953125,
      "step": 9619
    },
    {
      "epoch": 2.1584025129010547,
      "grad_norm": 0.5354123115539551,
      "learning_rate": 9.629469385615985e-05,
      "loss": 0.0474,
      "step": 9620
    },
    {
      "epoch": 2.1584025129010547,
      "gripper_loss": 0.01336669921875,
      "loss": 0.00909423828125,
      "pos_loss": 0.04248046875,
      "rot_loss": 0.0203857421875,
      "step": 9620
    },
    {
      "epoch": 2.1586268790666368,
      "grad_norm": 0.331027626991272,
      "learning_rate": 9.624693699477383e-05,
      "loss": 0.0467,
      "step": 9621
    },
    {
      "epoch": 2.1586268790666368,
      "gripper_loss": 0.004974365234375,
      "loss": 0.021240234375,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.1259765625,
      "step": 9621
    },
    {
      "epoch": 2.158851245232219,
      "grad_norm": 0.26352956891059875,
      "learning_rate": 9.619918915554818e-05,
      "loss": 0.0349,
      "step": 9622
    },
    {
      "epoch": 2.158851245232219,
      "gripper_loss": 0.060546875,
      "loss": 0.1396484375,
      "pos_loss": 1.328125,
      "rot_loss": 0.08251953125,
      "step": 9622
    },
    {
      "epoch": 2.1590756113978014,
      "grad_norm": 0.49372419714927673,
      "learning_rate": 9.615145034128456e-05,
      "loss": 0.0984,
      "step": 9623
    },
    {
      "epoch": 2.1590756113978014,
      "gripper_loss": 0.330078125,
      "loss": 0.01434326171875,
      "pos_loss": 0.0076904296875,
      "rot_loss": 0.00665283203125,
      "step": 9623
    },
    {
      "epoch": 2.1592999775633834,
      "grad_norm": 0.47280895709991455,
      "learning_rate": 9.610372055478436e-05,
      "loss": 0.0573,
      "step": 9624
    },
    {
      "epoch": 2.1592999775633834,
      "gripper_loss": 0.0439453125,
      "loss": 0.019287109375,
      "pos_loss": 0.038818359375,
      "rot_loss": 0.11474609375,
      "step": 9624
    },
    {
      "epoch": 2.1595243437289655,
      "grad_norm": 0.30691245198249817,
      "learning_rate": 9.605599979884833e-05,
      "loss": 0.0338,
      "step": 9625
    },
    {
      "epoch": 2.1595243437289655,
      "gripper_loss": 0.44140625,
      "loss": 0.018310546875,
      "pos_loss": 0.00909423828125,
      "rot_loss": 0.01470947265625,
      "step": 9625
    },
    {
      "epoch": 2.159748709894548,
      "grad_norm": 0.24771541357040405,
      "learning_rate": 9.600828807627682e-05,
      "loss": 0.0334,
      "step": 9626
    },
    {
      "epoch": 2.159748709894548,
      "gripper_loss": 0.0947265625,
      "loss": 0.026611328125,
      "pos_loss": 0.16796875,
      "rot_loss": 0.056396484375,
      "step": 9626
    },
    {
      "epoch": 2.15997307606013,
      "grad_norm": 0.25153231620788574,
      "learning_rate": 9.596058538986929e-05,
      "loss": 0.0596,
      "step": 9627
    },
    {
      "epoch": 2.15997307606013,
      "gripper_loss": 0.020263671875,
      "loss": 0.017333984375,
      "pos_loss": 0.087890625,
      "rot_loss": 0.06396484375,
      "step": 9627
    },
    {
      "epoch": 2.160197442225712,
      "grad_norm": 0.23542271554470062,
      "learning_rate": 9.59128917424251e-05,
      "loss": 0.036,
      "step": 9628
    },
    {
      "epoch": 2.160197442225712,
      "gripper_loss": 0.4453125,
      "loss": 0.095703125,
      "pos_loss": 0.60546875,
      "rot_loss": 0.22265625,
      "step": 9628
    },
    {
      "epoch": 2.1604218083912947,
      "grad_norm": 0.24297738075256348,
      "learning_rate": 9.586520713674288e-05,
      "loss": 0.0397,
      "step": 9629
    },
    {
      "epoch": 2.1604218083912947,
      "gripper_loss": 0.00579833984375,
      "loss": 0.0380859375,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.1328125,
      "step": 9629
    },
    {
      "epoch": 2.160646174556877,
      "grad_norm": 0.3301383852958679,
      "learning_rate": 9.581753157562062e-05,
      "loss": 0.0507,
      "step": 9630
    },
    {
      "epoch": 2.160646174556877,
      "gripper_loss": 0.1669921875,
      "loss": 0.04931640625,
      "pos_loss": 0.26953125,
      "rot_loss": 0.111328125,
      "step": 9630
    },
    {
      "epoch": 2.160870540722459,
      "grad_norm": 0.5700695514678955,
      "learning_rate": 9.576986506185606e-05,
      "loss": 0.0753,
      "step": 9631
    },
    {
      "epoch": 2.160870540722459,
      "gripper_loss": 0.66015625,
      "loss": 0.052978515625,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.1904296875,
      "step": 9631
    },
    {
      "epoch": 2.1610949068880414,
      "grad_norm": 0.3231336772441864,
      "learning_rate": 9.572220759824609e-05,
      "loss": 0.0579,
      "step": 9632
    },
    {
      "epoch": 2.1610949068880414,
      "gripper_loss": 0.2216796875,
      "loss": 0.051513671875,
      "pos_loss": 0.431640625,
      "rot_loss": 0.013671875,
      "step": 9632
    },
    {
      "epoch": 2.1613192730536235,
      "grad_norm": 0.3033784329891205,
      "learning_rate": 9.56745591875873e-05,
      "loss": 0.0488,
      "step": 9633
    },
    {
      "epoch": 2.1613192730536235,
      "gripper_loss": 0.67578125,
      "loss": 0.053955078125,
      "pos_loss": 0.19140625,
      "rot_loss": 0.1279296875,
      "step": 9633
    },
    {
      "epoch": 2.1615436392192056,
      "grad_norm": 0.35478419065475464,
      "learning_rate": 9.562691983267568e-05,
      "loss": 0.0398,
      "step": 9634
    },
    {
      "epoch": 2.1615436392192056,
      "gripper_loss": 0.00811767578125,
      "loss": 0.045654296875,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.345703125,
      "step": 9634
    },
    {
      "epoch": 2.161768005384788,
      "grad_norm": 0.44066619873046875,
      "learning_rate": 9.557928953630677e-05,
      "loss": 0.0604,
      "step": 9635
    },
    {
      "epoch": 2.161768005384788,
      "gripper_loss": 0.062255859375,
      "loss": 0.0341796875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.0301513671875,
      "step": 9635
    },
    {
      "epoch": 2.16199237155037,
      "grad_norm": 0.3102213740348816,
      "learning_rate": 9.553166830127533e-05,
      "loss": 0.0452,
      "step": 9636
    },
    {
      "epoch": 2.16199237155037,
      "gripper_loss": 0.1064453125,
      "loss": 0.050537109375,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.35546875,
      "step": 9636
    },
    {
      "epoch": 2.1622167377159522,
      "grad_norm": 0.37426745891571045,
      "learning_rate": 9.548405613037583e-05,
      "loss": 0.044,
      "step": 9637
    },
    {
      "epoch": 2.1622167377159522,
      "gripper_loss": 0.029052734375,
      "loss": 0.10595703125,
      "pos_loss": 0.79296875,
      "rot_loss": 0.29296875,
      "step": 9637
    },
    {
      "epoch": 2.1624411038815348,
      "grad_norm": 0.5059650540351868,
      "learning_rate": 9.543645302640213e-05,
      "loss": 0.0467,
      "step": 9638
    },
    {
      "epoch": 2.1624411038815348,
      "gripper_loss": 0.1884765625,
      "loss": 0.01324462890625,
      "pos_loss": 0.030517578125,
      "rot_loss": 0.023193359375,
      "step": 9638
    },
    {
      "epoch": 2.162665470047117,
      "grad_norm": 0.33150622248649597,
      "learning_rate": 9.538885899214769e-05,
      "loss": 0.041,
      "step": 9639
    },
    {
      "epoch": 2.162665470047117,
      "gripper_loss": 0.3125,
      "loss": 0.064453125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.390625,
      "step": 9639
    },
    {
      "epoch": 2.162889836212699,
      "grad_norm": 0.3399442732334137,
      "learning_rate": 9.534127403040505e-05,
      "loss": 0.0511,
      "step": 9640
    },
    {
      "epoch": 2.162889836212699,
      "gripper_loss": 0.0269775390625,
      "loss": 0.0166015625,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.07958984375,
      "step": 9640
    },
    {
      "epoch": 2.1631142023782814,
      "grad_norm": 0.3712747097015381,
      "learning_rate": 9.529369814396671e-05,
      "loss": 0.0576,
      "step": 9641
    },
    {
      "epoch": 2.1631142023782814,
      "gripper_loss": 0.00848388671875,
      "loss": 0.01104736328125,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.036376953125,
      "step": 9641
    },
    {
      "epoch": 2.1633385685438635,
      "grad_norm": 0.29538649320602417,
      "learning_rate": 9.524613133562421e-05,
      "loss": 0.0585,
      "step": 9642
    },
    {
      "epoch": 2.1633385685438635,
      "gripper_loss": 0.39453125,
      "loss": 0.0234375,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.0247802734375,
      "step": 9642
    },
    {
      "epoch": 2.1635629347094456,
      "grad_norm": 0.38814038038253784,
      "learning_rate": 9.519857360816892e-05,
      "loss": 0.0492,
      "step": 9643
    },
    {
      "epoch": 2.1635629347094456,
      "gripper_loss": 0.640625,
      "loss": 0.0673828125,
      "pos_loss": 0.2734375,
      "rot_loss": 0.2060546875,
      "step": 9643
    },
    {
      "epoch": 2.163787300875028,
      "grad_norm": 0.29730159044265747,
      "learning_rate": 9.515102496439132e-05,
      "loss": 0.0526,
      "step": 9644
    },
    {
      "epoch": 2.163787300875028,
      "gripper_loss": 0.053466796875,
      "loss": 0.02783203125,
      "pos_loss": 0.2421875,
      "rot_loss": 0.01544189453125,
      "step": 9644
    },
    {
      "epoch": 2.16401166704061,
      "grad_norm": 0.2915675938129425,
      "learning_rate": 9.510348540708166e-05,
      "loss": 0.0467,
      "step": 9645
    },
    {
      "epoch": 2.16401166704061,
      "gripper_loss": 0.44140625,
      "loss": 0.263671875,
      "pos_loss": 0.419921875,
      "rot_loss": 0.62890625,
      "step": 9645
    },
    {
      "epoch": 2.1642360332061923,
      "grad_norm": 1.6573137044906616,
      "learning_rate": 9.505595493902952e-05,
      "loss": 0.2438,
      "step": 9646
    },
    {
      "epoch": 2.1642360332061923,
      "gripper_loss": 0.02685546875,
      "loss": 0.006622314453125,
      "pos_loss": 0.0166015625,
      "rot_loss": 0.02587890625,
      "step": 9646
    },
    {
      "epoch": 2.164460399371775,
      "grad_norm": 0.3583999574184418,
      "learning_rate": 9.500843356302405e-05,
      "loss": 0.0644,
      "step": 9647
    },
    {
      "epoch": 2.164460399371775,
      "gripper_loss": 0.279296875,
      "loss": 0.08349609375,
      "pos_loss": 0.671875,
      "rot_loss": 0.087890625,
      "step": 9647
    },
    {
      "epoch": 2.164684765537357,
      "grad_norm": 0.3110547363758087,
      "learning_rate": 9.496092128185363e-05,
      "loss": 0.051,
      "step": 9648
    },
    {
      "epoch": 2.164684765537357,
      "gripper_loss": 0.033447265625,
      "loss": 0.052490234375,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.46484375,
      "step": 9648
    },
    {
      "epoch": 2.164909131702939,
      "grad_norm": 0.4422098994255066,
      "learning_rate": 9.49134180983063e-05,
      "loss": 0.0505,
      "step": 9649
    },
    {
      "epoch": 2.164909131702939,
      "gripper_loss": 0.039794921875,
      "loss": 0.0458984375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.25390625,
      "step": 9649
    },
    {
      "epoch": 2.1651334978685215,
      "grad_norm": 0.30864036083221436,
      "learning_rate": 9.486592401516958e-05,
      "loss": 0.045,
      "step": 9650
    },
    {
      "epoch": 2.1651334978685215,
      "gripper_loss": 0.3203125,
      "loss": 0.1923828125,
      "pos_loss": 0.43359375,
      "rot_loss": 0.376953125,
      "step": 9650
    },
    {
      "epoch": 2.1653578640341036,
      "grad_norm": 1.511592149734497,
      "learning_rate": 9.481843903523038e-05,
      "loss": 0.1995,
      "step": 9651
    },
    {
      "epoch": 2.1653578640341036,
      "gripper_loss": 0.0211181640625,
      "loss": 0.028564453125,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.06884765625,
      "step": 9651
    },
    {
      "epoch": 2.1655822301996857,
      "grad_norm": 0.4744822680950165,
      "learning_rate": 9.477096316127517e-05,
      "loss": 0.0576,
      "step": 9652
    },
    {
      "epoch": 2.1655822301996857,
      "gripper_loss": 0.00860595703125,
      "loss": 0.07958984375,
      "pos_loss": 0.625,
      "rot_loss": 0.193359375,
      "step": 9652
    },
    {
      "epoch": 2.165806596365268,
      "grad_norm": 0.38561591506004333,
      "learning_rate": 9.472349639608969e-05,
      "loss": 0.073,
      "step": 9653
    },
    {
      "epoch": 2.165806596365268,
      "gripper_loss": 0.012451171875,
      "loss": 0.0159912109375,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.01446533203125,
      "step": 9653
    },
    {
      "epoch": 2.1660309625308503,
      "grad_norm": 0.34638330340385437,
      "learning_rate": 9.467603874245937e-05,
      "loss": 0.0466,
      "step": 9654
    },
    {
      "epoch": 2.1660309625308503,
      "gripper_loss": 0.0093994140625,
      "loss": 0.03759765625,
      "pos_loss": 0.318359375,
      "rot_loss": 0.04541015625,
      "step": 9654
    },
    {
      "epoch": 2.166255328696433,
      "grad_norm": 0.4354972243309021,
      "learning_rate": 9.462859020316885e-05,
      "loss": 0.0501,
      "step": 9655
    },
    {
      "epoch": 2.166255328696433,
      "gripper_loss": 0.828125,
      "loss": 0.361328125,
      "pos_loss": 0.72265625,
      "rot_loss": 0.5,
      "step": 9655
    },
    {
      "epoch": 2.166479694862015,
      "grad_norm": 1.496646761894226,
      "learning_rate": 9.45811507810026e-05,
      "loss": 0.3994,
      "step": 9656
    },
    {
      "epoch": 2.166479694862015,
      "gripper_loss": 0.0213623046875,
      "loss": 0.0390625,
      "pos_loss": 0.07861328125,
      "rot_loss": 0.302734375,
      "step": 9656
    },
    {
      "epoch": 2.166704061027597,
      "grad_norm": 0.3305457830429077,
      "learning_rate": 9.453372047874414e-05,
      "loss": 0.0497,
      "step": 9657
    },
    {
      "epoch": 2.166704061027597,
      "gripper_loss": 0.177734375,
      "loss": 0.027587890625,
      "pos_loss": 0.076171875,
      "rot_loss": 0.125,
      "step": 9657
    },
    {
      "epoch": 2.1669284271931795,
      "grad_norm": 0.36553698778152466,
      "learning_rate": 9.448629929917677e-05,
      "loss": 0.0526,
      "step": 9658
    },
    {
      "epoch": 2.1669284271931795,
      "gripper_loss": 0.07958984375,
      "loss": 0.037353515625,
      "pos_loss": 0.1953125,
      "rot_loss": 0.10888671875,
      "step": 9658
    },
    {
      "epoch": 2.1671527933587615,
      "grad_norm": 0.38600531220436096,
      "learning_rate": 9.443888724508309e-05,
      "loss": 0.0483,
      "step": 9659
    },
    {
      "epoch": 2.1671527933587615,
      "gripper_loss": 0.006988525390625,
      "loss": 0.0546875,
      "pos_loss": 0.486328125,
      "rot_loss": 0.06640625,
      "step": 9659
    },
    {
      "epoch": 2.1673771595243436,
      "grad_norm": 0.30972781777381897,
      "learning_rate": 9.439148431924538e-05,
      "loss": 0.0468,
      "step": 9660
    },
    {
      "epoch": 2.1673771595243436,
      "gripper_loss": 0.0098876953125,
      "loss": 0.0361328125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.03125,
      "step": 9660
    },
    {
      "epoch": 2.167601525689926,
      "grad_norm": 0.3860056698322296,
      "learning_rate": 9.434409052444499e-05,
      "loss": 0.0525,
      "step": 9661
    },
    {
      "epoch": 2.167601525689926,
      "gripper_loss": 0.10205078125,
      "loss": 0.0230712890625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.0128173828125,
      "step": 9661
    },
    {
      "epoch": 2.1678258918555082,
      "grad_norm": 0.27943098545074463,
      "learning_rate": 9.429670586346306e-05,
      "loss": 0.0329,
      "step": 9662
    },
    {
      "epoch": 2.1678258918555082,
      "gripper_loss": 0.00823974609375,
      "loss": 0.058349609375,
      "pos_loss": 0.46875,
      "rot_loss": 0.10107421875,
      "step": 9662
    },
    {
      "epoch": 2.1680502580210903,
      "grad_norm": 0.4820978343486786,
      "learning_rate": 9.424933033908012e-05,
      "loss": 0.0556,
      "step": 9663
    },
    {
      "epoch": 2.1680502580210903,
      "gripper_loss": 0.52734375,
      "loss": 0.019775390625,
      "pos_loss": 0.00421142578125,
      "rot_loss": 0.00506591796875,
      "step": 9663
    },
    {
      "epoch": 2.168274624186673,
      "grad_norm": 0.3522447347640991,
      "learning_rate": 9.420196395407623e-05,
      "loss": 0.0541,
      "step": 9664
    },
    {
      "epoch": 2.168274624186673,
      "gripper_loss": 0.01611328125,
      "loss": 0.0208740234375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.00921630859375,
      "step": 9664
    },
    {
      "epoch": 2.168498990352255,
      "grad_norm": 0.4071981906890869,
      "learning_rate": 9.415460671123066e-05,
      "loss": 0.0453,
      "step": 9665
    },
    {
      "epoch": 2.168498990352255,
      "gripper_loss": 0.0159912109375,
      "loss": 0.053955078125,
      "pos_loss": 0.482421875,
      "rot_loss": 0.0625,
      "step": 9665
    },
    {
      "epoch": 2.168723356517837,
      "grad_norm": 0.2671409547328949,
      "learning_rate": 9.410725861332245e-05,
      "loss": 0.0391,
      "step": 9666
    },
    {
      "epoch": 2.168723356517837,
      "gripper_loss": 0.0286865234375,
      "loss": 0.031494140625,
      "pos_loss": 0.263671875,
      "rot_loss": 0.0301513671875,
      "step": 9666
    },
    {
      "epoch": 2.1689477226834195,
      "grad_norm": 0.4405090808868408,
      "learning_rate": 9.405991966312982e-05,
      "loss": 0.0677,
      "step": 9667
    },
    {
      "epoch": 2.1689477226834195,
      "gripper_loss": 0.05859375,
      "loss": 0.1103515625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.3984375,
      "step": 9667
    },
    {
      "epoch": 2.1691720888490016,
      "grad_norm": 0.3480672538280487,
      "learning_rate": 9.40125898634307e-05,
      "loss": 0.0582,
      "step": 9668
    },
    {
      "epoch": 2.1691720888490016,
      "gripper_loss": 0.064453125,
      "loss": 0.1513671875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.357421875,
      "step": 9668
    },
    {
      "epoch": 2.1693964550145837,
      "grad_norm": 1.3372523784637451,
      "learning_rate": 9.396526921700241e-05,
      "loss": 0.1763,
      "step": 9669
    },
    {
      "epoch": 2.1693964550145837,
      "gripper_loss": 0.0654296875,
      "loss": 0.1455078125,
      "pos_loss": 0.69921875,
      "rot_loss": 0.10546875,
      "step": 9669
    },
    {
      "epoch": 2.169620821180166,
      "grad_norm": 1.1313694715499878,
      "learning_rate": 9.391795772662159e-05,
      "loss": 0.1536,
      "step": 9670
    },
    {
      "epoch": 2.169620821180166,
      "gripper_loss": 0.041259765625,
      "loss": 0.064453125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.30078125,
      "step": 9670
    },
    {
      "epoch": 2.1698451873457483,
      "grad_norm": 0.578102707862854,
      "learning_rate": 9.387065539506453e-05,
      "loss": 0.1022,
      "step": 9671
    },
    {
      "epoch": 2.1698451873457483,
      "gripper_loss": 0.062255859375,
      "loss": 0.05615234375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.050537109375,
      "step": 9671
    },
    {
      "epoch": 2.1700695535113304,
      "grad_norm": 0.7302618026733398,
      "learning_rate": 9.38233622251069e-05,
      "loss": 0.0836,
      "step": 9672
    },
    {
      "epoch": 2.1700695535113304,
      "gripper_loss": 0.00909423828125,
      "loss": 0.0947265625,
      "pos_loss": 0.6875,
      "rot_loss": 0.2578125,
      "step": 9672
    },
    {
      "epoch": 2.170293919676913,
      "grad_norm": 0.458099901676178,
      "learning_rate": 9.377607821952391e-05,
      "loss": 0.0501,
      "step": 9673
    },
    {
      "epoch": 2.170293919676913,
      "gripper_loss": 0.005706787109375,
      "loss": 0.08984375,
      "pos_loss": 0.63671875,
      "rot_loss": 0.2734375,
      "step": 9673
    },
    {
      "epoch": 2.170518285842495,
      "grad_norm": 0.4254324436187744,
      "learning_rate": 9.372880338109005e-05,
      "loss": 0.0391,
      "step": 9674
    },
    {
      "epoch": 2.170518285842495,
      "gripper_loss": 0.55078125,
      "loss": 0.076171875,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.287109375,
      "step": 9674
    },
    {
      "epoch": 2.170742652008077,
      "grad_norm": 0.7378783822059631,
      "learning_rate": 9.368153771257939e-05,
      "loss": 0.0734,
      "step": 9675
    },
    {
      "epoch": 2.170742652008077,
      "gripper_loss": 0.07080078125,
      "loss": 0.029296875,
      "pos_loss": 0.19921875,
      "rot_loss": 0.04638671875,
      "step": 9675
    },
    {
      "epoch": 2.1709670181736596,
      "grad_norm": 0.40118423104286194,
      "learning_rate": 9.363428121676562e-05,
      "loss": 0.0408,
      "step": 9676
    },
    {
      "epoch": 2.1709670181736596,
      "gripper_loss": 0.00555419921875,
      "loss": 0.1435546875,
      "pos_loss": 1.46875,
      "rot_loss": 0.0174560546875,
      "step": 9676
    },
    {
      "epoch": 2.1711913843392416,
      "grad_norm": 0.4799548089504242,
      "learning_rate": 9.358703389642151e-05,
      "loss": 0.062,
      "step": 9677
    },
    {
      "epoch": 2.1711913843392416,
      "gripper_loss": 0.07763671875,
      "loss": 0.0498046875,
      "pos_loss": 0.341796875,
      "rot_loss": 0.1162109375,
      "step": 9677
    },
    {
      "epoch": 2.1714157505048237,
      "grad_norm": 1.234169602394104,
      "learning_rate": 9.35397957543197e-05,
      "loss": 0.067,
      "step": 9678
    },
    {
      "epoch": 2.1714157505048237,
      "gripper_loss": 0.1591796875,
      "loss": 0.03466796875,
      "pos_loss": 0.25390625,
      "rot_loss": 0.0296630859375,
      "step": 9678
    },
    {
      "epoch": 2.1716401166704062,
      "grad_norm": 0.4203217029571533,
      "learning_rate": 9.349256679323193e-05,
      "loss": 0.0542,
      "step": 9679
    },
    {
      "epoch": 2.1716401166704062,
      "gripper_loss": 0.0057373046875,
      "loss": 0.0216064453125,
      "pos_loss": 0.171875,
      "rot_loss": 0.0269775390625,
      "step": 9679
    },
    {
      "epoch": 2.1718644828359883,
      "grad_norm": 0.4046536087989807,
      "learning_rate": 9.344534701592966e-05,
      "loss": 0.0455,
      "step": 9680
    },
    {
      "epoch": 2.1718644828359883,
      "gripper_loss": 0.1337890625,
      "loss": 0.01458740234375,
      "pos_loss": 0.043212890625,
      "rot_loss": 0.039794921875,
      "step": 9680
    },
    {
      "epoch": 2.1720888490015704,
      "grad_norm": 0.444617360830307,
      "learning_rate": 9.339813642518375e-05,
      "loss": 0.0496,
      "step": 9681
    },
    {
      "epoch": 2.1720888490015704,
      "gripper_loss": 0.29296875,
      "loss": 0.053466796875,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.205078125,
      "step": 9681
    },
    {
      "epoch": 2.172313215167153,
      "grad_norm": 0.48147252202033997,
      "learning_rate": 9.335093502376452e-05,
      "loss": 0.0523,
      "step": 9682
    },
    {
      "epoch": 2.172313215167153,
      "gripper_loss": 0.00946044921875,
      "loss": 0.03759765625,
      "pos_loss": 0.054931640625,
      "rot_loss": 0.30859375,
      "step": 9682
    },
    {
      "epoch": 2.172537581332735,
      "grad_norm": 0.27703654766082764,
      "learning_rate": 9.330374281444163e-05,
      "loss": 0.0415,
      "step": 9683
    },
    {
      "epoch": 2.172537581332735,
      "gripper_loss": 0.0166015625,
      "loss": 0.0703125,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.5625,
      "step": 9683
    },
    {
      "epoch": 2.172761947498317,
      "grad_norm": 0.4280684292316437,
      "learning_rate": 9.32565597999843e-05,
      "loss": 0.0831,
      "step": 9684
    },
    {
      "epoch": 2.172761947498317,
      "gripper_loss": 0.004058837890625,
      "loss": 0.00927734375,
      "pos_loss": 0.050048828125,
      "rot_loss": 0.0223388671875,
      "step": 9684
    },
    {
      "epoch": 2.1729863136638996,
      "grad_norm": 0.2836036682128906,
      "learning_rate": 9.320938598316128e-05,
      "loss": 0.0495,
      "step": 9685
    },
    {
      "epoch": 2.1729863136638996,
      "gripper_loss": 0.00433349609375,
      "loss": 0.0047607421875,
      "pos_loss": 0.0101318359375,
      "rot_loss": 0.00982666015625,
      "step": 9685
    },
    {
      "epoch": 2.1732106798294817,
      "grad_norm": 0.322959303855896,
      "learning_rate": 9.316222136674077e-05,
      "loss": 0.0491,
      "step": 9686
    },
    {
      "epoch": 2.1732106798294817,
      "gripper_loss": 0.10888671875,
      "loss": 0.0927734375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.34375,
      "step": 9686
    },
    {
      "epoch": 2.1734350459950638,
      "grad_norm": 0.696535587310791,
      "learning_rate": 9.31150659534902e-05,
      "loss": 0.099,
      "step": 9687
    },
    {
      "epoch": 2.1734350459950638,
      "gripper_loss": 0.7890625,
      "loss": 0.0625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.07861328125,
      "step": 9687
    },
    {
      "epoch": 2.1736594121606463,
      "grad_norm": 0.4055730998516083,
      "learning_rate": 9.306791974617678e-05,
      "loss": 0.0754,
      "step": 9688
    },
    {
      "epoch": 2.1736594121606463,
      "gripper_loss": 0.40625,
      "loss": 0.03857421875,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.0299072265625,
      "step": 9688
    },
    {
      "epoch": 2.1738837783262284,
      "grad_norm": 0.5395245552062988,
      "learning_rate": 9.302078274756686e-05,
      "loss": 0.0515,
      "step": 9689
    },
    {
      "epoch": 2.1738837783262284,
      "gripper_loss": 0.01220703125,
      "loss": 0.0322265625,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.2197265625,
      "step": 9689
    },
    {
      "epoch": 2.1741081444918104,
      "grad_norm": 0.2929028272628784,
      "learning_rate": 9.297365496042661e-05,
      "loss": 0.0439,
      "step": 9690
    },
    {
      "epoch": 2.1741081444918104,
      "gripper_loss": 0.0098876953125,
      "loss": 0.0693359375,
      "pos_loss": 0.345703125,
      "rot_loss": 0.357421875,
      "step": 9690
    },
    {
      "epoch": 2.174332510657393,
      "grad_norm": 0.3317652642726898,
      "learning_rate": 9.292653638752132e-05,
      "loss": 0.0488,
      "step": 9691
    },
    {
      "epoch": 2.174332510657393,
      "gripper_loss": 0.0791015625,
      "loss": 0.0556640625,
      "pos_loss": 0.43359375,
      "rot_loss": 0.0986328125,
      "step": 9691
    },
    {
      "epoch": 2.174556876822975,
      "grad_norm": 0.35778501629829407,
      "learning_rate": 9.28794270316159e-05,
      "loss": 0.0597,
      "step": 9692
    },
    {
      "epoch": 2.174556876822975,
      "gripper_loss": 0.47265625,
      "loss": 0.0289306640625,
      "pos_loss": 0.050048828125,
      "rot_loss": 0.0498046875,
      "step": 9692
    },
    {
      "epoch": 2.174781242988557,
      "grad_norm": 0.644344687461853,
      "learning_rate": 9.283232689547477e-05,
      "loss": 0.0674,
      "step": 9693
    },
    {
      "epoch": 2.174781242988557,
      "gripper_loss": 0.00653076171875,
      "loss": 0.1357421875,
      "pos_loss": 1.390625,
      "rot_loss": 0.0172119140625,
      "step": 9693
    },
    {
      "epoch": 2.1750056091541397,
      "grad_norm": 0.4042603075504303,
      "learning_rate": 9.27852359818617e-05,
      "loss": 0.0614,
      "step": 9694
    },
    {
      "epoch": 2.1750056091541397,
      "gripper_loss": 0.0076904296875,
      "loss": 0.038818359375,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.2333984375,
      "step": 9694
    },
    {
      "epoch": 2.1752299753197217,
      "grad_norm": 0.30946069955825806,
      "learning_rate": 9.273815429354007e-05,
      "loss": 0.0411,
      "step": 9695
    },
    {
      "epoch": 2.1752299753197217,
      "gripper_loss": 0.01513671875,
      "loss": 0.0732421875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.0634765625,
      "step": 9695
    },
    {
      "epoch": 2.175454341485304,
      "grad_norm": 0.3844859004020691,
      "learning_rate": 9.269108183327246e-05,
      "loss": 0.0511,
      "step": 9696
    },
    {
      "epoch": 2.175454341485304,
      "gripper_loss": 0.162109375,
      "loss": 0.03955078125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.18359375,
      "step": 9696
    },
    {
      "epoch": 2.1756787076508863,
      "grad_norm": 0.3025760054588318,
      "learning_rate": 9.26440186038211e-05,
      "loss": 0.0579,
      "step": 9697
    },
    {
      "epoch": 2.1756787076508863,
      "gripper_loss": 0.01141357421875,
      "loss": 0.05322265625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.1767578125,
      "step": 9697
    },
    {
      "epoch": 2.1759030738164684,
      "grad_norm": 0.32553401589393616,
      "learning_rate": 9.259696460794767e-05,
      "loss": 0.0591,
      "step": 9698
    },
    {
      "epoch": 2.1759030738164684,
      "gripper_loss": 0.1259765625,
      "loss": 0.1396484375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.462890625,
      "step": 9698
    },
    {
      "epoch": 2.176127439982051,
      "grad_norm": 0.9900463819503784,
      "learning_rate": 9.254991984841338e-05,
      "loss": 0.1497,
      "step": 9699
    },
    {
      "epoch": 2.176127439982051,
      "gripper_loss": 0.034912109375,
      "loss": 0.08642578125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.26171875,
      "step": 9699
    },
    {
      "epoch": 2.176351806147633,
      "grad_norm": 0.6732765436172485,
      "learning_rate": 9.250288432797856e-05,
      "loss": 0.0834,
      "step": 9700
    },
    {
      "epoch": 2.176351806147633,
      "gripper_loss": 0.0150146484375,
      "loss": 0.01129150390625,
      "pos_loss": 0.053466796875,
      "rot_loss": 0.0296630859375,
      "step": 9700
    },
    {
      "epoch": 2.176576172313215,
      "grad_norm": 0.26839444041252136,
      "learning_rate": 9.245585804940348e-05,
      "loss": 0.0306,
      "step": 9701
    },
    {
      "epoch": 2.176576172313215,
      "gripper_loss": 0.01141357421875,
      "loss": 0.1015625,
      "pos_loss": 0.76171875,
      "rot_loss": 0.275390625,
      "step": 9701
    },
    {
      "epoch": 2.1768005384787976,
      "grad_norm": 0.4347729980945587,
      "learning_rate": 9.240884101544742e-05,
      "loss": 0.057,
      "step": 9702
    },
    {
      "epoch": 2.1768005384787976,
      "gripper_loss": 0.0133056640625,
      "loss": 0.09130859375,
      "pos_loss": 0.796875,
      "rot_loss": 0.1376953125,
      "step": 9702
    },
    {
      "epoch": 2.1770249046443797,
      "grad_norm": 0.44116631150245667,
      "learning_rate": 9.236183322886945e-05,
      "loss": 0.0707,
      "step": 9703
    },
    {
      "epoch": 2.1770249046443797,
      "gripper_loss": 0.01446533203125,
      "loss": 0.03515625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.1611328125,
      "step": 9703
    },
    {
      "epoch": 2.177249270809962,
      "grad_norm": 0.33245089650154114,
      "learning_rate": 9.231483469242786e-05,
      "loss": 0.0364,
      "step": 9704
    },
    {
      "epoch": 2.177249270809962,
      "gripper_loss": 0.734375,
      "loss": 0.1396484375,
      "pos_loss": 1.0390625,
      "rot_loss": 0.1474609375,
      "step": 9704
    },
    {
      "epoch": 2.1774736369755443,
      "grad_norm": 0.4735611081123352,
      "learning_rate": 9.226784540888053e-05,
      "loss": 0.0703,
      "step": 9705
    },
    {
      "epoch": 2.1774736369755443,
      "gripper_loss": 0.00738525390625,
      "loss": 0.025146484375,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.07763671875,
      "step": 9705
    },
    {
      "epoch": 2.1776980031411264,
      "grad_norm": 0.3878052830696106,
      "learning_rate": 9.222086538098482e-05,
      "loss": 0.0556,
      "step": 9706
    },
    {
      "epoch": 2.1776980031411264,
      "gripper_loss": 0.01025390625,
      "loss": 0.0322265625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.01470947265625,
      "step": 9706
    },
    {
      "epoch": 2.1779223693067085,
      "grad_norm": 0.41020259261131287,
      "learning_rate": 9.217389461149755e-05,
      "loss": 0.061,
      "step": 9707
    },
    {
      "epoch": 2.1779223693067085,
      "gripper_loss": 0.51171875,
      "loss": 0.046875,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.1474609375,
      "step": 9707
    },
    {
      "epoch": 2.178146735472291,
      "grad_norm": 0.4027984142303467,
      "learning_rate": 9.21269331031748e-05,
      "loss": 0.0475,
      "step": 9708
    },
    {
      "epoch": 2.178146735472291,
      "gripper_loss": 0.00634765625,
      "loss": 0.046630859375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.00946044921875,
      "step": 9708
    },
    {
      "epoch": 2.178371101637873,
      "grad_norm": 0.2999145984649658,
      "learning_rate": 9.207998085877231e-05,
      "loss": 0.0521,
      "step": 9709
    },
    {
      "epoch": 2.178371101637873,
      "gripper_loss": 0.25,
      "loss": 0.06591796875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.1025390625,
      "step": 9709
    },
    {
      "epoch": 2.178595467803455,
      "grad_norm": 0.43433961272239685,
      "learning_rate": 9.203303788104523e-05,
      "loss": 0.056,
      "step": 9710
    },
    {
      "epoch": 2.178595467803455,
      "gripper_loss": 0.013427734375,
      "loss": 0.05322265625,
      "pos_loss": 0.314453125,
      "rot_loss": 0.2041015625,
      "step": 9710
    },
    {
      "epoch": 2.1788198339690377,
      "grad_norm": 0.5012014508247375,
      "learning_rate": 9.19861041727482e-05,
      "loss": 0.0666,
      "step": 9711
    },
    {
      "epoch": 2.1788198339690377,
      "gripper_loss": 0.048828125,
      "loss": 0.021240234375,
      "pos_loss": 0.1220703125,
      "rot_loss": 0.061279296875,
      "step": 9711
    },
    {
      "epoch": 2.1790442001346197,
      "grad_norm": 0.23473820090293884,
      "learning_rate": 9.193917973663515e-05,
      "loss": 0.0402,
      "step": 9712
    },
    {
      "epoch": 2.1790442001346197,
      "gripper_loss": 0.326171875,
      "loss": 0.115234375,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.5390625,
      "step": 9712
    },
    {
      "epoch": 2.179268566300202,
      "grad_norm": 0.9383159875869751,
      "learning_rate": 9.189226457545973e-05,
      "loss": 0.1287,
      "step": 9713
    },
    {
      "epoch": 2.179268566300202,
      "gripper_loss": 0.59765625,
      "loss": 0.0693359375,
      "pos_loss": 0.44140625,
      "rot_loss": 0.0751953125,
      "step": 9713
    },
    {
      "epoch": 2.1794929324657843,
      "grad_norm": 0.3172585964202881,
      "learning_rate": 9.184535869197478e-05,
      "loss": 0.0547,
      "step": 9714
    },
    {
      "epoch": 2.1794929324657843,
      "gripper_loss": 0.0194091796875,
      "loss": 0.04541015625,
      "pos_loss": 0.42578125,
      "rot_loss": 0.0169677734375,
      "step": 9714
    },
    {
      "epoch": 2.1797172986313664,
      "grad_norm": 0.32685425877571106,
      "learning_rate": 9.179846208893273e-05,
      "loss": 0.0447,
      "step": 9715
    },
    {
      "epoch": 2.1797172986313664,
      "gripper_loss": 1.140625,
      "loss": 0.0791015625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.060302734375,
      "step": 9715
    },
    {
      "epoch": 2.1799416647969485,
      "grad_norm": 0.34380006790161133,
      "learning_rate": 9.175157476908555e-05,
      "loss": 0.0463,
      "step": 9716
    },
    {
      "epoch": 2.1799416647969485,
      "gripper_loss": 0.0289306640625,
      "loss": 0.05908203125,
      "pos_loss": 0.357421875,
      "rot_loss": 0.2216796875,
      "step": 9716
    },
    {
      "epoch": 2.180166030962531,
      "grad_norm": 0.39491695165634155,
      "learning_rate": 9.170469673518441e-05,
      "loss": 0.0499,
      "step": 9717
    },
    {
      "epoch": 2.180166030962531,
      "gripper_loss": 0.06982421875,
      "loss": 0.0299072265625,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.044189453125,
      "step": 9717
    },
    {
      "epoch": 2.180390397128113,
      "grad_norm": 0.4377575218677521,
      "learning_rate": 9.165782798998017e-05,
      "loss": 0.0501,
      "step": 9718
    },
    {
      "epoch": 2.180390397128113,
      "gripper_loss": 0.004486083984375,
      "loss": 0.04833984375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.10498046875,
      "step": 9718
    },
    {
      "epoch": 2.180614763293695,
      "grad_norm": 0.4563661813735962,
      "learning_rate": 9.16109685362231e-05,
      "loss": 0.063,
      "step": 9719
    },
    {
      "epoch": 2.180614763293695,
      "gripper_loss": 0.0859375,
      "loss": 0.04150390625,
      "pos_loss": 0.1220703125,
      "rot_loss": 0.1533203125,
      "step": 9719
    },
    {
      "epoch": 2.1808391294592777,
      "grad_norm": 0.7228356003761292,
      "learning_rate": 9.156411837666296e-05,
      "loss": 0.1096,
      "step": 9720
    },
    {
      "epoch": 2.1808391294592777,
      "gripper_loss": 0.236328125,
      "loss": 0.021728515625,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.06591796875,
      "step": 9720
    },
    {
      "epoch": 2.18106349562486,
      "grad_norm": 0.31026774644851685,
      "learning_rate": 9.15172775140487e-05,
      "loss": 0.0407,
      "step": 9721
    },
    {
      "epoch": 2.18106349562486,
      "gripper_loss": 0.1611328125,
      "loss": 0.09130859375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.212890625,
      "step": 9721
    },
    {
      "epoch": 2.181287861790442,
      "grad_norm": 0.6029027700424194,
      "learning_rate": 9.147044595112903e-05,
      "loss": 0.0896,
      "step": 9722
    },
    {
      "epoch": 2.181287861790442,
      "gripper_loss": 0.62890625,
      "loss": 0.0517578125,
      "pos_loss": 0.23828125,
      "rot_loss": 0.0654296875,
      "step": 9722
    },
    {
      "epoch": 2.1815122279560244,
      "grad_norm": 0.3477950692176819,
      "learning_rate": 9.142362369065207e-05,
      "loss": 0.0419,
      "step": 9723
    },
    {
      "epoch": 2.1815122279560244,
      "gripper_loss": 0.150390625,
      "loss": 0.017333984375,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.03955078125,
      "step": 9723
    },
    {
      "epoch": 2.1817365941216065,
      "grad_norm": 0.37690815329551697,
      "learning_rate": 9.13768107353652e-05,
      "loss": 0.0485,
      "step": 9724
    },
    {
      "epoch": 2.1817365941216065,
      "gripper_loss": 0.00701904296875,
      "loss": 0.050048828125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.06640625,
      "step": 9724
    },
    {
      "epoch": 2.1819609602871886,
      "grad_norm": 0.6922368407249451,
      "learning_rate": 9.133000708801547e-05,
      "loss": 0.0569,
      "step": 9725
    },
    {
      "epoch": 2.1819609602871886,
      "gripper_loss": 1.1328125,
      "loss": 0.0556640625,
      "pos_loss": 0.04443359375,
      "rot_loss": 0.125,
      "step": 9725
    },
    {
      "epoch": 2.182185326452771,
      "grad_norm": 0.4267914593219757,
      "learning_rate": 9.128321275134924e-05,
      "loss": 0.0495,
      "step": 9726
    },
    {
      "epoch": 2.182185326452771,
      "gripper_loss": 0.40234375,
      "loss": 0.046630859375,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.0830078125,
      "step": 9726
    },
    {
      "epoch": 2.182409692618353,
      "grad_norm": 0.3322280943393707,
      "learning_rate": 9.123642772811236e-05,
      "loss": 0.0513,
      "step": 9727
    },
    {
      "epoch": 2.182409692618353,
      "gripper_loss": 0.0079345703125,
      "loss": 0.053955078125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.07275390625,
      "step": 9727
    },
    {
      "epoch": 2.1826340587839352,
      "grad_norm": 0.340069442987442,
      "learning_rate": 9.118965202105023e-05,
      "loss": 0.0475,
      "step": 9728
    },
    {
      "epoch": 2.1826340587839352,
      "gripper_loss": 0.004852294921875,
      "loss": 0.07080078125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.0830078125,
      "step": 9728
    },
    {
      "epoch": 2.1828584249495178,
      "grad_norm": 0.37273842096328735,
      "learning_rate": 9.114288563290768e-05,
      "loss": 0.05,
      "step": 9729
    },
    {
      "epoch": 2.1828584249495178,
      "gripper_loss": 0.04638671875,
      "loss": 0.052734375,
      "pos_loss": 0.486328125,
      "rot_loss": 0.031982421875,
      "step": 9729
    },
    {
      "epoch": 2.1830827911151,
      "grad_norm": 0.2467164248228073,
      "learning_rate": 9.109612856642877e-05,
      "loss": 0.0469,
      "step": 9730
    },
    {
      "epoch": 2.1830827911151,
      "gripper_loss": 0.0218505859375,
      "loss": 0.08056640625,
      "pos_loss": 0.65234375,
      "rot_loss": 0.1552734375,
      "step": 9730
    },
    {
      "epoch": 2.183307157280682,
      "grad_norm": 0.3923535645008087,
      "learning_rate": 9.10493808243573e-05,
      "loss": 0.0551,
      "step": 9731
    },
    {
      "epoch": 2.183307157280682,
      "gripper_loss": 0.04638671875,
      "loss": 0.05908203125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.1025390625,
      "step": 9731
    },
    {
      "epoch": 2.1835315234462644,
      "grad_norm": 0.42855480313301086,
      "learning_rate": 9.100264240943634e-05,
      "loss": 0.0499,
      "step": 9732
    },
    {
      "epoch": 2.1835315234462644,
      "gripper_loss": 0.328125,
      "loss": 0.1259765625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.1669921875,
      "step": 9732
    },
    {
      "epoch": 2.1837558896118465,
      "grad_norm": 0.9887139797210693,
      "learning_rate": 9.095591332440861e-05,
      "loss": 0.1669,
      "step": 9733
    },
    {
      "epoch": 2.1837558896118465,
      "gripper_loss": 0.2119140625,
      "loss": 0.018310546875,
      "pos_loss": 0.027099609375,
      "rot_loss": 0.06591796875,
      "step": 9733
    },
    {
      "epoch": 2.1839802557774286,
      "grad_norm": 0.3139508366584778,
      "learning_rate": 9.0909193572016e-05,
      "loss": 0.0465,
      "step": 9734
    },
    {
      "epoch": 2.1839802557774286,
      "gripper_loss": 0.06201171875,
      "loss": 0.07275390625,
      "pos_loss": 0.68359375,
      "rot_loss": 0.042724609375,
      "step": 9734
    },
    {
      "epoch": 2.184204621943011,
      "grad_norm": 0.4214179515838623,
      "learning_rate": 9.086248315500004e-05,
      "loss": 0.0641,
      "step": 9735
    },
    {
      "epoch": 2.184204621943011,
      "gripper_loss": 0.06201171875,
      "loss": 0.0556640625,
      "pos_loss": 0.234375,
      "rot_loss": 0.24609375,
      "step": 9735
    },
    {
      "epoch": 2.184428988108593,
      "grad_norm": 0.5607858896255493,
      "learning_rate": 9.08157820761018e-05,
      "loss": 0.0725,
      "step": 9736
    },
    {
      "epoch": 2.184428988108593,
      "gripper_loss": 0.58203125,
      "loss": 0.07861328125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.09716796875,
      "step": 9736
    },
    {
      "epoch": 2.1846533542741753,
      "grad_norm": 0.4433302879333496,
      "learning_rate": 9.076909033806157e-05,
      "loss": 0.0702,
      "step": 9737
    },
    {
      "epoch": 2.1846533542741753,
      "gripper_loss": 0.0146484375,
      "loss": 0.018798828125,
      "pos_loss": 0.053955078125,
      "rot_loss": 0.09326171875,
      "step": 9737
    },
    {
      "epoch": 2.184877720439758,
      "grad_norm": 0.49150097370147705,
      "learning_rate": 9.072240794361913e-05,
      "loss": 0.0505,
      "step": 9738
    },
    {
      "epoch": 2.184877720439758,
      "gripper_loss": 0.58203125,
      "loss": 0.04345703125,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.130859375,
      "step": 9738
    },
    {
      "epoch": 2.18510208660534,
      "grad_norm": 0.28908881545066833,
      "learning_rate": 9.067573489551384e-05,
      "loss": 0.0375,
      "step": 9739
    },
    {
      "epoch": 2.18510208660534,
      "gripper_loss": 0.04638671875,
      "loss": 0.09521484375,
      "pos_loss": 0.51953125,
      "rot_loss": 0.2890625,
      "step": 9739
    },
    {
      "epoch": 2.185326452770922,
      "grad_norm": 0.5605470538139343,
      "learning_rate": 9.06290711964845e-05,
      "loss": 0.0693,
      "step": 9740
    },
    {
      "epoch": 2.185326452770922,
      "gripper_loss": 0.11865234375,
      "loss": 0.0225830078125,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.076171875,
      "step": 9740
    },
    {
      "epoch": 2.1855508189365045,
      "grad_norm": 0.34517261385917664,
      "learning_rate": 9.058241684926926e-05,
      "loss": 0.0567,
      "step": 9741
    },
    {
      "epoch": 2.1855508189365045,
      "gripper_loss": 2.265625,
      "loss": 0.1279296875,
      "pos_loss": 0.5625,
      "rot_loss": 0.0137939453125,
      "step": 9741
    },
    {
      "epoch": 2.1857751851020866,
      "grad_norm": 0.29290899634361267,
      "learning_rate": 9.053577185660592e-05,
      "loss": 0.0435,
      "step": 9742
    },
    {
      "epoch": 2.1857751851020866,
      "gripper_loss": 1.03125,
      "loss": 0.05224609375,
      "pos_loss": 0.080078125,
      "rot_loss": 0.09912109375,
      "step": 9742
    },
    {
      "epoch": 2.1859995512676687,
      "grad_norm": 0.3615908622741699,
      "learning_rate": 9.048913622123139e-05,
      "loss": 0.0531,
      "step": 9743
    },
    {
      "epoch": 2.1859995512676687,
      "gripper_loss": 0.107421875,
      "loss": 0.031982421875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.00665283203125,
      "step": 9743
    },
    {
      "epoch": 2.186223917433251,
      "grad_norm": 0.40741461515426636,
      "learning_rate": 9.04425099458823e-05,
      "loss": 0.0519,
      "step": 9744
    },
    {
      "epoch": 2.186223917433251,
      "gripper_loss": 0.0054931640625,
      "loss": 0.018798828125,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.0201416015625,
      "step": 9744
    },
    {
      "epoch": 2.1864482835988333,
      "grad_norm": 0.32820039987564087,
      "learning_rate": 9.039589303329466e-05,
      "loss": 0.0601,
      "step": 9745
    },
    {
      "epoch": 2.1864482835988333,
      "gripper_loss": 0.0162353515625,
      "loss": 0.1298828125,
      "pos_loss": 1.09375,
      "rot_loss": 0.24609375,
      "step": 9745
    },
    {
      "epoch": 2.1866726497644153,
      "grad_norm": 0.3646622598171234,
      "learning_rate": 9.034928548620402e-05,
      "loss": 0.0605,
      "step": 9746
    },
    {
      "epoch": 2.1866726497644153,
      "gripper_loss": 0.03515625,
      "loss": 0.03759765625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.091796875,
      "step": 9746
    },
    {
      "epoch": 2.186897015929998,
      "grad_norm": 0.9297380447387695,
      "learning_rate": 9.030268730734512e-05,
      "loss": 0.0701,
      "step": 9747
    },
    {
      "epoch": 2.186897015929998,
      "gripper_loss": 0.00714111328125,
      "loss": 0.06396484375,
      "pos_loss": 0.443359375,
      "rot_loss": 0.1982421875,
      "step": 9747
    },
    {
      "epoch": 2.18712138209558,
      "grad_norm": 0.30301374197006226,
      "learning_rate": 9.025609849945252e-05,
      "loss": 0.034,
      "step": 9748
    },
    {
      "epoch": 2.18712138209558,
      "gripper_loss": 0.099609375,
      "loss": 0.05029296875,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.33984375,
      "step": 9748
    },
    {
      "epoch": 2.187345748261162,
      "grad_norm": 0.5962483286857605,
      "learning_rate": 9.020951906525979e-05,
      "loss": 0.0855,
      "step": 9749
    },
    {
      "epoch": 2.187345748261162,
      "gripper_loss": 0.0306396484375,
      "loss": 0.0272216796875,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.05126953125,
      "step": 9749
    },
    {
      "epoch": 2.1875701144267445,
      "grad_norm": 0.33798277378082275,
      "learning_rate": 9.016294900750044e-05,
      "loss": 0.0393,
      "step": 9750
    },
    {
      "epoch": 2.1875701144267445,
      "gripper_loss": 0.1484375,
      "loss": 0.016845703125,
      "pos_loss": 0.044921875,
      "rot_loss": 0.053466796875,
      "step": 9750
    },
    {
      "epoch": 2.1877944805923266,
      "grad_norm": 0.38149043917655945,
      "learning_rate": 9.011638832890696e-05,
      "loss": 0.0431,
      "step": 9751
    },
    {
      "epoch": 2.1877944805923266,
      "gripper_loss": 0.06884765625,
      "loss": 0.034423828125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.037353515625,
      "step": 9751
    },
    {
      "epoch": 2.1880188467579087,
      "grad_norm": 0.3970886170864105,
      "learning_rate": 9.006983703221162e-05,
      "loss": 0.0645,
      "step": 9752
    },
    {
      "epoch": 2.1880188467579087,
      "gripper_loss": 0.75,
      "loss": 0.04052734375,
      "pos_loss": 0.04443359375,
      "rot_loss": 0.048095703125,
      "step": 9752
    },
    {
      "epoch": 2.188243212923491,
      "grad_norm": 0.6290395259857178,
      "learning_rate": 9.002329512014599e-05,
      "loss": 0.071,
      "step": 9753
    },
    {
      "epoch": 2.188243212923491,
      "gripper_loss": 0.275390625,
      "loss": 0.078125,
      "pos_loss": 0.4765625,
      "rot_loss": 0.2275390625,
      "step": 9753
    },
    {
      "epoch": 2.1884675790890733,
      "grad_norm": 0.5967596769332886,
      "learning_rate": 8.997676259544127e-05,
      "loss": 0.0594,
      "step": 9754
    },
    {
      "epoch": 2.1884675790890733,
      "gripper_loss": 0.3125,
      "loss": 0.12060546875,
      "pos_loss": 0.92578125,
      "rot_loss": 0.1787109375,
      "step": 9754
    },
    {
      "epoch": 2.1886919452546554,
      "grad_norm": 0.3279699385166168,
      "learning_rate": 8.993023946082773e-05,
      "loss": 0.0697,
      "step": 9755
    },
    {
      "epoch": 2.1886919452546554,
      "gripper_loss": 0.01214599609375,
      "loss": 0.08251953125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.392578125,
      "step": 9755
    },
    {
      "epoch": 2.188916311420238,
      "grad_norm": 0.3260548412799835,
      "learning_rate": 8.988372571903546e-05,
      "loss": 0.0587,
      "step": 9756
    },
    {
      "epoch": 2.188916311420238,
      "gripper_loss": 0.058349609375,
      "loss": 0.1494140625,
      "pos_loss": 0.8125,
      "rot_loss": 0.578125,
      "step": 9756
    },
    {
      "epoch": 2.18914067758582,
      "grad_norm": 0.6745003461837769,
      "learning_rate": 8.98372213727939e-05,
      "loss": 0.1081,
      "step": 9757
    },
    {
      "epoch": 2.18914067758582,
      "gripper_loss": 0.357421875,
      "loss": 0.06396484375,
      "pos_loss": 0.201171875,
      "rot_loss": 0.2236328125,
      "step": 9757
    },
    {
      "epoch": 2.189365043751402,
      "grad_norm": 0.8649128079414368,
      "learning_rate": 8.979072642483191e-05,
      "loss": 0.0838,
      "step": 9758
    },
    {
      "epoch": 2.189365043751402,
      "gripper_loss": 0.0036163330078125,
      "loss": 0.08837890625,
      "pos_loss": 0.734375,
      "rot_loss": 0.1796875,
      "step": 9758
    },
    {
      "epoch": 2.1895894099169846,
      "grad_norm": 0.28457897901535034,
      "learning_rate": 8.974424087787763e-05,
      "loss": 0.0508,
      "step": 9759
    },
    {
      "epoch": 2.1895894099169846,
      "gripper_loss": 0.142578125,
      "loss": 0.0361328125,
      "pos_loss": 0.275390625,
      "rot_loss": 0.035888671875,
      "step": 9759
    },
    {
      "epoch": 2.1898137760825667,
      "grad_norm": 0.46478405594825745,
      "learning_rate": 8.969776473465904e-05,
      "loss": 0.0581,
      "step": 9760
    },
    {
      "epoch": 2.1898137760825667,
      "gripper_loss": 0.020751953125,
      "loss": 0.060791015625,
      "pos_loss": 0.345703125,
      "rot_loss": 0.236328125,
      "step": 9760
    },
    {
      "epoch": 2.1900381422481487,
      "grad_norm": 0.2936292588710785,
      "learning_rate": 8.965129799790314e-05,
      "loss": 0.0412,
      "step": 9761
    },
    {
      "epoch": 2.1900381422481487,
      "gripper_loss": 0.01153564453125,
      "loss": 0.0537109375,
      "pos_loss": 0.45703125,
      "rot_loss": 0.08349609375,
      "step": 9761
    },
    {
      "epoch": 2.1902625084137313,
      "grad_norm": 0.49931421875953674,
      "learning_rate": 8.960484067033664e-05,
      "loss": 0.0622,
      "step": 9762
    },
    {
      "epoch": 2.1902625084137313,
      "gripper_loss": 0.08056640625,
      "loss": 0.049072265625,
      "pos_loss": 0.408203125,
      "rot_loss": 0.056640625,
      "step": 9762
    },
    {
      "epoch": 2.1904868745793133,
      "grad_norm": 0.31401580572128296,
      "learning_rate": 8.955839275468575e-05,
      "loss": 0.0497,
      "step": 9763
    },
    {
      "epoch": 2.1904868745793133,
      "gripper_loss": 0.189453125,
      "loss": 0.035400390625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.0693359375,
      "step": 9763
    },
    {
      "epoch": 2.190711240744896,
      "grad_norm": 0.2760029733181,
      "learning_rate": 8.951195425367584e-05,
      "loss": 0.037,
      "step": 9764
    },
    {
      "epoch": 2.190711240744896,
      "gripper_loss": 0.275390625,
      "loss": 0.1201171875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.3515625,
      "step": 9764
    },
    {
      "epoch": 2.190935606910478,
      "grad_norm": 0.8370059132575989,
      "learning_rate": 8.946552517003196e-05,
      "loss": 0.0829,
      "step": 9765
    },
    {
      "epoch": 2.190935606910478,
      "gripper_loss": 0.0054931640625,
      "loss": 0.012451171875,
      "pos_loss": 0.06201171875,
      "rot_loss": 0.041259765625,
      "step": 9765
    },
    {
      "epoch": 2.19115997307606,
      "grad_norm": 0.21343152225017548,
      "learning_rate": 8.941910550647856e-05,
      "loss": 0.0375,
      "step": 9766
    },
    {
      "epoch": 2.19115997307606,
      "gripper_loss": 0.1630859375,
      "loss": 0.020751953125,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.053955078125,
      "step": 9766
    },
    {
      "epoch": 2.1913843392416426,
      "grad_norm": 0.4048142731189728,
      "learning_rate": 8.937269526573963e-05,
      "loss": 0.0581,
      "step": 9767
    },
    {
      "epoch": 2.1913843392416426,
      "gripper_loss": 0.02197265625,
      "loss": 0.022705078125,
      "pos_loss": 0.162109375,
      "rot_loss": 0.043701171875,
      "step": 9767
    },
    {
      "epoch": 2.1916087054072246,
      "grad_norm": 0.2584158778190613,
      "learning_rate": 8.93262944505383e-05,
      "loss": 0.0228,
      "step": 9768
    },
    {
      "epoch": 2.1916087054072246,
      "gripper_loss": 0.021484375,
      "loss": 0.142578125,
      "pos_loss": 0.578125,
      "rot_loss": 0.90234375,
      "step": 9768
    },
    {
      "epoch": 2.1918330715728067,
      "grad_norm": 0.437212198972702,
      "learning_rate": 8.927990306359745e-05,
      "loss": 0.0595,
      "step": 9769
    },
    {
      "epoch": 2.1918330715728067,
      "gripper_loss": 0.03076171875,
      "loss": 0.03759765625,
      "pos_loss": 0.193359375,
      "rot_loss": 0.1630859375,
      "step": 9769
    },
    {
      "epoch": 2.1920574377383892,
      "grad_norm": 0.36095866560935974,
      "learning_rate": 8.923352110763941e-05,
      "loss": 0.0439,
      "step": 9770
    },
    {
      "epoch": 2.1920574377383892,
      "gripper_loss": 0.01300048828125,
      "loss": 0.02880859375,
      "pos_loss": 0.208984375,
      "rot_loss": 0.0703125,
      "step": 9770
    },
    {
      "epoch": 2.1922818039039713,
      "grad_norm": 0.32704201340675354,
      "learning_rate": 8.918714858538565e-05,
      "loss": 0.0497,
      "step": 9771
    },
    {
      "epoch": 2.1922818039039713,
      "gripper_loss": 0.032470703125,
      "loss": 0.0289306640625,
      "pos_loss": 0.2109375,
      "rot_loss": 0.052490234375,
      "step": 9771
    },
    {
      "epoch": 2.1925061700695534,
      "grad_norm": 0.35086968541145325,
      "learning_rate": 8.914078549955745e-05,
      "loss": 0.0419,
      "step": 9772
    },
    {
      "epoch": 2.1925061700695534,
      "gripper_loss": 0.038818359375,
      "loss": 0.035400390625,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.2001953125,
      "step": 9772
    },
    {
      "epoch": 2.192730536235136,
      "grad_norm": 0.3548416793346405,
      "learning_rate": 8.909443185287528e-05,
      "loss": 0.045,
      "step": 9773
    },
    {
      "epoch": 2.192730536235136,
      "gripper_loss": 0.01123046875,
      "loss": 0.0302734375,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.1416015625,
      "step": 9773
    },
    {
      "epoch": 2.192954902400718,
      "grad_norm": 0.37857359647750854,
      "learning_rate": 8.904808764805913e-05,
      "loss": 0.0425,
      "step": 9774
    },
    {
      "epoch": 2.192954902400718,
      "gripper_loss": 0.85546875,
      "loss": 0.04638671875,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.1318359375,
      "step": 9774
    },
    {
      "epoch": 2.1931792685663,
      "grad_norm": 0.36411193013191223,
      "learning_rate": 8.900175288782852e-05,
      "loss": 0.0416,
      "step": 9775
    },
    {
      "epoch": 2.1931792685663,
      "gripper_loss": 0.0067138671875,
      "loss": 0.035400390625,
      "pos_loss": 0.337890625,
      "rot_loss": 0.01312255859375,
      "step": 9775
    },
    {
      "epoch": 2.1934036347318826,
      "grad_norm": 0.444782018661499,
      "learning_rate": 8.895542757490244e-05,
      "loss": 0.0752,
      "step": 9776
    },
    {
      "epoch": 2.1934036347318826,
      "gripper_loss": 0.0107421875,
      "loss": 0.064453125,
      "pos_loss": 0.240234375,
      "rot_loss": 0.4140625,
      "step": 9776
    },
    {
      "epoch": 2.1936280008974647,
      "grad_norm": 0.6524906754493713,
      "learning_rate": 8.890911171199905e-05,
      "loss": 0.0628,
      "step": 9777
    },
    {
      "epoch": 2.1936280008974647,
      "gripper_loss": 0.056396484375,
      "loss": 0.0111083984375,
      "pos_loss": 0.039306640625,
      "rot_loss": 0.030517578125,
      "step": 9777
    },
    {
      "epoch": 2.1938523670630468,
      "grad_norm": 0.6293469667434692,
      "learning_rate": 8.886280530183625e-05,
      "loss": 0.0385,
      "step": 9778
    },
    {
      "epoch": 2.1938523670630468,
      "gripper_loss": 0.022216796875,
      "loss": 0.04296875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.01446533203125,
      "step": 9778
    },
    {
      "epoch": 2.1940767332286293,
      "grad_norm": 0.5088950991630554,
      "learning_rate": 8.881650834713123e-05,
      "loss": 0.0416,
      "step": 9779
    },
    {
      "epoch": 2.1940767332286293,
      "gripper_loss": 0.380859375,
      "loss": 0.0240478515625,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.031494140625,
      "step": 9779
    },
    {
      "epoch": 2.1943010993942114,
      "grad_norm": 0.2130478471517563,
      "learning_rate": 8.877022085060082e-05,
      "loss": 0.0219,
      "step": 9780
    },
    {
      "epoch": 2.1943010993942114,
      "gripper_loss": 0.0126953125,
      "loss": 0.0306396484375,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.181640625,
      "step": 9780
    },
    {
      "epoch": 2.1945254655597934,
      "grad_norm": 0.32406628131866455,
      "learning_rate": 8.872394281496093e-05,
      "loss": 0.0391,
      "step": 9781
    },
    {
      "epoch": 2.1945254655597934,
      "gripper_loss": 0.047119140625,
      "loss": 0.057861328125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.107421875,
      "step": 9781
    },
    {
      "epoch": 2.194749831725376,
      "grad_norm": 0.4493250548839569,
      "learning_rate": 8.867767424292727e-05,
      "loss": 0.0601,
      "step": 9782
    },
    {
      "epoch": 2.194749831725376,
      "gripper_loss": 0.005126953125,
      "loss": 0.01531982421875,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.02294921875,
      "step": 9782
    },
    {
      "epoch": 2.194974197890958,
      "grad_norm": 0.5192933678627014,
      "learning_rate": 8.86314151372149e-05,
      "loss": 0.0596,
      "step": 9783
    },
    {
      "epoch": 2.194974197890958,
      "gripper_loss": 0.04052734375,
      "loss": 0.0634765625,
      "pos_loss": 0.52734375,
      "rot_loss": 0.10986328125,
      "step": 9783
    },
    {
      "epoch": 2.19519856405654,
      "grad_norm": 0.35393497347831726,
      "learning_rate": 8.858516550053822e-05,
      "loss": 0.0402,
      "step": 9784
    },
    {
      "epoch": 2.19519856405654,
      "gripper_loss": 0.0546875,
      "loss": 0.034912109375,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.09765625,
      "step": 9784
    },
    {
      "epoch": 2.1954229302221226,
      "grad_norm": 0.4136061370372772,
      "learning_rate": 8.853892533561103e-05,
      "loss": 0.0562,
      "step": 9785
    },
    {
      "epoch": 2.1954229302221226,
      "gripper_loss": 1.8203125,
      "loss": 0.07275390625,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.07421875,
      "step": 9785
    },
    {
      "epoch": 2.1956472963877047,
      "grad_norm": 0.6150892376899719,
      "learning_rate": 8.849269464514682e-05,
      "loss": 0.07,
      "step": 9786
    },
    {
      "epoch": 2.1956472963877047,
      "gripper_loss": 0.00750732421875,
      "loss": 0.0439453125,
      "pos_loss": 0.37109375,
      "rot_loss": 0.07080078125,
      "step": 9786
    },
    {
      "epoch": 2.195871662553287,
      "grad_norm": 0.5769514441490173,
      "learning_rate": 8.844647343185833e-05,
      "loss": 0.0607,
      "step": 9787
    },
    {
      "epoch": 2.195871662553287,
      "gripper_loss": 0.298828125,
      "loss": 0.027099609375,
      "pos_loss": 0.12890625,
      "rot_loss": 0.0262451171875,
      "step": 9787
    },
    {
      "epoch": 2.1960960287188693,
      "grad_norm": 0.35791686177253723,
      "learning_rate": 8.84002616984578e-05,
      "loss": 0.0358,
      "step": 9788
    },
    {
      "epoch": 2.1960960287188693,
      "gripper_loss": 0.0126953125,
      "loss": 0.01129150390625,
      "pos_loss": 0.04638671875,
      "rot_loss": 0.041748046875,
      "step": 9788
    },
    {
      "epoch": 2.1963203948844514,
      "grad_norm": 0.6195821166038513,
      "learning_rate": 8.835405944765703e-05,
      "loss": 0.0437,
      "step": 9789
    },
    {
      "epoch": 2.1963203948844514,
      "gripper_loss": 0.09033203125,
      "loss": 0.04833984375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.203125,
      "step": 9789
    },
    {
      "epoch": 2.1965447610500335,
      "grad_norm": 0.6906546950340271,
      "learning_rate": 8.830786668216697e-05,
      "loss": 0.0667,
      "step": 9790
    },
    {
      "epoch": 2.1965447610500335,
      "gripper_loss": 0.240234375,
      "loss": 0.0260009765625,
      "pos_loss": 0.04052734375,
      "rot_loss": 0.12890625,
      "step": 9790
    },
    {
      "epoch": 2.196769127215616,
      "grad_norm": 0.42896562814712524,
      "learning_rate": 8.826168340469828e-05,
      "loss": 0.0429,
      "step": 9791
    },
    {
      "epoch": 2.196769127215616,
      "gripper_loss": 0.010986328125,
      "loss": 0.09130859375,
      "pos_loss": 0.609375,
      "rot_loss": 0.328125,
      "step": 9791
    },
    {
      "epoch": 2.196993493381198,
      "grad_norm": 0.26859036087989807,
      "learning_rate": 8.821550961796096e-05,
      "loss": 0.0375,
      "step": 9792
    },
    {
      "epoch": 2.196993493381198,
      "gripper_loss": 0.00799560546875,
      "loss": 0.0230712890625,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.076171875,
      "step": 9792
    },
    {
      "epoch": 2.19721785954678,
      "grad_norm": 0.27822792530059814,
      "learning_rate": 8.816934532466452e-05,
      "loss": 0.0395,
      "step": 9793
    },
    {
      "epoch": 2.19721785954678,
      "gripper_loss": 0.0172119140625,
      "loss": 0.068359375,
      "pos_loss": 0.490234375,
      "rot_loss": 0.1962890625,
      "step": 9793
    },
    {
      "epoch": 2.1974422257123627,
      "grad_norm": 0.23673242330551147,
      "learning_rate": 8.812319052751778e-05,
      "loss": 0.0486,
      "step": 9794
    },
    {
      "epoch": 2.1974422257123627,
      "gripper_loss": 0.1708984375,
      "loss": 0.1640625,
      "pos_loss": 0.953125,
      "rot_loss": 0.70703125,
      "step": 9794
    },
    {
      "epoch": 2.1976665918779448,
      "grad_norm": 1.05767822265625,
      "learning_rate": 8.807704522922918e-05,
      "loss": 0.0655,
      "step": 9795
    },
    {
      "epoch": 2.1976665918779448,
      "gripper_loss": 0.04736328125,
      "loss": 0.046142578125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.1884765625,
      "step": 9795
    },
    {
      "epoch": 2.197890958043527,
      "grad_norm": 0.3015042543411255,
      "learning_rate": 8.803090943250636e-05,
      "loss": 0.0326,
      "step": 9796
    },
    {
      "epoch": 2.197890958043527,
      "gripper_loss": 0.021240234375,
      "loss": 0.0458984375,
      "pos_loss": 0.40234375,
      "rot_loss": 0.05615234375,
      "step": 9796
    },
    {
      "epoch": 2.1981153242091094,
      "grad_norm": 0.26935940980911255,
      "learning_rate": 8.79847831400567e-05,
      "loss": 0.0378,
      "step": 9797
    },
    {
      "epoch": 2.1981153242091094,
      "gripper_loss": 0.185546875,
      "loss": 0.0908203125,
      "pos_loss": 0.4609375,
      "rot_loss": 0.3359375,
      "step": 9797
    },
    {
      "epoch": 2.1983396903746915,
      "grad_norm": 0.7316606640815735,
      "learning_rate": 8.793866635458673e-05,
      "loss": 0.0754,
      "step": 9798
    },
    {
      "epoch": 2.1983396903746915,
      "gripper_loss": 0.057373046875,
      "loss": 0.049560546875,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.314453125,
      "step": 9798
    },
    {
      "epoch": 2.1985640565402735,
      "grad_norm": 0.39909684658050537,
      "learning_rate": 8.789255907880261e-05,
      "loss": 0.0559,
      "step": 9799
    },
    {
      "epoch": 2.1985640565402735,
      "gripper_loss": 0.002410888671875,
      "loss": 0.078125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.14453125,
      "step": 9799
    },
    {
      "epoch": 2.198788422705856,
      "grad_norm": 0.30384325981140137,
      "learning_rate": 8.78464613154099e-05,
      "loss": 0.0482,
      "step": 9800
    },
    {
      "epoch": 2.198788422705856,
      "gripper_loss": 0.03515625,
      "loss": 0.349609375,
      "pos_loss": 1.65625,
      "rot_loss": 2.015625,
      "step": 9800
    },
    {
      "epoch": 2.199012788871438,
      "grad_norm": 0.5109794735908508,
      "learning_rate": 8.780037306711364e-05,
      "loss": 0.0912,
      "step": 9801
    },
    {
      "epoch": 2.199012788871438,
      "gripper_loss": 0.32421875,
      "loss": 0.03662109375,
      "pos_loss": 0.19140625,
      "rot_loss": 0.05859375,
      "step": 9801
    },
    {
      "epoch": 2.19923715503702,
      "grad_norm": 0.25121697783470154,
      "learning_rate": 8.775429433661832e-05,
      "loss": 0.0338,
      "step": 9802
    },
    {
      "epoch": 2.19923715503702,
      "gripper_loss": 0.005828857421875,
      "loss": 0.024169921875,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.01373291015625,
      "step": 9802
    },
    {
      "epoch": 2.1994615212026027,
      "grad_norm": 0.2376469522714615,
      "learning_rate": 8.770822512662766e-05,
      "loss": 0.0239,
      "step": 9803
    },
    {
      "epoch": 2.1994615212026027,
      "gripper_loss": 0.05615234375,
      "loss": 0.07470703125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.26953125,
      "step": 9803
    },
    {
      "epoch": 2.199685887368185,
      "grad_norm": 0.6511043906211853,
      "learning_rate": 8.766216543984504e-05,
      "loss": 0.0873,
      "step": 9804
    },
    {
      "epoch": 2.199685887368185,
      "gripper_loss": 1.375,
      "loss": 0.06298828125,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.1484375,
      "step": 9804
    },
    {
      "epoch": 2.199910253533767,
      "grad_norm": 0.29478195309638977,
      "learning_rate": 8.761611527897331e-05,
      "loss": 0.0366,
      "step": 9805
    },
    {
      "epoch": 2.199910253533767,
      "gripper_loss": 0.66015625,
      "loss": 0.036865234375,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.036376953125,
      "step": 9805
    },
    {
      "epoch": 2.2001346196993494,
      "grad_norm": 0.5742034912109375,
      "learning_rate": 8.757007464671454e-05,
      "loss": 0.0755,
      "step": 9806
    },
    {
      "epoch": 2.2001346196993494,
      "gripper_loss": 0.16796875,
      "loss": 0.0693359375,
      "pos_loss": 0.345703125,
      "rot_loss": 0.302734375,
      "step": 9806
    },
    {
      "epoch": 2.2003589858649315,
      "grad_norm": 0.30105048418045044,
      "learning_rate": 8.752404354577052e-05,
      "loss": 0.0419,
      "step": 9807
    },
    {
      "epoch": 2.2003589858649315,
      "gripper_loss": 0.015625,
      "loss": 0.1025390625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.48828125,
      "step": 9807
    },
    {
      "epoch": 2.200583352030514,
      "grad_norm": 0.48539265990257263,
      "learning_rate": 8.747802197884213e-05,
      "loss": 0.0537,
      "step": 9808
    },
    {
      "epoch": 2.200583352030514,
      "gripper_loss": 0.765625,
      "loss": 0.068359375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.0947265625,
      "step": 9808
    },
    {
      "epoch": 2.200807718196096,
      "grad_norm": 0.630010187625885,
      "learning_rate": 8.743200994863004e-05,
      "loss": 0.0566,
      "step": 9809
    },
    {
      "epoch": 2.200807718196096,
      "gripper_loss": 0.087890625,
      "loss": 0.00665283203125,
      "pos_loss": 0.00933837890625,
      "rot_loss": 0.0087890625,
      "step": 9809
    },
    {
      "epoch": 2.201032084361678,
      "grad_norm": 0.42516574263572693,
      "learning_rate": 8.738600745783428e-05,
      "loss": 0.055,
      "step": 9810
    },
    {
      "epoch": 2.201032084361678,
      "gripper_loss": 0.0400390625,
      "loss": 0.07666015625,
      "pos_loss": 0.546875,
      "rot_loss": 0.228515625,
      "step": 9810
    },
    {
      "epoch": 2.2012564505272607,
      "grad_norm": 0.49200794100761414,
      "learning_rate": 8.734001450915408e-05,
      "loss": 0.0823,
      "step": 9811
    },
    {
      "epoch": 2.2012564505272607,
      "gripper_loss": 0.94921875,
      "loss": 0.040283203125,
      "pos_loss": 0.0189208984375,
      "rot_loss": 0.0703125,
      "step": 9811
    },
    {
      "epoch": 2.201480816692843,
      "grad_norm": 0.30019456148147583,
      "learning_rate": 8.729403110528836e-05,
      "loss": 0.0466,
      "step": 9812
    },
    {
      "epoch": 2.201480816692843,
      "gripper_loss": 0.7890625,
      "loss": 0.045654296875,
      "pos_loss": 0.1796875,
      "rot_loss": 0.02294921875,
      "step": 9812
    },
    {
      "epoch": 2.201705182858425,
      "grad_norm": 0.18444308638572693,
      "learning_rate": 8.724805724893543e-05,
      "loss": 0.0296,
      "step": 9813
    },
    {
      "epoch": 2.201705182858425,
      "gripper_loss": 0.00555419921875,
      "loss": 0.029296875,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.0947265625,
      "step": 9813
    },
    {
      "epoch": 2.2019295490240074,
      "grad_norm": 0.49770599603652954,
      "learning_rate": 8.720209294279305e-05,
      "loss": 0.0692,
      "step": 9814
    },
    {
      "epoch": 2.2019295490240074,
      "gripper_loss": 0.05615234375,
      "loss": 0.033935546875,
      "pos_loss": 0.140625,
      "rot_loss": 0.17578125,
      "step": 9814
    },
    {
      "epoch": 2.2021539151895895,
      "grad_norm": 0.32864612340927124,
      "learning_rate": 8.715613818955828e-05,
      "loss": 0.0437,
      "step": 9815
    },
    {
      "epoch": 2.2021539151895895,
      "gripper_loss": 0.134765625,
      "loss": 0.032470703125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.12255859375,
      "step": 9815
    },
    {
      "epoch": 2.2023782813551716,
      "grad_norm": 0.3884468674659729,
      "learning_rate": 8.711019299192776e-05,
      "loss": 0.0483,
      "step": 9816
    },
    {
      "epoch": 2.2023782813551716,
      "gripper_loss": 0.01312255859375,
      "loss": 0.04296875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.15625,
      "step": 9816
    },
    {
      "epoch": 2.202602647520754,
      "grad_norm": 0.2355077862739563,
      "learning_rate": 8.706425735259765e-05,
      "loss": 0.0442,
      "step": 9817
    },
    {
      "epoch": 2.202602647520754,
      "gripper_loss": 1.296875,
      "loss": 0.11083984375,
      "pos_loss": 0.494140625,
      "rot_loss": 0.2294921875,
      "step": 9817
    },
    {
      "epoch": 2.202827013686336,
      "grad_norm": 0.40259623527526855,
      "learning_rate": 8.701833127426326e-05,
      "loss": 0.057,
      "step": 9818
    },
    {
      "epoch": 2.202827013686336,
      "gripper_loss": 0.0322265625,
      "loss": 0.046875,
      "pos_loss": 0.259765625,
      "rot_loss": 0.19921875,
      "step": 9818
    },
    {
      "epoch": 2.2030513798519182,
      "grad_norm": 0.5653995871543884,
      "learning_rate": 8.697241475961967e-05,
      "loss": 0.062,
      "step": 9819
    },
    {
      "epoch": 2.2030513798519182,
      "gripper_loss": 0.83203125,
      "loss": 0.04248046875,
      "pos_loss": 0.1220703125,
      "rot_loss": 0.02197265625,
      "step": 9819
    },
    {
      "epoch": 2.2032757460175008,
      "grad_norm": 1.4034329652786255,
      "learning_rate": 8.692650781136105e-05,
      "loss": 0.0667,
      "step": 9820
    },
    {
      "epoch": 2.2032757460175008,
      "gripper_loss": 0.017333984375,
      "loss": 0.0211181640625,
      "pos_loss": 0.15625,
      "rot_loss": 0.035888671875,
      "step": 9820
    },
    {
      "epoch": 2.203500112183083,
      "grad_norm": 0.4072923958301544,
      "learning_rate": 8.688061043218132e-05,
      "loss": 0.0627,
      "step": 9821
    },
    {
      "epoch": 2.203500112183083,
      "gripper_loss": 0.00848388671875,
      "loss": 0.1337890625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.69921875,
      "step": 9821
    },
    {
      "epoch": 2.203724478348665,
      "grad_norm": 0.3833765685558319,
      "learning_rate": 8.683472262477372e-05,
      "loss": 0.0615,
      "step": 9822
    },
    {
      "epoch": 2.203724478348665,
      "gripper_loss": 0.318359375,
      "loss": 0.043212890625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.046142578125,
      "step": 9822
    },
    {
      "epoch": 2.2039488445142474,
      "grad_norm": 0.43227070569992065,
      "learning_rate": 8.678884439183096e-05,
      "loss": 0.0435,
      "step": 9823
    },
    {
      "epoch": 2.2039488445142474,
      "gripper_loss": 0.447265625,
      "loss": 0.048583984375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0830078125,
      "step": 9823
    },
    {
      "epoch": 2.2041732106798295,
      "grad_norm": 0.3270854353904724,
      "learning_rate": 8.674297573604504e-05,
      "loss": 0.0471,
      "step": 9824
    },
    {
      "epoch": 2.2041732106798295,
      "gripper_loss": 0.1787109375,
      "loss": 0.048583984375,
      "pos_loss": 0.40625,
      "rot_loss": 0.0223388671875,
      "step": 9824
    },
    {
      "epoch": 2.2043975768454116,
      "grad_norm": 0.46768608689308167,
      "learning_rate": 8.669711666010755e-05,
      "loss": 0.0644,
      "step": 9825
    },
    {
      "epoch": 2.2043975768454116,
      "gripper_loss": 0.00726318359375,
      "loss": 0.12451171875,
      "pos_loss": 0.95703125,
      "rot_loss": 0.333984375,
      "step": 9825
    },
    {
      "epoch": 2.204621943010994,
      "grad_norm": 0.48240333795547485,
      "learning_rate": 8.665126716670954e-05,
      "loss": 0.0535,
      "step": 9826
    },
    {
      "epoch": 2.204621943010994,
      "gripper_loss": 0.00848388671875,
      "loss": 0.11083984375,
      "pos_loss": 0.6328125,
      "rot_loss": 0.515625,
      "step": 9826
    },
    {
      "epoch": 2.204846309176576,
      "grad_norm": 0.2463444471359253,
      "learning_rate": 8.660542725854146e-05,
      "loss": 0.0416,
      "step": 9827
    },
    {
      "epoch": 2.204846309176576,
      "gripper_loss": 0.0076904296875,
      "loss": 0.006988525390625,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.01422119140625,
      "step": 9827
    },
    {
      "epoch": 2.2050706753421583,
      "grad_norm": 0.38106435537338257,
      "learning_rate": 8.655959693829305e-05,
      "loss": 0.0425,
      "step": 9828
    },
    {
      "epoch": 2.2050706753421583,
      "gripper_loss": 0.0126953125,
      "loss": 0.09912109375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.78125,
      "step": 9828
    },
    {
      "epoch": 2.205295041507741,
      "grad_norm": 0.41257351636886597,
      "learning_rate": 8.651377620865367e-05,
      "loss": 0.0539,
      "step": 9829
    },
    {
      "epoch": 2.205295041507741,
      "gripper_loss": 0.5,
      "loss": 0.054931640625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.138671875,
      "step": 9829
    },
    {
      "epoch": 2.205519407673323,
      "grad_norm": 0.4989895522594452,
      "learning_rate": 8.646796507231217e-05,
      "loss": 0.0833,
      "step": 9830
    },
    {
      "epoch": 2.205519407673323,
      "gripper_loss": 0.08251953125,
      "loss": 0.033447265625,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.2060546875,
      "step": 9830
    },
    {
      "epoch": 2.205743773838905,
      "grad_norm": 0.3278513252735138,
      "learning_rate": 8.642216353195651e-05,
      "loss": 0.0359,
      "step": 9831
    },
    {
      "epoch": 2.205743773838905,
      "gripper_loss": 0.0157470703125,
      "loss": 0.05419921875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.279296875,
      "step": 9831
    },
    {
      "epoch": 2.2059681400044875,
      "grad_norm": 0.6174317002296448,
      "learning_rate": 8.637637159027453e-05,
      "loss": 0.0672,
      "step": 9832
    },
    {
      "epoch": 2.2059681400044875,
      "gripper_loss": 0.0341796875,
      "loss": 0.0235595703125,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.09619140625,
      "step": 9832
    },
    {
      "epoch": 2.2061925061700696,
      "grad_norm": 0.23948438465595245,
      "learning_rate": 8.633058924995308e-05,
      "loss": 0.0424,
      "step": 9833
    },
    {
      "epoch": 2.2061925061700696,
      "gripper_loss": 0.0027923583984375,
      "loss": 0.0240478515625,
      "pos_loss": 0.166015625,
      "rot_loss": 0.06396484375,
      "step": 9833
    },
    {
      "epoch": 2.2064168723356516,
      "grad_norm": 0.2955035865306854,
      "learning_rate": 8.628481651367875e-05,
      "loss": 0.0385,
      "step": 9834
    },
    {
      "epoch": 2.2064168723356516,
      "gripper_loss": 0.0050048828125,
      "loss": 0.056884765625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.2734375,
      "step": 9834
    },
    {
      "epoch": 2.206641238501234,
      "grad_norm": 0.5383487939834595,
      "learning_rate": 8.623905338413743e-05,
      "loss": 0.061,
      "step": 9835
    },
    {
      "epoch": 2.206641238501234,
      "gripper_loss": 0.51953125,
      "loss": 0.03857421875,
      "pos_loss": 0.126953125,
      "rot_loss": 0.0830078125,
      "step": 9835
    },
    {
      "epoch": 2.2068656046668162,
      "grad_norm": 0.2890089154243469,
      "learning_rate": 8.619329986401461e-05,
      "loss": 0.0432,
      "step": 9836
    },
    {
      "epoch": 2.2068656046668162,
      "gripper_loss": 0.1650390625,
      "loss": 0.02783203125,
      "pos_loss": 0.18359375,
      "rot_loss": 0.0311279296875,
      "step": 9836
    },
    {
      "epoch": 2.2070899708323983,
      "grad_norm": 0.47977668046951294,
      "learning_rate": 8.614755595599488e-05,
      "loss": 0.0597,
      "step": 9837
    },
    {
      "epoch": 2.2070899708323983,
      "gripper_loss": 0.0118408203125,
      "loss": 0.03271484375,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.07421875,
      "step": 9837
    },
    {
      "epoch": 2.207314336997981,
      "grad_norm": 0.3544897139072418,
      "learning_rate": 8.610182166276256e-05,
      "loss": 0.0484,
      "step": 9838
    },
    {
      "epoch": 2.207314336997981,
      "gripper_loss": 0.2041015625,
      "loss": 0.14453125,
      "pos_loss": 1.25,
      "rot_loss": 0.1904296875,
      "step": 9838
    },
    {
      "epoch": 2.207538703163563,
      "grad_norm": 0.3001050651073456,
      "learning_rate": 8.605609698700135e-05,
      "loss": 0.0436,
      "step": 9839
    },
    {
      "epoch": 2.207538703163563,
      "gripper_loss": 0.11474609375,
      "loss": 0.034912109375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.048095703125,
      "step": 9839
    },
    {
      "epoch": 2.207763069329145,
      "grad_norm": 0.25760260224342346,
      "learning_rate": 8.601038193139437e-05,
      "loss": 0.0585,
      "step": 9840
    },
    {
      "epoch": 2.207763069329145,
      "gripper_loss": 0.0123291015625,
      "loss": 0.03515625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.025634765625,
      "step": 9840
    },
    {
      "epoch": 2.2079874354947275,
      "grad_norm": 0.3505013585090637,
      "learning_rate": 8.596467649862408e-05,
      "loss": 0.0388,
      "step": 9841
    },
    {
      "epoch": 2.2079874354947275,
      "gripper_loss": 0.031005859375,
      "loss": 0.0810546875,
      "pos_loss": 0.7734375,
      "rot_loss": 0.055419921875,
      "step": 9841
    },
    {
      "epoch": 2.2082118016603096,
      "grad_norm": 0.2838441729545593,
      "learning_rate": 8.591898069137255e-05,
      "loss": 0.0397,
      "step": 9842
    },
    {
      "epoch": 2.2082118016603096,
      "gripper_loss": 0.061279296875,
      "loss": 0.00958251953125,
      "pos_loss": 0.0201416015625,
      "rot_loss": 0.03955078125,
      "step": 9842
    },
    {
      "epoch": 2.2084361678258917,
      "grad_norm": 0.3796370327472687,
      "learning_rate": 8.587329451232106e-05,
      "loss": 0.0562,
      "step": 9843
    },
    {
      "epoch": 2.2084361678258917,
      "gripper_loss": 0.00970458984375,
      "loss": 0.0225830078125,
      "pos_loss": 0.08984375,
      "rot_loss": 0.12890625,
      "step": 9843
    },
    {
      "epoch": 2.208660533991474,
      "grad_norm": 0.3354473114013672,
      "learning_rate": 8.582761796415061e-05,
      "loss": 0.0484,
      "step": 9844
    },
    {
      "epoch": 2.208660533991474,
      "gripper_loss": 0.396484375,
      "loss": 0.042724609375,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.12353515625,
      "step": 9844
    },
    {
      "epoch": 2.2088849001570563,
      "grad_norm": 0.32987192273139954,
      "learning_rate": 8.578195104954131e-05,
      "loss": 0.0381,
      "step": 9845
    },
    {
      "epoch": 2.2088849001570563,
      "gripper_loss": 0.1494140625,
      "loss": 0.047119140625,
      "pos_loss": 0.34375,
      "rot_loss": 0.0810546875,
      "step": 9845
    },
    {
      "epoch": 2.2091092663226384,
      "grad_norm": 0.709048330783844,
      "learning_rate": 8.573629377117298e-05,
      "loss": 0.046,
      "step": 9846
    },
    {
      "epoch": 2.2091092663226384,
      "gripper_loss": 0.00750732421875,
      "loss": 0.05712890625,
      "pos_loss": 0.52734375,
      "rot_loss": 0.059326171875,
      "step": 9846
    },
    {
      "epoch": 2.209333632488221,
      "grad_norm": 0.3167279064655304,
      "learning_rate": 8.569064613172473e-05,
      "loss": 0.0393,
      "step": 9847
    },
    {
      "epoch": 2.209333632488221,
      "gripper_loss": 0.69140625,
      "loss": 0.060546875,
      "pos_loss": 0.138671875,
      "rot_loss": 0.2578125,
      "step": 9847
    },
    {
      "epoch": 2.209557998653803,
      "grad_norm": 0.20538532733917236,
      "learning_rate": 8.564500813387516e-05,
      "loss": 0.0442,
      "step": 9848
    },
    {
      "epoch": 2.209557998653803,
      "gripper_loss": 0.1494140625,
      "loss": 0.01953125,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.0498046875,
      "step": 9848
    },
    {
      "epoch": 2.209782364819385,
      "grad_norm": 0.5514938831329346,
      "learning_rate": 8.559937978030239e-05,
      "loss": 0.0692,
      "step": 9849
    },
    {
      "epoch": 2.209782364819385,
      "gripper_loss": 0.01104736328125,
      "loss": 0.10400390625,
      "pos_loss": 0.3515625,
      "rot_loss": 0.73046875,
      "step": 9849
    },
    {
      "epoch": 2.2100067309849676,
      "grad_norm": 0.3255493640899658,
      "learning_rate": 8.555376107368365e-05,
      "loss": 0.0499,
      "step": 9850
    },
    {
      "epoch": 2.2100067309849676,
      "gripper_loss": 0.75,
      "loss": 0.04736328125,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.1279296875,
      "step": 9850
    },
    {
      "epoch": 2.2102310971505497,
      "grad_norm": 0.2204226404428482,
      "learning_rate": 8.550815201669595e-05,
      "loss": 0.0436,
      "step": 9851
    },
    {
      "epoch": 2.2102310971505497,
      "gripper_loss": 0.01361083984375,
      "loss": 0.036376953125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0322265625,
      "step": 9851
    },
    {
      "epoch": 2.2104554633161317,
      "grad_norm": 0.3396236002445221,
      "learning_rate": 8.546255261201572e-05,
      "loss": 0.051,
      "step": 9852
    },
    {
      "epoch": 2.2104554633161317,
      "gripper_loss": 0.30859375,
      "loss": 0.1943359375,
      "pos_loss": 1.1875,
      "rot_loss": 0.302734375,
      "step": 9852
    },
    {
      "epoch": 2.2106798294817143,
      "grad_norm": 0.823418915271759,
      "learning_rate": 8.541696286231848e-05,
      "loss": 0.1125,
      "step": 9853
    },
    {
      "epoch": 2.2106798294817143,
      "gripper_loss": 0.1298828125,
      "loss": 0.09814453125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.365234375,
      "step": 9853
    },
    {
      "epoch": 2.2109041956472963,
      "grad_norm": 0.6184078454971313,
      "learning_rate": 8.537138277027964e-05,
      "loss": 0.068,
      "step": 9854
    },
    {
      "epoch": 2.2109041956472963,
      "gripper_loss": 0.02587890625,
      "loss": 0.036865234375,
      "pos_loss": 0.31640625,
      "rot_loss": 0.03955078125,
      "step": 9854
    },
    {
      "epoch": 2.2111285618128784,
      "grad_norm": 0.3196586072444916,
      "learning_rate": 8.532581233857362e-05,
      "loss": 0.0491,
      "step": 9855
    },
    {
      "epoch": 2.2111285618128784,
      "gripper_loss": 0.0157470703125,
      "loss": 0.06298828125,
      "pos_loss": 0.41796875,
      "rot_loss": 0.2255859375,
      "step": 9855
    },
    {
      "epoch": 2.211352927978461,
      "grad_norm": 0.4392843246459961,
      "learning_rate": 8.528025156987453e-05,
      "loss": 0.0643,
      "step": 9856
    },
    {
      "epoch": 2.211352927978461,
      "gripper_loss": 0.0177001953125,
      "loss": 0.0208740234375,
      "pos_loss": 0.083984375,
      "rot_loss": 0.1005859375,
      "step": 9856
    },
    {
      "epoch": 2.211577294144043,
      "grad_norm": 0.3143596053123474,
      "learning_rate": 8.523470046685602e-05,
      "loss": 0.0342,
      "step": 9857
    },
    {
      "epoch": 2.211577294144043,
      "gripper_loss": 0.02294921875,
      "loss": 0.046630859375,
      "pos_loss": 0.1953125,
      "rot_loss": 0.2275390625,
      "step": 9857
    },
    {
      "epoch": 2.211801660309625,
      "grad_norm": 0.5689578652381897,
      "learning_rate": 8.518915903219076e-05,
      "loss": 0.0573,
      "step": 9858
    },
    {
      "epoch": 2.211801660309625,
      "gripper_loss": 0.02099609375,
      "loss": 0.049072265625,
      "pos_loss": 0.271484375,
      "rot_loss": 0.208984375,
      "step": 9858
    },
    {
      "epoch": 2.2120260264752076,
      "grad_norm": 0.3052663207054138,
      "learning_rate": 8.514362726855124e-05,
      "loss": 0.0383,
      "step": 9859
    },
    {
      "epoch": 2.2120260264752076,
      "gripper_loss": 0.58203125,
      "loss": 0.0233154296875,
      "pos_loss": 0.0203857421875,
      "rot_loss": 0.006591796875,
      "step": 9859
    },
    {
      "epoch": 2.2122503926407897,
      "grad_norm": 0.2918998897075653,
      "learning_rate": 8.509810517860922e-05,
      "loss": 0.0319,
      "step": 9860
    },
    {
      "epoch": 2.2122503926407897,
      "gripper_loss": 0.82421875,
      "loss": 0.08544921875,
      "pos_loss": 0.419921875,
      "rot_loss": 0.185546875,
      "step": 9860
    },
    {
      "epoch": 2.212474758806372,
      "grad_norm": 0.38580456376075745,
      "learning_rate": 8.505259276503591e-05,
      "loss": 0.0678,
      "step": 9861
    },
    {
      "epoch": 2.212474758806372,
      "gripper_loss": 0.1591796875,
      "loss": 0.0498046875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.185546875,
      "step": 9861
    },
    {
      "epoch": 2.2126991249719543,
      "grad_norm": 0.7328692674636841,
      "learning_rate": 8.500709003050205e-05,
      "loss": 0.0609,
      "step": 9862
    },
    {
      "epoch": 2.2126991249719543,
      "gripper_loss": 0.006378173828125,
      "loss": 0.0142822265625,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.016357421875,
      "step": 9862
    },
    {
      "epoch": 2.2129234911375364,
      "grad_norm": 0.27511170506477356,
      "learning_rate": 8.496159697767755e-05,
      "loss": 0.0423,
      "step": 9863
    },
    {
      "epoch": 2.2129234911375364,
      "gripper_loss": 0.00970458984375,
      "loss": 0.039306640625,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0634765625,
      "step": 9863
    },
    {
      "epoch": 2.2131478573031185,
      "grad_norm": 0.43983322381973267,
      "learning_rate": 8.491611360923207e-05,
      "loss": 0.0772,
      "step": 9864
    },
    {
      "epoch": 2.2131478573031185,
      "gripper_loss": 0.006011962890625,
      "loss": 0.059326171875,
      "pos_loss": 0.44140625,
      "rot_loss": 0.162109375,
      "step": 9864
    },
    {
      "epoch": 2.213372223468701,
      "grad_norm": 0.47180724143981934,
      "learning_rate": 8.487063992783444e-05,
      "loss": 0.0396,
      "step": 9865
    },
    {
      "epoch": 2.213372223468701,
      "gripper_loss": 0.2265625,
      "loss": 0.0150146484375,
      "pos_loss": 0.042724609375,
      "rot_loss": 0.0164794921875,
      "step": 9865
    },
    {
      "epoch": 2.213596589634283,
      "grad_norm": 0.41540399193763733,
      "learning_rate": 8.482517593615315e-05,
      "loss": 0.0476,
      "step": 9866
    },
    {
      "epoch": 2.213596589634283,
      "gripper_loss": 0.8125,
      "loss": 0.03759765625,
      "pos_loss": 0.037109375,
      "rot_loss": 0.06591796875,
      "step": 9866
    },
    {
      "epoch": 2.213820955799865,
      "grad_norm": 0.502335250377655,
      "learning_rate": 8.477972163685584e-05,
      "loss": 0.0667,
      "step": 9867
    },
    {
      "epoch": 2.213820955799865,
      "gripper_loss": 0.041015625,
      "loss": 0.0458984375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.07861328125,
      "step": 9867
    },
    {
      "epoch": 2.2140453219654477,
      "grad_norm": 0.33952587842941284,
      "learning_rate": 8.473427703260988e-05,
      "loss": 0.066,
      "step": 9868
    },
    {
      "epoch": 2.2140453219654477,
      "gripper_loss": 0.006988525390625,
      "loss": 0.08349609375,
      "pos_loss": 0.546875,
      "rot_loss": 0.314453125,
      "step": 9868
    },
    {
      "epoch": 2.2142696881310298,
      "grad_norm": 0.38354939222335815,
      "learning_rate": 8.468884212608191e-05,
      "loss": 0.0659,
      "step": 9869
    },
    {
      "epoch": 2.2142696881310298,
      "gripper_loss": 0.09765625,
      "loss": 0.010986328125,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.006103515625,
      "step": 9869
    },
    {
      "epoch": 2.214494054296612,
      "grad_norm": 0.2810196280479431,
      "learning_rate": 8.46434169199381e-05,
      "loss": 0.0375,
      "step": 9870
    },
    {
      "epoch": 2.214494054296612,
      "gripper_loss": 0.1513671875,
      "loss": 0.045654296875,
      "pos_loss": 0.400390625,
      "rot_loss": 0.00848388671875,
      "step": 9870
    },
    {
      "epoch": 2.2147184204621944,
      "grad_norm": 0.5974202752113342,
      "learning_rate": 8.459800141684382e-05,
      "loss": 0.0514,
      "step": 9871
    },
    {
      "epoch": 2.2147184204621944,
      "gripper_loss": 0.002044677734375,
      "loss": 0.0311279296875,
      "pos_loss": 0.296875,
      "rot_loss": 0.01177978515625,
      "step": 9871
    },
    {
      "epoch": 2.2149427866277764,
      "grad_norm": 0.30440667271614075,
      "learning_rate": 8.455259561946412e-05,
      "loss": 0.0502,
      "step": 9872
    },
    {
      "epoch": 2.2149427866277764,
      "gripper_loss": 0.009765625,
      "loss": 0.1103515625,
      "pos_loss": 1.1015625,
      "rot_loss": 0.0458984375,
      "step": 9872
    },
    {
      "epoch": 2.215167152793359,
      "grad_norm": 0.3691084384918213,
      "learning_rate": 8.45071995304634e-05,
      "loss": 0.0723,
      "step": 9873
    },
    {
      "epoch": 2.215167152793359,
      "gripper_loss": 0.04833984375,
      "loss": 0.0277099609375,
      "pos_loss": 0.203125,
      "rot_loss": 0.046875,
      "step": 9873
    },
    {
      "epoch": 2.215391518958941,
      "grad_norm": 0.4145612120628357,
      "learning_rate": 8.446181315250557e-05,
      "loss": 0.0624,
      "step": 9874
    },
    {
      "epoch": 2.215391518958941,
      "gripper_loss": 0.1513671875,
      "loss": 0.05126953125,
      "pos_loss": 0.044677734375,
      "rot_loss": 0.4296875,
      "step": 9874
    },
    {
      "epoch": 2.215615885124523,
      "grad_norm": 0.455504447221756,
      "learning_rate": 8.441643648825368e-05,
      "loss": 0.0777,
      "step": 9875
    },
    {
      "epoch": 2.215615885124523,
      "gripper_loss": 0.357421875,
      "loss": 0.06591796875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.2734375,
      "step": 9875
    },
    {
      "epoch": 2.2158402512901056,
      "grad_norm": 0.37588730454444885,
      "learning_rate": 8.437106954037049e-05,
      "loss": 0.0439,
      "step": 9876
    },
    {
      "epoch": 2.2158402512901056,
      "gripper_loss": 0.1298828125,
      "loss": 0.053466796875,
      "pos_loss": 0.48046875,
      "rot_loss": 0.0196533203125,
      "step": 9876
    },
    {
      "epoch": 2.2160646174556877,
      "grad_norm": 0.3826957941055298,
      "learning_rate": 8.432571231151829e-05,
      "loss": 0.0436,
      "step": 9877
    },
    {
      "epoch": 2.2160646174556877,
      "gripper_loss": 0.00927734375,
      "loss": 0.05126953125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.09423828125,
      "step": 9877
    },
    {
      "epoch": 2.21628898362127,
      "grad_norm": 0.4582982361316681,
      "learning_rate": 8.428036480435832e-05,
      "loss": 0.0565,
      "step": 9878
    },
    {
      "epoch": 2.21628898362127,
      "gripper_loss": 0.15234375,
      "loss": 0.0703125,
      "pos_loss": 0.59765625,
      "rot_loss": 0.076171875,
      "step": 9878
    },
    {
      "epoch": 2.2165133497868523,
      "grad_norm": 0.38723963499069214,
      "learning_rate": 8.423502702155183e-05,
      "loss": 0.0461,
      "step": 9879
    },
    {
      "epoch": 2.2165133497868523,
      "gripper_loss": 0.0130615234375,
      "loss": 0.058349609375,
      "pos_loss": 0.4375,
      "rot_loss": 0.1484375,
      "step": 9879
    },
    {
      "epoch": 2.2167377159524344,
      "grad_norm": 0.31425827741622925,
      "learning_rate": 8.418969896575901e-05,
      "loss": 0.0415,
      "step": 9880
    },
    {
      "epoch": 2.2167377159524344,
      "gripper_loss": 0.1669921875,
      "loss": 0.0247802734375,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.032470703125,
      "step": 9880
    },
    {
      "epoch": 2.2169620821180165,
      "grad_norm": 0.23103664815425873,
      "learning_rate": 8.414438063963975e-05,
      "loss": 0.035,
      "step": 9881
    },
    {
      "epoch": 2.2169620821180165,
      "gripper_loss": 0.55859375,
      "loss": 0.050048828125,
      "pos_loss": 0.171875,
      "rot_loss": 0.1533203125,
      "step": 9881
    },
    {
      "epoch": 2.217186448283599,
      "grad_norm": 0.46501192450523376,
      "learning_rate": 8.409907204585334e-05,
      "loss": 0.0552,
      "step": 9882
    },
    {
      "epoch": 2.217186448283599,
      "gripper_loss": 0.01251220703125,
      "loss": 0.07470703125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.251953125,
      "step": 9882
    },
    {
      "epoch": 2.217410814449181,
      "grad_norm": 0.3690700829029083,
      "learning_rate": 8.405377318705853e-05,
      "loss": 0.054,
      "step": 9883
    },
    {
      "epoch": 2.217410814449181,
      "gripper_loss": 0.298828125,
      "loss": 0.294921875,
      "pos_loss": 0.546875,
      "rot_loss": 0.46875,
      "step": 9883
    },
    {
      "epoch": 2.217635180614763,
      "grad_norm": 1.1552925109863281,
      "learning_rate": 8.40084840659133e-05,
      "loss": 0.3252,
      "step": 9884
    },
    {
      "epoch": 2.217635180614763,
      "gripper_loss": 0.01312255859375,
      "loss": 0.1171875,
      "pos_loss": 0.81640625,
      "rot_loss": 0.3984375,
      "step": 9884
    },
    {
      "epoch": 2.2178595467803457,
      "grad_norm": 0.38475361466407776,
      "learning_rate": 8.396320468507527e-05,
      "loss": 0.0661,
      "step": 9885
    },
    {
      "epoch": 2.2178595467803457,
      "gripper_loss": 0.01312255859375,
      "loss": 0.02099609375,
      "pos_loss": 0.1015625,
      "rot_loss": 0.09521484375,
      "step": 9885
    },
    {
      "epoch": 2.2180839129459278,
      "grad_norm": 0.34041035175323486,
      "learning_rate": 8.391793504720139e-05,
      "loss": 0.0364,
      "step": 9886
    },
    {
      "epoch": 2.2180839129459278,
      "gripper_loss": 0.034912109375,
      "loss": 0.00909423828125,
      "pos_loss": 0.01251220703125,
      "rot_loss": 0.047607421875,
      "step": 9886
    },
    {
      "epoch": 2.21830827911151,
      "grad_norm": 0.3222983181476593,
      "learning_rate": 8.387267515494817e-05,
      "loss": 0.0422,
      "step": 9887
    },
    {
      "epoch": 2.21830827911151,
      "gripper_loss": 0.07421875,
      "loss": 0.15234375,
      "pos_loss": 1.0703125,
      "rot_loss": 0.494140625,
      "step": 9887
    },
    {
      "epoch": 2.2185326452770924,
      "grad_norm": 0.4722483456134796,
      "learning_rate": 8.382742501097126e-05,
      "loss": 0.0501,
      "step": 9888
    },
    {
      "epoch": 2.2185326452770924,
      "gripper_loss": 0.2734375,
      "loss": 0.046142578125,
      "pos_loss": 0.359375,
      "rot_loss": 0.0172119140625,
      "step": 9888
    },
    {
      "epoch": 2.2187570114426745,
      "grad_norm": 0.2505452334880829,
      "learning_rate": 8.378218461792608e-05,
      "loss": 0.044,
      "step": 9889
    },
    {
      "epoch": 2.2187570114426745,
      "gripper_loss": 0.42578125,
      "loss": 0.03857421875,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.1640625,
      "step": 9889
    },
    {
      "epoch": 2.2189813776082565,
      "grad_norm": 0.39000624418258667,
      "learning_rate": 8.373695397846717e-05,
      "loss": 0.0556,
      "step": 9890
    },
    {
      "epoch": 2.2189813776082565,
      "gripper_loss": 0.01531982421875,
      "loss": 0.087890625,
      "pos_loss": 0.66015625,
      "rot_loss": 0.2431640625,
      "step": 9890
    },
    {
      "epoch": 2.219205743773839,
      "grad_norm": 0.29744476079940796,
      "learning_rate": 8.369173309524871e-05,
      "loss": 0.0479,
      "step": 9891
    },
    {
      "epoch": 2.219205743773839,
      "gripper_loss": 0.97265625,
      "loss": 0.051513671875,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.0986328125,
      "step": 9891
    },
    {
      "epoch": 2.219430109939421,
      "grad_norm": 0.3898131847381592,
      "learning_rate": 8.364652197092432e-05,
      "loss": 0.0336,
      "step": 9892
    },
    {
      "epoch": 2.219430109939421,
      "gripper_loss": 0.0927734375,
      "loss": 0.0625,
      "pos_loss": 0.36328125,
      "rot_loss": 0.244140625,
      "step": 9892
    },
    {
      "epoch": 2.219654476105003,
      "grad_norm": 0.24890322983264923,
      "learning_rate": 8.360132060814682e-05,
      "loss": 0.0364,
      "step": 9893
    },
    {
      "epoch": 2.219654476105003,
      "gripper_loss": 0.40234375,
      "loss": 0.0196533203125,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.00872802734375,
      "step": 9893
    },
    {
      "epoch": 2.2198788422705857,
      "grad_norm": 0.2607935667037964,
      "learning_rate": 8.355612900956869e-05,
      "loss": 0.0279,
      "step": 9894
    },
    {
      "epoch": 2.2198788422705857,
      "gripper_loss": 0.0172119140625,
      "loss": 0.09326171875,
      "pos_loss": 0.4296875,
      "rot_loss": 0.5078125,
      "step": 9894
    },
    {
      "epoch": 2.220103208436168,
      "grad_norm": 0.39764097332954407,
      "learning_rate": 8.351094717784171e-05,
      "loss": 0.052,
      "step": 9895
    },
    {
      "epoch": 2.220103208436168,
      "gripper_loss": 0.00555419921875,
      "loss": 0.018798828125,
      "pos_loss": 0.166015625,
      "rot_loss": 0.00909423828125,
      "step": 9895
    },
    {
      "epoch": 2.22032757460175,
      "grad_norm": 0.5075395703315735,
      "learning_rate": 8.346577511561728e-05,
      "loss": 0.0583,
      "step": 9896
    },
    {
      "epoch": 2.22032757460175,
      "gripper_loss": 0.005035400390625,
      "loss": 0.015869140625,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.054443359375,
      "step": 9896
    },
    {
      "epoch": 2.2205519407673324,
      "grad_norm": 0.2348930686712265,
      "learning_rate": 8.342061282554585e-05,
      "loss": 0.0515,
      "step": 9897
    },
    {
      "epoch": 2.2205519407673324,
      "gripper_loss": 0.00433349609375,
      "loss": 0.140625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.80859375,
      "step": 9897
    },
    {
      "epoch": 2.2207763069329145,
      "grad_norm": 0.44807153940200806,
      "learning_rate": 8.337546031027765e-05,
      "loss": 0.0832,
      "step": 9898
    },
    {
      "epoch": 2.2207763069329145,
      "gripper_loss": 0.51953125,
      "loss": 0.06396484375,
      "pos_loss": 0.4453125,
      "rot_loss": 0.03955078125,
      "step": 9898
    },
    {
      "epoch": 2.2210006730984966,
      "grad_norm": 0.3225065767765045,
      "learning_rate": 8.333031757246225e-05,
      "loss": 0.0589,
      "step": 9899
    },
    {
      "epoch": 2.2210006730984966,
      "gripper_loss": 0.0087890625,
      "loss": 0.06494140625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.400390625,
      "step": 9899
    },
    {
      "epoch": 2.221225039264079,
      "grad_norm": 0.4439404308795929,
      "learning_rate": 8.328518461474848e-05,
      "loss": 0.0576,
      "step": 9900
    },
    {
      "epoch": 2.221225039264079,
      "gripper_loss": 0.326171875,
      "loss": 0.06494140625,
      "pos_loss": 0.193359375,
      "rot_loss": 0.14453125,
      "step": 9900
    },
    {
      "epoch": 2.221449405429661,
      "grad_norm": 0.8397902846336365,
      "learning_rate": 8.324006143978486e-05,
      "loss": 0.0768,
      "step": 9901
    },
    {
      "epoch": 2.221449405429661,
      "gripper_loss": 0.035400390625,
      "loss": 0.01287841796875,
      "pos_loss": 0.029296875,
      "rot_loss": 0.06787109375,
      "step": 9901
    },
    {
      "epoch": 2.2216737715952433,
      "grad_norm": 0.44891929626464844,
      "learning_rate": 8.319494805021905e-05,
      "loss": 0.0476,
      "step": 9902
    },
    {
      "epoch": 2.2216737715952433,
      "gripper_loss": 0.0233154296875,
      "loss": 0.007537841796875,
      "pos_loss": 0.041748046875,
      "rot_loss": 0.01031494140625,
      "step": 9902
    },
    {
      "epoch": 2.221898137760826,
      "grad_norm": 0.30109643936157227,
      "learning_rate": 8.314984444869836e-05,
      "loss": 0.0453,
      "step": 9903
    },
    {
      "epoch": 2.221898137760826,
      "gripper_loss": 0.2041015625,
      "loss": 0.037109375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.03759765625,
      "step": 9903
    },
    {
      "epoch": 2.222122503926408,
      "grad_norm": 0.25923028588294983,
      "learning_rate": 8.310475063786951e-05,
      "loss": 0.0382,
      "step": 9904
    },
    {
      "epoch": 2.222122503926408,
      "gripper_loss": 0.00506591796875,
      "loss": 0.1376953125,
      "pos_loss": 1.0234375,
      "rot_loss": 0.408203125,
      "step": 9904
    },
    {
      "epoch": 2.22234687009199,
      "grad_norm": 0.4107781648635864,
      "learning_rate": 8.305966662037845e-05,
      "loss": 0.0525,
      "step": 9905
    },
    {
      "epoch": 2.22234687009199,
      "gripper_loss": 0.0498046875,
      "loss": 0.056396484375,
      "pos_loss": 0.453125,
      "rot_loss": 0.08203125,
      "step": 9905
    },
    {
      "epoch": 2.2225712362575725,
      "grad_norm": 0.3176141083240509,
      "learning_rate": 8.301459239887074e-05,
      "loss": 0.0596,
      "step": 9906
    },
    {
      "epoch": 2.2225712362575725,
      "gripper_loss": 0.005615234375,
      "loss": 0.1669921875,
      "pos_loss": 0.82421875,
      "rot_loss": 0.921875,
      "step": 9906
    },
    {
      "epoch": 2.2227956024231545,
      "grad_norm": 0.8008766770362854,
      "learning_rate": 8.296952797599136e-05,
      "loss": 0.0523,
      "step": 9907
    },
    {
      "epoch": 2.2227956024231545,
      "gripper_loss": 0.01708984375,
      "loss": 0.072265625,
      "pos_loss": 0.5703125,
      "rot_loss": 0.1533203125,
      "step": 9907
    },
    {
      "epoch": 2.2230199685887366,
      "grad_norm": 0.3358297646045685,
      "learning_rate": 8.292447335438465e-05,
      "loss": 0.0558,
      "step": 9908
    },
    {
      "epoch": 2.2230199685887366,
      "gripper_loss": 0.1708984375,
      "loss": 0.291015625,
      "pos_loss": 0.8984375,
      "rot_loss": 0.2412109375,
      "step": 9908
    },
    {
      "epoch": 2.223244334754319,
      "grad_norm": 1.6022889614105225,
      "learning_rate": 8.287942853669447e-05,
      "loss": 0.2156,
      "step": 9909
    },
    {
      "epoch": 2.223244334754319,
      "gripper_loss": 0.62890625,
      "loss": 0.0267333984375,
      "pos_loss": 0.02734375,
      "rot_loss": 0.01202392578125,
      "step": 9909
    },
    {
      "epoch": 2.2234687009199012,
      "grad_norm": 0.3241366147994995,
      "learning_rate": 8.283439352556385e-05,
      "loss": 0.0494,
      "step": 9910
    },
    {
      "epoch": 2.2234687009199012,
      "gripper_loss": 0.087890625,
      "loss": 0.06982421875,
      "pos_loss": 0.43359375,
      "rot_loss": 0.251953125,
      "step": 9910
    },
    {
      "epoch": 2.2236930670854833,
      "grad_norm": 0.3429468274116516,
      "learning_rate": 8.278936832363554e-05,
      "loss": 0.0463,
      "step": 9911
    },
    {
      "epoch": 2.2236930670854833,
      "gripper_loss": 0.0478515625,
      "loss": 0.1044921875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.3203125,
      "step": 9911
    },
    {
      "epoch": 2.223917433251066,
      "grad_norm": 0.6168783903121948,
      "learning_rate": 8.274435293355165e-05,
      "loss": 0.0789,
      "step": 9912
    },
    {
      "epoch": 2.223917433251066,
      "gripper_loss": 0.041259765625,
      "loss": 0.0712890625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.3359375,
      "step": 9912
    },
    {
      "epoch": 2.224141799416648,
      "grad_norm": 0.42229360342025757,
      "learning_rate": 8.269934735795361e-05,
      "loss": 0.0614,
      "step": 9913
    },
    {
      "epoch": 2.224141799416648,
      "gripper_loss": 0.01385498046875,
      "loss": 0.103515625,
      "pos_loss": 0.427734375,
      "rot_loss": 0.6328125,
      "step": 9913
    },
    {
      "epoch": 2.22436616558223,
      "grad_norm": 0.2855193018913269,
      "learning_rate": 8.265435159948223e-05,
      "loss": 0.0476,
      "step": 9914
    },
    {
      "epoch": 2.22436616558223,
      "gripper_loss": 0.020751953125,
      "loss": 0.07421875,
      "pos_loss": 0.52734375,
      "rot_loss": 0.2119140625,
      "step": 9914
    },
    {
      "epoch": 2.2245905317478125,
      "grad_norm": 0.3930506110191345,
      "learning_rate": 8.260936566077792e-05,
      "loss": 0.083,
      "step": 9915
    },
    {
      "epoch": 2.2245905317478125,
      "gripper_loss": 0.08837890625,
      "loss": 0.095703125,
      "pos_loss": 0.373046875,
      "rot_loss": 0.2412109375,
      "step": 9915
    },
    {
      "epoch": 2.2248148979133946,
      "grad_norm": 0.9868883490562439,
      "learning_rate": 8.256438954448044e-05,
      "loss": 0.1147,
      "step": 9916
    },
    {
      "epoch": 2.2248148979133946,
      "gripper_loss": 0.010009765625,
      "loss": 0.1484375,
      "pos_loss": 1.4921875,
      "rot_loss": 0.042236328125,
      "step": 9916
    },
    {
      "epoch": 2.225039264078977,
      "grad_norm": 0.34758397936820984,
      "learning_rate": 8.251942325322903e-05,
      "loss": 0.0532,
      "step": 9917
    },
    {
      "epoch": 2.225039264078977,
      "gripper_loss": 0.0091552734375,
      "loss": 0.01031494140625,
      "pos_loss": 0.046630859375,
      "rot_loss": 0.03515625,
      "step": 9917
    },
    {
      "epoch": 2.225263630244559,
      "grad_norm": 0.26785650849342346,
      "learning_rate": 8.247446678966216e-05,
      "loss": 0.0417,
      "step": 9918
    },
    {
      "epoch": 2.225263630244559,
      "gripper_loss": 0.0732421875,
      "loss": 0.0615234375,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.263671875,
      "step": 9918
    },
    {
      "epoch": 2.2254879964101413,
      "grad_norm": 0.4671550691127777,
      "learning_rate": 8.242952015641794e-05,
      "loss": 0.0507,
      "step": 9919
    },
    {
      "epoch": 2.2254879964101413,
      "gripper_loss": 0.427734375,
      "loss": 0.0284423828125,
      "pos_loss": 0.08447265625,
      "rot_loss": 0.049560546875,
      "step": 9919
    },
    {
      "epoch": 2.225712362575724,
      "grad_norm": 0.4147874712944031,
      "learning_rate": 8.238458335613377e-05,
      "loss": 0.0378,
      "step": 9920
    },
    {
      "epoch": 2.225712362575724,
      "gripper_loss": 0.05126953125,
      "loss": 0.0223388671875,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.08154296875,
      "step": 9920
    },
    {
      "epoch": 2.225936728741306,
      "grad_norm": 0.43409258127212524,
      "learning_rate": 8.233965639144658e-05,
      "loss": 0.0576,
      "step": 9921
    },
    {
      "epoch": 2.225936728741306,
      "gripper_loss": 0.040771484375,
      "loss": 0.0693359375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.12060546875,
      "step": 9921
    },
    {
      "epoch": 2.226161094906888,
      "grad_norm": 0.4039019048213959,
      "learning_rate": 8.22947392649927e-05,
      "loss": 0.0496,
      "step": 9922
    },
    {
      "epoch": 2.226161094906888,
      "gripper_loss": 0.1552734375,
      "loss": 0.025390625,
      "pos_loss": 0.061767578125,
      "rot_loss": 0.1279296875,
      "step": 9922
    },
    {
      "epoch": 2.2263854610724705,
      "grad_norm": 0.49493202567100525,
      "learning_rate": 8.22498319794077e-05,
      "loss": 0.0473,
      "step": 9923
    },
    {
      "epoch": 2.2263854610724705,
      "gripper_loss": 1.1875,
      "loss": 0.095703125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.0263671875,
      "step": 9923
    },
    {
      "epoch": 2.2266098272380526,
      "grad_norm": 0.5256492495536804,
      "learning_rate": 8.220493453732689e-05,
      "loss": 0.0683,
      "step": 9924
    },
    {
      "epoch": 2.2266098272380526,
      "gripper_loss": 0.060791015625,
      "loss": 0.032470703125,
      "pos_loss": 0.058349609375,
      "rot_loss": 0.11279296875,
      "step": 9924
    },
    {
      "epoch": 2.2268341934036346,
      "grad_norm": 0.6236810684204102,
      "learning_rate": 8.216004694138466e-05,
      "loss": 0.0563,
      "step": 9925
    },
    {
      "epoch": 2.2268341934036346,
      "gripper_loss": 0.01104736328125,
      "loss": 0.0250244140625,
      "pos_loss": 0.171875,
      "rot_loss": 0.060546875,
      "step": 9925
    },
    {
      "epoch": 2.227058559569217,
      "grad_norm": 0.5003289580345154,
      "learning_rate": 8.211516919421517e-05,
      "loss": 0.063,
      "step": 9926
    },
    {
      "epoch": 2.227058559569217,
      "gripper_loss": 0.07763671875,
      "loss": 0.04833984375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.310546875,
      "step": 9926
    },
    {
      "epoch": 2.2272829257347992,
      "grad_norm": 0.25715869665145874,
      "learning_rate": 8.207030129845161e-05,
      "loss": 0.0283,
      "step": 9927
    },
    {
      "epoch": 2.2272829257347992,
      "gripper_loss": 0.7578125,
      "loss": 0.06396484375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.1259765625,
      "step": 9927
    },
    {
      "epoch": 2.2275072919003813,
      "grad_norm": 0.3811827600002289,
      "learning_rate": 8.202544325672698e-05,
      "loss": 0.0391,
      "step": 9928
    },
    {
      "epoch": 2.2275072919003813,
      "gripper_loss": 0.01904296875,
      "loss": 0.05126953125,
      "pos_loss": 0.388671875,
      "rot_loss": 0.125,
      "step": 9928
    },
    {
      "epoch": 2.227731658065964,
      "grad_norm": 0.4687325358390808,
      "learning_rate": 8.198059507167344e-05,
      "loss": 0.0744,
      "step": 9929
    },
    {
      "epoch": 2.227731658065964,
      "gripper_loss": 0.005035400390625,
      "loss": 0.05859375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.11474609375,
      "step": 9929
    },
    {
      "epoch": 2.227956024231546,
      "grad_norm": 0.29864880442619324,
      "learning_rate": 8.19357567459228e-05,
      "loss": 0.0453,
      "step": 9930
    },
    {
      "epoch": 2.227956024231546,
      "gripper_loss": 0.0634765625,
      "loss": 0.044921875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.1669921875,
      "step": 9930
    },
    {
      "epoch": 2.228180390397128,
      "grad_norm": 0.3371425271034241,
      "learning_rate": 8.189092828210599e-05,
      "loss": 0.0487,
      "step": 9931
    },
    {
      "epoch": 2.228180390397128,
      "gripper_loss": 0.12353515625,
      "loss": 0.03955078125,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.1767578125,
      "step": 9931
    },
    {
      "epoch": 2.2284047565627105,
      "grad_norm": 0.26087576150894165,
      "learning_rate": 8.184610968285358e-05,
      "loss": 0.0466,
      "step": 9932
    },
    {
      "epoch": 2.2284047565627105,
      "gripper_loss": 2.375,
      "loss": 0.12109375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.11572265625,
      "step": 9932
    },
    {
      "epoch": 2.2286291227282926,
      "grad_norm": 0.36675339937210083,
      "learning_rate": 8.180130095079549e-05,
      "loss": 0.0705,
      "step": 9933
    },
    {
      "epoch": 2.2286291227282926,
      "gripper_loss": 0.01220703125,
      "loss": 0.018310546875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.019775390625,
      "step": 9933
    },
    {
      "epoch": 2.2288534888938747,
      "grad_norm": 0.3364882469177246,
      "learning_rate": 8.175650208856119e-05,
      "loss": 0.0447,
      "step": 9934
    },
    {
      "epoch": 2.2288534888938747,
      "gripper_loss": 0.005645751953125,
      "loss": 0.061767578125,
      "pos_loss": 0.5546875,
      "rot_loss": 0.07470703125,
      "step": 9934
    },
    {
      "epoch": 2.229077855059457,
      "grad_norm": 0.2905658781528473,
      "learning_rate": 8.171171309877932e-05,
      "loss": 0.0582,
      "step": 9935
    },
    {
      "epoch": 2.229077855059457,
      "gripper_loss": 0.330078125,
      "loss": 0.044677734375,
      "pos_loss": 0.25,
      "rot_loss": 0.08984375,
      "step": 9935
    },
    {
      "epoch": 2.2293022212250393,
      "grad_norm": 0.3551976680755615,
      "learning_rate": 8.166693398407817e-05,
      "loss": 0.0412,
      "step": 9936
    },
    {
      "epoch": 2.2293022212250393,
      "gripper_loss": 0.4453125,
      "loss": 0.03173828125,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.009521484375,
      "step": 9936
    },
    {
      "epoch": 2.2295265873906214,
      "grad_norm": 0.28426697850227356,
      "learning_rate": 8.162216474708525e-05,
      "loss": 0.0347,
      "step": 9937
    },
    {
      "epoch": 2.2295265873906214,
      "gripper_loss": 0.65625,
      "loss": 0.03125,
      "pos_loss": 0.07861328125,
      "rot_loss": 0.013427734375,
      "step": 9937
    },
    {
      "epoch": 2.229750953556204,
      "grad_norm": 0.19424675405025482,
      "learning_rate": 8.157740539042766e-05,
      "loss": 0.0247,
      "step": 9938
    },
    {
      "epoch": 2.229750953556204,
      "gripper_loss": 0.01470947265625,
      "loss": 0.03759765625,
      "pos_loss": 0.271484375,
      "rot_loss": 0.0966796875,
      "step": 9938
    },
    {
      "epoch": 2.229975319721786,
      "grad_norm": 0.27210167050361633,
      "learning_rate": 8.153265591673192e-05,
      "loss": 0.0491,
      "step": 9939
    },
    {
      "epoch": 2.229975319721786,
      "gripper_loss": 0.0498046875,
      "loss": 0.03369140625,
      "pos_loss": 0.125,
      "rot_loss": 0.181640625,
      "step": 9939
    },
    {
      "epoch": 2.230199685887368,
      "grad_norm": 0.3449665606021881,
      "learning_rate": 8.148791632862379e-05,
      "loss": 0.0428,
      "step": 9940
    },
    {
      "epoch": 2.230199685887368,
      "gripper_loss": 0.005035400390625,
      "loss": 0.04736328125,
      "pos_loss": 0.427734375,
      "rot_loss": 0.04931640625,
      "step": 9940
    },
    {
      "epoch": 2.2304240520529506,
      "grad_norm": 0.2687191367149353,
      "learning_rate": 8.144318662872862e-05,
      "loss": 0.0455,
      "step": 9941
    },
    {
      "epoch": 2.2304240520529506,
      "gripper_loss": 0.4453125,
      "loss": 0.028564453125,
      "pos_loss": 0.030517578125,
      "rot_loss": 0.10205078125,
      "step": 9941
    },
    {
      "epoch": 2.2306484182185327,
      "grad_norm": 0.3197014629840851,
      "learning_rate": 8.139846681967114e-05,
      "loss": 0.0493,
      "step": 9942
    },
    {
      "epoch": 2.2306484182185327,
      "gripper_loss": 0.875,
      "loss": 0.0311279296875,
      "pos_loss": 0.00653076171875,
      "rot_loss": 0.007568359375,
      "step": 9942
    },
    {
      "epoch": 2.2308727843841147,
      "grad_norm": 0.40596264600753784,
      "learning_rate": 8.135375690407557e-05,
      "loss": 0.0515,
      "step": 9943
    },
    {
      "epoch": 2.2308727843841147,
      "gripper_loss": 0.01544189453125,
      "loss": 0.018310546875,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.02978515625,
      "step": 9943
    },
    {
      "epoch": 2.2310971505496973,
      "grad_norm": 0.28215909004211426,
      "learning_rate": 8.130905688456527e-05,
      "loss": 0.0369,
      "step": 9944
    },
    {
      "epoch": 2.2310971505496973,
      "gripper_loss": 0.1513671875,
      "loss": 0.029296875,
      "pos_loss": 0.05517578125,
      "rot_loss": 0.181640625,
      "step": 9944
    },
    {
      "epoch": 2.2313215167152793,
      "grad_norm": 0.3702366054058075,
      "learning_rate": 8.126436676376336e-05,
      "loss": 0.0649,
      "step": 9945
    },
    {
      "epoch": 2.2313215167152793,
      "gripper_loss": 0.0225830078125,
      "loss": 0.08740234375,
      "pos_loss": 0.423828125,
      "rot_loss": 0.4765625,
      "step": 9945
    },
    {
      "epoch": 2.2315458828808614,
      "grad_norm": 0.43018656969070435,
      "learning_rate": 8.121968654429229e-05,
      "loss": 0.0613,
      "step": 9946
    },
    {
      "epoch": 2.2315458828808614,
      "gripper_loss": 0.0201416015625,
      "loss": 0.01092529296875,
      "pos_loss": 0.078125,
      "rot_loss": 0.01214599609375,
      "step": 9946
    },
    {
      "epoch": 2.231770249046444,
      "grad_norm": 0.29083704948425293,
      "learning_rate": 8.117501622877372e-05,
      "loss": 0.0416,
      "step": 9947
    },
    {
      "epoch": 2.231770249046444,
      "gripper_loss": 0.01361083984375,
      "loss": 0.056396484375,
      "pos_loss": 0.427734375,
      "rot_loss": 0.1474609375,
      "step": 9947
    },
    {
      "epoch": 2.231994615212026,
      "grad_norm": 0.2557218372821808,
      "learning_rate": 8.1130355819829e-05,
      "loss": 0.0344,
      "step": 9948
    },
    {
      "epoch": 2.231994615212026,
      "gripper_loss": 0.006622314453125,
      "loss": 0.05712890625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.0322265625,
      "step": 9948
    },
    {
      "epoch": 2.232218981377608,
      "grad_norm": 0.6176324486732483,
      "learning_rate": 8.108570532007867e-05,
      "loss": 0.0504,
      "step": 9949
    },
    {
      "epoch": 2.232218981377608,
      "gripper_loss": 0.212890625,
      "loss": 0.1630859375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.50390625,
      "step": 9949
    },
    {
      "epoch": 2.2324433475431906,
      "grad_norm": 1.2166552543640137,
      "learning_rate": 8.104106473214288e-05,
      "loss": 0.1815,
      "step": 9950
    },
    {
      "epoch": 2.2324433475431906,
      "gripper_loss": 0.30078125,
      "loss": 0.05712890625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.154296875,
      "step": 9950
    },
    {
      "epoch": 2.2326677137087727,
      "grad_norm": 0.33388257026672363,
      "learning_rate": 8.099643405864108e-05,
      "loss": 0.0427,
      "step": 9951
    },
    {
      "epoch": 2.2326677137087727,
      "gripper_loss": 0.005828857421875,
      "loss": 0.0167236328125,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.05126953125,
      "step": 9951
    },
    {
      "epoch": 2.232892079874355,
      "grad_norm": 0.3738854229450226,
      "learning_rate": 8.095181330219231e-05,
      "loss": 0.0359,
      "step": 9952
    },
    {
      "epoch": 2.232892079874355,
      "gripper_loss": 0.373046875,
      "loss": 0.0439453125,
      "pos_loss": 0.203125,
      "rot_loss": 0.11767578125,
      "step": 9952
    },
    {
      "epoch": 2.2331164460399373,
      "grad_norm": 0.2516341209411621,
      "learning_rate": 8.090720246541469e-05,
      "loss": 0.0409,
      "step": 9953
    },
    {
      "epoch": 2.2331164460399373,
      "gripper_loss": 0.068359375,
      "loss": 0.06298828125,
      "pos_loss": 0.3359375,
      "rot_loss": 0.2890625,
      "step": 9953
    },
    {
      "epoch": 2.2333408122055194,
      "grad_norm": 0.4568624496459961,
      "learning_rate": 8.08626015509261e-05,
      "loss": 0.0605,
      "step": 9954
    },
    {
      "epoch": 2.2333408122055194,
      "gripper_loss": 0.01153564453125,
      "loss": 0.10107421875,
      "pos_loss": 0.95703125,
      "rot_loss": 0.08056640625,
      "step": 9954
    },
    {
      "epoch": 2.2335651783711015,
      "grad_norm": 0.401991605758667,
      "learning_rate": 8.081801056134364e-05,
      "loss": 0.0674,
      "step": 9955
    },
    {
      "epoch": 2.2335651783711015,
      "gripper_loss": 0.04541015625,
      "loss": 0.07275390625,
      "pos_loss": 0.484375,
      "rot_loss": 0.212890625,
      "step": 9955
    },
    {
      "epoch": 2.233789544536684,
      "grad_norm": 0.4024028480052948,
      "learning_rate": 8.077342949928402e-05,
      "loss": 0.0582,
      "step": 9956
    },
    {
      "epoch": 2.233789544536684,
      "gripper_loss": 0.012451171875,
      "loss": 0.045166015625,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.31640625,
      "step": 9956
    },
    {
      "epoch": 2.234013910702266,
      "grad_norm": 0.28324997425079346,
      "learning_rate": 8.072885836736302e-05,
      "loss": 0.0333,
      "step": 9957
    },
    {
      "epoch": 2.234013910702266,
      "gripper_loss": 0.390625,
      "loss": 0.028564453125,
      "pos_loss": 0.06787109375,
      "rot_loss": 0.080078125,
      "step": 9957
    },
    {
      "epoch": 2.234238276867848,
      "grad_norm": 0.3307773768901825,
      "learning_rate": 8.06842971681962e-05,
      "loss": 0.0417,
      "step": 9958
    },
    {
      "epoch": 2.234238276867848,
      "gripper_loss": 0.0252685546875,
      "loss": 0.0189208984375,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.1064453125,
      "step": 9958
    },
    {
      "epoch": 2.2344626430334307,
      "grad_norm": 0.7157509326934814,
      "learning_rate": 8.06397459043984e-05,
      "loss": 0.0634,
      "step": 9959
    },
    {
      "epoch": 2.2344626430334307,
      "gripper_loss": 0.02001953125,
      "loss": 0.054931640625,
      "pos_loss": 0.4296875,
      "rot_loss": 0.10546875,
      "step": 9959
    },
    {
      "epoch": 2.2346870091990128,
      "grad_norm": 0.301840603351593,
      "learning_rate": 8.059520457858385e-05,
      "loss": 0.0602,
      "step": 9960
    },
    {
      "epoch": 2.2346870091990128,
      "gripper_loss": 0.03369140625,
      "loss": 0.042236328125,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.1396484375,
      "step": 9960
    },
    {
      "epoch": 2.234911375364595,
      "grad_norm": 0.4943430423736572,
      "learning_rate": 8.055067319336609e-05,
      "loss": 0.0633,
      "step": 9961
    },
    {
      "epoch": 2.234911375364595,
      "gripper_loss": 0.1455078125,
      "loss": 0.033935546875,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.12451171875,
      "step": 9961
    },
    {
      "epoch": 2.2351357415301774,
      "grad_norm": 0.49406445026397705,
      "learning_rate": 8.050615175135834e-05,
      "loss": 0.0551,
      "step": 9962
    },
    {
      "epoch": 2.2351357415301774,
      "gripper_loss": 0.0169677734375,
      "loss": 0.09716796875,
      "pos_loss": 0.6875,
      "rot_loss": 0.3125,
      "step": 9962
    },
    {
      "epoch": 2.2353601076957594,
      "grad_norm": 0.35771211981773376,
      "learning_rate": 8.046164025517303e-05,
      "loss": 0.0635,
      "step": 9963
    },
    {
      "epoch": 2.2353601076957594,
      "gripper_loss": 0.2099609375,
      "loss": 0.0228271484375,
      "pos_loss": 0.12890625,
      "rot_loss": 0.0172119140625,
      "step": 9963
    },
    {
      "epoch": 2.2355844738613415,
      "grad_norm": 0.4438135325908661,
      "learning_rate": 8.04171387074222e-05,
      "loss": 0.03,
      "step": 9964
    },
    {
      "epoch": 2.2355844738613415,
      "gripper_loss": 0.00830078125,
      "loss": 0.009033203125,
      "pos_loss": 0.035400390625,
      "rot_loss": 0.037841796875,
      "step": 9964
    },
    {
      "epoch": 2.235808840026924,
      "grad_norm": 0.44419968128204346,
      "learning_rate": 8.037264711071699e-05,
      "loss": 0.052,
      "step": 9965
    },
    {
      "epoch": 2.235808840026924,
      "gripper_loss": 0.1611328125,
      "loss": 0.022216796875,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.09375,
      "step": 9965
    },
    {
      "epoch": 2.236033206192506,
      "grad_norm": 0.37358558177948,
      "learning_rate": 8.032816546766825e-05,
      "loss": 0.0485,
      "step": 9966
    },
    {
      "epoch": 2.236033206192506,
      "gripper_loss": 0.00836181640625,
      "loss": 0.057861328125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.1259765625,
      "step": 9966
    },
    {
      "epoch": 2.236257572358088,
      "grad_norm": 0.40532153844833374,
      "learning_rate": 8.028369378088612e-05,
      "loss": 0.0663,
      "step": 9967
    },
    {
      "epoch": 2.236257572358088,
      "gripper_loss": 0.208984375,
      "loss": 0.0189208984375,
      "pos_loss": 0.033203125,
      "rot_loss": 0.0732421875,
      "step": 9967
    },
    {
      "epoch": 2.2364819385236707,
      "grad_norm": 0.2988196015357971,
      "learning_rate": 8.023923205298023e-05,
      "loss": 0.0441,
      "step": 9968
    },
    {
      "epoch": 2.2364819385236707,
      "gripper_loss": 0.345703125,
      "loss": 0.0218505859375,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.041259765625,
      "step": 9968
    },
    {
      "epoch": 2.236706304689253,
      "grad_norm": 0.5348576307296753,
      "learning_rate": 8.019478028655958e-05,
      "loss": 0.0553,
      "step": 9969
    },
    {
      "epoch": 2.236706304689253,
      "gripper_loss": 0.2255859375,
      "loss": 0.038818359375,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.224609375,
      "step": 9969
    },
    {
      "epoch": 2.236930670854835,
      "grad_norm": 0.25842806696891785,
      "learning_rate": 8.015033848423247e-05,
      "loss": 0.0288,
      "step": 9970
    },
    {
      "epoch": 2.236930670854835,
      "gripper_loss": 0.0142822265625,
      "loss": 0.07763671875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.2431640625,
      "step": 9970
    },
    {
      "epoch": 2.2371550370204174,
      "grad_norm": 0.2813308835029602,
      "learning_rate": 8.010590664860686e-05,
      "loss": 0.0361,
      "step": 9971
    },
    {
      "epoch": 2.2371550370204174,
      "gripper_loss": 0.013916015625,
      "loss": 0.0478515625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.1865234375,
      "step": 9971
    },
    {
      "epoch": 2.2373794031859995,
      "grad_norm": 0.28935855627059937,
      "learning_rate": 8.006148478228986e-05,
      "loss": 0.0372,
      "step": 9972
    },
    {
      "epoch": 2.2373794031859995,
      "gripper_loss": 0.01953125,
      "loss": 0.0634765625,
      "pos_loss": 0.423828125,
      "rot_loss": 0.2197265625,
      "step": 9972
    },
    {
      "epoch": 2.2376037693515816,
      "grad_norm": 0.35431623458862305,
      "learning_rate": 8.001707288788826e-05,
      "loss": 0.0569,
      "step": 9973
    },
    {
      "epoch": 2.2376037693515816,
      "gripper_loss": 0.0294189453125,
      "loss": 0.00811767578125,
      "pos_loss": 0.01611328125,
      "rot_loss": 0.0361328125,
      "step": 9973
    },
    {
      "epoch": 2.237828135517164,
      "grad_norm": 0.2406284064054489,
      "learning_rate": 7.997267096800797e-05,
      "loss": 0.043,
      "step": 9974
    },
    {
      "epoch": 2.237828135517164,
      "gripper_loss": 0.10498046875,
      "loss": 0.1337890625,
      "pos_loss": 0.50390625,
      "rot_loss": 0.4921875,
      "step": 9974
    },
    {
      "epoch": 2.238052501682746,
      "grad_norm": 0.8642374873161316,
      "learning_rate": 7.99282790252546e-05,
      "loss": 0.1324,
      "step": 9975
    },
    {
      "epoch": 2.238052501682746,
      "gripper_loss": 0.2314453125,
      "loss": 0.042724609375,
      "pos_loss": 0.150390625,
      "rot_loss": 0.2001953125,
      "step": 9975
    },
    {
      "epoch": 2.2382768678483282,
      "grad_norm": 0.2669885754585266,
      "learning_rate": 7.988389706223298e-05,
      "loss": 0.0415,
      "step": 9976
    },
    {
      "epoch": 2.2382768678483282,
      "gripper_loss": 0.74609375,
      "loss": 0.07763671875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.16796875,
      "step": 9976
    },
    {
      "epoch": 2.2385012340139108,
      "grad_norm": 0.4186303913593292,
      "learning_rate": 7.983952508154752e-05,
      "loss": 0.0609,
      "step": 9977
    },
    {
      "epoch": 2.2385012340139108,
      "gripper_loss": 0.4296875,
      "loss": 0.10986328125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.490234375,
      "step": 9977
    },
    {
      "epoch": 2.238725600179493,
      "grad_norm": 0.3281782865524292,
      "learning_rate": 7.979516308580181e-05,
      "loss": 0.061,
      "step": 9978
    },
    {
      "epoch": 2.238725600179493,
      "gripper_loss": 0.1328125,
      "loss": 0.021728515625,
      "pos_loss": 0.050048828125,
      "rot_loss": 0.109375,
      "step": 9978
    },
    {
      "epoch": 2.2389499663450754,
      "grad_norm": 0.3076992332935333,
      "learning_rate": 7.975081107759907e-05,
      "loss": 0.0417,
      "step": 9979
    },
    {
      "epoch": 2.2389499663450754,
      "gripper_loss": 0.84765625,
      "loss": 0.11474609375,
      "pos_loss": 0.8203125,
      "rot_loss": 0.0947265625,
      "step": 9979
    },
    {
      "epoch": 2.2391743325106575,
      "grad_norm": 0.6607881784439087,
      "learning_rate": 7.970646905954184e-05,
      "loss": 0.0527,
      "step": 9980
    },
    {
      "epoch": 2.2391743325106575,
      "gripper_loss": 0.3671875,
      "loss": 0.033935546875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.07421875,
      "step": 9980
    },
    {
      "epoch": 2.2393986986762395,
      "grad_norm": 0.48185932636260986,
      "learning_rate": 7.96621370342322e-05,
      "loss": 0.0665,
      "step": 9981
    },
    {
      "epoch": 2.2393986986762395,
      "gripper_loss": 0.1875,
      "loss": 0.0289306640625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.0106201171875,
      "step": 9981
    },
    {
      "epoch": 2.239623064841822,
      "grad_norm": 0.5583590865135193,
      "learning_rate": 7.961781500427134e-05,
      "loss": 0.0386,
      "step": 9982
    },
    {
      "epoch": 2.239623064841822,
      "gripper_loss": 0.01385498046875,
      "loss": 0.05810546875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.1669921875,
      "step": 9982
    },
    {
      "epoch": 2.239847431007404,
      "grad_norm": 0.2970070242881775,
      "learning_rate": 7.957350297226024e-05,
      "loss": 0.0477,
      "step": 9983
    },
    {
      "epoch": 2.239847431007404,
      "gripper_loss": 0.01214599609375,
      "loss": 0.014404296875,
      "pos_loss": 0.078125,
      "rot_loss": 0.04833984375,
      "step": 9983
    },
    {
      "epoch": 2.240071797172986,
      "grad_norm": 0.37659579515457153,
      "learning_rate": 7.952920094079893e-05,
      "loss": 0.0413,
      "step": 9984
    },
    {
      "epoch": 2.240071797172986,
      "gripper_loss": 0.0079345703125,
      "loss": 0.1708984375,
      "pos_loss": 1.3046875,
      "rot_loss": 0.484375,
      "step": 9984
    },
    {
      "epoch": 2.2402961633385687,
      "grad_norm": 0.5615479946136475,
      "learning_rate": 7.948490891248713e-05,
      "loss": 0.068,
      "step": 9985
    },
    {
      "epoch": 2.2402961633385687,
      "gripper_loss": 0.042724609375,
      "loss": 0.07470703125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.1875,
      "step": 9985
    },
    {
      "epoch": 2.240520529504151,
      "grad_norm": 0.5515655279159546,
      "learning_rate": 7.944062688992392e-05,
      "loss": 0.0677,
      "step": 9986
    },
    {
      "epoch": 2.240520529504151,
      "gripper_loss": 0.00933837890625,
      "loss": 0.04296875,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.1826171875,
      "step": 9986
    },
    {
      "epoch": 2.240744895669733,
      "grad_norm": 0.25312164425849915,
      "learning_rate": 7.939635487570765e-05,
      "loss": 0.0357,
      "step": 9987
    },
    {
      "epoch": 2.240744895669733,
      "gripper_loss": 0.010986328125,
      "loss": 0.08154296875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.333984375,
      "step": 9987
    },
    {
      "epoch": 2.2409692618353154,
      "grad_norm": 0.33050820231437683,
      "learning_rate": 7.935209287243622e-05,
      "loss": 0.0488,
      "step": 9988
    },
    {
      "epoch": 2.2409692618353154,
      "gripper_loss": 0.018310546875,
      "loss": 0.08203125,
      "pos_loss": 0.6015625,
      "rot_loss": 0.2470703125,
      "step": 9988
    },
    {
      "epoch": 2.2411936280008975,
      "grad_norm": 0.3048165738582611,
      "learning_rate": 7.93078408827069e-05,
      "loss": 0.0541,
      "step": 9989
    },
    {
      "epoch": 2.2411936280008975,
      "gripper_loss": 0.134765625,
      "loss": 0.0830078125,
      "pos_loss": 0.333984375,
      "rot_loss": 0.4765625,
      "step": 9989
    },
    {
      "epoch": 2.2414179941664796,
      "grad_norm": 0.3520846366882324,
      "learning_rate": 7.926359890911649e-05,
      "loss": 0.0624,
      "step": 9990
    },
    {
      "epoch": 2.2414179941664796,
      "gripper_loss": 0.10107421875,
      "loss": 0.034912109375,
      "pos_loss": 0.287109375,
      "rot_loss": 0.025146484375,
      "step": 9990
    },
    {
      "epoch": 2.241642360332062,
      "grad_norm": 0.2960367798805237,
      "learning_rate": 7.921936695426091e-05,
      "loss": 0.0548,
      "step": 9991
    },
    {
      "epoch": 2.241642360332062,
      "gripper_loss": 0.283203125,
      "loss": 0.07666015625,
      "pos_loss": 0.498046875,
      "rot_loss": 0.181640625,
      "step": 9991
    },
    {
      "epoch": 2.241866726497644,
      "grad_norm": 0.24795697629451752,
      "learning_rate": 7.917514502073575e-05,
      "loss": 0.0514,
      "step": 9992
    },
    {
      "epoch": 2.241866726497644,
      "gripper_loss": 0.01336669921875,
      "loss": 0.08544921875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.326171875,
      "step": 9992
    },
    {
      "epoch": 2.2420910926632263,
      "grad_norm": 0.3860395848751068,
      "learning_rate": 7.9130933111136e-05,
      "loss": 0.059,
      "step": 9993
    },
    {
      "epoch": 2.2420910926632263,
      "gripper_loss": 0.013671875,
      "loss": 0.0732421875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.1787109375,
      "step": 9993
    },
    {
      "epoch": 2.242315458828809,
      "grad_norm": 0.3379833698272705,
      "learning_rate": 7.908673122805584e-05,
      "loss": 0.0491,
      "step": 9994
    },
    {
      "epoch": 2.242315458828809,
      "gripper_loss": 0.169921875,
      "loss": 0.01300048828125,
      "pos_loss": 0.048095703125,
      "rot_loss": 0.00970458984375,
      "step": 9994
    },
    {
      "epoch": 2.242539824994391,
      "grad_norm": 0.2507917881011963,
      "learning_rate": 7.90425393740892e-05,
      "loss": 0.028,
      "step": 9995
    },
    {
      "epoch": 2.242539824994391,
      "gripper_loss": 0.01092529296875,
      "loss": 0.060546875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.23828125,
      "step": 9995
    },
    {
      "epoch": 2.242764191159973,
      "grad_norm": 0.37680381536483765,
      "learning_rate": 7.899835755182908e-05,
      "loss": 0.0536,
      "step": 9996
    },
    {
      "epoch": 2.242764191159973,
      "gripper_loss": 0.2158203125,
      "loss": 0.0517578125,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.2138671875,
      "step": 9996
    },
    {
      "epoch": 2.2429885573255555,
      "grad_norm": 0.3786253035068512,
      "learning_rate": 7.895418576386809e-05,
      "loss": 0.0707,
      "step": 9997
    },
    {
      "epoch": 2.2429885573255555,
      "gripper_loss": 0.84375,
      "loss": 0.08251953125,
      "pos_loss": 0.48046875,
      "rot_loss": 0.09521484375,
      "step": 9997
    },
    {
      "epoch": 2.2432129234911375,
      "grad_norm": 0.4344096779823303,
      "learning_rate": 7.891002401279823e-05,
      "loss": 0.056,
      "step": 9998
    },
    {
      "epoch": 2.2432129234911375,
      "gripper_loss": 1.2265625,
      "loss": 0.06884765625,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.07666015625,
      "step": 9998
    },
    {
      "epoch": 2.2434372896567196,
      "grad_norm": 0.2966013252735138,
      "learning_rate": 7.886587230121101e-05,
      "loss": 0.0435,
      "step": 9999
    },
    {
      "epoch": 2.2434372896567196,
      "gripper_loss": 0.01348876953125,
      "loss": 0.040283203125,
      "pos_loss": 0.3203125,
      "rot_loss": 0.0771484375,
      "step": 9999
    },
    {
      "epoch": 2.243661655822302,
      "grad_norm": 0.3695772588253021,
      "learning_rate": 7.882173063169701e-05,
      "loss": 0.056,
      "step": 10000
    },
    {
      "epoch": 2.243661655822302,
      "gripper_loss": 0.25,
      "loss": 0.038330078125,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.189453125,
      "step": 10000
    },
    {
      "epoch": 2.2438860219878842,
      "grad_norm": 0.30452167987823486,
      "learning_rate": 7.877759900684653e-05,
      "loss": 0.0467,
      "step": 10001
    },
    {
      "epoch": 2.2438860219878842,
      "gripper_loss": 0.197265625,
      "loss": 0.0301513671875,
      "pos_loss": 0.1796875,
      "rot_loss": 0.041748046875,
      "step": 10001
    },
    {
      "epoch": 2.2441103881534663,
      "grad_norm": 0.20801576972007751,
      "learning_rate": 7.873347742924924e-05,
      "loss": 0.0345,
      "step": 10002
    },
    {
      "epoch": 2.2441103881534663,
      "gripper_loss": 0.06787109375,
      "loss": 0.0751953125,
      "pos_loss": 0.68359375,
      "rot_loss": 0.06982421875,
      "step": 10002
    },
    {
      "epoch": 2.244334754319049,
      "grad_norm": 0.45651379227638245,
      "learning_rate": 7.868936590149422e-05,
      "loss": 0.0536,
      "step": 10003
    },
    {
      "epoch": 2.244334754319049,
      "gripper_loss": 0.1201171875,
      "loss": 0.030029296875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.0986328125,
      "step": 10003
    },
    {
      "epoch": 2.244559120484631,
      "grad_norm": 0.41375064849853516,
      "learning_rate": 7.864526442616979e-05,
      "loss": 0.0479,
      "step": 10004
    },
    {
      "epoch": 2.244559120484631,
      "gripper_loss": 0.47265625,
      "loss": 0.046875,
      "pos_loss": 0.134765625,
      "rot_loss": 0.1826171875,
      "step": 10004
    },
    {
      "epoch": 2.244783486650213,
      "grad_norm": 0.3657950162887573,
      "learning_rate": 7.860117300586384e-05,
      "loss": 0.055,
      "step": 10005
    },
    {
      "epoch": 2.244783486650213,
      "gripper_loss": 0.00927734375,
      "loss": 0.037841796875,
      "pos_loss": 0.330078125,
      "rot_loss": 0.044677734375,
      "step": 10005
    },
    {
      "epoch": 2.2450078528157955,
      "grad_norm": 0.291522353887558,
      "learning_rate": 7.855709164316372e-05,
      "loss": 0.0361,
      "step": 10006
    },
    {
      "epoch": 2.2450078528157955,
      "gripper_loss": 0.00372314453125,
      "loss": 0.0128173828125,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.0189208984375,
      "step": 10006
    },
    {
      "epoch": 2.2452322189813776,
      "grad_norm": 0.27841681241989136,
      "learning_rate": 7.851302034065605e-05,
      "loss": 0.04,
      "step": 10007
    },
    {
      "epoch": 2.2452322189813776,
      "gripper_loss": 0.126953125,
      "loss": 0.052734375,
      "pos_loss": 0.375,
      "rot_loss": 0.09912109375,
      "step": 10007
    },
    {
      "epoch": 2.2454565851469597,
      "grad_norm": 0.31894588470458984,
      "learning_rate": 7.84689591009268e-05,
      "loss": 0.0416,
      "step": 10008
    },
    {
      "epoch": 2.2454565851469597,
      "gripper_loss": 0.0074462890625,
      "loss": 0.033935546875,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.10205078125,
      "step": 10008
    },
    {
      "epoch": 2.245680951312542,
      "grad_norm": 0.26418399810791016,
      "learning_rate": 7.842490792656159e-05,
      "loss": 0.0317,
      "step": 10009
    },
    {
      "epoch": 2.245680951312542,
      "gripper_loss": 0.0079345703125,
      "loss": 0.025390625,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.06591796875,
      "step": 10009
    },
    {
      "epoch": 2.2459053174781243,
      "grad_norm": 0.25096845626831055,
      "learning_rate": 7.838086682014528e-05,
      "loss": 0.034,
      "step": 10010
    },
    {
      "epoch": 2.2459053174781243,
      "gripper_loss": 0.0281982421875,
      "loss": 0.04150390625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.14453125,
      "step": 10010
    },
    {
      "epoch": 2.2461296836437064,
      "grad_norm": 0.32058244943618774,
      "learning_rate": 7.833683578426229e-05,
      "loss": 0.0328,
      "step": 10011
    },
    {
      "epoch": 2.2461296836437064,
      "gripper_loss": 0.0040283203125,
      "loss": 0.007537841796875,
      "pos_loss": 0.039794921875,
      "rot_loss": 0.018798828125,
      "step": 10011
    },
    {
      "epoch": 2.246354049809289,
      "grad_norm": 0.33655694127082825,
      "learning_rate": 7.829281482149617e-05,
      "loss": 0.0382,
      "step": 10012
    },
    {
      "epoch": 2.246354049809289,
      "gripper_loss": 0.09521484375,
      "loss": 0.023681640625,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.119140625,
      "step": 10012
    },
    {
      "epoch": 2.246578415974871,
      "grad_norm": 0.22584274411201477,
      "learning_rate": 7.824880393443015e-05,
      "loss": 0.0402,
      "step": 10013
    },
    {
      "epoch": 2.246578415974871,
      "gripper_loss": 0.07177734375,
      "loss": 0.04345703125,
      "pos_loss": 0.15625,
      "rot_loss": 0.255859375,
      "step": 10013
    },
    {
      "epoch": 2.246802782140453,
      "grad_norm": 0.2551843225955963,
      "learning_rate": 7.820480312564673e-05,
      "loss": 0.031,
      "step": 10014
    },
    {
      "epoch": 2.246802782140453,
      "gripper_loss": 0.27734375,
      "loss": 0.0308837890625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.0283203125,
      "step": 10014
    },
    {
      "epoch": 2.2470271483060356,
      "grad_norm": 0.23752591013908386,
      "learning_rate": 7.816081239772788e-05,
      "loss": 0.0284,
      "step": 10015
    },
    {
      "epoch": 2.2470271483060356,
      "gripper_loss": 0.01708984375,
      "loss": 0.052734375,
      "pos_loss": 0.4296875,
      "rot_loss": 0.1015625,
      "step": 10015
    },
    {
      "epoch": 2.2472515144716176,
      "grad_norm": 0.31173771619796753,
      "learning_rate": 7.811683175325504e-05,
      "loss": 0.0487,
      "step": 10016
    },
    {
      "epoch": 2.2472515144716176,
      "gripper_loss": 0.0654296875,
      "loss": 0.0810546875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.2490234375,
      "step": 10016
    },
    {
      "epoch": 2.2474758806371997,
      "grad_norm": 0.29153749346733093,
      "learning_rate": 7.80728611948088e-05,
      "loss": 0.0417,
      "step": 10017
    },
    {
      "epoch": 2.2474758806371997,
      "gripper_loss": 0.0111083984375,
      "loss": 0.045166015625,
      "pos_loss": 0.3671875,
      "rot_loss": 0.0859375,
      "step": 10017
    },
    {
      "epoch": 2.2477002468027822,
      "grad_norm": 0.2840002179145813,
      "learning_rate": 7.802890072496948e-05,
      "loss": 0.0468,
      "step": 10018
    },
    {
      "epoch": 2.2477002468027822,
      "gripper_loss": 0.01348876953125,
      "loss": 0.08837890625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.326171875,
      "step": 10018
    },
    {
      "epoch": 2.2479246129683643,
      "grad_norm": 0.29786959290504456,
      "learning_rate": 7.798495034631655e-05,
      "loss": 0.0373,
      "step": 10019
    },
    {
      "epoch": 2.2479246129683643,
      "gripper_loss": 0.2265625,
      "loss": 0.046142578125,
      "pos_loss": 0.068359375,
      "rot_loss": 0.322265625,
      "step": 10019
    },
    {
      "epoch": 2.2481489791339464,
      "grad_norm": 0.2988336682319641,
      "learning_rate": 7.794101006142915e-05,
      "loss": 0.0428,
      "step": 10020
    },
    {
      "epoch": 2.2481489791339464,
      "gripper_loss": 0.0211181640625,
      "loss": 0.034423828125,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.0966796875,
      "step": 10020
    },
    {
      "epoch": 2.248373345299529,
      "grad_norm": 0.35158368945121765,
      "learning_rate": 7.789707987288546e-05,
      "loss": 0.0484,
      "step": 10021
    },
    {
      "epoch": 2.248373345299529,
      "gripper_loss": 0.033447265625,
      "loss": 0.016357421875,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.0147705078125,
      "step": 10021
    },
    {
      "epoch": 2.248597711465111,
      "grad_norm": 0.29331710934638977,
      "learning_rate": 7.78531597832634e-05,
      "loss": 0.0438,
      "step": 10022
    },
    {
      "epoch": 2.248597711465111,
      "gripper_loss": 0.1005859375,
      "loss": 0.0272216796875,
      "pos_loss": 0.2099609375,
      "rot_loss": 0.022705078125,
      "step": 10022
    },
    {
      "epoch": 2.248822077630693,
      "grad_norm": 0.6352396607398987,
      "learning_rate": 7.78092497951402e-05,
      "loss": 0.0646,
      "step": 10023
    },
    {
      "epoch": 2.248822077630693,
      "gripper_loss": 0.44140625,
      "loss": 0.033447265625,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.09375,
      "step": 10023
    },
    {
      "epoch": 2.2490464437962756,
      "grad_norm": 0.3803504407405853,
      "learning_rate": 7.776534991109252e-05,
      "loss": 0.058,
      "step": 10024
    },
    {
      "epoch": 2.2490464437962756,
      "gripper_loss": 0.11083984375,
      "loss": 0.03662109375,
      "pos_loss": 0.3125,
      "rot_loss": 0.0191650390625,
      "step": 10024
    },
    {
      "epoch": 2.2492708099618577,
      "grad_norm": 0.22580525279045105,
      "learning_rate": 7.772146013369626e-05,
      "loss": 0.0358,
      "step": 10025
    },
    {
      "epoch": 2.2492708099618577,
      "gripper_loss": 0.01953125,
      "loss": 0.0242919921875,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.10302734375,
      "step": 10025
    },
    {
      "epoch": 2.24949517612744,
      "grad_norm": 0.28910157084465027,
      "learning_rate": 7.767758046552692e-05,
      "loss": 0.0382,
      "step": 10026
    },
    {
      "epoch": 2.24949517612744,
      "gripper_loss": 0.01025390625,
      "loss": 0.07177734375,
      "pos_loss": 0.578125,
      "rot_loss": 0.1630859375,
      "step": 10026
    },
    {
      "epoch": 2.2497195422930223,
      "grad_norm": 0.4190659821033478,
      "learning_rate": 7.763371090915933e-05,
      "loss": 0.0617,
      "step": 10027
    },
    {
      "epoch": 2.2497195422930223,
      "gripper_loss": 0.0087890625,
      "loss": 0.0291748046875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.1259765625,
      "step": 10027
    },
    {
      "epoch": 2.2499439084586044,
      "grad_norm": 0.27790170907974243,
      "learning_rate": 7.758985146716782e-05,
      "loss": 0.0401,
      "step": 10028
    },
    {
      "epoch": 2.2499439084586044,
      "gripper_loss": 0.0057373046875,
      "loss": 0.1123046875,
      "pos_loss": 1.015625,
      "rot_loss": 0.1513671875,
      "step": 10028
    },
    {
      "epoch": 2.250168274624187,
      "grad_norm": 0.28605008125305176,
      "learning_rate": 7.754600214212587e-05,
      "loss": 0.0488,
      "step": 10029
    },
    {
      "epoch": 2.250168274624187,
      "gripper_loss": 0.0047607421875,
      "loss": 0.01953125,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.0159912109375,
      "step": 10029
    },
    {
      "epoch": 2.250392640789769,
      "grad_norm": 0.5021483302116394,
      "learning_rate": 7.750216293660673e-05,
      "loss": 0.0496,
      "step": 10030
    },
    {
      "epoch": 2.250392640789769,
      "gripper_loss": 0.1220703125,
      "loss": 0.04638671875,
      "pos_loss": 0.146484375,
      "rot_loss": 0.28125,
      "step": 10030
    },
    {
      "epoch": 2.250617006955351,
      "grad_norm": 0.4549146890640259,
      "learning_rate": 7.745833385318268e-05,
      "loss": 0.0664,
      "step": 10031
    },
    {
      "epoch": 2.250617006955351,
      "gripper_loss": 0.0036163330078125,
      "loss": 0.024658203125,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.0966796875,
      "step": 10031
    },
    {
      "epoch": 2.2508413731209336,
      "grad_norm": 0.28961047530174255,
      "learning_rate": 7.741451489442567e-05,
      "loss": 0.0305,
      "step": 10032
    },
    {
      "epoch": 2.2508413731209336,
      "gripper_loss": 0.06884765625,
      "loss": 0.033203125,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.1259765625,
      "step": 10032
    },
    {
      "epoch": 2.2510657392865157,
      "grad_norm": 0.6269447803497314,
      "learning_rate": 7.737070606290709e-05,
      "loss": 0.0744,
      "step": 10033
    },
    {
      "epoch": 2.2510657392865157,
      "gripper_loss": 0.00799560546875,
      "loss": 0.0230712890625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.037353515625,
      "step": 10033
    },
    {
      "epoch": 2.2512901054520977,
      "grad_norm": 0.2435838282108307,
      "learning_rate": 7.73269073611974e-05,
      "loss": 0.0309,
      "step": 10034
    },
    {
      "epoch": 2.2512901054520977,
      "gripper_loss": 0.1337890625,
      "loss": 0.01153564453125,
      "pos_loss": 0.02294921875,
      "rot_loss": 0.031494140625,
      "step": 10034
    },
    {
      "epoch": 2.2515144716176803,
      "grad_norm": 0.30917733907699585,
      "learning_rate": 7.728311879186683e-05,
      "loss": 0.0234,
      "step": 10035
    },
    {
      "epoch": 2.2515144716176803,
      "gripper_loss": 0.008544921875,
      "loss": 0.05126953125,
      "pos_loss": 0.326171875,
      "rot_loss": 0.1806640625,
      "step": 10035
    },
    {
      "epoch": 2.2517388377832623,
      "grad_norm": 0.34885817766189575,
      "learning_rate": 7.723934035748484e-05,
      "loss": 0.0392,
      "step": 10036
    },
    {
      "epoch": 2.2517388377832623,
      "gripper_loss": 0.0228271484375,
      "loss": 0.052978515625,
      "pos_loss": 0.23046875,
      "rot_loss": 0.2890625,
      "step": 10036
    },
    {
      "epoch": 2.2519632039488444,
      "grad_norm": 0.2143656611442566,
      "learning_rate": 7.719557206062041e-05,
      "loss": 0.0438,
      "step": 10037
    },
    {
      "epoch": 2.2519632039488444,
      "gripper_loss": 0.01171875,
      "loss": 0.0927734375,
      "pos_loss": 0.609375,
      "rot_loss": 0.341796875,
      "step": 10037
    },
    {
      "epoch": 2.252187570114427,
      "grad_norm": 0.2737366259098053,
      "learning_rate": 7.715181390384171e-05,
      "loss": 0.0507,
      "step": 10038
    },
    {
      "epoch": 2.252187570114427,
      "gripper_loss": 0.10693359375,
      "loss": 0.02685546875,
      "pos_loss": 0.2109375,
      "rot_loss": 0.0164794921875,
      "step": 10038
    },
    {
      "epoch": 2.252411936280009,
      "grad_norm": 0.424946665763855,
      "learning_rate": 7.71080658897165e-05,
      "loss": 0.0495,
      "step": 10039
    },
    {
      "epoch": 2.252411936280009,
      "gripper_loss": 0.023193359375,
      "loss": 0.04931640625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.09375,
      "step": 10039
    },
    {
      "epoch": 2.252636302445591,
      "grad_norm": 0.3232625722885132,
      "learning_rate": 7.706432802081198e-05,
      "loss": 0.0465,
      "step": 10040
    },
    {
      "epoch": 2.252636302445591,
      "gripper_loss": 0.8359375,
      "loss": 0.0859375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.0849609375,
      "step": 10040
    },
    {
      "epoch": 2.2528606686111736,
      "grad_norm": 0.4381358027458191,
      "learning_rate": 7.702060029969455e-05,
      "loss": 0.0554,
      "step": 10041
    },
    {
      "epoch": 2.2528606686111736,
      "gripper_loss": 0.33203125,
      "loss": 0.046875,
      "pos_loss": 0.3125,
      "rot_loss": 0.048828125,
      "step": 10041
    },
    {
      "epoch": 2.2530850347767557,
      "grad_norm": 0.2703753411769867,
      "learning_rate": 7.69768827289302e-05,
      "loss": 0.0377,
      "step": 10042
    },
    {
      "epoch": 2.2530850347767557,
      "gripper_loss": 0.462890625,
      "loss": 0.0439453125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.0068359375,
      "step": 10042
    },
    {
      "epoch": 2.253309400942338,
      "grad_norm": 0.20912203192710876,
      "learning_rate": 7.693317531108418e-05,
      "loss": 0.0425,
      "step": 10043
    },
    {
      "epoch": 2.253309400942338,
      "gripper_loss": 0.0057373046875,
      "loss": 0.10302734375,
      "pos_loss": 0.7890625,
      "rot_loss": 0.27734375,
      "step": 10043
    },
    {
      "epoch": 2.2535337671079203,
      "grad_norm": 0.2689545750617981,
      "learning_rate": 7.688947804872126e-05,
      "loss": 0.0508,
      "step": 10044
    },
    {
      "epoch": 2.2535337671079203,
      "gripper_loss": 0.0091552734375,
      "loss": 0.0250244140625,
      "pos_loss": 0.20703125,
      "rot_loss": 0.033203125,
      "step": 10044
    },
    {
      "epoch": 2.2537581332735024,
      "grad_norm": 0.3563186228275299,
      "learning_rate": 7.68457909444056e-05,
      "loss": 0.0438,
      "step": 10045
    },
    {
      "epoch": 2.2537581332735024,
      "gripper_loss": 0.0128173828125,
      "loss": 0.052001953125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.0966796875,
      "step": 10045
    },
    {
      "epoch": 2.2539824994390845,
      "grad_norm": 0.28545549511909485,
      "learning_rate": 7.680211400070081e-05,
      "loss": 0.0376,
      "step": 10046
    },
    {
      "epoch": 2.2539824994390845,
      "gripper_loss": 0.07666015625,
      "loss": 0.03515625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.1171875,
      "step": 10046
    },
    {
      "epoch": 2.254206865604667,
      "grad_norm": 0.7252427935600281,
      "learning_rate": 7.675844722016967e-05,
      "loss": 0.0499,
      "step": 10047
    },
    {
      "epoch": 2.254206865604667,
      "gripper_loss": 0.177734375,
      "loss": 0.0224609375,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.0791015625,
      "step": 10047
    },
    {
      "epoch": 2.254431231770249,
      "grad_norm": 0.23495566844940186,
      "learning_rate": 7.671479060537462e-05,
      "loss": 0.0364,
      "step": 10048
    },
    {
      "epoch": 2.254431231770249,
      "gripper_loss": 0.0123291015625,
      "loss": 0.037353515625,
      "pos_loss": 0.208984375,
      "rot_loss": 0.1494140625,
      "step": 10048
    },
    {
      "epoch": 2.254655597935831,
      "grad_norm": 0.2675011456012726,
      "learning_rate": 7.667114415887738e-05,
      "loss": 0.0502,
      "step": 10049
    },
    {
      "epoch": 2.254655597935831,
      "gripper_loss": 0.0126953125,
      "loss": 0.12353515625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.232421875,
      "step": 10049
    },
    {
      "epoch": 2.2548799641014137,
      "grad_norm": 0.24558718502521515,
      "learning_rate": 7.662750788323922e-05,
      "loss": 0.052,
      "step": 10050
    },
    {
      "epoch": 2.2548799641014137,
      "gripper_loss": 0.1689453125,
      "loss": 0.0216064453125,
      "pos_loss": 0.142578125,
      "rot_loss": 0.01092529296875,
      "step": 10050
    },
    {
      "epoch": 2.2551043302669957,
      "grad_norm": 0.35211414098739624,
      "learning_rate": 7.658388178102052e-05,
      "loss": 0.0465,
      "step": 10051
    },
    {
      "epoch": 2.2551043302669957,
      "gripper_loss": 0.32421875,
      "loss": 0.0191650390625,
      "pos_loss": 0.06640625,
      "rot_loss": 0.006439208984375,
      "step": 10051
    },
    {
      "epoch": 2.255328696432578,
      "grad_norm": 0.23449039459228516,
      "learning_rate": 7.65402658547813e-05,
      "loss": 0.0376,
      "step": 10052
    },
    {
      "epoch": 2.255328696432578,
      "gripper_loss": 0.30078125,
      "loss": 0.08251953125,
      "pos_loss": 0.412109375,
      "rot_loss": 0.294921875,
      "step": 10052
    },
    {
      "epoch": 2.2555530625981604,
      "grad_norm": 0.3944968283176422,
      "learning_rate": 7.649666010708104e-05,
      "loss": 0.0549,
      "step": 10053
    },
    {
      "epoch": 2.2555530625981604,
      "gripper_loss": 0.01239013671875,
      "loss": 0.03759765625,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.16796875,
      "step": 10053
    },
    {
      "epoch": 2.2557774287637424,
      "grad_norm": 0.4197746813297272,
      "learning_rate": 7.64530645404784e-05,
      "loss": 0.0596,
      "step": 10054
    },
    {
      "epoch": 2.2557774287637424,
      "gripper_loss": 0.423828125,
      "loss": 0.26171875,
      "pos_loss": 0.80078125,
      "rot_loss": 0.458984375,
      "step": 10054
    },
    {
      "epoch": 2.2560017949293245,
      "grad_norm": 1.4508968591690063,
      "learning_rate": 7.640947915753149e-05,
      "loss": 0.2526,
      "step": 10055
    },
    {
      "epoch": 2.2560017949293245,
      "gripper_loss": 0.046142578125,
      "loss": 0.0390625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.107421875,
      "step": 10055
    },
    {
      "epoch": 2.256226161094907,
      "grad_norm": 0.19413335621356964,
      "learning_rate": 7.636590396079793e-05,
      "loss": 0.03,
      "step": 10056
    },
    {
      "epoch": 2.256226161094907,
      "gripper_loss": 0.31640625,
      "loss": 0.05908203125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.1005859375,
      "step": 10056
    },
    {
      "epoch": 2.256450527260489,
      "grad_norm": 0.35675159096717834,
      "learning_rate": 7.632233895283472e-05,
      "loss": 0.0445,
      "step": 10057
    },
    {
      "epoch": 2.256450527260489,
      "gripper_loss": 0.1162109375,
      "loss": 0.1533203125,
      "pos_loss": 0.5625,
      "rot_loss": 0.55078125,
      "step": 10057
    },
    {
      "epoch": 2.256674893426071,
      "grad_norm": 1.0625771284103394,
      "learning_rate": 7.627878413619824e-05,
      "loss": 0.1323,
      "step": 10058
    },
    {
      "epoch": 2.256674893426071,
      "gripper_loss": 0.01080322265625,
      "loss": 0.02392578125,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.04736328125,
      "step": 10058
    },
    {
      "epoch": 2.2568992595916537,
      "grad_norm": 0.29711729288101196,
      "learning_rate": 7.623523951344432e-05,
      "loss": 0.049,
      "step": 10059
    },
    {
      "epoch": 2.2568992595916537,
      "gripper_loss": 0.01336669921875,
      "loss": 0.11865234375,
      "pos_loss": 0.5,
      "rot_loss": 0.734375,
      "step": 10059
    },
    {
      "epoch": 2.257123625757236,
      "grad_norm": 0.34949660301208496,
      "learning_rate": 7.6191705087128e-05,
      "loss": 0.059,
      "step": 10060
    },
    {
      "epoch": 2.257123625757236,
      "gripper_loss": 0.13671875,
      "loss": 0.046630859375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.07080078125,
      "step": 10060
    },
    {
      "epoch": 2.257347991922818,
      "grad_norm": 0.454929381608963,
      "learning_rate": 7.61481808598039e-05,
      "loss": 0.0386,
      "step": 10061
    },
    {
      "epoch": 2.257347991922818,
      "gripper_loss": 0.045654296875,
      "loss": 0.041015625,
      "pos_loss": 0.1953125,
      "rot_loss": 0.19140625,
      "step": 10061
    },
    {
      "epoch": 2.2575723580884004,
      "grad_norm": 0.37848249077796936,
      "learning_rate": 7.610466683402606e-05,
      "loss": 0.05,
      "step": 10062
    },
    {
      "epoch": 2.2575723580884004,
      "gripper_loss": 0.4296875,
      "loss": 0.0634765625,
      "pos_loss": 0.369140625,
      "rot_loss": 0.1318359375,
      "step": 10062
    },
    {
      "epoch": 2.2577967242539825,
      "grad_norm": 0.498748779296875,
      "learning_rate": 7.606116301234791e-05,
      "loss": 0.0713,
      "step": 10063
    },
    {
      "epoch": 2.2577967242539825,
      "gripper_loss": 0.004302978515625,
      "loss": 0.02197265625,
      "pos_loss": 0.181640625,
      "rot_loss": 0.0198974609375,
      "step": 10063
    },
    {
      "epoch": 2.2580210904195646,
      "grad_norm": 0.2691000699996948,
      "learning_rate": 7.60176693973221e-05,
      "loss": 0.0377,
      "step": 10064
    },
    {
      "epoch": 2.2580210904195646,
      "gripper_loss": 0.02880859375,
      "loss": 0.049560546875,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.2265625,
      "step": 10064
    },
    {
      "epoch": 2.258245456585147,
      "grad_norm": 0.40941527485847473,
      "learning_rate": 7.597418599150094e-05,
      "loss": 0.0422,
      "step": 10065
    },
    {
      "epoch": 2.258245456585147,
      "gripper_loss": 0.005035400390625,
      "loss": 0.064453125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.15234375,
      "step": 10065
    },
    {
      "epoch": 2.258469822750729,
      "grad_norm": 0.3408976197242737,
      "learning_rate": 7.593071279743588e-05,
      "loss": 0.036,
      "step": 10066
    },
    {
      "epoch": 2.258469822750729,
      "gripper_loss": 0.026123046875,
      "loss": 0.0294189453125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.06689453125,
      "step": 10066
    },
    {
      "epoch": 2.2586941889163112,
      "grad_norm": 0.28156960010528564,
      "learning_rate": 7.588724981767806e-05,
      "loss": 0.0305,
      "step": 10067
    },
    {
      "epoch": 2.2586941889163112,
      "gripper_loss": 0.51171875,
      "loss": 0.0262451171875,
      "pos_loss": 0.04443359375,
      "rot_loss": 0.03857421875,
      "step": 10067
    },
    {
      "epoch": 2.2589185550818938,
      "grad_norm": 0.3149745464324951,
      "learning_rate": 7.58437970547777e-05,
      "loss": 0.0256,
      "step": 10068
    },
    {
      "epoch": 2.2589185550818938,
      "gripper_loss": 0.1171875,
      "loss": 0.0537109375,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.1875,
      "step": 10068
    },
    {
      "epoch": 2.259142921247476,
      "grad_norm": 0.5124430656433105,
      "learning_rate": 7.58003545112847e-05,
      "loss": 0.0452,
      "step": 10069
    },
    {
      "epoch": 2.259142921247476,
      "gripper_loss": 0.0289306640625,
      "loss": 0.021240234375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.058837890625,
      "step": 10069
    },
    {
      "epoch": 2.259367287413058,
      "grad_norm": 0.21249940991401672,
      "learning_rate": 7.57569221897482e-05,
      "loss": 0.0375,
      "step": 10070
    },
    {
      "epoch": 2.259367287413058,
      "gripper_loss": 0.00762939453125,
      "loss": 0.016845703125,
      "pos_loss": 0.126953125,
      "rot_loss": 0.0230712890625,
      "step": 10070
    },
    {
      "epoch": 2.2595916535786404,
      "grad_norm": 0.3376678228378296,
      "learning_rate": 7.571350009271691e-05,
      "loss": 0.0517,
      "step": 10071
    },
    {
      "epoch": 2.2595916535786404,
      "gripper_loss": 0.04443359375,
      "loss": 0.0771484375,
      "pos_loss": 0.498046875,
      "rot_loss": 0.1796875,
      "step": 10071
    },
    {
      "epoch": 2.2598160197442225,
      "grad_norm": 0.4959659278392792,
      "learning_rate": 7.567008822273866e-05,
      "loss": 0.066,
      "step": 10072
    },
    {
      "epoch": 2.2598160197442225,
      "gripper_loss": 0.248046875,
      "loss": 0.04345703125,
      "pos_loss": 0.146484375,
      "rot_loss": 0.14453125,
      "step": 10072
    },
    {
      "epoch": 2.2600403859098046,
      "grad_norm": 0.3893374800682068,
      "learning_rate": 7.562668658236088e-05,
      "loss": 0.0569,
      "step": 10073
    },
    {
      "epoch": 2.2600403859098046,
      "gripper_loss": 0.345703125,
      "loss": 0.03173828125,
      "pos_loss": 0.173828125,
      "rot_loss": 0.01806640625,
      "step": 10073
    },
    {
      "epoch": 2.260264752075387,
      "grad_norm": 0.4121568202972412,
      "learning_rate": 7.558329517413038e-05,
      "loss": 0.0448,
      "step": 10074
    },
    {
      "epoch": 2.260264752075387,
      "gripper_loss": 0.004547119140625,
      "loss": 0.10302734375,
      "pos_loss": 0.97265625,
      "rot_loss": 0.0859375,
      "step": 10074
    },
    {
      "epoch": 2.260489118240969,
      "grad_norm": 0.4614751636981964,
      "learning_rate": 7.553991400059345e-05,
      "loss": 0.0634,
      "step": 10075
    },
    {
      "epoch": 2.260489118240969,
      "gripper_loss": 0.0115966796875,
      "loss": 0.0341796875,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.08154296875,
      "step": 10075
    },
    {
      "epoch": 2.2607134844065513,
      "grad_norm": 0.3578346371650696,
      "learning_rate": 7.549654306429549e-05,
      "loss": 0.0455,
      "step": 10076
    },
    {
      "epoch": 2.2607134844065513,
      "gripper_loss": 0.2080078125,
      "loss": 0.01446533203125,
      "pos_loss": 0.00927734375,
      "rot_loss": 0.040283203125,
      "step": 10076
    },
    {
      "epoch": 2.260937850572134,
      "grad_norm": 0.3200731873512268,
      "learning_rate": 7.545318236778165e-05,
      "loss": 0.0384,
      "step": 10077
    },
    {
      "epoch": 2.260937850572134,
      "gripper_loss": 0.376953125,
      "loss": 0.06298828125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.007080078125,
      "step": 10077
    },
    {
      "epoch": 2.261162216737716,
      "grad_norm": 0.3445727825164795,
      "learning_rate": 7.540983191359615e-05,
      "loss": 0.0456,
      "step": 10078
    },
    {
      "epoch": 2.261162216737716,
      "gripper_loss": 0.01202392578125,
      "loss": 0.07763671875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.373046875,
      "step": 10078
    },
    {
      "epoch": 2.261386582903298,
      "grad_norm": 0.4630420506000519,
      "learning_rate": 7.536649170428289e-05,
      "loss": 0.0651,
      "step": 10079
    },
    {
      "epoch": 2.261386582903298,
      "gripper_loss": 0.005096435546875,
      "loss": 0.0164794921875,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.018310546875,
      "step": 10079
    },
    {
      "epoch": 2.2616109490688805,
      "grad_norm": 0.46996980905532837,
      "learning_rate": 7.53231617423851e-05,
      "loss": 0.0522,
      "step": 10080
    },
    {
      "epoch": 2.2616109490688805,
      "gripper_loss": 0.0201416015625,
      "loss": 0.02734375,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.0458984375,
      "step": 10080
    },
    {
      "epoch": 2.2618353152344626,
      "grad_norm": 0.35206159949302673,
      "learning_rate": 7.527984203044522e-05,
      "loss": 0.0475,
      "step": 10081
    },
    {
      "epoch": 2.2618353152344626,
      "gripper_loss": 0.1728515625,
      "loss": 0.01422119140625,
      "pos_loss": 0.035400390625,
      "rot_loss": 0.027587890625,
      "step": 10081
    },
    {
      "epoch": 2.2620596814000447,
      "grad_norm": 0.3084494173526764,
      "learning_rate": 7.523653257100529e-05,
      "loss": 0.0441,
      "step": 10082
    },
    {
      "epoch": 2.2620596814000447,
      "gripper_loss": 0.006134033203125,
      "loss": 0.06884765625,
      "pos_loss": 0.06787109375,
      "rot_loss": 0.63671875,
      "step": 10082
    },
    {
      "epoch": 2.262284047565627,
      "grad_norm": 0.558090090751648,
      "learning_rate": 7.519323336660672e-05,
      "loss": 0.0737,
      "step": 10083
    },
    {
      "epoch": 2.262284047565627,
      "gripper_loss": 0.005157470703125,
      "loss": 0.055419921875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.25,
      "step": 10083
    },
    {
      "epoch": 2.2625084137312093,
      "grad_norm": 0.2271740585565567,
      "learning_rate": 7.514994441979035e-05,
      "loss": 0.0303,
      "step": 10084
    },
    {
      "epoch": 2.2625084137312093,
      "gripper_loss": 0.1591796875,
      "loss": 0.027587890625,
      "pos_loss": 0.11865234375,
      "rot_loss": 0.09033203125,
      "step": 10084
    },
    {
      "epoch": 2.2627327798967913,
      "grad_norm": 0.24621553719043732,
      "learning_rate": 7.510666573309618e-05,
      "loss": 0.0369,
      "step": 10085
    },
    {
      "epoch": 2.2627327798967913,
      "gripper_loss": 0.10107421875,
      "loss": 0.1025390625,
      "pos_loss": 0.75390625,
      "rot_loss": 0.1826171875,
      "step": 10085
    },
    {
      "epoch": 2.262957146062374,
      "grad_norm": 0.41430366039276123,
      "learning_rate": 7.506339730906391e-05,
      "loss": 0.0634,
      "step": 10086
    },
    {
      "epoch": 2.262957146062374,
      "gripper_loss": 0.01019287109375,
      "loss": 0.022705078125,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.053466796875,
      "step": 10086
    },
    {
      "epoch": 2.263181512227956,
      "grad_norm": 0.4054318964481354,
      "learning_rate": 7.502013915023254e-05,
      "loss": 0.0498,
      "step": 10087
    },
    {
      "epoch": 2.263181512227956,
      "gripper_loss": 0.045654296875,
      "loss": 0.06494140625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.275390625,
      "step": 10087
    },
    {
      "epoch": 2.263405878393538,
      "grad_norm": 0.4102722108364105,
      "learning_rate": 7.497689125914031e-05,
      "loss": 0.071,
      "step": 10088
    },
    {
      "epoch": 2.263405878393538,
      "gripper_loss": 0.00830078125,
      "loss": 0.0615234375,
      "pos_loss": 0.546875,
      "rot_loss": 0.078125,
      "step": 10088
    },
    {
      "epoch": 2.2636302445591205,
      "grad_norm": 0.4432036578655243,
      "learning_rate": 7.493365363832513e-05,
      "loss": 0.0636,
      "step": 10089
    },
    {
      "epoch": 2.2636302445591205,
      "gripper_loss": 0.11767578125,
      "loss": 0.00909423828125,
      "pos_loss": 0.027099609375,
      "rot_loss": 0.0079345703125,
      "step": 10089
    },
    {
      "epoch": 2.2638546107247026,
      "grad_norm": 0.5559656620025635,
      "learning_rate": 7.489042629032403e-05,
      "loss": 0.0472,
      "step": 10090
    },
    {
      "epoch": 2.2638546107247026,
      "gripper_loss": 0.21484375,
      "loss": 0.0302734375,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.095703125,
      "step": 10090
    },
    {
      "epoch": 2.2640789768902847,
      "grad_norm": 0.23249511420726776,
      "learning_rate": 7.484720921767363e-05,
      "loss": 0.0326,
      "step": 10091
    },
    {
      "epoch": 2.2640789768902847,
      "gripper_loss": 0.1708984375,
      "loss": 0.07080078125,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.41796875,
      "step": 10091
    },
    {
      "epoch": 2.2643033430558672,
      "grad_norm": 0.34597545862197876,
      "learning_rate": 7.480400242290988e-05,
      "loss": 0.0594,
      "step": 10092
    },
    {
      "epoch": 2.2643033430558672,
      "gripper_loss": 1.3125,
      "loss": 0.044677734375,
      "pos_loss": 0.01092529296875,
      "rot_loss": 0.004058837890625,
      "step": 10092
    },
    {
      "epoch": 2.2645277092214493,
      "grad_norm": 0.39815792441368103,
      "learning_rate": 7.476080590856824e-05,
      "loss": 0.0396,
      "step": 10093
    },
    {
      "epoch": 2.2645277092214493,
      "gripper_loss": 0.0052490234375,
      "loss": 0.050048828125,
      "pos_loss": 0.40234375,
      "rot_loss": 0.10205078125,
      "step": 10093
    },
    {
      "epoch": 2.264752075387032,
      "grad_norm": 0.3548144996166229,
      "learning_rate": 7.471761967718327e-05,
      "loss": 0.0556,
      "step": 10094
    },
    {
      "epoch": 2.264752075387032,
      "gripper_loss": 1.3671875,
      "loss": 0.046630859375,
      "pos_loss": 0.0101318359375,
      "rot_loss": 0.004058837890625,
      "step": 10094
    },
    {
      "epoch": 2.264976441552614,
      "grad_norm": 0.38066136837005615,
      "learning_rate": 7.467444373128923e-05,
      "loss": 0.0575,
      "step": 10095
    },
    {
      "epoch": 2.264976441552614,
      "gripper_loss": 0.31640625,
      "loss": 0.029541015625,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.0098876953125,
      "step": 10095
    },
    {
      "epoch": 2.265200807718196,
      "grad_norm": 0.3438084125518799,
      "learning_rate": 7.463127807341966e-05,
      "loss": 0.0521,
      "step": 10096
    },
    {
      "epoch": 2.265200807718196,
      "gripper_loss": 0.01116943359375,
      "loss": 0.050537109375,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.2734375,
      "step": 10096
    },
    {
      "epoch": 2.2654251738837785,
      "grad_norm": 0.30255749821662903,
      "learning_rate": 7.458812270610757e-05,
      "loss": 0.0447,
      "step": 10097
    },
    {
      "epoch": 2.2654251738837785,
      "gripper_loss": 0.008056640625,
      "loss": 0.029296875,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.08544921875,
      "step": 10097
    },
    {
      "epoch": 2.2656495400493606,
      "grad_norm": 0.5639316439628601,
      "learning_rate": 7.454497763188514e-05,
      "loss": 0.039,
      "step": 10098
    },
    {
      "epoch": 2.2656495400493606,
      "gripper_loss": 0.00823974609375,
      "loss": 0.0220947265625,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.08984375,
      "step": 10098
    },
    {
      "epoch": 2.2658739062149427,
      "grad_norm": 0.4229731261730194,
      "learning_rate": 7.450184285328418e-05,
      "loss": 0.0429,
      "step": 10099
    },
    {
      "epoch": 2.2658739062149427,
      "gripper_loss": 0.01806640625,
      "loss": 0.0849609375,
      "pos_loss": 0.75390625,
      "rot_loss": 0.111328125,
      "step": 10099
    },
    {
      "epoch": 2.266098272380525,
      "grad_norm": 0.21038348972797394,
      "learning_rate": 7.44587183728359e-05,
      "loss": 0.0407,
      "step": 10100
    },
    {
      "epoch": 2.266098272380525,
      "gripper_loss": 0.31640625,
      "loss": 0.061279296875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.00872802734375,
      "step": 10100
    },
    {
      "epoch": 2.2663226385461073,
      "grad_norm": 0.24081610143184662,
      "learning_rate": 7.441560419307075e-05,
      "loss": 0.0462,
      "step": 10101
    },
    {
      "epoch": 2.2663226385461073,
      "gripper_loss": 0.01031494140625,
      "loss": 0.0133056640625,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.0751953125,
      "step": 10101
    },
    {
      "epoch": 2.2665470047116894,
      "grad_norm": 0.23398955166339874,
      "learning_rate": 7.43725003165186e-05,
      "loss": 0.044,
      "step": 10102
    },
    {
      "epoch": 2.2665470047116894,
      "gripper_loss": 0.5625,
      "loss": 0.03955078125,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.033203125,
      "step": 10102
    },
    {
      "epoch": 2.266771370877272,
      "grad_norm": 0.8394299149513245,
      "learning_rate": 7.432940674570878e-05,
      "loss": 0.0542,
      "step": 10103
    },
    {
      "epoch": 2.266771370877272,
      "gripper_loss": 0.0166015625,
      "loss": 0.0250244140625,
      "pos_loss": 0.043212890625,
      "rot_loss": 0.1982421875,
      "step": 10103
    },
    {
      "epoch": 2.266995737042854,
      "grad_norm": 0.21877853572368622,
      "learning_rate": 7.428632348317005e-05,
      "loss": 0.0333,
      "step": 10104
    },
    {
      "epoch": 2.266995737042854,
      "gripper_loss": 0.1025390625,
      "loss": 0.0498046875,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.3671875,
      "step": 10104
    },
    {
      "epoch": 2.267220103208436,
      "grad_norm": 0.6294065117835999,
      "learning_rate": 7.424325053143052e-05,
      "loss": 0.0707,
      "step": 10105
    },
    {
      "epoch": 2.267220103208436,
      "gripper_loss": 0.4140625,
      "loss": 0.0247802734375,
      "pos_loss": 0.023681640625,
      "rot_loss": 0.072265625,
      "step": 10105
    },
    {
      "epoch": 2.2674444693740186,
      "grad_norm": 0.3082682490348816,
      "learning_rate": 7.420018789301774e-05,
      "loss": 0.0439,
      "step": 10106
    },
    {
      "epoch": 2.2674444693740186,
      "gripper_loss": 0.006011962890625,
      "loss": 0.05419921875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.031982421875,
      "step": 10106
    },
    {
      "epoch": 2.2676688355396006,
      "grad_norm": 0.2963145971298218,
      "learning_rate": 7.415713557045844e-05,
      "loss": 0.0461,
      "step": 10107
    },
    {
      "epoch": 2.2676688355396006,
      "gripper_loss": 0.37109375,
      "loss": 0.037841796875,
      "pos_loss": 0.031494140625,
      "rot_loss": 0.220703125,
      "step": 10107
    },
    {
      "epoch": 2.2678932017051827,
      "grad_norm": 0.2220740169286728,
      "learning_rate": 7.411409356627905e-05,
      "loss": 0.0427,
      "step": 10108
    },
    {
      "epoch": 2.2678932017051827,
      "gripper_loss": 0.04833984375,
      "loss": 0.02099609375,
      "pos_loss": 0.1328125,
      "rot_loss": 0.034423828125,
      "step": 10108
    },
    {
      "epoch": 2.2681175678707652,
      "grad_norm": 0.4600861966609955,
      "learning_rate": 7.407106188300519e-05,
      "loss": 0.0543,
      "step": 10109
    },
    {
      "epoch": 2.2681175678707652,
      "gripper_loss": 0.06640625,
      "loss": 0.0250244140625,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.022216796875,
      "step": 10109
    },
    {
      "epoch": 2.2683419340363473,
      "grad_norm": 0.2916201949119568,
      "learning_rate": 7.402804052316206e-05,
      "loss": 0.0638,
      "step": 10110
    },
    {
      "epoch": 2.2683419340363473,
      "gripper_loss": 0.0859375,
      "loss": 0.058349609375,
      "pos_loss": 0.52734375,
      "rot_loss": 0.037353515625,
      "step": 10110
    },
    {
      "epoch": 2.2685663002019294,
      "grad_norm": 0.37260738015174866,
      "learning_rate": 7.398502948927397e-05,
      "loss": 0.0513,
      "step": 10111
    },
    {
      "epoch": 2.2685663002019294,
      "gripper_loss": 0.0020751953125,
      "loss": 0.0380859375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.083984375,
      "step": 10111
    },
    {
      "epoch": 2.268790666367512,
      "grad_norm": 0.26489585638046265,
      "learning_rate": 7.394202878386494e-05,
      "loss": 0.0341,
      "step": 10112
    },
    {
      "epoch": 2.268790666367512,
      "gripper_loss": 0.0167236328125,
      "loss": 0.080078125,
      "pos_loss": 0.8125,
      "rot_loss": 0.01708984375,
      "step": 10112
    },
    {
      "epoch": 2.269015032533094,
      "grad_norm": 0.3296419084072113,
      "learning_rate": 7.389903840945805e-05,
      "loss": 0.0648,
      "step": 10113
    },
    {
      "epoch": 2.269015032533094,
      "gripper_loss": 0.5078125,
      "loss": 0.0206298828125,
      "pos_loss": 0.01904296875,
      "rot_loss": 0.0098876953125,
      "step": 10113
    },
    {
      "epoch": 2.269239398698676,
      "grad_norm": 0.2342204749584198,
      "learning_rate": 7.385605836857615e-05,
      "loss": 0.0357,
      "step": 10114
    },
    {
      "epoch": 2.269239398698676,
      "gripper_loss": 0.71875,
      "loss": 0.0361328125,
      "pos_loss": 0.007415771484375,
      "rot_loss": 0.1171875,
      "step": 10114
    },
    {
      "epoch": 2.2694637648642586,
      "grad_norm": 0.5278955101966858,
      "learning_rate": 7.381308866374112e-05,
      "loss": 0.0414,
      "step": 10115
    },
    {
      "epoch": 2.2694637648642586,
      "gripper_loss": 0.00238037109375,
      "loss": 0.06396484375,
      "pos_loss": 0.62109375,
      "rot_loss": 0.03857421875,
      "step": 10115
    },
    {
      "epoch": 2.2696881310298407,
      "grad_norm": 0.30497419834136963,
      "learning_rate": 7.377012929747448e-05,
      "loss": 0.0497,
      "step": 10116
    },
    {
      "epoch": 2.2696881310298407,
      "gripper_loss": 0.033935546875,
      "loss": 0.0216064453125,
      "pos_loss": 0.08984375,
      "rot_loss": 0.107421875,
      "step": 10116
    },
    {
      "epoch": 2.2699124971954228,
      "grad_norm": 0.238295316696167,
      "learning_rate": 7.372718027229706e-05,
      "loss": 0.0386,
      "step": 10117
    },
    {
      "epoch": 2.2699124971954228,
      "gripper_loss": 0.002197265625,
      "loss": 0.07763671875,
      "pos_loss": 0.71484375,
      "rot_loss": 0.08935546875,
      "step": 10117
    },
    {
      "epoch": 2.2701368633610053,
      "grad_norm": 0.3374834656715393,
      "learning_rate": 7.368424159072909e-05,
      "loss": 0.0437,
      "step": 10118
    },
    {
      "epoch": 2.2701368633610053,
      "gripper_loss": 0.0067138671875,
      "loss": 0.04052734375,
      "pos_loss": 0.380859375,
      "rot_loss": 0.02392578125,
      "step": 10118
    },
    {
      "epoch": 2.2703612295265874,
      "grad_norm": 0.3888815641403198,
      "learning_rate": 7.364131325529027e-05,
      "loss": 0.0549,
      "step": 10119
    },
    {
      "epoch": 2.2703612295265874,
      "gripper_loss": 0.007781982421875,
      "loss": 0.046875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.08447265625,
      "step": 10119
    },
    {
      "epoch": 2.2705855956921694,
      "grad_norm": 0.2460678219795227,
      "learning_rate": 7.359839526849949e-05,
      "loss": 0.0419,
      "step": 10120
    },
    {
      "epoch": 2.2705855956921694,
      "gripper_loss": 0.1728515625,
      "loss": 0.043212890625,
      "pos_loss": 0.294921875,
      "rot_loss": 0.08154296875,
      "step": 10120
    },
    {
      "epoch": 2.270809961857752,
      "grad_norm": 0.29852187633514404,
      "learning_rate": 7.35554876328752e-05,
      "loss": 0.047,
      "step": 10121
    },
    {
      "epoch": 2.270809961857752,
      "gripper_loss": 0.41796875,
      "loss": 0.0322265625,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.01092529296875,
      "step": 10121
    },
    {
      "epoch": 2.271034328023334,
      "grad_norm": 0.1998353898525238,
      "learning_rate": 7.351259035093527e-05,
      "loss": 0.0371,
      "step": 10122
    },
    {
      "epoch": 2.271034328023334,
      "gripper_loss": 0.01263427734375,
      "loss": 0.0211181640625,
      "pos_loss": 0.123046875,
      "rot_loss": 0.052490234375,
      "step": 10122
    },
    {
      "epoch": 2.271258694188916,
      "grad_norm": 0.45191821455955505,
      "learning_rate": 7.346970342519676e-05,
      "loss": 0.0698,
      "step": 10123
    },
    {
      "epoch": 2.271258694188916,
      "gripper_loss": 0.00537109375,
      "loss": 0.06298828125,
      "pos_loss": 0.546875,
      "rot_loss": 0.1005859375,
      "step": 10123
    },
    {
      "epoch": 2.2714830603544987,
      "grad_norm": 0.40230342745780945,
      "learning_rate": 7.342682685817645e-05,
      "loss": 0.0514,
      "step": 10124
    },
    {
      "epoch": 2.2714830603544987,
      "gripper_loss": 0.0908203125,
      "loss": 0.006866455078125,
      "pos_loss": 0.0106201171875,
      "rot_loss": 0.010009765625,
      "step": 10124
    },
    {
      "epoch": 2.2717074265200807,
      "grad_norm": 0.3571489751338959,
      "learning_rate": 7.338396065239009e-05,
      "loss": 0.0324,
      "step": 10125
    },
    {
      "epoch": 2.2717074265200807,
      "gripper_loss": 0.173828125,
      "loss": 0.01239013671875,
      "pos_loss": 0.0286865234375,
      "rot_loss": 0.018310546875,
      "step": 10125
    },
    {
      "epoch": 2.271931792685663,
      "grad_norm": 0.36819231510162354,
      "learning_rate": 7.334110481035313e-05,
      "loss": 0.0447,
      "step": 10126
    },
    {
      "epoch": 2.271931792685663,
      "gripper_loss": 0.0084228515625,
      "loss": 0.042236328125,
      "pos_loss": 0.265625,
      "rot_loss": 0.15625,
      "step": 10126
    },
    {
      "epoch": 2.2721561588512453,
      "grad_norm": 0.35485729575157166,
      "learning_rate": 7.329825933458048e-05,
      "loss": 0.0779,
      "step": 10127
    },
    {
      "epoch": 2.2721561588512453,
      "gripper_loss": 0.01007080078125,
      "loss": 0.0400390625,
      "pos_loss": 0.1875,
      "rot_loss": 0.208984375,
      "step": 10127
    },
    {
      "epoch": 2.2723805250168274,
      "grad_norm": 0.4383130371570587,
      "learning_rate": 7.325542422758607e-05,
      "loss": 0.0706,
      "step": 10128
    },
    {
      "epoch": 2.2723805250168274,
      "gripper_loss": 0.00750732421875,
      "loss": 0.03759765625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.06689453125,
      "step": 10128
    },
    {
      "epoch": 2.27260489118241,
      "grad_norm": 0.5036478638648987,
      "learning_rate": 7.321259949188355e-05,
      "loss": 0.0817,
      "step": 10129
    },
    {
      "epoch": 2.27260489118241,
      "gripper_loss": 0.0260009765625,
      "loss": 0.0277099609375,
      "pos_loss": 0.07861328125,
      "rot_loss": 0.181640625,
      "step": 10129
    },
    {
      "epoch": 2.272829257347992,
      "grad_norm": 0.5417729020118713,
      "learning_rate": 7.316978512998588e-05,
      "loss": 0.0701,
      "step": 10130
    },
    {
      "epoch": 2.272829257347992,
      "gripper_loss": 0.006561279296875,
      "loss": 0.095703125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.482421875,
      "step": 10130
    },
    {
      "epoch": 2.273053623513574,
      "grad_norm": 0.4554502069950104,
      "learning_rate": 7.312698114440542e-05,
      "loss": 0.0649,
      "step": 10131
    },
    {
      "epoch": 2.273053623513574,
      "gripper_loss": 0.43359375,
      "loss": 0.022216796875,
      "pos_loss": 0.05224609375,
      "rot_loss": 0.02001953125,
      "step": 10131
    },
    {
      "epoch": 2.2732779896791566,
      "grad_norm": 0.6406000256538391,
      "learning_rate": 7.308418753765372e-05,
      "loss": 0.0795,
      "step": 10132
    },
    {
      "epoch": 2.2732779896791566,
      "gripper_loss": 0.076171875,
      "loss": 0.08544921875,
      "pos_loss": 0.3359375,
      "rot_loss": 0.37890625,
      "step": 10132
    },
    {
      "epoch": 2.2735023558447387,
      "grad_norm": 0.5066750049591064,
      "learning_rate": 7.304140431224202e-05,
      "loss": 0.0645,
      "step": 10133
    },
    {
      "epoch": 2.2735023558447387,
      "gripper_loss": 0.025390625,
      "loss": 0.0191650390625,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.044677734375,
      "step": 10133
    },
    {
      "epoch": 2.2737267220103208,
      "grad_norm": 0.27253323793411255,
      "learning_rate": 7.299863147068081e-05,
      "loss": 0.0465,
      "step": 10134
    },
    {
      "epoch": 2.2737267220103208,
      "gripper_loss": 0.30078125,
      "loss": 0.028564453125,
      "pos_loss": 0.162109375,
      "rot_loss": 0.0167236328125,
      "step": 10134
    },
    {
      "epoch": 2.2739510881759033,
      "grad_norm": 0.42667314410209656,
      "learning_rate": 7.295586901548004e-05,
      "loss": 0.0412,
      "step": 10135
    },
    {
      "epoch": 2.2739510881759033,
      "gripper_loss": 0.146484375,
      "loss": 0.01202392578125,
      "pos_loss": 0.00439453125,
      "rot_loss": 0.0517578125,
      "step": 10135
    },
    {
      "epoch": 2.2741754543414854,
      "grad_norm": 0.39261430501937866,
      "learning_rate": 7.291311694914893e-05,
      "loss": 0.0438,
      "step": 10136
    },
    {
      "epoch": 2.2741754543414854,
      "gripper_loss": 0.322265625,
      "loss": 0.031005859375,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.0751953125,
      "step": 10136
    },
    {
      "epoch": 2.2743998205070675,
      "grad_norm": 0.3227097988128662,
      "learning_rate": 7.287037527419605e-05,
      "loss": 0.0518,
      "step": 10137
    },
    {
      "epoch": 2.2743998205070675,
      "gripper_loss": 0.1982421875,
      "loss": 0.052001953125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.189453125,
      "step": 10137
    },
    {
      "epoch": 2.27462418667265,
      "grad_norm": 0.32435330748558044,
      "learning_rate": 7.282764399312955e-05,
      "loss": 0.0408,
      "step": 10138
    },
    {
      "epoch": 2.27462418667265,
      "gripper_loss": 0.431640625,
      "loss": 0.38671875,
      "pos_loss": 1.078125,
      "rot_loss": 0.478515625,
      "step": 10138
    },
    {
      "epoch": 2.274848552838232,
      "grad_norm": 2.044419765472412,
      "learning_rate": 7.278492310845692e-05,
      "loss": 0.3247,
      "step": 10139
    },
    {
      "epoch": 2.274848552838232,
      "gripper_loss": 0.96875,
      "loss": 0.038818359375,
      "pos_loss": 0.01165771484375,
      "rot_loss": 0.052490234375,
      "step": 10139
    },
    {
      "epoch": 2.275072919003814,
      "grad_norm": 0.8110762238502502,
      "learning_rate": 7.274221262268502e-05,
      "loss": 0.0409,
      "step": 10140
    },
    {
      "epoch": 2.275072919003814,
      "gripper_loss": 0.08447265625,
      "loss": 0.030517578125,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.08642578125,
      "step": 10140
    },
    {
      "epoch": 2.2752972851693967,
      "grad_norm": 0.19794489443302155,
      "learning_rate": 7.269951253831996e-05,
      "loss": 0.0274,
      "step": 10141
    },
    {
      "epoch": 2.2752972851693967,
      "gripper_loss": 0.16796875,
      "loss": 0.0380859375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.046630859375,
      "step": 10141
    },
    {
      "epoch": 2.2755216513349787,
      "grad_norm": 0.3066655695438385,
      "learning_rate": 7.265682285786743e-05,
      "loss": 0.0508,
      "step": 10142
    },
    {
      "epoch": 2.2755216513349787,
      "gripper_loss": 0.04931640625,
      "loss": 0.10693359375,
      "pos_loss": 0.92578125,
      "rot_loss": 0.1435546875,
      "step": 10142
    },
    {
      "epoch": 2.275746017500561,
      "grad_norm": 0.6106120944023132,
      "learning_rate": 7.261414358383245e-05,
      "loss": 0.0586,
      "step": 10143
    },
    {
      "epoch": 2.275746017500561,
      "gripper_loss": 0.08837890625,
      "loss": 0.0703125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.349609375,
      "step": 10143
    },
    {
      "epoch": 2.2759703836661433,
      "grad_norm": 0.7605329751968384,
      "learning_rate": 7.25714747187195e-05,
      "loss": 0.0414,
      "step": 10144
    },
    {
      "epoch": 2.2759703836661433,
      "gripper_loss": 0.032470703125,
      "loss": 0.01361083984375,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.0098876953125,
      "step": 10144
    },
    {
      "epoch": 2.2761947498317254,
      "grad_norm": 0.26139822602272034,
      "learning_rate": 7.252881626503219e-05,
      "loss": 0.0481,
      "step": 10145
    },
    {
      "epoch": 2.2761947498317254,
      "gripper_loss": 0.2216796875,
      "loss": 0.045166015625,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.279296875,
      "step": 10145
    },
    {
      "epoch": 2.2764191159973075,
      "grad_norm": 0.40715309977531433,
      "learning_rate": 7.24861682252738e-05,
      "loss": 0.0543,
      "step": 10146
    },
    {
      "epoch": 2.2764191159973075,
      "gripper_loss": 0.036376953125,
      "loss": 0.064453125,
      "pos_loss": 0.515625,
      "rot_loss": 0.10595703125,
      "step": 10146
    },
    {
      "epoch": 2.27664348216289,
      "grad_norm": 0.32828643918037415,
      "learning_rate": 7.244353060194697e-05,
      "loss": 0.0534,
      "step": 10147
    },
    {
      "epoch": 2.27664348216289,
      "gripper_loss": 0.64453125,
      "loss": 0.1298828125,
      "pos_loss": 1.0859375,
      "rot_loss": 0.0576171875,
      "step": 10147
    },
    {
      "epoch": 2.276867848328472,
      "grad_norm": 0.3304159939289093,
      "learning_rate": 7.240090339755351e-05,
      "loss": 0.071,
      "step": 10148
    },
    {
      "epoch": 2.276867848328472,
      "gripper_loss": 0.00457763671875,
      "loss": 0.09912109375,
      "pos_loss": 0.73046875,
      "rot_loss": 0.302734375,
      "step": 10148
    },
    {
      "epoch": 2.277092214494054,
      "grad_norm": 0.28457385301589966,
      "learning_rate": 7.235828661459489e-05,
      "loss": 0.0376,
      "step": 10149
    },
    {
      "epoch": 2.277092214494054,
      "gripper_loss": 0.78515625,
      "loss": 0.09912109375,
      "pos_loss": 0.578125,
      "rot_loss": 0.1943359375,
      "step": 10149
    },
    {
      "epoch": 2.2773165806596367,
      "grad_norm": 0.46970292925834656,
      "learning_rate": 7.231568025557172e-05,
      "loss": 0.0641,
      "step": 10150
    },
    {
      "epoch": 2.2773165806596367,
      "gripper_loss": 0.314453125,
      "loss": 0.1533203125,
      "pos_loss": 0.7578125,
      "rot_loss": 0.75,
      "step": 10150
    },
    {
      "epoch": 2.277540946825219,
      "grad_norm": 0.41428622603416443,
      "learning_rate": 7.227308432298421e-05,
      "loss": 0.0543,
      "step": 10151
    },
    {
      "epoch": 2.277540946825219,
      "gripper_loss": 0.00970458984375,
      "loss": 0.052490234375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.1982421875,
      "step": 10151
    },
    {
      "epoch": 2.277765312990801,
      "grad_norm": 0.3783200979232788,
      "learning_rate": 7.22304988193318e-05,
      "loss": 0.0309,
      "step": 10152
    },
    {
      "epoch": 2.277765312990801,
      "gripper_loss": 0.0103759765625,
      "loss": 0.0244140625,
      "pos_loss": 0.01806640625,
      "rot_loss": 0.2109375,
      "step": 10152
    },
    {
      "epoch": 2.2779896791563834,
      "grad_norm": 0.2775779068470001,
      "learning_rate": 7.218792374711356e-05,
      "loss": 0.0324,
      "step": 10153
    },
    {
      "epoch": 2.2779896791563834,
      "gripper_loss": 0.2890625,
      "loss": 0.05517578125,
      "pos_loss": 0.36328125,
      "rot_loss": 0.1025390625,
      "step": 10153
    },
    {
      "epoch": 2.2782140453219655,
      "grad_norm": 0.29316794872283936,
      "learning_rate": 7.214535910882755e-05,
      "loss": 0.0394,
      "step": 10154
    },
    {
      "epoch": 2.2782140453219655,
      "gripper_loss": 0.125,
      "loss": 0.07177734375,
      "pos_loss": 0.345703125,
      "rot_loss": 0.35546875,
      "step": 10154
    },
    {
      "epoch": 2.2784384114875476,
      "grad_norm": 0.38176682591438293,
      "learning_rate": 7.210280490697154e-05,
      "loss": 0.052,
      "step": 10155
    },
    {
      "epoch": 2.2784384114875476,
      "gripper_loss": 0.01025390625,
      "loss": 0.031494140625,
      "pos_loss": 0.1953125,
      "rot_loss": 0.1103515625,
      "step": 10155
    },
    {
      "epoch": 2.27866277765313,
      "grad_norm": 0.2649935483932495,
      "learning_rate": 7.206026114404263e-05,
      "loss": 0.0396,
      "step": 10156
    },
    {
      "epoch": 2.27866277765313,
      "gripper_loss": 0.01806640625,
      "loss": 0.1279296875,
      "pos_loss": 1.1640625,
      "rot_loss": 0.1728515625,
      "step": 10156
    },
    {
      "epoch": 2.278887143818712,
      "grad_norm": 0.3969254195690155,
      "learning_rate": 7.201772782253729e-05,
      "loss": 0.0611,
      "step": 10157
    },
    {
      "epoch": 2.278887143818712,
      "gripper_loss": 0.0172119140625,
      "loss": 0.007080078125,
      "pos_loss": 0.0250244140625,
      "rot_loss": 0.0206298828125,
      "step": 10157
    },
    {
      "epoch": 2.2791115099842942,
      "grad_norm": 0.1960401087999344,
      "learning_rate": 7.197520494495124e-05,
      "loss": 0.0408,
      "step": 10158
    },
    {
      "epoch": 2.2791115099842942,
      "gripper_loss": 0.00811767578125,
      "loss": 0.0966796875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.490234375,
      "step": 10158
    },
    {
      "epoch": 2.2793358761498768,
      "grad_norm": 0.513175904750824,
      "learning_rate": 7.193269251377984e-05,
      "loss": 0.0491,
      "step": 10159
    },
    {
      "epoch": 2.2793358761498768,
      "gripper_loss": 0.00897216796875,
      "loss": 0.193359375,
      "pos_loss": 1.6015625,
      "rot_loss": 0.4296875,
      "step": 10159
    },
    {
      "epoch": 2.279560242315459,
      "grad_norm": 0.6638608574867249,
      "learning_rate": 7.189019053151754e-05,
      "loss": 0.061,
      "step": 10160
    },
    {
      "epoch": 2.279560242315459,
      "gripper_loss": 0.007080078125,
      "loss": 0.05615234375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.318359375,
      "step": 10160
    },
    {
      "epoch": 2.279784608481041,
      "grad_norm": 0.3470795750617981,
      "learning_rate": 7.18476990006585e-05,
      "loss": 0.0426,
      "step": 10161
    },
    {
      "epoch": 2.279784608481041,
      "gripper_loss": 0.09033203125,
      "loss": 0.11279296875,
      "pos_loss": 0.1875,
      "rot_loss": 0.287109375,
      "step": 10161
    },
    {
      "epoch": 2.2800089746466234,
      "grad_norm": 1.2084320783615112,
      "learning_rate": 7.180521792369596e-05,
      "loss": 0.1215,
      "step": 10162
    },
    {
      "epoch": 2.2800089746466234,
      "gripper_loss": 0.2431640625,
      "loss": 0.072265625,
      "pos_loss": 0.65234375,
      "rot_loss": 0.0115966796875,
      "step": 10162
    },
    {
      "epoch": 2.2802333408122055,
      "grad_norm": 0.3487664461135864,
      "learning_rate": 7.176274730312274e-05,
      "loss": 0.0461,
      "step": 10163
    },
    {
      "epoch": 2.2802333408122055,
      "gripper_loss": 0.00885009765625,
      "loss": 0.02197265625,
      "pos_loss": 0.091796875,
      "rot_loss": 0.11669921875,
      "step": 10163
    },
    {
      "epoch": 2.2804577069777876,
      "grad_norm": 0.36525818705558777,
      "learning_rate": 7.172028714143103e-05,
      "loss": 0.0421,
      "step": 10164
    },
    {
      "epoch": 2.2804577069777876,
      "gripper_loss": 0.012451171875,
      "loss": 0.0615234375,
      "pos_loss": 0.51171875,
      "rot_loss": 0.111328125,
      "step": 10164
    },
    {
      "epoch": 2.28068207314337,
      "grad_norm": 0.37721726298332214,
      "learning_rate": 7.167783744111236e-05,
      "loss": 0.0598,
      "step": 10165
    },
    {
      "epoch": 2.28068207314337,
      "gripper_loss": 0.0133056640625,
      "loss": 0.0791015625,
      "pos_loss": 0.546875,
      "rot_loss": 0.265625,
      "step": 10165
    },
    {
      "epoch": 2.280906439308952,
      "grad_norm": 0.271795392036438,
      "learning_rate": 7.163539820465773e-05,
      "loss": 0.0629,
      "step": 10166
    },
    {
      "epoch": 2.280906439308952,
      "gripper_loss": 0.2255859375,
      "loss": 0.173828125,
      "pos_loss": 0.65234375,
      "rot_loss": 0.345703125,
      "step": 10166
    },
    {
      "epoch": 2.2811308054745343,
      "grad_norm": 1.189267635345459,
      "learning_rate": 7.159296943455729e-05,
      "loss": 0.1637,
      "step": 10167
    },
    {
      "epoch": 2.2811308054745343,
      "gripper_loss": 0.06298828125,
      "loss": 0.09423828125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.77734375,
      "step": 10167
    },
    {
      "epoch": 2.281355171640117,
      "grad_norm": 0.4231911599636078,
      "learning_rate": 7.155055113330084e-05,
      "loss": 0.0634,
      "step": 10168
    },
    {
      "epoch": 2.281355171640117,
      "gripper_loss": 0.0106201171875,
      "loss": 0.01513671875,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.022216796875,
      "step": 10168
    },
    {
      "epoch": 2.281579537805699,
      "grad_norm": 0.2694730758666992,
      "learning_rate": 7.150814330337754e-05,
      "loss": 0.0417,
      "step": 10169
    },
    {
      "epoch": 2.281579537805699,
      "gripper_loss": 0.10986328125,
      "loss": 0.1337890625,
      "pos_loss": 0.515625,
      "rot_loss": 0.70703125,
      "step": 10169
    },
    {
      "epoch": 2.281803903971281,
      "grad_norm": 0.6236680150032043,
      "learning_rate": 7.146574594727573e-05,
      "loss": 0.1057,
      "step": 10170
    },
    {
      "epoch": 2.281803903971281,
      "gripper_loss": 0.008544921875,
      "loss": 0.095703125,
      "pos_loss": 0.9140625,
      "rot_loss": 0.0791015625,
      "step": 10170
    },
    {
      "epoch": 2.2820282701368635,
      "grad_norm": 0.3415786325931549,
      "learning_rate": 7.142335906748334e-05,
      "loss": 0.0544,
      "step": 10171
    },
    {
      "epoch": 2.2820282701368635,
      "gripper_loss": 0.025390625,
      "loss": 0.025146484375,
      "pos_loss": 0.0537109375,
      "rot_loss": 0.18359375,
      "step": 10171
    },
    {
      "epoch": 2.2822526363024456,
      "grad_norm": 0.7033860683441162,
      "learning_rate": 7.138098266648757e-05,
      "loss": 0.0384,
      "step": 10172
    },
    {
      "epoch": 2.2822526363024456,
      "gripper_loss": 0.1376953125,
      "loss": 0.06494140625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.27734375,
      "step": 10172
    },
    {
      "epoch": 2.2824770024680276,
      "grad_norm": 0.5215142369270325,
      "learning_rate": 7.133861674677506e-05,
      "loss": 0.0688,
      "step": 10173
    },
    {
      "epoch": 2.2824770024680276,
      "gripper_loss": 0.007781982421875,
      "loss": 0.058837890625,
      "pos_loss": 0.279296875,
      "rot_loss": 0.3125,
      "step": 10173
    },
    {
      "epoch": 2.28270136863361,
      "grad_norm": 0.5195556282997131,
      "learning_rate": 7.129626131083189e-05,
      "loss": 0.0678,
      "step": 10174
    },
    {
      "epoch": 2.28270136863361,
      "gripper_loss": 0.115234375,
      "loss": 0.04345703125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.06494140625,
      "step": 10174
    },
    {
      "epoch": 2.2829257347991923,
      "grad_norm": 0.31939879059791565,
      "learning_rate": 7.125391636114334e-05,
      "loss": 0.0445,
      "step": 10175
    },
    {
      "epoch": 2.2829257347991923,
      "gripper_loss": 0.7109375,
      "loss": 0.06982421875,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.259765625,
      "step": 10175
    },
    {
      "epoch": 2.2831501009647743,
      "grad_norm": 0.768020510673523,
      "learning_rate": 7.121158190019426e-05,
      "loss": 0.0866,
      "step": 10176
    },
    {
      "epoch": 2.2831501009647743,
      "gripper_loss": 0.169921875,
      "loss": 0.0235595703125,
      "pos_loss": 0.1484375,
      "rot_loss": 0.014404296875,
      "step": 10176
    },
    {
      "epoch": 2.283374467130357,
      "grad_norm": 0.2892899513244629,
      "learning_rate": 7.11692579304688e-05,
      "loss": 0.0497,
      "step": 10177
    },
    {
      "epoch": 2.283374467130357,
      "gripper_loss": 0.052978515625,
      "loss": 0.061767578125,
      "pos_loss": 0.296875,
      "rot_loss": 0.28125,
      "step": 10177
    },
    {
      "epoch": 2.283598833295939,
      "grad_norm": 0.41335973143577576,
      "learning_rate": 7.11269444544505e-05,
      "loss": 0.0644,
      "step": 10178
    },
    {
      "epoch": 2.283598833295939,
      "gripper_loss": 0.037109375,
      "loss": 0.09423828125,
      "pos_loss": 0.65234375,
      "rot_loss": 0.2431640625,
      "step": 10178
    },
    {
      "epoch": 2.283823199461521,
      "grad_norm": 0.33315250277519226,
      "learning_rate": 7.108464147462243e-05,
      "loss": 0.0508,
      "step": 10179
    },
    {
      "epoch": 2.283823199461521,
      "gripper_loss": 0.006744384765625,
      "loss": 0.1005859375,
      "pos_loss": 0.392578125,
      "rot_loss": 0.65234375,
      "step": 10179
    },
    {
      "epoch": 2.2840475656271035,
      "grad_norm": 0.37352246046066284,
      "learning_rate": 7.104234899346671e-05,
      "loss": 0.0391,
      "step": 10180
    },
    {
      "epoch": 2.2840475656271035,
      "gripper_loss": 0.00482177734375,
      "loss": 0.055908203125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.08154296875,
      "step": 10180
    },
    {
      "epoch": 2.2842719317926856,
      "grad_norm": 0.2412293255329132,
      "learning_rate": 7.100006701346515e-05,
      "loss": 0.0375,
      "step": 10181
    },
    {
      "epoch": 2.2842719317926856,
      "gripper_loss": 0.005096435546875,
      "loss": 0.0159912109375,
      "pos_loss": 0.054443359375,
      "rot_loss": 0.0830078125,
      "step": 10181
    },
    {
      "epoch": 2.2844962979582677,
      "grad_norm": 0.36549344658851624,
      "learning_rate": 7.095779553709886e-05,
      "loss": 0.0566,
      "step": 10182
    },
    {
      "epoch": 2.2844962979582677,
      "gripper_loss": 0.19921875,
      "loss": 0.03466796875,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.10205078125,
      "step": 10182
    },
    {
      "epoch": 2.28472066412385,
      "grad_norm": 0.2369937002658844,
      "learning_rate": 7.09155345668483e-05,
      "loss": 0.0415,
      "step": 10183
    },
    {
      "epoch": 2.28472066412385,
      "gripper_loss": 0.0830078125,
      "loss": 0.1767578125,
      "pos_loss": 1.8046875,
      "rot_loss": 0.031982421875,
      "step": 10183
    },
    {
      "epoch": 2.2849450302894323,
      "grad_norm": 0.8373490571975708,
      "learning_rate": 7.08732841051932e-05,
      "loss": 0.0557,
      "step": 10184
    },
    {
      "epoch": 2.2849450302894323,
      "gripper_loss": 0.205078125,
      "loss": 0.01007080078125,
      "pos_loss": 0.00555419921875,
      "rot_loss": 0.00811767578125,
      "step": 10184
    },
    {
      "epoch": 2.2851693964550144,
      "grad_norm": 0.25582775473594666,
      "learning_rate": 7.08310441546129e-05,
      "loss": 0.0346,
      "step": 10185
    },
    {
      "epoch": 2.2851693964550144,
      "gripper_loss": 0.00567626953125,
      "loss": 0.1494140625,
      "pos_loss": 1.546875,
      "rot_loss": 0.011962890625,
      "step": 10185
    },
    {
      "epoch": 2.285393762620597,
      "grad_norm": 0.29369840025901794,
      "learning_rate": 7.078881471758603e-05,
      "loss": 0.054,
      "step": 10186
    },
    {
      "epoch": 2.285393762620597,
      "gripper_loss": 0.01177978515625,
      "loss": 0.05078125,
      "pos_loss": 0.435546875,
      "rot_loss": 0.06689453125,
      "step": 10186
    },
    {
      "epoch": 2.285618128786179,
      "grad_norm": 0.2838951647281647,
      "learning_rate": 7.074659579659063e-05,
      "loss": 0.0436,
      "step": 10187
    },
    {
      "epoch": 2.285618128786179,
      "gripper_loss": 0.12255859375,
      "loss": 0.1552734375,
      "pos_loss": 1.390625,
      "rot_loss": 0.1904296875,
      "step": 10187
    },
    {
      "epoch": 2.285842494951761,
      "grad_norm": 0.661261260509491,
      "learning_rate": 7.070438739410398e-05,
      "loss": 0.0474,
      "step": 10188
    },
    {
      "epoch": 2.285842494951761,
      "gripper_loss": 0.0216064453125,
      "loss": 0.04736328125,
      "pos_loss": 0.34375,
      "rot_loss": 0.12451171875,
      "step": 10188
    },
    {
      "epoch": 2.2860668611173436,
      "grad_norm": 0.29459652304649353,
      "learning_rate": 7.06621895126029e-05,
      "loss": 0.0453,
      "step": 10189
    },
    {
      "epoch": 2.2860668611173436,
      "gripper_loss": 0.11181640625,
      "loss": 0.025146484375,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.10595703125,
      "step": 10189
    },
    {
      "epoch": 2.2862912272829257,
      "grad_norm": 0.27020448446273804,
      "learning_rate": 7.062000215456351e-05,
      "loss": 0.0349,
      "step": 10190
    },
    {
      "epoch": 2.2862912272829257,
      "gripper_loss": 0.55078125,
      "loss": 0.0908203125,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.66796875,
      "step": 10190
    },
    {
      "epoch": 2.2865155934485077,
      "grad_norm": 0.33162960410118103,
      "learning_rate": 7.057782532246151e-05,
      "loss": 0.0546,
      "step": 10191
    },
    {
      "epoch": 2.2865155934485077,
      "gripper_loss": 0.62890625,
      "loss": 0.033447265625,
      "pos_loss": 0.031494140625,
      "rot_loss": 0.09423828125,
      "step": 10191
    },
    {
      "epoch": 2.2867399596140903,
      "grad_norm": 0.2971457540988922,
      "learning_rate": 7.05356590187716e-05,
      "loss": 0.0464,
      "step": 10192
    },
    {
      "epoch": 2.2867399596140903,
      "gripper_loss": 0.0159912109375,
      "loss": 0.08642578125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.5078125,
      "step": 10192
    },
    {
      "epoch": 2.2869643257796723,
      "grad_norm": 0.40753719210624695,
      "learning_rate": 7.049350324596818e-05,
      "loss": 0.0725,
      "step": 10193
    },
    {
      "epoch": 2.2869643257796723,
      "gripper_loss": 0.004425048828125,
      "loss": 0.032958984375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.0194091796875,
      "step": 10193
    },
    {
      "epoch": 2.2871886919452544,
      "grad_norm": 0.2634412348270416,
      "learning_rate": 7.045135800652497e-05,
      "loss": 0.0548,
      "step": 10194
    },
    {
      "epoch": 2.2871886919452544,
      "gripper_loss": 0.00970458984375,
      "loss": 0.0888671875,
      "pos_loss": 0.55078125,
      "rot_loss": 0.36328125,
      "step": 10194
    },
    {
      "epoch": 2.287413058110837,
      "grad_norm": 0.5650321841239929,
      "learning_rate": 7.040922330291493e-05,
      "loss": 0.0569,
      "step": 10195
    },
    {
      "epoch": 2.287413058110837,
      "gripper_loss": 1.7890625,
      "loss": 0.09765625,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.16015625,
      "step": 10195
    },
    {
      "epoch": 2.287637424276419,
      "grad_norm": 0.6728977560997009,
      "learning_rate": 7.036709913761064e-05,
      "loss": 0.0845,
      "step": 10196
    },
    {
      "epoch": 2.287637424276419,
      "gripper_loss": 0.0050048828125,
      "loss": 0.033447265625,
      "pos_loss": 0.080078125,
      "rot_loss": 0.25390625,
      "step": 10196
    },
    {
      "epoch": 2.287861790442001,
      "grad_norm": 0.2745359539985657,
      "learning_rate": 7.032498551308378e-05,
      "loss": 0.0309,
      "step": 10197
    },
    {
      "epoch": 2.287861790442001,
      "gripper_loss": 0.076171875,
      "loss": 0.040283203125,
      "pos_loss": 0.142578125,
      "rot_loss": 0.2392578125,
      "step": 10197
    },
    {
      "epoch": 2.2880861566075836,
      "grad_norm": 0.5017021894454956,
      "learning_rate": 7.028288243180561e-05,
      "loss": 0.0521,
      "step": 10198
    },
    {
      "epoch": 2.2880861566075836,
      "gripper_loss": 0.00750732421875,
      "loss": 0.023193359375,
      "pos_loss": 0.19140625,
      "rot_loss": 0.0296630859375,
      "step": 10198
    },
    {
      "epoch": 2.2883105227731657,
      "grad_norm": 0.5625050663948059,
      "learning_rate": 7.024078989624674e-05,
      "loss": 0.0602,
      "step": 10199
    },
    {
      "epoch": 2.2883105227731657,
      "gripper_loss": 0.98046875,
      "loss": 0.0380859375,
      "pos_loss": 0.02197265625,
      "rot_loss": 0.033447265625,
      "step": 10199
    },
    {
      "epoch": 2.288534888938748,
      "grad_norm": 0.22423914074897766,
      "learning_rate": 7.019870790887722e-05,
      "loss": 0.0285,
      "step": 10200
    },
    {
      "epoch": 2.288534888938748,
      "gripper_loss": 0.03564453125,
      "loss": 0.060546875,
      "pos_loss": 0.46875,
      "rot_loss": 0.095703125,
      "step": 10200
    },
    {
      "epoch": 2.2887592551043303,
      "grad_norm": 0.4196721911430359,
      "learning_rate": 7.015663647216624e-05,
      "loss": 0.0803,
      "step": 10201
    },
    {
      "epoch": 2.2887592551043303,
      "gripper_loss": 0.1328125,
      "loss": 0.0289306640625,
      "pos_loss": 0.154296875,
      "rot_loss": 0.08984375,
      "step": 10201
    },
    {
      "epoch": 2.2889836212699124,
      "grad_norm": 0.27678409218788147,
      "learning_rate": 7.011457558858261e-05,
      "loss": 0.0478,
      "step": 10202
    },
    {
      "epoch": 2.2889836212699124,
      "gripper_loss": 0.00872802734375,
      "loss": 0.08056640625,
      "pos_loss": 0.72265625,
      "rot_loss": 0.1162109375,
      "step": 10202
    },
    {
      "epoch": 2.289207987435495,
      "grad_norm": 0.3415539264678955,
      "learning_rate": 7.007252526059446e-05,
      "loss": 0.0662,
      "step": 10203
    },
    {
      "epoch": 2.289207987435495,
      "gripper_loss": 0.0167236328125,
      "loss": 0.04345703125,
      "pos_loss": 0.302734375,
      "rot_loss": 0.130859375,
      "step": 10203
    },
    {
      "epoch": 2.289432353601077,
      "grad_norm": 0.2655166685581207,
      "learning_rate": 7.003048549066932e-05,
      "loss": 0.0556,
      "step": 10204
    },
    {
      "epoch": 2.289432353601077,
      "gripper_loss": 0.0115966796875,
      "loss": 0.0595703125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.09814453125,
      "step": 10204
    },
    {
      "epoch": 2.289656719766659,
      "grad_norm": 0.28806304931640625,
      "learning_rate": 6.998845628127395e-05,
      "loss": 0.0449,
      "step": 10205
    },
    {
      "epoch": 2.289656719766659,
      "gripper_loss": 0.0169677734375,
      "loss": 0.01708984375,
      "pos_loss": 0.09375,
      "rot_loss": 0.05908203125,
      "step": 10205
    },
    {
      "epoch": 2.2898810859322416,
      "grad_norm": 0.3255883455276489,
      "learning_rate": 6.994643763487476e-05,
      "loss": 0.0564,
      "step": 10206
    },
    {
      "epoch": 2.2898810859322416,
      "gripper_loss": 0.119140625,
      "loss": 0.061767578125,
      "pos_loss": 0.44140625,
      "rot_loss": 0.150390625,
      "step": 10206
    },
    {
      "epoch": 2.2901054520978237,
      "grad_norm": 0.27927061915397644,
      "learning_rate": 6.990442955393722e-05,
      "loss": 0.0545,
      "step": 10207
    },
    {
      "epoch": 2.2901054520978237,
      "gripper_loss": 0.006439208984375,
      "loss": 0.1162109375,
      "pos_loss": 1.0078125,
      "rot_loss": 0.1953125,
      "step": 10207
    },
    {
      "epoch": 2.2903298182634058,
      "grad_norm": 0.35826176404953003,
      "learning_rate": 6.986243204092649e-05,
      "loss": 0.0618,
      "step": 10208
    },
    {
      "epoch": 2.2903298182634058,
      "gripper_loss": 0.05224609375,
      "loss": 0.049560546875,
      "pos_loss": 0.25,
      "rot_loss": 0.1787109375,
      "step": 10208
    },
    {
      "epoch": 2.2905541844289883,
      "grad_norm": 0.6206706762313843,
      "learning_rate": 6.98204450983068e-05,
      "loss": 0.0809,
      "step": 10209
    },
    {
      "epoch": 2.2905541844289883,
      "gripper_loss": 0.890625,
      "loss": 0.1591796875,
      "pos_loss": 1.34375,
      "rot_loss": 0.035888671875,
      "step": 10209
    },
    {
      "epoch": 2.2907785505945704,
      "grad_norm": 0.32166150212287903,
      "learning_rate": 6.977846872854205e-05,
      "loss": 0.0491,
      "step": 10210
    },
    {
      "epoch": 2.2907785505945704,
      "gripper_loss": 0.0040283203125,
      "loss": 0.15234375,
      "pos_loss": 1.5859375,
      "rot_loss": 0.007720947265625,
      "step": 10210
    },
    {
      "epoch": 2.2910029167601524,
      "grad_norm": 0.4266717731952667,
      "learning_rate": 6.973650293409534e-05,
      "loss": 0.0524,
      "step": 10211
    },
    {
      "epoch": 2.2910029167601524,
      "gripper_loss": 0.00372314453125,
      "loss": 0.03076171875,
      "pos_loss": 0.25,
      "rot_loss": 0.047119140625,
      "step": 10211
    },
    {
      "epoch": 2.291227282925735,
      "grad_norm": 0.2439153790473938,
      "learning_rate": 6.969454771742925e-05,
      "loss": 0.0258,
      "step": 10212
    },
    {
      "epoch": 2.291227282925735,
      "gripper_loss": 0.062255859375,
      "loss": 0.0634765625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.08544921875,
      "step": 10212
    },
    {
      "epoch": 2.291451649091317,
      "grad_norm": 0.26071441173553467,
      "learning_rate": 6.965260308100574e-05,
      "loss": 0.0565,
      "step": 10213
    },
    {
      "epoch": 2.291451649091317,
      "gripper_loss": 0.212890625,
      "loss": 0.034912109375,
      "pos_loss": 0.248046875,
      "rot_loss": 0.0263671875,
      "step": 10213
    },
    {
      "epoch": 2.291676015256899,
      "grad_norm": 0.24514007568359375,
      "learning_rate": 6.961066902728594e-05,
      "loss": 0.0319,
      "step": 10214
    },
    {
      "epoch": 2.291676015256899,
      "gripper_loss": 0.5,
      "loss": 0.02734375,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.0096435546875,
      "step": 10214
    },
    {
      "epoch": 2.2919003814224816,
      "grad_norm": 0.5868211984634399,
      "learning_rate": 6.956874555873063e-05,
      "loss": 0.0685,
      "step": 10215
    },
    {
      "epoch": 2.2919003814224816,
      "gripper_loss": 0.04541015625,
      "loss": 0.08154296875,
      "pos_loss": 0.47265625,
      "rot_loss": 0.298828125,
      "step": 10215
    },
    {
      "epoch": 2.2921247475880637,
      "grad_norm": 0.382850706577301,
      "learning_rate": 6.952683267779995e-05,
      "loss": 0.0549,
      "step": 10216
    },
    {
      "epoch": 2.2921247475880637,
      "gripper_loss": 1.2265625,
      "loss": 0.050537109375,
      "pos_loss": 0.039306640625,
      "rot_loss": 0.0634765625,
      "step": 10216
    },
    {
      "epoch": 2.292349113753646,
      "grad_norm": 0.2297901064157486,
      "learning_rate": 6.948493038695311e-05,
      "loss": 0.0337,
      "step": 10217
    },
    {
      "epoch": 2.292349113753646,
      "gripper_loss": 0.11279296875,
      "loss": 0.208984375,
      "pos_loss": 0.95703125,
      "rot_loss": 0.4609375,
      "step": 10217
    },
    {
      "epoch": 2.2925734799192283,
      "grad_norm": 0.8824180364608765,
      "learning_rate": 6.944303868864912e-05,
      "loss": 0.1119,
      "step": 10218
    },
    {
      "epoch": 2.2925734799192283,
      "gripper_loss": 0.0146484375,
      "loss": 0.054443359375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.251953125,
      "step": 10218
    },
    {
      "epoch": 2.2927978460848104,
      "grad_norm": 0.43766072392463684,
      "learning_rate": 6.940115758534601e-05,
      "loss": 0.0514,
      "step": 10219
    },
    {
      "epoch": 2.2927978460848104,
      "gripper_loss": 0.04541015625,
      "loss": 0.03369140625,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.2216796875,
      "step": 10219
    },
    {
      "epoch": 2.2930222122503925,
      "grad_norm": 0.3773353099822998,
      "learning_rate": 6.93592870795014e-05,
      "loss": 0.063,
      "step": 10220
    },
    {
      "epoch": 2.2930222122503925,
      "gripper_loss": 0.014892578125,
      "loss": 0.00921630859375,
      "pos_loss": 0.034423828125,
      "rot_loss": 0.0240478515625,
      "step": 10220
    },
    {
      "epoch": 2.293246578415975,
      "grad_norm": 0.30995380878448486,
      "learning_rate": 6.931742717357234e-05,
      "loss": 0.0404,
      "step": 10221
    },
    {
      "epoch": 2.293246578415975,
      "gripper_loss": 0.1484375,
      "loss": 0.030517578125,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.010498046875,
      "step": 10221
    },
    {
      "epoch": 2.293470944581557,
      "grad_norm": 0.33518752455711365,
      "learning_rate": 6.927557787001496e-05,
      "loss": 0.0356,
      "step": 10222
    },
    {
      "epoch": 2.293470944581557,
      "gripper_loss": 0.224609375,
      "loss": 0.060791015625,
      "pos_loss": 0.357421875,
      "rot_loss": 0.1572265625,
      "step": 10222
    },
    {
      "epoch": 2.293695310747139,
      "grad_norm": 0.7037194967269897,
      "learning_rate": 6.923373917128506e-05,
      "loss": 0.0565,
      "step": 10223
    },
    {
      "epoch": 2.293695310747139,
      "gripper_loss": 0.054443359375,
      "loss": 0.0308837890625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.021240234375,
      "step": 10223
    },
    {
      "epoch": 2.2939196769127217,
      "grad_norm": 0.43734246492385864,
      "learning_rate": 6.919191107983772e-05,
      "loss": 0.0582,
      "step": 10224
    },
    {
      "epoch": 2.2939196769127217,
      "gripper_loss": 0.0242919921875,
      "loss": 0.0264892578125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.01611328125,
      "step": 10224
    },
    {
      "epoch": 2.2941440430783038,
      "grad_norm": 0.30471256375312805,
      "learning_rate": 6.915009359812735e-05,
      "loss": 0.0421,
      "step": 10225
    },
    {
      "epoch": 2.2941440430783038,
      "gripper_loss": 0.64453125,
      "loss": 0.02685546875,
      "pos_loss": 0.0142822265625,
      "rot_loss": 0.03271484375,
      "step": 10225
    },
    {
      "epoch": 2.294368409243886,
      "grad_norm": 0.38061413168907166,
      "learning_rate": 6.910828672860791e-05,
      "loss": 0.0568,
      "step": 10226
    },
    {
      "epoch": 2.294368409243886,
      "gripper_loss": 0.007171630859375,
      "loss": 0.032470703125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.1669921875,
      "step": 10226
    },
    {
      "epoch": 2.2945927754094684,
      "grad_norm": 0.3566671907901764,
      "learning_rate": 6.906649047373245e-05,
      "loss": 0.0523,
      "step": 10227
    },
    {
      "epoch": 2.2945927754094684,
      "gripper_loss": 0.20703125,
      "loss": 0.0242919921875,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.06591796875,
      "step": 10227
    },
    {
      "epoch": 2.2948171415750505,
      "grad_norm": 0.30020833015441895,
      "learning_rate": 6.902470483595361e-05,
      "loss": 0.0434,
      "step": 10228
    },
    {
      "epoch": 2.2948171415750505,
      "gripper_loss": 0.6953125,
      "loss": 0.05615234375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.00860595703125,
      "step": 10228
    },
    {
      "epoch": 2.2950415077406325,
      "grad_norm": 0.4229033887386322,
      "learning_rate": 6.898292981772344e-05,
      "loss": 0.0631,
      "step": 10229
    },
    {
      "epoch": 2.2950415077406325,
      "gripper_loss": 0.00799560546875,
      "loss": 0.00543212890625,
      "pos_loss": 0.02294921875,
      "rot_loss": 0.01385498046875,
      "step": 10229
    },
    {
      "epoch": 2.295265873906215,
      "grad_norm": 0.4025472104549408,
      "learning_rate": 6.894116542149317e-05,
      "loss": 0.0463,
      "step": 10230
    },
    {
      "epoch": 2.295265873906215,
      "gripper_loss": 0.021240234375,
      "loss": 0.0673828125,
      "pos_loss": 0.162109375,
      "rot_loss": 0.3203125,
      "step": 10230
    },
    {
      "epoch": 2.295490240071797,
      "grad_norm": 0.4575429856777191,
      "learning_rate": 6.88994116497135e-05,
      "loss": 0.0613,
      "step": 10231
    },
    {
      "epoch": 2.295490240071797,
      "gripper_loss": 0.3046875,
      "loss": 0.0284423828125,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.0947265625,
      "step": 10231
    },
    {
      "epoch": 2.295714606237379,
      "grad_norm": 0.418846070766449,
      "learning_rate": 6.885766850483457e-05,
      "loss": 0.0372,
      "step": 10232
    },
    {
      "epoch": 2.295714606237379,
      "gripper_loss": 0.01806640625,
      "loss": 0.029296875,
      "pos_loss": 0.142578125,
      "rot_loss": 0.140625,
      "step": 10232
    },
    {
      "epoch": 2.2959389724029617,
      "grad_norm": 0.3335339426994324,
      "learning_rate": 6.881593598930583e-05,
      "loss": 0.0602,
      "step": 10233
    },
    {
      "epoch": 2.2959389724029617,
      "gripper_loss": 0.0108642578125,
      "loss": 0.03466796875,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.1025390625,
      "step": 10233
    },
    {
      "epoch": 2.296163338568544,
      "grad_norm": 0.32615965604782104,
      "learning_rate": 6.877421410557622e-05,
      "loss": 0.0506,
      "step": 10234
    },
    {
      "epoch": 2.296163338568544,
      "gripper_loss": 0.01019287109375,
      "loss": 0.0230712890625,
      "pos_loss": 0.02587890625,
      "rot_loss": 0.1904296875,
      "step": 10234
    },
    {
      "epoch": 2.296387704734126,
      "grad_norm": 0.3609031140804291,
      "learning_rate": 6.87325028560938e-05,
      "loss": 0.0561,
      "step": 10235
    },
    {
      "epoch": 2.296387704734126,
      "gripper_loss": 0.007537841796875,
      "loss": 0.0194091796875,
      "pos_loss": 0.171875,
      "rot_loss": 0.00946044921875,
      "step": 10235
    },
    {
      "epoch": 2.2966120708997084,
      "grad_norm": 0.3258301615715027,
      "learning_rate": 6.869080224330626e-05,
      "loss": 0.0316,
      "step": 10236
    },
    {
      "epoch": 2.2966120708997084,
      "gripper_loss": 0.056640625,
      "loss": 0.01141357421875,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.0303955078125,
      "step": 10236
    },
    {
      "epoch": 2.2968364370652905,
      "grad_norm": 0.3001726269721985,
      "learning_rate": 6.864911226966055e-05,
      "loss": 0.0495,
      "step": 10237
    },
    {
      "epoch": 2.2968364370652905,
      "gripper_loss": 0.265625,
      "loss": 0.055419921875,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.251953125,
      "step": 10237
    },
    {
      "epoch": 2.297060803230873,
      "grad_norm": 0.22178654372692108,
      "learning_rate": 6.860743293760313e-05,
      "loss": 0.0365,
      "step": 10238
    },
    {
      "epoch": 2.297060803230873,
      "gripper_loss": 0.039306640625,
      "loss": 0.0269775390625,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.14453125,
      "step": 10238
    },
    {
      "epoch": 2.297285169396455,
      "grad_norm": 0.6769614219665527,
      "learning_rate": 6.856576424957956e-05,
      "loss": 0.0479,
      "step": 10239
    },
    {
      "epoch": 2.297285169396455,
      "gripper_loss": 0.01043701171875,
      "loss": 0.07958984375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.279296875,
      "step": 10239
    },
    {
      "epoch": 2.297509535562037,
      "grad_norm": 0.2668832540512085,
      "learning_rate": 6.852410620803498e-05,
      "loss": 0.049,
      "step": 10240
    },
    {
      "epoch": 2.297509535562037,
      "gripper_loss": 0.1416015625,
      "loss": 0.00897216796875,
      "pos_loss": 0.0167236328125,
      "rot_loss": 0.008544921875,
      "step": 10240
    },
    {
      "epoch": 2.2977339017276197,
      "grad_norm": 0.3749144673347473,
      "learning_rate": 6.848245881541395e-05,
      "loss": 0.0587,
      "step": 10241
    },
    {
      "epoch": 2.2977339017276197,
      "gripper_loss": 0.1005859375,
      "loss": 0.034423828125,
      "pos_loss": 0.291015625,
      "rot_loss": 0.01239013671875,
      "step": 10241
    },
    {
      "epoch": 2.297958267893202,
      "grad_norm": 0.31724807620048523,
      "learning_rate": 6.844082207416023e-05,
      "loss": 0.0423,
      "step": 10242
    },
    {
      "epoch": 2.297958267893202,
      "gripper_loss": 0.400390625,
      "loss": 0.02197265625,
      "pos_loss": 0.00830078125,
      "rot_loss": 0.06787109375,
      "step": 10242
    },
    {
      "epoch": 2.298182634058784,
      "grad_norm": 0.4242876470088959,
      "learning_rate": 6.839919598671712e-05,
      "loss": 0.0432,
      "step": 10243
    },
    {
      "epoch": 2.298182634058784,
      "gripper_loss": 0.00933837890625,
      "loss": 0.04296875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.1708984375,
      "step": 10243
    },
    {
      "epoch": 2.2984070002243664,
      "grad_norm": 0.21357810497283936,
      "learning_rate": 6.835758055552712e-05,
      "loss": 0.0308,
      "step": 10244
    },
    {
      "epoch": 2.2984070002243664,
      "gripper_loss": 0.01239013671875,
      "loss": 0.05908203125,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.50390625,
      "step": 10244
    },
    {
      "epoch": 2.2986313663899485,
      "grad_norm": 0.34847354888916016,
      "learning_rate": 6.831597578303226e-05,
      "loss": 0.0558,
      "step": 10245
    },
    {
      "epoch": 2.2986313663899485,
      "gripper_loss": 0.30078125,
      "loss": 0.042724609375,
      "pos_loss": 0.32421875,
      "rot_loss": 0.01025390625,
      "step": 10245
    },
    {
      "epoch": 2.2988557325555306,
      "grad_norm": 0.28287002444267273,
      "learning_rate": 6.827438167167388e-05,
      "loss": 0.0426,
      "step": 10246
    },
    {
      "epoch": 2.2988557325555306,
      "gripper_loss": 0.0181884765625,
      "loss": 0.056396484375,
      "pos_loss": 0.53125,
      "rot_loss": 0.038330078125,
      "step": 10246
    },
    {
      "epoch": 2.299080098721113,
      "grad_norm": 0.241886168718338,
      "learning_rate": 6.823279822389278e-05,
      "loss": 0.0444,
      "step": 10247
    },
    {
      "epoch": 2.299080098721113,
      "gripper_loss": 0.439453125,
      "loss": 0.0322265625,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.03369140625,
      "step": 10247
    },
    {
      "epoch": 2.299304464886695,
      "grad_norm": 0.3743338882923126,
      "learning_rate": 6.819122544212894e-05,
      "loss": 0.0472,
      "step": 10248
    },
    {
      "epoch": 2.299304464886695,
      "gripper_loss": 0.013916015625,
      "loss": 0.0791015625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.09765625,
      "step": 10248
    },
    {
      "epoch": 2.2995288310522772,
      "grad_norm": 0.2690453827381134,
      "learning_rate": 6.814966332882188e-05,
      "loss": 0.0487,
      "step": 10249
    },
    {
      "epoch": 2.2995288310522772,
      "gripper_loss": 0.158203125,
      "loss": 0.0289306640625,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.07666015625,
      "step": 10249
    },
    {
      "epoch": 2.2997531972178598,
      "grad_norm": 0.8471194505691528,
      "learning_rate": 6.810811188641045e-05,
      "loss": 0.0387,
      "step": 10250
    },
    {
      "epoch": 2.2997531972178598,
      "gripper_loss": 0.0091552734375,
      "loss": 0.04345703125,
      "pos_loss": 0.40234375,
      "rot_loss": 0.0294189453125,
      "step": 10250
    },
    {
      "epoch": 2.299977563383442,
      "grad_norm": 0.32550644874572754,
      "learning_rate": 6.806657111733295e-05,
      "loss": 0.0318,
      "step": 10251
    },
    {
      "epoch": 2.299977563383442,
      "gripper_loss": 0.021240234375,
      "loss": 0.05419921875,
      "pos_loss": 0.375,
      "rot_loss": 0.16015625,
      "step": 10251
    },
    {
      "epoch": 2.300201929549024,
      "grad_norm": 0.29630714654922485,
      "learning_rate": 6.802504102402679e-05,
      "loss": 0.0465,
      "step": 10252
    },
    {
      "epoch": 2.300201929549024,
      "gripper_loss": 0.009521484375,
      "loss": 0.021484375,
      "pos_loss": 0.035888671875,
      "rot_loss": 0.1708984375,
      "step": 10252
    },
    {
      "epoch": 2.3004262957146064,
      "grad_norm": 0.3745597004890442,
      "learning_rate": 6.798352160892915e-05,
      "loss": 0.0437,
      "step": 10253
    },
    {
      "epoch": 2.3004262957146064,
      "gripper_loss": 0.025390625,
      "loss": 0.0264892578125,
      "pos_loss": 0.11328125,
      "rot_loss": 0.1298828125,
      "step": 10253
    },
    {
      "epoch": 2.3006506618801885,
      "grad_norm": 0.3892190754413605,
      "learning_rate": 6.794201287447615e-05,
      "loss": 0.0538,
      "step": 10254
    },
    {
      "epoch": 2.3006506618801885,
      "gripper_loss": 0.02099609375,
      "loss": 0.10400390625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.5,
      "step": 10254
    },
    {
      "epoch": 2.3008750280457706,
      "grad_norm": 0.279681921005249,
      "learning_rate": 6.790051482310363e-05,
      "loss": 0.0642,
      "step": 10255
    },
    {
      "epoch": 2.3008750280457706,
      "gripper_loss": 0.53515625,
      "loss": 0.051513671875,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.251953125,
      "step": 10255
    },
    {
      "epoch": 2.301099394211353,
      "grad_norm": 0.3747958242893219,
      "learning_rate": 6.785902745724676e-05,
      "loss": 0.0552,
      "step": 10256
    },
    {
      "epoch": 2.301099394211353,
      "gripper_loss": 0.006500244140625,
      "loss": 0.0211181640625,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.119140625,
      "step": 10256
    },
    {
      "epoch": 2.301323760376935,
      "grad_norm": 0.26118990778923035,
      "learning_rate": 6.781755077933982e-05,
      "loss": 0.0289,
      "step": 10257
    },
    {
      "epoch": 2.301323760376935,
      "gripper_loss": 0.01068115234375,
      "loss": 0.05078125,
      "pos_loss": 0.189453125,
      "rot_loss": 0.322265625,
      "step": 10257
    },
    {
      "epoch": 2.3015481265425173,
      "grad_norm": 0.2795208990573883,
      "learning_rate": 6.777608479181671e-05,
      "loss": 0.0414,
      "step": 10258
    },
    {
      "epoch": 2.3015481265425173,
      "gripper_loss": 0.08935546875,
      "loss": 0.019775390625,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.054443359375,
      "step": 10258
    },
    {
      "epoch": 2.3017724927081,
      "grad_norm": 0.458427369594574,
      "learning_rate": 6.773462949711065e-05,
      "loss": 0.0551,
      "step": 10259
    },
    {
      "epoch": 2.3017724927081,
      "gripper_loss": 0.60546875,
      "loss": 0.052490234375,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.10595703125,
      "step": 10259
    },
    {
      "epoch": 2.301996858873682,
      "grad_norm": 0.23222006857395172,
      "learning_rate": 6.76931848976543e-05,
      "loss": 0.0512,
      "step": 10260
    },
    {
      "epoch": 2.301996858873682,
      "gripper_loss": 0.06982421875,
      "loss": 0.06689453125,
      "pos_loss": 0.453125,
      "rot_loss": 0.2119140625,
      "step": 10260
    },
    {
      "epoch": 2.302221225039264,
      "grad_norm": 0.37714657187461853,
      "learning_rate": 6.765175099587945e-05,
      "loss": 0.0508,
      "step": 10261
    },
    {
      "epoch": 2.302221225039264,
      "gripper_loss": 0.84765625,
      "loss": 0.036376953125,
      "pos_loss": 0.0341796875,
      "rot_loss": 0.0546875,
      "step": 10261
    },
    {
      "epoch": 2.3024455912048465,
      "grad_norm": 0.4067172706127167,
      "learning_rate": 6.76103277942175e-05,
      "loss": 0.0355,
      "step": 10262
    },
    {
      "epoch": 2.3024455912048465,
      "gripper_loss": 0.306640625,
      "loss": 0.0341796875,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.08740234375,
      "step": 10262
    },
    {
      "epoch": 2.3026699573704286,
      "grad_norm": 0.31914785504341125,
      "learning_rate": 6.756891529509924e-05,
      "loss": 0.0334,
      "step": 10263
    },
    {
      "epoch": 2.3026699573704286,
      "gripper_loss": 0.2353515625,
      "loss": 0.0341796875,
      "pos_loss": 0.162109375,
      "rot_loss": 0.10400390625,
      "step": 10263
    },
    {
      "epoch": 2.3028943235360106,
      "grad_norm": 0.6066345572471619,
      "learning_rate": 6.752751350095455e-05,
      "loss": 0.0571,
      "step": 10264
    },
    {
      "epoch": 2.3028943235360106,
      "gripper_loss": 0.02001953125,
      "loss": 0.060302734375,
      "pos_loss": 0.3828125,
      "rot_loss": 0.1923828125,
      "step": 10264
    },
    {
      "epoch": 2.303118689701593,
      "grad_norm": 0.39186543226242065,
      "learning_rate": 6.748612241421304e-05,
      "loss": 0.0555,
      "step": 10265
    },
    {
      "epoch": 2.303118689701593,
      "gripper_loss": 0.0111083984375,
      "loss": 0.031494140625,
      "pos_loss": 0.279296875,
      "rot_loss": 0.026611328125,
      "step": 10265
    },
    {
      "epoch": 2.3033430558671752,
      "grad_norm": 0.2551395297050476,
      "learning_rate": 6.744474203730336e-05,
      "loss": 0.0344,
      "step": 10266
    },
    {
      "epoch": 2.3033430558671752,
      "gripper_loss": 0.01544189453125,
      "loss": 0.037841796875,
      "pos_loss": 0.28515625,
      "rot_loss": 0.0849609375,
      "step": 10266
    },
    {
      "epoch": 2.3035674220327573,
      "grad_norm": 0.31232237815856934,
      "learning_rate": 6.740337237265375e-05,
      "loss": 0.0341,
      "step": 10267
    },
    {
      "epoch": 2.3035674220327573,
      "gripper_loss": 0.2333984375,
      "loss": 0.0439453125,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.177734375,
      "step": 10267
    },
    {
      "epoch": 2.30379178819834,
      "grad_norm": 0.3934156000614166,
      "learning_rate": 6.736201342269191e-05,
      "loss": 0.0499,
      "step": 10268
    },
    {
      "epoch": 2.30379178819834,
      "gripper_loss": 0.0191650390625,
      "loss": 0.0189208984375,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.050048828125,
      "step": 10268
    },
    {
      "epoch": 2.304016154363922,
      "grad_norm": 0.2630709409713745,
      "learning_rate": 6.732066518984456e-05,
      "loss": 0.0284,
      "step": 10269
    },
    {
      "epoch": 2.304016154363922,
      "gripper_loss": 0.0830078125,
      "loss": 0.032470703125,
      "pos_loss": 0.107421875,
      "rot_loss": 0.181640625,
      "step": 10269
    },
    {
      "epoch": 2.304240520529504,
      "grad_norm": 0.28507527709007263,
      "learning_rate": 6.727932767653805e-05,
      "loss": 0.0516,
      "step": 10270
    },
    {
      "epoch": 2.304240520529504,
      "gripper_loss": 1.8125,
      "loss": 0.0966796875,
      "pos_loss": 0.328125,
      "rot_loss": 0.0771484375,
      "step": 10270
    },
    {
      "epoch": 2.3044648866950865,
      "grad_norm": 0.5217920541763306,
      "learning_rate": 6.723800088519808e-05,
      "loss": 0.0505,
      "step": 10271
    },
    {
      "epoch": 2.3044648866950865,
      "gripper_loss": 0.251953125,
      "loss": 0.10498046875,
      "pos_loss": 0.32421875,
      "rot_loss": 0.2001953125,
      "step": 10271
    },
    {
      "epoch": 2.3046892528606686,
      "grad_norm": 1.1317741870880127,
      "learning_rate": 6.71966848182497e-05,
      "loss": 0.1355,
      "step": 10272
    },
    {
      "epoch": 2.3046892528606686,
      "gripper_loss": 0.0201416015625,
      "loss": 0.037841796875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.0888671875,
      "step": 10272
    },
    {
      "epoch": 2.3049136190262507,
      "grad_norm": 0.3401018977165222,
      "learning_rate": 6.715537947811734e-05,
      "loss": 0.0537,
      "step": 10273
    },
    {
      "epoch": 2.3049136190262507,
      "gripper_loss": 0.1455078125,
      "loss": 0.05224609375,
      "pos_loss": 0.291015625,
      "rot_loss": 0.1923828125,
      "step": 10273
    },
    {
      "epoch": 2.305137985191833,
      "grad_norm": 0.2572365999221802,
      "learning_rate": 6.71140848672247e-05,
      "loss": 0.0527,
      "step": 10274
    },
    {
      "epoch": 2.305137985191833,
      "gripper_loss": 0.2333984375,
      "loss": 0.047607421875,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.1630859375,
      "step": 10274
    },
    {
      "epoch": 2.3053623513574153,
      "grad_norm": 0.3888069987297058,
      "learning_rate": 6.707280098799495e-05,
      "loss": 0.059,
      "step": 10275
    },
    {
      "epoch": 2.3053623513574153,
      "gripper_loss": 0.02685546875,
      "loss": 0.020263671875,
      "pos_loss": 0.0673828125,
      "rot_loss": 0.11572265625,
      "step": 10275
    },
    {
      "epoch": 2.3055867175229974,
      "grad_norm": 0.2760888338088989,
      "learning_rate": 6.703152784285069e-05,
      "loss": 0.0427,
      "step": 10276
    },
    {
      "epoch": 2.3055867175229974,
      "gripper_loss": 0.015869140625,
      "loss": 0.0147705078125,
      "pos_loss": 0.11669921875,
      "rot_loss": 0.00927734375,
      "step": 10276
    },
    {
      "epoch": 2.30581108368858,
      "grad_norm": 0.35360997915267944,
      "learning_rate": 6.699026543421377e-05,
      "loss": 0.0397,
      "step": 10277
    },
    {
      "epoch": 2.30581108368858,
      "gripper_loss": 0.0260009765625,
      "loss": 0.057861328125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.267578125,
      "step": 10277
    },
    {
      "epoch": 2.306035449854162,
      "grad_norm": 0.30979177355766296,
      "learning_rate": 6.694901376450532e-05,
      "loss": 0.0484,
      "step": 10278
    },
    {
      "epoch": 2.306035449854162,
      "gripper_loss": 0.6171875,
      "loss": 0.05029296875,
      "pos_loss": 0.064453125,
      "rot_loss": 0.24609375,
      "step": 10278
    },
    {
      "epoch": 2.306259816019744,
      "grad_norm": 0.29628539085388184,
      "learning_rate": 6.69077728361461e-05,
      "loss": 0.0539,
      "step": 10279
    },
    {
      "epoch": 2.306259816019744,
      "gripper_loss": 0.006591796875,
      "loss": 0.0213623046875,
      "pos_loss": 0.171875,
      "rot_loss": 0.021728515625,
      "step": 10279
    },
    {
      "epoch": 2.3064841821853266,
      "grad_norm": 0.2890037000179291,
      "learning_rate": 6.686654265155606e-05,
      "loss": 0.0493,
      "step": 10280
    },
    {
      "epoch": 2.3064841821853266,
      "gripper_loss": 0.00750732421875,
      "loss": 0.033447265625,
      "pos_loss": 0.234375,
      "rot_loss": 0.0869140625,
      "step": 10280
    },
    {
      "epoch": 2.3067085483509087,
      "grad_norm": 0.24104082584381104,
      "learning_rate": 6.682532321315471e-05,
      "loss": 0.0304,
      "step": 10281
    },
    {
      "epoch": 2.3067085483509087,
      "gripper_loss": 0.0294189453125,
      "loss": 0.0223388671875,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.0546875,
      "step": 10281
    },
    {
      "epoch": 2.3069329145164907,
      "grad_norm": 0.5079726576805115,
      "learning_rate": 6.678411452336055e-05,
      "loss": 0.0568,
      "step": 10282
    },
    {
      "epoch": 2.3069329145164907,
      "gripper_loss": 0.318359375,
      "loss": 0.07666015625,
      "pos_loss": 0.23046875,
      "rot_loss": 0.455078125,
      "step": 10282
    },
    {
      "epoch": 2.3071572806820733,
      "grad_norm": 0.3968751132488251,
      "learning_rate": 6.674291658459183e-05,
      "loss": 0.0541,
      "step": 10283
    },
    {
      "epoch": 2.3071572806820733,
      "gripper_loss": 0.0286865234375,
      "loss": 0.0277099609375,
      "pos_loss": 0.125,
      "rot_loss": 0.1376953125,
      "step": 10283
    },
    {
      "epoch": 2.3073816468476553,
      "grad_norm": 0.3016662895679474,
      "learning_rate": 6.6701729399266e-05,
      "loss": 0.0461,
      "step": 10284
    },
    {
      "epoch": 2.3073816468476553,
      "gripper_loss": 0.00445556640625,
      "loss": 0.05224609375,
      "pos_loss": 0.359375,
      "rot_loss": 0.169921875,
      "step": 10284
    },
    {
      "epoch": 2.3076060130132374,
      "grad_norm": 0.3460678160190582,
      "learning_rate": 6.666055296979989e-05,
      "loss": 0.0402,
      "step": 10285
    },
    {
      "epoch": 2.3076060130132374,
      "gripper_loss": 0.0107421875,
      "loss": 0.062255859375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.052001953125,
      "step": 10285
    },
    {
      "epoch": 2.30783037917882,
      "grad_norm": 0.6705604195594788,
      "learning_rate": 6.661938729860983e-05,
      "loss": 0.0656,
      "step": 10286
    },
    {
      "epoch": 2.30783037917882,
      "gripper_loss": 0.0269775390625,
      "loss": 0.031982421875,
      "pos_loss": 0.185546875,
      "rot_loss": 0.10791015625,
      "step": 10286
    },
    {
      "epoch": 2.308054745344402,
      "grad_norm": 0.4045849144458771,
      "learning_rate": 6.657823238811122e-05,
      "loss": 0.0549,
      "step": 10287
    },
    {
      "epoch": 2.308054745344402,
      "gripper_loss": 0.00439453125,
      "loss": 0.0888671875,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.7890625,
      "step": 10287
    },
    {
      "epoch": 2.308279111509984,
      "grad_norm": 0.6193163394927979,
      "learning_rate": 6.653708824071919e-05,
      "loss": 0.0478,
      "step": 10288
    },
    {
      "epoch": 2.308279111509984,
      "gripper_loss": 0.006195068359375,
      "loss": 0.09912109375,
      "pos_loss": 0.796875,
      "rot_loss": 0.2333984375,
      "step": 10288
    },
    {
      "epoch": 2.3085034776755666,
      "grad_norm": 0.2901165783405304,
      "learning_rate": 6.649595485884791e-05,
      "loss": 0.0524,
      "step": 10289
    },
    {
      "epoch": 2.3085034776755666,
      "gripper_loss": 0.55078125,
      "loss": 0.02490234375,
      "pos_loss": 0.01336669921875,
      "rot_loss": 0.0439453125,
      "step": 10289
    },
    {
      "epoch": 2.3087278438411487,
      "grad_norm": 0.2790383994579315,
      "learning_rate": 6.645483224491117e-05,
      "loss": 0.0491,
      "step": 10290
    },
    {
      "epoch": 2.3087278438411487,
      "gripper_loss": 0.04248046875,
      "loss": 0.0703125,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1806640625,
      "step": 10290
    },
    {
      "epoch": 2.308952210006731,
      "grad_norm": 0.2830730676651001,
      "learning_rate": 6.64137204013219e-05,
      "loss": 0.0465,
      "step": 10291
    },
    {
      "epoch": 2.308952210006731,
      "gripper_loss": 0.02197265625,
      "loss": 0.006805419921875,
      "pos_loss": 0.0262451171875,
      "rot_loss": 0.0169677734375,
      "step": 10291
    },
    {
      "epoch": 2.3091765761723133,
      "grad_norm": 0.5249990224838257,
      "learning_rate": 6.637261933049263e-05,
      "loss": 0.0372,
      "step": 10292
    },
    {
      "epoch": 2.3091765761723133,
      "gripper_loss": 0.0123291015625,
      "loss": 0.0263671875,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.046142578125,
      "step": 10292
    },
    {
      "epoch": 2.3094009423378954,
      "grad_norm": 0.2919155955314636,
      "learning_rate": 6.63315290348351e-05,
      "loss": 0.0485,
      "step": 10293
    },
    {
      "epoch": 2.3094009423378954,
      "gripper_loss": 0.056884765625,
      "loss": 0.06298828125,
      "pos_loss": 0.474609375,
      "rot_loss": 0.15234375,
      "step": 10293
    },
    {
      "epoch": 2.3096253085034775,
      "grad_norm": 0.37200599908828735,
      "learning_rate": 6.629044951676061e-05,
      "loss": 0.0613,
      "step": 10294
    },
    {
      "epoch": 2.3096253085034775,
      "gripper_loss": 0.08935546875,
      "loss": 0.11669921875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.3359375,
      "step": 10294
    },
    {
      "epoch": 2.30984967466906,
      "grad_norm": 0.5573999285697937,
      "learning_rate": 6.624938077867948e-05,
      "loss": 0.0716,
      "step": 10295
    },
    {
      "epoch": 2.30984967466906,
      "gripper_loss": 0.02490234375,
      "loss": 0.0262451171875,
      "pos_loss": 0.107421875,
      "rot_loss": 0.1455078125,
      "step": 10295
    },
    {
      "epoch": 2.310074040834642,
      "grad_norm": 0.38630104064941406,
      "learning_rate": 6.620832282300172e-05,
      "loss": 0.0407,
      "step": 10296
    },
    {
      "epoch": 2.310074040834642,
      "gripper_loss": 1.1484375,
      "loss": 0.0634765625,
      "pos_loss": 0.1640625,
      "rot_loss": 0.10302734375,
      "step": 10296
    },
    {
      "epoch": 2.310298407000224,
      "grad_norm": 0.2461138367652893,
      "learning_rate": 6.616727565213657e-05,
      "loss": 0.035,
      "step": 10297
    },
    {
      "epoch": 2.310298407000224,
      "gripper_loss": 0.03076171875,
      "loss": 0.048583984375,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.28515625,
      "step": 10297
    },
    {
      "epoch": 2.3105227731658067,
      "grad_norm": 0.3683713376522064,
      "learning_rate": 6.612623926849274e-05,
      "loss": 0.0608,
      "step": 10298
    },
    {
      "epoch": 2.3105227731658067,
      "gripper_loss": 0.005828857421875,
      "loss": 0.03369140625,
      "pos_loss": 0.02880859375,
      "rot_loss": 0.3046875,
      "step": 10298
    },
    {
      "epoch": 2.3107471393313888,
      "grad_norm": 0.4685218930244446,
      "learning_rate": 6.608521367447806e-05,
      "loss": 0.0554,
      "step": 10299
    },
    {
      "epoch": 2.3107471393313888,
      "gripper_loss": 0.291015625,
      "loss": 0.0189208984375,
      "pos_loss": 0.01361083984375,
      "rot_loss": 0.06787109375,
      "step": 10299
    },
    {
      "epoch": 2.310971505496971,
      "grad_norm": 0.5456187129020691,
      "learning_rate": 6.604419887250007e-05,
      "loss": 0.036,
      "step": 10300
    },
    {
      "epoch": 2.310971505496971,
      "gripper_loss": 0.1806640625,
      "loss": 0.0137939453125,
      "pos_loss": 0.055908203125,
      "rot_loss": 0.00799560546875,
      "step": 10300
    },
    {
      "epoch": 2.3111958716625534,
      "grad_norm": 0.3408454954624176,
      "learning_rate": 6.600319486496533e-05,
      "loss": 0.0357,
      "step": 10301
    },
    {
      "epoch": 2.3111958716625534,
      "gripper_loss": 0.00689697265625,
      "loss": 0.02783203125,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.033203125,
      "step": 10301
    },
    {
      "epoch": 2.3114202378281354,
      "grad_norm": 0.1462257355451584,
      "learning_rate": 6.596220165428002e-05,
      "loss": 0.0213,
      "step": 10302
    },
    {
      "epoch": 2.3114202378281354,
      "gripper_loss": 0.890625,
      "loss": 0.10986328125,
      "pos_loss": 0.75390625,
      "rot_loss": 0.09765625,
      "step": 10302
    },
    {
      "epoch": 2.3116446039937175,
      "grad_norm": 0.28713297843933105,
      "learning_rate": 6.592121924284969e-05,
      "loss": 0.0469,
      "step": 10303
    },
    {
      "epoch": 2.3116446039937175,
      "gripper_loss": 0.318359375,
      "loss": 0.022705078125,
      "pos_loss": 0.0390625,
      "rot_loss": 0.072265625,
      "step": 10303
    },
    {
      "epoch": 2.3118689701593,
      "grad_norm": 0.3575941026210785,
      "learning_rate": 6.588024763307901e-05,
      "loss": 0.0491,
      "step": 10304
    },
    {
      "epoch": 2.3118689701593,
      "gripper_loss": 0.007049560546875,
      "loss": 0.0211181640625,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.043212890625,
      "step": 10304
    },
    {
      "epoch": 2.312093336324882,
      "grad_norm": 0.23480501770973206,
      "learning_rate": 6.583928682737223e-05,
      "loss": 0.0417,
      "step": 10305
    },
    {
      "epoch": 2.312093336324882,
      "gripper_loss": 0.00726318359375,
      "loss": 0.047607421875,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.36328125,
      "step": 10305
    },
    {
      "epoch": 2.312317702490464,
      "grad_norm": 0.221279114484787,
      "learning_rate": 6.579833682813294e-05,
      "loss": 0.0469,
      "step": 10306
    },
    {
      "epoch": 2.312317702490464,
      "gripper_loss": 0.04833984375,
      "loss": 0.048095703125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.13671875,
      "step": 10306
    },
    {
      "epoch": 2.3125420686560467,
      "grad_norm": 0.32982659339904785,
      "learning_rate": 6.575739763776415e-05,
      "loss": 0.0582,
      "step": 10307
    },
    {
      "epoch": 2.3125420686560467,
      "gripper_loss": 0.00811767578125,
      "loss": 0.039794921875,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.1787109375,
      "step": 10307
    },
    {
      "epoch": 2.312766434821629,
      "grad_norm": 0.23714789748191833,
      "learning_rate": 6.571646925866795e-05,
      "loss": 0.0269,
      "step": 10308
    },
    {
      "epoch": 2.312766434821629,
      "gripper_loss": 0.06640625,
      "loss": 0.01806640625,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.0654296875,
      "step": 10308
    },
    {
      "epoch": 2.312990800987211,
      "grad_norm": 0.6855932474136353,
      "learning_rate": 6.567555169324612e-05,
      "loss": 0.0494,
      "step": 10309
    },
    {
      "epoch": 2.312990800987211,
      "gripper_loss": 0.053955078125,
      "loss": 0.1279296875,
      "pos_loss": 0.453125,
      "rot_loss": 0.6015625,
      "step": 10309
    },
    {
      "epoch": 2.3132151671527934,
      "grad_norm": 0.583052396774292,
      "learning_rate": 6.56346449438997e-05,
      "loss": 0.106,
      "step": 10310
    },
    {
      "epoch": 2.3132151671527934,
      "gripper_loss": 0.005157470703125,
      "loss": 0.05712890625,
      "pos_loss": 0.34375,
      "rot_loss": 0.234375,
      "step": 10310
    },
    {
      "epoch": 2.3134395333183755,
      "grad_norm": 0.39150652289390564,
      "learning_rate": 6.559374901302911e-05,
      "loss": 0.0474,
      "step": 10311
    },
    {
      "epoch": 2.3134395333183755,
      "gripper_loss": 0.01104736328125,
      "loss": 0.031494140625,
      "pos_loss": 0.298828125,
      "rot_loss": 0.01708984375,
      "step": 10311
    },
    {
      "epoch": 2.313663899483958,
      "grad_norm": 0.24602779746055603,
      "learning_rate": 6.555286390303406e-05,
      "loss": 0.0411,
      "step": 10312
    },
    {
      "epoch": 2.313663899483958,
      "gripper_loss": 0.6953125,
      "loss": 0.041259765625,
      "pos_loss": 0.022705078125,
      "rot_loss": 0.166015625,
      "step": 10312
    },
    {
      "epoch": 2.31388826564954,
      "grad_norm": 0.18894928693771362,
      "learning_rate": 6.551198961631355e-05,
      "loss": 0.034,
      "step": 10313
    },
    {
      "epoch": 2.31388826564954,
      "gripper_loss": 0.01202392578125,
      "loss": 0.006927490234375,
      "pos_loss": 0.03173828125,
      "rot_loss": 0.012939453125,
      "step": 10313
    },
    {
      "epoch": 2.314112631815122,
      "grad_norm": 0.706926703453064,
      "learning_rate": 6.54711261552662e-05,
      "loss": 0.0471,
      "step": 10314
    },
    {
      "epoch": 2.314112631815122,
      "gripper_loss": 0.005126953125,
      "loss": 0.024658203125,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.06640625,
      "step": 10314
    },
    {
      "epoch": 2.3143369979807047,
      "grad_norm": 0.6926749348640442,
      "learning_rate": 6.543027352228983e-05,
      "loss": 0.0582,
      "step": 10315
    },
    {
      "epoch": 2.3143369979807047,
      "gripper_loss": 0.0172119140625,
      "loss": 0.0517578125,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.345703125,
      "step": 10315
    },
    {
      "epoch": 2.3145613641462868,
      "grad_norm": 0.2898183763027191,
      "learning_rate": 6.538943171978173e-05,
      "loss": 0.0395,
      "step": 10316
    },
    {
      "epoch": 2.3145613641462868,
      "gripper_loss": 0.0091552734375,
      "loss": 0.00433349609375,
      "pos_loss": 0.0120849609375,
      "rot_loss": 0.00677490234375,
      "step": 10316
    },
    {
      "epoch": 2.314785730311869,
      "grad_norm": 0.22472327947616577,
      "learning_rate": 6.534860075013833e-05,
      "loss": 0.0303,
      "step": 10317
    },
    {
      "epoch": 2.314785730311869,
      "gripper_loss": 0.01611328125,
      "loss": 0.025146484375,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.12158203125,
      "step": 10317
    },
    {
      "epoch": 2.3150100964774514,
      "grad_norm": 0.30812641978263855,
      "learning_rate": 6.530778061575565e-05,
      "loss": 0.0374,
      "step": 10318
    },
    {
      "epoch": 2.3150100964774514,
      "gripper_loss": 0.40625,
      "loss": 0.057861328125,
      "pos_loss": 0.212890625,
      "rot_loss": 0.248046875,
      "step": 10318
    },
    {
      "epoch": 2.3152344626430335,
      "grad_norm": 0.30775323510169983,
      "learning_rate": 6.526697131902897e-05,
      "loss": 0.0372,
      "step": 10319
    },
    {
      "epoch": 2.3152344626430335,
      "gripper_loss": 0.00384521484375,
      "loss": 0.08349609375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.298828125,
      "step": 10319
    },
    {
      "epoch": 2.3154588288086155,
      "grad_norm": 0.1910759061574936,
      "learning_rate": 6.522617286235308e-05,
      "loss": 0.0446,
      "step": 10320
    },
    {
      "epoch": 2.3154588288086155,
      "gripper_loss": 0.0211181640625,
      "loss": 0.06884765625,
      "pos_loss": 0.57421875,
      "rot_loss": 0.11181640625,
      "step": 10320
    },
    {
      "epoch": 2.315683194974198,
      "grad_norm": 0.32767513394355774,
      "learning_rate": 6.518538524812185e-05,
      "loss": 0.0618,
      "step": 10321
    },
    {
      "epoch": 2.315683194974198,
      "gripper_loss": 0.0089111328125,
      "loss": 0.02294921875,
      "pos_loss": 0.0859375,
      "rot_loss": 0.1318359375,
      "step": 10321
    },
    {
      "epoch": 2.31590756113978,
      "grad_norm": 0.6495497226715088,
      "learning_rate": 6.514460847872875e-05,
      "loss": 0.0695,
      "step": 10322
    },
    {
      "epoch": 2.31590756113978,
      "gripper_loss": 0.01239013671875,
      "loss": 0.01092529296875,
      "pos_loss": 0.0194091796875,
      "rot_loss": 0.068359375,
      "step": 10322
    },
    {
      "epoch": 2.316131927305362,
      "grad_norm": 0.3205198347568512,
      "learning_rate": 6.510384255656662e-05,
      "loss": 0.0449,
      "step": 10323
    },
    {
      "epoch": 2.316131927305362,
      "gripper_loss": 0.083984375,
      "loss": 0.07763671875,
      "pos_loss": 0.435546875,
      "rot_loss": 0.24609375,
      "step": 10323
    },
    {
      "epoch": 2.3163562934709447,
      "grad_norm": 0.48633718490600586,
      "learning_rate": 6.506308748402748e-05,
      "loss": 0.07,
      "step": 10324
    },
    {
      "epoch": 2.3163562934709447,
      "gripper_loss": 0.005279541015625,
      "loss": 0.042236328125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.1259765625,
      "step": 10324
    },
    {
      "epoch": 2.316580659636527,
      "grad_norm": 0.2982180416584015,
      "learning_rate": 6.502234326350282e-05,
      "loss": 0.0409,
      "step": 10325
    },
    {
      "epoch": 2.316580659636527,
      "gripper_loss": 0.01519775390625,
      "loss": 0.02490234375,
      "pos_loss": 0.12109375,
      "rot_loss": 0.119140625,
      "step": 10325
    },
    {
      "epoch": 2.316805025802109,
      "grad_norm": 0.2186405062675476,
      "learning_rate": 6.498160989738347e-05,
      "loss": 0.0253,
      "step": 10326
    },
    {
      "epoch": 2.316805025802109,
      "gripper_loss": 0.09619140625,
      "loss": 0.01483154296875,
      "pos_loss": 0.019775390625,
      "rot_loss": 0.083984375,
      "step": 10326
    },
    {
      "epoch": 2.3170293919676914,
      "grad_norm": 0.2438552975654602,
      "learning_rate": 6.494088738805973e-05,
      "loss": 0.0452,
      "step": 10327
    },
    {
      "epoch": 2.3170293919676914,
      "gripper_loss": 0.5546875,
      "loss": 0.10595703125,
      "pos_loss": 0.61328125,
      "rot_loss": 0.310546875,
      "step": 10327
    },
    {
      "epoch": 2.3172537581332735,
      "grad_norm": 0.2957746684551239,
      "learning_rate": 6.49001757379212e-05,
      "loss": 0.0715,
      "step": 10328
    },
    {
      "epoch": 2.3172537581332735,
      "gripper_loss": 0.03662109375,
      "loss": 0.04443359375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.09326171875,
      "step": 10328
    },
    {
      "epoch": 2.3174781242988556,
      "grad_norm": 0.30215540528297424,
      "learning_rate": 6.485947494935668e-05,
      "loss": 0.0505,
      "step": 10329
    },
    {
      "epoch": 2.3174781242988556,
      "gripper_loss": 0.03271484375,
      "loss": 0.05859375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.06494140625,
      "step": 10329
    },
    {
      "epoch": 2.317702490464438,
      "grad_norm": 0.5448046922683716,
      "learning_rate": 6.481878502475458e-05,
      "loss": 0.0548,
      "step": 10330
    },
    {
      "epoch": 2.317702490464438,
      "gripper_loss": 0.031005859375,
      "loss": 0.05712890625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.1748046875,
      "step": 10330
    },
    {
      "epoch": 2.31792685663002,
      "grad_norm": 0.338363915681839,
      "learning_rate": 6.477810596650252e-05,
      "loss": 0.0458,
      "step": 10331
    },
    {
      "epoch": 2.31792685663002,
      "gripper_loss": 0.4140625,
      "loss": 0.047607421875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.0712890625,
      "step": 10331
    },
    {
      "epoch": 2.3181512227956023,
      "grad_norm": 0.5364526510238647,
      "learning_rate": 6.473743777698757e-05,
      "loss": 0.053,
      "step": 10332
    },
    {
      "epoch": 2.3181512227956023,
      "gripper_loss": 0.07177734375,
      "loss": 0.061767578125,
      "pos_loss": 0.56640625,
      "rot_loss": 0.048828125,
      "step": 10332
    },
    {
      "epoch": 2.318375588961185,
      "grad_norm": 0.43368959426879883,
      "learning_rate": 6.469678045859619e-05,
      "loss": 0.0584,
      "step": 10333
    },
    {
      "epoch": 2.318375588961185,
      "gripper_loss": 0.1962890625,
      "loss": 0.0242919921875,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.05029296875,
      "step": 10333
    },
    {
      "epoch": 2.318599955126767,
      "grad_norm": 0.4340282678604126,
      "learning_rate": 6.465613401371396e-05,
      "loss": 0.0669,
      "step": 10334
    },
    {
      "epoch": 2.318599955126767,
      "gripper_loss": 0.01171875,
      "loss": 0.0595703125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.09375,
      "step": 10334
    },
    {
      "epoch": 2.318824321292349,
      "grad_norm": 1.394631266593933,
      "learning_rate": 6.461549844472617e-05,
      "loss": 0.0751,
      "step": 10335
    },
    {
      "epoch": 2.318824321292349,
      "gripper_loss": 0.45703125,
      "loss": 0.02978515625,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.058349609375,
      "step": 10335
    },
    {
      "epoch": 2.3190486874579315,
      "grad_norm": 0.42387884855270386,
      "learning_rate": 6.457487375401713e-05,
      "loss": 0.0405,
      "step": 10336
    },
    {
      "epoch": 2.3190486874579315,
      "gripper_loss": 0.0091552734375,
      "loss": 0.060791015625,
      "pos_loss": 0.3671875,
      "rot_loss": 0.251953125,
      "step": 10336
    },
    {
      "epoch": 2.3192730536235135,
      "grad_norm": 0.3583211302757263,
      "learning_rate": 6.453425994397082e-05,
      "loss": 0.0528,
      "step": 10337
    },
    {
      "epoch": 2.3192730536235135,
      "gripper_loss": 0.00787353515625,
      "loss": 0.041748046875,
      "pos_loss": 0.3671875,
      "rot_loss": 0.0517578125,
      "step": 10337
    },
    {
      "epoch": 2.3194974197890956,
      "grad_norm": 0.35793983936309814,
      "learning_rate": 6.44936570169703e-05,
      "loss": 0.0444,
      "step": 10338
    },
    {
      "epoch": 2.3194974197890956,
      "gripper_loss": 0.0242919921875,
      "loss": 0.05029296875,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.263671875,
      "step": 10338
    },
    {
      "epoch": 2.319721785954678,
      "grad_norm": 0.33983081579208374,
      "learning_rate": 6.445306497539825e-05,
      "loss": 0.0346,
      "step": 10339
    },
    {
      "epoch": 2.319721785954678,
      "gripper_loss": 0.0419921875,
      "loss": 0.0225830078125,
      "pos_loss": 0.10498046875,
      "rot_loss": 0.08837890625,
      "step": 10339
    },
    {
      "epoch": 2.3199461521202602,
      "grad_norm": 0.23233459889888763,
      "learning_rate": 6.44124838216365e-05,
      "loss": 0.034,
      "step": 10340
    },
    {
      "epoch": 2.3199461521202602,
      "gripper_loss": 0.00701904296875,
      "loss": 0.10302734375,
      "pos_loss": 0.65625,
      "rot_loss": 0.416015625,
      "step": 10340
    },
    {
      "epoch": 2.3201705182858423,
      "grad_norm": 0.4443882405757904,
      "learning_rate": 6.437191355806649e-05,
      "loss": 0.0569,
      "step": 10341
    },
    {
      "epoch": 2.3201705182858423,
      "gripper_loss": 0.02099609375,
      "loss": 0.044677734375,
      "pos_loss": 0.322265625,
      "rot_loss": 0.119140625,
      "step": 10341
    },
    {
      "epoch": 2.320394884451425,
      "grad_norm": 0.512013852596283,
      "learning_rate": 6.433135418706868e-05,
      "loss": 0.053,
      "step": 10342
    },
    {
      "epoch": 2.320394884451425,
      "gripper_loss": 0.6015625,
      "loss": 0.024658203125,
      "pos_loss": 0.0244140625,
      "rot_loss": 0.0164794921875,
      "step": 10342
    },
    {
      "epoch": 2.320619250617007,
      "grad_norm": 0.5275094509124756,
      "learning_rate": 6.429080571102316e-05,
      "loss": 0.0597,
      "step": 10343
    },
    {
      "epoch": 2.320619250617007,
      "gripper_loss": 0.002227783203125,
      "loss": 0.177734375,
      "pos_loss": 1.671875,
      "rot_loss": 0.2001953125,
      "step": 10343
    },
    {
      "epoch": 2.320843616782589,
      "grad_norm": 0.682926595211029,
      "learning_rate": 6.425026813230927e-05,
      "loss": 0.092,
      "step": 10344
    },
    {
      "epoch": 2.320843616782589,
      "gripper_loss": 0.00811767578125,
      "loss": 0.036865234375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.061767578125,
      "step": 10344
    },
    {
      "epoch": 2.3210679829481715,
      "grad_norm": 0.21091896295547485,
      "learning_rate": 6.420974145330585e-05,
      "loss": 0.0525,
      "step": 10345
    },
    {
      "epoch": 2.3210679829481715,
      "gripper_loss": 0.0101318359375,
      "loss": 0.06591796875,
      "pos_loss": 0.20703125,
      "rot_loss": 0.46875,
      "step": 10345
    },
    {
      "epoch": 2.3212923491137536,
      "grad_norm": 0.5079985857009888,
      "learning_rate": 6.416922567639083e-05,
      "loss": 0.0518,
      "step": 10346
    },
    {
      "epoch": 2.3212923491137536,
      "gripper_loss": 0.142578125,
      "loss": 0.031005859375,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.16796875,
      "step": 10346
    },
    {
      "epoch": 2.321516715279336,
      "grad_norm": 0.5784115791320801,
      "learning_rate": 6.412872080394181e-05,
      "loss": 0.0434,
      "step": 10347
    },
    {
      "epoch": 2.321516715279336,
      "gripper_loss": 0.13671875,
      "loss": 0.0164794921875,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.0225830078125,
      "step": 10347
    },
    {
      "epoch": 2.321741081444918,
      "grad_norm": 0.5603814125061035,
      "learning_rate": 6.408822683833543e-05,
      "loss": 0.0439,
      "step": 10348
    },
    {
      "epoch": 2.321741081444918,
      "gripper_loss": 0.0595703125,
      "loss": 0.0125732421875,
      "pos_loss": 0.0174560546875,
      "rot_loss": 0.07666015625,
      "step": 10348
    },
    {
      "epoch": 2.3219654476105003,
      "grad_norm": 0.3373126983642578,
      "learning_rate": 6.404774378194792e-05,
      "loss": 0.0451,
      "step": 10349
    },
    {
      "epoch": 2.3219654476105003,
      "gripper_loss": 0.00390625,
      "loss": 0.038330078125,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.306640625,
      "step": 10349
    },
    {
      "epoch": 2.322189813776083,
      "grad_norm": 0.3882732093334198,
      "learning_rate": 6.400727163715492e-05,
      "loss": 0.0616,
      "step": 10350
    },
    {
      "epoch": 2.322189813776083,
      "gripper_loss": 0.007415771484375,
      "loss": 0.00994873046875,
      "pos_loss": 0.059326171875,
      "rot_loss": 0.0186767578125,
      "step": 10350
    },
    {
      "epoch": 2.322414179941665,
      "grad_norm": 0.278037965297699,
      "learning_rate": 6.396681040633112e-05,
      "loss": 0.0381,
      "step": 10351
    },
    {
      "epoch": 2.322414179941665,
      "gripper_loss": 0.006317138671875,
      "loss": 0.04052734375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.06494140625,
      "step": 10351
    },
    {
      "epoch": 2.322638546107247,
      "grad_norm": 0.41584277153015137,
      "learning_rate": 6.39263600918509e-05,
      "loss": 0.0392,
      "step": 10352
    },
    {
      "epoch": 2.322638546107247,
      "gripper_loss": 0.0400390625,
      "loss": 0.04833984375,
      "pos_loss": 0.271484375,
      "rot_loss": 0.208984375,
      "step": 10352
    },
    {
      "epoch": 2.3228629122728295,
      "grad_norm": 0.2276657074689865,
      "learning_rate": 6.388592069608784e-05,
      "loss": 0.0468,
      "step": 10353
    },
    {
      "epoch": 2.3228629122728295,
      "gripper_loss": 1.1015625,
      "loss": 0.15625,
      "pos_loss": 1.03125,
      "rot_loss": 0.2490234375,
      "step": 10353
    },
    {
      "epoch": 2.3230872784384116,
      "grad_norm": 0.5503355860710144,
      "learning_rate": 6.384549222141495e-05,
      "loss": 0.0716,
      "step": 10354
    },
    {
      "epoch": 2.3230872784384116,
      "gripper_loss": 0.0107421875,
      "loss": 0.030029296875,
      "pos_loss": 0.220703125,
      "rot_loss": 0.07177734375,
      "step": 10354
    },
    {
      "epoch": 2.3233116446039936,
      "grad_norm": 0.21857395768165588,
      "learning_rate": 6.380507467020447e-05,
      "loss": 0.0486,
      "step": 10355
    },
    {
      "epoch": 2.3233116446039936,
      "gripper_loss": 0.01141357421875,
      "loss": 0.048828125,
      "pos_loss": 0.4765625,
      "rot_loss": 0.0177001953125,
      "step": 10355
    },
    {
      "epoch": 2.323536010769576,
      "grad_norm": 0.24643972516059875,
      "learning_rate": 6.376466804482808e-05,
      "loss": 0.045,
      "step": 10356
    },
    {
      "epoch": 2.323536010769576,
      "gripper_loss": 0.0067138671875,
      "loss": 0.09326171875,
      "pos_loss": 0.5703125,
      "rot_loss": 0.400390625,
      "step": 10356
    },
    {
      "epoch": 2.3237603769351582,
      "grad_norm": 0.34777408838272095,
      "learning_rate": 6.372427234765688e-05,
      "loss": 0.0389,
      "step": 10357
    },
    {
      "epoch": 2.3237603769351582,
      "gripper_loss": 0.008056640625,
      "loss": 0.07763671875,
      "pos_loss": 0.4453125,
      "rot_loss": 0.359375,
      "step": 10357
    },
    {
      "epoch": 2.3239847431007403,
      "grad_norm": 0.17160850763320923,
      "learning_rate": 6.368388758106134e-05,
      "loss": 0.0375,
      "step": 10358
    },
    {
      "epoch": 2.3239847431007403,
      "gripper_loss": 0.0286865234375,
      "loss": 0.0113525390625,
      "pos_loss": 0.02978515625,
      "rot_loss": 0.060791015625,
      "step": 10358
    },
    {
      "epoch": 2.324209109266323,
      "grad_norm": 0.38144490122795105,
      "learning_rate": 6.364351374741112e-05,
      "loss": 0.0414,
      "step": 10359
    },
    {
      "epoch": 2.324209109266323,
      "gripper_loss": 0.275390625,
      "loss": 0.01708984375,
      "pos_loss": 0.04345703125,
      "rot_loss": 0.0225830078125,
      "step": 10359
    },
    {
      "epoch": 2.324433475431905,
      "grad_norm": 0.545554518699646,
      "learning_rate": 6.360315084907528e-05,
      "loss": 0.0654,
      "step": 10360
    },
    {
      "epoch": 2.324433475431905,
      "gripper_loss": 0.009765625,
      "loss": 0.0194091796875,
      "pos_loss": 0.140625,
      "rot_loss": 0.03857421875,
      "step": 10360
    },
    {
      "epoch": 2.324657841597487,
      "grad_norm": 0.26904967427253723,
      "learning_rate": 6.35627988884224e-05,
      "loss": 0.0428,
      "step": 10361
    },
    {
      "epoch": 2.324657841597487,
      "gripper_loss": 0.267578125,
      "loss": 0.0732421875,
      "pos_loss": 0.349609375,
      "rot_loss": 0.31640625,
      "step": 10361
    },
    {
      "epoch": 2.3248822077630695,
      "grad_norm": 0.3170264959335327,
      "learning_rate": 6.352245786782024e-05,
      "loss": 0.0405,
      "step": 10362
    },
    {
      "epoch": 2.3248822077630695,
      "gripper_loss": 0.50390625,
      "loss": 0.046875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.1455078125,
      "step": 10362
    },
    {
      "epoch": 2.3251065739286516,
      "grad_norm": 0.7069117426872253,
      "learning_rate": 6.348212778963613e-05,
      "loss": 0.0627,
      "step": 10363
    },
    {
      "epoch": 2.3251065739286516,
      "gripper_loss": 0.1904296875,
      "loss": 0.0255126953125,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.0830078125,
      "step": 10363
    },
    {
      "epoch": 2.3253309400942337,
      "grad_norm": 0.2208530455827713,
      "learning_rate": 6.344180865623645e-05,
      "loss": 0.0236,
      "step": 10364
    },
    {
      "epoch": 2.3253309400942337,
      "gripper_loss": 0.054931640625,
      "loss": 0.1181640625,
      "pos_loss": 0.9765625,
      "rot_loss": 0.1845703125,
      "step": 10364
    },
    {
      "epoch": 2.325555306259816,
      "grad_norm": 0.46113720536231995,
      "learning_rate": 6.340150046998719e-05,
      "loss": 0.054,
      "step": 10365
    },
    {
      "epoch": 2.325555306259816,
      "gripper_loss": 0.01519775390625,
      "loss": 0.048583984375,
      "pos_loss": 0.28515625,
      "rot_loss": 0.2060546875,
      "step": 10365
    },
    {
      "epoch": 2.3257796724253983,
      "grad_norm": 0.44000205397605896,
      "learning_rate": 6.336120323325362e-05,
      "loss": 0.0462,
      "step": 10366
    },
    {
      "epoch": 2.3257796724253983,
      "gripper_loss": 0.005828857421875,
      "loss": 0.052001953125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.04248046875,
      "step": 10366
    },
    {
      "epoch": 2.3260040385909804,
      "grad_norm": 0.23511074483394623,
      "learning_rate": 6.332091694840043e-05,
      "loss": 0.0511,
      "step": 10367
    },
    {
      "epoch": 2.3260040385909804,
      "gripper_loss": 0.0244140625,
      "loss": 0.032958984375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0615234375,
      "step": 10367
    },
    {
      "epoch": 2.326228404756563,
      "grad_norm": 0.2813805043697357,
      "learning_rate": 6.328064161779143e-05,
      "loss": 0.0456,
      "step": 10368
    },
    {
      "epoch": 2.326228404756563,
      "gripper_loss": 0.0086669921875,
      "loss": 0.057373046875,
      "pos_loss": 0.48046875,
      "rot_loss": 0.10205078125,
      "step": 10368
    },
    {
      "epoch": 2.326452770922145,
      "grad_norm": 0.230291485786438,
      "learning_rate": 6.324037724379006e-05,
      "loss": 0.039,
      "step": 10369
    },
    {
      "epoch": 2.326452770922145,
      "gripper_loss": 0.00921630859375,
      "loss": 0.0205078125,
      "pos_loss": 0.048828125,
      "rot_loss": 0.1357421875,
      "step": 10369
    },
    {
      "epoch": 2.326677137087727,
      "grad_norm": 0.27520114183425903,
      "learning_rate": 6.320012382875911e-05,
      "loss": 0.0448,
      "step": 10370
    },
    {
      "epoch": 2.326677137087727,
      "gripper_loss": 0.1669921875,
      "loss": 0.0712890625,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.2197265625,
      "step": 10370
    },
    {
      "epoch": 2.3269015032533096,
      "grad_norm": 1.022467017173767,
      "learning_rate": 6.315988137506051e-05,
      "loss": 0.1002,
      "step": 10371
    },
    {
      "epoch": 2.3269015032533096,
      "gripper_loss": 0.0087890625,
      "loss": 0.05712890625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.275390625,
      "step": 10371
    },
    {
      "epoch": 2.3271258694188917,
      "grad_norm": 0.3890988528728485,
      "learning_rate": 6.311964988505564e-05,
      "loss": 0.0677,
      "step": 10372
    },
    {
      "epoch": 2.3271258694188917,
      "gripper_loss": 0.357421875,
      "loss": 0.0174560546875,
      "pos_loss": 0.0269775390625,
      "rot_loss": 0.01251220703125,
      "step": 10372
    },
    {
      "epoch": 2.3273502355844737,
      "grad_norm": 0.3518880605697632,
      "learning_rate": 6.30794293611053e-05,
      "loss": 0.0556,
      "step": 10373
    },
    {
      "epoch": 2.3273502355844737,
      "gripper_loss": 0.14453125,
      "loss": 0.0164794921875,
      "pos_loss": 0.034423828125,
      "rot_loss": 0.06396484375,
      "step": 10373
    },
    {
      "epoch": 2.3275746017500563,
      "grad_norm": 0.26247596740722656,
      "learning_rate": 6.303921980556962e-05,
      "loss": 0.0322,
      "step": 10374
    },
    {
      "epoch": 2.3275746017500563,
      "gripper_loss": 0.01177978515625,
      "loss": 0.06640625,
      "pos_loss": 0.63671875,
      "rot_loss": 0.04248046875,
      "step": 10374
    },
    {
      "epoch": 2.3277989679156383,
      "grad_norm": 0.45075565576553345,
      "learning_rate": 6.299902122080811e-05,
      "loss": 0.0521,
      "step": 10375
    },
    {
      "epoch": 2.3277989679156383,
      "gripper_loss": 0.12109375,
      "loss": 0.049072265625,
      "pos_loss": 0.1875,
      "rot_loss": 0.265625,
      "step": 10375
    },
    {
      "epoch": 2.3280233340812204,
      "grad_norm": 0.36741122603416443,
      "learning_rate": 6.295883360917964e-05,
      "loss": 0.0481,
      "step": 10376
    },
    {
      "epoch": 2.3280233340812204,
      "gripper_loss": 0.21484375,
      "loss": 0.24609375,
      "pos_loss": 0.7890625,
      "rot_loss": 0.466796875,
      "step": 10376
    },
    {
      "epoch": 2.328247700246803,
      "grad_norm": 1.554514765739441,
      "learning_rate": 6.291865697304228e-05,
      "loss": 0.261,
      "step": 10377
    },
    {
      "epoch": 2.328247700246803,
      "gripper_loss": 0.01483154296875,
      "loss": 0.044677734375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.0986328125,
      "step": 10377
    },
    {
      "epoch": 2.328472066412385,
      "grad_norm": 0.3204489052295685,
      "learning_rate": 6.287849131475366e-05,
      "loss": 0.0445,
      "step": 10378
    },
    {
      "epoch": 2.328472066412385,
      "gripper_loss": 0.0169677734375,
      "loss": 0.10400390625,
      "pos_loss": 0.8671875,
      "rot_loss": 0.1943359375,
      "step": 10378
    },
    {
      "epoch": 2.328696432577967,
      "grad_norm": 0.3910178542137146,
      "learning_rate": 6.283833663667063e-05,
      "loss": 0.0452,
      "step": 10379
    },
    {
      "epoch": 2.328696432577967,
      "gripper_loss": 0.279296875,
      "loss": 0.041015625,
      "pos_loss": 0.2734375,
      "rot_loss": 0.047119140625,
      "step": 10379
    },
    {
      "epoch": 2.3289207987435496,
      "grad_norm": 0.24214591085910797,
      "learning_rate": 6.279819294114958e-05,
      "loss": 0.0316,
      "step": 10380
    },
    {
      "epoch": 2.3289207987435496,
      "gripper_loss": 0.0103759765625,
      "loss": 0.02099609375,
      "pos_loss": 0.146484375,
      "rot_loss": 0.048095703125,
      "step": 10380
    },
    {
      "epoch": 2.3291451649091317,
      "grad_norm": 0.304837167263031,
      "learning_rate": 6.275806023054592e-05,
      "loss": 0.0399,
      "step": 10381
    },
    {
      "epoch": 2.3291451649091317,
      "gripper_loss": 0.008544921875,
      "loss": 0.11669921875,
      "pos_loss": 1.0078125,
      "rot_loss": 0.20703125,
      "step": 10381
    },
    {
      "epoch": 2.329369531074714,
      "grad_norm": 0.37032967805862427,
      "learning_rate": 6.271793850721483e-05,
      "loss": 0.0413,
      "step": 10382
    },
    {
      "epoch": 2.329369531074714,
      "gripper_loss": 0.01507568359375,
      "loss": 0.036865234375,
      "pos_loss": 0.291015625,
      "rot_loss": 0.07177734375,
      "step": 10382
    },
    {
      "epoch": 2.3295938972402963,
      "grad_norm": 0.2493470013141632,
      "learning_rate": 6.267782777351045e-05,
      "loss": 0.0437,
      "step": 10383
    },
    {
      "epoch": 2.3295938972402963,
      "gripper_loss": 0.009521484375,
      "loss": 0.2099609375,
      "pos_loss": 1.0546875,
      "rot_loss": 1.15625,
      "step": 10383
    },
    {
      "epoch": 2.3298182634058784,
      "grad_norm": 1.1830793619155884,
      "learning_rate": 6.263772803178661e-05,
      "loss": 0.0518,
      "step": 10384
    },
    {
      "epoch": 2.3298182634058784,
      "gripper_loss": 0.09228515625,
      "loss": 0.033935546875,
      "pos_loss": 0.25390625,
      "rot_loss": 0.04296875,
      "step": 10384
    },
    {
      "epoch": 2.3300426295714605,
      "grad_norm": 0.5724226832389832,
      "learning_rate": 6.259763928439618e-05,
      "loss": 0.0599,
      "step": 10385
    },
    {
      "epoch": 2.3300426295714605,
      "gripper_loss": 0.019287109375,
      "loss": 0.015869140625,
      "pos_loss": 0.055419921875,
      "rot_loss": 0.06396484375,
      "step": 10385
    },
    {
      "epoch": 2.330266995737043,
      "grad_norm": 0.49960845708847046,
      "learning_rate": 6.255756153369169e-05,
      "loss": 0.0551,
      "step": 10386
    },
    {
      "epoch": 2.330266995737043,
      "gripper_loss": 0.01153564453125,
      "loss": 0.03564453125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.03515625,
      "step": 10386
    },
    {
      "epoch": 2.330491361902625,
      "grad_norm": 0.29854047298431396,
      "learning_rate": 6.251749478202478e-05,
      "loss": 0.0363,
      "step": 10387
    },
    {
      "epoch": 2.330491361902625,
      "gripper_loss": 0.0927734375,
      "loss": 0.0380859375,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.2080078125,
      "step": 10387
    },
    {
      "epoch": 2.330715728068207,
      "grad_norm": 0.44750893115997314,
      "learning_rate": 6.247743903174674e-05,
      "loss": 0.043,
      "step": 10388
    },
    {
      "epoch": 2.330715728068207,
      "gripper_loss": 0.006439208984375,
      "loss": 0.009033203125,
      "pos_loss": 0.047607421875,
      "rot_loss": 0.0225830078125,
      "step": 10388
    },
    {
      "epoch": 2.3309400942337897,
      "grad_norm": 0.2545135021209717,
      "learning_rate": 6.243739428520778e-05,
      "loss": 0.0416,
      "step": 10389
    },
    {
      "epoch": 2.3309400942337897,
      "gripper_loss": 0.0101318359375,
      "loss": 0.0135498046875,
      "pos_loss": 0.0341796875,
      "rot_loss": 0.08056640625,
      "step": 10389
    },
    {
      "epoch": 2.3311644603993718,
      "grad_norm": 0.4834901690483093,
      "learning_rate": 6.239736054475783e-05,
      "loss": 0.0428,
      "step": 10390
    },
    {
      "epoch": 2.3311644603993718,
      "gripper_loss": 0.51171875,
      "loss": 0.0244140625,
      "pos_loss": 0.03173828125,
      "rot_loss": 0.033447265625,
      "step": 10390
    },
    {
      "epoch": 2.331388826564954,
      "grad_norm": 0.2579192817211151,
      "learning_rate": 6.235733781274602e-05,
      "loss": 0.0461,
      "step": 10391
    },
    {
      "epoch": 2.331388826564954,
      "gripper_loss": 0.078125,
      "loss": 0.0299072265625,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.08154296875,
      "step": 10391
    },
    {
      "epoch": 2.3316131927305364,
      "grad_norm": 0.32844606041908264,
      "learning_rate": 6.2317326091521e-05,
      "loss": 0.0533,
      "step": 10392
    },
    {
      "epoch": 2.3316131927305364,
      "gripper_loss": 0.025390625,
      "loss": 0.01708984375,
      "pos_loss": 0.12890625,
      "rot_loss": 0.021484375,
      "step": 10392
    },
    {
      "epoch": 2.3318375588961184,
      "grad_norm": 0.2581541836261749,
      "learning_rate": 6.227732538343042e-05,
      "loss": 0.031,
      "step": 10393
    },
    {
      "epoch": 2.3318375588961184,
      "gripper_loss": 0.0040283203125,
      "loss": 0.022216796875,
      "pos_loss": 0.07421875,
      "rot_loss": 0.1396484375,
      "step": 10393
    },
    {
      "epoch": 2.3320619250617005,
      "grad_norm": 0.28134843707084656,
      "learning_rate": 6.223733569082168e-05,
      "loss": 0.0472,
      "step": 10394
    },
    {
      "epoch": 2.3320619250617005,
      "gripper_loss": 0.0079345703125,
      "loss": 0.0145263671875,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.06103515625,
      "step": 10394
    },
    {
      "epoch": 2.332286291227283,
      "grad_norm": 0.5414742827415466,
      "learning_rate": 6.219735701604123e-05,
      "loss": 0.0615,
      "step": 10395
    },
    {
      "epoch": 2.332286291227283,
      "gripper_loss": 0.01263427734375,
      "loss": 0.1103515625,
      "pos_loss": 0.44921875,
      "rot_loss": 0.703125,
      "step": 10395
    },
    {
      "epoch": 2.332510657392865,
      "grad_norm": 0.2922589182853699,
      "learning_rate": 6.215738936143506e-05,
      "loss": 0.0725,
      "step": 10396
    },
    {
      "epoch": 2.332510657392865,
      "gripper_loss": 0.00421142578125,
      "loss": 0.08837890625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.34375,
      "step": 10396
    },
    {
      "epoch": 2.332735023558447,
      "grad_norm": 0.43772125244140625,
      "learning_rate": 6.21174327293485e-05,
      "loss": 0.0602,
      "step": 10397
    },
    {
      "epoch": 2.332735023558447,
      "gripper_loss": 0.01531982421875,
      "loss": 0.10009765625,
      "pos_loss": 0.9140625,
      "rot_loss": 0.119140625,
      "step": 10397
    },
    {
      "epoch": 2.3329593897240297,
      "grad_norm": 0.45976895093917847,
      "learning_rate": 6.207748712212608e-05,
      "loss": 0.0494,
      "step": 10398
    },
    {
      "epoch": 2.3329593897240297,
      "gripper_loss": 1.375,
      "loss": 0.07861328125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.208984375,
      "step": 10398
    },
    {
      "epoch": 2.333183755889612,
      "grad_norm": 0.41334471106529236,
      "learning_rate": 6.203755254211185e-05,
      "loss": 0.0525,
      "step": 10399
    },
    {
      "epoch": 2.333183755889612,
      "gripper_loss": 0.0093994140625,
      "loss": 0.05322265625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.06640625,
      "step": 10399
    },
    {
      "epoch": 2.333408122055194,
      "grad_norm": 0.23203019797801971,
      "learning_rate": 6.199762899164915e-05,
      "loss": 0.0272,
      "step": 10400
    },
    {
      "epoch": 2.333408122055194,
      "gripper_loss": 0.004364013671875,
      "loss": 0.06201171875,
      "pos_loss": 0.5546875,
      "rot_loss": 0.078125,
      "step": 10400
    },
    {
      "epoch": 2.3336324882207764,
      "grad_norm": 0.2426687330007553,
      "learning_rate": 6.195771647308074e-05,
      "loss": 0.0454,
      "step": 10401
    },
    {
      "epoch": 2.3336324882207764,
      "gripper_loss": 0.1357421875,
      "loss": 0.052001953125,
      "pos_loss": 0.46875,
      "rot_loss": 0.01519775390625,
      "step": 10401
    },
    {
      "epoch": 2.3338568543863585,
      "grad_norm": 0.2913086712360382,
      "learning_rate": 6.191781498874855e-05,
      "loss": 0.0465,
      "step": 10402
    },
    {
      "epoch": 2.3338568543863585,
      "gripper_loss": 0.0086669921875,
      "loss": 0.015625,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.047607421875,
      "step": 10402
    },
    {
      "epoch": 2.3340812205519406,
      "grad_norm": 0.3380271792411804,
      "learning_rate": 6.187792454099403e-05,
      "loss": 0.0293,
      "step": 10403
    },
    {
      "epoch": 2.3340812205519406,
      "gripper_loss": 0.015869140625,
      "loss": 0.03515625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.1787109375,
      "step": 10403
    },
    {
      "epoch": 2.334305586717523,
      "grad_norm": 0.39079174399375916,
      "learning_rate": 6.183804513215794e-05,
      "loss": 0.0412,
      "step": 10404
    },
    {
      "epoch": 2.334305586717523,
      "gripper_loss": 0.0113525390625,
      "loss": 0.036865234375,
      "pos_loss": 0.1875,
      "rot_loss": 0.1796875,
      "step": 10404
    },
    {
      "epoch": 2.334529952883105,
      "grad_norm": 0.2632565200328827,
      "learning_rate": 6.179817676458044e-05,
      "loss": 0.0356,
      "step": 10405
    },
    {
      "epoch": 2.334529952883105,
      "gripper_loss": 0.0869140625,
      "loss": 0.0272216796875,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.02294921875,
      "step": 10405
    },
    {
      "epoch": 2.3347543190486872,
      "grad_norm": 0.2717260718345642,
      "learning_rate": 6.175831944060095e-05,
      "loss": 0.0388,
      "step": 10406
    },
    {
      "epoch": 2.3347543190486872,
      "gripper_loss": 0.31640625,
      "loss": 0.013427734375,
      "pos_loss": 0.007537841796875,
      "rot_loss": 0.00634765625,
      "step": 10406
    },
    {
      "epoch": 2.3349786852142698,
      "grad_norm": 0.4986855983734131,
      "learning_rate": 6.171847316255819e-05,
      "loss": 0.0889,
      "step": 10407
    },
    {
      "epoch": 2.3349786852142698,
      "gripper_loss": 0.058349609375,
      "loss": 0.02783203125,
      "pos_loss": 0.0167236328125,
      "rot_loss": 0.23828125,
      "step": 10407
    },
    {
      "epoch": 2.335203051379852,
      "grad_norm": 0.2813701629638672,
      "learning_rate": 6.167863793279039e-05,
      "loss": 0.042,
      "step": 10408
    },
    {
      "epoch": 2.335203051379852,
      "gripper_loss": 0.0269775390625,
      "loss": 0.052490234375,
      "pos_loss": 0.048095703125,
      "rot_loss": 0.462890625,
      "step": 10408
    },
    {
      "epoch": 2.335427417545434,
      "grad_norm": 0.45044848322868347,
      "learning_rate": 6.163881375363508e-05,
      "loss": 0.0505,
      "step": 10409
    },
    {
      "epoch": 2.335427417545434,
      "gripper_loss": 0.10498046875,
      "loss": 0.01507568359375,
      "pos_loss": 0.03076171875,
      "rot_loss": 0.0673828125,
      "step": 10409
    },
    {
      "epoch": 2.3356517837110164,
      "grad_norm": 0.27295053005218506,
      "learning_rate": 6.159900062742918e-05,
      "loss": 0.0449,
      "step": 10410
    },
    {
      "epoch": 2.3356517837110164,
      "gripper_loss": 0.00555419921875,
      "loss": 0.034423828125,
      "pos_loss": 0.123046875,
      "rot_loss": 0.2158203125,
      "step": 10410
    },
    {
      "epoch": 2.3358761498765985,
      "grad_norm": 0.2988276481628418,
      "learning_rate": 6.155919855650877e-05,
      "loss": 0.0424,
      "step": 10411
    },
    {
      "epoch": 2.3358761498765985,
      "gripper_loss": 0.07177734375,
      "loss": 0.0113525390625,
      "pos_loss": 0.0220947265625,
      "rot_loss": 0.05224609375,
      "step": 10411
    },
    {
      "epoch": 2.3361005160421806,
      "grad_norm": 0.36199241876602173,
      "learning_rate": 6.151940754320947e-05,
      "loss": 0.0361,
      "step": 10412
    },
    {
      "epoch": 2.3361005160421806,
      "gripper_loss": 0.490234375,
      "loss": 0.11328125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.2412109375,
      "step": 10412
    },
    {
      "epoch": 2.336324882207763,
      "grad_norm": 0.49525174498558044,
      "learning_rate": 6.147962758986622e-05,
      "loss": 0.0561,
      "step": 10413
    },
    {
      "epoch": 2.336324882207763,
      "gripper_loss": 0.021240234375,
      "loss": 0.07763671875,
      "pos_loss": 0.443359375,
      "rot_loss": 0.35546875,
      "step": 10413
    },
    {
      "epoch": 2.336549248373345,
      "grad_norm": 0.4363974928855896,
      "learning_rate": 6.143985869881336e-05,
      "loss": 0.0513,
      "step": 10414
    },
    {
      "epoch": 2.336549248373345,
      "gripper_loss": 0.212890625,
      "loss": 0.049560546875,
      "pos_loss": 0.09228515625,
      "rot_loss": 0.337890625,
      "step": 10414
    },
    {
      "epoch": 2.3367736145389273,
      "grad_norm": 0.5672931671142578,
      "learning_rate": 6.140010087238437e-05,
      "loss": 0.0731,
      "step": 10415
    },
    {
      "epoch": 2.3367736145389273,
      "gripper_loss": 0.140625,
      "loss": 0.08056640625,
      "pos_loss": 0.439453125,
      "rot_loss": 0.333984375,
      "step": 10415
    },
    {
      "epoch": 2.33699798070451,
      "grad_norm": 0.4131890833377838,
      "learning_rate": 6.13603541129123e-05,
      "loss": 0.0438,
      "step": 10416
    },
    {
      "epoch": 2.33699798070451,
      "gripper_loss": 0.008056640625,
      "loss": 0.07958984375,
      "pos_loss": 0.40625,
      "rot_loss": 0.41796875,
      "step": 10416
    },
    {
      "epoch": 2.337222346870092,
      "grad_norm": 0.2702110707759857,
      "learning_rate": 6.132061842272952e-05,
      "loss": 0.0415,
      "step": 10417
    },
    {
      "epoch": 2.337222346870092,
      "gripper_loss": 0.09521484375,
      "loss": 0.0849609375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.53125,
      "step": 10417
    },
    {
      "epoch": 2.337446713035674,
      "grad_norm": 0.3354431986808777,
      "learning_rate": 6.128089380416762e-05,
      "loss": 0.0551,
      "step": 10418
    },
    {
      "epoch": 2.337446713035674,
      "gripper_loss": 0.1708984375,
      "loss": 0.044189453125,
      "pos_loss": 0.267578125,
      "rot_loss": 0.12451171875,
      "step": 10418
    },
    {
      "epoch": 2.3376710792012565,
      "grad_norm": 1.051405429840088,
      "learning_rate": 6.124118025955757e-05,
      "loss": 0.0786,
      "step": 10419
    },
    {
      "epoch": 2.3376710792012565,
      "gripper_loss": 0.07275390625,
      "loss": 0.039306640625,
      "pos_loss": 0.0703125,
      "rot_loss": 0.30078125,
      "step": 10419
    },
    {
      "epoch": 2.3378954453668386,
      "grad_norm": 0.24357645213603973,
      "learning_rate": 6.120147779122986e-05,
      "loss": 0.0427,
      "step": 10420
    },
    {
      "epoch": 2.3378954453668386,
      "gripper_loss": 0.00347900390625,
      "loss": 0.024658203125,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.03369140625,
      "step": 10420
    },
    {
      "epoch": 2.338119811532421,
      "grad_norm": 0.2336176186800003,
      "learning_rate": 6.116178640151416e-05,
      "loss": 0.0441,
      "step": 10421
    },
    {
      "epoch": 2.338119811532421,
      "gripper_loss": 0.57421875,
      "loss": 0.08154296875,
      "pos_loss": 0.35546875,
      "rot_loss": 0.294921875,
      "step": 10421
    },
    {
      "epoch": 2.338344177698003,
      "grad_norm": 0.2691265046596527,
      "learning_rate": 6.112210609273952e-05,
      "loss": 0.055,
      "step": 10422
    },
    {
      "epoch": 2.338344177698003,
      "gripper_loss": 0.02587890625,
      "loss": 0.053955078125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.1240234375,
      "step": 10422
    },
    {
      "epoch": 2.3385685438635853,
      "grad_norm": 0.3663705587387085,
      "learning_rate": 6.108243686723447e-05,
      "loss": 0.0421,
      "step": 10423
    },
    {
      "epoch": 2.3385685438635853,
      "gripper_loss": 0.26953125,
      "loss": 0.025390625,
      "pos_loss": 0.09521484375,
      "rot_loss": 0.057861328125,
      "step": 10423
    },
    {
      "epoch": 2.338792910029168,
      "grad_norm": 0.5135717988014221,
      "learning_rate": 6.104277872732667e-05,
      "loss": 0.0473,
      "step": 10424
    },
    {
      "epoch": 2.338792910029168,
      "gripper_loss": 0.64453125,
      "loss": 0.024169921875,
      "pos_loss": 0.01190185546875,
      "rot_loss": 0.0087890625,
      "step": 10424
    },
    {
      "epoch": 2.33901727619475,
      "grad_norm": 0.44220900535583496,
      "learning_rate": 6.100313167534324e-05,
      "loss": 0.0543,
      "step": 10425
    },
    {
      "epoch": 2.33901727619475,
      "gripper_loss": 0.0162353515625,
      "loss": 0.0118408203125,
      "pos_loss": 0.07861328125,
      "rot_loss": 0.0179443359375,
      "step": 10425
    },
    {
      "epoch": 2.339241642360332,
      "grad_norm": 0.21545198559761047,
      "learning_rate": 6.0963495713610736e-05,
      "loss": 0.0396,
      "step": 10426
    },
    {
      "epoch": 2.339241642360332,
      "gripper_loss": 0.46484375,
      "loss": 0.04296875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.014404296875,
      "step": 10426
    },
    {
      "epoch": 2.3394660085259145,
      "grad_norm": 0.21476338803768158,
      "learning_rate": 6.092387084445497e-05,
      "loss": 0.0314,
      "step": 10427
    },
    {
      "epoch": 2.3394660085259145,
      "gripper_loss": 0.11767578125,
      "loss": 0.0224609375,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.054443359375,
      "step": 10427
    },
    {
      "epoch": 2.3396903746914965,
      "grad_norm": 0.31004831194877625,
      "learning_rate": 6.088425707020101e-05,
      "loss": 0.0556,
      "step": 10428
    },
    {
      "epoch": 2.3396903746914965,
      "gripper_loss": 0.0128173828125,
      "loss": 0.0732421875,
      "pos_loss": 0.4921875,
      "rot_loss": 0.25390625,
      "step": 10428
    },
    {
      "epoch": 2.3399147408570786,
      "grad_norm": 0.3485676348209381,
      "learning_rate": 6.084465439317352e-05,
      "loss": 0.0522,
      "step": 10429
    },
    {
      "epoch": 2.3399147408570786,
      "gripper_loss": 0.8125,
      "loss": 0.3203125,
      "pos_loss": 0.33203125,
      "rot_loss": 0.59375,
      "step": 10429
    },
    {
      "epoch": 2.340139107022661,
      "grad_norm": 1.6744935512542725,
      "learning_rate": 6.08050628156962e-05,
      "loss": 0.3228,
      "step": 10430
    },
    {
      "epoch": 2.340139107022661,
      "gripper_loss": 0.1923828125,
      "loss": 0.023193359375,
      "pos_loss": 0.103515625,
      "rot_loss": 0.057861328125,
      "step": 10430
    },
    {
      "epoch": 2.3403634731882432,
      "grad_norm": 0.22835546731948853,
      "learning_rate": 6.076548234009241e-05,
      "loss": 0.0327,
      "step": 10431
    },
    {
      "epoch": 2.3403634731882432,
      "gripper_loss": 0.006805419921875,
      "loss": 0.043212890625,
      "pos_loss": 0.369140625,
      "rot_loss": 0.06298828125,
      "step": 10431
    },
    {
      "epoch": 2.3405878393538253,
      "grad_norm": 0.2674577832221985,
      "learning_rate": 6.07259129686846e-05,
      "loss": 0.0577,
      "step": 10432
    },
    {
      "epoch": 2.3405878393538253,
      "gripper_loss": 0.01373291015625,
      "loss": 0.03759765625,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.126953125,
      "step": 10432
    },
    {
      "epoch": 2.340812205519408,
      "grad_norm": 0.19581104815006256,
      "learning_rate": 6.0686354703794746e-05,
      "loss": 0.0301,
      "step": 10433
    },
    {
      "epoch": 2.340812205519408,
      "gripper_loss": 0.0673828125,
      "loss": 0.029296875,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.169921875,
      "step": 10433
    },
    {
      "epoch": 2.34103657168499,
      "grad_norm": 0.5270442366600037,
      "learning_rate": 6.06468075477441e-05,
      "loss": 0.0754,
      "step": 10434
    },
    {
      "epoch": 2.34103657168499,
      "gripper_loss": 0.0126953125,
      "loss": 0.0439453125,
      "pos_loss": 0.349609375,
      "rot_loss": 0.08203125,
      "step": 10434
    },
    {
      "epoch": 2.341260937850572,
      "grad_norm": 0.4487570524215698,
      "learning_rate": 6.060727150285333e-05,
      "loss": 0.0412,
      "step": 10435
    },
    {
      "epoch": 2.341260937850572,
      "gripper_loss": 0.02197265625,
      "loss": 0.0517578125,
      "pos_loss": 0.30078125,
      "rot_loss": 0.21875,
      "step": 10435
    },
    {
      "epoch": 2.3414853040161545,
      "grad_norm": 0.4115065634250641,
      "learning_rate": 6.056774657144229e-05,
      "loss": 0.0626,
      "step": 10436
    },
    {
      "epoch": 2.3414853040161545,
      "gripper_loss": 0.0179443359375,
      "loss": 0.0284423828125,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.146484375,
      "step": 10436
    },
    {
      "epoch": 2.3417096701817366,
      "grad_norm": 0.24475741386413574,
      "learning_rate": 6.052823275583033e-05,
      "loss": 0.0413,
      "step": 10437
    },
    {
      "epoch": 2.3417096701817366,
      "gripper_loss": 0.0220947265625,
      "loss": 0.031005859375,
      "pos_loss": 0.228515625,
      "rot_loss": 0.0654296875,
      "step": 10437
    },
    {
      "epoch": 2.3419340363473187,
      "grad_norm": 0.3820358216762543,
      "learning_rate": 6.048873005833608e-05,
      "loss": 0.0574,
      "step": 10438
    },
    {
      "epoch": 2.3419340363473187,
      "gripper_loss": 0.00860595703125,
      "loss": 0.056884765625,
      "pos_loss": 0.515625,
      "rot_loss": 0.06494140625,
      "step": 10438
    },
    {
      "epoch": 2.342158402512901,
      "grad_norm": 0.3072265684604645,
      "learning_rate": 6.0449238481277644e-05,
      "loss": 0.0491,
      "step": 10439
    },
    {
      "epoch": 2.342158402512901,
      "gripper_loss": 0.06640625,
      "loss": 0.0211181640625,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.04248046875,
      "step": 10439
    },
    {
      "epoch": 2.3423827686784833,
      "grad_norm": 0.5047898888587952,
      "learning_rate": 6.040975802697224e-05,
      "loss": 0.0675,
      "step": 10440
    },
    {
      "epoch": 2.3423827686784833,
      "gripper_loss": 0.006378173828125,
      "loss": 0.03466796875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.08935546875,
      "step": 10440
    },
    {
      "epoch": 2.3426071348440654,
      "grad_norm": 0.21251986920833588,
      "learning_rate": 6.037028869773667e-05,
      "loss": 0.0501,
      "step": 10441
    },
    {
      "epoch": 2.3426071348440654,
      "gripper_loss": 0.00579833984375,
      "loss": 0.05712890625,
      "pos_loss": 0.5,
      "rot_loss": 0.07861328125,
      "step": 10441
    },
    {
      "epoch": 2.342831501009648,
      "grad_norm": 0.2226243019104004,
      "learning_rate": 6.033083049588684e-05,
      "loss": 0.0473,
      "step": 10442
    },
    {
      "epoch": 2.342831501009648,
      "gripper_loss": 0.0098876953125,
      "loss": 0.02490234375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.107421875,
      "step": 10442
    },
    {
      "epoch": 2.34305586717523,
      "grad_norm": 0.21844828128814697,
      "learning_rate": 6.029138342373822e-05,
      "loss": 0.0368,
      "step": 10443
    },
    {
      "epoch": 2.34305586717523,
      "gripper_loss": 0.0140380859375,
      "loss": 0.0211181640625,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.10205078125,
      "step": 10443
    },
    {
      "epoch": 2.343280233340812,
      "grad_norm": 0.2697478234767914,
      "learning_rate": 6.025194748360563e-05,
      "loss": 0.0246,
      "step": 10444
    },
    {
      "epoch": 2.343280233340812,
      "gripper_loss": 0.02880859375,
      "loss": 0.0732421875,
      "pos_loss": 0.48046875,
      "rot_loss": 0.2265625,
      "step": 10444
    },
    {
      "epoch": 2.3435045995063946,
      "grad_norm": 0.3263651728630066,
      "learning_rate": 6.0212522677803e-05,
      "loss": 0.0483,
      "step": 10445
    },
    {
      "epoch": 2.3435045995063946,
      "gripper_loss": 0.006805419921875,
      "loss": 0.046630859375,
      "pos_loss": 0.32421875,
      "rot_loss": 0.146484375,
      "step": 10445
    },
    {
      "epoch": 2.3437289656719766,
      "grad_norm": 0.2710247039794922,
      "learning_rate": 6.0173109008643815e-05,
      "loss": 0.0395,
      "step": 10446
    },
    {
      "epoch": 2.3437289656719766,
      "gripper_loss": 0.74609375,
      "loss": 0.042724609375,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.0830078125,
      "step": 10446
    },
    {
      "epoch": 2.3439533318375587,
      "grad_norm": 0.36069899797439575,
      "learning_rate": 6.013370647844088e-05,
      "loss": 0.0479,
      "step": 10447
    },
    {
      "epoch": 2.3439533318375587,
      "gripper_loss": 0.006805419921875,
      "loss": 0.047607421875,
      "pos_loss": 0.3671875,
      "rot_loss": 0.10546875,
      "step": 10447
    },
    {
      "epoch": 2.3441776980031412,
      "grad_norm": 0.7041245102882385,
      "learning_rate": 6.009431508950636e-05,
      "loss": 0.0666,
      "step": 10448
    },
    {
      "epoch": 2.3441776980031412,
      "gripper_loss": 0.134765625,
      "loss": 0.06982421875,
      "pos_loss": 0.56640625,
      "rot_loss": 0.109375,
      "step": 10448
    },
    {
      "epoch": 2.3444020641687233,
      "grad_norm": 0.46031397581100464,
      "learning_rate": 6.005493484415162e-05,
      "loss": 0.0765,
      "step": 10449
    },
    {
      "epoch": 2.3444020641687233,
      "gripper_loss": 0.015380859375,
      "loss": 0.017578125,
      "pos_loss": 0.05078125,
      "rot_loss": 0.10400390625,
      "step": 10449
    },
    {
      "epoch": 2.3446264303343054,
      "grad_norm": 0.48318785429000854,
      "learning_rate": 6.00155657446875e-05,
      "loss": 0.0588,
      "step": 10450
    },
    {
      "epoch": 2.3446264303343054,
      "gripper_loss": 0.00726318359375,
      "loss": 0.09619140625,
      "pos_loss": 0.6171875,
      "rot_loss": 0.373046875,
      "step": 10450
    },
    {
      "epoch": 2.344850796499888,
      "grad_norm": 0.3897177278995514,
      "learning_rate": 5.9976207793424194e-05,
      "loss": 0.0387,
      "step": 10451
    },
    {
      "epoch": 2.344850796499888,
      "gripper_loss": 0.00469970703125,
      "loss": 0.10205078125,
      "pos_loss": 1.0390625,
      "rot_loss": 0.0281982421875,
      "step": 10451
    },
    {
      "epoch": 2.34507516266547,
      "grad_norm": 0.43515029549598694,
      "learning_rate": 5.993686099267126e-05,
      "loss": 0.051,
      "step": 10452
    },
    {
      "epoch": 2.34507516266547,
      "gripper_loss": 0.67578125,
      "loss": 0.035888671875,
      "pos_loss": 0.031005859375,
      "rot_loss": 0.1083984375,
      "step": 10452
    },
    {
      "epoch": 2.3452995288310525,
      "grad_norm": 0.2559742033481598,
      "learning_rate": 5.98975253447375e-05,
      "loss": 0.0334,
      "step": 10453
    },
    {
      "epoch": 2.3452995288310525,
      "gripper_loss": 0.0205078125,
      "loss": 0.041748046875,
      "pos_loss": 0.30859375,
      "rot_loss": 0.1005859375,
      "step": 10453
    },
    {
      "epoch": 2.3455238949966346,
      "grad_norm": 0.2352658063173294,
      "learning_rate": 5.9858200851931e-05,
      "loss": 0.0274,
      "step": 10454
    },
    {
      "epoch": 2.3455238949966346,
      "gripper_loss": 0.00732421875,
      "loss": 0.032470703125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.03857421875,
      "step": 10454
    },
    {
      "epoch": 2.3457482611622167,
      "grad_norm": 0.2503673732280731,
      "learning_rate": 5.9818887516559453e-05,
      "loss": 0.0312,
      "step": 10455
    },
    {
      "epoch": 2.3457482611622167,
      "gripper_loss": 0.2333984375,
      "loss": 0.01385498046875,
      "pos_loss": 0.0115966796875,
      "rot_loss": 0.03369140625,
      "step": 10455
    },
    {
      "epoch": 2.345972627327799,
      "grad_norm": 0.3818133473396301,
      "learning_rate": 5.977958534092964e-05,
      "loss": 0.0368,
      "step": 10456
    },
    {
      "epoch": 2.345972627327799,
      "gripper_loss": 0.006591796875,
      "loss": 0.0174560546875,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.072265625,
      "step": 10456
    },
    {
      "epoch": 2.3461969934933813,
      "grad_norm": 0.31943434476852417,
      "learning_rate": 5.974029432734798e-05,
      "loss": 0.037,
      "step": 10457
    },
    {
      "epoch": 2.3461969934933813,
      "gripper_loss": 1.6875,
      "loss": 0.078125,
      "pos_loss": 0.125,
      "rot_loss": 0.1298828125,
      "step": 10457
    },
    {
      "epoch": 2.3464213596589634,
      "grad_norm": 0.3237256407737732,
      "learning_rate": 5.970101447811982e-05,
      "loss": 0.0593,
      "step": 10458
    },
    {
      "epoch": 2.3464213596589634,
      "gripper_loss": 0.28515625,
      "loss": 0.03125,
      "pos_loss": 0.0142822265625,
      "rot_loss": 0.2021484375,
      "step": 10458
    },
    {
      "epoch": 2.346645725824546,
      "grad_norm": 0.38660359382629395,
      "learning_rate": 5.96617457955502e-05,
      "loss": 0.041,
      "step": 10459
    },
    {
      "epoch": 2.346645725824546,
      "gripper_loss": 0.009521484375,
      "loss": 0.06396484375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.12109375,
      "step": 10459
    },
    {
      "epoch": 2.346870091990128,
      "grad_norm": 0.22506815195083618,
      "learning_rate": 5.962248828194339e-05,
      "loss": 0.045,
      "step": 10460
    },
    {
      "epoch": 2.346870091990128,
      "gripper_loss": 0.09130859375,
      "loss": 0.05126953125,
      "pos_loss": 0.4375,
      "rot_loss": 0.05615234375,
      "step": 10460
    },
    {
      "epoch": 2.34709445815571,
      "grad_norm": 0.4996882975101471,
      "learning_rate": 5.9583241939603045e-05,
      "loss": 0.043,
      "step": 10461
    },
    {
      "epoch": 2.34709445815571,
      "gripper_loss": 0.080078125,
      "loss": 0.057373046875,
      "pos_loss": 0.328125,
      "rot_loss": 0.21484375,
      "step": 10461
    },
    {
      "epoch": 2.3473188243212926,
      "grad_norm": 0.48848897218704224,
      "learning_rate": 5.9544006770831994e-05,
      "loss": 0.0601,
      "step": 10462
    },
    {
      "epoch": 2.3473188243212926,
      "gripper_loss": 0.004974365234375,
      "loss": 0.027587890625,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.04150390625,
      "step": 10462
    },
    {
      "epoch": 2.3475431904868747,
      "grad_norm": 0.647000789642334,
      "learning_rate": 5.950478277793264e-05,
      "loss": 0.0842,
      "step": 10463
    },
    {
      "epoch": 2.3475431904868747,
      "gripper_loss": 0.185546875,
      "loss": 0.055419921875,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.349609375,
      "step": 10463
    },
    {
      "epoch": 2.3477675566524567,
      "grad_norm": 0.2173609584569931,
      "learning_rate": 5.946556996320665e-05,
      "loss": 0.0447,
      "step": 10464
    },
    {
      "epoch": 2.3477675566524567,
      "gripper_loss": 0.0245361328125,
      "loss": 0.0732421875,
      "pos_loss": 0.30859375,
      "rot_loss": 0.44140625,
      "step": 10464
    },
    {
      "epoch": 2.3479919228180393,
      "grad_norm": 0.6068081259727478,
      "learning_rate": 5.9426368328954986e-05,
      "loss": 0.0766,
      "step": 10465
    },
    {
      "epoch": 2.3479919228180393,
      "gripper_loss": 0.0126953125,
      "loss": 0.051513671875,
      "pos_loss": 0.3203125,
      "rot_loss": 0.201171875,
      "step": 10465
    },
    {
      "epoch": 2.3482162889836213,
      "grad_norm": 0.2718738615512848,
      "learning_rate": 5.9387177877477856e-05,
      "loss": 0.0394,
      "step": 10466
    },
    {
      "epoch": 2.3482162889836213,
      "gripper_loss": 0.0074462890625,
      "loss": 0.0400390625,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.25,
      "step": 10466
    },
    {
      "epoch": 2.3484406551492034,
      "grad_norm": 0.362388014793396,
      "learning_rate": 5.934799861107506e-05,
      "loss": 0.041,
      "step": 10467
    },
    {
      "epoch": 2.3484406551492034,
      "gripper_loss": 0.0157470703125,
      "loss": 0.08251953125,
      "pos_loss": 0.7109375,
      "rot_loss": 0.134765625,
      "step": 10467
    },
    {
      "epoch": 2.348665021314786,
      "grad_norm": 0.366348534822464,
      "learning_rate": 5.930883053204564e-05,
      "loss": 0.0506,
      "step": 10468
    },
    {
      "epoch": 2.348665021314786,
      "gripper_loss": 0.00872802734375,
      "loss": 0.0147705078125,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.01611328125,
      "step": 10468
    },
    {
      "epoch": 2.348889387480368,
      "grad_norm": 0.2658754587173462,
      "learning_rate": 5.92696736426879e-05,
      "loss": 0.0394,
      "step": 10469
    },
    {
      "epoch": 2.348889387480368,
      "gripper_loss": 0.06103515625,
      "loss": 0.006683349609375,
      "pos_loss": 0.01904296875,
      "rot_loss": 0.00970458984375,
      "step": 10469
    },
    {
      "epoch": 2.34911375364595,
      "grad_norm": 0.2871900796890259,
      "learning_rate": 5.923052794529965e-05,
      "loss": 0.0529,
      "step": 10470
    },
    {
      "epoch": 2.34911375364595,
      "gripper_loss": 0.005584716796875,
      "loss": 0.08056640625,
      "pos_loss": 0.79296875,
      "rot_loss": 0.041748046875,
      "step": 10470
    },
    {
      "epoch": 2.3493381198115326,
      "grad_norm": 0.5585874915122986,
      "learning_rate": 5.919139344217778e-05,
      "loss": 0.0651,
      "step": 10471
    },
    {
      "epoch": 2.3493381198115326,
      "gripper_loss": 0.18359375,
      "loss": 0.0361328125,
      "pos_loss": 0.10546875,
      "rot_loss": 0.1982421875,
      "step": 10471
    },
    {
      "epoch": 2.3495624859771147,
      "grad_norm": 0.6398510932922363,
      "learning_rate": 5.9152270135618775e-05,
      "loss": 0.0527,
      "step": 10472
    },
    {
      "epoch": 2.3495624859771147,
      "gripper_loss": 0.67578125,
      "loss": 0.03271484375,
      "pos_loss": 0.0576171875,
      "rot_loss": 0.0419921875,
      "step": 10472
    },
    {
      "epoch": 2.349786852142697,
      "grad_norm": 0.19948196411132812,
      "learning_rate": 5.911315802791839e-05,
      "loss": 0.027,
      "step": 10473
    },
    {
      "epoch": 2.349786852142697,
      "gripper_loss": 0.322265625,
      "loss": 0.04443359375,
      "pos_loss": 0.23046875,
      "rot_loss": 0.1123046875,
      "step": 10473
    },
    {
      "epoch": 2.3500112183082793,
      "grad_norm": 0.4710458815097809,
      "learning_rate": 5.907405712137173e-05,
      "loss": 0.0459,
      "step": 10474
    },
    {
      "epoch": 2.3500112183082793,
      "gripper_loss": 0.03955078125,
      "loss": 0.037353515625,
      "pos_loss": 0.33984375,
      "rot_loss": 0.0213623046875,
      "step": 10474
    },
    {
      "epoch": 2.3502355844738614,
      "grad_norm": 0.2723349928855896,
      "learning_rate": 5.903496741827313e-05,
      "loss": 0.0371,
      "step": 10475
    },
    {
      "epoch": 2.3502355844738614,
      "gripper_loss": 0.0186767578125,
      "loss": 0.01007080078125,
      "pos_loss": 0.056640625,
      "rot_loss": 0.0235595703125,
      "step": 10475
    },
    {
      "epoch": 2.3504599506394435,
      "grad_norm": 0.2113681584596634,
      "learning_rate": 5.899588892091645e-05,
      "loss": 0.0289,
      "step": 10476
    },
    {
      "epoch": 2.3504599506394435,
      "gripper_loss": 0.00732421875,
      "loss": 0.0159912109375,
      "pos_loss": 0.04345703125,
      "rot_loss": 0.10302734375,
      "step": 10476
    },
    {
      "epoch": 2.350684316805026,
      "grad_norm": 0.21015000343322754,
      "learning_rate": 5.8956821631594686e-05,
      "loss": 0.0303,
      "step": 10477
    },
    {
      "epoch": 2.350684316805026,
      "gripper_loss": 0.11181640625,
      "loss": 0.00787353515625,
      "pos_loss": 0.01953125,
      "rot_loss": 0.00665283203125,
      "step": 10477
    },
    {
      "epoch": 2.350908682970608,
      "grad_norm": 0.2659103572368622,
      "learning_rate": 5.891776555260042e-05,
      "loss": 0.0322,
      "step": 10478
    },
    {
      "epoch": 2.350908682970608,
      "gripper_loss": 0.0145263671875,
      "loss": 0.052001953125,
      "pos_loss": 0.4375,
      "rot_loss": 0.083984375,
      "step": 10478
    },
    {
      "epoch": 2.35113304913619,
      "grad_norm": 0.2556253969669342,
      "learning_rate": 5.8878720686225325e-05,
      "loss": 0.0475,
      "step": 10479
    },
    {
      "epoch": 2.35113304913619,
      "gripper_loss": 0.01904296875,
      "loss": 0.00909423828125,
      "pos_loss": 0.042236328125,
      "rot_loss": 0.026123046875,
      "step": 10479
    },
    {
      "epoch": 2.3513574153017727,
      "grad_norm": 0.22473619878292084,
      "learning_rate": 5.883968703476056e-05,
      "loss": 0.0421,
      "step": 10480
    },
    {
      "epoch": 2.3513574153017727,
      "gripper_loss": 0.014404296875,
      "loss": 0.0198974609375,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.08154296875,
      "step": 10480
    },
    {
      "epoch": 2.3515817814673547,
      "grad_norm": 0.3186880946159363,
      "learning_rate": 5.880066460049666e-05,
      "loss": 0.0535,
      "step": 10481
    },
    {
      "epoch": 2.3515817814673547,
      "gripper_loss": 0.02197265625,
      "loss": 0.0869140625,
      "pos_loss": 0.54296875,
      "rot_loss": 0.34375,
      "step": 10481
    },
    {
      "epoch": 2.351806147632937,
      "grad_norm": 0.311458557844162,
      "learning_rate": 5.876165338572337e-05,
      "loss": 0.0459,
      "step": 10482
    },
    {
      "epoch": 2.351806147632937,
      "gripper_loss": 0.1279296875,
      "loss": 0.017333984375,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.038818359375,
      "step": 10482
    },
    {
      "epoch": 2.3520305137985194,
      "grad_norm": 0.2741064727306366,
      "learning_rate": 5.872265339273e-05,
      "loss": 0.0372,
      "step": 10483
    },
    {
      "epoch": 2.3520305137985194,
      "gripper_loss": 0.0986328125,
      "loss": 0.048828125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.035888671875,
      "step": 10483
    },
    {
      "epoch": 2.3522548799641014,
      "grad_norm": 0.4565708339214325,
      "learning_rate": 5.8683664623804865e-05,
      "loss": 0.0668,
      "step": 10484
    },
    {
      "epoch": 2.3522548799641014,
      "gripper_loss": 0.0634765625,
      "loss": 0.04345703125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.2158203125,
      "step": 10484
    },
    {
      "epoch": 2.3524792461296835,
      "grad_norm": 0.36142271757125854,
      "learning_rate": 5.864468708123588e-05,
      "loss": 0.0599,
      "step": 10485
    },
    {
      "epoch": 2.3524792461296835,
      "gripper_loss": 0.462890625,
      "loss": 0.02294921875,
      "pos_loss": 0.03564453125,
      "rot_loss": 0.0245361328125,
      "step": 10485
    },
    {
      "epoch": 2.352703612295266,
      "grad_norm": 0.3738994896411896,
      "learning_rate": 5.860572076731024e-05,
      "loss": 0.0455,
      "step": 10486
    },
    {
      "epoch": 2.352703612295266,
      "gripper_loss": 0.408203125,
      "loss": 0.0224609375,
      "pos_loss": 0.042724609375,
      "rot_loss": 0.0380859375,
      "step": 10486
    },
    {
      "epoch": 2.352927978460848,
      "grad_norm": 1.1840146780014038,
      "learning_rate": 5.856676568431457e-05,
      "loss": 0.0457,
      "step": 10487
    },
    {
      "epoch": 2.352927978460848,
      "gripper_loss": 0.031005859375,
      "loss": 0.0264892578125,
      "pos_loss": 0.0106201171875,
      "rot_loss": 0.240234375,
      "step": 10487
    },
    {
      "epoch": 2.35315234462643,
      "grad_norm": 0.2938453257083893,
      "learning_rate": 5.852782183453462e-05,
      "loss": 0.0347,
      "step": 10488
    },
    {
      "epoch": 2.35315234462643,
      "gripper_loss": 0.67578125,
      "loss": 0.056884765625,
      "pos_loss": 0.349609375,
      "rot_loss": 0.01165771484375,
      "step": 10488
    },
    {
      "epoch": 2.3533767107920127,
      "grad_norm": 0.3733518719673157,
      "learning_rate": 5.848888922025553e-05,
      "loss": 0.0493,
      "step": 10489
    },
    {
      "epoch": 2.3533767107920127,
      "gripper_loss": 0.134765625,
      "loss": 0.0284423828125,
      "pos_loss": 0.20703125,
      "rot_loss": 0.02490234375,
      "step": 10489
    },
    {
      "epoch": 2.353601076957595,
      "grad_norm": 0.2601431906223297,
      "learning_rate": 5.8449967843761944e-05,
      "loss": 0.0264,
      "step": 10490
    },
    {
      "epoch": 2.353601076957595,
      "gripper_loss": 0.00909423828125,
      "loss": 0.03271484375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.07275390625,
      "step": 10490
    },
    {
      "epoch": 2.353825443123177,
      "grad_norm": 0.5513996481895447,
      "learning_rate": 5.841105770733779e-05,
      "loss": 0.0603,
      "step": 10491
    },
    {
      "epoch": 2.353825443123177,
      "gripper_loss": 0.09619140625,
      "loss": 0.05810546875,
      "pos_loss": 0.451171875,
      "rot_loss": 0.11279296875,
      "step": 10491
    },
    {
      "epoch": 2.3540498092887594,
      "grad_norm": 0.3205324113368988,
      "learning_rate": 5.8372158813266184e-05,
      "loss": 0.0372,
      "step": 10492
    },
    {
      "epoch": 2.3540498092887594,
      "gripper_loss": 0.458984375,
      "loss": 0.0267333984375,
      "pos_loss": 0.056396484375,
      "rot_loss": 0.05126953125,
      "step": 10492
    },
    {
      "epoch": 2.3542741754543415,
      "grad_norm": 0.34576910734176636,
      "learning_rate": 5.833327116382978e-05,
      "loss": 0.0303,
      "step": 10493
    },
    {
      "epoch": 2.3542741754543415,
      "gripper_loss": 0.7578125,
      "loss": 0.09912109375,
      "pos_loss": 0.5703125,
      "rot_loss": 0.2080078125,
      "step": 10493
    },
    {
      "epoch": 2.3544985416199236,
      "grad_norm": 0.502509593963623,
      "learning_rate": 5.8294394761310434e-05,
      "loss": 0.0472,
      "step": 10494
    },
    {
      "epoch": 2.3544985416199236,
      "gripper_loss": 0.006072998046875,
      "loss": 0.036376953125,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.1142578125,
      "step": 10494
    },
    {
      "epoch": 2.354722907785506,
      "grad_norm": 0.3025549054145813,
      "learning_rate": 5.825552960798952e-05,
      "loss": 0.0553,
      "step": 10495
    },
    {
      "epoch": 2.354722907785506,
      "gripper_loss": 0.1923828125,
      "loss": 0.0269775390625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.0308837890625,
      "step": 10495
    },
    {
      "epoch": 2.354947273951088,
      "grad_norm": 0.3488464057445526,
      "learning_rate": 5.821667570614747e-05,
      "loss": 0.0453,
      "step": 10496
    },
    {
      "epoch": 2.354947273951088,
      "gripper_loss": 0.00439453125,
      "loss": 0.013671875,
      "pos_loss": 0.099609375,
      "rot_loss": 0.0230712890625,
      "step": 10496
    },
    {
      "epoch": 2.3551716401166702,
      "grad_norm": 0.3876299560070038,
      "learning_rate": 5.817783305806426e-05,
      "loss": 0.0452,
      "step": 10497
    },
    {
      "epoch": 2.3551716401166702,
      "gripper_loss": 0.0301513671875,
      "loss": 0.01129150390625,
      "pos_loss": 0.048583984375,
      "rot_loss": 0.037841796875,
      "step": 10497
    },
    {
      "epoch": 2.3553960062822528,
      "grad_norm": 1.0435518026351929,
      "learning_rate": 5.8139001666019184e-05,
      "loss": 0.0836,
      "step": 10498
    },
    {
      "epoch": 2.3553960062822528,
      "gripper_loss": 0.017578125,
      "loss": 0.033447265625,
      "pos_loss": 0.1796875,
      "rot_loss": 0.146484375,
      "step": 10498
    },
    {
      "epoch": 2.355620372447835,
      "grad_norm": 0.3024686872959137,
      "learning_rate": 5.810018153229091e-05,
      "loss": 0.0502,
      "step": 10499
    },
    {
      "epoch": 2.355620372447835,
      "gripper_loss": 0.11962890625,
      "loss": 0.00726318359375,
      "pos_loss": 0.0089111328125,
      "rot_loss": 0.004730224609375,
      "step": 10499
    },
    {
      "epoch": 2.355844738613417,
      "grad_norm": 0.3326646387577057,
      "learning_rate": 5.8061372659157316e-05,
      "loss": 0.0498,
      "step": 10500
    },
    {
      "epoch": 2.355844738613417,
      "gripper_loss": 0.0130615234375,
      "loss": 0.08447265625,
      "pos_loss": 0.65625,
      "rot_loss": 0.2080078125,
      "step": 10500
    },
    {
      "epoch": 2.3560691047789994,
      "grad_norm": 0.4071994721889496,
      "learning_rate": 5.8022575048895635e-05,
      "loss": 0.0585,
      "step": 10501
    },
    {
      "epoch": 2.3560691047789994,
      "gripper_loss": 0.00592041015625,
      "loss": 0.1328125,
      "pos_loss": 0.890625,
      "rot_loss": 0.49609375,
      "step": 10501
    },
    {
      "epoch": 2.3562934709445815,
      "grad_norm": 0.3064117431640625,
      "learning_rate": 5.7983788703782545e-05,
      "loss": 0.0394,
      "step": 10502
    },
    {
      "epoch": 2.3562934709445815,
      "gripper_loss": 0.00860595703125,
      "loss": 0.053466796875,
      "pos_loss": 0.318359375,
      "rot_loss": 0.2216796875,
      "step": 10502
    },
    {
      "epoch": 2.3565178371101636,
      "grad_norm": 0.4697040319442749,
      "learning_rate": 5.794501362609403e-05,
      "loss": 0.0741,
      "step": 10503
    },
    {
      "epoch": 2.3565178371101636,
      "gripper_loss": 0.267578125,
      "loss": 0.03955078125,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.109375,
      "step": 10503
    },
    {
      "epoch": 2.356742203275746,
      "grad_norm": 0.19951431453227997,
      "learning_rate": 5.7906249818105436e-05,
      "loss": 0.0325,
      "step": 10504
    },
    {
      "epoch": 2.356742203275746,
      "gripper_loss": 0.00445556640625,
      "loss": 0.0146484375,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.048828125,
      "step": 10504
    },
    {
      "epoch": 2.356966569441328,
      "grad_norm": 0.26466843485832214,
      "learning_rate": 5.7867497282091285e-05,
      "loss": 0.0455,
      "step": 10505
    },
    {
      "epoch": 2.356966569441328,
      "gripper_loss": 0.04296875,
      "loss": 0.033935546875,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.09375,
      "step": 10505
    },
    {
      "epoch": 2.3571909356069103,
      "grad_norm": 0.1828220933675766,
      "learning_rate": 5.782875602032561e-05,
      "loss": 0.0354,
      "step": 10506
    },
    {
      "epoch": 2.3571909356069103,
      "gripper_loss": 0.00482177734375,
      "loss": 0.0137939453125,
      "pos_loss": 0.10546875,
      "rot_loss": 0.0203857421875,
      "step": 10506
    },
    {
      "epoch": 2.357415301772493,
      "grad_norm": 0.2586621940135956,
      "learning_rate": 5.7790026035081765e-05,
      "loss": 0.039,
      "step": 10507
    },
    {
      "epoch": 2.357415301772493,
      "gripper_loss": 0.1943359375,
      "loss": 0.017578125,
      "pos_loss": 0.0281982421875,
      "rot_loss": 0.0732421875,
      "step": 10507
    },
    {
      "epoch": 2.357639667938075,
      "grad_norm": 0.46173062920570374,
      "learning_rate": 5.7751307328632456e-05,
      "loss": 0.0541,
      "step": 10508
    },
    {
      "epoch": 2.357639667938075,
      "gripper_loss": 0.431640625,
      "loss": 0.0201416015625,
      "pos_loss": 0.021240234375,
      "rot_loss": 0.025146484375,
      "step": 10508
    },
    {
      "epoch": 2.357864034103657,
      "grad_norm": 0.22633756697177887,
      "learning_rate": 5.771259990324953e-05,
      "loss": 0.0462,
      "step": 10509
    },
    {
      "epoch": 2.357864034103657,
      "gripper_loss": 0.00958251953125,
      "loss": 0.08056640625,
      "pos_loss": 0.4765625,
      "rot_loss": 0.34375,
      "step": 10509
    },
    {
      "epoch": 2.3580884002692395,
      "grad_norm": 0.22665143013000488,
      "learning_rate": 5.7673903761204405e-05,
      "loss": 0.0544,
      "step": 10510
    },
    {
      "epoch": 2.3580884002692395,
      "gripper_loss": 0.83203125,
      "loss": 0.080078125,
      "pos_loss": 0.419921875,
      "rot_loss": 0.130859375,
      "step": 10510
    },
    {
      "epoch": 2.3583127664348216,
      "grad_norm": 0.2895807921886444,
      "learning_rate": 5.7635218904767834e-05,
      "loss": 0.0356,
      "step": 10511
    },
    {
      "epoch": 2.3583127664348216,
      "gripper_loss": 0.0022735595703125,
      "loss": 0.022216796875,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.1123046875,
      "step": 10511
    },
    {
      "epoch": 2.3585371326004037,
      "grad_norm": 0.29593390226364136,
      "learning_rate": 5.759654533620967e-05,
      "loss": 0.0354,
      "step": 10512
    },
    {
      "epoch": 2.3585371326004037,
      "gripper_loss": 0.02294921875,
      "loss": 0.0206298828125,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.07373046875,
      "step": 10512
    },
    {
      "epoch": 2.358761498765986,
      "grad_norm": 0.2936556041240692,
      "learning_rate": 5.755788305779938e-05,
      "loss": 0.0455,
      "step": 10513
    },
    {
      "epoch": 2.358761498765986,
      "gripper_loss": 0.12890625,
      "loss": 0.0257568359375,
      "pos_loss": 0.12890625,
      "rot_loss": 0.07421875,
      "step": 10513
    },
    {
      "epoch": 2.3589858649315683,
      "grad_norm": 0.18493331968784332,
      "learning_rate": 5.751923207180557e-05,
      "loss": 0.0266,
      "step": 10514
    },
    {
      "epoch": 2.3589858649315683,
      "gripper_loss": 0.6953125,
      "loss": 0.09130859375,
      "pos_loss": 0.69921875,
      "rot_loss": 0.0179443359375,
      "step": 10514
    },
    {
      "epoch": 2.3592102310971503,
      "grad_norm": 0.47405606508255005,
      "learning_rate": 5.748059238049627e-05,
      "loss": 0.0502,
      "step": 10515
    },
    {
      "epoch": 2.3592102310971503,
      "gripper_loss": 1.0,
      "loss": 0.271484375,
      "pos_loss": 0.85546875,
      "rot_loss": 0.54296875,
      "step": 10515
    },
    {
      "epoch": 2.359434597262733,
      "grad_norm": 1.4552634954452515,
      "learning_rate": 5.744196398613888e-05,
      "loss": 0.1898,
      "step": 10516
    },
    {
      "epoch": 2.359434597262733,
      "gripper_loss": 0.0206298828125,
      "loss": 0.038818359375,
      "pos_loss": 0.236328125,
      "rot_loss": 0.1318359375,
      "step": 10516
    },
    {
      "epoch": 2.359658963428315,
      "grad_norm": 0.35582685470581055,
      "learning_rate": 5.740334689100013e-05,
      "loss": 0.0502,
      "step": 10517
    },
    {
      "epoch": 2.359658963428315,
      "gripper_loss": 0.3671875,
      "loss": 0.0546875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.048583984375,
      "step": 10517
    },
    {
      "epoch": 2.359883329593897,
      "grad_norm": 0.38315337896347046,
      "learning_rate": 5.736474109734596e-05,
      "loss": 0.04,
      "step": 10518
    },
    {
      "epoch": 2.359883329593897,
      "gripper_loss": 0.01275634765625,
      "loss": 0.035400390625,
      "pos_loss": 0.2890625,
      "rot_loss": 0.05859375,
      "step": 10518
    },
    {
      "epoch": 2.3601076957594795,
      "grad_norm": 0.5219464302062988,
      "learning_rate": 5.732614660744179e-05,
      "loss": 0.0504,
      "step": 10519
    },
    {
      "epoch": 2.3601076957594795,
      "gripper_loss": 1.4609375,
      "loss": 0.049072265625,
      "pos_loss": 0.00482177734375,
      "rot_loss": 0.004791259765625,
      "step": 10519
    },
    {
      "epoch": 2.3603320619250616,
      "grad_norm": 0.21007086336612701,
      "learning_rate": 5.728756342355229e-05,
      "loss": 0.0287,
      "step": 10520
    },
    {
      "epoch": 2.3603320619250616,
      "gripper_loss": 0.1435546875,
      "loss": 0.048583984375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.1357421875,
      "step": 10520
    },
    {
      "epoch": 2.3605564280906437,
      "grad_norm": 0.4440601170063019,
      "learning_rate": 5.724899154794164e-05,
      "loss": 0.0537,
      "step": 10521
    },
    {
      "epoch": 2.3605564280906437,
      "gripper_loss": 0.1875,
      "loss": 0.028076171875,
      "pos_loss": 0.18359375,
      "rot_loss": 0.0224609375,
      "step": 10521
    },
    {
      "epoch": 2.3607807942562262,
      "grad_norm": 0.34627464413642883,
      "learning_rate": 5.721043098287304e-05,
      "loss": 0.0462,
      "step": 10522
    },
    {
      "epoch": 2.3607807942562262,
      "gripper_loss": 0.375,
      "loss": 0.0625,
      "pos_loss": 0.4765625,
      "rot_loss": 0.041748046875,
      "step": 10522
    },
    {
      "epoch": 2.3610051604218083,
      "grad_norm": 0.3549160361289978,
      "learning_rate": 5.7171881730609335e-05,
      "loss": 0.0665,
      "step": 10523
    },
    {
      "epoch": 2.3610051604218083,
      "gripper_loss": 0.061767578125,
      "loss": 0.033447265625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.031494140625,
      "step": 10523
    },
    {
      "epoch": 2.3612295265873904,
      "grad_norm": 0.4443039894104004,
      "learning_rate": 5.713334379341248e-05,
      "loss": 0.0445,
      "step": 10524
    },
    {
      "epoch": 2.3612295265873904,
      "gripper_loss": 0.036865234375,
      "loss": 0.072265625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.400390625,
      "step": 10524
    },
    {
      "epoch": 2.361453892752973,
      "grad_norm": 0.3862157464027405,
      "learning_rate": 5.709481717354398e-05,
      "loss": 0.0657,
      "step": 10525
    },
    {
      "epoch": 2.361453892752973,
      "gripper_loss": 0.52734375,
      "loss": 0.05517578125,
      "pos_loss": 0.244140625,
      "rot_loss": 0.12890625,
      "step": 10525
    },
    {
      "epoch": 2.361678258918555,
      "grad_norm": 0.4164677560329437,
      "learning_rate": 5.705630187326441e-05,
      "loss": 0.063,
      "step": 10526
    },
    {
      "epoch": 2.361678258918555,
      "gripper_loss": 0.0869140625,
      "loss": 0.02197265625,
      "pos_loss": 0.054443359375,
      "rot_loss": 0.03857421875,
      "step": 10526
    },
    {
      "epoch": 2.361902625084137,
      "grad_norm": 0.6687957644462585,
      "learning_rate": 5.701779789483391e-05,
      "loss": 0.0915,
      "step": 10527
    },
    {
      "epoch": 2.361902625084137,
      "gripper_loss": 0.0299072265625,
      "loss": 0.07373046875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.25390625,
      "step": 10527
    },
    {
      "epoch": 2.3621269912497196,
      "grad_norm": 0.238481342792511,
      "learning_rate": 5.697930524051187e-05,
      "loss": 0.0396,
      "step": 10528
    },
    {
      "epoch": 2.3621269912497196,
      "gripper_loss": 0.009033203125,
      "loss": 0.01068115234375,
      "pos_loss": 0.050048828125,
      "rot_loss": 0.037353515625,
      "step": 10528
    },
    {
      "epoch": 2.3623513574153017,
      "grad_norm": 0.30339568853378296,
      "learning_rate": 5.6940823912557036e-05,
      "loss": 0.0393,
      "step": 10529
    },
    {
      "epoch": 2.3623513574153017,
      "gripper_loss": 0.251953125,
      "loss": 0.11181640625,
      "pos_loss": 0.8203125,
      "rot_loss": 0.271484375,
      "step": 10529
    },
    {
      "epoch": 2.362575723580884,
      "grad_norm": 0.7383850812911987,
      "learning_rate": 5.690235391322754e-05,
      "loss": 0.061,
      "step": 10530
    },
    {
      "epoch": 2.362575723580884,
      "gripper_loss": 0.2431640625,
      "loss": 0.04150390625,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.169921875,
      "step": 10530
    },
    {
      "epoch": 2.3628000897464663,
      "grad_norm": 0.3122456967830658,
      "learning_rate": 5.686389524478064e-05,
      "loss": 0.0292,
      "step": 10531
    },
    {
      "epoch": 2.3628000897464663,
      "gripper_loss": 0.80078125,
      "loss": 0.0791015625,
      "pos_loss": 0.35546875,
      "rot_loss": 0.1962890625,
      "step": 10531
    },
    {
      "epoch": 2.3630244559120483,
      "grad_norm": 0.36738085746765137,
      "learning_rate": 5.682544790947314e-05,
      "loss": 0.0794,
      "step": 10532
    },
    {
      "epoch": 2.3630244559120483,
      "gripper_loss": 0.01251220703125,
      "loss": 0.0478515625,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.2734375,
      "step": 10532
    },
    {
      "epoch": 2.363248822077631,
      "grad_norm": 0.3323521018028259,
      "learning_rate": 5.678701190956112e-05,
      "loss": 0.0672,
      "step": 10533
    },
    {
      "epoch": 2.363248822077631,
      "gripper_loss": 0.2333984375,
      "loss": 0.044921875,
      "pos_loss": 0.130859375,
      "rot_loss": 0.24609375,
      "step": 10533
    },
    {
      "epoch": 2.363473188243213,
      "grad_norm": 0.3318290114402771,
      "learning_rate": 5.674858724730006e-05,
      "loss": 0.0372,
      "step": 10534
    },
    {
      "epoch": 2.363473188243213,
      "gripper_loss": 0.0089111328125,
      "loss": 0.03759765625,
      "pos_loss": 0.2265625,
      "rot_loss": 0.1416015625,
      "step": 10534
    },
    {
      "epoch": 2.363697554408795,
      "grad_norm": 0.27052226662635803,
      "learning_rate": 5.671017392494463e-05,
      "loss": 0.0458,
      "step": 10535
    },
    {
      "epoch": 2.363697554408795,
      "gripper_loss": 0.00640869140625,
      "loss": 0.07568359375,
      "pos_loss": 0.703125,
      "rot_loss": 0.07568359375,
      "step": 10535
    },
    {
      "epoch": 2.3639219205743776,
      "grad_norm": 0.34567001461982727,
      "learning_rate": 5.667177194474882e-05,
      "loss": 0.0472,
      "step": 10536
    },
    {
      "epoch": 2.3639219205743776,
      "gripper_loss": 0.00408935546875,
      "loss": 0.0279541015625,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.1123046875,
      "step": 10536
    },
    {
      "epoch": 2.3641462867399596,
      "grad_norm": 0.4546539783477783,
      "learning_rate": 5.6633381308966144e-05,
      "loss": 0.0588,
      "step": 10537
    },
    {
      "epoch": 2.3641462867399596,
      "gripper_loss": 0.0247802734375,
      "loss": 0.049560546875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.2373046875,
      "step": 10537
    },
    {
      "epoch": 2.3643706529055417,
      "grad_norm": 0.38956063985824585,
      "learning_rate": 5.659500201984938e-05,
      "loss": 0.0522,
      "step": 10538
    },
    {
      "epoch": 2.3643706529055417,
      "gripper_loss": 0.1669921875,
      "loss": 0.07861328125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.134765625,
      "step": 10538
    },
    {
      "epoch": 2.3645950190711242,
      "grad_norm": 0.31777438521385193,
      "learning_rate": 5.655663407965048e-05,
      "loss": 0.0564,
      "step": 10539
    },
    {
      "epoch": 2.3645950190711242,
      "gripper_loss": 0.04443359375,
      "loss": 0.0546875,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.2890625,
      "step": 10539
    },
    {
      "epoch": 2.3648193852367063,
      "grad_norm": 0.4731924831867218,
      "learning_rate": 5.651827749062094e-05,
      "loss": 0.0819,
      "step": 10540
    },
    {
      "epoch": 2.3648193852367063,
      "gripper_loss": 0.1015625,
      "loss": 0.0296630859375,
      "pos_loss": 0.064453125,
      "rot_loss": 0.1904296875,
      "step": 10540
    },
    {
      "epoch": 2.3650437514022884,
      "grad_norm": 0.3830277919769287,
      "learning_rate": 5.647993225501147e-05,
      "loss": 0.0432,
      "step": 10541
    },
    {
      "epoch": 2.3650437514022884,
      "gripper_loss": 1.1640625,
      "loss": 0.07568359375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.0140380859375,
      "step": 10541
    },
    {
      "epoch": 2.365268117567871,
      "grad_norm": 0.4719242751598358,
      "learning_rate": 5.6441598375072206e-05,
      "loss": 0.0489,
      "step": 10542
    },
    {
      "epoch": 2.365268117567871,
      "gripper_loss": 0.03076171875,
      "loss": 0.0179443359375,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.04345703125,
      "step": 10542
    },
    {
      "epoch": 2.365492483733453,
      "grad_norm": 0.283855676651001,
      "learning_rate": 5.640327585305261e-05,
      "loss": 0.0384,
      "step": 10543
    },
    {
      "epoch": 2.365492483733453,
      "gripper_loss": 0.208984375,
      "loss": 0.06689453125,
      "pos_loss": 0.53125,
      "rot_loss": 0.0947265625,
      "step": 10543
    },
    {
      "epoch": 2.365716849899035,
      "grad_norm": 0.4407784938812256,
      "learning_rate": 5.636496469120128e-05,
      "loss": 0.0643,
      "step": 10544
    },
    {
      "epoch": 2.365716849899035,
      "gripper_loss": 0.04150390625,
      "loss": 0.006805419921875,
      "pos_loss": 0.014404296875,
      "rot_loss": 0.0185546875,
      "step": 10544
    },
    {
      "epoch": 2.3659412160646176,
      "grad_norm": 0.3219609558582306,
      "learning_rate": 5.632666489176638e-05,
      "loss": 0.053,
      "step": 10545
    },
    {
      "epoch": 2.3659412160646176,
      "gripper_loss": 0.11865234375,
      "loss": 0.0186767578125,
      "pos_loss": 0.06396484375,
      "rot_loss": 0.07275390625,
      "step": 10545
    },
    {
      "epoch": 2.3661655822301997,
      "grad_norm": 0.288293719291687,
      "learning_rate": 5.6288376456995385e-05,
      "loss": 0.0236,
      "step": 10546
    },
    {
      "epoch": 2.3661655822301997,
      "gripper_loss": 0.078125,
      "loss": 0.04736328125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1689453125,
      "step": 10546
    },
    {
      "epoch": 2.3663899483957818,
      "grad_norm": 0.37475359439849854,
      "learning_rate": 5.6250099389134975e-05,
      "loss": 0.0365,
      "step": 10547
    },
    {
      "epoch": 2.3663899483957818,
      "gripper_loss": 0.0164794921875,
      "loss": 0.083984375,
      "pos_loss": 0.703125,
      "rot_loss": 0.1337890625,
      "step": 10547
    },
    {
      "epoch": 2.3666143145613643,
      "grad_norm": 0.31201764941215515,
      "learning_rate": 5.6211833690431144e-05,
      "loss": 0.0567,
      "step": 10548
    },
    {
      "epoch": 2.3666143145613643,
      "gripper_loss": 0.50390625,
      "loss": 0.255859375,
      "pos_loss": 0.5703125,
      "rot_loss": 0.482421875,
      "step": 10548
    },
    {
      "epoch": 2.3668386807269464,
      "grad_norm": 1.676203727722168,
      "learning_rate": 5.617357936312942e-05,
      "loss": 0.3024,
      "step": 10549
    },
    {
      "epoch": 2.3668386807269464,
      "gripper_loss": 0.004364013671875,
      "loss": 0.055419921875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.3125,
      "step": 10549
    },
    {
      "epoch": 2.3670630468925284,
      "grad_norm": 0.39198338985443115,
      "learning_rate": 5.613533640947452e-05,
      "loss": 0.0524,
      "step": 10550
    },
    {
      "epoch": 2.3670630468925284,
      "gripper_loss": 0.059326171875,
      "loss": 0.02587890625,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.146484375,
      "step": 10550
    },
    {
      "epoch": 2.367287413058111,
      "grad_norm": 0.49784401059150696,
      "learning_rate": 5.60971048317106e-05,
      "loss": 0.0414,
      "step": 10551
    },
    {
      "epoch": 2.367287413058111,
      "gripper_loss": 0.1474609375,
      "loss": 0.126953125,
      "pos_loss": 0.7265625,
      "rot_loss": 0.296875,
      "step": 10551
    },
    {
      "epoch": 2.367511779223693,
      "grad_norm": 0.7461836338043213,
      "learning_rate": 5.605888463208092e-05,
      "loss": 0.0927,
      "step": 10552
    },
    {
      "epoch": 2.367511779223693,
      "gripper_loss": 0.0037689208984375,
      "loss": 0.0439453125,
      "pos_loss": 0.43359375,
      "rot_loss": 0.0103759765625,
      "step": 10552
    },
    {
      "epoch": 2.367736145389275,
      "grad_norm": 0.5020129084587097,
      "learning_rate": 5.602067581282832e-05,
      "loss": 0.0578,
      "step": 10553
    },
    {
      "epoch": 2.367736145389275,
      "gripper_loss": 0.03173828125,
      "loss": 0.07861328125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.02783203125,
      "step": 10553
    },
    {
      "epoch": 2.3679605115548576,
      "grad_norm": 0.26191025972366333,
      "learning_rate": 5.598247837619486e-05,
      "loss": 0.0433,
      "step": 10554
    },
    {
      "epoch": 2.3679605115548576,
      "gripper_loss": 0.0113525390625,
      "loss": 0.0830078125,
      "pos_loss": 0.083984375,
      "rot_loss": 0.7734375,
      "step": 10554
    },
    {
      "epoch": 2.3681848777204397,
      "grad_norm": 0.3784480392932892,
      "learning_rate": 5.5944292324422e-05,
      "loss": 0.0633,
      "step": 10555
    },
    {
      "epoch": 2.3681848777204397,
      "gripper_loss": 0.1884765625,
      "loss": 0.02783203125,
      "pos_loss": 0.07568359375,
      "rot_loss": 0.1181640625,
      "step": 10555
    },
    {
      "epoch": 2.368409243886022,
      "grad_norm": 0.2706717550754547,
      "learning_rate": 5.5906117659750374e-05,
      "loss": 0.0513,
      "step": 10556
    },
    {
      "epoch": 2.368409243886022,
      "gripper_loss": 0.1435546875,
      "loss": 0.01519775390625,
      "pos_loss": 0.0234375,
      "rot_loss": 0.0673828125,
      "step": 10556
    },
    {
      "epoch": 2.3686336100516043,
      "grad_norm": 0.2791650891304016,
      "learning_rate": 5.5867954384420105e-05,
      "loss": 0.0413,
      "step": 10557
    },
    {
      "epoch": 2.3686336100516043,
      "gripper_loss": 0.005767822265625,
      "loss": 0.068359375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.328125,
      "step": 10557
    },
    {
      "epoch": 2.3688579762171864,
      "grad_norm": 0.3483566343784332,
      "learning_rate": 5.5829802500670656e-05,
      "loss": 0.0518,
      "step": 10558
    },
    {
      "epoch": 2.3688579762171864,
      "gripper_loss": 0.028564453125,
      "loss": 0.0498046875,
      "pos_loss": 0.4296875,
      "rot_loss": 0.0576171875,
      "step": 10558
    },
    {
      "epoch": 2.3690823423827685,
      "grad_norm": 0.237355574965477,
      "learning_rate": 5.579166201074065e-05,
      "loss": 0.0296,
      "step": 10559
    },
    {
      "epoch": 2.3690823423827685,
      "gripper_loss": 0.0128173828125,
      "loss": 0.036865234375,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.259765625,
      "step": 10559
    },
    {
      "epoch": 2.369306708548351,
      "grad_norm": 0.3486037254333496,
      "learning_rate": 5.57535329168683e-05,
      "loss": 0.0471,
      "step": 10560
    },
    {
      "epoch": 2.369306708548351,
      "gripper_loss": 0.34765625,
      "loss": 0.0810546875,
      "pos_loss": 0.30078125,
      "rot_loss": 0.34375,
      "step": 10560
    },
    {
      "epoch": 2.369531074713933,
      "grad_norm": 0.3380528390407562,
      "learning_rate": 5.571541522129081e-05,
      "loss": 0.0413,
      "step": 10561
    },
    {
      "epoch": 2.369531074713933,
      "gripper_loss": 0.06689453125,
      "loss": 0.0228271484375,
      "pos_loss": 0.06103515625,
      "rot_loss": 0.07177734375,
      "step": 10561
    },
    {
      "epoch": 2.3697554408795156,
      "grad_norm": 0.5472617149353027,
      "learning_rate": 5.5677308926245034e-05,
      "loss": 0.0566,
      "step": 10562
    },
    {
      "epoch": 2.3697554408795156,
      "gripper_loss": 0.103515625,
      "loss": 0.020751953125,
      "pos_loss": 0.11279296875,
      "rot_loss": 0.051025390625,
      "step": 10562
    },
    {
      "epoch": 2.3699798070450977,
      "grad_norm": 0.34288331866264343,
      "learning_rate": 5.5639214033967016e-05,
      "loss": 0.0313,
      "step": 10563
    },
    {
      "epoch": 2.3699798070450977,
      "gripper_loss": 0.005157470703125,
      "loss": 0.050048828125,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.291015625,
      "step": 10563
    },
    {
      "epoch": 2.3702041732106798,
      "grad_norm": 0.2509308457374573,
      "learning_rate": 5.560113054669219e-05,
      "loss": 0.0473,
      "step": 10564
    },
    {
      "epoch": 2.3702041732106798,
      "gripper_loss": 0.021240234375,
      "loss": 0.06640625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.28125,
      "step": 10564
    },
    {
      "epoch": 2.3704285393762623,
      "grad_norm": 0.5708923935890198,
      "learning_rate": 5.5563058466655186e-05,
      "loss": 0.0482,
      "step": 10565
    },
    {
      "epoch": 2.3704285393762623,
      "gripper_loss": 0.00799560546875,
      "loss": 0.046630859375,
      "pos_loss": 0.435546875,
      "rot_loss": 0.03173828125,
      "step": 10565
    },
    {
      "epoch": 2.3706529055418444,
      "grad_norm": 0.3919653296470642,
      "learning_rate": 5.55249977960901e-05,
      "loss": 0.06,
      "step": 10566
    },
    {
      "epoch": 2.3706529055418444,
      "gripper_loss": 0.1376953125,
      "loss": 0.03369140625,
      "pos_loss": 0.2734375,
      "rot_loss": 0.01446533203125,
      "step": 10566
    },
    {
      "epoch": 2.3708772717074265,
      "grad_norm": 1.2340829372406006,
      "learning_rate": 5.54869485372303e-05,
      "loss": 0.0843,
      "step": 10567
    },
    {
      "epoch": 2.3708772717074265,
      "gripper_loss": 0.03173828125,
      "loss": 0.042236328125,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.3515625,
      "step": 10567
    },
    {
      "epoch": 2.371101637873009,
      "grad_norm": 0.25723597407341003,
      "learning_rate": 5.544891069230859e-05,
      "loss": 0.0448,
      "step": 10568
    },
    {
      "epoch": 2.371101637873009,
      "gripper_loss": 0.48828125,
      "loss": 0.031494140625,
      "pos_loss": 0.04833984375,
      "rot_loss": 0.10498046875,
      "step": 10568
    },
    {
      "epoch": 2.371326004038591,
      "grad_norm": 0.3320629298686981,
      "learning_rate": 5.541088426355687e-05,
      "loss": 0.038,
      "step": 10569
    },
    {
      "epoch": 2.371326004038591,
      "gripper_loss": 0.004302978515625,
      "loss": 0.0908203125,
      "pos_loss": 0.7890625,
      "rot_loss": 0.146484375,
      "step": 10569
    },
    {
      "epoch": 2.371550370204173,
      "grad_norm": 0.5386279225349426,
      "learning_rate": 5.537286925320667e-05,
      "loss": 0.0562,
      "step": 10570
    },
    {
      "epoch": 2.371550370204173,
      "gripper_loss": 0.1328125,
      "loss": 0.028564453125,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.038818359375,
      "step": 10570
    },
    {
      "epoch": 2.3717747363697557,
      "grad_norm": 1.3606185913085938,
      "learning_rate": 5.53348656634885e-05,
      "loss": 0.0576,
      "step": 10571
    },
    {
      "epoch": 2.3717747363697557,
      "gripper_loss": 0.83984375,
      "loss": 0.056396484375,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.08984375,
      "step": 10571
    },
    {
      "epoch": 2.3719991025353377,
      "grad_norm": 0.2700335383415222,
      "learning_rate": 5.5296873496632536e-05,
      "loss": 0.0444,
      "step": 10572
    },
    {
      "epoch": 2.3719991025353377,
      "gripper_loss": 0.337890625,
      "loss": 0.06787109375,
      "pos_loss": 0.203125,
      "rot_loss": 0.3515625,
      "step": 10572
    },
    {
      "epoch": 2.37222346870092,
      "grad_norm": 0.341949462890625,
      "learning_rate": 5.5258892754868145e-05,
      "loss": 0.0494,
      "step": 10573
    },
    {
      "epoch": 2.37222346870092,
      "gripper_loss": 0.01544189453125,
      "loss": 0.04443359375,
      "pos_loss": 0.169921875,
      "rot_loss": 0.2578125,
      "step": 10573
    },
    {
      "epoch": 2.3724478348665023,
      "grad_norm": 0.4024682939052582,
      "learning_rate": 5.5220923440423924e-05,
      "loss": 0.0388,
      "step": 10574
    },
    {
      "epoch": 2.3724478348665023,
      "gripper_loss": 0.47265625,
      "loss": 0.06689453125,
      "pos_loss": 0.291015625,
      "rot_loss": 0.2412109375,
      "step": 10574
    },
    {
      "epoch": 2.3726722010320844,
      "grad_norm": 0.4999924600124359,
      "learning_rate": 5.5182965555527955e-05,
      "loss": 0.0389,
      "step": 10575
    },
    {
      "epoch": 2.3726722010320844,
      "gripper_loss": 0.181640625,
      "loss": 0.052978515625,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.38671875,
      "step": 10575
    },
    {
      "epoch": 2.3728965671976665,
      "grad_norm": 0.31165051460266113,
      "learning_rate": 5.51450191024076e-05,
      "loss": 0.0591,
      "step": 10576
    },
    {
      "epoch": 2.3728965671976665,
      "gripper_loss": 0.8828125,
      "loss": 0.038330078125,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.0458984375,
      "step": 10576
    },
    {
      "epoch": 2.373120933363249,
      "grad_norm": 0.33305811882019043,
      "learning_rate": 5.510708408328957e-05,
      "loss": 0.0422,
      "step": 10577
    },
    {
      "epoch": 2.373120933363249,
      "gripper_loss": 0.00823974609375,
      "loss": 0.1259765625,
      "pos_loss": 1.25,
      "rot_loss": 0.06884765625,
      "step": 10577
    },
    {
      "epoch": 2.373345299528831,
      "grad_norm": 0.3801535367965698,
      "learning_rate": 5.5069160500399786e-05,
      "loss": 0.053,
      "step": 10578
    },
    {
      "epoch": 2.373345299528831,
      "gripper_loss": 0.09228515625,
      "loss": 0.19921875,
      "pos_loss": 0.5,
      "rot_loss": 0.390625,
      "step": 10578
    },
    {
      "epoch": 2.373569665694413,
      "grad_norm": 1.095075249671936,
      "learning_rate": 5.50312483559636e-05,
      "loss": 0.1828,
      "step": 10579
    },
    {
      "epoch": 2.373569665694413,
      "gripper_loss": 0.06640625,
      "loss": 0.051513671875,
      "pos_loss": 0.17578125,
      "rot_loss": 0.294921875,
      "step": 10579
    },
    {
      "epoch": 2.3737940318599957,
      "grad_norm": 0.5109586715698242,
      "learning_rate": 5.4993347652205736e-05,
      "loss": 0.0594,
      "step": 10580
    },
    {
      "epoch": 2.3737940318599957,
      "gripper_loss": 0.01031494140625,
      "loss": 0.050537109375,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.26953125,
      "step": 10580
    },
    {
      "epoch": 2.374018398025578,
      "grad_norm": 0.33557960391044617,
      "learning_rate": 5.495545839135022e-05,
      "loss": 0.0486,
      "step": 10581
    },
    {
      "epoch": 2.374018398025578,
      "gripper_loss": 0.3359375,
      "loss": 0.021240234375,
      "pos_loss": 0.021728515625,
      "rot_loss": 0.0654296875,
      "step": 10581
    },
    {
      "epoch": 2.37424276419116,
      "grad_norm": 0.38711991906166077,
      "learning_rate": 5.4917580575620324e-05,
      "loss": 0.0321,
      "step": 10582
    },
    {
      "epoch": 2.37424276419116,
      "gripper_loss": 0.2236328125,
      "loss": 0.1533203125,
      "pos_loss": 0.78515625,
      "rot_loss": 0.232421875,
      "step": 10582
    },
    {
      "epoch": 2.3744671303567424,
      "grad_norm": 1.014357566833496,
      "learning_rate": 5.487971420723861e-05,
      "loss": 0.1459,
      "step": 10583
    },
    {
      "epoch": 2.3744671303567424,
      "gripper_loss": 0.03466796875,
      "loss": 0.11328125,
      "pos_loss": 0.86328125,
      "rot_loss": 0.28125,
      "step": 10583
    },
    {
      "epoch": 2.3746914965223245,
      "grad_norm": 0.32712629437446594,
      "learning_rate": 5.4841859288427196e-05,
      "loss": 0.0576,
      "step": 10584
    },
    {
      "epoch": 2.3746914965223245,
      "gripper_loss": 0.01556396484375,
      "loss": 0.064453125,
      "pos_loss": 0.59375,
      "rot_loss": 0.0673828125,
      "step": 10584
    },
    {
      "epoch": 2.3749158626879066,
      "grad_norm": 0.3869825601577759,
      "learning_rate": 5.480401582140737e-05,
      "loss": 0.0495,
      "step": 10585
    },
    {
      "epoch": 2.3749158626879066,
      "gripper_loss": 0.010986328125,
      "loss": 0.06298828125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.10546875,
      "step": 10585
    },
    {
      "epoch": 2.375140228853489,
      "grad_norm": 0.30843785405158997,
      "learning_rate": 5.476618380839968e-05,
      "loss": 0.0619,
      "step": 10586
    },
    {
      "epoch": 2.375140228853489,
      "gripper_loss": 0.00787353515625,
      "loss": 0.13671875,
      "pos_loss": 0.86328125,
      "rot_loss": 0.5703125,
      "step": 10586
    },
    {
      "epoch": 2.375364595019071,
      "grad_norm": 0.715363621711731,
      "learning_rate": 5.472836325162417e-05,
      "loss": 0.0686,
      "step": 10587
    },
    {
      "epoch": 2.375364595019071,
      "gripper_loss": 0.019775390625,
      "loss": 0.011474609375,
      "pos_loss": 0.0390625,
      "rot_loss": 0.0228271484375,
      "step": 10587
    },
    {
      "epoch": 2.3755889611846532,
      "grad_norm": 0.5084400177001953,
      "learning_rate": 5.46905541533001e-05,
      "loss": 0.0685,
      "step": 10588
    },
    {
      "epoch": 2.3755889611846532,
      "gripper_loss": 0.0135498046875,
      "loss": 0.052490234375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.189453125,
      "step": 10588
    },
    {
      "epoch": 2.3758133273502358,
      "grad_norm": 0.6040368676185608,
      "learning_rate": 5.465275651564613e-05,
      "loss": 0.0655,
      "step": 10589
    },
    {
      "epoch": 2.3758133273502358,
      "gripper_loss": 0.00396728515625,
      "loss": 0.04345703125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.2578125,
      "step": 10589
    },
    {
      "epoch": 2.376037693515818,
      "grad_norm": 0.31013333797454834,
      "learning_rate": 5.4614970340880254e-05,
      "loss": 0.0271,
      "step": 10590
    },
    {
      "epoch": 2.376037693515818,
      "gripper_loss": 0.00714111328125,
      "loss": 0.013671875,
      "pos_loss": 0.037353515625,
      "rot_loss": 0.07568359375,
      "step": 10590
    },
    {
      "epoch": 2.3762620596814,
      "grad_norm": 0.30254483222961426,
      "learning_rate": 5.45771956312196e-05,
      "loss": 0.0379,
      "step": 10591
    },
    {
      "epoch": 2.3762620596814,
      "gripper_loss": 1.4453125,
      "loss": 0.050048828125,
      "pos_loss": 0.01153564453125,
      "rot_loss": 0.01531982421875,
      "step": 10591
    },
    {
      "epoch": 2.3764864258469824,
      "grad_norm": 0.7252458333969116,
      "learning_rate": 5.4539432388880845e-05,
      "loss": 0.0752,
      "step": 10592
    },
    {
      "epoch": 2.3764864258469824,
      "gripper_loss": 1.265625,
      "loss": 0.0732421875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.06640625,
      "step": 10592
    },
    {
      "epoch": 2.3767107920125645,
      "grad_norm": 0.37112826108932495,
      "learning_rate": 5.450168061607999e-05,
      "loss": 0.0497,
      "step": 10593
    },
    {
      "epoch": 2.3767107920125645,
      "gripper_loss": 0.1318359375,
      "loss": 0.025634765625,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.10009765625,
      "step": 10593
    },
    {
      "epoch": 2.3769351581781466,
      "grad_norm": 0.35474303364753723,
      "learning_rate": 5.446394031503224e-05,
      "loss": 0.0422,
      "step": 10594
    },
    {
      "epoch": 2.3769351581781466,
      "gripper_loss": 0.400390625,
      "loss": 0.064453125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.0196533203125,
      "step": 10594
    },
    {
      "epoch": 2.377159524343729,
      "grad_norm": 0.2925077974796295,
      "learning_rate": 5.44262114879521e-05,
      "loss": 0.0397,
      "step": 10595
    },
    {
      "epoch": 2.377159524343729,
      "gripper_loss": 0.0113525390625,
      "loss": 0.030029296875,
      "pos_loss": 0.236328125,
      "rot_loss": 0.05810546875,
      "step": 10595
    },
    {
      "epoch": 2.377383890509311,
      "grad_norm": 0.2675178349018097,
      "learning_rate": 5.438849413705355e-05,
      "loss": 0.0465,
      "step": 10596
    },
    {
      "epoch": 2.377383890509311,
      "gripper_loss": 0.1640625,
      "loss": 0.022216796875,
      "pos_loss": 0.134765625,
      "rot_loss": 0.0201416015625,
      "step": 10596
    },
    {
      "epoch": 2.3776082566748933,
      "grad_norm": 0.4019198417663574,
      "learning_rate": 5.435078826454981e-05,
      "loss": 0.0355,
      "step": 10597
    },
    {
      "epoch": 2.3776082566748933,
      "gripper_loss": 0.007415771484375,
      "loss": 0.1376953125,
      "pos_loss": 1.3203125,
      "rot_loss": 0.11669921875,
      "step": 10597
    },
    {
      "epoch": 2.377832622840476,
      "grad_norm": 0.3171277344226837,
      "learning_rate": 5.431309387265354e-05,
      "loss": 0.0468,
      "step": 10598
    },
    {
      "epoch": 2.377832622840476,
      "gripper_loss": 0.03173828125,
      "loss": 0.052734375,
      "pos_loss": 0.365234375,
      "rot_loss": 0.15625,
      "step": 10598
    },
    {
      "epoch": 2.378056989006058,
      "grad_norm": 0.3756364583969116,
      "learning_rate": 5.427541096357647e-05,
      "loss": 0.0507,
      "step": 10599
    },
    {
      "epoch": 2.378056989006058,
      "gripper_loss": 0.396484375,
      "loss": 0.06591796875,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.333984375,
      "step": 10599
    },
    {
      "epoch": 2.37828135517164,
      "grad_norm": 0.3927181363105774,
      "learning_rate": 5.42377395395299e-05,
      "loss": 0.0592,
      "step": 10600
    },
    {
      "epoch": 2.37828135517164,
      "gripper_loss": 0.051025390625,
      "loss": 0.07373046875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.08203125,
      "step": 10600
    },
    {
      "epoch": 2.3785057213372225,
      "grad_norm": 0.34211304783821106,
      "learning_rate": 5.420007960272436e-05,
      "loss": 0.0522,
      "step": 10601
    },
    {
      "epoch": 2.3785057213372225,
      "gripper_loss": 0.52734375,
      "loss": 0.034912109375,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.1328125,
      "step": 10601
    },
    {
      "epoch": 2.3787300875028046,
      "grad_norm": 0.3321448266506195,
      "learning_rate": 5.416243115536973e-05,
      "loss": 0.0484,
      "step": 10602
    },
    {
      "epoch": 2.3787300875028046,
      "gripper_loss": 0.1552734375,
      "loss": 0.0150146484375,
      "pos_loss": 0.064453125,
      "rot_loss": 0.01806640625,
      "step": 10602
    },
    {
      "epoch": 2.3789544536683866,
      "grad_norm": 0.47733816504478455,
      "learning_rate": 5.4124794199675255e-05,
      "loss": 0.0651,
      "step": 10603
    },
    {
      "epoch": 2.3789544536683866,
      "gripper_loss": 0.1826171875,
      "loss": 0.0308837890625,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.1279296875,
      "step": 10603
    },
    {
      "epoch": 2.379178819833969,
      "grad_norm": 0.22366935014724731,
      "learning_rate": 5.408716873784933e-05,
      "loss": 0.0332,
      "step": 10604
    },
    {
      "epoch": 2.379178819833969,
      "gripper_loss": 0.0093994140625,
      "loss": 0.040283203125,
      "pos_loss": 0.36328125,
      "rot_loss": 0.038330078125,
      "step": 10604
    },
    {
      "epoch": 2.3794031859995513,
      "grad_norm": 0.3888760209083557,
      "learning_rate": 5.404955477209994e-05,
      "loss": 0.048,
      "step": 10605
    },
    {
      "epoch": 2.3794031859995513,
      "gripper_loss": 0.04345703125,
      "loss": 0.10302734375,
      "pos_loss": 0.66015625,
      "rot_loss": 0.3515625,
      "step": 10605
    },
    {
      "epoch": 2.3796275521651333,
      "grad_norm": 0.4721125662326813,
      "learning_rate": 5.40119523046341e-05,
      "loss": 0.0656,
      "step": 10606
    },
    {
      "epoch": 2.3796275521651333,
      "gripper_loss": 0.185546875,
      "loss": 0.0196533203125,
      "pos_loss": 0.095703125,
      "rot_loss": 0.0269775390625,
      "step": 10606
    },
    {
      "epoch": 2.379851918330716,
      "grad_norm": 0.40082114934921265,
      "learning_rate": 5.3974361337658486e-05,
      "loss": 0.0341,
      "step": 10607
    },
    {
      "epoch": 2.379851918330716,
      "gripper_loss": 0.00567626953125,
      "loss": 0.05224609375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.00823974609375,
      "step": 10607
    },
    {
      "epoch": 2.380076284496298,
      "grad_norm": 0.22463300824165344,
      "learning_rate": 5.393678187337872e-05,
      "loss": 0.0335,
      "step": 10608
    },
    {
      "epoch": 2.380076284496298,
      "gripper_loss": 0.263671875,
      "loss": 0.439453125,
      "pos_loss": 0.455078125,
      "rot_loss": 0.6484375,
      "step": 10608
    },
    {
      "epoch": 2.38030065066188,
      "grad_norm": 1.557066798210144,
      "learning_rate": 5.389921391400007e-05,
      "loss": 0.3994,
      "step": 10609
    },
    {
      "epoch": 2.38030065066188,
      "gripper_loss": 0.01055908203125,
      "loss": 0.02685546875,
      "pos_loss": 0.1328125,
      "rot_loss": 0.125,
      "step": 10609
    },
    {
      "epoch": 2.3805250168274625,
      "grad_norm": 0.2823873460292816,
      "learning_rate": 5.3861657461727e-05,
      "loss": 0.0405,
      "step": 10610
    },
    {
      "epoch": 2.3805250168274625,
      "gripper_loss": 0.06982421875,
      "loss": 0.0106201171875,
      "pos_loss": 0.04638671875,
      "rot_loss": 0.01806640625,
      "step": 10610
    },
    {
      "epoch": 2.3807493829930446,
      "grad_norm": 0.23232217133045197,
      "learning_rate": 5.382411251876335e-05,
      "loss": 0.0333,
      "step": 10611
    },
    {
      "epoch": 2.3807493829930446,
      "gripper_loss": 0.287109375,
      "loss": 0.0247802734375,
      "pos_loss": 0.119140625,
      "rot_loss": 0.0242919921875,
      "step": 10611
    },
    {
      "epoch": 2.3809737491586267,
      "grad_norm": 0.32264313101768494,
      "learning_rate": 5.37865790873121e-05,
      "loss": 0.0341,
      "step": 10612
    },
    {
      "epoch": 2.3809737491586267,
      "gripper_loss": 0.1787109375,
      "loss": 0.056884765625,
      "pos_loss": 0.48828125,
      "rot_loss": 0.033935546875,
      "step": 10612
    },
    {
      "epoch": 2.381198115324209,
      "grad_norm": 0.2831020951271057,
      "learning_rate": 5.3749057169575785e-05,
      "loss": 0.0284,
      "step": 10613
    },
    {
      "epoch": 2.381198115324209,
      "gripper_loss": 0.404296875,
      "loss": 0.0673828125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.2734375,
      "step": 10613
    },
    {
      "epoch": 2.3814224814897913,
      "grad_norm": 0.440645694732666,
      "learning_rate": 5.371154676775617e-05,
      "loss": 0.0589,
      "step": 10614
    },
    {
      "epoch": 2.3814224814897913,
      "gripper_loss": 0.0079345703125,
      "loss": 0.01422119140625,
      "pos_loss": 0.07421875,
      "rot_loss": 0.03955078125,
      "step": 10614
    },
    {
      "epoch": 2.3816468476553734,
      "grad_norm": 0.2693098485469818,
      "learning_rate": 5.367404788405439e-05,
      "loss": 0.0341,
      "step": 10615
    },
    {
      "epoch": 2.3816468476553734,
      "gripper_loss": 0.1669921875,
      "loss": 0.04931640625,
      "pos_loss": 0.43359375,
      "rot_loss": 0.00927734375,
      "step": 10615
    },
    {
      "epoch": 2.381871213820956,
      "grad_norm": 0.7044731378555298,
      "learning_rate": 5.3636560520670785e-05,
      "loss": 0.0366,
      "step": 10616
    },
    {
      "epoch": 2.381871213820956,
      "gripper_loss": 0.06298828125,
      "loss": 0.01708984375,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.0203857421875,
      "step": 10616
    },
    {
      "epoch": 2.382095579986538,
      "grad_norm": 0.28398260474205017,
      "learning_rate": 5.359908467980518e-05,
      "loss": 0.0368,
      "step": 10617
    },
    {
      "epoch": 2.382095579986538,
      "gripper_loss": 0.04150390625,
      "loss": 0.012451171875,
      "pos_loss": 0.037841796875,
      "rot_loss": 0.0260009765625,
      "step": 10617
    },
    {
      "epoch": 2.38231994615212,
      "grad_norm": 0.5494883060455322,
      "learning_rate": 5.35616203636565e-05,
      "loss": 0.0434,
      "step": 10618
    },
    {
      "epoch": 2.38231994615212,
      "gripper_loss": 0.00537109375,
      "loss": 0.00421142578125,
      "pos_loss": 0.01458740234375,
      "rot_loss": 0.00665283203125,
      "step": 10618
    },
    {
      "epoch": 2.3825443123177026,
      "grad_norm": 0.3221118748188019,
      "learning_rate": 5.352416757442324e-05,
      "loss": 0.0329,
      "step": 10619
    },
    {
      "epoch": 2.3825443123177026,
      "gripper_loss": 0.46875,
      "loss": 0.06494140625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.2265625,
      "step": 10619
    },
    {
      "epoch": 2.3827686784832847,
      "grad_norm": 0.3093779683113098,
      "learning_rate": 5.348672631430318e-05,
      "loss": 0.0533,
      "step": 10620
    },
    {
      "epoch": 2.3827686784832847,
      "gripper_loss": 0.0042724609375,
      "loss": 0.030029296875,
      "pos_loss": 0.2265625,
      "rot_loss": 0.06787109375,
      "step": 10620
    },
    {
      "epoch": 2.3829930446488667,
      "grad_norm": 0.4254111051559448,
      "learning_rate": 5.344929658549319e-05,
      "loss": 0.0453,
      "step": 10621
    },
    {
      "epoch": 2.3829930446488667,
      "gripper_loss": 0.0103759765625,
      "loss": 0.003997802734375,
      "pos_loss": 0.0087890625,
      "rot_loss": 0.0081787109375,
      "step": 10621
    },
    {
      "epoch": 2.3832174108144493,
      "grad_norm": 0.3191150724887848,
      "learning_rate": 5.3411878390189714e-05,
      "loss": 0.0331,
      "step": 10622
    },
    {
      "epoch": 2.3832174108144493,
      "gripper_loss": 0.0081787109375,
      "loss": 0.10986328125,
      "pos_loss": 1.03125,
      "rot_loss": 0.11181640625,
      "step": 10622
    },
    {
      "epoch": 2.3834417769800313,
      "grad_norm": 0.3753913342952728,
      "learning_rate": 5.337447173058843e-05,
      "loss": 0.0427,
      "step": 10623
    },
    {
      "epoch": 2.3834417769800313,
      "gripper_loss": 0.251953125,
      "loss": 0.0390625,
      "pos_loss": 0.25,
      "rot_loss": 0.0458984375,
      "step": 10623
    },
    {
      "epoch": 2.3836661431456134,
      "grad_norm": 0.32013067603111267,
      "learning_rate": 5.3337076608884426e-05,
      "loss": 0.0438,
      "step": 10624
    },
    {
      "epoch": 2.3836661431456134,
      "gripper_loss": 0.006317138671875,
      "loss": 0.0439453125,
      "pos_loss": 0.42578125,
      "rot_loss": 0.0185546875,
      "step": 10624
    },
    {
      "epoch": 2.383890509311196,
      "grad_norm": 0.27187544107437134,
      "learning_rate": 5.329969302727186e-05,
      "loss": 0.0467,
      "step": 10625
    },
    {
      "epoch": 2.383890509311196,
      "gripper_loss": 0.009521484375,
      "loss": 0.08154296875,
      "pos_loss": 0.63671875,
      "rot_loss": 0.1953125,
      "step": 10625
    },
    {
      "epoch": 2.384114875476778,
      "grad_norm": 0.2993241846561432,
      "learning_rate": 5.326232098794451e-05,
      "loss": 0.0439,
      "step": 10626
    },
    {
      "epoch": 2.384114875476778,
      "gripper_loss": 0.0137939453125,
      "loss": 0.0673828125,
      "pos_loss": 0.220703125,
      "rot_loss": 0.447265625,
      "step": 10626
    },
    {
      "epoch": 2.38433924164236,
      "grad_norm": 0.27068400382995605,
      "learning_rate": 5.32249604930953e-05,
      "loss": 0.0395,
      "step": 10627
    },
    {
      "epoch": 2.38433924164236,
      "gripper_loss": 0.248046875,
      "loss": 0.126953125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.68359375,
      "step": 10627
    },
    {
      "epoch": 2.3845636078079426,
      "grad_norm": 0.6412138938903809,
      "learning_rate": 5.3187611544916606e-05,
      "loss": 0.0461,
      "step": 10628
    },
    {
      "epoch": 2.3845636078079426,
      "gripper_loss": 0.2373046875,
      "loss": 0.022216796875,
      "pos_loss": 0.095703125,
      "rot_loss": 0.03515625,
      "step": 10628
    },
    {
      "epoch": 2.3847879739735247,
      "grad_norm": 0.2900419235229492,
      "learning_rate": 5.315027414559998e-05,
      "loss": 0.0347,
      "step": 10629
    },
    {
      "epoch": 2.3847879739735247,
      "gripper_loss": 0.482421875,
      "loss": 0.02783203125,
      "pos_loss": 0.0380859375,
      "rot_loss": 0.06982421875,
      "step": 10629
    },
    {
      "epoch": 2.385012340139107,
      "grad_norm": 0.47192367911338806,
      "learning_rate": 5.311294829733629e-05,
      "loss": 0.0447,
      "step": 10630
    },
    {
      "epoch": 2.385012340139107,
      "gripper_loss": 0.62109375,
      "loss": 0.04248046875,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.039306640625,
      "step": 10630
    },
    {
      "epoch": 2.3852367063046893,
      "grad_norm": 0.264538049697876,
      "learning_rate": 5.307563400231591e-05,
      "loss": 0.0457,
      "step": 10631
    },
    {
      "epoch": 2.3852367063046893,
      "gripper_loss": 0.0225830078125,
      "loss": 0.03662109375,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.265625,
      "step": 10631
    },
    {
      "epoch": 2.3854610724702714,
      "grad_norm": 0.30152952671051025,
      "learning_rate": 5.3038331262728365e-05,
      "loss": 0.0365,
      "step": 10632
    },
    {
      "epoch": 2.3854610724702714,
      "gripper_loss": 0.1953125,
      "loss": 0.23828125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.40234375,
      "step": 10632
    },
    {
      "epoch": 2.3856854386358535,
      "grad_norm": 1.691513180732727,
      "learning_rate": 5.300104008076267e-05,
      "loss": 0.2418,
      "step": 10633
    },
    {
      "epoch": 2.3856854386358535,
      "gripper_loss": 0.1484375,
      "loss": 0.029296875,
      "pos_loss": 0.177734375,
      "rot_loss": 0.0595703125,
      "step": 10633
    },
    {
      "epoch": 2.385909804801436,
      "grad_norm": 0.339629203081131,
      "learning_rate": 5.29637604586069e-05,
      "loss": 0.0349,
      "step": 10634
    },
    {
      "epoch": 2.385909804801436,
      "gripper_loss": 0.005401611328125,
      "loss": 0.1787109375,
      "pos_loss": 1.4375,
      "rot_loss": 0.439453125,
      "step": 10634
    },
    {
      "epoch": 2.386134170967018,
      "grad_norm": 0.29479676485061646,
      "learning_rate": 5.292649239844871e-05,
      "loss": 0.0458,
      "step": 10635
    },
    {
      "epoch": 2.386134170967018,
      "gripper_loss": 0.00909423828125,
      "loss": 0.02587890625,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.08544921875,
      "step": 10635
    },
    {
      "epoch": 2.3863585371326,
      "grad_norm": 0.37855544686317444,
      "learning_rate": 5.288923590247491e-05,
      "loss": 0.0415,
      "step": 10636
    },
    {
      "epoch": 2.3863585371326,
      "gripper_loss": 0.224609375,
      "loss": 0.07958984375,
      "pos_loss": 0.6484375,
      "rot_loss": 0.06787109375,
      "step": 10636
    },
    {
      "epoch": 2.3865829032981827,
      "grad_norm": 0.42701488733291626,
      "learning_rate": 5.285199097287183e-05,
      "loss": 0.0611,
      "step": 10637
    },
    {
      "epoch": 2.3865829032981827,
      "gripper_loss": 0.060302734375,
      "loss": 0.0294189453125,
      "pos_loss": 0.1328125,
      "rot_loss": 0.1025390625,
      "step": 10637
    },
    {
      "epoch": 2.3868072694637648,
      "grad_norm": 0.4127398133277893,
      "learning_rate": 5.2814757611824803e-05,
      "loss": 0.0646,
      "step": 10638
    },
    {
      "epoch": 2.3868072694637648,
      "gripper_loss": 0.005462646484375,
      "loss": 0.03125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.03857421875,
      "step": 10638
    },
    {
      "epoch": 2.3870316356293473,
      "grad_norm": 0.3715413510799408,
      "learning_rate": 5.277753582151873e-05,
      "loss": 0.0437,
      "step": 10639
    },
    {
      "epoch": 2.3870316356293473,
      "gripper_loss": 0.1513671875,
      "loss": 0.04736328125,
      "pos_loss": 0.119140625,
      "rot_loss": 0.302734375,
      "step": 10639
    },
    {
      "epoch": 2.3872560017949294,
      "grad_norm": 0.2836912274360657,
      "learning_rate": 5.274032560413788e-05,
      "loss": 0.0361,
      "step": 10640
    },
    {
      "epoch": 2.3872560017949294,
      "gripper_loss": 0.291015625,
      "loss": 0.0301513671875,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.0291748046875,
      "step": 10640
    },
    {
      "epoch": 2.3874803679605114,
      "grad_norm": 0.2759503424167633,
      "learning_rate": 5.2703126961865636e-05,
      "loss": 0.0416,
      "step": 10641
    },
    {
      "epoch": 2.3874803679605114,
      "gripper_loss": 0.00823974609375,
      "loss": 0.03173828125,
      "pos_loss": 0.18359375,
      "rot_loss": 0.12890625,
      "step": 10641
    },
    {
      "epoch": 2.387704734126094,
      "grad_norm": 0.5793124437332153,
      "learning_rate": 5.2665939896884726e-05,
      "loss": 0.0604,
      "step": 10642
    },
    {
      "epoch": 2.387704734126094,
      "gripper_loss": 0.007049560546875,
      "loss": 0.0311279296875,
      "pos_loss": 0.19921875,
      "rot_loss": 0.1044921875,
      "step": 10642
    },
    {
      "epoch": 2.387929100291676,
      "grad_norm": 0.43093934655189514,
      "learning_rate": 5.262876441137735e-05,
      "loss": 0.0545,
      "step": 10643
    },
    {
      "epoch": 2.387929100291676,
      "gripper_loss": 2.328125,
      "loss": 0.07568359375,
      "pos_loss": 0.004486083984375,
      "rot_loss": 0.004913330078125,
      "step": 10643
    },
    {
      "epoch": 2.388153466457258,
      "grad_norm": 0.654363751411438,
      "learning_rate": 5.259160050752493e-05,
      "loss": 0.0694,
      "step": 10644
    },
    {
      "epoch": 2.388153466457258,
      "gripper_loss": 0.01031494140625,
      "loss": 0.053466796875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.042236328125,
      "step": 10644
    },
    {
      "epoch": 2.3883778326228406,
      "grad_norm": 0.2516445815563202,
      "learning_rate": 5.255444818750832e-05,
      "loss": 0.0334,
      "step": 10645
    },
    {
      "epoch": 2.3883778326228406,
      "gripper_loss": 0.031494140625,
      "loss": 0.0546875,
      "pos_loss": 0.181640625,
      "rot_loss": 0.353515625,
      "step": 10645
    },
    {
      "epoch": 2.3886021987884227,
      "grad_norm": 0.2793637216091156,
      "learning_rate": 5.251730745350747e-05,
      "loss": 0.0503,
      "step": 10646
    },
    {
      "epoch": 2.3886021987884227,
      "gripper_loss": 0.4921875,
      "loss": 0.03369140625,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.00927734375,
      "step": 10646
    },
    {
      "epoch": 2.388826564954005,
      "grad_norm": 0.2035914957523346,
      "learning_rate": 5.24801783077018e-05,
      "loss": 0.0326,
      "step": 10647
    },
    {
      "epoch": 2.388826564954005,
      "gripper_loss": 0.2265625,
      "loss": 0.05859375,
      "pos_loss": 0.32421875,
      "rot_loss": 0.201171875,
      "step": 10647
    },
    {
      "epoch": 2.3890509311195873,
      "grad_norm": 0.25521916151046753,
      "learning_rate": 5.2443060752270096e-05,
      "loss": 0.0363,
      "step": 10648
    },
    {
      "epoch": 2.3890509311195873,
      "gripper_loss": 0.0118408203125,
      "loss": 0.034912109375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.0830078125,
      "step": 10648
    },
    {
      "epoch": 2.3892752972851694,
      "grad_norm": 0.3865566551685333,
      "learning_rate": 5.2405954789390336e-05,
      "loss": 0.0325,
      "step": 10649
    },
    {
      "epoch": 2.3892752972851694,
      "gripper_loss": 0.00823974609375,
      "loss": 0.0220947265625,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.0927734375,
      "step": 10649
    },
    {
      "epoch": 2.3894996634507515,
      "grad_norm": 0.2617160975933075,
      "learning_rate": 5.2368860421240005e-05,
      "loss": 0.0416,
      "step": 10650
    },
    {
      "epoch": 2.3894996634507515,
      "gripper_loss": 0.072265625,
      "loss": 0.08203125,
      "pos_loss": 0.388671875,
      "rot_loss": 0.2216796875,
      "step": 10650
    },
    {
      "epoch": 2.389724029616334,
      "grad_norm": 0.551194965839386,
      "learning_rate": 5.233177764999561e-05,
      "loss": 0.0705,
      "step": 10651
    },
    {
      "epoch": 2.389724029616334,
      "gripper_loss": 0.423828125,
      "loss": 0.1533203125,
      "pos_loss": 0.32421875,
      "rot_loss": 0.326171875,
      "step": 10651
    },
    {
      "epoch": 2.389948395781916,
      "grad_norm": 1.3016433715820312,
      "learning_rate": 5.22947064778333e-05,
      "loss": 0.2069,
      "step": 10652
    },
    {
      "epoch": 2.389948395781916,
      "gripper_loss": 0.004913330078125,
      "loss": 0.03515625,
      "pos_loss": 0.296875,
      "rot_loss": 0.054931640625,
      "step": 10652
    },
    {
      "epoch": 2.390172761947498,
      "grad_norm": 0.27313685417175293,
      "learning_rate": 5.225764690692827e-05,
      "loss": 0.0394,
      "step": 10653
    },
    {
      "epoch": 2.390172761947498,
      "gripper_loss": 0.0059814453125,
      "loss": 0.09228515625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.1669921875,
      "step": 10653
    },
    {
      "epoch": 2.3903971281130807,
      "grad_norm": 0.3017094135284424,
      "learning_rate": 5.22205989394553e-05,
      "loss": 0.0333,
      "step": 10654
    },
    {
      "epoch": 2.3903971281130807,
      "gripper_loss": 0.0240478515625,
      "loss": 0.1572265625,
      "pos_loss": 1.328125,
      "rot_loss": 0.314453125,
      "step": 10654
    },
    {
      "epoch": 2.3906214942786628,
      "grad_norm": 0.5871104598045349,
      "learning_rate": 5.2183562577588164e-05,
      "loss": 0.0537,
      "step": 10655
    },
    {
      "epoch": 2.3906214942786628,
      "gripper_loss": 0.0234375,
      "loss": 0.0869140625,
      "pos_loss": 0.6953125,
      "rot_loss": 0.193359375,
      "step": 10655
    },
    {
      "epoch": 2.390845860444245,
      "grad_norm": 0.44136419892311096,
      "learning_rate": 5.214653782350026e-05,
      "loss": 0.0618,
      "step": 10656
    },
    {
      "epoch": 2.390845860444245,
      "gripper_loss": 0.283203125,
      "loss": 0.1513671875,
      "pos_loss": 0.345703125,
      "rot_loss": 0.38671875,
      "step": 10656
    },
    {
      "epoch": 2.3910702266098274,
      "grad_norm": 1.1862319707870483,
      "learning_rate": 5.210952467936417e-05,
      "loss": 0.1714,
      "step": 10657
    },
    {
      "epoch": 2.3910702266098274,
      "gripper_loss": 0.003936767578125,
      "loss": 0.216796875,
      "pos_loss": 1.1328125,
      "rot_loss": 1.1484375,
      "step": 10657
    },
    {
      "epoch": 2.3912945927754095,
      "grad_norm": 0.4645721912384033,
      "learning_rate": 5.207252314735186e-05,
      "loss": 0.0584,
      "step": 10658
    },
    {
      "epoch": 2.3912945927754095,
      "gripper_loss": 1.5390625,
      "loss": 0.0654296875,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.07275390625,
      "step": 10658
    },
    {
      "epoch": 2.3915189589409915,
      "grad_norm": 0.4904667139053345,
      "learning_rate": 5.2035533229634444e-05,
      "loss": 0.0711,
      "step": 10659
    },
    {
      "epoch": 2.3915189589409915,
      "gripper_loss": 0.033447265625,
      "loss": 0.054931640625,
      "pos_loss": 0.46875,
      "rot_loss": 0.060302734375,
      "step": 10659
    },
    {
      "epoch": 2.391743325106574,
      "grad_norm": 0.46728983521461487,
      "learning_rate": 5.1998554928382515e-05,
      "loss": 0.0539,
      "step": 10660
    },
    {
      "epoch": 2.391743325106574,
      "gripper_loss": 0.1513671875,
      "loss": 0.05078125,
      "pos_loss": 0.1484375,
      "rot_loss": 0.234375,
      "step": 10660
    },
    {
      "epoch": 2.391967691272156,
      "grad_norm": 0.4351457953453064,
      "learning_rate": 5.1961588245765994e-05,
      "loss": 0.0412,
      "step": 10661
    },
    {
      "epoch": 2.391967691272156,
      "gripper_loss": 0.0810546875,
      "loss": 0.03173828125,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.2431640625,
      "step": 10661
    },
    {
      "epoch": 2.392192057437738,
      "grad_norm": 0.2706463634967804,
      "learning_rate": 5.192463318395407e-05,
      "loss": 0.0518,
      "step": 10662
    },
    {
      "epoch": 2.392192057437738,
      "gripper_loss": 0.009765625,
      "loss": 0.0167236328125,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.03125,
      "step": 10662
    },
    {
      "epoch": 2.3924164236033207,
      "grad_norm": 0.29653042554855347,
      "learning_rate": 5.188768974511518e-05,
      "loss": 0.0376,
      "step": 10663
    },
    {
      "epoch": 2.3924164236033207,
      "gripper_loss": 0.05078125,
      "loss": 0.048583984375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.1396484375,
      "step": 10663
    },
    {
      "epoch": 2.392640789768903,
      "grad_norm": 0.3385770618915558,
      "learning_rate": 5.185075793141725e-05,
      "loss": 0.0503,
      "step": 10664
    },
    {
      "epoch": 2.392640789768903,
      "gripper_loss": 0.216796875,
      "loss": 0.051025390625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.015380859375,
      "step": 10664
    },
    {
      "epoch": 2.392865155934485,
      "grad_norm": 0.27963966131210327,
      "learning_rate": 5.1813837745027266e-05,
      "loss": 0.0527,
      "step": 10665
    },
    {
      "epoch": 2.392865155934485,
      "gripper_loss": 0.2197265625,
      "loss": 0.138671875,
      "pos_loss": 0.40625,
      "rot_loss": 0.59375,
      "step": 10665
    },
    {
      "epoch": 2.3930895221000674,
      "grad_norm": 0.8993239402770996,
      "learning_rate": 5.17769291881118e-05,
      "loss": 0.105,
      "step": 10666
    },
    {
      "epoch": 2.3930895221000674,
      "gripper_loss": 0.150390625,
      "loss": 0.025146484375,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.0771484375,
      "step": 10666
    },
    {
      "epoch": 2.3933138882656495,
      "grad_norm": 0.4918019771575928,
      "learning_rate": 5.174003226283669e-05,
      "loss": 0.059,
      "step": 10667
    },
    {
      "epoch": 2.3933138882656495,
      "gripper_loss": 0.193359375,
      "loss": 0.052734375,
      "pos_loss": 0.35546875,
      "rot_loss": 0.1162109375,
      "step": 10667
    },
    {
      "epoch": 2.3935382544312316,
      "grad_norm": 0.24539197981357574,
      "learning_rate": 5.1703146971366856e-05,
      "loss": 0.0422,
      "step": 10668
    },
    {
      "epoch": 2.3935382544312316,
      "gripper_loss": 0.02783203125,
      "loss": 0.02587890625,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.1005859375,
      "step": 10668
    },
    {
      "epoch": 2.393762620596814,
      "grad_norm": 0.37590399384498596,
      "learning_rate": 5.1666273315866816e-05,
      "loss": 0.0476,
      "step": 10669
    },
    {
      "epoch": 2.393762620596814,
      "gripper_loss": 0.431640625,
      "loss": 0.02685546875,
      "pos_loss": 0.048828125,
      "rot_loss": 0.062255859375,
      "step": 10669
    },
    {
      "epoch": 2.393986986762396,
      "grad_norm": 0.43337976932525635,
      "learning_rate": 5.162941129850029e-05,
      "loss": 0.0523,
      "step": 10670
    },
    {
      "epoch": 2.393986986762396,
      "gripper_loss": 0.0238037109375,
      "loss": 0.0625,
      "pos_loss": 0.3125,
      "rot_loss": 0.2021484375,
      "step": 10670
    },
    {
      "epoch": 2.3942113529279787,
      "grad_norm": 0.3493843078613281,
      "learning_rate": 5.159256092143039e-05,
      "loss": 0.0526,
      "step": 10671
    },
    {
      "epoch": 2.3942113529279787,
      "gripper_loss": 1.0703125,
      "loss": 0.041015625,
      "pos_loss": 0.035400390625,
      "rot_loss": 0.0159912109375,
      "step": 10671
    },
    {
      "epoch": 2.394435719093561,
      "grad_norm": 0.2623369097709656,
      "learning_rate": 5.1555722186819336e-05,
      "loss": 0.0338,
      "step": 10672
    },
    {
      "epoch": 2.394435719093561,
      "gripper_loss": 0.01544189453125,
      "loss": 0.0751953125,
      "pos_loss": 0.609375,
      "rot_loss": 0.138671875,
      "step": 10672
    },
    {
      "epoch": 2.394660085259143,
      "grad_norm": 0.356251060962677,
      "learning_rate": 5.1518895096828916e-05,
      "loss": 0.0501,
      "step": 10673
    },
    {
      "epoch": 2.394660085259143,
      "gripper_loss": 0.0031280517578125,
      "loss": 0.037353515625,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.1826171875,
      "step": 10673
    },
    {
      "epoch": 2.3948844514247254,
      "grad_norm": 0.3284953236579895,
      "learning_rate": 5.1482079653620064e-05,
      "loss": 0.0312,
      "step": 10674
    },
    {
      "epoch": 2.3948844514247254,
      "gripper_loss": 0.07373046875,
      "loss": 0.058837890625,
      "pos_loss": 0.328125,
      "rot_loss": 0.1484375,
      "step": 10674
    },
    {
      "epoch": 2.3951088175903075,
      "grad_norm": 0.5673713088035583,
      "learning_rate": 5.144527585935318e-05,
      "loss": 0.0659,
      "step": 10675
    },
    {
      "epoch": 2.3951088175903075,
      "gripper_loss": 0.0177001953125,
      "loss": 0.05224609375,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.37109375,
      "step": 10675
    },
    {
      "epoch": 2.3953331837558896,
      "grad_norm": 0.3404980003833771,
      "learning_rate": 5.1408483716187866e-05,
      "loss": 0.0343,
      "step": 10676
    },
    {
      "epoch": 2.3953331837558896,
      "gripper_loss": 0.1826171875,
      "loss": 0.0712890625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.0830078125,
      "step": 10676
    },
    {
      "epoch": 2.395557549921472,
      "grad_norm": 0.4364330470561981,
      "learning_rate": 5.1371703226282985e-05,
      "loss": 0.0351,
      "step": 10677
    },
    {
      "epoch": 2.395557549921472,
      "gripper_loss": 1.2265625,
      "loss": 0.058349609375,
      "pos_loss": 0.0673828125,
      "rot_loss": 0.11572265625,
      "step": 10677
    },
    {
      "epoch": 2.395781916087054,
      "grad_norm": 0.3394164741039276,
      "learning_rate": 5.1334934391796847e-05,
      "loss": 0.0351,
      "step": 10678
    },
    {
      "epoch": 2.395781916087054,
      "gripper_loss": 0.0791015625,
      "loss": 0.0390625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.11474609375,
      "step": 10678
    },
    {
      "epoch": 2.3960062822526362,
      "grad_norm": 0.3004137873649597,
      "learning_rate": 5.129817721488703e-05,
      "loss": 0.0468,
      "step": 10679
    },
    {
      "epoch": 2.3960062822526362,
      "gripper_loss": 0.3046875,
      "loss": 0.030029296875,
      "pos_loss": 0.07861328125,
      "rot_loss": 0.1123046875,
      "step": 10679
    },
    {
      "epoch": 2.3962306484182188,
      "grad_norm": 0.2330653965473175,
      "learning_rate": 5.12614316977105e-05,
      "loss": 0.0244,
      "step": 10680
    },
    {
      "epoch": 2.3962306484182188,
      "gripper_loss": 0.1640625,
      "loss": 0.021240234375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.006072998046875,
      "step": 10680
    },
    {
      "epoch": 2.396455014583801,
      "grad_norm": 0.2605540454387665,
      "learning_rate": 5.122469784242334e-05,
      "loss": 0.0353,
      "step": 10681
    },
    {
      "epoch": 2.396455014583801,
      "gripper_loss": 0.10986328125,
      "loss": 0.05712890625,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.380859375,
      "step": 10681
    },
    {
      "epoch": 2.396679380749383,
      "grad_norm": 0.291980504989624,
      "learning_rate": 5.118797565118113e-05,
      "loss": 0.0496,
      "step": 10682
    },
    {
      "epoch": 2.396679380749383,
      "gripper_loss": 0.005859375,
      "loss": 0.030517578125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.03955078125,
      "step": 10682
    },
    {
      "epoch": 2.3969037469149654,
      "grad_norm": 0.3564833104610443,
      "learning_rate": 5.115126512613877e-05,
      "loss": 0.0415,
      "step": 10683
    },
    {
      "epoch": 2.3969037469149654,
      "gripper_loss": 0.0311279296875,
      "loss": 0.0198974609375,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.07568359375,
      "step": 10683
    },
    {
      "epoch": 2.3971281130805475,
      "grad_norm": 0.2796190679073334,
      "learning_rate": 5.111456626945041e-05,
      "loss": 0.0261,
      "step": 10684
    },
    {
      "epoch": 2.3971281130805475,
      "gripper_loss": 0.1865234375,
      "loss": 0.0218505859375,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.0306396484375,
      "step": 10684
    },
    {
      "epoch": 2.3973524792461296,
      "grad_norm": 0.5220482349395752,
      "learning_rate": 5.107787908326939e-05,
      "loss": 0.0636,
      "step": 10685
    },
    {
      "epoch": 2.3973524792461296,
      "gripper_loss": 0.034423828125,
      "loss": 0.07080078125,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.447265625,
      "step": 10685
    },
    {
      "epoch": 2.397576845411712,
      "grad_norm": 0.540650486946106,
      "learning_rate": 5.104120356974862e-05,
      "loss": 0.0685,
      "step": 10686
    },
    {
      "epoch": 2.397576845411712,
      "gripper_loss": 0.0213623046875,
      "loss": 0.026123046875,
      "pos_loss": 0.203125,
      "rot_loss": 0.04296875,
      "step": 10686
    },
    {
      "epoch": 2.397801211577294,
      "grad_norm": 0.24940457940101624,
      "learning_rate": 5.1004539731040245e-05,
      "loss": 0.0403,
      "step": 10687
    },
    {
      "epoch": 2.397801211577294,
      "gripper_loss": 0.4921875,
      "loss": 0.0274658203125,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.02587890625,
      "step": 10687
    },
    {
      "epoch": 2.3980255777428763,
      "grad_norm": 0.33682018518447876,
      "learning_rate": 5.0967887569295575e-05,
      "loss": 0.0327,
      "step": 10688
    },
    {
      "epoch": 2.3980255777428763,
      "gripper_loss": 0.02294921875,
      "loss": 0.044189453125,
      "pos_loss": 0.259765625,
      "rot_loss": 0.1796875,
      "step": 10688
    },
    {
      "epoch": 2.398249943908459,
      "grad_norm": 0.3003372848033905,
      "learning_rate": 5.0931247086665355e-05,
      "loss": 0.0333,
      "step": 10689
    },
    {
      "epoch": 2.398249943908459,
      "gripper_loss": 0.08740234375,
      "loss": 0.1572265625,
      "pos_loss": 1.6015625,
      "rot_loss": 0.015869140625,
      "step": 10689
    },
    {
      "epoch": 2.398474310074041,
      "grad_norm": 0.356762170791626,
      "learning_rate": 5.0894618285299624e-05,
      "loss": 0.0547,
      "step": 10690
    },
    {
      "epoch": 2.398474310074041,
      "gripper_loss": 0.08349609375,
      "loss": 0.1826171875,
      "pos_loss": 0.625,
      "rot_loss": 0.38671875,
      "step": 10690
    },
    {
      "epoch": 2.398698676239623,
      "grad_norm": 1.4256166219711304,
      "learning_rate": 5.085800116734779e-05,
      "loss": 0.1763,
      "step": 10691
    },
    {
      "epoch": 2.398698676239623,
      "gripper_loss": 0.87109375,
      "loss": 0.0654296875,
      "pos_loss": 0.328125,
      "rot_loss": 0.0498046875,
      "step": 10691
    },
    {
      "epoch": 2.3989230424052055,
      "grad_norm": 0.29680153727531433,
      "learning_rate": 5.0821395734958556e-05,
      "loss": 0.0617,
      "step": 10692
    },
    {
      "epoch": 2.3989230424052055,
      "gripper_loss": 0.006683349609375,
      "loss": 0.0128173828125,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.06103515625,
      "step": 10692
    },
    {
      "epoch": 2.3991474085707876,
      "grad_norm": 0.5515185594558716,
      "learning_rate": 5.0784801990279823e-05,
      "loss": 0.0843,
      "step": 10693
    },
    {
      "epoch": 2.3991474085707876,
      "gripper_loss": 0.087890625,
      "loss": 0.0908203125,
      "pos_loss": 0.89453125,
      "rot_loss": 0.016845703125,
      "step": 10693
    },
    {
      "epoch": 2.3993717747363696,
      "grad_norm": 0.2954886853694916,
      "learning_rate": 5.074821993545895e-05,
      "loss": 0.0479,
      "step": 10694
    },
    {
      "epoch": 2.3993717747363696,
      "gripper_loss": 0.00750732421875,
      "loss": 0.0198974609375,
      "pos_loss": 0.11328125,
      "rot_loss": 0.06982421875,
      "step": 10694
    },
    {
      "epoch": 2.399596140901952,
      "grad_norm": 0.30000370740890503,
      "learning_rate": 5.071164957264252e-05,
      "loss": 0.0278,
      "step": 10695
    },
    {
      "epoch": 2.399596140901952,
      "gripper_loss": 0.2734375,
      "loss": 0.21875,
      "pos_loss": 0.80859375,
      "rot_loss": 0.330078125,
      "step": 10695
    },
    {
      "epoch": 2.3998205070675342,
      "grad_norm": 1.3162330389022827,
      "learning_rate": 5.067509090397651e-05,
      "loss": 0.1833,
      "step": 10696
    },
    {
      "epoch": 2.3998205070675342,
      "gripper_loss": 0.0167236328125,
      "loss": 0.025634765625,
      "pos_loss": 0.208984375,
      "rot_loss": 0.0274658203125,
      "step": 10696
    },
    {
      "epoch": 2.4000448732331163,
      "grad_norm": 0.2656157314777374,
      "learning_rate": 5.0638543931606216e-05,
      "loss": 0.0424,
      "step": 10697
    },
    {
      "epoch": 2.4000448732331163,
      "gripper_loss": 0.002593994140625,
      "loss": 0.408203125,
      "pos_loss": 1.8671875,
      "rot_loss": 2.46875,
      "step": 10697
    },
    {
      "epoch": 2.400269239398699,
      "grad_norm": 0.7856293320655823,
      "learning_rate": 5.060200865767606e-05,
      "loss": 0.0813,
      "step": 10698
    },
    {
      "epoch": 2.400269239398699,
      "gripper_loss": 0.006500244140625,
      "loss": 0.0184326171875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.032470703125,
      "step": 10698
    },
    {
      "epoch": 2.400493605564281,
      "grad_norm": 0.22486606240272522,
      "learning_rate": 5.056548508433004e-05,
      "loss": 0.0321,
      "step": 10699
    },
    {
      "epoch": 2.400493605564281,
      "gripper_loss": 0.0252685546875,
      "loss": 0.0810546875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.341796875,
      "step": 10699
    },
    {
      "epoch": 2.400717971729863,
      "grad_norm": 0.30122095346450806,
      "learning_rate": 5.052897321371122e-05,
      "loss": 0.0493,
      "step": 10700
    },
    {
      "epoch": 2.400717971729863,
      "gripper_loss": 0.1484375,
      "loss": 0.16015625,
      "pos_loss": 1.625,
      "rot_loss": 0.00823974609375,
      "step": 10700
    },
    {
      "epoch": 2.4009423378954455,
      "grad_norm": 0.4412779211997986,
      "learning_rate": 5.0492473047962256e-05,
      "loss": 0.0653,
      "step": 10701
    },
    {
      "epoch": 2.4009423378954455,
      "gripper_loss": 0.1767578125,
      "loss": 0.0908203125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.302734375,
      "step": 10701
    },
    {
      "epoch": 2.4011667040610276,
      "grad_norm": 1.1289560794830322,
      "learning_rate": 5.045598458922479e-05,
      "loss": 0.1033,
      "step": 10702
    },
    {
      "epoch": 2.4011667040610276,
      "gripper_loss": 0.06640625,
      "loss": 0.015625,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.0201416015625,
      "step": 10702
    },
    {
      "epoch": 2.4013910702266097,
      "grad_norm": 0.2666836380958557,
      "learning_rate": 5.041950783964006e-05,
      "loss": 0.0269,
      "step": 10703
    },
    {
      "epoch": 2.4013910702266097,
      "gripper_loss": 0.1494140625,
      "loss": 0.03271484375,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.201171875,
      "step": 10703
    },
    {
      "epoch": 2.401615436392192,
      "grad_norm": 0.36699768900871277,
      "learning_rate": 5.038304280134845e-05,
      "loss": 0.0558,
      "step": 10704
    },
    {
      "epoch": 2.401615436392192,
      "gripper_loss": 0.36328125,
      "loss": 0.04345703125,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.2177734375,
      "step": 10704
    },
    {
      "epoch": 2.4018398025577743,
      "grad_norm": 0.30879947543144226,
      "learning_rate": 5.034658947648982e-05,
      "loss": 0.0359,
      "step": 10705
    },
    {
      "epoch": 2.4018398025577743,
      "gripper_loss": 0.53515625,
      "loss": 0.053955078125,
      "pos_loss": 0.36328125,
      "rot_loss": 0.0098876953125,
      "step": 10705
    },
    {
      "epoch": 2.4020641687233564,
      "grad_norm": 0.36193186044692993,
      "learning_rate": 5.0310147867203085e-05,
      "loss": 0.0558,
      "step": 10706
    },
    {
      "epoch": 2.4020641687233564,
      "gripper_loss": 0.023193359375,
      "loss": 0.07958984375,
      "pos_loss": 0.640625,
      "rot_loss": 0.1298828125,
      "step": 10706
    },
    {
      "epoch": 2.402288534888939,
      "grad_norm": 0.3317367434501648,
      "learning_rate": 5.027371797562669e-05,
      "loss": 0.0548,
      "step": 10707
    },
    {
      "epoch": 2.402288534888939,
      "gripper_loss": 0.408203125,
      "loss": 0.0380859375,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.0247802734375,
      "step": 10707
    },
    {
      "epoch": 2.402512901054521,
      "grad_norm": 0.4442247748374939,
      "learning_rate": 5.023729980389832e-05,
      "loss": 0.0391,
      "step": 10708
    },
    {
      "epoch": 2.402512901054521,
      "gripper_loss": 0.310546875,
      "loss": 0.0927734375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.2275390625,
      "step": 10708
    },
    {
      "epoch": 2.402737267220103,
      "grad_norm": 0.8940199613571167,
      "learning_rate": 5.020089335415498e-05,
      "loss": 0.114,
      "step": 10709
    },
    {
      "epoch": 2.402737267220103,
      "gripper_loss": 0.251953125,
      "loss": 0.04052734375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.15234375,
      "step": 10709
    },
    {
      "epoch": 2.4029616333856856,
      "grad_norm": 0.36195680499076843,
      "learning_rate": 5.016449862853306e-05,
      "loss": 0.0611,
      "step": 10710
    },
    {
      "epoch": 2.4029616333856856,
      "gripper_loss": 0.115234375,
      "loss": 0.044677734375,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.1376953125,
      "step": 10710
    },
    {
      "epoch": 2.4031859995512677,
      "grad_norm": 0.5001471638679504,
      "learning_rate": 5.012811562916811e-05,
      "loss": 0.0724,
      "step": 10711
    },
    {
      "epoch": 2.4031859995512677,
      "gripper_loss": 0.197265625,
      "loss": 0.08935546875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.197265625,
      "step": 10711
    },
    {
      "epoch": 2.4034103657168497,
      "grad_norm": 0.3268851041793823,
      "learning_rate": 5.0091744358194994e-05,
      "loss": 0.044,
      "step": 10712
    },
    {
      "epoch": 2.4034103657168497,
      "gripper_loss": 0.546875,
      "loss": 0.07470703125,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.2177734375,
      "step": 10712
    },
    {
      "epoch": 2.4036347318824323,
      "grad_norm": 0.7615744471549988,
      "learning_rate": 5.0055384817748075e-05,
      "loss": 0.0718,
      "step": 10713
    },
    {
      "epoch": 2.4036347318824323,
      "gripper_loss": 0.0986328125,
      "loss": 0.0238037109375,
      "pos_loss": 0.087890625,
      "rot_loss": 0.10400390625,
      "step": 10713
    },
    {
      "epoch": 2.4038590980480143,
      "grad_norm": 0.33428648114204407,
      "learning_rate": 5.001903700996091e-05,
      "loss": 0.0331,
      "step": 10714
    },
    {
      "epoch": 2.4038590980480143,
      "gripper_loss": 0.0223388671875,
      "loss": 0.049560546875,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.345703125,
      "step": 10714
    },
    {
      "epoch": 2.4040834642135964,
      "grad_norm": 0.44369786977767944,
      "learning_rate": 4.9982700936966276e-05,
      "loss": 0.0521,
      "step": 10715
    },
    {
      "epoch": 2.4040834642135964,
      "gripper_loss": 0.494140625,
      "loss": 0.025146484375,
      "pos_loss": 0.064453125,
      "rot_loss": 0.012939453125,
      "step": 10715
    },
    {
      "epoch": 2.404307830379179,
      "grad_norm": 0.2834970951080322,
      "learning_rate": 4.994637660089643e-05,
      "loss": 0.0508,
      "step": 10716
    },
    {
      "epoch": 2.404307830379179,
      "gripper_loss": 0.0220947265625,
      "loss": 0.21875,
      "pos_loss": 1.3984375,
      "rot_loss": 0.828125,
      "step": 10716
    },
    {
      "epoch": 2.404532196544761,
      "grad_norm": 0.6179542541503906,
      "learning_rate": 4.991006400388284e-05,
      "loss": 0.0837,
      "step": 10717
    },
    {
      "epoch": 2.404532196544761,
      "gripper_loss": 0.16015625,
      "loss": 0.0966796875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.3515625,
      "step": 10717
    },
    {
      "epoch": 2.404756562710343,
      "grad_norm": 0.623275637626648,
      "learning_rate": 4.9873763148056415e-05,
      "loss": 0.0725,
      "step": 10718
    },
    {
      "epoch": 2.404756562710343,
      "gripper_loss": 1.0078125,
      "loss": 0.08056640625,
      "pos_loss": 0.185546875,
      "rot_loss": 0.30859375,
      "step": 10718
    },
    {
      "epoch": 2.4049809288759256,
      "grad_norm": 0.4099258780479431,
      "learning_rate": 4.983747403554714e-05,
      "loss": 0.0594,
      "step": 10719
    },
    {
      "epoch": 2.4049809288759256,
      "gripper_loss": 0.0096435546875,
      "loss": 0.0771484375,
      "pos_loss": 0.41015625,
      "rot_loss": 0.380859375,
      "step": 10719
    },
    {
      "epoch": 2.4052052950415077,
      "grad_norm": 0.34061315655708313,
      "learning_rate": 4.980119666848448e-05,
      "loss": 0.0558,
      "step": 10720
    },
    {
      "epoch": 2.4052052950415077,
      "gripper_loss": 0.00946044921875,
      "loss": 0.08251953125,
      "pos_loss": 0.38671875,
      "rot_loss": 0.443359375,
      "step": 10720
    },
    {
      "epoch": 2.40542966120709,
      "grad_norm": 0.3627670109272003,
      "learning_rate": 4.976493104899718e-05,
      "loss": 0.0733,
      "step": 10721
    },
    {
      "epoch": 2.40542966120709,
      "gripper_loss": 0.01080322265625,
      "loss": 0.0250244140625,
      "pos_loss": 0.1796875,
      "rot_loss": 0.0556640625,
      "step": 10721
    },
    {
      "epoch": 2.4056540273726723,
      "grad_norm": 0.23632875084877014,
      "learning_rate": 4.972867717921337e-05,
      "loss": 0.0291,
      "step": 10722
    },
    {
      "epoch": 2.4056540273726723,
      "gripper_loss": 0.005126953125,
      "loss": 0.052490234375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.220703125,
      "step": 10722
    },
    {
      "epoch": 2.4058783935382544,
      "grad_norm": 0.3932090103626251,
      "learning_rate": 4.969243506126034e-05,
      "loss": 0.0497,
      "step": 10723
    },
    {
      "epoch": 2.4058783935382544,
      "gripper_loss": 0.0067138671875,
      "loss": 0.02587890625,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.10205078125,
      "step": 10723
    },
    {
      "epoch": 2.4061027597038365,
      "grad_norm": 0.6084162592887878,
      "learning_rate": 4.965620469726467e-05,
      "loss": 0.0359,
      "step": 10724
    },
    {
      "epoch": 2.4061027597038365,
      "gripper_loss": 0.0140380859375,
      "loss": 0.130859375,
      "pos_loss": 1.3203125,
      "rot_loss": 0.030517578125,
      "step": 10724
    },
    {
      "epoch": 2.406327125869419,
      "grad_norm": 0.4401775300502777,
      "learning_rate": 4.9619986089352446e-05,
      "loss": 0.0488,
      "step": 10725
    },
    {
      "epoch": 2.406327125869419,
      "gripper_loss": 0.004302978515625,
      "loss": 0.023681640625,
      "pos_loss": 0.123046875,
      "rot_loss": 0.1044921875,
      "step": 10725
    },
    {
      "epoch": 2.406551492035001,
      "grad_norm": 0.46355897188186646,
      "learning_rate": 4.9583779239648965e-05,
      "loss": 0.0439,
      "step": 10726
    },
    {
      "epoch": 2.406551492035001,
      "gripper_loss": 0.0074462890625,
      "loss": 0.0693359375,
      "pos_loss": 0.55859375,
      "rot_loss": 0.1513671875,
      "step": 10726
    },
    {
      "epoch": 2.406775858200583,
      "grad_norm": 0.33000490069389343,
      "learning_rate": 4.9547584150278853e-05,
      "loss": 0.0473,
      "step": 10727
    },
    {
      "epoch": 2.406775858200583,
      "gripper_loss": 0.111328125,
      "loss": 0.1796875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.515625,
      "step": 10727
    },
    {
      "epoch": 2.4070002243661657,
      "grad_norm": 1.0650653839111328,
      "learning_rate": 4.951140082336591e-05,
      "loss": 0.1276,
      "step": 10728
    },
    {
      "epoch": 2.4070002243661657,
      "gripper_loss": 0.005889892578125,
      "loss": 0.0247802734375,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.08642578125,
      "step": 10728
    },
    {
      "epoch": 2.4072245905317478,
      "grad_norm": 0.26557448506355286,
      "learning_rate": 4.9475229261033426e-05,
      "loss": 0.0266,
      "step": 10729
    },
    {
      "epoch": 2.4072245905317478,
      "gripper_loss": 0.0159912109375,
      "loss": 0.07373046875,
      "pos_loss": 0.5859375,
      "rot_loss": 0.15625,
      "step": 10729
    },
    {
      "epoch": 2.40744895669733,
      "grad_norm": 0.4341624975204468,
      "learning_rate": 4.943906946540394e-05,
      "loss": 0.0615,
      "step": 10730
    },
    {
      "epoch": 2.40744895669733,
      "gripper_loss": 0.01202392578125,
      "loss": 0.051025390625,
      "pos_loss": 0.38671875,
      "rot_loss": 0.11181640625,
      "step": 10730
    },
    {
      "epoch": 2.4076733228629124,
      "grad_norm": 0.3094004690647125,
      "learning_rate": 4.9402921438599344e-05,
      "loss": 0.0457,
      "step": 10731
    },
    {
      "epoch": 2.4076733228629124,
      "gripper_loss": 0.208984375,
      "loss": 0.0888671875,
      "pos_loss": 0.734375,
      "rot_loss": 0.1171875,
      "step": 10731
    },
    {
      "epoch": 2.4078976890284944,
      "grad_norm": 0.3595033586025238,
      "learning_rate": 4.936678518274065e-05,
      "loss": 0.0425,
      "step": 10732
    },
    {
      "epoch": 2.4078976890284944,
      "gripper_loss": 0.2236328125,
      "loss": 0.0277099609375,
      "pos_loss": 0.05615234375,
      "rot_loss": 0.1396484375,
      "step": 10732
    },
    {
      "epoch": 2.4081220551940765,
      "grad_norm": 0.30597150325775146,
      "learning_rate": 4.93306606999484e-05,
      "loss": 0.0453,
      "step": 10733
    },
    {
      "epoch": 2.4081220551940765,
      "gripper_loss": 0.041015625,
      "loss": 0.083984375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.458984375,
      "step": 10733
    },
    {
      "epoch": 2.408346421359659,
      "grad_norm": 0.3475785553455353,
      "learning_rate": 4.929454799234243e-05,
      "loss": 0.0515,
      "step": 10734
    },
    {
      "epoch": 2.408346421359659,
      "gripper_loss": 0.84375,
      "loss": 0.04541015625,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.039306640625,
      "step": 10734
    },
    {
      "epoch": 2.408570787525241,
      "grad_norm": 0.4354724586009979,
      "learning_rate": 4.925844706204172e-05,
      "loss": 0.0399,
      "step": 10735
    },
    {
      "epoch": 2.408570787525241,
      "gripper_loss": 0.08642578125,
      "loss": 0.02587890625,
      "pos_loss": 0.193359375,
      "rot_loss": 0.025390625,
      "step": 10735
    },
    {
      "epoch": 2.408795153690823,
      "grad_norm": 0.3063427209854126,
      "learning_rate": 4.922235791116464e-05,
      "loss": 0.0378,
      "step": 10736
    },
    {
      "epoch": 2.408795153690823,
      "gripper_loss": 0.026611328125,
      "loss": 0.10791015625,
      "pos_loss": 0.8203125,
      "rot_loss": 0.1884765625,
      "step": 10736
    },
    {
      "epoch": 2.4090195198564057,
      "grad_norm": 0.3585956394672394,
      "learning_rate": 4.9186280541828917e-05,
      "loss": 0.0451,
      "step": 10737
    },
    {
      "epoch": 2.4090195198564057,
      "gripper_loss": 0.0267333984375,
      "loss": 0.005828857421875,
      "pos_loss": 0.00811767578125,
      "rot_loss": 0.0191650390625,
      "step": 10737
    },
    {
      "epoch": 2.409243886021988,
      "grad_norm": 0.24171984195709229,
      "learning_rate": 4.915021495615155e-05,
      "loss": 0.0301,
      "step": 10738
    },
    {
      "epoch": 2.409243886021988,
      "gripper_loss": 0.01434326171875,
      "loss": 0.01007080078125,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.019775390625,
      "step": 10738
    },
    {
      "epoch": 2.40946825218757,
      "grad_norm": 0.18992206454277039,
      "learning_rate": 4.9114161156248866e-05,
      "loss": 0.0321,
      "step": 10739
    },
    {
      "epoch": 2.40946825218757,
      "gripper_loss": 0.380859375,
      "loss": 0.03125,
      "pos_loss": 0.061767578125,
      "rot_loss": 0.1201171875,
      "step": 10739
    },
    {
      "epoch": 2.4096926183531524,
      "grad_norm": 0.4331895112991333,
      "learning_rate": 4.9078119144236544e-05,
      "loss": 0.0488,
      "step": 10740
    },
    {
      "epoch": 2.4096926183531524,
      "gripper_loss": 0.0947265625,
      "loss": 0.08056640625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.1533203125,
      "step": 10740
    },
    {
      "epoch": 2.4099169845187345,
      "grad_norm": 0.43272852897644043,
      "learning_rate": 4.904208892222942e-05,
      "loss": 0.0427,
      "step": 10741
    },
    {
      "epoch": 2.4099169845187345,
      "gripper_loss": 0.01434326171875,
      "loss": 0.043701171875,
      "pos_loss": 0.212890625,
      "rot_loss": 0.2177734375,
      "step": 10741
    },
    {
      "epoch": 2.4101413506843166,
      "grad_norm": 0.29937368631362915,
      "learning_rate": 4.900607049234174e-05,
      "loss": 0.053,
      "step": 10742
    },
    {
      "epoch": 2.4101413506843166,
      "gripper_loss": 0.008056640625,
      "loss": 0.068359375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.39453125,
      "step": 10742
    },
    {
      "epoch": 2.410365716849899,
      "grad_norm": 0.25903093814849854,
      "learning_rate": 4.897006385668706e-05,
      "loss": 0.0353,
      "step": 10743
    },
    {
      "epoch": 2.410365716849899,
      "gripper_loss": 0.0164794921875,
      "loss": 0.02587890625,
      "pos_loss": 0.09228515625,
      "rot_loss": 0.1552734375,
      "step": 10743
    },
    {
      "epoch": 2.410590083015481,
      "grad_norm": 0.2617889642715454,
      "learning_rate": 4.8934069017378316e-05,
      "loss": 0.0337,
      "step": 10744
    },
    {
      "epoch": 2.410590083015481,
      "gripper_loss": 0.01080322265625,
      "loss": 0.052734375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.265625,
      "step": 10744
    },
    {
      "epoch": 2.4108144491810632,
      "grad_norm": 0.35415026545524597,
      "learning_rate": 4.8898085976527565e-05,
      "loss": 0.0403,
      "step": 10745
    },
    {
      "epoch": 2.4108144491810632,
      "gripper_loss": 0.00836181640625,
      "loss": 0.062255859375,
      "pos_loss": 0.380859375,
      "rot_loss": 0.25390625,
      "step": 10745
    },
    {
      "epoch": 2.4110388153466458,
      "grad_norm": 0.3832379877567291,
      "learning_rate": 4.886211473624633e-05,
      "loss": 0.0513,
      "step": 10746
    },
    {
      "epoch": 2.4110388153466458,
      "gripper_loss": 0.00714111328125,
      "loss": 0.06640625,
      "pos_loss": 0.38671875,
      "rot_loss": 0.2890625,
      "step": 10746
    },
    {
      "epoch": 2.411263181512228,
      "grad_norm": 0.4718571901321411,
      "learning_rate": 4.882615529864531e-05,
      "loss": 0.0474,
      "step": 10747
    },
    {
      "epoch": 2.411263181512228,
      "gripper_loss": 0.005584716796875,
      "loss": 0.0220947265625,
      "pos_loss": 0.10595703125,
      "rot_loss": 0.1015625,
      "step": 10747
    },
    {
      "epoch": 2.4114875476778104,
      "grad_norm": 0.245112806558609,
      "learning_rate": 4.879020766583475e-05,
      "loss": 0.0262,
      "step": 10748
    },
    {
      "epoch": 2.4114875476778104,
      "gripper_loss": 0.455078125,
      "loss": 0.0274658203125,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.0361328125,
      "step": 10748
    },
    {
      "epoch": 2.4117119138433925,
      "grad_norm": 0.3806621730327606,
      "learning_rate": 4.875427183992384e-05,
      "loss": 0.0878,
      "step": 10749
    },
    {
      "epoch": 2.4117119138433925,
      "gripper_loss": 0.01904296875,
      "loss": 0.056884765625,
      "pos_loss": 0.4296875,
      "rot_loss": 0.138671875,
      "step": 10749
    },
    {
      "epoch": 2.4119362800089745,
      "grad_norm": 0.2548605799674988,
      "learning_rate": 4.871834782302137e-05,
      "loss": 0.0378,
      "step": 10750
    },
    {
      "epoch": 2.4119362800089745,
      "gripper_loss": 0.052490234375,
      "loss": 0.06591796875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.12890625,
      "step": 10750
    },
    {
      "epoch": 2.412160646174557,
      "grad_norm": 0.3562236428260803,
      "learning_rate": 4.8682435617235344e-05,
      "loss": 0.0587,
      "step": 10751
    },
    {
      "epoch": 2.412160646174557,
      "gripper_loss": 0.0400390625,
      "loss": 0.04833984375,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.376953125,
      "step": 10751
    },
    {
      "epoch": 2.412385012340139,
      "grad_norm": 0.24065381288528442,
      "learning_rate": 4.864653522467316e-05,
      "loss": 0.028,
      "step": 10752
    },
    {
      "epoch": 2.412385012340139,
      "gripper_loss": 0.012939453125,
      "loss": 0.0966796875,
      "pos_loss": 0.58984375,
      "rot_loss": 0.408203125,
      "step": 10752
    },
    {
      "epoch": 2.412609378505721,
      "grad_norm": 0.35333317518234253,
      "learning_rate": 4.861064664744127e-05,
      "loss": 0.0593,
      "step": 10753
    },
    {
      "epoch": 2.412609378505721,
      "gripper_loss": 0.01153564453125,
      "loss": 0.05859375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.059814453125,
      "step": 10753
    },
    {
      "epoch": 2.4128337446713037,
      "grad_norm": 0.5630351305007935,
      "learning_rate": 4.857476988764573e-05,
      "loss": 0.1048,
      "step": 10754
    },
    {
      "epoch": 2.4128337446713037,
      "gripper_loss": 0.5078125,
      "loss": 0.08544921875,
      "pos_loss": 0.490234375,
      "rot_loss": 0.2265625,
      "step": 10754
    },
    {
      "epoch": 2.413058110836886,
      "grad_norm": 0.8741859197616577,
      "learning_rate": 4.853890494739169e-05,
      "loss": 0.0535,
      "step": 10755
    },
    {
      "epoch": 2.413058110836886,
      "gripper_loss": 0.048828125,
      "loss": 0.017578125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.01373291015625,
      "step": 10755
    },
    {
      "epoch": 2.413282477002468,
      "grad_norm": 0.5166980624198914,
      "learning_rate": 4.850305182878373e-05,
      "loss": 0.0561,
      "step": 10756
    },
    {
      "epoch": 2.413282477002468,
      "gripper_loss": 1.265625,
      "loss": 0.048095703125,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.0361328125,
      "step": 10756
    },
    {
      "epoch": 2.4135068431680504,
      "grad_norm": 0.2980733811855316,
      "learning_rate": 4.846721053392575e-05,
      "loss": 0.0499,
      "step": 10757
    },
    {
      "epoch": 2.4135068431680504,
      "gripper_loss": 0.349609375,
      "loss": 0.039306640625,
      "pos_loss": 0.232421875,
      "rot_loss": 0.048095703125,
      "step": 10757
    },
    {
      "epoch": 2.4137312093336325,
      "grad_norm": 0.39400714635849,
      "learning_rate": 4.843138106492084e-05,
      "loss": 0.0541,
      "step": 10758
    },
    {
      "epoch": 2.4137312093336325,
      "gripper_loss": 0.5703125,
      "loss": 0.0546875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.1123046875,
      "step": 10758
    },
    {
      "epoch": 2.4139555754992146,
      "grad_norm": 0.2639244496822357,
      "learning_rate": 4.8395563423871414e-05,
      "loss": 0.0543,
      "step": 10759
    },
    {
      "epoch": 2.4139555754992146,
      "gripper_loss": 0.1162109375,
      "loss": 0.0169677734375,
      "pos_loss": 0.107421875,
      "rot_loss": 0.0126953125,
      "step": 10759
    },
    {
      "epoch": 2.414179941664797,
      "grad_norm": 0.4749455153942108,
      "learning_rate": 4.835975761287928e-05,
      "loss": 0.047,
      "step": 10760
    },
    {
      "epoch": 2.414179941664797,
      "gripper_loss": 0.00469970703125,
      "loss": 0.019287109375,
      "pos_loss": 0.15625,
      "rot_loss": 0.0255126953125,
      "step": 10760
    },
    {
      "epoch": 2.414404307830379,
      "grad_norm": 0.4562183916568756,
      "learning_rate": 4.8323963634045536e-05,
      "loss": 0.0542,
      "step": 10761
    },
    {
      "epoch": 2.414404307830379,
      "gripper_loss": 0.020263671875,
      "loss": 0.046630859375,
      "pos_loss": 0.443359375,
      "rot_loss": 0.0250244140625,
      "step": 10761
    },
    {
      "epoch": 2.4146286739959613,
      "grad_norm": 0.8464182615280151,
      "learning_rate": 4.828818148947051e-05,
      "loss": 0.0998,
      "step": 10762
    },
    {
      "epoch": 2.4146286739959613,
      "gripper_loss": 0.00982666015625,
      "loss": 0.020751953125,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.10205078125,
      "step": 10762
    },
    {
      "epoch": 2.414853040161544,
      "grad_norm": 0.2805860638618469,
      "learning_rate": 4.825241118125387e-05,
      "loss": 0.0391,
      "step": 10763
    },
    {
      "epoch": 2.414853040161544,
      "gripper_loss": 0.015625,
      "loss": 0.0194091796875,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.06591796875,
      "step": 10763
    },
    {
      "epoch": 2.415077406327126,
      "grad_norm": 0.25548094511032104,
      "learning_rate": 4.821665271149464e-05,
      "loss": 0.0543,
      "step": 10764
    },
    {
      "epoch": 2.415077406327126,
      "gripper_loss": 0.279296875,
      "loss": 0.032470703125,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.09814453125,
      "step": 10764
    },
    {
      "epoch": 2.415301772492708,
      "grad_norm": 0.24647186696529388,
      "learning_rate": 4.818090608229114e-05,
      "loss": 0.0358,
      "step": 10765
    },
    {
      "epoch": 2.415301772492708,
      "gripper_loss": 0.0252685546875,
      "loss": 0.037841796875,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.255859375,
      "step": 10765
    },
    {
      "epoch": 2.4155261386582905,
      "grad_norm": 0.374382883310318,
      "learning_rate": 4.814517129574089e-05,
      "loss": 0.0484,
      "step": 10766
    },
    {
      "epoch": 2.4155261386582905,
      "gripper_loss": 0.0458984375,
      "loss": 0.0167236328125,
      "pos_loss": 0.04248046875,
      "rot_loss": 0.10107421875,
      "step": 10766
    },
    {
      "epoch": 2.4157505048238725,
      "grad_norm": 0.21709981560707092,
      "learning_rate": 4.810944835394082e-05,
      "loss": 0.0309,
      "step": 10767
    },
    {
      "epoch": 2.4157505048238725,
      "gripper_loss": 0.007049560546875,
      "loss": 0.042724609375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.1044921875,
      "step": 10767
    },
    {
      "epoch": 2.4159748709894546,
      "grad_norm": 0.2590476870536804,
      "learning_rate": 4.807373725898714e-05,
      "loss": 0.0432,
      "step": 10768
    },
    {
      "epoch": 2.4159748709894546,
      "gripper_loss": 0.0072021484375,
      "loss": 0.010986328125,
      "pos_loss": 0.0286865234375,
      "rot_loss": 0.06591796875,
      "step": 10768
    },
    {
      "epoch": 2.416199237155037,
      "grad_norm": 0.3064393103122711,
      "learning_rate": 4.803803801297546e-05,
      "loss": 0.0312,
      "step": 10769
    },
    {
      "epoch": 2.416199237155037,
      "gripper_loss": 0.0096435546875,
      "loss": 0.09228515625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.13671875,
      "step": 10769
    },
    {
      "epoch": 2.4164236033206192,
      "grad_norm": 0.6418778896331787,
      "learning_rate": 4.8002350618000486e-05,
      "loss": 0.0798,
      "step": 10770
    },
    {
      "epoch": 2.4164236033206192,
      "gripper_loss": 0.01531982421875,
      "loss": 0.1572265625,
      "pos_loss": 1.546875,
      "rot_loss": 0.0908203125,
      "step": 10770
    },
    {
      "epoch": 2.4166479694862013,
      "grad_norm": 0.2401972860097885,
      "learning_rate": 4.7966675076156266e-05,
      "loss": 0.0515,
      "step": 10771
    },
    {
      "epoch": 2.4166479694862013,
      "gripper_loss": 0.016845703125,
      "loss": 0.041015625,
      "pos_loss": 0.2890625,
      "rot_loss": 0.1171875,
      "step": 10771
    },
    {
      "epoch": 2.416872335651784,
      "grad_norm": 0.36327555775642395,
      "learning_rate": 4.793101138953635e-05,
      "loss": 0.0363,
      "step": 10772
    },
    {
      "epoch": 2.416872335651784,
      "gripper_loss": 0.0029296875,
      "loss": 0.01806640625,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.07373046875,
      "step": 10772
    },
    {
      "epoch": 2.417096701817366,
      "grad_norm": 0.42053666710853577,
      "learning_rate": 4.789535956023339e-05,
      "loss": 0.072,
      "step": 10773
    },
    {
      "epoch": 2.417096701817366,
      "gripper_loss": 0.10400390625,
      "loss": 0.042236328125,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.15234375,
      "step": 10773
    },
    {
      "epoch": 2.417321067982948,
      "grad_norm": 0.29205378890037537,
      "learning_rate": 4.785971959033955e-05,
      "loss": 0.0297,
      "step": 10774
    },
    {
      "epoch": 2.417321067982948,
      "gripper_loss": 0.048583984375,
      "loss": 0.00836181640625,
      "pos_loss": 0.0289306640625,
      "rot_loss": 0.025146484375,
      "step": 10774
    },
    {
      "epoch": 2.4175454341485305,
      "grad_norm": 0.3637467622756958,
      "learning_rate": 4.7824091481945996e-05,
      "loss": 0.0465,
      "step": 10775
    },
    {
      "epoch": 2.4175454341485305,
      "gripper_loss": 0.0126953125,
      "loss": 0.046875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.0576171875,
      "step": 10775
    },
    {
      "epoch": 2.4177698003141126,
      "grad_norm": 0.22557486593723297,
      "learning_rate": 4.7788475237143445e-05,
      "loss": 0.0317,
      "step": 10776
    },
    {
      "epoch": 2.4177698003141126,
      "gripper_loss": 0.39453125,
      "loss": 0.04541015625,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.15625,
      "step": 10776
    },
    {
      "epoch": 2.4179941664796947,
      "grad_norm": 0.23265059292316437,
      "learning_rate": 4.775287085802185e-05,
      "loss": 0.036,
      "step": 10777
    },
    {
      "epoch": 2.4179941664796947,
      "gripper_loss": 0.0186767578125,
      "loss": 0.08740234375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.154296875,
      "step": 10777
    },
    {
      "epoch": 2.418218532645277,
      "grad_norm": 0.4500153064727783,
      "learning_rate": 4.7717278346670525e-05,
      "loss": 0.0783,
      "step": 10778
    },
    {
      "epoch": 2.418218532645277,
      "gripper_loss": 0.0517578125,
      "loss": 0.029052734375,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.1533203125,
      "step": 10778
    },
    {
      "epoch": 2.4184428988108593,
      "grad_norm": 0.25449514389038086,
      "learning_rate": 4.768169770517791e-05,
      "loss": 0.031,
      "step": 10779
    },
    {
      "epoch": 2.4184428988108593,
      "gripper_loss": 0.0225830078125,
      "loss": 0.03515625,
      "pos_loss": 0.15625,
      "rot_loss": 0.1923828125,
      "step": 10779
    },
    {
      "epoch": 2.418667264976442,
      "grad_norm": 0.3757394850254059,
      "learning_rate": 4.764612893563186e-05,
      "loss": 0.0565,
      "step": 10780
    },
    {
      "epoch": 2.418667264976442,
      "gripper_loss": 0.007659912109375,
      "loss": 0.01513671875,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.043701171875,
      "step": 10780
    },
    {
      "epoch": 2.418891631142024,
      "grad_norm": 0.23546867072582245,
      "learning_rate": 4.761057204011968e-05,
      "loss": 0.0315,
      "step": 10781
    },
    {
      "epoch": 2.418891631142024,
      "gripper_loss": 0.392578125,
      "loss": 0.035888671875,
      "pos_loss": 0.212890625,
      "rot_loss": 0.0172119140625,
      "step": 10781
    },
    {
      "epoch": 2.419115997307606,
      "grad_norm": 0.43892940878868103,
      "learning_rate": 4.757502702072772e-05,
      "loss": 0.0466,
      "step": 10782
    },
    {
      "epoch": 2.419115997307606,
      "gripper_loss": 0.21875,
      "loss": 0.041015625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.034912109375,
      "step": 10782
    },
    {
      "epoch": 2.4193403634731885,
      "grad_norm": 0.39943352341651917,
      "learning_rate": 4.753949387954171e-05,
      "loss": 0.0681,
      "step": 10783
    },
    {
      "epoch": 2.4193403634731885,
      "gripper_loss": 0.279296875,
      "loss": 0.1435546875,
      "pos_loss": 0.52734375,
      "rot_loss": 0.88671875,
      "step": 10783
    },
    {
      "epoch": 2.4195647296387706,
      "grad_norm": 0.32034358382225037,
      "learning_rate": 4.750397261864672e-05,
      "loss": 0.0462,
      "step": 10784
    },
    {
      "epoch": 2.4195647296387706,
      "gripper_loss": 0.00848388671875,
      "loss": 0.058837890625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.2353515625,
      "step": 10784
    },
    {
      "epoch": 2.4197890958043526,
      "grad_norm": 0.24583013355731964,
      "learning_rate": 4.7468463240127213e-05,
      "loss": 0.0574,
      "step": 10785
    },
    {
      "epoch": 2.4197890958043526,
      "gripper_loss": 0.0078125,
      "loss": 0.0257568359375,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.10693359375,
      "step": 10785
    },
    {
      "epoch": 2.420013461969935,
      "grad_norm": 0.29302120208740234,
      "learning_rate": 4.7432965746066785e-05,
      "loss": 0.0417,
      "step": 10786
    },
    {
      "epoch": 2.420013461969935,
      "gripper_loss": 0.9375,
      "loss": 0.052001953125,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.0291748046875,
      "step": 10786
    },
    {
      "epoch": 2.4202378281355172,
      "grad_norm": 0.3105294406414032,
      "learning_rate": 4.739748013854853e-05,
      "loss": 0.0471,
      "step": 10787
    },
    {
      "epoch": 2.4202378281355172,
      "gripper_loss": 0.005035400390625,
      "loss": 0.04931640625,
      "pos_loss": 0.203125,
      "rot_loss": 0.296875,
      "step": 10787
    },
    {
      "epoch": 2.4204621943010993,
      "grad_norm": 0.21456678211688995,
      "learning_rate": 4.7362006419654574e-05,
      "loss": 0.039,
      "step": 10788
    },
    {
      "epoch": 2.4204621943010993,
      "gripper_loss": 0.01019287109375,
      "loss": 0.09033203125,
      "pos_loss": 0.64453125,
      "rot_loss": 0.291015625,
      "step": 10788
    },
    {
      "epoch": 2.420686560466682,
      "grad_norm": 0.6283788681030273,
      "learning_rate": 4.732654459146657e-05,
      "loss": 0.0692,
      "step": 10789
    },
    {
      "epoch": 2.420686560466682,
      "gripper_loss": 0.119140625,
      "loss": 0.052490234375,
      "pos_loss": 0.27734375,
      "rot_loss": 0.2216796875,
      "step": 10789
    },
    {
      "epoch": 2.420910926632264,
      "grad_norm": 0.5321567058563232,
      "learning_rate": 4.72910946560654e-05,
      "loss": 0.0494,
      "step": 10790
    },
    {
      "epoch": 2.420910926632264,
      "gripper_loss": 0.1787109375,
      "loss": 0.0133056640625,
      "pos_loss": 0.05322265625,
      "rot_loss": 0.006927490234375,
      "step": 10790
    },
    {
      "epoch": 2.421135292797846,
      "grad_norm": 0.2821607291698456,
      "learning_rate": 4.72556566155313e-05,
      "loss": 0.0441,
      "step": 10791
    },
    {
      "epoch": 2.421135292797846,
      "gripper_loss": 0.1875,
      "loss": 0.025390625,
      "pos_loss": 0.130859375,
      "rot_loss": 0.051513671875,
      "step": 10791
    },
    {
      "epoch": 2.4213596589634285,
      "grad_norm": 0.3637707233428955,
      "learning_rate": 4.722023047194365e-05,
      "loss": 0.0598,
      "step": 10792
    },
    {
      "epoch": 2.4213596589634285,
      "gripper_loss": 0.142578125,
      "loss": 0.055419921875,
      "pos_loss": 0.42578125,
      "rot_loss": 0.09521484375,
      "step": 10792
    },
    {
      "epoch": 2.4215840251290106,
      "grad_norm": 0.4095459282398224,
      "learning_rate": 4.718481622738138e-05,
      "loss": 0.0617,
      "step": 10793
    },
    {
      "epoch": 2.4215840251290106,
      "gripper_loss": 0.004058837890625,
      "loss": 0.024169921875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.0888671875,
      "step": 10793
    },
    {
      "epoch": 2.4218083912945927,
      "grad_norm": 0.2870353162288666,
      "learning_rate": 4.714941388392244e-05,
      "loss": 0.0441,
      "step": 10794
    },
    {
      "epoch": 2.4218083912945927,
      "gripper_loss": 0.115234375,
      "loss": 0.04443359375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.1044921875,
      "step": 10794
    },
    {
      "epoch": 2.422032757460175,
      "grad_norm": 0.41485515236854553,
      "learning_rate": 4.711402344364432e-05,
      "loss": 0.0573,
      "step": 10795
    },
    {
      "epoch": 2.422032757460175,
      "gripper_loss": 0.007080078125,
      "loss": 0.06689453125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.10009765625,
      "step": 10795
    },
    {
      "epoch": 2.4222571236257573,
      "grad_norm": 0.34587523341178894,
      "learning_rate": 4.707864490862363e-05,
      "loss": 0.0517,
      "step": 10796
    },
    {
      "epoch": 2.4222571236257573,
      "gripper_loss": 0.00970458984375,
      "loss": 0.0498046875,
      "pos_loss": 0.361328125,
      "rot_loss": 0.1396484375,
      "step": 10796
    },
    {
      "epoch": 2.4224814897913394,
      "grad_norm": 0.47426408529281616,
      "learning_rate": 4.704327828093641e-05,
      "loss": 0.0744,
      "step": 10797
    },
    {
      "epoch": 2.4224814897913394,
      "gripper_loss": 0.2177734375,
      "loss": 0.0294189453125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.0908203125,
      "step": 10797
    },
    {
      "epoch": 2.422705855956922,
      "grad_norm": 0.6631576418876648,
      "learning_rate": 4.7007923562657956e-05,
      "loss": 0.0576,
      "step": 10798
    },
    {
      "epoch": 2.422705855956922,
      "gripper_loss": 0.0059814453125,
      "loss": 0.0771484375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.19140625,
      "step": 10798
    },
    {
      "epoch": 2.422930222122504,
      "grad_norm": 0.4271019995212555,
      "learning_rate": 4.6972580755862885e-05,
      "loss": 0.0519,
      "step": 10799
    },
    {
      "epoch": 2.422930222122504,
      "gripper_loss": 1.6015625,
      "loss": 0.07177734375,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.1103515625,
      "step": 10799
    },
    {
      "epoch": 2.423154588288086,
      "grad_norm": 0.3433897793292999,
      "learning_rate": 4.693724986262515e-05,
      "loss": 0.0686,
      "step": 10800
    },
    {
      "epoch": 2.423154588288086,
      "gripper_loss": 0.234375,
      "loss": 0.0245361328125,
      "pos_loss": 0.1328125,
      "rot_loss": 0.0303955078125,
      "step": 10800
    },
    {
      "epoch": 2.4233789544536686,
      "grad_norm": 0.3229038417339325,
      "learning_rate": 4.6901930885017816e-05,
      "loss": 0.0443,
      "step": 10801
    },
    {
      "epoch": 2.4233789544536686,
      "gripper_loss": 0.00628662109375,
      "loss": 0.03662109375,
      "pos_loss": 0.345703125,
      "rot_loss": 0.024169921875,
      "step": 10801
    },
    {
      "epoch": 2.4236033206192507,
      "grad_norm": 0.21124336123466492,
      "learning_rate": 4.6866623825113475e-05,
      "loss": 0.0427,
      "step": 10802
    },
    {
      "epoch": 2.4236033206192507,
      "gripper_loss": 0.01220703125,
      "loss": 0.00408935546875,
      "pos_loss": 0.01153564453125,
      "rot_loss": 0.0054931640625,
      "step": 10802
    },
    {
      "epoch": 2.4238276867848327,
      "grad_norm": 0.25678396224975586,
      "learning_rate": 4.683132868498388e-05,
      "loss": 0.0405,
      "step": 10803
    },
    {
      "epoch": 2.4238276867848327,
      "gripper_loss": 0.0137939453125,
      "loss": 0.0615234375,
      "pos_loss": 0.458984375,
      "rot_loss": 0.1748046875,
      "step": 10803
    },
    {
      "epoch": 2.4240520529504153,
      "grad_norm": 0.6052005290985107,
      "learning_rate": 4.6796045466700274e-05,
      "loss": 0.0527,
      "step": 10804
    },
    {
      "epoch": 2.4240520529504153,
      "gripper_loss": 0.040771484375,
      "loss": 0.0296630859375,
      "pos_loss": 0.216796875,
      "rot_loss": 0.06494140625,
      "step": 10804
    },
    {
      "epoch": 2.4242764191159973,
      "grad_norm": 0.3451767861843109,
      "learning_rate": 4.67607741723329e-05,
      "loss": 0.0495,
      "step": 10805
    },
    {
      "epoch": 2.4242764191159973,
      "gripper_loss": 0.0135498046875,
      "loss": 0.038330078125,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.208984375,
      "step": 10805
    },
    {
      "epoch": 2.4245007852815794,
      "grad_norm": 0.37159425020217896,
      "learning_rate": 4.6725514803951486e-05,
      "loss": 0.058,
      "step": 10806
    },
    {
      "epoch": 2.4245007852815794,
      "gripper_loss": 0.007080078125,
      "loss": 0.07080078125,
      "pos_loss": 0.4453125,
      "rot_loss": 0.283203125,
      "step": 10806
    },
    {
      "epoch": 2.424725151447162,
      "grad_norm": 0.19093069434165955,
      "learning_rate": 4.6690267363625056e-05,
      "loss": 0.0364,
      "step": 10807
    },
    {
      "epoch": 2.424725151447162,
      "gripper_loss": 0.26953125,
      "loss": 0.03173828125,
      "pos_loss": 0.162109375,
      "rot_loss": 0.06396484375,
      "step": 10807
    },
    {
      "epoch": 2.424949517612744,
      "grad_norm": 0.26211822032928467,
      "learning_rate": 4.665503185342196e-05,
      "loss": 0.0454,
      "step": 10808
    },
    {
      "epoch": 2.424949517612744,
      "gripper_loss": 0.2255859375,
      "loss": 0.0859375,
      "pos_loss": 0.8046875,
      "rot_loss": 0.01416015625,
      "step": 10808
    },
    {
      "epoch": 2.425173883778326,
      "grad_norm": 0.701557457447052,
      "learning_rate": 4.6619808275409706e-05,
      "loss": 0.0582,
      "step": 10809
    },
    {
      "epoch": 2.425173883778326,
      "gripper_loss": 0.006744384765625,
      "loss": 0.039306640625,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.1640625,
      "step": 10809
    },
    {
      "epoch": 2.4253982499439086,
      "grad_norm": 0.2725701928138733,
      "learning_rate": 4.658459663165526e-05,
      "loss": 0.0381,
      "step": 10810
    },
    {
      "epoch": 2.4253982499439086,
      "gripper_loss": 0.024169921875,
      "loss": 0.034423828125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.1259765625,
      "step": 10810
    },
    {
      "epoch": 2.4256226161094907,
      "grad_norm": 0.3239661157131195,
      "learning_rate": 4.654939692422483e-05,
      "loss": 0.0298,
      "step": 10811
    },
    {
      "epoch": 2.4256226161094907,
      "gripper_loss": 0.224609375,
      "loss": 0.0439453125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.072265625,
      "step": 10811
    },
    {
      "epoch": 2.425846982275073,
      "grad_norm": 0.25759217143058777,
      "learning_rate": 4.651420915518398e-05,
      "loss": 0.0466,
      "step": 10812
    },
    {
      "epoch": 2.425846982275073,
      "gripper_loss": 0.00933837890625,
      "loss": 0.0184326171875,
      "pos_loss": 0.0859375,
      "rot_loss": 0.08642578125,
      "step": 10812
    },
    {
      "epoch": 2.4260713484406553,
      "grad_norm": 0.2603985071182251,
      "learning_rate": 4.6479033326597334e-05,
      "loss": 0.0434,
      "step": 10813
    },
    {
      "epoch": 2.4260713484406553,
      "gripper_loss": 0.73828125,
      "loss": 0.039306640625,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.05078125,
      "step": 10813
    },
    {
      "epoch": 2.4262957146062374,
      "grad_norm": 0.4498256742954254,
      "learning_rate": 4.6443869440529143e-05,
      "loss": 0.0495,
      "step": 10814
    },
    {
      "epoch": 2.4262957146062374,
      "gripper_loss": 0.0269775390625,
      "loss": 0.0177001953125,
      "pos_loss": 0.09375,
      "rot_loss": 0.0595703125,
      "step": 10814
    },
    {
      "epoch": 2.4265200807718195,
      "grad_norm": 0.22144192457199097,
      "learning_rate": 4.6408717499042744e-05,
      "loss": 0.048,
      "step": 10815
    },
    {
      "epoch": 2.4265200807718195,
      "gripper_loss": 0.00994873046875,
      "loss": 0.025146484375,
      "pos_loss": 0.1484375,
      "rot_loss": 0.09423828125,
      "step": 10815
    },
    {
      "epoch": 2.426744446937402,
      "grad_norm": 0.1535044014453888,
      "learning_rate": 4.637357750420093e-05,
      "loss": 0.0298,
      "step": 10816
    },
    {
      "epoch": 2.426744446937402,
      "gripper_loss": 0.024169921875,
      "loss": 0.0098876953125,
      "pos_loss": 0.07275390625,
      "rot_loss": 0.004730224609375,
      "step": 10816
    },
    {
      "epoch": 2.426968813102984,
      "grad_norm": 0.20994555950164795,
      "learning_rate": 4.633844945806562e-05,
      "loss": 0.0267,
      "step": 10817
    },
    {
      "epoch": 2.426968813102984,
      "gripper_loss": 1.4609375,
      "loss": 0.06982421875,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.125,
      "step": 10817
    },
    {
      "epoch": 2.427193179268566,
      "grad_norm": 0.26869311928749084,
      "learning_rate": 4.630333336269807e-05,
      "loss": 0.0455,
      "step": 10818
    },
    {
      "epoch": 2.427193179268566,
      "gripper_loss": 0.0074462890625,
      "loss": 0.07080078125,
      "pos_loss": 0.390625,
      "rot_loss": 0.33984375,
      "step": 10818
    },
    {
      "epoch": 2.4274175454341487,
      "grad_norm": 0.26213210821151733,
      "learning_rate": 4.626822922015891e-05,
      "loss": 0.0493,
      "step": 10819
    },
    {
      "epoch": 2.4274175454341487,
      "gripper_loss": 0.059814453125,
      "loss": 0.0245361328125,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.09228515625,
      "step": 10819
    },
    {
      "epoch": 2.4276419115997308,
      "grad_norm": 0.3375506103038788,
      "learning_rate": 4.623313703250806e-05,
      "loss": 0.0586,
      "step": 10820
    },
    {
      "epoch": 2.4276419115997308,
      "gripper_loss": 0.13671875,
      "loss": 0.0274658203125,
      "pos_loss": 0.158203125,
      "rot_loss": 0.06591796875,
      "step": 10820
    },
    {
      "epoch": 2.427866277765313,
      "grad_norm": 0.20332762598991394,
      "learning_rate": 4.6198056801804776e-05,
      "loss": 0.0462,
      "step": 10821
    },
    {
      "epoch": 2.427866277765313,
      "gripper_loss": 0.1552734375,
      "loss": 0.216796875,
      "pos_loss": 0.396484375,
      "rot_loss": 0.458984375,
      "step": 10821
    },
    {
      "epoch": 2.4280906439308954,
      "grad_norm": 1.6131561994552612,
      "learning_rate": 4.616298853010739e-05,
      "loss": 0.223,
      "step": 10822
    },
    {
      "epoch": 2.4280906439308954,
      "gripper_loss": 0.01116943359375,
      "loss": 0.09765625,
      "pos_loss": 0.4765625,
      "rot_loss": 0.5390625,
      "step": 10822
    },
    {
      "epoch": 2.4283150100964774,
      "grad_norm": 0.290786474943161,
      "learning_rate": 4.612793221947381e-05,
      "loss": 0.0344,
      "step": 10823
    },
    {
      "epoch": 2.4283150100964774,
      "gripper_loss": 0.0263671875,
      "loss": 0.06689453125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.193359375,
      "step": 10823
    },
    {
      "epoch": 2.4285393762620595,
      "grad_norm": 0.36771342158317566,
      "learning_rate": 4.6092887871961084e-05,
      "loss": 0.0608,
      "step": 10824
    },
    {
      "epoch": 2.4285393762620595,
      "gripper_loss": 0.016845703125,
      "loss": 0.0162353515625,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.04345703125,
      "step": 10824
    },
    {
      "epoch": 2.428763742427642,
      "grad_norm": 0.2668946385383606,
      "learning_rate": 4.605785548962568e-05,
      "loss": 0.0301,
      "step": 10825
    },
    {
      "epoch": 2.428763742427642,
      "gripper_loss": 0.006317138671875,
      "loss": 0.01422119140625,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.04541015625,
      "step": 10825
    },
    {
      "epoch": 2.428988108593224,
      "grad_norm": 0.27558794617652893,
      "learning_rate": 4.602283507452315e-05,
      "loss": 0.0459,
      "step": 10826
    },
    {
      "epoch": 2.428988108593224,
      "gripper_loss": 0.029296875,
      "loss": 0.062255859375,
      "pos_loss": 0.455078125,
      "rot_loss": 0.1552734375,
      "step": 10826
    },
    {
      "epoch": 2.429212474758806,
      "grad_norm": 0.2996141016483307,
      "learning_rate": 4.598782662870854e-05,
      "loss": 0.0508,
      "step": 10827
    },
    {
      "epoch": 2.429212474758806,
      "gripper_loss": 0.006988525390625,
      "loss": 0.030517578125,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.11865234375,
      "step": 10827
    },
    {
      "epoch": 2.4294368409243887,
      "grad_norm": 0.3236686885356903,
      "learning_rate": 4.595283015423618e-05,
      "loss": 0.0488,
      "step": 10828
    },
    {
      "epoch": 2.4294368409243887,
      "gripper_loss": 0.5,
      "loss": 0.039794921875,
      "pos_loss": 0.055419921875,
      "rot_loss": 0.1826171875,
      "step": 10828
    },
    {
      "epoch": 2.429661207089971,
      "grad_norm": 0.30693501234054565,
      "learning_rate": 4.591784565315954e-05,
      "loss": 0.0442,
      "step": 10829
    },
    {
      "epoch": 2.429661207089971,
      "gripper_loss": 0.0272216796875,
      "loss": 0.02587890625,
      "pos_loss": 0.03857421875,
      "rot_loss": 0.2041015625,
      "step": 10829
    },
    {
      "epoch": 2.429885573255553,
      "grad_norm": 0.1915794014930725,
      "learning_rate": 4.588287312753162e-05,
      "loss": 0.0176,
      "step": 10830
    },
    {
      "epoch": 2.429885573255553,
      "gripper_loss": 0.3359375,
      "loss": 0.024169921875,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.01116943359375,
      "step": 10830
    },
    {
      "epoch": 2.4301099394211354,
      "grad_norm": 0.37570974230766296,
      "learning_rate": 4.584791257940446e-05,
      "loss": 0.0397,
      "step": 10831
    },
    {
      "epoch": 2.4301099394211354,
      "gripper_loss": 0.0130615234375,
      "loss": 0.045654296875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.171875,
      "step": 10831
    },
    {
      "epoch": 2.4303343055867175,
      "grad_norm": 0.29613620042800903,
      "learning_rate": 4.58129640108296e-05,
      "loss": 0.0373,
      "step": 10832
    },
    {
      "epoch": 2.4303343055867175,
      "gripper_loss": 0.0076904296875,
      "loss": 0.0732421875,
      "pos_loss": 0.73046875,
      "rot_loss": 0.0225830078125,
      "step": 10832
    },
    {
      "epoch": 2.4305586717522996,
      "grad_norm": 0.39635714888572693,
      "learning_rate": 4.577802742385778e-05,
      "loss": 0.0576,
      "step": 10833
    },
    {
      "epoch": 2.4305586717522996,
      "gripper_loss": 0.004180908203125,
      "loss": 0.0084228515625,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.0164794921875,
      "step": 10833
    },
    {
      "epoch": 2.430783037917882,
      "grad_norm": 0.3517383337020874,
      "learning_rate": 4.5743102820539144e-05,
      "loss": 0.0307,
      "step": 10834
    },
    {
      "epoch": 2.430783037917882,
      "gripper_loss": 1.4375,
      "loss": 0.064453125,
      "pos_loss": 0.17578125,
      "rot_loss": 0.01300048828125,
      "step": 10834
    },
    {
      "epoch": 2.431007404083464,
      "grad_norm": 0.3620156943798065,
      "learning_rate": 4.570819020292294e-05,
      "loss": 0.0444,
      "step": 10835
    },
    {
      "epoch": 2.431007404083464,
      "gripper_loss": 0.0166015625,
      "loss": 0.046142578125,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.376953125,
      "step": 10835
    },
    {
      "epoch": 2.4312317702490462,
      "grad_norm": 0.3079512119293213,
      "learning_rate": 4.567328957305788e-05,
      "loss": 0.0533,
      "step": 10836
    },
    {
      "epoch": 2.4312317702490462,
      "gripper_loss": 0.0458984375,
      "loss": 0.057373046875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.1513671875,
      "step": 10836
    },
    {
      "epoch": 2.4314561364146288,
      "grad_norm": 0.3582513630390167,
      "learning_rate": 4.5638400932991904e-05,
      "loss": 0.0468,
      "step": 10837
    },
    {
      "epoch": 2.4314561364146288,
      "gripper_loss": 0.0081787109375,
      "loss": 0.07080078125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.07958984375,
      "step": 10837
    },
    {
      "epoch": 2.431680502580211,
      "grad_norm": 0.6605187654495239,
      "learning_rate": 4.5603524284772325e-05,
      "loss": 0.0571,
      "step": 10838
    },
    {
      "epoch": 2.431680502580211,
      "gripper_loss": 0.00457763671875,
      "loss": 0.0341796875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.08349609375,
      "step": 10838
    },
    {
      "epoch": 2.431904868745793,
      "grad_norm": 0.3616008758544922,
      "learning_rate": 4.55686596304456e-05,
      "loss": 0.0721,
      "step": 10839
    },
    {
      "epoch": 2.431904868745793,
      "gripper_loss": 0.0245361328125,
      "loss": 0.076171875,
      "pos_loss": 0.4375,
      "rot_loss": 0.345703125,
      "step": 10839
    },
    {
      "epoch": 2.4321292349113754,
      "grad_norm": 0.384695827960968,
      "learning_rate": 4.553380697205764e-05,
      "loss": 0.0456,
      "step": 10840
    },
    {
      "epoch": 2.4321292349113754,
      "gripper_loss": 0.00860595703125,
      "loss": 0.06494140625,
      "pos_loss": 0.59765625,
      "rot_loss": 0.064453125,
      "step": 10840
    },
    {
      "epoch": 2.4323536010769575,
      "grad_norm": 0.3297256529331207,
      "learning_rate": 4.549896631165348e-05,
      "loss": 0.0452,
      "step": 10841
    },
    {
      "epoch": 2.4323536010769575,
      "gripper_loss": 1.0546875,
      "loss": 0.042236328125,
      "pos_loss": 0.056640625,
      "rot_loss": 0.02294921875,
      "step": 10841
    },
    {
      "epoch": 2.4325779672425396,
      "grad_norm": 0.424137681722641,
      "learning_rate": 4.546413765127769e-05,
      "loss": 0.0602,
      "step": 10842
    },
    {
      "epoch": 2.4325779672425396,
      "gripper_loss": 0.004547119140625,
      "loss": 0.0400390625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.08544921875,
      "step": 10842
    },
    {
      "epoch": 2.432802333408122,
      "grad_norm": 0.3453533351421356,
      "learning_rate": 4.542932099297387e-05,
      "loss": 0.0432,
      "step": 10843
    },
    {
      "epoch": 2.432802333408122,
      "gripper_loss": 0.004180908203125,
      "loss": 0.0263671875,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.09716796875,
      "step": 10843
    },
    {
      "epoch": 2.433026699573704,
      "grad_norm": 0.5173379182815552,
      "learning_rate": 4.539451633878511e-05,
      "loss": 0.0501,
      "step": 10844
    },
    {
      "epoch": 2.433026699573704,
      "gripper_loss": 0.01263427734375,
      "loss": 0.033203125,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.2236328125,
      "step": 10844
    },
    {
      "epoch": 2.4332510657392863,
      "grad_norm": 0.20739023387432098,
      "learning_rate": 4.5359723690753724e-05,
      "loss": 0.0289,
      "step": 10845
    },
    {
      "epoch": 2.4332510657392863,
      "gripper_loss": 0.0306396484375,
      "loss": 0.03369140625,
      "pos_loss": 0.029052734375,
      "rot_loss": 0.291015625,
      "step": 10845
    },
    {
      "epoch": 2.433475431904869,
      "grad_norm": 0.3343598246574402,
      "learning_rate": 4.532494305092136e-05,
      "loss": 0.0545,
      "step": 10846
    },
    {
      "epoch": 2.433475431904869,
      "gripper_loss": 0.3359375,
      "loss": 0.040771484375,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.09033203125,
      "step": 10846
    },
    {
      "epoch": 2.433699798070451,
      "grad_norm": 0.4862223267555237,
      "learning_rate": 4.529017442132893e-05,
      "loss": 0.0643,
      "step": 10847
    },
    {
      "epoch": 2.433699798070451,
      "gripper_loss": 0.1455078125,
      "loss": 0.01953125,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.044921875,
      "step": 10847
    },
    {
      "epoch": 2.433924164236033,
      "grad_norm": 0.2786159813404083,
      "learning_rate": 4.525541780401657e-05,
      "loss": 0.0443,
      "step": 10848
    },
    {
      "epoch": 2.433924164236033,
      "gripper_loss": 0.006591796875,
      "loss": 0.0118408203125,
      "pos_loss": 0.050537109375,
      "rot_loss": 0.049560546875,
      "step": 10848
    },
    {
      "epoch": 2.4341485304016155,
      "grad_norm": 0.4340338110923767,
      "learning_rate": 4.522067320102383e-05,
      "loss": 0.0415,
      "step": 10849
    },
    {
      "epoch": 2.4341485304016155,
      "gripper_loss": 0.173828125,
      "loss": 0.061279296875,
      "pos_loss": 0.28515625,
      "rot_loss": 0.287109375,
      "step": 10849
    },
    {
      "epoch": 2.4343728965671976,
      "grad_norm": 0.4176114499568939,
      "learning_rate": 4.518594061438952e-05,
      "loss": 0.0542,
      "step": 10850
    },
    {
      "epoch": 2.4343728965671976,
      "gripper_loss": 0.1435546875,
      "loss": 0.0341796875,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.0771484375,
      "step": 10850
    },
    {
      "epoch": 2.4345972627327797,
      "grad_norm": 0.21944884955883026,
      "learning_rate": 4.515122004615177e-05,
      "loss": 0.0509,
      "step": 10851
    },
    {
      "epoch": 2.4345972627327797,
      "gripper_loss": 0.00457763671875,
      "loss": 0.111328125,
      "pos_loss": 0.64453125,
      "rot_loss": 0.51953125,
      "step": 10851
    },
    {
      "epoch": 2.434821628898362,
      "grad_norm": 0.4274897277355194,
      "learning_rate": 4.5116511498347915e-05,
      "loss": 0.0463,
      "step": 10852
    },
    {
      "epoch": 2.434821628898362,
      "gripper_loss": 0.08203125,
      "loss": 0.0712890625,
      "pos_loss": 0.291015625,
      "rot_loss": 0.365234375,
      "step": 10852
    },
    {
      "epoch": 2.4350459950639443,
      "grad_norm": 0.4436286985874176,
      "learning_rate": 4.5081814973014554e-05,
      "loss": 0.0771,
      "step": 10853
    },
    {
      "epoch": 2.4350459950639443,
      "gripper_loss": 0.0299072265625,
      "loss": 0.035888671875,
      "pos_loss": 0.318359375,
      "rot_loss": 0.0341796875,
      "step": 10853
    },
    {
      "epoch": 2.435270361229527,
      "grad_norm": 0.48439085483551025,
      "learning_rate": 4.504713047218778e-05,
      "loss": 0.0585,
      "step": 10854
    },
    {
      "epoch": 2.435270361229527,
      "gripper_loss": 0.1865234375,
      "loss": 0.02587890625,
      "pos_loss": 0.13671875,
      "rot_loss": 0.057373046875,
      "step": 10854
    },
    {
      "epoch": 2.435494727395109,
      "grad_norm": 0.3233959376811981,
      "learning_rate": 4.501245799790288e-05,
      "loss": 0.0345,
      "step": 10855
    },
    {
      "epoch": 2.435494727395109,
      "gripper_loss": 0.01263427734375,
      "loss": 0.0142822265625,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.030517578125,
      "step": 10855
    },
    {
      "epoch": 2.435719093560691,
      "grad_norm": 0.22809968888759613,
      "learning_rate": 4.4977797552194304e-05,
      "loss": 0.0281,
      "step": 10856
    },
    {
      "epoch": 2.435719093560691,
      "gripper_loss": 0.0201416015625,
      "loss": 0.039794921875,
      "pos_loss": 0.130859375,
      "rot_loss": 0.265625,
      "step": 10856
    },
    {
      "epoch": 2.4359434597262735,
      "grad_norm": 0.5333176851272583,
      "learning_rate": 4.494314913709596e-05,
      "loss": 0.0663,
      "step": 10857
    },
    {
      "epoch": 2.4359434597262735,
      "gripper_loss": 0.302734375,
      "loss": 0.01556396484375,
      "pos_loss": 0.025634765625,
      "rot_loss": 0.02099609375,
      "step": 10857
    },
    {
      "epoch": 2.4361678258918555,
      "grad_norm": 0.26073917746543884,
      "learning_rate": 4.490851275464106e-05,
      "loss": 0.0264,
      "step": 10858
    },
    {
      "epoch": 2.4361678258918555,
      "gripper_loss": 0.16796875,
      "loss": 0.048583984375,
      "pos_loss": 0.30859375,
      "rot_loss": 0.1240234375,
      "step": 10858
    },
    {
      "epoch": 2.4363921920574376,
      "grad_norm": 0.3224010169506073,
      "learning_rate": 4.487388840686199e-05,
      "loss": 0.0706,
      "step": 10859
    },
    {
      "epoch": 2.4363921920574376,
      "gripper_loss": 0.0045166015625,
      "loss": 0.08740234375,
      "pos_loss": 0.67578125,
      "rot_loss": 0.23046875,
      "step": 10859
    },
    {
      "epoch": 2.43661655822302,
      "grad_norm": 0.42358657717704773,
      "learning_rate": 4.483927609579055e-05,
      "loss": 0.0493,
      "step": 10860
    },
    {
      "epoch": 2.43661655822302,
      "gripper_loss": 0.52734375,
      "loss": 0.037353515625,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.1171875,
      "step": 10860
    },
    {
      "epoch": 2.4368409243886022,
      "grad_norm": 0.23061886429786682,
      "learning_rate": 4.480467582345771e-05,
      "loss": 0.0362,
      "step": 10861
    },
    {
      "epoch": 2.4368409243886022,
      "gripper_loss": 0.0059814453125,
      "loss": 0.07373046875,
      "pos_loss": 0.484375,
      "rot_loss": 0.2734375,
      "step": 10861
    },
    {
      "epoch": 2.4370652905541843,
      "grad_norm": 0.4225270748138428,
      "learning_rate": 4.47700875918938e-05,
      "loss": 0.0634,
      "step": 10862
    },
    {
      "epoch": 2.4370652905541843,
      "gripper_loss": 0.0101318359375,
      "loss": 0.04150390625,
      "pos_loss": 0.3125,
      "rot_loss": 0.10107421875,
      "step": 10862
    },
    {
      "epoch": 2.437289656719767,
      "grad_norm": 0.3353521525859833,
      "learning_rate": 4.4735511403128535e-05,
      "loss": 0.0453,
      "step": 10863
    },
    {
      "epoch": 2.437289656719767,
      "gripper_loss": 0.02880859375,
      "loss": 0.041015625,
      "pos_loss": 0.142578125,
      "rot_loss": 0.259765625,
      "step": 10863
    },
    {
      "epoch": 2.437514022885349,
      "grad_norm": 0.2915712594985962,
      "learning_rate": 4.4700947259190773e-05,
      "loss": 0.0256,
      "step": 10864
    },
    {
      "epoch": 2.437514022885349,
      "gripper_loss": 0.007598876953125,
      "loss": 0.0185546875,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.04345703125,
      "step": 10864
    },
    {
      "epoch": 2.437738389050931,
      "grad_norm": 0.41270115971565247,
      "learning_rate": 4.466639516210863e-05,
      "loss": 0.0518,
      "step": 10865
    },
    {
      "epoch": 2.437738389050931,
      "gripper_loss": 0.10009765625,
      "loss": 0.038330078125,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.2734375,
      "step": 10865
    },
    {
      "epoch": 2.4379627552165135,
      "grad_norm": 0.3534744381904602,
      "learning_rate": 4.4631855113909715e-05,
      "loss": 0.043,
      "step": 10866
    },
    {
      "epoch": 2.4379627552165135,
      "gripper_loss": 0.283203125,
      "loss": 0.05078125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.0213623046875,
      "step": 10866
    },
    {
      "epoch": 2.4381871213820956,
      "grad_norm": 0.7764979004859924,
      "learning_rate": 4.4597327116620765e-05,
      "loss": 0.0749,
      "step": 10867
    },
    {
      "epoch": 2.4381871213820956,
      "gripper_loss": 0.0546875,
      "loss": 0.019287109375,
      "pos_loss": 0.1123046875,
      "rot_loss": 0.0537109375,
      "step": 10867
    },
    {
      "epoch": 2.4384114875476777,
      "grad_norm": 0.2433292418718338,
      "learning_rate": 4.4562811172267985e-05,
      "loss": 0.0401,
      "step": 10868
    },
    {
      "epoch": 2.4384114875476777,
      "gripper_loss": 0.2734375,
      "loss": 0.05078125,
      "pos_loss": 0.19140625,
      "rot_loss": 0.1318359375,
      "step": 10868
    },
    {
      "epoch": 2.43863585371326,
      "grad_norm": 0.7828568816184998,
      "learning_rate": 4.45283072828766e-05,
      "loss": 0.1166,
      "step": 10869
    },
    {
      "epoch": 2.43863585371326,
      "gripper_loss": 0.177734375,
      "loss": 0.0634765625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.1826171875,
      "step": 10869
    },
    {
      "epoch": 2.4388602198788423,
      "grad_norm": 0.24824966490268707,
      "learning_rate": 4.449381545047132e-05,
      "loss": 0.0337,
      "step": 10870
    },
    {
      "epoch": 2.4388602198788423,
      "gripper_loss": 0.021484375,
      "loss": 0.0947265625,
      "pos_loss": 0.3203125,
      "rot_loss": 0.333984375,
      "step": 10870
    },
    {
      "epoch": 2.4390845860444244,
      "grad_norm": 0.8930505514144897,
      "learning_rate": 4.445933567707619e-05,
      "loss": 0.0995,
      "step": 10871
    },
    {
      "epoch": 2.4390845860444244,
      "gripper_loss": 0.3515625,
      "loss": 0.0673828125,
      "pos_loss": 0.18359375,
      "rot_loss": 0.37109375,
      "step": 10871
    },
    {
      "epoch": 2.439308952210007,
      "grad_norm": 0.36513063311576843,
      "learning_rate": 4.442486796471445e-05,
      "loss": 0.0605,
      "step": 10872
    },
    {
      "epoch": 2.439308952210007,
      "gripper_loss": 0.019775390625,
      "loss": 0.0400390625,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.267578125,
      "step": 10872
    },
    {
      "epoch": 2.439533318375589,
      "grad_norm": 0.26427799463272095,
      "learning_rate": 4.4390412315408555e-05,
      "loss": 0.0582,
      "step": 10873
    },
    {
      "epoch": 2.439533318375589,
      "gripper_loss": 0.50390625,
      "loss": 0.439453125,
      "pos_loss": 0.453125,
      "rot_loss": 0.76171875,
      "step": 10873
    },
    {
      "epoch": 2.439757684541171,
      "grad_norm": 1.579223871231079,
      "learning_rate": 4.4355968731180415e-05,
      "loss": 0.4614,
      "step": 10874
    },
    {
      "epoch": 2.439757684541171,
      "gripper_loss": 0.220703125,
      "loss": 0.049072265625,
      "pos_loss": 0.375,
      "rot_loss": 0.05078125,
      "step": 10874
    },
    {
      "epoch": 2.4399820507067536,
      "grad_norm": 0.41337326169013977,
      "learning_rate": 4.4321537214051216e-05,
      "loss": 0.058,
      "step": 10875
    },
    {
      "epoch": 2.4399820507067536,
      "gripper_loss": 0.4375,
      "loss": 0.0194091796875,
      "pos_loss": 0.0269775390625,
      "rot_loss": 0.00592041015625,
      "step": 10875
    },
    {
      "epoch": 2.4402064168723356,
      "grad_norm": 0.29015403985977173,
      "learning_rate": 4.4287117766041274e-05,
      "loss": 0.0291,
      "step": 10876
    },
    {
      "epoch": 2.4402064168723356,
      "gripper_loss": 0.095703125,
      "loss": 0.021240234375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.041015625,
      "step": 10876
    },
    {
      "epoch": 2.4404307830379177,
      "grad_norm": 0.31917715072631836,
      "learning_rate": 4.425271038917042e-05,
      "loss": 0.0499,
      "step": 10877
    },
    {
      "epoch": 2.4404307830379177,
      "gripper_loss": 0.3984375,
      "loss": 0.041015625,
      "pos_loss": 0.123046875,
      "rot_loss": 0.15234375,
      "step": 10877
    },
    {
      "epoch": 2.4406551492035002,
      "grad_norm": 0.28447264432907104,
      "learning_rate": 4.421831508545754e-05,
      "loss": 0.0269,
      "step": 10878
    },
    {
      "epoch": 2.4406551492035002,
      "gripper_loss": 0.01025390625,
      "loss": 0.046630859375,
      "pos_loss": 0.443359375,
      "rot_loss": 0.02490234375,
      "step": 10878
    },
    {
      "epoch": 2.4408795153690823,
      "grad_norm": 0.4420531392097473,
      "learning_rate": 4.418393185692099e-05,
      "loss": 0.0409,
      "step": 10879
    },
    {
      "epoch": 2.4408795153690823,
      "gripper_loss": 0.35546875,
      "loss": 0.037109375,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.048828125,
      "step": 10879
    },
    {
      "epoch": 2.4411038815346644,
      "grad_norm": 0.2902531325817108,
      "learning_rate": 4.4149560705578376e-05,
      "loss": 0.0486,
      "step": 10880
    },
    {
      "epoch": 2.4411038815346644,
      "gripper_loss": 0.10791015625,
      "loss": 0.020263671875,
      "pos_loss": 0.07421875,
      "rot_loss": 0.08154296875,
      "step": 10880
    },
    {
      "epoch": 2.441328247700247,
      "grad_norm": 0.2279648333787918,
      "learning_rate": 4.411520163344665e-05,
      "loss": 0.0295,
      "step": 10881
    },
    {
      "epoch": 2.441328247700247,
      "gripper_loss": 0.00994873046875,
      "loss": 0.053466796875,
      "pos_loss": 0.494140625,
      "rot_loss": 0.045166015625,
      "step": 10881
    },
    {
      "epoch": 2.441552613865829,
      "grad_norm": 0.31267356872558594,
      "learning_rate": 4.408085464254183e-05,
      "loss": 0.0516,
      "step": 10882
    },
    {
      "epoch": 2.441552613865829,
      "gripper_loss": 2.21875,
      "loss": 0.0751953125,
      "pos_loss": 0.02587890625,
      "rot_loss": 0.0184326171875,
      "step": 10882
    },
    {
      "epoch": 2.441776980031411,
      "grad_norm": 0.5909658074378967,
      "learning_rate": 4.404651973487947e-05,
      "loss": 0.0495,
      "step": 10883
    },
    {
      "epoch": 2.441776980031411,
      "gripper_loss": 0.0069580078125,
      "loss": 0.060546875,
      "pos_loss": 0.546875,
      "rot_loss": 0.038818359375,
      "step": 10883
    },
    {
      "epoch": 2.4420013461969936,
      "grad_norm": 0.40958696603775024,
      "learning_rate": 4.401219691247432e-05,
      "loss": 0.0608,
      "step": 10884
    },
    {
      "epoch": 2.4420013461969936,
      "gripper_loss": 0.142578125,
      "loss": 0.0177001953125,
      "pos_loss": 0.039794921875,
      "rot_loss": 0.07763671875,
      "step": 10884
    },
    {
      "epoch": 2.4422257123625757,
      "grad_norm": 0.17824839055538177,
      "learning_rate": 4.3977886177340496e-05,
      "loss": 0.0298,
      "step": 10885
    },
    {
      "epoch": 2.4422257123625757,
      "gripper_loss": 0.25390625,
      "loss": 0.030029296875,
      "pos_loss": 0.068359375,
      "rot_loss": 0.1416015625,
      "step": 10885
    },
    {
      "epoch": 2.4424500785281578,
      "grad_norm": 0.2233249545097351,
      "learning_rate": 4.3943587531491194e-05,
      "loss": 0.0325,
      "step": 10886
    },
    {
      "epoch": 2.4424500785281578,
      "gripper_loss": 0.005859375,
      "loss": 0.048583984375,
      "pos_loss": 0.2265625,
      "rot_loss": 0.265625,
      "step": 10886
    },
    {
      "epoch": 2.4426744446937403,
      "grad_norm": 0.48644763231277466,
      "learning_rate": 4.390930097693921e-05,
      "loss": 0.0395,
      "step": 10887
    },
    {
      "epoch": 2.4426744446937403,
      "gripper_loss": 0.388671875,
      "loss": 0.1728515625,
      "pos_loss": 0.81640625,
      "rot_loss": 0.5390625,
      "step": 10887
    },
    {
      "epoch": 2.4428988108593224,
      "grad_norm": 0.8233057856559753,
      "learning_rate": 4.387502651569628e-05,
      "loss": 0.1174,
      "step": 10888
    },
    {
      "epoch": 2.4428988108593224,
      "gripper_loss": 0.2119140625,
      "loss": 0.0201416015625,
      "pos_loss": 0.025146484375,
      "rot_loss": 0.09912109375,
      "step": 10888
    },
    {
      "epoch": 2.443123177024905,
      "grad_norm": 0.6249597668647766,
      "learning_rate": 4.384076414977378e-05,
      "loss": 0.0713,
      "step": 10889
    },
    {
      "epoch": 2.443123177024905,
      "gripper_loss": 0.32421875,
      "loss": 0.10546875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.232421875,
      "step": 10889
    },
    {
      "epoch": 2.443347543190487,
      "grad_norm": 0.44683587551116943,
      "learning_rate": 4.380651388118207e-05,
      "loss": 0.0621,
      "step": 10890
    },
    {
      "epoch": 2.443347543190487,
      "gripper_loss": 0.2197265625,
      "loss": 0.10302734375,
      "pos_loss": 0.169921875,
      "rot_loss": 0.83203125,
      "step": 10890
    },
    {
      "epoch": 2.443571909356069,
      "grad_norm": 0.4484708309173584,
      "learning_rate": 4.3772275711931015e-05,
      "loss": 0.0586,
      "step": 10891
    },
    {
      "epoch": 2.443571909356069,
      "gripper_loss": 0.21875,
      "loss": 0.038818359375,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.10009765625,
      "step": 10891
    },
    {
      "epoch": 2.4437962755216516,
      "grad_norm": 0.2886262834072113,
      "learning_rate": 4.3738049644029664e-05,
      "loss": 0.0362,
      "step": 10892
    },
    {
      "epoch": 2.4437962755216516,
      "gripper_loss": 0.00714111328125,
      "loss": 0.0189208984375,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.06494140625,
      "step": 10892
    },
    {
      "epoch": 2.4440206416872337,
      "grad_norm": 0.3040371537208557,
      "learning_rate": 4.370383567948644e-05,
      "loss": 0.0421,
      "step": 10893
    },
    {
      "epoch": 2.4440206416872337,
      "gripper_loss": 0.138671875,
      "loss": 0.0157470703125,
      "pos_loss": 0.0299072265625,
      "rot_loss": 0.068359375,
      "step": 10893
    },
    {
      "epoch": 2.4442450078528157,
      "grad_norm": 0.2388872653245926,
      "learning_rate": 4.366963382030903e-05,
      "loss": 0.0283,
      "step": 10894
    },
    {
      "epoch": 2.4442450078528157,
      "gripper_loss": 0.10546875,
      "loss": 0.08056640625,
      "pos_loss": 0.36328125,
      "rot_loss": 0.259765625,
      "step": 10894
    },
    {
      "epoch": 2.4444693740183983,
      "grad_norm": 0.6874134540557861,
      "learning_rate": 4.3635444068504257e-05,
      "loss": 0.0904,
      "step": 10895
    },
    {
      "epoch": 2.4444693740183983,
      "gripper_loss": 0.055419921875,
      "loss": 0.048828125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.134765625,
      "step": 10895
    },
    {
      "epoch": 2.4446937401839803,
      "grad_norm": 0.4638381004333496,
      "learning_rate": 4.360126642607842e-05,
      "loss": 0.0601,
      "step": 10896
    },
    {
      "epoch": 2.4446937401839803,
      "gripper_loss": 0.0115966796875,
      "loss": 0.030029296875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.0693359375,
      "step": 10896
    },
    {
      "epoch": 2.4449181063495624,
      "grad_norm": 0.3331388533115387,
      "learning_rate": 4.356710089503707e-05,
      "loss": 0.0498,
      "step": 10897
    },
    {
      "epoch": 2.4449181063495624,
      "gripper_loss": 0.259765625,
      "loss": 0.0198974609375,
      "pos_loss": 0.0272216796875,
      "rot_loss": 0.06591796875,
      "step": 10897
    },
    {
      "epoch": 2.445142472515145,
      "grad_norm": 0.414584219455719,
      "learning_rate": 4.3532947477385065e-05,
      "loss": 0.035,
      "step": 10898
    },
    {
      "epoch": 2.445142472515145,
      "gripper_loss": 0.0054931640625,
      "loss": 0.07861328125,
      "pos_loss": 0.66015625,
      "rot_loss": 0.1494140625,
      "step": 10898
    },
    {
      "epoch": 2.445366838680727,
      "grad_norm": 0.23408524692058563,
      "learning_rate": 4.349880617512647e-05,
      "loss": 0.0424,
      "step": 10899
    },
    {
      "epoch": 2.445366838680727,
      "gripper_loss": 0.009765625,
      "loss": 0.061279296875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.0771484375,
      "step": 10899
    },
    {
      "epoch": 2.445591204846309,
      "grad_norm": 0.3554741442203522,
      "learning_rate": 4.3464676990264604e-05,
      "loss": 0.0419,
      "step": 10900
    },
    {
      "epoch": 2.445591204846309,
      "gripper_loss": 0.006866455078125,
      "loss": 0.048828125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.01483154296875,
      "step": 10900
    },
    {
      "epoch": 2.4458155710118916,
      "grad_norm": 0.487749844789505,
      "learning_rate": 4.343055992480222e-05,
      "loss": 0.048,
      "step": 10901
    },
    {
      "epoch": 2.4458155710118916,
      "gripper_loss": 1.125,
      "loss": 0.06298828125,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.06787109375,
      "step": 10901
    },
    {
      "epoch": 2.4460399371774737,
      "grad_norm": 0.2545507848262787,
      "learning_rate": 4.339645498074135e-05,
      "loss": 0.0572,
      "step": 10902
    },
    {
      "epoch": 2.4460399371774737,
      "gripper_loss": 0.84765625,
      "loss": 0.032470703125,
      "pos_loss": 0.016357421875,
      "rot_loss": 0.0216064453125,
      "step": 10902
    },
    {
      "epoch": 2.446264303343056,
      "grad_norm": 0.28431668877601624,
      "learning_rate": 4.336236216008313e-05,
      "loss": 0.0457,
      "step": 10903
    },
    {
      "epoch": 2.446264303343056,
      "gripper_loss": 0.010986328125,
      "loss": 0.060302734375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.07421875,
      "step": 10903
    },
    {
      "epoch": 2.4464886695086383,
      "grad_norm": 0.34615546464920044,
      "learning_rate": 4.332828146482817e-05,
      "loss": 0.0475,
      "step": 10904
    },
    {
      "epoch": 2.4464886695086383,
      "gripper_loss": 0.03173828125,
      "loss": 0.031494140625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.10791015625,
      "step": 10904
    },
    {
      "epoch": 2.4467130356742204,
      "grad_norm": 0.35849669575691223,
      "learning_rate": 4.329421289697636e-05,
      "loss": 0.05,
      "step": 10905
    },
    {
      "epoch": 2.4467130356742204,
      "gripper_loss": 0.00762939453125,
      "loss": 0.08642578125,
      "pos_loss": 0.828125,
      "rot_loss": 0.064453125,
      "step": 10905
    },
    {
      "epoch": 2.4469374018398025,
      "grad_norm": 0.3742443025112152,
      "learning_rate": 4.326015645852674e-05,
      "loss": 0.0412,
      "step": 10906
    },
    {
      "epoch": 2.4469374018398025,
      "gripper_loss": 0.0113525390625,
      "loss": 0.04736328125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.173828125,
      "step": 10906
    },
    {
      "epoch": 2.447161768005385,
      "grad_norm": 0.2574969530105591,
      "learning_rate": 4.3226112151477845e-05,
      "loss": 0.0469,
      "step": 10907
    },
    {
      "epoch": 2.447161768005385,
      "gripper_loss": 0.19921875,
      "loss": 0.048583984375,
      "pos_loss": 0.40625,
      "rot_loss": 0.0196533203125,
      "step": 10907
    },
    {
      "epoch": 2.447386134170967,
      "grad_norm": 0.40522921085357666,
      "learning_rate": 4.319207997782726e-05,
      "loss": 0.055,
      "step": 10908
    },
    {
      "epoch": 2.447386134170967,
      "gripper_loss": 0.080078125,
      "loss": 0.02001953125,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.054443359375,
      "step": 10908
    },
    {
      "epoch": 2.447610500336549,
      "grad_norm": 0.33664238452911377,
      "learning_rate": 4.315805993957203e-05,
      "loss": 0.0438,
      "step": 10909
    },
    {
      "epoch": 2.447610500336549,
      "gripper_loss": 0.0712890625,
      "loss": 0.0252685546875,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.126953125,
      "step": 10909
    },
    {
      "epoch": 2.4478348665021317,
      "grad_norm": 0.25055307149887085,
      "learning_rate": 4.3124052038708475e-05,
      "loss": 0.038,
      "step": 10910
    },
    {
      "epoch": 2.4478348665021317,
      "gripper_loss": 0.447265625,
      "loss": 0.04052734375,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.0172119140625,
      "step": 10910
    },
    {
      "epoch": 2.4480592326677137,
      "grad_norm": 0.35479119420051575,
      "learning_rate": 4.309005627723212e-05,
      "loss": 0.0351,
      "step": 10911
    },
    {
      "epoch": 2.4480592326677137,
      "gripper_loss": 0.021484375,
      "loss": 0.033447265625,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.1748046875,
      "step": 10911
    },
    {
      "epoch": 2.448283598833296,
      "grad_norm": 0.3727908134460449,
      "learning_rate": 4.305607265713776e-05,
      "loss": 0.0565,
      "step": 10912
    },
    {
      "epoch": 2.448283598833296,
      "gripper_loss": 0.4609375,
      "loss": 0.142578125,
      "pos_loss": 1.2890625,
      "rot_loss": 0.054931640625,
      "step": 10912
    },
    {
      "epoch": 2.4485079649988784,
      "grad_norm": 0.41849327087402344,
      "learning_rate": 4.30221011804196e-05,
      "loss": 0.0488,
      "step": 10913
    },
    {
      "epoch": 2.4485079649988784,
      "gripper_loss": 0.0299072265625,
      "loss": 0.10302734375,
      "pos_loss": 0.9140625,
      "rot_loss": 0.1484375,
      "step": 10913
    },
    {
      "epoch": 2.4487323311644604,
      "grad_norm": 0.4029742181301117,
      "learning_rate": 4.29881418490711e-05,
      "loss": 0.0503,
      "step": 10914
    },
    {
      "epoch": 2.4487323311644604,
      "gripper_loss": 0.0242919921875,
      "loss": 0.0634765625,
      "pos_loss": 0.421875,
      "rot_loss": 0.1982421875,
      "step": 10914
    },
    {
      "epoch": 2.4489566973300425,
      "grad_norm": 0.3632330596446991,
      "learning_rate": 4.2954194665084964e-05,
      "loss": 0.0575,
      "step": 10915
    },
    {
      "epoch": 2.4489566973300425,
      "gripper_loss": 0.2255859375,
      "loss": 0.0255126953125,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.0216064453125,
      "step": 10915
    },
    {
      "epoch": 2.449181063495625,
      "grad_norm": 0.31295761466026306,
      "learning_rate": 4.292025963045315e-05,
      "loss": 0.0329,
      "step": 10916
    },
    {
      "epoch": 2.449181063495625,
      "gripper_loss": 0.58203125,
      "loss": 0.07763671875,
      "pos_loss": 0.294921875,
      "rot_loss": 0.310546875,
      "step": 10916
    },
    {
      "epoch": 2.449405429661207,
      "grad_norm": 0.2958216071128845,
      "learning_rate": 4.2886336747166965e-05,
      "loss": 0.0334,
      "step": 10917
    },
    {
      "epoch": 2.449405429661207,
      "gripper_loss": 0.2197265625,
      "loss": 0.016845703125,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.041748046875,
      "step": 10917
    },
    {
      "epoch": 2.449629795826789,
      "grad_norm": 0.369061142206192,
      "learning_rate": 4.2852426017217e-05,
      "loss": 0.0625,
      "step": 10918
    },
    {
      "epoch": 2.449629795826789,
      "gripper_loss": 0.11474609375,
      "loss": 0.057861328125,
      "pos_loss": 0.30859375,
      "rot_loss": 0.2470703125,
      "step": 10918
    },
    {
      "epoch": 2.4498541619923717,
      "grad_norm": 0.441738098859787,
      "learning_rate": 4.281852744259321e-05,
      "loss": 0.0439,
      "step": 10919
    },
    {
      "epoch": 2.4498541619923717,
      "gripper_loss": 0.015869140625,
      "loss": 0.03564453125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.1953125,
      "step": 10919
    },
    {
      "epoch": 2.450078528157954,
      "grad_norm": 0.3400349020957947,
      "learning_rate": 4.2784641025284566e-05,
      "loss": 0.0507,
      "step": 10920
    },
    {
      "epoch": 2.450078528157954,
      "gripper_loss": 0.00732421875,
      "loss": 0.05419921875,
      "pos_loss": 0.49609375,
      "rot_loss": 0.057373046875,
      "step": 10920
    },
    {
      "epoch": 2.450302894323536,
      "grad_norm": 0.25134605169296265,
      "learning_rate": 4.275076676727965e-05,
      "loss": 0.0434,
      "step": 10921
    },
    {
      "epoch": 2.450302894323536,
      "gripper_loss": 0.0057373046875,
      "loss": 0.033935546875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.04638671875,
      "step": 10921
    },
    {
      "epoch": 2.4505272604891184,
      "grad_norm": 0.3054412603378296,
      "learning_rate": 4.2716904670566184e-05,
      "loss": 0.0464,
      "step": 10922
    },
    {
      "epoch": 2.4505272604891184,
      "gripper_loss": 0.099609375,
      "loss": 0.016845703125,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.0279541015625,
      "step": 10922
    },
    {
      "epoch": 2.4507516266547005,
      "grad_norm": 0.7319644689559937,
      "learning_rate": 4.268305473713108e-05,
      "loss": 0.0503,
      "step": 10923
    },
    {
      "epoch": 2.4507516266547005,
      "gripper_loss": 0.130859375,
      "loss": 0.022705078125,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.017822265625,
      "step": 10923
    },
    {
      "epoch": 2.4509759928202826,
      "grad_norm": 0.22951245307922363,
      "learning_rate": 4.264921696896073e-05,
      "loss": 0.0328,
      "step": 10924
    },
    {
      "epoch": 2.4509759928202826,
      "gripper_loss": 0.007659912109375,
      "loss": 0.01385498046875,
      "pos_loss": 0.052734375,
      "rot_loss": 0.06689453125,
      "step": 10924
    },
    {
      "epoch": 2.451200358985865,
      "grad_norm": 0.2301393300294876,
      "learning_rate": 4.261539136804068e-05,
      "loss": 0.0298,
      "step": 10925
    },
    {
      "epoch": 2.451200358985865,
      "gripper_loss": 0.0087890625,
      "loss": 0.07666015625,
      "pos_loss": 0.7578125,
      "rot_loss": 0.037841796875,
      "step": 10925
    },
    {
      "epoch": 2.451424725151447,
      "grad_norm": 0.29904916882514954,
      "learning_rate": 4.258157793635578e-05,
      "loss": 0.044,
      "step": 10926
    },
    {
      "epoch": 2.451424725151447,
      "gripper_loss": 0.0181884765625,
      "loss": 0.0213623046875,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.043701171875,
      "step": 10926
    },
    {
      "epoch": 2.4516490913170292,
      "grad_norm": 0.26922890543937683,
      "learning_rate": 4.254777667589021e-05,
      "loss": 0.034,
      "step": 10927
    },
    {
      "epoch": 2.4516490913170292,
      "gripper_loss": 0.48828125,
      "loss": 0.0869140625,
      "pos_loss": 0.48046875,
      "rot_loss": 0.259765625,
      "step": 10927
    },
    {
      "epoch": 2.4518734574826118,
      "grad_norm": 0.32136270403862,
      "learning_rate": 4.2513987588627486e-05,
      "loss": 0.0429,
      "step": 10928
    },
    {
      "epoch": 2.4518734574826118,
      "gripper_loss": 0.013671875,
      "loss": 0.02392578125,
      "pos_loss": 0.21484375,
      "rot_loss": 0.0145263671875,
      "step": 10928
    },
    {
      "epoch": 2.452097823648194,
      "grad_norm": 0.30697306990623474,
      "learning_rate": 4.248021067655019e-05,
      "loss": 0.0437,
      "step": 10929
    },
    {
      "epoch": 2.452097823648194,
      "gripper_loss": 0.0081787109375,
      "loss": 0.0113525390625,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.01171875,
      "step": 10929
    },
    {
      "epoch": 2.452322189813776,
      "grad_norm": 0.24280673265457153,
      "learning_rate": 4.244644594164043e-05,
      "loss": 0.0252,
      "step": 10930
    },
    {
      "epoch": 2.452322189813776,
      "gripper_loss": 0.005706787109375,
      "loss": 0.038330078125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.05615234375,
      "step": 10930
    },
    {
      "epoch": 2.4525465559793584,
      "grad_norm": 0.25929054617881775,
      "learning_rate": 4.2412693385879495e-05,
      "loss": 0.0272,
      "step": 10931
    },
    {
      "epoch": 2.4525465559793584,
      "gripper_loss": 0.01092529296875,
      "loss": 0.0169677734375,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.07861328125,
      "step": 10931
    },
    {
      "epoch": 2.4527709221449405,
      "grad_norm": 0.32531872391700745,
      "learning_rate": 4.2378953011248e-05,
      "loss": 0.0408,
      "step": 10932
    },
    {
      "epoch": 2.4527709221449405,
      "gripper_loss": 0.0732421875,
      "loss": 0.031982421875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.01611328125,
      "step": 10932
    },
    {
      "epoch": 2.4529952883105226,
      "grad_norm": 0.5854882597923279,
      "learning_rate": 4.2345224819725745e-05,
      "loss": 0.0391,
      "step": 10933
    },
    {
      "epoch": 2.4529952883105226,
      "gripper_loss": 0.0084228515625,
      "loss": 0.07275390625,
      "pos_loss": 0.5625,
      "rot_loss": 0.181640625,
      "step": 10933
    },
    {
      "epoch": 2.453219654476105,
      "grad_norm": 0.46678075194358826,
      "learning_rate": 4.231150881329196e-05,
      "loss": 0.0515,
      "step": 10934
    },
    {
      "epoch": 2.453219654476105,
      "gripper_loss": 0.032958984375,
      "loss": 0.01806640625,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.031982421875,
      "step": 10934
    },
    {
      "epoch": 2.453444020641687,
      "grad_norm": 0.34238743782043457,
      "learning_rate": 4.2277804993925e-05,
      "loss": 0.048,
      "step": 10935
    },
    {
      "epoch": 2.453444020641687,
      "gripper_loss": 0.01226806640625,
      "loss": 0.034423828125,
      "pos_loss": 0.291015625,
      "rot_loss": 0.049560546875,
      "step": 10935
    },
    {
      "epoch": 2.4536683868072693,
      "grad_norm": 0.2876509130001068,
      "learning_rate": 4.224411336360262e-05,
      "loss": 0.0391,
      "step": 10936
    },
    {
      "epoch": 2.4536683868072693,
      "gripper_loss": 0.44921875,
      "loss": 0.025634765625,
      "pos_loss": 0.044921875,
      "rot_loss": 0.0546875,
      "step": 10936
    },
    {
      "epoch": 2.453892752972852,
      "grad_norm": 0.39281633496284485,
      "learning_rate": 4.2210433924301903e-05,
      "loss": 0.0548,
      "step": 10937
    },
    {
      "epoch": 2.453892752972852,
      "gripper_loss": 0.0125732421875,
      "loss": 0.01495361328125,
      "pos_loss": 0.049072265625,
      "rot_loss": 0.08349609375,
      "step": 10937
    },
    {
      "epoch": 2.454117119138434,
      "grad_norm": 0.32672807574272156,
      "learning_rate": 4.2176766677999025e-05,
      "loss": 0.038,
      "step": 10938
    },
    {
      "epoch": 2.454117119138434,
      "gripper_loss": 0.05224609375,
      "loss": 0.049072265625,
      "pos_loss": 0.22265625,
      "rot_loss": 0.255859375,
      "step": 10938
    },
    {
      "epoch": 2.454341485304016,
      "grad_norm": 0.3484993875026703,
      "learning_rate": 4.214311162666962e-05,
      "loss": 0.0545,
      "step": 10939
    },
    {
      "epoch": 2.454341485304016,
      "gripper_loss": 0.1552734375,
      "loss": 0.0634765625,
      "pos_loss": 0.400390625,
      "rot_loss": 0.1552734375,
      "step": 10939
    },
    {
      "epoch": 2.4545658514695985,
      "grad_norm": 0.4152708649635315,
      "learning_rate": 4.210946877228855e-05,
      "loss": 0.0598,
      "step": 10940
    },
    {
      "epoch": 2.4545658514695985,
      "gripper_loss": 0.173828125,
      "loss": 0.1396484375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.365234375,
      "step": 10940
    },
    {
      "epoch": 2.4547902176351806,
      "grad_norm": 0.8919618725776672,
      "learning_rate": 4.2075838116830054e-05,
      "loss": 0.0882,
      "step": 10941
    },
    {
      "epoch": 2.4547902176351806,
      "gripper_loss": 0.04150390625,
      "loss": 0.06005859375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.158203125,
      "step": 10941
    },
    {
      "epoch": 2.4550145838007627,
      "grad_norm": 0.3029312193393707,
      "learning_rate": 4.20422196622674e-05,
      "loss": 0.0547,
      "step": 10942
    },
    {
      "epoch": 2.4550145838007627,
      "gripper_loss": 0.11376953125,
      "loss": 0.09326171875,
      "pos_loss": 0.91796875,
      "rot_loss": 0.0152587890625,
      "step": 10942
    },
    {
      "epoch": 2.455238949966345,
      "grad_norm": 0.4256497323513031,
      "learning_rate": 4.200861341057338e-05,
      "loss": 0.0456,
      "step": 10943
    },
    {
      "epoch": 2.455238949966345,
      "gripper_loss": 0.00799560546875,
      "loss": 0.03955078125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.25,
      "step": 10943
    },
    {
      "epoch": 2.4554633161319273,
      "grad_norm": 0.18887117505073547,
      "learning_rate": 4.1975019363719975e-05,
      "loss": 0.0334,
      "step": 10944
    },
    {
      "epoch": 2.4554633161319273,
      "gripper_loss": 0.38671875,
      "loss": 0.0257568359375,
      "pos_loss": 0.0537109375,
      "rot_loss": 0.068359375,
      "step": 10944
    },
    {
      "epoch": 2.4556876822975093,
      "grad_norm": 0.2770240902900696,
      "learning_rate": 4.194143752367857e-05,
      "loss": 0.0368,
      "step": 10945
    },
    {
      "epoch": 2.4556876822975093,
      "gripper_loss": 1.1953125,
      "loss": 0.064453125,
      "pos_loss": 0.109375,
      "rot_loss": 0.1572265625,
      "step": 10945
    },
    {
      "epoch": 2.455912048463092,
      "grad_norm": 0.31801837682724,
      "learning_rate": 4.190786789241965e-05,
      "loss": 0.0563,
      "step": 10946
    },
    {
      "epoch": 2.455912048463092,
      "gripper_loss": 0.016357421875,
      "loss": 0.0218505859375,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.01324462890625,
      "step": 10946
    },
    {
      "epoch": 2.456136414628674,
      "grad_norm": 0.316024512052536,
      "learning_rate": 4.187431047191301e-05,
      "loss": 0.0476,
      "step": 10947
    },
    {
      "epoch": 2.456136414628674,
      "gripper_loss": 0.004638671875,
      "loss": 0.05615234375,
      "pos_loss": 0.5,
      "rot_loss": 0.06982421875,
      "step": 10947
    },
    {
      "epoch": 2.456360780794256,
      "grad_norm": 0.22931678593158722,
      "learning_rate": 4.184076526412781e-05,
      "loss": 0.0501,
      "step": 10948
    },
    {
      "epoch": 2.456360780794256,
      "gripper_loss": 0.06787109375,
      "loss": 0.0252685546875,
      "pos_loss": 0.05078125,
      "rot_loss": 0.1708984375,
      "step": 10948
    },
    {
      "epoch": 2.4565851469598385,
      "grad_norm": 0.2618846595287323,
      "learning_rate": 4.180723227103259e-05,
      "loss": 0.0398,
      "step": 10949
    },
    {
      "epoch": 2.4565851469598385,
      "gripper_loss": 0.26171875,
      "loss": 0.061279296875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.068359375,
      "step": 10949
    },
    {
      "epoch": 2.4568095131254206,
      "grad_norm": 0.37239813804626465,
      "learning_rate": 4.1773711494594884e-05,
      "loss": 0.0396,
      "step": 10950
    },
    {
      "epoch": 2.4568095131254206,
      "gripper_loss": 0.053466796875,
      "loss": 0.032958984375,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.123046875,
      "step": 10950
    },
    {
      "epoch": 2.4570338792910027,
      "grad_norm": 0.5630991458892822,
      "learning_rate": 4.174020293678174e-05,
      "loss": 0.0676,
      "step": 10951
    },
    {
      "epoch": 2.4570338792910027,
      "gripper_loss": 0.01361083984375,
      "loss": 0.0712890625,
      "pos_loss": 0.474609375,
      "rot_loss": 0.255859375,
      "step": 10951
    },
    {
      "epoch": 2.457258245456585,
      "grad_norm": 0.25646156072616577,
      "learning_rate": 4.1706706599559466e-05,
      "loss": 0.0444,
      "step": 10952
    },
    {
      "epoch": 2.457258245456585,
      "gripper_loss": 0.01214599609375,
      "loss": 0.03955078125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.0849609375,
      "step": 10952
    },
    {
      "epoch": 2.4574826116221673,
      "grad_norm": 0.5077324509620667,
      "learning_rate": 4.167322248489355e-05,
      "loss": 0.0828,
      "step": 10953
    },
    {
      "epoch": 2.4574826116221673,
      "gripper_loss": 0.0091552734375,
      "loss": 0.050537109375,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.24609375,
      "step": 10953
    },
    {
      "epoch": 2.4577069777877494,
      "grad_norm": 0.40772584080696106,
      "learning_rate": 4.163975059474892e-05,
      "loss": 0.0495,
      "step": 10954
    },
    {
      "epoch": 2.4577069777877494,
      "gripper_loss": 0.0096435546875,
      "loss": 0.021484375,
      "pos_loss": 0.15234375,
      "rot_loss": 0.045166015625,
      "step": 10954
    },
    {
      "epoch": 2.457931343953332,
      "grad_norm": 0.374047189950943,
      "learning_rate": 4.1606290931089584e-05,
      "loss": 0.041,
      "step": 10955
    },
    {
      "epoch": 2.457931343953332,
      "gripper_loss": 0.005035400390625,
      "loss": 0.01708984375,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.07421875,
      "step": 10955
    },
    {
      "epoch": 2.458155710118914,
      "grad_norm": 0.22658151388168335,
      "learning_rate": 4.157284349587897e-05,
      "loss": 0.0293,
      "step": 10956
    },
    {
      "epoch": 2.458155710118914,
      "gripper_loss": 0.263671875,
      "loss": 0.031005859375,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.0810546875,
      "step": 10956
    },
    {
      "epoch": 2.458380076284496,
      "grad_norm": 0.444386750459671,
      "learning_rate": 4.1539408291079856e-05,
      "loss": 0.0488,
      "step": 10957
    },
    {
      "epoch": 2.458380076284496,
      "gripper_loss": 0.01165771484375,
      "loss": 0.115234375,
      "pos_loss": 1.140625,
      "rot_loss": 0.06396484375,
      "step": 10957
    },
    {
      "epoch": 2.4586044424500786,
      "grad_norm": 0.5019877552986145,
      "learning_rate": 4.15059853186541e-05,
      "loss": 0.0739,
      "step": 10958
    },
    {
      "epoch": 2.4586044424500786,
      "gripper_loss": 0.484375,
      "loss": 0.040771484375,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.07666015625,
      "step": 10958
    },
    {
      "epoch": 2.4588288086156607,
      "grad_norm": 0.307027131319046,
      "learning_rate": 4.147257458056289e-05,
      "loss": 0.0482,
      "step": 10959
    },
    {
      "epoch": 2.4588288086156607,
      "gripper_loss": 0.06884765625,
      "loss": 0.0286865234375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.006072998046875,
      "step": 10959
    },
    {
      "epoch": 2.4590531747812427,
      "grad_norm": 0.49267253279685974,
      "learning_rate": 4.143917607876685e-05,
      "loss": 0.0387,
      "step": 10960
    },
    {
      "epoch": 2.4590531747812427,
      "gripper_loss": 0.006378173828125,
      "loss": 0.058837890625,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.380859375,
      "step": 10960
    },
    {
      "epoch": 2.4592775409468253,
      "grad_norm": 0.3339913487434387,
      "learning_rate": 4.1405789815225775e-05,
      "loss": 0.03,
      "step": 10961
    },
    {
      "epoch": 2.4592775409468253,
      "gripper_loss": 0.294921875,
      "loss": 0.044189453125,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.125,
      "step": 10961
    },
    {
      "epoch": 2.4595019071124073,
      "grad_norm": 0.4078545570373535,
      "learning_rate": 4.137241579189879e-05,
      "loss": 0.0424,
      "step": 10962
    },
    {
      "epoch": 2.4595019071124073,
      "gripper_loss": 0.578125,
      "loss": 0.042236328125,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.0390625,
      "step": 10962
    },
    {
      "epoch": 2.45972627327799,
      "grad_norm": 0.36506080627441406,
      "learning_rate": 4.13390540107442e-05,
      "loss": 0.0437,
      "step": 10963
    },
    {
      "epoch": 2.45972627327799,
      "gripper_loss": 0.005218505859375,
      "loss": 0.11962890625,
      "pos_loss": 0.7265625,
      "rot_loss": 0.52734375,
      "step": 10963
    },
    {
      "epoch": 2.459950639443572,
      "grad_norm": 0.8063793182373047,
      "learning_rate": 4.1305704473719646e-05,
      "loss": 0.0579,
      "step": 10964
    },
    {
      "epoch": 2.459950639443572,
      "gripper_loss": 0.00640869140625,
      "loss": 0.050537109375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.08935546875,
      "step": 10964
    },
    {
      "epoch": 2.460175005609154,
      "grad_norm": 0.2705499827861786,
      "learning_rate": 4.1272367182782125e-05,
      "loss": 0.0387,
      "step": 10965
    },
    {
      "epoch": 2.460175005609154,
      "gripper_loss": 0.01434326171875,
      "loss": 0.0301513671875,
      "pos_loss": 0.263671875,
      "rot_loss": 0.031494140625,
      "step": 10965
    },
    {
      "epoch": 2.4603993717747366,
      "grad_norm": 0.27233773469924927,
      "learning_rate": 4.1239042139887855e-05,
      "loss": 0.0318,
      "step": 10966
    },
    {
      "epoch": 2.4603993717747366,
      "gripper_loss": 0.75390625,
      "loss": 0.037841796875,
      "pos_loss": 0.055908203125,
      "rot_loss": 0.072265625,
      "step": 10966
    },
    {
      "epoch": 2.4606237379403186,
      "grad_norm": 0.3821184039115906,
      "learning_rate": 4.120572934699235e-05,
      "loss": 0.0444,
      "step": 10967
    },
    {
      "epoch": 2.4606237379403186,
      "gripper_loss": 0.0185546875,
      "loss": 0.00970458984375,
      "pos_loss": 0.037353515625,
      "rot_loss": 0.037109375,
      "step": 10967
    },
    {
      "epoch": 2.4608481041059007,
      "grad_norm": 0.35419178009033203,
      "learning_rate": 4.11724288060503e-05,
      "loss": 0.0396,
      "step": 10968
    },
    {
      "epoch": 2.4608481041059007,
      "gripper_loss": 0.10791015625,
      "loss": 0.138671875,
      "pos_loss": 1.390625,
      "rot_loss": 0.0238037109375,
      "step": 10968
    },
    {
      "epoch": 2.4610724702714832,
      "grad_norm": 0.43059518933296204,
      "learning_rate": 4.113914051901588e-05,
      "loss": 0.0624,
      "step": 10969
    },
    {
      "epoch": 2.4610724702714832,
      "gripper_loss": 0.0137939453125,
      "loss": 0.06494140625,
      "pos_loss": 0.345703125,
      "rot_loss": 0.322265625,
      "step": 10969
    },
    {
      "epoch": 2.4612968364370653,
      "grad_norm": 0.25185880064964294,
      "learning_rate": 4.1105864487842314e-05,
      "loss": 0.0431,
      "step": 10970
    },
    {
      "epoch": 2.4612968364370653,
      "gripper_loss": 0.99609375,
      "loss": 0.1982421875,
      "pos_loss": 0.427734375,
      "rot_loss": 0.39453125,
      "step": 10970
    },
    {
      "epoch": 2.4615212026026474,
      "grad_norm": 1.3450957536697388,
      "learning_rate": 4.1072600714482324e-05,
      "loss": 0.2046,
      "step": 10971
    },
    {
      "epoch": 2.4615212026026474,
      "gripper_loss": 0.004425048828125,
      "loss": 0.16015625,
      "pos_loss": 1.671875,
      "rot_loss": 0.0150146484375,
      "step": 10971
    },
    {
      "epoch": 2.46174556876823,
      "grad_norm": 0.4177705645561218,
      "learning_rate": 4.103934920088773e-05,
      "loss": 0.0898,
      "step": 10972
    },
    {
      "epoch": 2.46174556876823,
      "gripper_loss": 0.01153564453125,
      "loss": 0.0673828125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.32421875,
      "step": 10972
    },
    {
      "epoch": 2.461969934933812,
      "grad_norm": 0.33734947443008423,
      "learning_rate": 4.100610994900974e-05,
      "loss": 0.0453,
      "step": 10973
    },
    {
      "epoch": 2.461969934933812,
      "gripper_loss": 0.0030670166015625,
      "loss": 0.064453125,
      "pos_loss": 0.515625,
      "rot_loss": 0.142578125,
      "step": 10973
    },
    {
      "epoch": 2.462194301099394,
      "grad_norm": 0.6693615913391113,
      "learning_rate": 4.097288296079884e-05,
      "loss": 0.0562,
      "step": 10974
    },
    {
      "epoch": 2.462194301099394,
      "gripper_loss": 0.00469970703125,
      "loss": 0.0556640625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.1689453125,
      "step": 10974
    },
    {
      "epoch": 2.4624186672649766,
      "grad_norm": 0.31670552492141724,
      "learning_rate": 4.093966823820483e-05,
      "loss": 0.0541,
      "step": 10975
    },
    {
      "epoch": 2.4624186672649766,
      "gripper_loss": 0.017822265625,
      "loss": 0.004364013671875,
      "pos_loss": 0.007537841796875,
      "rot_loss": 0.012939453125,
      "step": 10975
    },
    {
      "epoch": 2.4626430334305587,
      "grad_norm": 0.21605873107910156,
      "learning_rate": 4.0906465783176614e-05,
      "loss": 0.0355,
      "step": 10976
    },
    {
      "epoch": 2.4626430334305587,
      "gripper_loss": 0.0311279296875,
      "loss": 0.0390625,
      "pos_loss": 0.318359375,
      "rot_loss": 0.06591796875,
      "step": 10976
    },
    {
      "epoch": 2.4628673995961408,
      "grad_norm": 0.4304348826408386,
      "learning_rate": 4.087327559766254e-05,
      "loss": 0.0434,
      "step": 10977
    },
    {
      "epoch": 2.4628673995961408,
      "gripper_loss": 0.578125,
      "loss": 0.042724609375,
      "pos_loss": 0.13671875,
      "rot_loss": 0.09228515625,
      "step": 10977
    },
    {
      "epoch": 2.4630917657617233,
      "grad_norm": 0.38414666056632996,
      "learning_rate": 4.0840097683610246e-05,
      "loss": 0.0603,
      "step": 10978
    },
    {
      "epoch": 2.4630917657617233,
      "gripper_loss": 0.0242919921875,
      "loss": 0.0625,
      "pos_loss": 0.3515625,
      "rot_loss": 0.279296875,
      "step": 10978
    },
    {
      "epoch": 2.4633161319273054,
      "grad_norm": 0.31234070658683777,
      "learning_rate": 4.080693204296659e-05,
      "loss": 0.0544,
      "step": 10979
    },
    {
      "epoch": 2.4633161319273054,
      "gripper_loss": 0.00445556640625,
      "loss": 0.072265625,
      "pos_loss": 0.421875,
      "rot_loss": 0.3125,
      "step": 10979
    },
    {
      "epoch": 2.4635404980928874,
      "grad_norm": 0.5964423418045044,
      "learning_rate": 4.0773778677677646e-05,
      "loss": 0.0559,
      "step": 10980
    },
    {
      "epoch": 2.4635404980928874,
      "gripper_loss": 0.00811767578125,
      "loss": 0.01434326171875,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.0299072265625,
      "step": 10980
    },
    {
      "epoch": 2.46376486425847,
      "grad_norm": 0.34603169560432434,
      "learning_rate": 4.074063758968893e-05,
      "loss": 0.0531,
      "step": 10981
    },
    {
      "epoch": 2.46376486425847,
      "gripper_loss": 0.01007080078125,
      "loss": 0.119140625,
      "pos_loss": 0.78515625,
      "rot_loss": 0.45703125,
      "step": 10981
    },
    {
      "epoch": 2.463989230424052,
      "grad_norm": 0.4718089997768402,
      "learning_rate": 4.0707508780945036e-05,
      "loss": 0.0606,
      "step": 10982
    },
    {
      "epoch": 2.463989230424052,
      "gripper_loss": 0.01153564453125,
      "loss": 0.061279296875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.203125,
      "step": 10982
    },
    {
      "epoch": 2.464213596589634,
      "grad_norm": 0.30899670720100403,
      "learning_rate": 4.067439225339001e-05,
      "loss": 0.0532,
      "step": 10983
    },
    {
      "epoch": 2.464213596589634,
      "gripper_loss": 0.0537109375,
      "loss": 0.04150390625,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.263671875,
      "step": 10983
    },
    {
      "epoch": 2.4644379627552166,
      "grad_norm": 0.4058312773704529,
      "learning_rate": 4.0641288008967186e-05,
      "loss": 0.0527,
      "step": 10984
    },
    {
      "epoch": 2.4644379627552166,
      "gripper_loss": 0.69921875,
      "loss": 0.06787109375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.0986328125,
      "step": 10984
    },
    {
      "epoch": 2.4646623289207987,
      "grad_norm": 0.5644580721855164,
      "learning_rate": 4.0608196049618964e-05,
      "loss": 0.0799,
      "step": 10985
    },
    {
      "epoch": 2.4646623289207987,
      "gripper_loss": 0.004241943359375,
      "loss": 0.033935546875,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.1953125,
      "step": 10985
    },
    {
      "epoch": 2.464886695086381,
      "grad_norm": 0.22174128890037537,
      "learning_rate": 4.0575116377287226e-05,
      "loss": 0.0391,
      "step": 10986
    },
    {
      "epoch": 2.464886695086381,
      "gripper_loss": 0.18359375,
      "loss": 0.037841796875,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0137939453125,
      "step": 10986
    },
    {
      "epoch": 2.4651110612519633,
      "grad_norm": 0.36666902899742126,
      "learning_rate": 4.0542048993913086e-05,
      "loss": 0.0491,
      "step": 10987
    },
    {
      "epoch": 2.4651110612519633,
      "gripper_loss": 0.00469970703125,
      "loss": 0.0274658203125,
      "pos_loss": 0.123046875,
      "rot_loss": 0.12255859375,
      "step": 10987
    },
    {
      "epoch": 2.4653354274175454,
      "grad_norm": 0.2780136168003082,
      "learning_rate": 4.0508993901436974e-05,
      "loss": 0.0394,
      "step": 10988
    },
    {
      "epoch": 2.4653354274175454,
      "gripper_loss": 0.208984375,
      "loss": 0.032958984375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.0159912109375,
      "step": 10988
    },
    {
      "epoch": 2.4655597935831275,
      "grad_norm": 0.22807133197784424,
      "learning_rate": 4.047595110179844e-05,
      "loss": 0.0387,
      "step": 10989
    },
    {
      "epoch": 2.4655597935831275,
      "gripper_loss": 0.0113525390625,
      "loss": 0.038330078125,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.275390625,
      "step": 10989
    },
    {
      "epoch": 2.46578415974871,
      "grad_norm": 0.42939770221710205,
      "learning_rate": 4.044292059693647e-05,
      "loss": 0.0507,
      "step": 10990
    },
    {
      "epoch": 2.46578415974871,
      "gripper_loss": 0.006561279296875,
      "loss": 0.02099609375,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.019775390625,
      "step": 10990
    },
    {
      "epoch": 2.466008525914292,
      "grad_norm": 0.19968120753765106,
      "learning_rate": 4.0409902388789274e-05,
      "loss": 0.03,
      "step": 10991
    },
    {
      "epoch": 2.466008525914292,
      "gripper_loss": 0.09130859375,
      "loss": 0.1318359375,
      "pos_loss": 0.96484375,
      "rot_loss": 0.2392578125,
      "step": 10991
    },
    {
      "epoch": 2.466232892079874,
      "grad_norm": 0.6635792255401611,
      "learning_rate": 4.037689647929443e-05,
      "loss": 0.0988,
      "step": 10992
    },
    {
      "epoch": 2.466232892079874,
      "gripper_loss": 0.00823974609375,
      "loss": 0.01129150390625,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.0576171875,
      "step": 10992
    },
    {
      "epoch": 2.4664572582454567,
      "grad_norm": 0.37784919142723083,
      "learning_rate": 4.034390287038861e-05,
      "loss": 0.0324,
      "step": 10993
    },
    {
      "epoch": 2.4664572582454567,
      "gripper_loss": 0.08056640625,
      "loss": 0.16796875,
      "pos_loss": 1.1171875,
      "rot_loss": 0.443359375,
      "step": 10993
    },
    {
      "epoch": 2.4666816244110388,
      "grad_norm": 0.8391485810279846,
      "learning_rate": 4.031092156400784e-05,
      "loss": 0.1259,
      "step": 10994
    },
    {
      "epoch": 2.4666816244110388,
      "gripper_loss": 0.2080078125,
      "loss": 0.0576171875,
      "pos_loss": 0.333984375,
      "rot_loss": 0.185546875,
      "step": 10994
    },
    {
      "epoch": 2.466905990576621,
      "grad_norm": 0.45706164836883545,
      "learning_rate": 4.027795256208749e-05,
      "loss": 0.0561,
      "step": 10995
    },
    {
      "epoch": 2.466905990576621,
      "gripper_loss": 0.470703125,
      "loss": 0.0306396484375,
      "pos_loss": 0.050537109375,
      "rot_loss": 0.099609375,
      "step": 10995
    },
    {
      "epoch": 2.4671303567422034,
      "grad_norm": 0.3524903655052185,
      "learning_rate": 4.024499586656219e-05,
      "loss": 0.0405,
      "step": 10996
    },
    {
      "epoch": 2.4671303567422034,
      "gripper_loss": 0.016845703125,
      "loss": 0.0185546875,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.0390625,
      "step": 10996
    },
    {
      "epoch": 2.4673547229077855,
      "grad_norm": 0.38398629426956177,
      "learning_rate": 4.0212051479365855e-05,
      "loss": 0.0543,
      "step": 10997
    },
    {
      "epoch": 2.4673547229077855,
      "gripper_loss": 0.033203125,
      "loss": 0.06689453125,
      "pos_loss": 0.5625,
      "rot_loss": 0.09375,
      "step": 10997
    },
    {
      "epoch": 2.467579089073368,
      "grad_norm": 0.3884880840778351,
      "learning_rate": 4.017911940243152e-05,
      "loss": 0.0556,
      "step": 10998
    },
    {
      "epoch": 2.467579089073368,
      "gripper_loss": 0.015380859375,
      "loss": 0.04443359375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.138671875,
      "step": 10998
    },
    {
      "epoch": 2.46780345523895,
      "grad_norm": 0.3044643700122833,
      "learning_rate": 4.01461996376917e-05,
      "loss": 0.0414,
      "step": 10999
    },
    {
      "epoch": 2.46780345523895,
      "gripper_loss": 0.09228515625,
      "loss": 0.013427734375,
      "pos_loss": 0.06640625,
      "rot_loss": 0.0198974609375,
      "step": 10999
    },
    {
      "epoch": 2.468027821404532,
      "grad_norm": 0.30521929264068604,
      "learning_rate": 4.011329218707813e-05,
      "loss": 0.0474,
      "step": 11000
    },
    {
      "epoch": 2.468027821404532,
      "gripper_loss": 0.0810546875,
      "loss": 0.00958251953125,
      "pos_loss": 0.0130615234375,
      "rot_loss": 0.032470703125,
      "step": 11000
    },
    {
      "epoch": 2.4682521875701147,
      "grad_norm": 0.32108229398727417,
      "learning_rate": 4.008039705252184e-05,
      "loss": 0.0407,
      "step": 11001
    },
    {
      "epoch": 2.4682521875701147,
      "gripper_loss": 0.3515625,
      "loss": 0.01953125,
      "pos_loss": 0.045654296875,
      "rot_loss": 0.0174560546875,
      "step": 11001
    },
    {
      "epoch": 2.4684765537356967,
      "grad_norm": 0.32500872015953064,
      "learning_rate": 4.0047514235952985e-05,
      "loss": 0.0472,
      "step": 11002
    },
    {
      "epoch": 2.4684765537356967,
      "gripper_loss": 0.32421875,
      "loss": 0.0208740234375,
      "pos_loss": 0.0556640625,
      "rot_loss": 0.03662109375,
      "step": 11002
    },
    {
      "epoch": 2.468700919901279,
      "grad_norm": 0.2994750738143921,
      "learning_rate": 4.001464373930119e-05,
      "loss": 0.036,
      "step": 11003
    },
    {
      "epoch": 2.468700919901279,
      "gripper_loss": 0.12890625,
      "loss": 0.07470703125,
      "pos_loss": 0.384765625,
      "rot_loss": 0.296875,
      "step": 11003
    },
    {
      "epoch": 2.4689252860668613,
      "grad_norm": 0.5771766901016235,
      "learning_rate": 3.9981785564495305e-05,
      "loss": 0.0548,
      "step": 11004
    },
    {
      "epoch": 2.4689252860668613,
      "gripper_loss": 0.019287109375,
      "loss": 0.034912109375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.08056640625,
      "step": 11004
    },
    {
      "epoch": 2.4691496522324434,
      "grad_norm": 0.2729686200618744,
      "learning_rate": 3.994893971346342e-05,
      "loss": 0.0475,
      "step": 11005
    },
    {
      "epoch": 2.4691496522324434,
      "gripper_loss": 0.1650390625,
      "loss": 0.08251953125,
      "pos_loss": 0.375,
      "rot_loss": 0.42578125,
      "step": 11005
    },
    {
      "epoch": 2.4693740183980255,
      "grad_norm": 0.37186160683631897,
      "learning_rate": 3.991610618813282e-05,
      "loss": 0.0409,
      "step": 11006
    },
    {
      "epoch": 2.4693740183980255,
      "gripper_loss": 0.0030059814453125,
      "loss": 0.09912109375,
      "pos_loss": 0.369140625,
      "rot_loss": 0.66796875,
      "step": 11006
    },
    {
      "epoch": 2.469598384563608,
      "grad_norm": 0.25754794478416443,
      "learning_rate": 3.988328499043026e-05,
      "loss": 0.0522,
      "step": 11007
    },
    {
      "epoch": 2.469598384563608,
      "gripper_loss": 0.00634765625,
      "loss": 0.0052490234375,
      "pos_loss": 0.01611328125,
      "rot_loss": 0.014892578125,
      "step": 11007
    },
    {
      "epoch": 2.46982275072919,
      "grad_norm": 0.23523662984371185,
      "learning_rate": 3.98504761222816e-05,
      "loss": 0.0359,
      "step": 11008
    },
    {
      "epoch": 2.46982275072919,
      "gripper_loss": 0.94921875,
      "loss": 0.078125,
      "pos_loss": 0.484375,
      "rot_loss": 0.00885009765625,
      "step": 11008
    },
    {
      "epoch": 2.470047116894772,
      "grad_norm": 0.41175389289855957,
      "learning_rate": 3.981767958561219e-05,
      "loss": 0.0432,
      "step": 11009
    },
    {
      "epoch": 2.470047116894772,
      "gripper_loss": 0.154296875,
      "loss": 0.10595703125,
      "pos_loss": 0.81640625,
      "rot_loss": 0.23828125,
      "step": 11009
    },
    {
      "epoch": 2.4702714830603547,
      "grad_norm": 0.27861642837524414,
      "learning_rate": 3.9784895382346334e-05,
      "loss": 0.0511,
      "step": 11010
    },
    {
      "epoch": 2.4702714830603547,
      "gripper_loss": 0.00860595703125,
      "loss": 0.037109375,
      "pos_loss": 0.322265625,
      "rot_loss": 0.043701171875,
      "step": 11010
    },
    {
      "epoch": 2.470495849225937,
      "grad_norm": 0.2612370550632477,
      "learning_rate": 3.9752123514407904e-05,
      "loss": 0.0511,
      "step": 11011
    },
    {
      "epoch": 2.470495849225937,
      "gripper_loss": 0.00390625,
      "loss": 0.091796875,
      "pos_loss": 0.478515625,
      "rot_loss": 0.4765625,
      "step": 11011
    },
    {
      "epoch": 2.470720215391519,
      "grad_norm": 0.298849880695343,
      "learning_rate": 3.971936398371992e-05,
      "loss": 0.0395,
      "step": 11012
    },
    {
      "epoch": 2.470720215391519,
      "gripper_loss": 0.01129150390625,
      "loss": 0.0341796875,
      "pos_loss": 0.19140625,
      "rot_loss": 0.146484375,
      "step": 11012
    },
    {
      "epoch": 2.4709445815571014,
      "grad_norm": 0.3850213289260864,
      "learning_rate": 3.968661679220467e-05,
      "loss": 0.0401,
      "step": 11013
    },
    {
      "epoch": 2.4709445815571014,
      "gripper_loss": 0.02197265625,
      "loss": 0.031005859375,
      "pos_loss": 0.20703125,
      "rot_loss": 0.09912109375,
      "step": 11013
    },
    {
      "epoch": 2.4711689477226835,
      "grad_norm": 0.3548617660999298,
      "learning_rate": 3.9653881941783846e-05,
      "loss": 0.0324,
      "step": 11014
    },
    {
      "epoch": 2.4711689477226835,
      "gripper_loss": 0.009033203125,
      "loss": 0.018798828125,
      "pos_loss": 0.12890625,
      "rot_loss": 0.04296875,
      "step": 11014
    },
    {
      "epoch": 2.4713933138882656,
      "grad_norm": 0.3659677803516388,
      "learning_rate": 3.962115943437816e-05,
      "loss": 0.0422,
      "step": 11015
    },
    {
      "epoch": 2.4713933138882656,
      "gripper_loss": 0.23046875,
      "loss": 0.0223388671875,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.053466796875,
      "step": 11015
    },
    {
      "epoch": 2.471617680053848,
      "grad_norm": 0.3030104637145996,
      "learning_rate": 3.958844927190791e-05,
      "loss": 0.0395,
      "step": 11016
    },
    {
      "epoch": 2.471617680053848,
      "gripper_loss": 0.390625,
      "loss": 0.040283203125,
      "pos_loss": 0.1142578125,
      "rot_loss": 0.1650390625,
      "step": 11016
    },
    {
      "epoch": 2.47184204621943,
      "grad_norm": 0.36457303166389465,
      "learning_rate": 3.9555751456292364e-05,
      "loss": 0.0486,
      "step": 11017
    },
    {
      "epoch": 2.47184204621943,
      "gripper_loss": 0.3359375,
      "loss": 0.0224609375,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.01043701171875,
      "step": 11017
    },
    {
      "epoch": 2.4720664123850122,
      "grad_norm": 0.29880693554878235,
      "learning_rate": 3.952306598945032e-05,
      "loss": 0.0396,
      "step": 11018
    },
    {
      "epoch": 2.4720664123850122,
      "gripper_loss": 0.009033203125,
      "loss": 0.02880859375,
      "pos_loss": 0.21875,
      "rot_loss": 0.059326171875,
      "step": 11018
    },
    {
      "epoch": 2.4722907785505948,
      "grad_norm": 0.2809513509273529,
      "learning_rate": 3.949039287329967e-05,
      "loss": 0.0393,
      "step": 11019
    },
    {
      "epoch": 2.4722907785505948,
      "gripper_loss": 0.0037078857421875,
      "loss": 0.08349609375,
      "pos_loss": 0.83203125,
      "rot_loss": 0.0341796875,
      "step": 11019
    },
    {
      "epoch": 2.472515144716177,
      "grad_norm": 0.35872015357017517,
      "learning_rate": 3.94577321097577e-05,
      "loss": 0.0559,
      "step": 11020
    },
    {
      "epoch": 2.472515144716177,
      "gripper_loss": 0.0220947265625,
      "loss": 0.0234375,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.046630859375,
      "step": 11020
    },
    {
      "epoch": 2.472739510881759,
      "grad_norm": 0.34892305731773376,
      "learning_rate": 3.9425083700740935e-05,
      "loss": 0.0427,
      "step": 11021
    },
    {
      "epoch": 2.472739510881759,
      "gripper_loss": 0.2314453125,
      "loss": 0.0169677734375,
      "pos_loss": 0.010986328125,
      "rot_loss": 0.0712890625,
      "step": 11021
    },
    {
      "epoch": 2.4729638770473414,
      "grad_norm": 0.34370774030685425,
      "learning_rate": 3.939244764816521e-05,
      "loss": 0.0395,
      "step": 11022
    },
    {
      "epoch": 2.4729638770473414,
      "gripper_loss": 0.0093994140625,
      "loss": 0.07666015625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.130859375,
      "step": 11022
    },
    {
      "epoch": 2.4731882432129235,
      "grad_norm": 0.2925131618976593,
      "learning_rate": 3.9359823953945465e-05,
      "loss": 0.042,
      "step": 11023
    },
    {
      "epoch": 2.4731882432129235,
      "gripper_loss": 0.0059814453125,
      "loss": 0.0439453125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.10400390625,
      "step": 11023
    },
    {
      "epoch": 2.4734126093785056,
      "grad_norm": 0.4677920341491699,
      "learning_rate": 3.932721261999614e-05,
      "loss": 0.0504,
      "step": 11024
    },
    {
      "epoch": 2.4734126093785056,
      "gripper_loss": 0.0206298828125,
      "loss": 0.040283203125,
      "pos_loss": 0.111328125,
      "rot_loss": 0.291015625,
      "step": 11024
    },
    {
      "epoch": 2.473636975544088,
      "grad_norm": 0.26622140407562256,
      "learning_rate": 3.9294613648230835e-05,
      "loss": 0.0473,
      "step": 11025
    },
    {
      "epoch": 2.473636975544088,
      "gripper_loss": 0.0084228515625,
      "loss": 0.0186767578125,
      "pos_loss": 0.08203125,
      "rot_loss": 0.09619140625,
      "step": 11025
    },
    {
      "epoch": 2.47386134170967,
      "grad_norm": 0.3708416223526001,
      "learning_rate": 3.9262027040562475e-05,
      "loss": 0.0457,
      "step": 11026
    },
    {
      "epoch": 2.47386134170967,
      "gripper_loss": 0.1943359375,
      "loss": 0.029296875,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.1396484375,
      "step": 11026
    },
    {
      "epoch": 2.4740857078752523,
      "grad_norm": 0.29677894711494446,
      "learning_rate": 3.922945279890322e-05,
      "loss": 0.0531,
      "step": 11027
    },
    {
      "epoch": 2.4740857078752523,
      "gripper_loss": 0.010498046875,
      "loss": 0.01275634765625,
      "pos_loss": 0.035888671875,
      "rot_loss": 0.07421875,
      "step": 11027
    },
    {
      "epoch": 2.474310074040835,
      "grad_norm": 0.20443502068519592,
      "learning_rate": 3.919689092516448e-05,
      "loss": 0.0318,
      "step": 11028
    },
    {
      "epoch": 2.474310074040835,
      "gripper_loss": 0.016357421875,
      "loss": 0.026123046875,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.10986328125,
      "step": 11028
    },
    {
      "epoch": 2.474534440206417,
      "grad_norm": 0.3380139470100403,
      "learning_rate": 3.916434142125694e-05,
      "loss": 0.0485,
      "step": 11029
    },
    {
      "epoch": 2.474534440206417,
      "gripper_loss": 0.0069580078125,
      "loss": 0.1201171875,
      "pos_loss": 1.1484375,
      "rot_loss": 0.1044921875,
      "step": 11029
    },
    {
      "epoch": 2.474758806371999,
      "grad_norm": 0.3769119381904602,
      "learning_rate": 3.913180428909063e-05,
      "loss": 0.0468,
      "step": 11030
    },
    {
      "epoch": 2.474758806371999,
      "gripper_loss": 0.40625,
      "loss": 0.0194091796875,
      "pos_loss": 0.044677734375,
      "rot_loss": 0.00830078125,
      "step": 11030
    },
    {
      "epoch": 2.4749831725375815,
      "grad_norm": 0.33148708939552307,
      "learning_rate": 3.9099279530574875e-05,
      "loss": 0.0406,
      "step": 11031
    },
    {
      "epoch": 2.4749831725375815,
      "gripper_loss": 0.01544189453125,
      "loss": 0.0478515625,
      "pos_loss": 0.291015625,
      "rot_loss": 0.1884765625,
      "step": 11031
    },
    {
      "epoch": 2.4752075387031636,
      "grad_norm": 0.24128779768943787,
      "learning_rate": 3.906676714761809e-05,
      "loss": 0.0446,
      "step": 11032
    },
    {
      "epoch": 2.4752075387031636,
      "gripper_loss": 0.18359375,
      "loss": 0.023193359375,
      "pos_loss": 0.0341796875,
      "rot_loss": 0.08349609375,
      "step": 11032
    },
    {
      "epoch": 2.4754319048687456,
      "grad_norm": 0.5333772897720337,
      "learning_rate": 3.9034267142128154e-05,
      "loss": 0.0708,
      "step": 11033
    },
    {
      "epoch": 2.4754319048687456,
      "gripper_loss": 0.1748046875,
      "loss": 0.06201171875,
      "pos_loss": 0.265625,
      "rot_loss": 0.3046875,
      "step": 11033
    },
    {
      "epoch": 2.475656271034328,
      "grad_norm": 0.43599462509155273,
      "learning_rate": 3.900177951601214e-05,
      "loss": 0.067,
      "step": 11034
    },
    {
      "epoch": 2.475656271034328,
      "gripper_loss": 0.0279541015625,
      "loss": 0.022705078125,
      "pos_loss": 0.16796875,
      "rot_loss": 0.0439453125,
      "step": 11034
    },
    {
      "epoch": 2.4758806371999103,
      "grad_norm": 0.24931228160858154,
      "learning_rate": 3.8969304271176484e-05,
      "loss": 0.0546,
      "step": 11035
    },
    {
      "epoch": 2.4758806371999103,
      "gripper_loss": 0.0179443359375,
      "loss": 0.04833984375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1591796875,
      "step": 11035
    },
    {
      "epoch": 2.4761050033654923,
      "grad_norm": 0.2716759741306305,
      "learning_rate": 3.893684140952666e-05,
      "loss": 0.04,
      "step": 11036
    },
    {
      "epoch": 2.4761050033654923,
      "gripper_loss": 0.11962890625,
      "loss": 0.006378173828125,
      "pos_loss": 0.00653076171875,
      "rot_loss": 0.006500244140625,
      "step": 11036
    },
    {
      "epoch": 2.476329369531075,
      "grad_norm": 0.22561584413051605,
      "learning_rate": 3.8904390932967685e-05,
      "loss": 0.0269,
      "step": 11037
    },
    {
      "epoch": 2.476329369531075,
      "gripper_loss": 0.328125,
      "loss": 0.080078125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.244140625,
      "step": 11037
    },
    {
      "epoch": 2.476553735696657,
      "grad_norm": 0.4830065071582794,
      "learning_rate": 3.887195284340372e-05,
      "loss": 0.0708,
      "step": 11038
    },
    {
      "epoch": 2.476553735696657,
      "gripper_loss": 0.0067138671875,
      "loss": 0.09033203125,
      "pos_loss": 0.62109375,
      "rot_loss": 0.31640625,
      "step": 11038
    },
    {
      "epoch": 2.476778101862239,
      "grad_norm": 0.208335280418396,
      "learning_rate": 3.883952714273828e-05,
      "loss": 0.0482,
      "step": 11039
    },
    {
      "epoch": 2.476778101862239,
      "gripper_loss": 0.0096435546875,
      "loss": 0.0230712890625,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.052490234375,
      "step": 11039
    },
    {
      "epoch": 2.4770024680278215,
      "grad_norm": 0.41895049810409546,
      "learning_rate": 3.8807113832874e-05,
      "loss": 0.0468,
      "step": 11040
    },
    {
      "epoch": 2.4770024680278215,
      "gripper_loss": 0.28515625,
      "loss": 0.04296875,
      "pos_loss": 0.31640625,
      "rot_loss": 0.025146484375,
      "step": 11040
    },
    {
      "epoch": 2.4772268341934036,
      "grad_norm": 0.4392884373664856,
      "learning_rate": 3.877471291571286e-05,
      "loss": 0.0569,
      "step": 11041
    },
    {
      "epoch": 2.4772268341934036,
      "gripper_loss": 0.008056640625,
      "loss": 0.0869140625,
      "pos_loss": 0.7734375,
      "rot_loss": 0.111328125,
      "step": 11041
    },
    {
      "epoch": 2.4774512003589857,
      "grad_norm": 0.3410961925983429,
      "learning_rate": 3.874232439315617e-05,
      "loss": 0.0546,
      "step": 11042
    },
    {
      "epoch": 2.4774512003589857,
      "gripper_loss": 0.1513671875,
      "loss": 0.01434326171875,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.04052734375,
      "step": 11042
    },
    {
      "epoch": 2.477675566524568,
      "grad_norm": 0.2795734405517578,
      "learning_rate": 3.87099482671045e-05,
      "loss": 0.0423,
      "step": 11043
    },
    {
      "epoch": 2.477675566524568,
      "gripper_loss": 0.03271484375,
      "loss": 0.0184326171875,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.08203125,
      "step": 11043
    },
    {
      "epoch": 2.4778999326901503,
      "grad_norm": 0.28072047233581543,
      "learning_rate": 3.8677584539457686e-05,
      "loss": 0.0333,
      "step": 11044
    },
    {
      "epoch": 2.4778999326901503,
      "gripper_loss": 0.0098876953125,
      "loss": 0.06005859375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.26171875,
      "step": 11044
    },
    {
      "epoch": 2.4781242988557324,
      "grad_norm": 0.3456718325614929,
      "learning_rate": 3.864523321211471e-05,
      "loss": 0.0735,
      "step": 11045
    },
    {
      "epoch": 2.4781242988557324,
      "gripper_loss": 0.01104736328125,
      "loss": 0.07568359375,
      "pos_loss": 0.7265625,
      "rot_loss": 0.05224609375,
      "step": 11045
    },
    {
      "epoch": 2.478348665021315,
      "grad_norm": 0.2553638815879822,
      "learning_rate": 3.861289428697401e-05,
      "loss": 0.0384,
      "step": 11046
    },
    {
      "epoch": 2.478348665021315,
      "gripper_loss": 0.007781982421875,
      "loss": 0.032958984375,
      "pos_loss": 0.19921875,
      "rot_loss": 0.1298828125,
      "step": 11046
    },
    {
      "epoch": 2.478573031186897,
      "grad_norm": 0.4213959872722626,
      "learning_rate": 3.8580567765933186e-05,
      "loss": 0.0426,
      "step": 11047
    },
    {
      "epoch": 2.478573031186897,
      "gripper_loss": 0.00732421875,
      "loss": 0.036376953125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.2275390625,
      "step": 11047
    },
    {
      "epoch": 2.478797397352479,
      "grad_norm": 0.5298141837120056,
      "learning_rate": 3.8548253650889264e-05,
      "loss": 0.0461,
      "step": 11048
    },
    {
      "epoch": 2.478797397352479,
      "gripper_loss": 0.006622314453125,
      "loss": 0.0242919921875,
      "pos_loss": 0.061767578125,
      "rot_loss": 0.17578125,
      "step": 11048
    },
    {
      "epoch": 2.4790217635180616,
      "grad_norm": 0.2868086099624634,
      "learning_rate": 3.8515951943738246e-05,
      "loss": 0.0476,
      "step": 11049
    },
    {
      "epoch": 2.4790217635180616,
      "gripper_loss": 0.0057373046875,
      "loss": 0.06591796875,
      "pos_loss": 0.419921875,
      "rot_loss": 0.25390625,
      "step": 11049
    },
    {
      "epoch": 2.4792461296836437,
      "grad_norm": 0.7004210948944092,
      "learning_rate": 3.848366264637565e-05,
      "loss": 0.0628,
      "step": 11050
    },
    {
      "epoch": 2.4792461296836437,
      "gripper_loss": 0.0146484375,
      "loss": 0.00732421875,
      "pos_loss": 0.03369140625,
      "rot_loss": 0.0167236328125,
      "step": 11050
    },
    {
      "epoch": 2.4794704958492257,
      "grad_norm": 0.2665717899799347,
      "learning_rate": 3.845138576069629e-05,
      "loss": 0.0408,
      "step": 11051
    },
    {
      "epoch": 2.4794704958492257,
      "gripper_loss": 0.265625,
      "loss": 0.022216796875,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.04638671875,
      "step": 11051
    },
    {
      "epoch": 2.4796948620148083,
      "grad_norm": 0.21848426759243011,
      "learning_rate": 3.841912128859398e-05,
      "loss": 0.0353,
      "step": 11052
    },
    {
      "epoch": 2.4796948620148083,
      "gripper_loss": 0.1015625,
      "loss": 0.0147705078125,
      "pos_loss": 0.068359375,
      "rot_loss": 0.03271484375,
      "step": 11052
    },
    {
      "epoch": 2.4799192281803903,
      "grad_norm": 0.33485081791877747,
      "learning_rate": 3.838686923196216e-05,
      "loss": 0.0283,
      "step": 11053
    },
    {
      "epoch": 2.4799192281803903,
      "gripper_loss": 0.01165771484375,
      "loss": 0.1298828125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.625,
      "step": 11053
    },
    {
      "epoch": 2.4801435943459724,
      "grad_norm": 0.6796779036521912,
      "learning_rate": 3.835462959269323e-05,
      "loss": 0.048,
      "step": 11054
    },
    {
      "epoch": 2.4801435943459724,
      "gripper_loss": 0.006103515625,
      "loss": 0.062255859375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.1337890625,
      "step": 11054
    },
    {
      "epoch": 2.480367960511555,
      "grad_norm": 0.46586382389068604,
      "learning_rate": 3.8322402372679064e-05,
      "loss": 0.086,
      "step": 11055
    },
    {
      "epoch": 2.480367960511555,
      "gripper_loss": 0.02783203125,
      "loss": 0.0576171875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.3046875,
      "step": 11055
    },
    {
      "epoch": 2.480592326677137,
      "grad_norm": 0.5108736157417297,
      "learning_rate": 3.8290187573810726e-05,
      "loss": 0.0696,
      "step": 11056
    },
    {
      "epoch": 2.480592326677137,
      "gripper_loss": 0.01513671875,
      "loss": 0.03662109375,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.275390625,
      "step": 11056
    },
    {
      "epoch": 2.480816692842719,
      "grad_norm": 0.3814249336719513,
      "learning_rate": 3.82579851979786e-05,
      "loss": 0.0512,
      "step": 11057
    },
    {
      "epoch": 2.480816692842719,
      "gripper_loss": 0.00811767578125,
      "loss": 0.19140625,
      "pos_loss": 1.9375,
      "rot_loss": 0.072265625,
      "step": 11057
    },
    {
      "epoch": 2.4810410590083016,
      "grad_norm": 0.49780935049057007,
      "learning_rate": 3.822579524707226e-05,
      "loss": 0.0613,
      "step": 11058
    },
    {
      "epoch": 2.4810410590083016,
      "gripper_loss": 0.00457763671875,
      "loss": 0.05810546875,
      "pos_loss": 0.5625,
      "rot_loss": 0.03125,
      "step": 11058
    },
    {
      "epoch": 2.4812654251738837,
      "grad_norm": 0.3071763813495636,
      "learning_rate": 3.819361772298058e-05,
      "loss": 0.0447,
      "step": 11059
    },
    {
      "epoch": 2.4812654251738837,
      "gripper_loss": 0.01031494140625,
      "loss": 0.041015625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.09033203125,
      "step": 11059
    },
    {
      "epoch": 2.481489791339466,
      "grad_norm": 0.20138636231422424,
      "learning_rate": 3.8161452627591795e-05,
      "loss": 0.032,
      "step": 11060
    },
    {
      "epoch": 2.481489791339466,
      "gripper_loss": 0.0130615234375,
      "loss": 0.010009765625,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.0081787109375,
      "step": 11060
    },
    {
      "epoch": 2.4817141575050483,
      "grad_norm": 0.30402871966362,
      "learning_rate": 3.812929996279333e-05,
      "loss": 0.0271,
      "step": 11061
    },
    {
      "epoch": 2.4817141575050483,
      "gripper_loss": 0.00640869140625,
      "loss": 0.023681640625,
      "pos_loss": 0.12890625,
      "rot_loss": 0.0849609375,
      "step": 11061
    },
    {
      "epoch": 2.4819385236706304,
      "grad_norm": 0.6029518246650696,
      "learning_rate": 3.8097159730471815e-05,
      "loss": 0.0373,
      "step": 11062
    },
    {
      "epoch": 2.4819385236706304,
      "gripper_loss": 0.041015625,
      "loss": 0.030517578125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.037841796875,
      "step": 11062
    },
    {
      "epoch": 2.4821628898362125,
      "grad_norm": 0.5350454449653625,
      "learning_rate": 3.806503193251332e-05,
      "loss": 0.041,
      "step": 11063
    },
    {
      "epoch": 2.4821628898362125,
      "gripper_loss": 0.01043701171875,
      "loss": 0.0703125,
      "pos_loss": 0.6953125,
      "rot_loss": 0.025146484375,
      "step": 11063
    },
    {
      "epoch": 2.482387256001795,
      "grad_norm": 0.2513790428638458,
      "learning_rate": 3.803291657080299e-05,
      "loss": 0.0425,
      "step": 11064
    },
    {
      "epoch": 2.482387256001795,
      "gripper_loss": 0.212890625,
      "loss": 0.259765625,
      "pos_loss": 1.125,
      "rot_loss": 0.349609375,
      "step": 11064
    },
    {
      "epoch": 2.482611622167377,
      "grad_norm": 1.22178053855896,
      "learning_rate": 3.800081364722544e-05,
      "loss": 0.2245,
      "step": 11065
    },
    {
      "epoch": 2.482611622167377,
      "gripper_loss": 0.7109375,
      "loss": 0.07958984375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.1728515625,
      "step": 11065
    },
    {
      "epoch": 2.482835988332959,
      "grad_norm": 0.3662152886390686,
      "learning_rate": 3.796872316366434e-05,
      "loss": 0.0459,
      "step": 11066
    },
    {
      "epoch": 2.482835988332959,
      "gripper_loss": 0.173828125,
      "loss": 0.0269775390625,
      "pos_loss": 0.044921875,
      "rot_loss": 0.154296875,
      "step": 11066
    },
    {
      "epoch": 2.4830603544985417,
      "grad_norm": 0.31968793272972107,
      "learning_rate": 3.793664512200282e-05,
      "loss": 0.0481,
      "step": 11067
    },
    {
      "epoch": 2.4830603544985417,
      "gripper_loss": 0.017333984375,
      "loss": 0.0205078125,
      "pos_loss": 0.166015625,
      "rot_loss": 0.025146484375,
      "step": 11067
    },
    {
      "epoch": 2.4832847206641238,
      "grad_norm": 0.2186768651008606,
      "learning_rate": 3.790457952412321e-05,
      "loss": 0.0424,
      "step": 11068
    },
    {
      "epoch": 2.4832847206641238,
      "gripper_loss": 0.00701904296875,
      "loss": 0.0791015625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.53515625,
      "step": 11068
    },
    {
      "epoch": 2.483509086829706,
      "grad_norm": 0.702645480632782,
      "learning_rate": 3.787252637190711e-05,
      "loss": 0.0439,
      "step": 11069
    },
    {
      "epoch": 2.483509086829706,
      "gripper_loss": 0.34765625,
      "loss": 0.026123046875,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.0908203125,
      "step": 11069
    },
    {
      "epoch": 2.4837334529952884,
      "grad_norm": 0.22836925089359283,
      "learning_rate": 3.784048566723533e-05,
      "loss": 0.0348,
      "step": 11070
    },
    {
      "epoch": 2.4837334529952884,
      "gripper_loss": 0.006866455078125,
      "loss": 0.0791015625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.302734375,
      "step": 11070
    },
    {
      "epoch": 2.4839578191608704,
      "grad_norm": 0.41334155201911926,
      "learning_rate": 3.780845741198805e-05,
      "loss": 0.0349,
      "step": 11071
    },
    {
      "epoch": 2.4839578191608704,
      "gripper_loss": 0.0118408203125,
      "loss": 0.00860595703125,
      "pos_loss": 0.022705078125,
      "rot_loss": 0.0380859375,
      "step": 11071
    },
    {
      "epoch": 2.484182185326453,
      "grad_norm": 0.29965081810951233,
      "learning_rate": 3.777644160804464e-05,
      "loss": 0.0334,
      "step": 11072
    },
    {
      "epoch": 2.484182185326453,
      "gripper_loss": 0.018310546875,
      "loss": 0.07373046875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.0546875,
      "step": 11072
    },
    {
      "epoch": 2.484406551492035,
      "grad_norm": 0.2844045162200928,
      "learning_rate": 3.774443825728377e-05,
      "loss": 0.0477,
      "step": 11073
    },
    {
      "epoch": 2.484406551492035,
      "gripper_loss": 0.69921875,
      "loss": 0.0267333984375,
      "pos_loss": 0.0205078125,
      "rot_loss": 0.0108642578125,
      "step": 11073
    },
    {
      "epoch": 2.484630917657617,
      "grad_norm": 0.49167728424072266,
      "learning_rate": 3.7712447361583495e-05,
      "loss": 0.0616,
      "step": 11074
    },
    {
      "epoch": 2.484630917657617,
      "gripper_loss": 0.00555419921875,
      "loss": 0.06591796875,
      "pos_loss": 0.6640625,
      "rot_loss": 0.01806640625,
      "step": 11074
    },
    {
      "epoch": 2.4848552838231996,
      "grad_norm": 0.3990445137023926,
      "learning_rate": 3.7680468922820955e-05,
      "loss": 0.0491,
      "step": 11075
    },
    {
      "epoch": 2.4848552838231996,
      "gripper_loss": 0.306640625,
      "loss": 0.01708984375,
      "pos_loss": 0.038818359375,
      "rot_loss": 0.017333984375,
      "step": 11075
    },
    {
      "epoch": 2.4850796499887817,
      "grad_norm": 0.36477845907211304,
      "learning_rate": 3.764850294287253e-05,
      "loss": 0.0261,
      "step": 11076
    },
    {
      "epoch": 2.4850796499887817,
      "gripper_loss": 0.056884765625,
      "loss": 0.0322265625,
      "pos_loss": 0.271484375,
      "rot_loss": 0.029541015625,
      "step": 11076
    },
    {
      "epoch": 2.485304016154364,
      "grad_norm": 0.2878689169883728,
      "learning_rate": 3.7616549423614034e-05,
      "loss": 0.0343,
      "step": 11077
    },
    {
      "epoch": 2.485304016154364,
      "gripper_loss": 0.1015625,
      "loss": 0.0079345703125,
      "pos_loss": 0.0142822265625,
      "rot_loss": 0.01611328125,
      "step": 11077
    },
    {
      "epoch": 2.4855283823199463,
      "grad_norm": 0.4946180284023285,
      "learning_rate": 3.75846083669206e-05,
      "loss": 0.0393,
      "step": 11078
    },
    {
      "epoch": 2.4855283823199463,
      "gripper_loss": 0.169921875,
      "loss": 0.0128173828125,
      "pos_loss": 0.009033203125,
      "rot_loss": 0.04248046875,
      "step": 11078
    },
    {
      "epoch": 2.4857527484855284,
      "grad_norm": 0.19246484339237213,
      "learning_rate": 3.7552679774666335e-05,
      "loss": 0.027,
      "step": 11079
    },
    {
      "epoch": 2.4857527484855284,
      "gripper_loss": 0.58203125,
      "loss": 0.09375,
      "pos_loss": 0.578125,
      "rot_loss": 0.07861328125,
      "step": 11079
    },
    {
      "epoch": 2.4859771146511105,
      "grad_norm": 0.5283690690994263,
      "learning_rate": 3.752076364872489e-05,
      "loss": 0.0572,
      "step": 11080
    },
    {
      "epoch": 2.4859771146511105,
      "gripper_loss": 0.01171875,
      "loss": 0.060302734375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.050537109375,
      "step": 11080
    },
    {
      "epoch": 2.486201480816693,
      "grad_norm": 0.2759288251399994,
      "learning_rate": 3.7488859990969074e-05,
      "loss": 0.0491,
      "step": 11081
    },
    {
      "epoch": 2.486201480816693,
      "gripper_loss": 0.0184326171875,
      "loss": 0.051513671875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.2578125,
      "step": 11081
    },
    {
      "epoch": 2.486425846982275,
      "grad_norm": 0.2651323080062866,
      "learning_rate": 3.745696880327104e-05,
      "loss": 0.0545,
      "step": 11082
    },
    {
      "epoch": 2.486425846982275,
      "gripper_loss": 0.18359375,
      "loss": 0.01171875,
      "pos_loss": 0.01373291015625,
      "rot_loss": 0.0257568359375,
      "step": 11082
    },
    {
      "epoch": 2.486650213147857,
      "grad_norm": 0.2743503451347351,
      "learning_rate": 3.742509008750203e-05,
      "loss": 0.0203,
      "step": 11083
    },
    {
      "epoch": 2.486650213147857,
      "gripper_loss": 0.01220703125,
      "loss": 0.06591796875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.154296875,
      "step": 11083
    },
    {
      "epoch": 2.4868745793134397,
      "grad_norm": 0.3499266803264618,
      "learning_rate": 3.739322384553273e-05,
      "loss": 0.0541,
      "step": 11084
    },
    {
      "epoch": 2.4868745793134397,
      "gripper_loss": 0.01513671875,
      "loss": 0.02685546875,
      "pos_loss": 0.197265625,
      "rot_loss": 0.060791015625,
      "step": 11084
    },
    {
      "epoch": 2.4870989454790218,
      "grad_norm": 0.41819214820861816,
      "learning_rate": 3.7361370079233016e-05,
      "loss": 0.0514,
      "step": 11085
    },
    {
      "epoch": 2.4870989454790218,
      "gripper_loss": 0.005584716796875,
      "loss": 0.0634765625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.1083984375,
      "step": 11085
    },
    {
      "epoch": 2.487323311644604,
      "grad_norm": 0.3103877007961273,
      "learning_rate": 3.732952879047216e-05,
      "loss": 0.048,
      "step": 11086
    },
    {
      "epoch": 2.487323311644604,
      "gripper_loss": 0.091796875,
      "loss": 0.0244140625,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.0986328125,
      "step": 11086
    },
    {
      "epoch": 2.4875476778101864,
      "grad_norm": 0.2478160858154297,
      "learning_rate": 3.729769998111851e-05,
      "loss": 0.0281,
      "step": 11087
    },
    {
      "epoch": 2.4875476778101864,
      "gripper_loss": 0.00830078125,
      "loss": 0.06103515625,
      "pos_loss": 0.53125,
      "rot_loss": 0.0869140625,
      "step": 11087
    },
    {
      "epoch": 2.4877720439757685,
      "grad_norm": 0.4535413086414337,
      "learning_rate": 3.726588365303971e-05,
      "loss": 0.0819,
      "step": 11088
    },
    {
      "epoch": 2.4877720439757685,
      "gripper_loss": 0.0380859375,
      "loss": 0.033935546875,
      "pos_loss": 0.30078125,
      "rot_loss": 0.0216064453125,
      "step": 11088
    },
    {
      "epoch": 2.4879964101413505,
      "grad_norm": 0.2752157151699066,
      "learning_rate": 3.7234079808102783e-05,
      "loss": 0.0385,
      "step": 11089
    },
    {
      "epoch": 2.4879964101413505,
      "gripper_loss": 0.66796875,
      "loss": 0.0498046875,
      "pos_loss": 0.279296875,
      "rot_loss": 0.007415771484375,
      "step": 11089
    },
    {
      "epoch": 2.488220776306933,
      "grad_norm": 0.3626849353313446,
      "learning_rate": 3.720228844817397e-05,
      "loss": 0.0419,
      "step": 11090
    },
    {
      "epoch": 2.488220776306933,
      "gripper_loss": 0.07373046875,
      "loss": 0.02294921875,
      "pos_loss": 0.10546875,
      "rot_loss": 0.0859375,
      "step": 11090
    },
    {
      "epoch": 2.488445142472515,
      "grad_norm": 0.2646147608757019,
      "learning_rate": 3.717050957511881e-05,
      "loss": 0.0287,
      "step": 11091
    },
    {
      "epoch": 2.488445142472515,
      "gripper_loss": 0.005157470703125,
      "loss": 0.0242919921875,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.0830078125,
      "step": 11091
    },
    {
      "epoch": 2.488669508638097,
      "grad_norm": 0.2444968819618225,
      "learning_rate": 3.7138743190801986e-05,
      "loss": 0.021,
      "step": 11092
    },
    {
      "epoch": 2.488669508638097,
      "gripper_loss": 0.0035400390625,
      "loss": 0.1650390625,
      "pos_loss": 1.640625,
      "rot_loss": 0.0986328125,
      "step": 11092
    },
    {
      "epoch": 2.4888938748036797,
      "grad_norm": 0.26606589555740356,
      "learning_rate": 3.710698929708758e-05,
      "loss": 0.0631,
      "step": 11093
    },
    {
      "epoch": 2.4888938748036797,
      "gripper_loss": 0.01324462890625,
      "loss": 0.0419921875,
      "pos_loss": 0.30859375,
      "rot_loss": 0.11572265625,
      "step": 11093
    },
    {
      "epoch": 2.489118240969262,
      "grad_norm": 0.8026999235153198,
      "learning_rate": 3.707524789583891e-05,
      "loss": 0.0535,
      "step": 11094
    },
    {
      "epoch": 2.489118240969262,
      "gripper_loss": 0.1728515625,
      "loss": 0.043701171875,
      "pos_loss": 0.375,
      "rot_loss": 0.0103759765625,
      "step": 11094
    },
    {
      "epoch": 2.489342607134844,
      "grad_norm": 0.3820224404335022,
      "learning_rate": 3.7043518988918584e-05,
      "loss": 0.0402,
      "step": 11095
    },
    {
      "epoch": 2.489342607134844,
      "gripper_loss": 0.75390625,
      "loss": 0.08251953125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.1416015625,
      "step": 11095
    },
    {
      "epoch": 2.4895669733004264,
      "grad_norm": 0.3673003315925598,
      "learning_rate": 3.701180257818831e-05,
      "loss": 0.0368,
      "step": 11096
    },
    {
      "epoch": 2.4895669733004264,
      "gripper_loss": 0.34765625,
      "loss": 0.337890625,
      "pos_loss": 0.80859375,
      "rot_loss": 0.6796875,
      "step": 11096
    },
    {
      "epoch": 2.4897913394660085,
      "grad_norm": 1.4116328954696655,
      "learning_rate": 3.6980098665509304e-05,
      "loss": 0.2816,
      "step": 11097
    },
    {
      "epoch": 2.4897913394660085,
      "gripper_loss": 0.00274658203125,
      "loss": 0.041015625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.0908203125,
      "step": 11097
    },
    {
      "epoch": 2.4900157056315906,
      "grad_norm": 0.34299346804618835,
      "learning_rate": 3.694840725274195e-05,
      "loss": 0.0562,
      "step": 11098
    },
    {
      "epoch": 2.4900157056315906,
      "gripper_loss": 2.03125,
      "loss": 0.125,
      "pos_loss": 0.333984375,
      "rot_loss": 0.2890625,
      "step": 11098
    },
    {
      "epoch": 2.490240071797173,
      "grad_norm": 0.24307285249233246,
      "learning_rate": 3.691672834174578e-05,
      "loss": 0.0518,
      "step": 11099
    },
    {
      "epoch": 2.490240071797173,
      "gripper_loss": 0.72265625,
      "loss": 0.0289306640625,
      "pos_loss": 0.01416015625,
      "rot_loss": 0.0264892578125,
      "step": 11099
    },
    {
      "epoch": 2.490464437962755,
      "grad_norm": 0.41995808482170105,
      "learning_rate": 3.688506193437982e-05,
      "loss": 0.0493,
      "step": 11100
    },
    {
      "epoch": 2.490464437962755,
      "gripper_loss": 0.0174560546875,
      "loss": 0.068359375,
      "pos_loss": 0.4921875,
      "rot_loss": 0.197265625,
      "step": 11100
    },
    {
      "epoch": 2.4906888041283373,
      "grad_norm": 0.2800700068473816,
      "learning_rate": 3.6853408032502115e-05,
      "loss": 0.0487,
      "step": 11101
    },
    {
      "epoch": 2.4906888041283373,
      "gripper_loss": 0.171875,
      "loss": 0.0283203125,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.0947265625,
      "step": 11101
    },
    {
      "epoch": 2.49091317029392,
      "grad_norm": 0.42160701751708984,
      "learning_rate": 3.682176663797018e-05,
      "loss": 0.0603,
      "step": 11102
    },
    {
      "epoch": 2.49091317029392,
      "gripper_loss": 0.0179443359375,
      "loss": 0.053955078125,
      "pos_loss": 0.353515625,
      "rot_loss": 0.177734375,
      "step": 11102
    },
    {
      "epoch": 2.491137536459502,
      "grad_norm": 0.4831172227859497,
      "learning_rate": 3.67901377526407e-05,
      "loss": 0.0533,
      "step": 11103
    },
    {
      "epoch": 2.491137536459502,
      "gripper_loss": 0.00567626953125,
      "loss": 0.044189453125,
      "pos_loss": 0.375,
      "rot_loss": 0.07080078125,
      "step": 11103
    },
    {
      "epoch": 2.491361902625084,
      "grad_norm": 0.31997445225715637,
      "learning_rate": 3.6758521378369714e-05,
      "loss": 0.0316,
      "step": 11104
    },
    {
      "epoch": 2.491361902625084,
      "gripper_loss": 0.400390625,
      "loss": 0.0244140625,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.0079345703125,
      "step": 11104
    },
    {
      "epoch": 2.4915862687906665,
      "grad_norm": 0.21892638504505157,
      "learning_rate": 3.6726917517012345e-05,
      "loss": 0.0233,
      "step": 11105
    },
    {
      "epoch": 2.4915862687906665,
      "gripper_loss": 0.0235595703125,
      "loss": 0.044921875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.294921875,
      "step": 11105
    },
    {
      "epoch": 2.4918106349562485,
      "grad_norm": 0.449910044670105,
      "learning_rate": 3.669532617042312e-05,
      "loss": 0.0652,
      "step": 11106
    },
    {
      "epoch": 2.4918106349562485,
      "gripper_loss": 0.87890625,
      "loss": 0.03271484375,
      "pos_loss": 0.014404296875,
      "rot_loss": 0.0184326171875,
      "step": 11106
    },
    {
      "epoch": 2.492035001121831,
      "grad_norm": 0.40045568346977234,
      "learning_rate": 3.666374734045583e-05,
      "loss": 0.0387,
      "step": 11107
    },
    {
      "epoch": 2.492035001121831,
      "gripper_loss": 0.482421875,
      "loss": 0.04638671875,
      "pos_loss": 0.25390625,
      "rot_loss": 0.06005859375,
      "step": 11107
    },
    {
      "epoch": 2.492259367287413,
      "grad_norm": 0.26067566871643066,
      "learning_rate": 3.663218102896354e-05,
      "loss": 0.0424,
      "step": 11108
    },
    {
      "epoch": 2.492259367287413,
      "gripper_loss": 0.043212890625,
      "loss": 0.032470703125,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.1650390625,
      "step": 11108
    },
    {
      "epoch": 2.4924837334529952,
      "grad_norm": 0.28813159465789795,
      "learning_rate": 3.660062723779847e-05,
      "loss": 0.0394,
      "step": 11109
    },
    {
      "epoch": 2.4924837334529952,
      "gripper_loss": 0.443359375,
      "loss": 0.0172119140625,
      "pos_loss": 0.00909423828125,
      "rot_loss": 0.008056640625,
      "step": 11109
    },
    {
      "epoch": 2.4927080996185778,
      "grad_norm": 0.6530002951622009,
      "learning_rate": 3.6569085968812284e-05,
      "loss": 0.0705,
      "step": 11110
    },
    {
      "epoch": 2.4927080996185778,
      "gripper_loss": 0.006683349609375,
      "loss": 0.04638671875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.10888671875,
      "step": 11110
    },
    {
      "epoch": 2.49293246578416,
      "grad_norm": 0.2602621912956238,
      "learning_rate": 3.6537557223855686e-05,
      "loss": 0.0368,
      "step": 11111
    },
    {
      "epoch": 2.49293246578416,
      "gripper_loss": 0.054443359375,
      "loss": 0.017822265625,
      "pos_loss": 0.060791015625,
      "rot_loss": 0.0888671875,
      "step": 11111
    },
    {
      "epoch": 2.493156831949742,
      "grad_norm": 0.42257198691368103,
      "learning_rate": 3.650604100477889e-05,
      "loss": 0.0449,
      "step": 11112
    },
    {
      "epoch": 2.493156831949742,
      "gripper_loss": 0.006866455078125,
      "loss": 0.0263671875,
      "pos_loss": 0.224609375,
      "rot_loss": 0.0245361328125,
      "step": 11112
    },
    {
      "epoch": 2.4933811981153244,
      "grad_norm": 0.19838298857212067,
      "learning_rate": 3.647453731343112e-05,
      "loss": 0.0461,
      "step": 11113
    },
    {
      "epoch": 2.4933811981153244,
      "gripper_loss": 0.115234375,
      "loss": 0.0311279296875,
      "pos_loss": 0.197265625,
      "rot_loss": 0.07275390625,
      "step": 11113
    },
    {
      "epoch": 2.4936055642809065,
      "grad_norm": 0.3298458755016327,
      "learning_rate": 3.6443046151661055e-05,
      "loss": 0.0544,
      "step": 11114
    },
    {
      "epoch": 2.4936055642809065,
      "gripper_loss": 0.275390625,
      "loss": 0.08740234375,
      "pos_loss": 0.32421875,
      "rot_loss": 0.392578125,
      "step": 11114
    },
    {
      "epoch": 2.4938299304464886,
      "grad_norm": 0.5564385652542114,
      "learning_rate": 3.641156752131664e-05,
      "loss": 0.0661,
      "step": 11115
    },
    {
      "epoch": 2.4938299304464886,
      "gripper_loss": 0.008056640625,
      "loss": 0.1884765625,
      "pos_loss": 0.99609375,
      "rot_loss": 0.98828125,
      "step": 11115
    },
    {
      "epoch": 2.494054296612071,
      "grad_norm": 0.33101290464401245,
      "learning_rate": 3.6380101424245e-05,
      "loss": 0.05,
      "step": 11116
    },
    {
      "epoch": 2.494054296612071,
      "gripper_loss": 0.64453125,
      "loss": 0.04248046875,
      "pos_loss": 0.103515625,
      "rot_loss": 0.10986328125,
      "step": 11116
    },
    {
      "epoch": 2.494278662777653,
      "grad_norm": 0.29409730434417725,
      "learning_rate": 3.63486478622925e-05,
      "loss": 0.0453,
      "step": 11117
    },
    {
      "epoch": 2.494278662777653,
      "gripper_loss": 0.3984375,
      "loss": 0.0167236328125,
      "pos_loss": 0.009033203125,
      "rot_loss": 0.01708984375,
      "step": 11117
    },
    {
      "epoch": 2.4945030289432353,
      "grad_norm": 0.23195460438728333,
      "learning_rate": 3.631720683730486e-05,
      "loss": 0.037,
      "step": 11118
    },
    {
      "epoch": 2.4945030289432353,
      "gripper_loss": 0.008056640625,
      "loss": 0.028564453125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.08251953125,
      "step": 11118
    },
    {
      "epoch": 2.494727395108818,
      "grad_norm": 0.3678652346134186,
      "learning_rate": 3.628577835112701e-05,
      "loss": 0.0431,
      "step": 11119
    },
    {
      "epoch": 2.494727395108818,
      "gripper_loss": 0.1904296875,
      "loss": 0.0216064453125,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.056640625,
      "step": 11119
    },
    {
      "epoch": 2.4949517612744,
      "grad_norm": 0.3868197202682495,
      "learning_rate": 3.6254362405603176e-05,
      "loss": 0.0454,
      "step": 11120
    },
    {
      "epoch": 2.4949517612744,
      "gripper_loss": 0.2373046875,
      "loss": 0.0196533203125,
      "pos_loss": 0.01324462890625,
      "rot_loss": 0.09521484375,
      "step": 11120
    },
    {
      "epoch": 2.495176127439982,
      "grad_norm": 0.3437522053718567,
      "learning_rate": 3.622295900257688e-05,
      "loss": 0.0386,
      "step": 11121
    },
    {
      "epoch": 2.495176127439982,
      "gripper_loss": 0.359375,
      "loss": 0.023681640625,
      "pos_loss": 0.10595703125,
      "rot_loss": 0.006866455078125,
      "step": 11121
    },
    {
      "epoch": 2.4954004936055645,
      "grad_norm": 0.3080288767814636,
      "learning_rate": 3.61915681438908e-05,
      "loss": 0.0613,
      "step": 11122
    },
    {
      "epoch": 2.4954004936055645,
      "gripper_loss": 0.0177001953125,
      "loss": 0.12890625,
      "pos_loss": 0.796875,
      "rot_loss": 0.5390625,
      "step": 11122
    },
    {
      "epoch": 2.4956248597711466,
      "grad_norm": 0.28336066007614136,
      "learning_rate": 3.616018983138688e-05,
      "loss": 0.0708,
      "step": 11123
    },
    {
      "epoch": 2.4956248597711466,
      "gripper_loss": 0.00640869140625,
      "loss": 0.01373291015625,
      "pos_loss": 0.083984375,
      "rot_loss": 0.037353515625,
      "step": 11123
    },
    {
      "epoch": 2.4958492259367286,
      "grad_norm": 0.5333473086357117,
      "learning_rate": 3.612882406690646e-05,
      "loss": 0.0438,
      "step": 11124
    },
    {
      "epoch": 2.4958492259367286,
      "gripper_loss": 0.84375,
      "loss": 0.08642578125,
      "pos_loss": 0.427734375,
      "rot_loss": 0.1767578125,
      "step": 11124
    },
    {
      "epoch": 2.496073592102311,
      "grad_norm": 0.26167502999305725,
      "learning_rate": 3.609747085229012e-05,
      "loss": 0.0503,
      "step": 11125
    },
    {
      "epoch": 2.496073592102311,
      "gripper_loss": 0.00909423828125,
      "loss": 0.03466796875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.0498046875,
      "step": 11125
    },
    {
      "epoch": 2.4962979582678932,
      "grad_norm": 0.434883713722229,
      "learning_rate": 3.6066130189377545e-05,
      "loss": 0.0554,
      "step": 11126
    },
    {
      "epoch": 2.4962979582678932,
      "gripper_loss": 0.65625,
      "loss": 0.03369140625,
      "pos_loss": 0.0201416015625,
      "rot_loss": 0.1015625,
      "step": 11126
    },
    {
      "epoch": 2.4965223244334753,
      "grad_norm": 0.3466668725013733,
      "learning_rate": 3.603480208000781e-05,
      "loss": 0.0371,
      "step": 11127
    },
    {
      "epoch": 2.4965223244334753,
      "gripper_loss": 0.0027923583984375,
      "loss": 0.0419921875,
      "pos_loss": 0.39453125,
      "rot_loss": 0.0255126953125,
      "step": 11127
    },
    {
      "epoch": 2.496746690599058,
      "grad_norm": 0.3987293243408203,
      "learning_rate": 3.600348652601926e-05,
      "loss": 0.0504,
      "step": 11128
    },
    {
      "epoch": 2.496746690599058,
      "gripper_loss": 0.0040283203125,
      "loss": 0.02587890625,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.0849609375,
      "step": 11128
    },
    {
      "epoch": 2.49697105676464,
      "grad_norm": 0.21128126978874207,
      "learning_rate": 3.597218352924955e-05,
      "loss": 0.038,
      "step": 11129
    },
    {
      "epoch": 2.49697105676464,
      "gripper_loss": 0.138671875,
      "loss": 0.0245361328125,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.109375,
      "step": 11129
    },
    {
      "epoch": 2.497195422930222,
      "grad_norm": 0.24640801548957825,
      "learning_rate": 3.5940893091535396e-05,
      "loss": 0.0471,
      "step": 11130
    },
    {
      "epoch": 2.497195422930222,
      "gripper_loss": 0.0230712890625,
      "loss": 0.06884765625,
      "pos_loss": 0.427734375,
      "rot_loss": 0.28125,
      "step": 11130
    },
    {
      "epoch": 2.4974197890958045,
      "grad_norm": 0.31173884868621826,
      "learning_rate": 3.5909615214712945e-05,
      "loss": 0.0503,
      "step": 11131
    },
    {
      "epoch": 2.4974197890958045,
      "gripper_loss": 0.1826171875,
      "loss": 0.049072265625,
      "pos_loss": 0.15234375,
      "rot_loss": 0.16015625,
      "step": 11131
    },
    {
      "epoch": 2.4976441552613866,
      "grad_norm": 0.7128564119338989,
      "learning_rate": 3.587834990061761e-05,
      "loss": 0.0885,
      "step": 11132
    },
    {
      "epoch": 2.4976441552613866,
      "gripper_loss": 0.00616455078125,
      "loss": 0.06787109375,
      "pos_loss": 0.6796875,
      "rot_loss": 0.0224609375,
      "step": 11132
    },
    {
      "epoch": 2.4978685214269687,
      "grad_norm": 0.44872334599494934,
      "learning_rate": 3.584709715108406e-05,
      "loss": 0.0472,
      "step": 11133
    },
    {
      "epoch": 2.4978685214269687,
      "gripper_loss": 0.054931640625,
      "loss": 0.025390625,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.130859375,
      "step": 11133
    },
    {
      "epoch": 2.498092887592551,
      "grad_norm": 0.3211277425289154,
      "learning_rate": 3.581585696794612e-05,
      "loss": 0.0488,
      "step": 11134
    },
    {
      "epoch": 2.498092887592551,
      "gripper_loss": 0.09716796875,
      "loss": 0.103515625,
      "pos_loss": 0.609375,
      "rot_loss": 0.33984375,
      "step": 11134
    },
    {
      "epoch": 2.4983172537581333,
      "grad_norm": 0.6261944770812988,
      "learning_rate": 3.578462935303692e-05,
      "loss": 0.0779,
      "step": 11135
    },
    {
      "epoch": 2.4983172537581333,
      "gripper_loss": 0.0103759765625,
      "loss": 0.04736328125,
      "pos_loss": 0.421875,
      "rot_loss": 0.0517578125,
      "step": 11135
    },
    {
      "epoch": 2.4985416199237154,
      "grad_norm": 0.3206931948661804,
      "learning_rate": 3.57534143081889e-05,
      "loss": 0.0422,
      "step": 11136
    },
    {
      "epoch": 2.4985416199237154,
      "gripper_loss": 0.3828125,
      "loss": 0.0296630859375,
      "pos_loss": 0.04833984375,
      "rot_loss": 0.12109375,
      "step": 11136
    },
    {
      "epoch": 2.498765986089298,
      "grad_norm": 0.20407211780548096,
      "learning_rate": 3.5722211835233804e-05,
      "loss": 0.0385,
      "step": 11137
    },
    {
      "epoch": 2.498765986089298,
      "gripper_loss": 0.01300048828125,
      "loss": 0.0634765625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.078125,
      "step": 11137
    },
    {
      "epoch": 2.49899035225488,
      "grad_norm": 0.34929344058036804,
      "learning_rate": 3.5691021936002596e-05,
      "loss": 0.0523,
      "step": 11138
    },
    {
      "epoch": 2.49899035225488,
      "gripper_loss": 0.08740234375,
      "loss": 0.216796875,
      "pos_loss": 1.6875,
      "rot_loss": 0.57421875,
      "step": 11138
    },
    {
      "epoch": 2.499214718420462,
      "grad_norm": 0.8447347283363342,
      "learning_rate": 3.5659844612325383e-05,
      "loss": 0.0501,
      "step": 11139
    },
    {
      "epoch": 2.499214718420462,
      "gripper_loss": 0.0059814453125,
      "loss": 0.068359375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.146484375,
      "step": 11139
    },
    {
      "epoch": 2.4994390845860446,
      "grad_norm": 0.23428557813167572,
      "learning_rate": 3.562867986603169e-05,
      "loss": 0.0289,
      "step": 11140
    },
    {
      "epoch": 2.4994390845860446,
      "gripper_loss": 0.11083984375,
      "loss": 0.025634765625,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.030029296875,
      "step": 11140
    },
    {
      "epoch": 2.4996634507516267,
      "grad_norm": 0.502151370048523,
      "learning_rate": 3.559752769895022e-05,
      "loss": 0.0365,
      "step": 11141
    },
    {
      "epoch": 2.4996634507516267,
      "gripper_loss": 0.009521484375,
      "loss": 0.051025390625,
      "pos_loss": 0.302734375,
      "rot_loss": 0.212890625,
      "step": 11141
    },
    {
      "epoch": 2.4998878169172087,
      "grad_norm": 0.3150132894515991,
      "learning_rate": 3.5566388112909105e-05,
      "loss": 0.0349,
      "step": 11142
    },
    {
      "epoch": 2.4998878169172087,
      "gripper_loss": 0.01190185546875,
      "loss": 0.05517578125,
      "pos_loss": 0.27734375,
      "rot_loss": 0.28125,
      "step": 11142
    },
    {
      "epoch": 2.5001121830827913,
      "grad_norm": 0.34297117590904236,
      "learning_rate": 3.55352611097354e-05,
      "loss": 0.0362,
      "step": 11143
    },
    {
      "epoch": 2.5001121830827913,
      "gripper_loss": 0.0118408203125,
      "loss": 0.042724609375,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.205078125,
      "step": 11143
    },
    {
      "epoch": 2.5003365492483733,
      "grad_norm": 0.5689029097557068,
      "learning_rate": 3.550414669125573e-05,
      "loss": 0.0691,
      "step": 11144
    },
    {
      "epoch": 2.5003365492483733,
      "gripper_loss": 0.421875,
      "loss": 0.03662109375,
      "pos_loss": 0.125,
      "rot_loss": 0.10302734375,
      "step": 11144
    },
    {
      "epoch": 2.5005609154139554,
      "grad_norm": 0.2686600387096405,
      "learning_rate": 3.547304485929592e-05,
      "loss": 0.0358,
      "step": 11145
    },
    {
      "epoch": 2.5005609154139554,
      "gripper_loss": 1.359375,
      "loss": 0.1591796875,
      "pos_loss": 1.0546875,
      "rot_loss": 0.171875,
      "step": 11145
    },
    {
      "epoch": 2.500785281579538,
      "grad_norm": 0.36309558153152466,
      "learning_rate": 3.5441955615680894e-05,
      "loss": 0.0826,
      "step": 11146
    },
    {
      "epoch": 2.500785281579538,
      "gripper_loss": 0.0169677734375,
      "loss": 0.0849609375,
      "pos_loss": 0.73046875,
      "rot_loss": 0.1376953125,
      "step": 11146
    },
    {
      "epoch": 2.50100964774512,
      "grad_norm": 0.35195231437683105,
      "learning_rate": 3.5410878962235076e-05,
      "loss": 0.0438,
      "step": 11147
    },
    {
      "epoch": 2.50100964774512,
      "gripper_loss": 0.0166015625,
      "loss": 0.07958984375,
      "pos_loss": 0.546875,
      "rot_loss": 0.26953125,
      "step": 11147
    },
    {
      "epoch": 2.501234013910702,
      "grad_norm": 0.2846619188785553,
      "learning_rate": 3.537981490078193e-05,
      "loss": 0.0511,
      "step": 11148
    },
    {
      "epoch": 2.501234013910702,
      "gripper_loss": 0.018798828125,
      "loss": 0.0361328125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.046630859375,
      "step": 11148
    },
    {
      "epoch": 2.5014583800762846,
      "grad_norm": 0.29089903831481934,
      "learning_rate": 3.5348763433144306e-05,
      "loss": 0.0491,
      "step": 11149
    },
    {
      "epoch": 2.5014583800762846,
      "gripper_loss": 0.01068115234375,
      "loss": 0.0174560546875,
      "pos_loss": 0.130859375,
      "rot_loss": 0.033203125,
      "step": 11149
    },
    {
      "epoch": 2.5016827462418667,
      "grad_norm": 0.20085939764976501,
      "learning_rate": 3.531772456114429e-05,
      "loss": 0.0301,
      "step": 11150
    },
    {
      "epoch": 2.5016827462418667,
      "gripper_loss": 0.00787353515625,
      "loss": 0.061279296875,
      "pos_loss": 0.5703125,
      "rot_loss": 0.056884765625,
      "step": 11150
    },
    {
      "epoch": 2.501907112407449,
      "grad_norm": 0.2617399990558624,
      "learning_rate": 3.528669828660333e-05,
      "loss": 0.0409,
      "step": 11151
    },
    {
      "epoch": 2.501907112407449,
      "gripper_loss": 0.06982421875,
      "loss": 0.051025390625,
      "pos_loss": 0.3125,
      "rot_loss": 0.1728515625,
      "step": 11151
    },
    {
      "epoch": 2.5021314785730313,
      "grad_norm": 0.2665269076824188,
      "learning_rate": 3.5255684611341874e-05,
      "loss": 0.0388,
      "step": 11152
    },
    {
      "epoch": 2.5021314785730313,
      "gripper_loss": 0.007720947265625,
      "loss": 0.038330078125,
      "pos_loss": 0.263671875,
      "rot_loss": 0.123046875,
      "step": 11152
    },
    {
      "epoch": 2.5023558447386134,
      "grad_norm": 0.3038421869277954,
      "learning_rate": 3.522468353717986e-05,
      "loss": 0.037,
      "step": 11153
    },
    {
      "epoch": 2.5023558447386134,
      "gripper_loss": 0.0185546875,
      "loss": 0.07080078125,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.48828125,
      "step": 11153
    },
    {
      "epoch": 2.5025802109041955,
      "grad_norm": 0.40964287519454956,
      "learning_rate": 3.519369506593645e-05,
      "loss": 0.0499,
      "step": 11154
    },
    {
      "epoch": 2.5025802109041955,
      "gripper_loss": 0.32421875,
      "loss": 0.1337890625,
      "pos_loss": 0.5859375,
      "rot_loss": 0.2490234375,
      "step": 11154
    },
    {
      "epoch": 2.502804577069778,
      "grad_norm": 1.2239094972610474,
      "learning_rate": 3.516271919943004e-05,
      "loss": 0.1283,
      "step": 11155
    },
    {
      "epoch": 2.502804577069778,
      "gripper_loss": 0.1376953125,
      "loss": 0.01019287109375,
      "pos_loss": 0.02783203125,
      "rot_loss": 0.01300048828125,
      "step": 11155
    },
    {
      "epoch": 2.50302894323536,
      "grad_norm": 0.27939411997795105,
      "learning_rate": 3.5131755939478176e-05,
      "loss": 0.0328,
      "step": 11156
    },
    {
      "epoch": 2.50302894323536,
      "gripper_loss": 0.0140380859375,
      "loss": 0.04443359375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.146484375,
      "step": 11156
    },
    {
      "epoch": 2.503253309400942,
      "grad_norm": 0.3871087431907654,
      "learning_rate": 3.5100805287897915e-05,
      "loss": 0.0415,
      "step": 11157
    },
    {
      "epoch": 2.503253309400942,
      "gripper_loss": 0.005706787109375,
      "loss": 0.0303955078125,
      "pos_loss": 0.197265625,
      "rot_loss": 0.1044921875,
      "step": 11157
    },
    {
      "epoch": 2.5034776755665247,
      "grad_norm": 0.26208439469337463,
      "learning_rate": 3.506986724650527e-05,
      "loss": 0.0318,
      "step": 11158
    },
    {
      "epoch": 2.5034776755665247,
      "gripper_loss": 0.0067138671875,
      "loss": 0.05322265625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.0654296875,
      "step": 11158
    },
    {
      "epoch": 2.5037020417321068,
      "grad_norm": 0.2458185851573944,
      "learning_rate": 3.503894181711581e-05,
      "loss": 0.0256,
      "step": 11159
    },
    {
      "epoch": 2.5037020417321068,
      "gripper_loss": 0.380859375,
      "loss": 0.0390625,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.1640625,
      "step": 11159
    },
    {
      "epoch": 2.503926407897689,
      "grad_norm": 0.36080822348594666,
      "learning_rate": 3.500802900154412e-05,
      "loss": 0.0414,
      "step": 11160
    },
    {
      "epoch": 2.503926407897689,
      "gripper_loss": 0.52734375,
      "loss": 0.05078125,
      "pos_loss": 0.06982421875,
      "rot_loss": 0.259765625,
      "step": 11160
    },
    {
      "epoch": 2.5041507740632714,
      "grad_norm": 0.31318774819374084,
      "learning_rate": 3.4977128801604196e-05,
      "loss": 0.0394,
      "step": 11161
    },
    {
      "epoch": 2.5041507740632714,
      "gripper_loss": 0.00970458984375,
      "loss": 0.0150146484375,
      "pos_loss": 0.03662109375,
      "rot_loss": 0.09228515625,
      "step": 11161
    },
    {
      "epoch": 2.5043751402288534,
      "grad_norm": 0.3693477213382721,
      "learning_rate": 3.494624121910925e-05,
      "loss": 0.0464,
      "step": 11162
    },
    {
      "epoch": 2.5043751402288534,
      "gripper_loss": 0.0732421875,
      "loss": 0.009033203125,
      "pos_loss": 0.01434326171875,
      "rot_loss": 0.0306396484375,
      "step": 11162
    },
    {
      "epoch": 2.5045995063944355,
      "grad_norm": 0.388621062040329,
      "learning_rate": 3.491536625587174e-05,
      "loss": 0.0546,
      "step": 11163
    },
    {
      "epoch": 2.5045995063944355,
      "gripper_loss": 0.25,
      "loss": 0.032958984375,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.05029296875,
      "step": 11163
    },
    {
      "epoch": 2.504823872560018,
      "grad_norm": 0.45353901386260986,
      "learning_rate": 3.4884503913703455e-05,
      "loss": 0.043,
      "step": 11164
    },
    {
      "epoch": 2.504823872560018,
      "gripper_loss": 0.08984375,
      "loss": 0.06689453125,
      "pos_loss": 0.462890625,
      "rot_loss": 0.1689453125,
      "step": 11164
    },
    {
      "epoch": 2.5050482387256,
      "grad_norm": 0.29419535398483276,
      "learning_rate": 3.48536541944153e-05,
      "loss": 0.0425,
      "step": 11165
    },
    {
      "epoch": 2.5050482387256,
      "gripper_loss": 0.0157470703125,
      "loss": 0.051513671875,
      "pos_loss": 0.439453125,
      "rot_loss": 0.078125,
      "step": 11165
    },
    {
      "epoch": 2.505272604891182,
      "grad_norm": 0.2241837978363037,
      "learning_rate": 3.482281709981752e-05,
      "loss": 0.0372,
      "step": 11166
    },
    {
      "epoch": 2.505272604891182,
      "gripper_loss": 0.26953125,
      "loss": 0.0235595703125,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.09375,
      "step": 11166
    },
    {
      "epoch": 2.5054969710567647,
      "grad_norm": 0.33191949129104614,
      "learning_rate": 3.47919926317197e-05,
      "loss": 0.0219,
      "step": 11167
    },
    {
      "epoch": 2.5054969710567647,
      "gripper_loss": 0.038818359375,
      "loss": 0.00799560546875,
      "pos_loss": 0.04248046875,
      "rot_loss": 0.005523681640625,
      "step": 11167
    },
    {
      "epoch": 2.505721337222347,
      "grad_norm": 0.34374967217445374,
      "learning_rate": 3.476118079193058e-05,
      "loss": 0.055,
      "step": 11168
    },
    {
      "epoch": 2.505721337222347,
      "gripper_loss": 0.81640625,
      "loss": 0.0537109375,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.1630859375,
      "step": 11168
    },
    {
      "epoch": 2.505945703387929,
      "grad_norm": 0.25557011365890503,
      "learning_rate": 3.473038158225819e-05,
      "loss": 0.0377,
      "step": 11169
    },
    {
      "epoch": 2.505945703387929,
      "gripper_loss": 0.036865234375,
      "loss": 0.0076904296875,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.009033203125,
      "step": 11169
    },
    {
      "epoch": 2.5061700695535114,
      "grad_norm": 0.28725919127464294,
      "learning_rate": 3.469959500450973e-05,
      "loss": 0.0363,
      "step": 11170
    },
    {
      "epoch": 2.5061700695535114,
      "gripper_loss": 0.06640625,
      "loss": 0.01611328125,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.0235595703125,
      "step": 11170
    },
    {
      "epoch": 2.5063944357190935,
      "grad_norm": 0.22269563376903534,
      "learning_rate": 3.4668821060491766e-05,
      "loss": 0.0274,
      "step": 11171
    },
    {
      "epoch": 2.5063944357190935,
      "gripper_loss": 0.431640625,
      "loss": 0.037109375,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.0264892578125,
      "step": 11171
    },
    {
      "epoch": 2.5066188018846756,
      "grad_norm": 0.33141303062438965,
      "learning_rate": 3.4638059752010234e-05,
      "loss": 0.041,
      "step": 11172
    },
    {
      "epoch": 2.5066188018846756,
      "gripper_loss": 0.015869140625,
      "loss": 0.09130859375,
      "pos_loss": 0.6796875,
      "rot_loss": 0.271484375,
      "step": 11172
    },
    {
      "epoch": 2.506843168050258,
      "grad_norm": 0.3050098121166229,
      "learning_rate": 3.460731108087004e-05,
      "loss": 0.0462,
      "step": 11173
    },
    {
      "epoch": 2.506843168050258,
      "gripper_loss": 0.00958251953125,
      "loss": 0.01324462890625,
      "pos_loss": 0.06103515625,
      "rot_loss": 0.0537109375,
      "step": 11173
    },
    {
      "epoch": 2.50706753421584,
      "grad_norm": 0.284906804561615,
      "learning_rate": 3.4576575048875544e-05,
      "loss": 0.0332,
      "step": 11174
    },
    {
      "epoch": 2.50706753421584,
      "gripper_loss": 0.32421875,
      "loss": 0.01361083984375,
      "pos_loss": 0.00433349609375,
      "rot_loss": 0.01068115234375,
      "step": 11174
    },
    {
      "epoch": 2.5072919003814222,
      "grad_norm": 0.31166213750839233,
      "learning_rate": 3.4545851657830334e-05,
      "loss": 0.0305,
      "step": 11175
    },
    {
      "epoch": 2.5072919003814222,
      "gripper_loss": 0.0625,
      "loss": 0.0220947265625,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.026123046875,
      "step": 11175
    },
    {
      "epoch": 2.5075162665470048,
      "grad_norm": 0.22914303839206696,
      "learning_rate": 3.4515140909537305e-05,
      "loss": 0.0456,
      "step": 11176
    },
    {
      "epoch": 2.5075162665470048,
      "gripper_loss": 0.76171875,
      "loss": 0.06396484375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.2734375,
      "step": 11176
    },
    {
      "epoch": 2.507740632712587,
      "grad_norm": 0.4883042573928833,
      "learning_rate": 3.448444280579846e-05,
      "loss": 0.0667,
      "step": 11177
    },
    {
      "epoch": 2.507740632712587,
      "gripper_loss": 0.0235595703125,
      "loss": 0.031494140625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.03369140625,
      "step": 11177
    },
    {
      "epoch": 2.507964998878169,
      "grad_norm": 0.5236156582832336,
      "learning_rate": 3.445375734841516e-05,
      "loss": 0.0625,
      "step": 11178
    },
    {
      "epoch": 2.507964998878169,
      "gripper_loss": 0.0849609375,
      "loss": 0.007781982421875,
      "pos_loss": 0.02197265625,
      "rot_loss": 0.0072021484375,
      "step": 11178
    },
    {
      "epoch": 2.5081893650437515,
      "grad_norm": 0.20552825927734375,
      "learning_rate": 3.442308453918802e-05,
      "loss": 0.0292,
      "step": 11179
    },
    {
      "epoch": 2.5081893650437515,
      "gripper_loss": 0.1416015625,
      "loss": 0.00799560546875,
      "pos_loss": 0.005615234375,
      "rot_loss": 0.00994873046875,
      "step": 11179
    },
    {
      "epoch": 2.5084137312093335,
      "grad_norm": 0.3401736617088318,
      "learning_rate": 3.439242437991702e-05,
      "loss": 0.0322,
      "step": 11180
    },
    {
      "epoch": 2.5084137312093335,
      "gripper_loss": 0.0059814453125,
      "loss": 0.0201416015625,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.031005859375,
      "step": 11180
    },
    {
      "epoch": 2.5086380973749156,
      "grad_norm": 0.3158693015575409,
      "learning_rate": 3.4361776872401165e-05,
      "loss": 0.0417,
      "step": 11181
    },
    {
      "epoch": 2.5086380973749156,
      "gripper_loss": 0.00408935546875,
      "loss": 0.04052734375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.0301513671875,
      "step": 11181
    },
    {
      "epoch": 2.508862463540498,
      "grad_norm": 0.3538742661476135,
      "learning_rate": 3.4331142018438785e-05,
      "loss": 0.0375,
      "step": 11182
    },
    {
      "epoch": 2.508862463540498,
      "gripper_loss": 0.01708984375,
      "loss": 0.05859375,
      "pos_loss": 0.49609375,
      "rot_loss": 0.10107421875,
      "step": 11182
    },
    {
      "epoch": 2.50908682970608,
      "grad_norm": 0.259726881980896,
      "learning_rate": 3.4300519819827625e-05,
      "loss": 0.0481,
      "step": 11183
    },
    {
      "epoch": 2.50908682970608,
      "gripper_loss": 0.015625,
      "loss": 0.1259765625,
      "pos_loss": 1.0546875,
      "rot_loss": 0.255859375,
      "step": 11183
    },
    {
      "epoch": 2.5093111958716623,
      "grad_norm": 0.4623890221118927,
      "learning_rate": 3.426991027836451e-05,
      "loss": 0.0606,
      "step": 11184
    },
    {
      "epoch": 2.5093111958716623,
      "gripper_loss": 0.09716796875,
      "loss": 0.10546875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.41015625,
      "step": 11184
    },
    {
      "epoch": 2.509535562037245,
      "grad_norm": 0.6883808374404907,
      "learning_rate": 3.423931339584574e-05,
      "loss": 0.0784,
      "step": 11185
    },
    {
      "epoch": 2.509535562037245,
      "gripper_loss": 0.01806640625,
      "loss": 0.060791015625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.09228515625,
      "step": 11185
    },
    {
      "epoch": 2.509759928202827,
      "grad_norm": 0.23963887989521027,
      "learning_rate": 3.4208729174066534e-05,
      "loss": 0.0349,
      "step": 11186
    },
    {
      "epoch": 2.509759928202827,
      "gripper_loss": 0.01043701171875,
      "loss": 0.02734375,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.0228271484375,
      "step": 11186
    },
    {
      "epoch": 2.509984294368409,
      "grad_norm": 0.30606570839881897,
      "learning_rate": 3.4178157614821656e-05,
      "loss": 0.0478,
      "step": 11187
    },
    {
      "epoch": 2.509984294368409,
      "gripper_loss": 0.326171875,
      "loss": 0.0615234375,
      "pos_loss": 0.3984375,
      "rot_loss": 0.126953125,
      "step": 11187
    },
    {
      "epoch": 2.5102086605339915,
      "grad_norm": 0.7888315916061401,
      "learning_rate": 3.4147598719905e-05,
      "loss": 0.0675,
      "step": 11188
    },
    {
      "epoch": 2.5102086605339915,
      "gripper_loss": 3.140625,
      "loss": 0.12890625,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.0869140625,
      "step": 11188
    },
    {
      "epoch": 2.5104330266995736,
      "grad_norm": 0.5857326984405518,
      "learning_rate": 3.411705249110986e-05,
      "loss": 0.0603,
      "step": 11189
    },
    {
      "epoch": 2.5104330266995736,
      "gripper_loss": 0.244140625,
      "loss": 0.0225830078125,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.06640625,
      "step": 11189
    },
    {
      "epoch": 2.5106573928651557,
      "grad_norm": 0.2635340392589569,
      "learning_rate": 3.408651893022849e-05,
      "loss": 0.0302,
      "step": 11190
    },
    {
      "epoch": 2.5106573928651557,
      "gripper_loss": 0.015869140625,
      "loss": 0.049072265625,
      "pos_loss": 0.419921875,
      "rot_loss": 0.0732421875,
      "step": 11190
    },
    {
      "epoch": 2.510881759030738,
      "grad_norm": 0.15887165069580078,
      "learning_rate": 3.405599803905271e-05,
      "loss": 0.0372,
      "step": 11191
    },
    {
      "epoch": 2.510881759030738,
      "gripper_loss": 0.73828125,
      "loss": 0.04248046875,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.0888671875,
      "step": 11191
    },
    {
      "epoch": 2.5111061251963203,
      "grad_norm": 0.33610957860946655,
      "learning_rate": 3.402548981937348e-05,
      "loss": 0.0498,
      "step": 11192
    },
    {
      "epoch": 2.5111061251963203,
      "gripper_loss": 0.0693359375,
      "loss": 0.07373046875,
      "pos_loss": 0.3359375,
      "rot_loss": 0.357421875,
      "step": 11192
    },
    {
      "epoch": 2.511330491361903,
      "grad_norm": 0.48093244433403015,
      "learning_rate": 3.3994994272980944e-05,
      "loss": 0.0761,
      "step": 11193
    },
    {
      "epoch": 2.511330491361903,
      "gripper_loss": 0.29296875,
      "loss": 0.06298828125,
      "pos_loss": 0.44140625,
      "rot_loss": 0.1103515625,
      "step": 11193
    },
    {
      "epoch": 2.511554857527485,
      "grad_norm": 0.3492124378681183,
      "learning_rate": 3.396451140166462e-05,
      "loss": 0.0499,
      "step": 11194
    },
    {
      "epoch": 2.511554857527485,
      "gripper_loss": 0.050537109375,
      "loss": 0.03515625,
      "pos_loss": 0.197265625,
      "rot_loss": 0.1396484375,
      "step": 11194
    },
    {
      "epoch": 2.511779223693067,
      "grad_norm": 0.27714604139328003,
      "learning_rate": 3.393404120721316e-05,
      "loss": 0.0302,
      "step": 11195
    },
    {
      "epoch": 2.511779223693067,
      "gripper_loss": 0.35546875,
      "loss": 0.020263671875,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.03173828125,
      "step": 11195
    },
    {
      "epoch": 2.5120035898586495,
      "grad_norm": 0.40850943326950073,
      "learning_rate": 3.390358369141458e-05,
      "loss": 0.0581,
      "step": 11196
    },
    {
      "epoch": 2.5120035898586495,
      "gripper_loss": 0.005126953125,
      "loss": 0.064453125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.2314453125,
      "step": 11196
    },
    {
      "epoch": 2.5122279560242315,
      "grad_norm": 0.304246187210083,
      "learning_rate": 3.3873138856056115e-05,
      "loss": 0.0345,
      "step": 11197
    },
    {
      "epoch": 2.5122279560242315,
      "gripper_loss": 0.0079345703125,
      "loss": 0.035888671875,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.12890625,
      "step": 11197
    },
    {
      "epoch": 2.5124523221898136,
      "grad_norm": 0.2321876436471939,
      "learning_rate": 3.384270670292433e-05,
      "loss": 0.0295,
      "step": 11198
    },
    {
      "epoch": 2.5124523221898136,
      "gripper_loss": 0.022705078125,
      "loss": 0.08154296875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.314453125,
      "step": 11198
    },
    {
      "epoch": 2.512676688355396,
      "grad_norm": 0.4949374794960022,
      "learning_rate": 3.38122872338048e-05,
      "loss": 0.0405,
      "step": 11199
    },
    {
      "epoch": 2.512676688355396,
      "gripper_loss": 0.341796875,
      "loss": 0.03271484375,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.01611328125,
      "step": 11199
    },
    {
      "epoch": 2.5129010545209782,
      "grad_norm": 0.33206960558891296,
      "learning_rate": 3.378188045048266e-05,
      "loss": 0.0714,
      "step": 11200
    },
    {
      "epoch": 2.5129010545209782,
      "gripper_loss": 0.546875,
      "loss": 0.0250244140625,
      "pos_loss": 0.02099609375,
      "rot_loss": 0.0361328125,
      "step": 11200
    },
    {
      "epoch": 2.5131254206865603,
      "grad_norm": 0.5336142778396606,
      "learning_rate": 3.375148635474212e-05,
      "loss": 0.0399,
      "step": 11201
    },
    {
      "epoch": 2.5131254206865603,
      "gripper_loss": 0.263671875,
      "loss": 0.0791015625,
      "pos_loss": 0.58984375,
      "rot_loss": 0.1416015625,
      "step": 11201
    },
    {
      "epoch": 2.513349786852143,
      "grad_norm": 0.26968321204185486,
      "learning_rate": 3.372110494836675e-05,
      "loss": 0.0418,
      "step": 11202
    },
    {
      "epoch": 2.513349786852143,
      "gripper_loss": 0.095703125,
      "loss": 0.026123046875,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.08251953125,
      "step": 11202
    },
    {
      "epoch": 2.513574153017725,
      "grad_norm": 0.4207628667354584,
      "learning_rate": 3.369073623313923e-05,
      "loss": 0.0633,
      "step": 11203
    },
    {
      "epoch": 2.513574153017725,
      "gripper_loss": 0.04541015625,
      "loss": 0.029052734375,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.13671875,
      "step": 11203
    },
    {
      "epoch": 2.5137985191833074,
      "grad_norm": 0.40366557240486145,
      "learning_rate": 3.3660380210841665e-05,
      "loss": 0.0391,
      "step": 11204
    },
    {
      "epoch": 2.5137985191833074,
      "gripper_loss": 0.345703125,
      "loss": 0.03564453125,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.12158203125,
      "step": 11204
    },
    {
      "epoch": 2.5140228853488895,
      "grad_norm": 0.30208060145378113,
      "learning_rate": 3.363003688325522e-05,
      "loss": 0.0455,
      "step": 11205
    },
    {
      "epoch": 2.5140228853488895,
      "gripper_loss": 0.828125,
      "loss": 0.05712890625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.1123046875,
      "step": 11205
    },
    {
      "epoch": 2.5142472515144716,
      "grad_norm": 0.2270077019929886,
      "learning_rate": 3.3599706252160576e-05,
      "loss": 0.0429,
      "step": 11206
    },
    {
      "epoch": 2.5142472515144716,
      "gripper_loss": 0.263671875,
      "loss": 0.0291748046875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.022216796875,
      "step": 11206
    },
    {
      "epoch": 2.514471617680054,
      "grad_norm": 0.19412972033023834,
      "learning_rate": 3.356938831933737e-05,
      "loss": 0.0285,
      "step": 11207
    },
    {
      "epoch": 2.514471617680054,
      "gripper_loss": 0.09765625,
      "loss": 0.02197265625,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.1083984375,
      "step": 11207
    },
    {
      "epoch": 2.514695983845636,
      "grad_norm": 0.47132739424705505,
      "learning_rate": 3.35390830865647e-05,
      "loss": 0.0307,
      "step": 11208
    },
    {
      "epoch": 2.514695983845636,
      "gripper_loss": 0.01446533203125,
      "loss": 0.07568359375,
      "pos_loss": 0.734375,
      "rot_loss": 0.044189453125,
      "step": 11208
    },
    {
      "epoch": 2.5149203500112183,
      "grad_norm": 0.3248963952064514,
      "learning_rate": 3.35087905556209e-05,
      "loss": 0.0748,
      "step": 11209
    },
    {
      "epoch": 2.5149203500112183,
      "gripper_loss": 0.005706787109375,
      "loss": 0.0712890625,
      "pos_loss": 0.625,
      "rot_loss": 0.11376953125,
      "step": 11209
    },
    {
      "epoch": 2.515144716176801,
      "grad_norm": 0.24923354387283325,
      "learning_rate": 3.3478510728283504e-05,
      "loss": 0.0506,
      "step": 11210
    },
    {
      "epoch": 2.515144716176801,
      "gripper_loss": 0.1748046875,
      "loss": 0.15625,
      "pos_loss": 0.375,
      "rot_loss": 0.4375,
      "step": 11210
    },
    {
      "epoch": 2.515369082342383,
      "grad_norm": 1.1905673742294312,
      "learning_rate": 3.3448243606329366e-05,
      "loss": 0.1368,
      "step": 11211
    },
    {
      "epoch": 2.515369082342383,
      "gripper_loss": 0.48046875,
      "loss": 0.04931640625,
      "pos_loss": 0.296875,
      "rot_loss": 0.046630859375,
      "step": 11211
    },
    {
      "epoch": 2.515593448507965,
      "grad_norm": 0.3644070625305176,
      "learning_rate": 3.341798919153444e-05,
      "loss": 0.0514,
      "step": 11212
    },
    {
      "epoch": 2.515593448507965,
      "gripper_loss": 0.10693359375,
      "loss": 0.076171875,
      "pos_loss": 0.4765625,
      "rot_loss": 0.2734375,
      "step": 11212
    },
    {
      "epoch": 2.5158178146735475,
      "grad_norm": 0.3241557478904724,
      "learning_rate": 3.338774748567408e-05,
      "loss": 0.0282,
      "step": 11213
    },
    {
      "epoch": 2.5158178146735475,
      "gripper_loss": 0.014892578125,
      "loss": 0.0223388671875,
      "pos_loss": 0.09033203125,
      "rot_loss": 0.11328125,
      "step": 11213
    },
    {
      "epoch": 2.5160421808391296,
      "grad_norm": 0.5552911162376404,
      "learning_rate": 3.3357518490522875e-05,
      "loss": 0.0527,
      "step": 11214
    },
    {
      "epoch": 2.5160421808391296,
      "gripper_loss": 0.1630859375,
      "loss": 0.01165771484375,
      "pos_loss": 0.028076171875,
      "rot_loss": 0.0196533203125,
      "step": 11214
    },
    {
      "epoch": 2.5162665470047116,
      "grad_norm": 0.20515690743923187,
      "learning_rate": 3.332730220785471e-05,
      "loss": 0.0284,
      "step": 11215
    },
    {
      "epoch": 2.5162665470047116,
      "gripper_loss": 0.53125,
      "loss": 0.034423828125,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.0341796875,
      "step": 11215
    },
    {
      "epoch": 2.516490913170294,
      "grad_norm": 0.2731058895587921,
      "learning_rate": 3.3297098639442605e-05,
      "loss": 0.0294,
      "step": 11216
    },
    {
      "epoch": 2.516490913170294,
      "gripper_loss": 0.00567626953125,
      "loss": 0.00689697265625,
      "pos_loss": 0.040771484375,
      "rot_loss": 0.004608154296875,
      "step": 11216
    },
    {
      "epoch": 2.5167152793358762,
      "grad_norm": 0.2918970584869385,
      "learning_rate": 3.3266907787058845e-05,
      "loss": 0.0426,
      "step": 11217
    },
    {
      "epoch": 2.5167152793358762,
      "gripper_loss": 0.0263671875,
      "loss": 0.01055908203125,
      "pos_loss": 0.062255859375,
      "rot_loss": 0.0211181640625,
      "step": 11217
    },
    {
      "epoch": 2.5169396455014583,
      "grad_norm": 0.32991427183151245,
      "learning_rate": 3.323672965247504e-05,
      "loss": 0.0348,
      "step": 11218
    },
    {
      "epoch": 2.5169396455014583,
      "gripper_loss": 0.00933837890625,
      "loss": 0.00787353515625,
      "pos_loss": 0.0242919921875,
      "rot_loss": 0.031494140625,
      "step": 11218
    },
    {
      "epoch": 2.517164011667041,
      "grad_norm": 0.3905499279499054,
      "learning_rate": 3.32065642374621e-05,
      "loss": 0.0491,
      "step": 11219
    },
    {
      "epoch": 2.517164011667041,
      "gripper_loss": 0.015380859375,
      "loss": 0.060546875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.2578125,
      "step": 11219
    },
    {
      "epoch": 2.517388377832623,
      "grad_norm": 0.5911116003990173,
      "learning_rate": 3.317641154379e-05,
      "loss": 0.1143,
      "step": 11220
    },
    {
      "epoch": 2.517388377832623,
      "gripper_loss": 0.5234375,
      "loss": 0.48046875,
      "pos_loss": 0.47265625,
      "rot_loss": 0.52734375,
      "step": 11220
    },
    {
      "epoch": 2.517612743998205,
      "grad_norm": 1.4507828950881958,
      "learning_rate": 3.3146271573228163e-05,
      "loss": 0.4873,
      "step": 11221
    },
    {
      "epoch": 2.517612743998205,
      "gripper_loss": 0.016357421875,
      "loss": 0.0274658203125,
      "pos_loss": 0.228515625,
      "rot_loss": 0.031982421875,
      "step": 11221
    },
    {
      "epoch": 2.5178371101637875,
      "grad_norm": 0.3124501407146454,
      "learning_rate": 3.31161443275452e-05,
      "loss": 0.0486,
      "step": 11222
    },
    {
      "epoch": 2.5178371101637875,
      "gripper_loss": 0.0068359375,
      "loss": 0.0634765625,
      "pos_loss": 0.515625,
      "rot_loss": 0.1279296875,
      "step": 11222
    },
    {
      "epoch": 2.5180614763293696,
      "grad_norm": 0.31191450357437134,
      "learning_rate": 3.3086029808508914e-05,
      "loss": 0.043,
      "step": 11223
    },
    {
      "epoch": 2.5180614763293696,
      "gripper_loss": 0.044189453125,
      "loss": 0.0169677734375,
      "pos_loss": 0.0245361328125,
      "rot_loss": 0.11767578125,
      "step": 11223
    },
    {
      "epoch": 2.5182858424949517,
      "grad_norm": 0.21644829213619232,
      "learning_rate": 3.305592801788648e-05,
      "loss": 0.0405,
      "step": 11224
    },
    {
      "epoch": 2.5182858424949517,
      "gripper_loss": 0.0128173828125,
      "loss": 0.044921875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.068359375,
      "step": 11224
    },
    {
      "epoch": 2.518510208660534,
      "grad_norm": 0.4923524260520935,
      "learning_rate": 3.302583895744418e-05,
      "loss": 0.0488,
      "step": 11225
    },
    {
      "epoch": 2.518510208660534,
      "gripper_loss": 0.0223388671875,
      "loss": 0.048828125,
      "pos_loss": 0.3515625,
      "rot_loss": 0.11279296875,
      "step": 11225
    },
    {
      "epoch": 2.5187345748261163,
      "grad_norm": 0.3415701389312744,
      "learning_rate": 3.2995762628947655e-05,
      "loss": 0.043,
      "step": 11226
    },
    {
      "epoch": 2.5187345748261163,
      "gripper_loss": 0.02880859375,
      "loss": 0.07861328125,
      "pos_loss": 0.359375,
      "rot_loss": 0.404296875,
      "step": 11226
    },
    {
      "epoch": 2.5189589409916984,
      "grad_norm": 0.3805864453315735,
      "learning_rate": 3.2965699034161854e-05,
      "loss": 0.0613,
      "step": 11227
    },
    {
      "epoch": 2.5189589409916984,
      "gripper_loss": 0.011962890625,
      "loss": 0.041259765625,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.23046875,
      "step": 11227
    },
    {
      "epoch": 2.519183307157281,
      "grad_norm": 0.231487438082695,
      "learning_rate": 3.2935648174850783e-05,
      "loss": 0.0347,
      "step": 11228
    },
    {
      "epoch": 2.519183307157281,
      "gripper_loss": 0.0277099609375,
      "loss": 0.0155029296875,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.08740234375,
      "step": 11228
    },
    {
      "epoch": 2.519407673322863,
      "grad_norm": 0.32215678691864014,
      "learning_rate": 3.290561005277781e-05,
      "loss": 0.0469,
      "step": 11229
    },
    {
      "epoch": 2.519407673322863,
      "gripper_loss": 0.0036163330078125,
      "loss": 0.12060546875,
      "pos_loss": 0.3984375,
      "rot_loss": 0.86328125,
      "step": 11229
    },
    {
      "epoch": 2.519632039488445,
      "grad_norm": 0.5520840287208557,
      "learning_rate": 3.287558466970561e-05,
      "loss": 0.0618,
      "step": 11230
    },
    {
      "epoch": 2.519632039488445,
      "gripper_loss": 0.0021209716796875,
      "loss": 0.154296875,
      "pos_loss": 1.328125,
      "rot_loss": 0.28515625,
      "step": 11230
    },
    {
      "epoch": 2.5198564056540276,
      "grad_norm": 0.36085382103919983,
      "learning_rate": 3.284557202739605e-05,
      "loss": 0.0729,
      "step": 11231
    },
    {
      "epoch": 2.5198564056540276,
      "gripper_loss": 0.006500244140625,
      "loss": 0.01031494140625,
      "pos_loss": 0.060546875,
      "rot_loss": 0.02587890625,
      "step": 11231
    },
    {
      "epoch": 2.5200807718196097,
      "grad_norm": 0.36411020159721375,
      "learning_rate": 3.281557212761027e-05,
      "loss": 0.0462,
      "step": 11232
    },
    {
      "epoch": 2.5200807718196097,
      "gripper_loss": 0.29296875,
      "loss": 0.0296630859375,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.04638671875,
      "step": 11232
    },
    {
      "epoch": 2.5203051379851917,
      "grad_norm": 0.27888232469558716,
      "learning_rate": 3.278558497210862e-05,
      "loss": 0.0306,
      "step": 11233
    },
    {
      "epoch": 2.5203051379851917,
      "gripper_loss": 0.00396728515625,
      "loss": 0.0191650390625,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.05517578125,
      "step": 11233
    },
    {
      "epoch": 2.5205295041507743,
      "grad_norm": 0.32886818051338196,
      "learning_rate": 3.2755610562650725e-05,
      "loss": 0.0414,
      "step": 11234
    },
    {
      "epoch": 2.5205295041507743,
      "gripper_loss": 0.04296875,
      "loss": 0.06591796875,
      "pos_loss": 0.248046875,
      "rot_loss": 0.275390625,
      "step": 11234
    },
    {
      "epoch": 2.5207538703163563,
      "grad_norm": 0.5805100798606873,
      "learning_rate": 3.27256489009955e-05,
      "loss": 0.0673,
      "step": 11235
    },
    {
      "epoch": 2.5207538703163563,
      "gripper_loss": 0.0032958984375,
      "loss": 0.013916015625,
      "pos_loss": 0.0703125,
      "rot_loss": 0.048583984375,
      "step": 11235
    },
    {
      "epoch": 2.5209782364819384,
      "grad_norm": 0.5354006290435791,
      "learning_rate": 3.269569998890112e-05,
      "loss": 0.0469,
      "step": 11236
    },
    {
      "epoch": 2.5209782364819384,
      "gripper_loss": 0.01019287109375,
      "loss": 0.0113525390625,
      "pos_loss": 0.0595703125,
      "rot_loss": 0.033203125,
      "step": 11236
    },
    {
      "epoch": 2.521202602647521,
      "grad_norm": 0.7786564230918884,
      "learning_rate": 3.266576382812489e-05,
      "loss": 0.0556,
      "step": 11237
    },
    {
      "epoch": 2.521202602647521,
      "gripper_loss": 0.1455078125,
      "loss": 0.212890625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.361328125,
      "step": 11237
    },
    {
      "epoch": 2.521426968813103,
      "grad_norm": 1.7533148527145386,
      "learning_rate": 3.2635840420423475e-05,
      "loss": 0.3303,
      "step": 11238
    },
    {
      "epoch": 2.521426968813103,
      "gripper_loss": 0.0634765625,
      "loss": 0.0498046875,
      "pos_loss": 0.345703125,
      "rot_loss": 0.140625,
      "step": 11238
    },
    {
      "epoch": 2.521651334978685,
      "grad_norm": 0.4669483006000519,
      "learning_rate": 3.2605929767552835e-05,
      "loss": 0.0849,
      "step": 11239
    },
    {
      "epoch": 2.521651334978685,
      "gripper_loss": 0.0306396484375,
      "loss": 0.06201171875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.326171875,
      "step": 11239
    },
    {
      "epoch": 2.5218757011442676,
      "grad_norm": 0.6781219840049744,
      "learning_rate": 3.257603187126801e-05,
      "loss": 0.068,
      "step": 11240
    },
    {
      "epoch": 2.5218757011442676,
      "gripper_loss": 0.0140380859375,
      "loss": 0.0242919921875,
      "pos_loss": 0.1953125,
      "rot_loss": 0.034423828125,
      "step": 11240
    },
    {
      "epoch": 2.5221000673098497,
      "grad_norm": 0.38898590207099915,
      "learning_rate": 3.2546146733323486e-05,
      "loss": 0.0485,
      "step": 11241
    },
    {
      "epoch": 2.5221000673098497,
      "gripper_loss": 0.01556396484375,
      "loss": 0.02734375,
      "pos_loss": 0.154296875,
      "rot_loss": 0.10009765625,
      "step": 11241
    },
    {
      "epoch": 2.522324433475432,
      "grad_norm": 0.2894539535045624,
      "learning_rate": 3.251627435547283e-05,
      "loss": 0.0484,
      "step": 11242
    },
    {
      "epoch": 2.522324433475432,
      "gripper_loss": 0.023193359375,
      "loss": 0.03076171875,
      "pos_loss": 0.248046875,
      "rot_loss": 0.044677734375,
      "step": 11242
    },
    {
      "epoch": 2.5225487996410143,
      "grad_norm": 0.2919658124446869,
      "learning_rate": 3.248641473946898e-05,
      "loss": 0.0395,
      "step": 11243
    },
    {
      "epoch": 2.5225487996410143,
      "gripper_loss": 0.2490234375,
      "loss": 0.0233154296875,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.0245361328125,
      "step": 11243
    },
    {
      "epoch": 2.5227731658065964,
      "grad_norm": 0.33185014128685,
      "learning_rate": 3.2456567887064056e-05,
      "loss": 0.0373,
      "step": 11244
    },
    {
      "epoch": 2.5227731658065964,
      "gripper_loss": 0.045166015625,
      "loss": 0.0225830078125,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.033203125,
      "step": 11244
    },
    {
      "epoch": 2.5229975319721785,
      "grad_norm": 0.36683347821235657,
      "learning_rate": 3.242673380000954e-05,
      "loss": 0.0622,
      "step": 11245
    },
    {
      "epoch": 2.5229975319721785,
      "gripper_loss": 0.01434326171875,
      "loss": 0.019287109375,
      "pos_loss": 0.06494140625,
      "rot_loss": 0.10400390625,
      "step": 11245
    },
    {
      "epoch": 2.523221898137761,
      "grad_norm": 0.2637251615524292,
      "learning_rate": 3.2396912480056e-05,
      "loss": 0.0393,
      "step": 11246
    },
    {
      "epoch": 2.523221898137761,
      "gripper_loss": 0.029541015625,
      "loss": 0.0306396484375,
      "pos_loss": 0.035888671875,
      "rot_loss": 0.248046875,
      "step": 11246
    },
    {
      "epoch": 2.523446264303343,
      "grad_norm": 0.253521203994751,
      "learning_rate": 3.236710392895334e-05,
      "loss": 0.036,
      "step": 11247
    },
    {
      "epoch": 2.523446264303343,
      "gripper_loss": 0.00897216796875,
      "loss": 0.050048828125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.2197265625,
      "step": 11247
    },
    {
      "epoch": 2.523670630468925,
      "grad_norm": 0.2542079985141754,
      "learning_rate": 3.233730814845076e-05,
      "loss": 0.0307,
      "step": 11248
    },
    {
      "epoch": 2.523670630468925,
      "gripper_loss": 0.1796875,
      "loss": 0.0830078125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.4921875,
      "step": 11248
    },
    {
      "epoch": 2.5238949966345077,
      "grad_norm": 0.28358176350593567,
      "learning_rate": 3.2307525140296666e-05,
      "loss": 0.0442,
      "step": 11249
    },
    {
      "epoch": 2.5238949966345077,
      "gripper_loss": 0.0059814453125,
      "loss": 0.047119140625,
      "pos_loss": 0.427734375,
      "rot_loss": 0.0458984375,
      "step": 11249
    },
    {
      "epoch": 2.5241193628000897,
      "grad_norm": 0.31724631786346436,
      "learning_rate": 3.227775490623866e-05,
      "loss": 0.0647,
      "step": 11250
    },
    {
      "epoch": 2.5241193628000897,
      "gripper_loss": 0.6484375,
      "loss": 0.041259765625,
      "pos_loss": 0.13671875,
      "rot_loss": 0.064453125,
      "step": 11250
    },
    {
      "epoch": 2.524343728965672,
      "grad_norm": 0.4442048668861389,
      "learning_rate": 3.2247997448023704e-05,
      "loss": 0.0555,
      "step": 11251
    },
    {
      "epoch": 2.524343728965672,
      "gripper_loss": 0.0166015625,
      "loss": 0.034912109375,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.2265625,
      "step": 11251
    },
    {
      "epoch": 2.5245680951312544,
      "grad_norm": 0.2883986830711365,
      "learning_rate": 3.221825276739784e-05,
      "loss": 0.0495,
      "step": 11252
    },
    {
      "epoch": 2.5245680951312544,
      "gripper_loss": 0.0279541015625,
      "loss": 0.0517578125,
      "pos_loss": 0.375,
      "rot_loss": 0.11669921875,
      "step": 11252
    },
    {
      "epoch": 2.5247924612968364,
      "grad_norm": 0.30666443705558777,
      "learning_rate": 3.2188520866106604e-05,
      "loss": 0.0455,
      "step": 11253
    },
    {
      "epoch": 2.5247924612968364,
      "gripper_loss": 1.2265625,
      "loss": 0.07763671875,
      "pos_loss": 0.201171875,
      "rot_loss": 0.1962890625,
      "step": 11253
    },
    {
      "epoch": 2.5250168274624185,
      "grad_norm": 0.34292158484458923,
      "learning_rate": 3.215880174589461e-05,
      "loss": 0.0398,
      "step": 11254
    },
    {
      "epoch": 2.5250168274624185,
      "gripper_loss": 0.1455078125,
      "loss": 0.1318359375,
      "pos_loss": 0.375,
      "rot_loss": 0.439453125,
      "step": 11254
    },
    {
      "epoch": 2.525241193628001,
      "grad_norm": 1.261310338973999,
      "learning_rate": 3.2129095408505725e-05,
      "loss": 0.1718,
      "step": 11255
    },
    {
      "epoch": 2.525241193628001,
      "gripper_loss": 1.0546875,
      "loss": 0.04052734375,
      "pos_loss": 0.01611328125,
      "rot_loss": 0.04150390625,
      "step": 11255
    },
    {
      "epoch": 2.525465559793583,
      "grad_norm": 0.2228592187166214,
      "learning_rate": 3.209940185568311e-05,
      "loss": 0.0346,
      "step": 11256
    },
    {
      "epoch": 2.525465559793583,
      "gripper_loss": 0.043212890625,
      "loss": 0.005157470703125,
      "pos_loss": 0.0101318359375,
      "rot_loss": 0.00970458984375,
      "step": 11256
    },
    {
      "epoch": 2.525689925959165,
      "grad_norm": 0.18608394265174866,
      "learning_rate": 3.20697210891692e-05,
      "loss": 0.0329,
      "step": 11257
    },
    {
      "epoch": 2.525689925959165,
      "gripper_loss": 0.251953125,
      "loss": 0.07275390625,
      "pos_loss": 0.484375,
      "rot_loss": 0.12353515625,
      "step": 11257
    },
    {
      "epoch": 2.5259142921247477,
      "grad_norm": 0.41258832812309265,
      "learning_rate": 3.204005311070568e-05,
      "loss": 0.0649,
      "step": 11258
    },
    {
      "epoch": 2.5259142921247477,
      "gripper_loss": 0.0135498046875,
      "loss": 0.022705078125,
      "pos_loss": 0.07421875,
      "rot_loss": 0.1396484375,
      "step": 11258
    },
    {
      "epoch": 2.52613865829033,
      "grad_norm": 0.4287077486515045,
      "learning_rate": 3.2010397922033364e-05,
      "loss": 0.0449,
      "step": 11259
    },
    {
      "epoch": 2.52613865829033,
      "gripper_loss": 0.625,
      "loss": 0.024169921875,
      "pos_loss": 0.0220947265625,
      "rot_loss": 0.00677490234375,
      "step": 11259
    },
    {
      "epoch": 2.526363024455912,
      "grad_norm": 0.24870562553405762,
      "learning_rate": 3.1980755524892434e-05,
      "loss": 0.0376,
      "step": 11260
    },
    {
      "epoch": 2.526363024455912,
      "gripper_loss": 0.1103515625,
      "loss": 0.177734375,
      "pos_loss": 0.482421875,
      "rot_loss": 0.6328125,
      "step": 11260
    },
    {
      "epoch": 2.5265873906214944,
      "grad_norm": 1.0559884309768677,
      "learning_rate": 3.195112592102234e-05,
      "loss": 0.1508,
      "step": 11261
    },
    {
      "epoch": 2.5265873906214944,
      "gripper_loss": 0.015625,
      "loss": 0.0264892578125,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.050048828125,
      "step": 11261
    },
    {
      "epoch": 2.5268117567870765,
      "grad_norm": 0.42055538296699524,
      "learning_rate": 3.192150911216174e-05,
      "loss": 0.0365,
      "step": 11262
    },
    {
      "epoch": 2.5268117567870765,
      "gripper_loss": 0.08154296875,
      "loss": 0.0162353515625,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.02001953125,
      "step": 11262
    },
    {
      "epoch": 2.5270361229526586,
      "grad_norm": 0.2422012835741043,
      "learning_rate": 3.1891905100048495e-05,
      "loss": 0.039,
      "step": 11263
    },
    {
      "epoch": 2.5270361229526586,
      "gripper_loss": 0.1591796875,
      "loss": 0.027587890625,
      "pos_loss": 0.126953125,
      "rot_loss": 0.0927734375,
      "step": 11263
    },
    {
      "epoch": 2.527260489118241,
      "grad_norm": 0.3164660930633545,
      "learning_rate": 3.186231388641969e-05,
      "loss": 0.0407,
      "step": 11264
    },
    {
      "epoch": 2.527260489118241,
      "gripper_loss": 0.0172119140625,
      "loss": 0.036865234375,
      "pos_loss": 0.189453125,
      "rot_loss": 0.1533203125,
      "step": 11264
    },
    {
      "epoch": 2.527484855283823,
      "grad_norm": 0.3216194212436676,
      "learning_rate": 3.183273547301183e-05,
      "loss": 0.0494,
      "step": 11265
    },
    {
      "epoch": 2.527484855283823,
      "gripper_loss": 1.2890625,
      "loss": 0.044921875,
      "pos_loss": 0.01397705078125,
      "rot_loss": 0.012939453125,
      "step": 11265
    },
    {
      "epoch": 2.5277092214494052,
      "grad_norm": 0.4182874262332916,
      "learning_rate": 3.180316986156057e-05,
      "loss": 0.0685,
      "step": 11266
    },
    {
      "epoch": 2.5277092214494052,
      "gripper_loss": 1.265625,
      "loss": 0.04345703125,
      "pos_loss": 0.01031494140625,
      "rot_loss": 0.0064697265625,
      "step": 11266
    },
    {
      "epoch": 2.5279335876149878,
      "grad_norm": 0.3453812003135681,
      "learning_rate": 3.177361705380069e-05,
      "loss": 0.0284,
      "step": 11267
    },
    {
      "epoch": 2.5279335876149878,
      "gripper_loss": 0.006744384765625,
      "loss": 0.055908203125,
      "pos_loss": 0.373046875,
      "rot_loss": 0.1923828125,
      "step": 11267
    },
    {
      "epoch": 2.52815795378057,
      "grad_norm": 0.2746833264827728,
      "learning_rate": 3.1744077051466424e-05,
      "loss": 0.0339,
      "step": 11268
    },
    {
      "epoch": 2.52815795378057,
      "gripper_loss": 0.061767578125,
      "loss": 0.0164794921875,
      "pos_loss": 0.09765625,
      "rot_loss": 0.03759765625,
      "step": 11268
    },
    {
      "epoch": 2.528382319946152,
      "grad_norm": 0.306413859128952,
      "learning_rate": 3.171454985629113e-05,
      "loss": 0.0386,
      "step": 11269
    },
    {
      "epoch": 2.528382319946152,
      "gripper_loss": 0.439453125,
      "loss": 0.033203125,
      "pos_loss": 0.11865234375,
      "rot_loss": 0.0625,
      "step": 11269
    },
    {
      "epoch": 2.5286066861117344,
      "grad_norm": 0.35853758454322815,
      "learning_rate": 3.1685035470007505e-05,
      "loss": 0.0367,
      "step": 11270
    },
    {
      "epoch": 2.5286066861117344,
      "gripper_loss": 0.009521484375,
      "loss": 0.03515625,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.154296875,
      "step": 11270
    },
    {
      "epoch": 2.5288310522773165,
      "grad_norm": 0.2196590006351471,
      "learning_rate": 3.165553389434744e-05,
      "loss": 0.03,
      "step": 11271
    },
    {
      "epoch": 2.5288310522773165,
      "gripper_loss": 0.01031494140625,
      "loss": 0.050537109375,
      "pos_loss": 0.12890625,
      "rot_loss": 0.373046875,
      "step": 11271
    },
    {
      "epoch": 2.5290554184428986,
      "grad_norm": 0.3341846168041229,
      "learning_rate": 3.1626045131041975e-05,
      "loss": 0.0563,
      "step": 11272
    },
    {
      "epoch": 2.5290554184428986,
      "gripper_loss": 0.37890625,
      "loss": 0.0830078125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.4296875,
      "step": 11272
    },
    {
      "epoch": 2.529279784608481,
      "grad_norm": 0.35699206590652466,
      "learning_rate": 3.1596569181821575e-05,
      "loss": 0.036,
      "step": 11273
    },
    {
      "epoch": 2.529279784608481,
      "gripper_loss": 0.0225830078125,
      "loss": 0.06201171875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.212890625,
      "step": 11273
    },
    {
      "epoch": 2.529504150774063,
      "grad_norm": 0.3536979854106903,
      "learning_rate": 3.156710604841592e-05,
      "loss": 0.0537,
      "step": 11274
    },
    {
      "epoch": 2.529504150774063,
      "gripper_loss": 0.01092529296875,
      "loss": 0.07763671875,
      "pos_loss": 0.609375,
      "rot_loss": 0.1884765625,
      "step": 11274
    },
    {
      "epoch": 2.5297285169396453,
      "grad_norm": 0.3536040782928467,
      "learning_rate": 3.1537655732553766e-05,
      "loss": 0.0535,
      "step": 11275
    },
    {
      "epoch": 2.5297285169396453,
      "gripper_loss": 0.0057373046875,
      "loss": 0.0322265625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.01336669921875,
      "step": 11275
    },
    {
      "epoch": 2.529952883105228,
      "grad_norm": 0.5502094030380249,
      "learning_rate": 3.150821823596336e-05,
      "loss": 0.0574,
      "step": 11276
    },
    {
      "epoch": 2.529952883105228,
      "gripper_loss": 0.1328125,
      "loss": 0.0206298828125,
      "pos_loss": 0.146484375,
      "rot_loss": 0.011962890625,
      "step": 11276
    },
    {
      "epoch": 2.53017724927081,
      "grad_norm": 0.18486106395721436,
      "learning_rate": 3.1478793560372e-05,
      "loss": 0.0272,
      "step": 11277
    },
    {
      "epoch": 2.53017724927081,
      "gripper_loss": 0.0498046875,
      "loss": 0.00579833984375,
      "pos_loss": 0.00994873046875,
      "rot_loss": 0.01312255859375,
      "step": 11277
    },
    {
      "epoch": 2.530401615436392,
      "grad_norm": 0.17689409852027893,
      "learning_rate": 3.144938170750636e-05,
      "loss": 0.033,
      "step": 11278
    },
    {
      "epoch": 2.530401615436392,
      "gripper_loss": 0.10546875,
      "loss": 0.0869140625,
      "pos_loss": 0.3828125,
      "rot_loss": 0.212890625,
      "step": 11278
    },
    {
      "epoch": 2.5306259816019745,
      "grad_norm": 0.9866117835044861,
      "learning_rate": 3.1419982679092326e-05,
      "loss": 0.1226,
      "step": 11279
    },
    {
      "epoch": 2.5306259816019745,
      "gripper_loss": 0.00982666015625,
      "loss": 0.038818359375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.08642578125,
      "step": 11279
    },
    {
      "epoch": 2.5308503477675566,
      "grad_norm": 0.37517234683036804,
      "learning_rate": 3.1390596476854965e-05,
      "loss": 0.0586,
      "step": 11280
    },
    {
      "epoch": 2.5308503477675566,
      "gripper_loss": 0.0322265625,
      "loss": 0.031982421875,
      "pos_loss": 0.177734375,
      "rot_loss": 0.126953125,
      "step": 11280
    },
    {
      "epoch": 2.5310747139331387,
      "grad_norm": 0.3353021740913391,
      "learning_rate": 3.136122310251866e-05,
      "loss": 0.0563,
      "step": 11281
    },
    {
      "epoch": 2.5310747139331387,
      "gripper_loss": 0.0172119140625,
      "loss": 0.00994873046875,
      "pos_loss": 0.05078125,
      "rot_loss": 0.0233154296875,
      "step": 11281
    },
    {
      "epoch": 2.531299080098721,
      "grad_norm": 0.31849250197410583,
      "learning_rate": 3.133186255780704e-05,
      "loss": 0.0394,
      "step": 11282
    },
    {
      "epoch": 2.531299080098721,
      "gripper_loss": 0.2138671875,
      "loss": 0.03515625,
      "pos_loss": 0.11279296875,
      "rot_loss": 0.16796875,
      "step": 11282
    },
    {
      "epoch": 2.5315234462643033,
      "grad_norm": 0.25638702511787415,
      "learning_rate": 3.130251484444299e-05,
      "loss": 0.0431,
      "step": 11283
    },
    {
      "epoch": 2.5315234462643033,
      "gripper_loss": 0.00634765625,
      "loss": 0.04248046875,
      "pos_loss": 0.36328125,
      "rot_loss": 0.05712890625,
      "step": 11283
    },
    {
      "epoch": 2.5317478124298853,
      "grad_norm": 0.3119238615036011,
      "learning_rate": 3.127317996414866e-05,
      "loss": 0.0575,
      "step": 11284
    },
    {
      "epoch": 2.5317478124298853,
      "gripper_loss": 0.006805419921875,
      "loss": 0.0101318359375,
      "pos_loss": 0.04052734375,
      "rot_loss": 0.0439453125,
      "step": 11284
    },
    {
      "epoch": 2.531972178595468,
      "grad_norm": 0.25958821177482605,
      "learning_rate": 3.124385791864528e-05,
      "loss": 0.0432,
      "step": 11285
    },
    {
      "epoch": 2.531972178595468,
      "gripper_loss": 0.0036773681640625,
      "loss": 0.019287109375,
      "pos_loss": 0.087890625,
      "rot_loss": 0.0888671875,
      "step": 11285
    },
    {
      "epoch": 2.53219654476105,
      "grad_norm": 0.5073049664497375,
      "learning_rate": 3.121454870965357e-05,
      "loss": 0.0481,
      "step": 11286
    },
    {
      "epoch": 2.53219654476105,
      "gripper_loss": 0.21484375,
      "loss": 0.017578125,
      "pos_loss": 0.0079345703125,
      "rot_loss": 0.0810546875,
      "step": 11286
    },
    {
      "epoch": 2.532420910926632,
      "grad_norm": 0.36550647020339966,
      "learning_rate": 3.11852523388933e-05,
      "loss": 0.031,
      "step": 11287
    },
    {
      "epoch": 2.532420910926632,
      "gripper_loss": 0.11279296875,
      "loss": 0.115234375,
      "pos_loss": 1.0546875,
      "rot_loss": 0.11279296875,
      "step": 11287
    },
    {
      "epoch": 2.5326452770922145,
      "grad_norm": 0.3757827877998352,
      "learning_rate": 3.1155968808083666e-05,
      "loss": 0.0466,
      "step": 11288
    },
    {
      "epoch": 2.5326452770922145,
      "gripper_loss": 0.7265625,
      "loss": 0.050048828125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.047119140625,
      "step": 11288
    },
    {
      "epoch": 2.5328696432577966,
      "grad_norm": 0.584261417388916,
      "learning_rate": 3.112669811894286e-05,
      "loss": 0.0752,
      "step": 11289
    },
    {
      "epoch": 2.5328696432577966,
      "gripper_loss": 0.00408935546875,
      "loss": 0.0247802734375,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.043701171875,
      "step": 11289
    },
    {
      "epoch": 2.5330940094233787,
      "grad_norm": 0.3015940487384796,
      "learning_rate": 3.109744027318862e-05,
      "loss": 0.0266,
      "step": 11290
    },
    {
      "epoch": 2.5330940094233787,
      "gripper_loss": 0.00823974609375,
      "loss": 0.032958984375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.0537109375,
      "step": 11290
    },
    {
      "epoch": 2.5333183755889612,
      "grad_norm": 0.28299176692962646,
      "learning_rate": 3.1068195272537684e-05,
      "loss": 0.0364,
      "step": 11291
    },
    {
      "epoch": 2.5333183755889612,
      "gripper_loss": 1.5703125,
      "loss": 0.095703125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1884765625,
      "step": 11291
    },
    {
      "epoch": 2.5335427417545433,
      "grad_norm": 0.4893985390663147,
      "learning_rate": 3.1038963118706244e-05,
      "loss": 0.0514,
      "step": 11292
    },
    {
      "epoch": 2.5335427417545433,
      "gripper_loss": 0.0042724609375,
      "loss": 0.1103515625,
      "pos_loss": 0.7109375,
      "rot_loss": 0.443359375,
      "step": 11292
    },
    {
      "epoch": 2.5337671079201254,
      "grad_norm": 0.3855540454387665,
      "learning_rate": 3.1009743813409486e-05,
      "loss": 0.0531,
      "step": 11293
    },
    {
      "epoch": 2.5337671079201254,
      "gripper_loss": 0.01025390625,
      "loss": 0.0294189453125,
      "pos_loss": 0.20703125,
      "rot_loss": 0.0791015625,
      "step": 11293
    },
    {
      "epoch": 2.533991474085708,
      "grad_norm": 0.35676324367523193,
      "learning_rate": 3.098053735836209e-05,
      "loss": 0.0514,
      "step": 11294
    },
    {
      "epoch": 2.533991474085708,
      "gripper_loss": 0.01092529296875,
      "loss": 0.051025390625,
      "pos_loss": 0.19921875,
      "rot_loss": 0.314453125,
      "step": 11294
    },
    {
      "epoch": 2.53421584025129,
      "grad_norm": 0.40045633912086487,
      "learning_rate": 3.095134375527783e-05,
      "loss": 0.0533,
      "step": 11295
    },
    {
      "epoch": 2.53421584025129,
      "gripper_loss": 0.0048828125,
      "loss": 0.0167236328125,
      "pos_loss": 0.0299072265625,
      "rot_loss": 0.12451171875,
      "step": 11295
    },
    {
      "epoch": 2.534440206416872,
      "grad_norm": 0.434462308883667,
      "learning_rate": 3.092216300586986e-05,
      "loss": 0.0394,
      "step": 11296
    },
    {
      "epoch": 2.534440206416872,
      "gripper_loss": 0.09423828125,
      "loss": 0.02734375,
      "pos_loss": 0.158203125,
      "rot_loss": 0.0751953125,
      "step": 11296
    },
    {
      "epoch": 2.5346645725824546,
      "grad_norm": 0.2826980650424957,
      "learning_rate": 3.089299511185037e-05,
      "loss": 0.0446,
      "step": 11297
    },
    {
      "epoch": 2.5346645725824546,
      "gripper_loss": 0.0040283203125,
      "loss": 0.046630859375,
      "pos_loss": 0.291015625,
      "rot_loss": 0.1806640625,
      "step": 11297
    },
    {
      "epoch": 2.5348889387480367,
      "grad_norm": 0.22041602432727814,
      "learning_rate": 3.086384007493104e-05,
      "loss": 0.0467,
      "step": 11298
    },
    {
      "epoch": 2.5348889387480367,
      "gripper_loss": 0.018310546875,
      "loss": 0.0654296875,
      "pos_loss": 0.4609375,
      "rot_loss": 0.19921875,
      "step": 11298
    },
    {
      "epoch": 2.535113304913619,
      "grad_norm": 0.3350290060043335,
      "learning_rate": 3.083469789682256e-05,
      "loss": 0.0608,
      "step": 11299
    },
    {
      "epoch": 2.535113304913619,
      "gripper_loss": 0.79296875,
      "loss": 0.036865234375,
      "pos_loss": 0.02734375,
      "rot_loss": 0.07421875,
      "step": 11299
    },
    {
      "epoch": 2.5353376710792013,
      "grad_norm": 0.2175160050392151,
      "learning_rate": 3.0805568579235e-05,
      "loss": 0.0333,
      "step": 11300
    },
    {
      "epoch": 2.5353376710792013,
      "gripper_loss": 0.01116943359375,
      "loss": 0.0732421875,
      "pos_loss": 0.44921875,
      "rot_loss": 0.291015625,
      "step": 11300
    },
    {
      "epoch": 2.5355620372447834,
      "grad_norm": 0.5461820363998413,
      "learning_rate": 3.077645212387775e-05,
      "loss": 0.0571,
      "step": 11301
    },
    {
      "epoch": 2.5355620372447834,
      "gripper_loss": 0.0064697265625,
      "loss": 0.03173828125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.1650390625,
      "step": 11301
    },
    {
      "epoch": 2.535786403410366,
      "grad_norm": 0.23052868247032166,
      "learning_rate": 3.074734853245925e-05,
      "loss": 0.028,
      "step": 11302
    },
    {
      "epoch": 2.535786403410366,
      "gripper_loss": 0.031982421875,
      "loss": 0.037353515625,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.1865234375,
      "step": 11302
    },
    {
      "epoch": 2.536010769575948,
      "grad_norm": 0.35251662135124207,
      "learning_rate": 3.071825780668733e-05,
      "loss": 0.0462,
      "step": 11303
    },
    {
      "epoch": 2.536010769575948,
      "gripper_loss": 0.0091552734375,
      "loss": 0.05908203125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.169921875,
      "step": 11303
    },
    {
      "epoch": 2.53623513574153,
      "grad_norm": 0.2765750288963318,
      "learning_rate": 3.068917994826898e-05,
      "loss": 0.0529,
      "step": 11304
    },
    {
      "epoch": 2.53623513574153,
      "gripper_loss": 0.0216064453125,
      "loss": 0.044921875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.0693359375,
      "step": 11304
    },
    {
      "epoch": 2.5364595019071126,
      "grad_norm": 0.26501747965812683,
      "learning_rate": 3.0660114958910577e-05,
      "loss": 0.0406,
      "step": 11305
    },
    {
      "epoch": 2.5364595019071126,
      "gripper_loss": 0.3125,
      "loss": 0.02734375,
      "pos_loss": 0.13671875,
      "rot_loss": 0.025634765625,
      "step": 11305
    },
    {
      "epoch": 2.5366838680726946,
      "grad_norm": 0.7060230374336243,
      "learning_rate": 3.0631062840317495e-05,
      "loss": 0.0529,
      "step": 11306
    },
    {
      "epoch": 2.5366838680726946,
      "gripper_loss": 0.11279296875,
      "loss": 0.038330078125,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.1064453125,
      "step": 11306
    },
    {
      "epoch": 2.5369082342382767,
      "grad_norm": 0.18695710599422455,
      "learning_rate": 3.0602023594194614e-05,
      "loss": 0.0295,
      "step": 11307
    },
    {
      "epoch": 2.5369082342382767,
      "gripper_loss": 0.00787353515625,
      "loss": 0.053466796875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.006561279296875,
      "step": 11307
    },
    {
      "epoch": 2.5371326004038592,
      "grad_norm": 0.3345150947570801,
      "learning_rate": 3.057299722224588e-05,
      "loss": 0.0336,
      "step": 11308
    },
    {
      "epoch": 2.5371326004038592,
      "gripper_loss": 0.006256103515625,
      "loss": 0.087890625,
      "pos_loss": 0.6640625,
      "rot_loss": 0.2490234375,
      "step": 11308
    },
    {
      "epoch": 2.5373569665694413,
      "grad_norm": 0.38595932722091675,
      "learning_rate": 3.0543983726174645e-05,
      "loss": 0.0411,
      "step": 11309
    },
    {
      "epoch": 2.5373569665694413,
      "gripper_loss": 0.00439453125,
      "loss": 0.05615234375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.2734375,
      "step": 11309
    },
    {
      "epoch": 2.5375813327350234,
      "grad_norm": 0.42688095569610596,
      "learning_rate": 3.051498310768333e-05,
      "loss": 0.0636,
      "step": 11310
    },
    {
      "epoch": 2.5375813327350234,
      "gripper_loss": 0.1865234375,
      "loss": 0.01116943359375,
      "pos_loss": 0.0286865234375,
      "rot_loss": 0.005279541015625,
      "step": 11310
    },
    {
      "epoch": 2.537805698900606,
      "grad_norm": 0.6771451234817505,
      "learning_rate": 3.04859953684736e-05,
      "loss": 0.0632,
      "step": 11311
    },
    {
      "epoch": 2.537805698900606,
      "gripper_loss": 0.2490234375,
      "loss": 0.0284423828125,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.0810546875,
      "step": 11311
    },
    {
      "epoch": 2.538030065066188,
      "grad_norm": 0.2664993703365326,
      "learning_rate": 3.045702051024657e-05,
      "loss": 0.043,
      "step": 11312
    },
    {
      "epoch": 2.538030065066188,
      "gripper_loss": 0.035888671875,
      "loss": 0.036376953125,
      "pos_loss": 0.036376953125,
      "rot_loss": 0.21484375,
      "step": 11312
    },
    {
      "epoch": 2.5382544312317705,
      "grad_norm": 0.613702654838562,
      "learning_rate": 3.0428058534702402e-05,
      "loss": 0.0606,
      "step": 11313
    },
    {
      "epoch": 2.5382544312317705,
      "gripper_loss": 0.00885009765625,
      "loss": 0.07373046875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1328125,
      "step": 11313
    },
    {
      "epoch": 2.5384787973973526,
      "grad_norm": 0.42533135414123535,
      "learning_rate": 3.0399109443540685e-05,
      "loss": 0.0541,
      "step": 11314
    },
    {
      "epoch": 2.5384787973973526,
      "gripper_loss": 0.00604248046875,
      "loss": 0.054931640625,
      "pos_loss": 0.490234375,
      "rot_loss": 0.06884765625,
      "step": 11314
    },
    {
      "epoch": 2.5387031635629347,
      "grad_norm": 0.3250279128551483,
      "learning_rate": 3.0370173238459974e-05,
      "loss": 0.0756,
      "step": 11315
    },
    {
      "epoch": 2.5387031635629347,
      "gripper_loss": 0.228515625,
      "loss": 0.044921875,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.234375,
      "step": 11315
    },
    {
      "epoch": 2.538927529728517,
      "grad_norm": 0.3873443305492401,
      "learning_rate": 3.0341249921158302e-05,
      "loss": 0.0684,
      "step": 11316
    },
    {
      "epoch": 2.538927529728517,
      "gripper_loss": 0.043212890625,
      "loss": 0.03466796875,
      "pos_loss": 0.318359375,
      "rot_loss": 0.01458740234375,
      "step": 11316
    },
    {
      "epoch": 2.5391518958940993,
      "grad_norm": 0.25988852977752686,
      "learning_rate": 3.0312339493332898e-05,
      "loss": 0.0332,
      "step": 11317
    },
    {
      "epoch": 2.5391518958940993,
      "gripper_loss": 0.054931640625,
      "loss": 0.04150390625,
      "pos_loss": 0.314453125,
      "rot_loss": 0.080078125,
      "step": 11317
    },
    {
      "epoch": 2.5393762620596814,
      "grad_norm": 0.2920248508453369,
      "learning_rate": 3.028344195668023e-05,
      "loss": 0.0321,
      "step": 11318
    },
    {
      "epoch": 2.5393762620596814,
      "gripper_loss": 0.02490234375,
      "loss": 0.0181884765625,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.0634765625,
      "step": 11318
    },
    {
      "epoch": 2.539600628225264,
      "grad_norm": 0.2789404094219208,
      "learning_rate": 3.025455731289595e-05,
      "loss": 0.0431,
      "step": 11319
    },
    {
      "epoch": 2.539600628225264,
      "gripper_loss": 0.1357421875,
      "loss": 0.010986328125,
      "pos_loss": 0.0274658203125,
      "rot_loss": 0.02197265625,
      "step": 11319
    },
    {
      "epoch": 2.539824994390846,
      "grad_norm": 0.29528939723968506,
      "learning_rate": 3.022568556367497e-05,
      "loss": 0.0449,
      "step": 11320
    },
    {
      "epoch": 2.539824994390846,
      "gripper_loss": 0.040283203125,
      "loss": 0.11328125,
      "pos_loss": 1.09375,
      "rot_loss": 0.080078125,
      "step": 11320
    },
    {
      "epoch": 2.540049360556428,
      "grad_norm": 1.1316298246383667,
      "learning_rate": 3.0196826710711583e-05,
      "loss": 0.0667,
      "step": 11321
    },
    {
      "epoch": 2.540049360556428,
      "gripper_loss": 0.00885009765625,
      "loss": 0.06982421875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.0201416015625,
      "step": 11321
    },
    {
      "epoch": 2.5402737267220106,
      "grad_norm": 0.48310455679893494,
      "learning_rate": 3.016798075569907e-05,
      "loss": 0.0463,
      "step": 11322
    },
    {
      "epoch": 2.5402737267220106,
      "gripper_loss": 0.0037078857421875,
      "loss": 0.1640625,
      "pos_loss": 0.875,
      "rot_loss": 0.8515625,
      "step": 11322
    },
    {
      "epoch": 2.5404980928875927,
      "grad_norm": 0.33087825775146484,
      "learning_rate": 3.0139147700330245e-05,
      "loss": 0.0504,
      "step": 11323
    },
    {
      "epoch": 2.5404980928875927,
      "gripper_loss": 0.00433349609375,
      "loss": 0.0135498046875,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.0208740234375,
      "step": 11323
    },
    {
      "epoch": 2.5407224590531747,
      "grad_norm": 0.26603612303733826,
      "learning_rate": 3.0110327546296863e-05,
      "loss": 0.0319,
      "step": 11324
    },
    {
      "epoch": 2.5407224590531747,
      "gripper_loss": 0.87109375,
      "loss": 0.0859375,
      "pos_loss": 0.359375,
      "rot_loss": 0.24609375,
      "step": 11324
    },
    {
      "epoch": 2.5409468252187573,
      "grad_norm": 0.28555217385292053,
      "learning_rate": 3.0081520295290154e-05,
      "loss": 0.0389,
      "step": 11325
    },
    {
      "epoch": 2.5409468252187573,
      "gripper_loss": 0.314453125,
      "loss": 0.03857421875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.11181640625,
      "step": 11325
    },
    {
      "epoch": 2.5411711913843393,
      "grad_norm": 0.35356831550598145,
      "learning_rate": 3.0052725949000603e-05,
      "loss": 0.0386,
      "step": 11326
    },
    {
      "epoch": 2.5411711913843393,
      "gripper_loss": 0.0126953125,
      "loss": 0.0260009765625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.05859375,
      "step": 11326
    },
    {
      "epoch": 2.5413955575499214,
      "grad_norm": 0.5152188539505005,
      "learning_rate": 3.002394450911769e-05,
      "loss": 0.0551,
      "step": 11327
    },
    {
      "epoch": 2.5413955575499214,
      "gripper_loss": 0.07421875,
      "loss": 0.07958984375,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.5078125,
      "step": 11327
    },
    {
      "epoch": 2.541619923715504,
      "grad_norm": 0.618439793586731,
      "learning_rate": 2.9995175977330367e-05,
      "loss": 0.097,
      "step": 11328
    },
    {
      "epoch": 2.541619923715504,
      "gripper_loss": 0.0057373046875,
      "loss": 0.02294921875,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.11279296875,
      "step": 11328
    },
    {
      "epoch": 2.541844289881086,
      "grad_norm": 0.27789345383644104,
      "learning_rate": 2.9966420355326763e-05,
      "loss": 0.0532,
      "step": 11329
    },
    {
      "epoch": 2.541844289881086,
      "gripper_loss": 0.049072265625,
      "loss": 0.2138671875,
      "pos_loss": 0.671875,
      "rot_loss": 0.55859375,
      "step": 11329
    },
    {
      "epoch": 2.542068656046668,
      "grad_norm": 1.4615495204925537,
      "learning_rate": 2.9937677644794243e-05,
      "loss": 0.2325,
      "step": 11330
    },
    {
      "epoch": 2.542068656046668,
      "gripper_loss": 0.004058837890625,
      "loss": 0.138671875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.8125,
      "step": 11330
    },
    {
      "epoch": 2.5422930222122506,
      "grad_norm": 0.7826241254806519,
      "learning_rate": 2.990894784741946e-05,
      "loss": 0.0638,
      "step": 11331
    },
    {
      "epoch": 2.5422930222122506,
      "gripper_loss": 0.69921875,
      "loss": 0.0296630859375,
      "pos_loss": 0.037353515625,
      "rot_loss": 0.0228271484375,
      "step": 11331
    },
    {
      "epoch": 2.5425173883778327,
      "grad_norm": 0.43803757429122925,
      "learning_rate": 2.9880230964888177e-05,
      "loss": 0.0408,
      "step": 11332
    },
    {
      "epoch": 2.5425173883778327,
      "gripper_loss": 0.0062255859375,
      "loss": 0.0142822265625,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.044677734375,
      "step": 11332
    },
    {
      "epoch": 2.542741754543415,
      "grad_norm": 0.19073700904846191,
      "learning_rate": 2.9851526998885577e-05,
      "loss": 0.0371,
      "step": 11333
    },
    {
      "epoch": 2.542741754543415,
      "gripper_loss": 0.01025390625,
      "loss": 0.032958984375,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.2421875,
      "step": 11333
    },
    {
      "epoch": 2.5429661207089973,
      "grad_norm": 0.1886829137802124,
      "learning_rate": 2.9822835951095916e-05,
      "loss": 0.0307,
      "step": 11334
    },
    {
      "epoch": 2.5429661207089973,
      "gripper_loss": 0.004302978515625,
      "loss": 0.036865234375,
      "pos_loss": 0.326171875,
      "rot_loss": 0.04150390625,
      "step": 11334
    },
    {
      "epoch": 2.5431904868745794,
      "grad_norm": 0.501956582069397,
      "learning_rate": 2.9794157823202857e-05,
      "loss": 0.074,
      "step": 11335
    },
    {
      "epoch": 2.5431904868745794,
      "gripper_loss": 0.0030059814453125,
      "loss": 0.0712890625,
      "pos_loss": 0.64453125,
      "rot_loss": 0.09521484375,
      "step": 11335
    },
    {
      "epoch": 2.5434148530401615,
      "grad_norm": 0.367739200592041,
      "learning_rate": 2.97654926168891e-05,
      "loss": 0.0629,
      "step": 11336
    },
    {
      "epoch": 2.5434148530401615,
      "gripper_loss": 1.2578125,
      "loss": 0.0712890625,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.220703125,
      "step": 11336
    },
    {
      "epoch": 2.543639219205744,
      "grad_norm": 0.31548044085502625,
      "learning_rate": 2.9736840333836778e-05,
      "loss": 0.0416,
      "step": 11337
    },
    {
      "epoch": 2.543639219205744,
      "gripper_loss": 0.310546875,
      "loss": 0.0162353515625,
      "pos_loss": 0.017578125,
      "rot_loss": 0.0341796875,
      "step": 11337
    },
    {
      "epoch": 2.543863585371326,
      "grad_norm": 0.27820175886154175,
      "learning_rate": 2.970820097572721e-05,
      "loss": 0.0371,
      "step": 11338
    },
    {
      "epoch": 2.543863585371326,
      "gripper_loss": 0.01544189453125,
      "loss": 0.051025390625,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.275390625,
      "step": 11338
    },
    {
      "epoch": 2.544087951536908,
      "grad_norm": 0.262417733669281,
      "learning_rate": 2.967957454424097e-05,
      "loss": 0.0375,
      "step": 11339
    },
    {
      "epoch": 2.544087951536908,
      "gripper_loss": 0.0101318359375,
      "loss": 0.0654296875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.298828125,
      "step": 11339
    },
    {
      "epoch": 2.5443123177024907,
      "grad_norm": 0.20715977251529694,
      "learning_rate": 2.9650961041057745e-05,
      "loss": 0.0341,
      "step": 11340
    },
    {
      "epoch": 2.5443123177024907,
      "gripper_loss": 0.0031280517578125,
      "loss": 0.0164794921875,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.0206298828125,
      "step": 11340
    },
    {
      "epoch": 2.5445366838680727,
      "grad_norm": 0.6369096040725708,
      "learning_rate": 2.9622360467856602e-05,
      "loss": 0.0402,
      "step": 11341
    },
    {
      "epoch": 2.5445366838680727,
      "gripper_loss": 0.007080078125,
      "loss": 0.056396484375,
      "pos_loss": 0.154296875,
      "rot_loss": 0.423828125,
      "step": 11341
    },
    {
      "epoch": 2.544761050033655,
      "grad_norm": 0.2455988973379135,
      "learning_rate": 2.959377282631584e-05,
      "loss": 0.0345,
      "step": 11342
    },
    {
      "epoch": 2.544761050033655,
      "gripper_loss": 0.06103515625,
      "loss": 0.06689453125,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.546875,
      "step": 11342
    },
    {
      "epoch": 2.5449854161992373,
      "grad_norm": 0.4704183340072632,
      "learning_rate": 2.956519811811298e-05,
      "loss": 0.0531,
      "step": 11343
    },
    {
      "epoch": 2.5449854161992373,
      "gripper_loss": 0.0751953125,
      "loss": 0.142578125,
      "pos_loss": 0.45703125,
      "rot_loss": 0.6484375,
      "step": 11343
    },
    {
      "epoch": 2.5452097823648194,
      "grad_norm": 0.8924288153648376,
      "learning_rate": 2.9536636344924704e-05,
      "loss": 0.1039,
      "step": 11344
    },
    {
      "epoch": 2.5452097823648194,
      "gripper_loss": 0.04931640625,
      "loss": 0.06591796875,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.33203125,
      "step": 11344
    },
    {
      "epoch": 2.5454341485304015,
      "grad_norm": 0.8966411352157593,
      "learning_rate": 2.9508087508427096e-05,
      "loss": 0.0918,
      "step": 11345
    },
    {
      "epoch": 2.5454341485304015,
      "gripper_loss": 0.1953125,
      "loss": 0.0211181640625,
      "pos_loss": 0.08056640625,
      "rot_loss": 0.056396484375,
      "step": 11345
    },
    {
      "epoch": 2.545658514695984,
      "grad_norm": 0.4234362542629242,
      "learning_rate": 2.947955161029528e-05,
      "loss": 0.0468,
      "step": 11346
    },
    {
      "epoch": 2.545658514695984,
      "gripper_loss": 0.0189208984375,
      "loss": 0.0284423828125,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.044677734375,
      "step": 11346
    },
    {
      "epoch": 2.545882880861566,
      "grad_norm": 0.3155274987220764,
      "learning_rate": 2.945102865220381e-05,
      "loss": 0.0465,
      "step": 11347
    },
    {
      "epoch": 2.545882880861566,
      "gripper_loss": 0.00592041015625,
      "loss": 0.0615234375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.091796875,
      "step": 11347
    },
    {
      "epoch": 2.546107247027148,
      "grad_norm": 0.31476807594299316,
      "learning_rate": 2.94225186358264e-05,
      "loss": 0.0422,
      "step": 11348
    },
    {
      "epoch": 2.546107247027148,
      "gripper_loss": 0.01214599609375,
      "loss": 0.05419921875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.09423828125,
      "step": 11348
    },
    {
      "epoch": 2.5463316131927307,
      "grad_norm": 0.7552041411399841,
      "learning_rate": 2.939402156283594e-05,
      "loss": 0.0489,
      "step": 11349
    },
    {
      "epoch": 2.5463316131927307,
      "gripper_loss": 0.408203125,
      "loss": 0.05029296875,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.212890625,
      "step": 11349
    },
    {
      "epoch": 2.546555979358313,
      "grad_norm": 0.425266832113266,
      "learning_rate": 2.9365537434904665e-05,
      "loss": 0.0388,
      "step": 11350
    },
    {
      "epoch": 2.546555979358313,
      "gripper_loss": 0.8359375,
      "loss": 0.11669921875,
      "pos_loss": 0.609375,
      "rot_loss": 0.333984375,
      "step": 11350
    },
    {
      "epoch": 2.546780345523895,
      "grad_norm": 0.38904646039009094,
      "learning_rate": 2.9337066253703997e-05,
      "loss": 0.058,
      "step": 11351
    },
    {
      "epoch": 2.546780345523895,
      "gripper_loss": 0.11083984375,
      "loss": 0.0233154296875,
      "pos_loss": 0.154296875,
      "rot_loss": 0.029541015625,
      "step": 11351
    },
    {
      "epoch": 2.5470047116894774,
      "grad_norm": 0.521084189414978,
      "learning_rate": 2.930860802090471e-05,
      "loss": 0.0413,
      "step": 11352
    },
    {
      "epoch": 2.5470047116894774,
      "gripper_loss": 0.006378173828125,
      "loss": 0.025390625,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.08154296875,
      "step": 11352
    },
    {
      "epoch": 2.5472290778550595,
      "grad_norm": 0.24837328493595123,
      "learning_rate": 2.9280162738176573e-05,
      "loss": 0.0299,
      "step": 11353
    },
    {
      "epoch": 2.5472290778550595,
      "gripper_loss": 0.25,
      "loss": 0.0191650390625,
      "pos_loss": 0.08203125,
      "rot_loss": 0.015869140625,
      "step": 11353
    },
    {
      "epoch": 2.5474534440206416,
      "grad_norm": 0.2718297839164734,
      "learning_rate": 2.9251730407188787e-05,
      "loss": 0.0367,
      "step": 11354
    },
    {
      "epoch": 2.5474534440206416,
      "gripper_loss": 0.06787109375,
      "loss": 0.0240478515625,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.006622314453125,
      "step": 11354
    },
    {
      "epoch": 2.547677810186224,
      "grad_norm": 0.6263393759727478,
      "learning_rate": 2.922331102960979e-05,
      "loss": 0.0383,
      "step": 11355
    },
    {
      "epoch": 2.547677810186224,
      "gripper_loss": 0.08740234375,
      "loss": 0.1513671875,
      "pos_loss": 0.5078125,
      "rot_loss": 0.63671875,
      "step": 11355
    },
    {
      "epoch": 2.547902176351806,
      "grad_norm": 0.8954147696495056,
      "learning_rate": 2.9194904607107248e-05,
      "loss": 0.1204,
      "step": 11356
    },
    {
      "epoch": 2.547902176351806,
      "gripper_loss": 0.330078125,
      "loss": 0.029052734375,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.07275390625,
      "step": 11356
    },
    {
      "epoch": 2.5481265425173882,
      "grad_norm": 0.3252814710140228,
      "learning_rate": 2.9166511141347996e-05,
      "loss": 0.0404,
      "step": 11357
    },
    {
      "epoch": 2.5481265425173882,
      "gripper_loss": 0.2333984375,
      "loss": 0.087890625,
      "pos_loss": 0.6015625,
      "rot_loss": 0.2333984375,
      "step": 11357
    },
    {
      "epoch": 2.5483509086829708,
      "grad_norm": 0.4372768998146057,
      "learning_rate": 2.9138130633998063e-05,
      "loss": 0.0401,
      "step": 11358
    },
    {
      "epoch": 2.5483509086829708,
      "gripper_loss": 0.0108642578125,
      "loss": 0.0206298828125,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.0216064453125,
      "step": 11358
    },
    {
      "epoch": 2.548575274848553,
      "grad_norm": 0.4208124577999115,
      "learning_rate": 2.910976308672289e-05,
      "loss": 0.031,
      "step": 11359
    },
    {
      "epoch": 2.548575274848553,
      "gripper_loss": 0.02099609375,
      "loss": 0.044921875,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.201171875,
      "step": 11359
    },
    {
      "epoch": 2.548799641014135,
      "grad_norm": 0.36881908774375916,
      "learning_rate": 2.9081408501187068e-05,
      "loss": 0.0602,
      "step": 11360
    },
    {
      "epoch": 2.548799641014135,
      "gripper_loss": 0.005828857421875,
      "loss": 0.05322265625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.020263671875,
      "step": 11360
    },
    {
      "epoch": 2.5490240071797174,
      "grad_norm": 0.3376748561859131,
      "learning_rate": 2.9053066879054457e-05,
      "loss": 0.0296,
      "step": 11361
    },
    {
      "epoch": 2.5490240071797174,
      "gripper_loss": 1.1484375,
      "loss": 0.046875,
      "pos_loss": 0.02587890625,
      "rot_loss": 0.061767578125,
      "step": 11361
    },
    {
      "epoch": 2.5492483733452995,
      "grad_norm": 0.729486882686615,
      "learning_rate": 2.902473822198806e-05,
      "loss": 0.061,
      "step": 11362
    },
    {
      "epoch": 2.5492483733452995,
      "gripper_loss": 0.0341796875,
      "loss": 0.09375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.337890625,
      "step": 11362
    },
    {
      "epoch": 2.5494727395108816,
      "grad_norm": 0.3337290287017822,
      "learning_rate": 2.8996422531650247e-05,
      "loss": 0.0519,
      "step": 11363
    },
    {
      "epoch": 2.5494727395108816,
      "gripper_loss": 0.0888671875,
      "loss": 0.099609375,
      "pos_loss": 0.384765625,
      "rot_loss": 0.5390625,
      "step": 11363
    },
    {
      "epoch": 2.549697105676464,
      "grad_norm": 0.3695417642593384,
      "learning_rate": 2.896811980970254e-05,
      "loss": 0.0665,
      "step": 11364
    },
    {
      "epoch": 2.549697105676464,
      "gripper_loss": 0.024658203125,
      "loss": 0.08203125,
      "pos_loss": 0.5625,
      "rot_loss": 0.271484375,
      "step": 11364
    },
    {
      "epoch": 2.549921471842046,
      "grad_norm": 0.4620153605937958,
      "learning_rate": 2.893983005780579e-05,
      "loss": 0.067,
      "step": 11365
    },
    {
      "epoch": 2.549921471842046,
      "gripper_loss": 0.0277099609375,
      "loss": 0.04296875,
      "pos_loss": 0.37109375,
      "rot_loss": 0.053466796875,
      "step": 11365
    },
    {
      "epoch": 2.5501458380076283,
      "grad_norm": 0.5483217835426331,
      "learning_rate": 2.8911553277619935e-05,
      "loss": 0.0633,
      "step": 11366
    },
    {
      "epoch": 2.5501458380076283,
      "gripper_loss": 0.1572265625,
      "loss": 0.1484375,
      "pos_loss": 0.546875,
      "rot_loss": 0.353515625,
      "step": 11366
    },
    {
      "epoch": 2.550370204173211,
      "grad_norm": 1.1988308429718018,
      "learning_rate": 2.8883289470804292e-05,
      "loss": 0.1192,
      "step": 11367
    },
    {
      "epoch": 2.550370204173211,
      "gripper_loss": 0.048095703125,
      "loss": 0.03271484375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.035400390625,
      "step": 11367
    },
    {
      "epoch": 2.550594570338793,
      "grad_norm": 0.1737918257713318,
      "learning_rate": 2.8855038639017395e-05,
      "loss": 0.0325,
      "step": 11368
    },
    {
      "epoch": 2.550594570338793,
      "gripper_loss": 0.0069580078125,
      "loss": 0.038330078125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.06494140625,
      "step": 11368
    },
    {
      "epoch": 2.550818936504375,
      "grad_norm": 0.2770821154117584,
      "learning_rate": 2.8826800783916917e-05,
      "loss": 0.0402,
      "step": 11369
    },
    {
      "epoch": 2.550818936504375,
      "gripper_loss": 0.341796875,
      "loss": 0.09130859375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.38671875,
      "step": 11369
    },
    {
      "epoch": 2.5510433026699575,
      "grad_norm": 0.3615266680717468,
      "learning_rate": 2.879857590715995e-05,
      "loss": 0.0487,
      "step": 11370
    },
    {
      "epoch": 2.5510433026699575,
      "gripper_loss": 0.04052734375,
      "loss": 0.028564453125,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.087890625,
      "step": 11370
    },
    {
      "epoch": 2.5512676688355396,
      "grad_norm": 0.28271573781967163,
      "learning_rate": 2.8770364010402588e-05,
      "loss": 0.0366,
      "step": 11371
    },
    {
      "epoch": 2.5512676688355396,
      "gripper_loss": 0.00439453125,
      "loss": 0.054443359375,
      "pos_loss": 0.34375,
      "rot_loss": 0.212890625,
      "step": 11371
    },
    {
      "epoch": 2.5514920350011216,
      "grad_norm": 0.2906130850315094,
      "learning_rate": 2.8742165095300366e-05,
      "loss": 0.0373,
      "step": 11372
    },
    {
      "epoch": 2.5514920350011216,
      "gripper_loss": 0.057373046875,
      "loss": 0.03173828125,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.05615234375,
      "step": 11372
    },
    {
      "epoch": 2.551716401166704,
      "grad_norm": 0.4403735101222992,
      "learning_rate": 2.8713979163508014e-05,
      "loss": 0.0483,
      "step": 11373
    },
    {
      "epoch": 2.551716401166704,
      "gripper_loss": 0.25,
      "loss": 0.043212890625,
      "pos_loss": 0.083984375,
      "rot_loss": 0.265625,
      "step": 11373
    },
    {
      "epoch": 2.5519407673322863,
      "grad_norm": 0.22913570702075958,
      "learning_rate": 2.868580621667938e-05,
      "loss": 0.0474,
      "step": 11374
    },
    {
      "epoch": 2.5519407673322863,
      "gripper_loss": 0.006103515625,
      "loss": 0.022705078125,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.01318359375,
      "step": 11374
    },
    {
      "epoch": 2.5521651334978683,
      "grad_norm": 0.3233901560306549,
      "learning_rate": 2.865764625646769e-05,
      "loss": 0.0335,
      "step": 11375
    },
    {
      "epoch": 2.5521651334978683,
      "gripper_loss": 0.091796875,
      "loss": 0.0181884765625,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.04833984375,
      "step": 11375
    },
    {
      "epoch": 2.552389499663451,
      "grad_norm": 0.3017826974391937,
      "learning_rate": 2.862949928452535e-05,
      "loss": 0.037,
      "step": 11376
    },
    {
      "epoch": 2.552389499663451,
      "gripper_loss": 0.0133056640625,
      "loss": 0.040283203125,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.224609375,
      "step": 11376
    },
    {
      "epoch": 2.552613865829033,
      "grad_norm": 0.44974854588508606,
      "learning_rate": 2.8601365302504012e-05,
      "loss": 0.0506,
      "step": 11377
    },
    {
      "epoch": 2.552613865829033,
      "gripper_loss": 0.026123046875,
      "loss": 0.0478515625,
      "pos_loss": 0.37109375,
      "rot_loss": 0.107421875,
      "step": 11377
    },
    {
      "epoch": 2.552838231994615,
      "grad_norm": 0.2934257388114929,
      "learning_rate": 2.857324431205466e-05,
      "loss": 0.0491,
      "step": 11378
    },
    {
      "epoch": 2.552838231994615,
      "gripper_loss": 0.02392578125,
      "loss": 0.130859375,
      "pos_loss": 0.921875,
      "rot_loss": 0.4375,
      "step": 11378
    },
    {
      "epoch": 2.5530625981601975,
      "grad_norm": 0.28341877460479736,
      "learning_rate": 2.8545136314827246e-05,
      "loss": 0.0466,
      "step": 11379
    },
    {
      "epoch": 2.5530625981601975,
      "gripper_loss": 0.1318359375,
      "loss": 0.04833984375,
      "pos_loss": 0.35546875,
      "rot_loss": 0.09326171875,
      "step": 11379
    },
    {
      "epoch": 2.5532869643257796,
      "grad_norm": 0.24722984433174133,
      "learning_rate": 2.851704131247129e-05,
      "loss": 0.0377,
      "step": 11380
    },
    {
      "epoch": 2.5532869643257796,
      "gripper_loss": 0.09228515625,
      "loss": 0.0302734375,
      "pos_loss": 0.01708984375,
      "rot_loss": 0.251953125,
      "step": 11380
    },
    {
      "epoch": 2.5535113304913617,
      "grad_norm": 0.23730576038360596,
      "learning_rate": 2.8488959306635253e-05,
      "loss": 0.0303,
      "step": 11381
    },
    {
      "epoch": 2.5535113304913617,
      "gripper_loss": 0.76171875,
      "loss": 0.046875,
      "pos_loss": 0.19921875,
      "rot_loss": 0.0286865234375,
      "step": 11381
    },
    {
      "epoch": 2.553735696656944,
      "grad_norm": 0.5531547665596008,
      "learning_rate": 2.846089029896712e-05,
      "loss": 0.0473,
      "step": 11382
    },
    {
      "epoch": 2.553735696656944,
      "gripper_loss": 0.01202392578125,
      "loss": 0.0150146484375,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.07275390625,
      "step": 11382
    },
    {
      "epoch": 2.5539600628225263,
      "grad_norm": 0.22537289559841156,
      "learning_rate": 2.8432834291113846e-05,
      "loss": 0.0428,
      "step": 11383
    },
    {
      "epoch": 2.5539600628225263,
      "gripper_loss": 0.01190185546875,
      "loss": 0.0400390625,
      "pos_loss": 0.365234375,
      "rot_loss": 0.037841796875,
      "step": 11383
    },
    {
      "epoch": 2.5541844289881084,
      "grad_norm": 0.28216075897216797,
      "learning_rate": 2.840479128472179e-05,
      "loss": 0.048,
      "step": 11384
    },
    {
      "epoch": 2.5541844289881084,
      "gripper_loss": 0.12109375,
      "loss": 0.185546875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.271484375,
      "step": 11384
    },
    {
      "epoch": 2.554408795153691,
      "grad_norm": 1.5798444747924805,
      "learning_rate": 2.8376761281436515e-05,
      "loss": 0.2286,
      "step": 11385
    },
    {
      "epoch": 2.554408795153691,
      "gripper_loss": 0.0108642578125,
      "loss": 0.08251953125,
      "pos_loss": 0.828125,
      "rot_loss": 0.02392578125,
      "step": 11385
    },
    {
      "epoch": 2.554633161319273,
      "grad_norm": 0.38859227299690247,
      "learning_rate": 2.8348744282902823e-05,
      "loss": 0.0331,
      "step": 11386
    },
    {
      "epoch": 2.554633161319273,
      "gripper_loss": 0.04052734375,
      "loss": 0.02685546875,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.01373291015625,
      "step": 11386
    },
    {
      "epoch": 2.554857527484855,
      "grad_norm": 0.37539660930633545,
      "learning_rate": 2.83207402907647e-05,
      "loss": 0.056,
      "step": 11387
    },
    {
      "epoch": 2.554857527484855,
      "gripper_loss": 0.009033203125,
      "loss": 0.035888671875,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.150390625,
      "step": 11387
    },
    {
      "epoch": 2.5550818936504376,
      "grad_norm": 0.21244129538536072,
      "learning_rate": 2.8292749306665394e-05,
      "loss": 0.0422,
      "step": 11388
    },
    {
      "epoch": 2.5550818936504376,
      "gripper_loss": 0.00445556640625,
      "loss": 0.052978515625,
      "pos_loss": 0.146484375,
      "rot_loss": 0.38671875,
      "step": 11388
    },
    {
      "epoch": 2.5553062598160197,
      "grad_norm": 0.48418575525283813,
      "learning_rate": 2.8264771332247445e-05,
      "loss": 0.0418,
      "step": 11389
    },
    {
      "epoch": 2.5553062598160197,
      "gripper_loss": 0.0181884765625,
      "loss": 0.061767578125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.23046875,
      "step": 11389
    },
    {
      "epoch": 2.5555306259816017,
      "grad_norm": 0.3196396231651306,
      "learning_rate": 2.8236806369152574e-05,
      "loss": 0.0496,
      "step": 11390
    },
    {
      "epoch": 2.5555306259816017,
      "gripper_loss": 0.005462646484375,
      "loss": 0.054443359375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.0732421875,
      "step": 11390
    },
    {
      "epoch": 2.5557549921471843,
      "grad_norm": 0.2467166632413864,
      "learning_rate": 2.8208854419021823e-05,
      "loss": 0.033,
      "step": 11391
    },
    {
      "epoch": 2.5557549921471843,
      "gripper_loss": 0.013427734375,
      "loss": 0.189453125,
      "pos_loss": 0.75390625,
      "rot_loss": 1.2421875,
      "step": 11391
    },
    {
      "epoch": 2.5559793583127663,
      "grad_norm": 0.9318751096725464,
      "learning_rate": 2.81809154834953e-05,
      "loss": 0.059,
      "step": 11392
    },
    {
      "epoch": 2.5559793583127663,
      "gripper_loss": 0.012451171875,
      "loss": 0.036376953125,
      "pos_loss": 0.1953125,
      "rot_loss": 0.1533203125,
      "step": 11392
    },
    {
      "epoch": 2.5562037244783484,
      "grad_norm": 0.26246267557144165,
      "learning_rate": 2.8152989564212444e-05,
      "loss": 0.0367,
      "step": 11393
    },
    {
      "epoch": 2.5562037244783484,
      "gripper_loss": 0.031982421875,
      "loss": 0.0162353515625,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.0196533203125,
      "step": 11393
    },
    {
      "epoch": 2.556428090643931,
      "grad_norm": 0.2976820468902588,
      "learning_rate": 2.8125076662811972e-05,
      "loss": 0.0257,
      "step": 11394
    },
    {
      "epoch": 2.556428090643931,
      "gripper_loss": 0.134765625,
      "loss": 0.06787109375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.00860595703125,
      "step": 11394
    },
    {
      "epoch": 2.556652456809513,
      "grad_norm": 0.3797336518764496,
      "learning_rate": 2.8097176780931875e-05,
      "loss": 0.0475,
      "step": 11395
    },
    {
      "epoch": 2.556652456809513,
      "gripper_loss": 0.004913330078125,
      "loss": 0.0361328125,
      "pos_loss": 0.3359375,
      "rot_loss": 0.0234375,
      "step": 11395
    },
    {
      "epoch": 2.556876822975095,
      "grad_norm": 0.19887670874595642,
      "learning_rate": 2.8069289920209156e-05,
      "loss": 0.0336,
      "step": 11396
    },
    {
      "epoch": 2.556876822975095,
      "gripper_loss": 0.0380859375,
      "loss": 0.021728515625,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.10302734375,
      "step": 11396
    },
    {
      "epoch": 2.5571011891406776,
      "grad_norm": 0.25913283228874207,
      "learning_rate": 2.804141608228028e-05,
      "loss": 0.0398,
      "step": 11397
    },
    {
      "epoch": 2.5571011891406776,
      "gripper_loss": 0.12353515625,
      "loss": 0.0517578125,
      "pos_loss": 0.34375,
      "rot_loss": 0.1416015625,
      "step": 11397
    },
    {
      "epoch": 2.5573255553062597,
      "grad_norm": 0.3241035044193268,
      "learning_rate": 2.8013555268780857e-05,
      "loss": 0.0288,
      "step": 11398
    },
    {
      "epoch": 2.5573255553062597,
      "gripper_loss": 0.004608154296875,
      "loss": 0.06005859375,
      "pos_loss": 0.251953125,
      "rot_loss": 0.359375,
      "step": 11398
    },
    {
      "epoch": 2.557549921471842,
      "grad_norm": 0.3339802324771881,
      "learning_rate": 2.7985707481345823e-05,
      "loss": 0.0487,
      "step": 11399
    },
    {
      "epoch": 2.557549921471842,
      "gripper_loss": 0.007720947265625,
      "loss": 0.0634765625,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.451171875,
      "step": 11399
    },
    {
      "epoch": 2.5577742876374243,
      "grad_norm": 0.31020984053611755,
      "learning_rate": 2.7957872721609156e-05,
      "loss": 0.0652,
      "step": 11400
    },
    {
      "epoch": 2.5577742876374243,
      "gripper_loss": 0.006134033203125,
      "loss": 0.06005859375,
      "pos_loss": 0.5859375,
      "rot_loss": 0.0291748046875,
      "step": 11400
    },
    {
      "epoch": 2.5579986538030064,
      "grad_norm": 0.294594943523407,
      "learning_rate": 2.793005099120427e-05,
      "loss": 0.0574,
      "step": 11401
    },
    {
      "epoch": 2.5579986538030064,
      "gripper_loss": 0.00848388671875,
      "loss": 0.062255859375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.20703125,
      "step": 11401
    },
    {
      "epoch": 2.5582230199685885,
      "grad_norm": 0.5111417770385742,
      "learning_rate": 2.7902242291763663e-05,
      "loss": 0.0577,
      "step": 11402
    },
    {
      "epoch": 2.5582230199685885,
      "gripper_loss": 0.0106201171875,
      "loss": 0.078125,
      "pos_loss": 0.57421875,
      "rot_loss": 0.236328125,
      "step": 11402
    },
    {
      "epoch": 2.558447386134171,
      "grad_norm": 0.40229305624961853,
      "learning_rate": 2.7874446624919253e-05,
      "loss": 0.0329,
      "step": 11403
    },
    {
      "epoch": 2.558447386134171,
      "gripper_loss": 0.002655029296875,
      "loss": 0.0076904296875,
      "pos_loss": 0.0478515625,
      "rot_loss": 0.01080322265625,
      "step": 11403
    },
    {
      "epoch": 2.558671752299753,
      "grad_norm": 0.45793280005455017,
      "learning_rate": 2.7846663992301985e-05,
      "loss": 0.0488,
      "step": 11404
    },
    {
      "epoch": 2.558671752299753,
      "gripper_loss": 0.07861328125,
      "loss": 0.02294921875,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.10302734375,
      "step": 11404
    },
    {
      "epoch": 2.558896118465335,
      "grad_norm": 0.3412206470966339,
      "learning_rate": 2.781889439554208e-05,
      "loss": 0.0256,
      "step": 11405
    },
    {
      "epoch": 2.558896118465335,
      "gripper_loss": 0.00390625,
      "loss": 0.06494140625,
      "pos_loss": 0.50390625,
      "rot_loss": 0.1669921875,
      "step": 11405
    },
    {
      "epoch": 2.5591204846309177,
      "grad_norm": 0.30604076385498047,
      "learning_rate": 2.7791137836269158e-05,
      "loss": 0.0465,
      "step": 11406
    },
    {
      "epoch": 2.5591204846309177,
      "gripper_loss": 0.298828125,
      "loss": 0.01318359375,
      "pos_loss": 0.0142822265625,
      "rot_loss": 0.005401611328125,
      "step": 11406
    },
    {
      "epoch": 2.5593448507964998,
      "grad_norm": 0.43278995156288147,
      "learning_rate": 2.7763394316111886e-05,
      "loss": 0.046,
      "step": 11407
    },
    {
      "epoch": 2.5593448507964998,
      "gripper_loss": 0.341796875,
      "loss": 0.0140380859375,
      "pos_loss": 0.00592041015625,
      "rot_loss": 0.00860595703125,
      "step": 11407
    },
    {
      "epoch": 2.5595692169620823,
      "grad_norm": 0.5777173042297363,
      "learning_rate": 2.7735663836698317e-05,
      "loss": 0.0538,
      "step": 11408
    },
    {
      "epoch": 2.5595692169620823,
      "gripper_loss": 0.0087890625,
      "loss": 0.06591796875,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.5625,
      "step": 11408
    },
    {
      "epoch": 2.5597935831276644,
      "grad_norm": 0.5562123656272888,
      "learning_rate": 2.770794639965557e-05,
      "loss": 0.0774,
      "step": 11409
    },
    {
      "epoch": 2.5597935831276644,
      "gripper_loss": 0.02978515625,
      "loss": 0.01361083984375,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.0252685546875,
      "step": 11409
    },
    {
      "epoch": 2.5600179492932464,
      "grad_norm": 0.5350715517997742,
      "learning_rate": 2.768024200661015e-05,
      "loss": 0.0349,
      "step": 11410
    },
    {
      "epoch": 2.5600179492932464,
      "gripper_loss": 0.0128173828125,
      "loss": 0.046142578125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.26953125,
      "step": 11410
    },
    {
      "epoch": 2.560242315458829,
      "grad_norm": 0.31316256523132324,
      "learning_rate": 2.765255065918773e-05,
      "loss": 0.0458,
      "step": 11411
    },
    {
      "epoch": 2.560242315458829,
      "gripper_loss": 0.1396484375,
      "loss": 0.01171875,
      "pos_loss": 0.034423828125,
      "rot_loss": 0.023681640625,
      "step": 11411
    },
    {
      "epoch": 2.560466681624411,
      "grad_norm": 0.23489227890968323,
      "learning_rate": 2.762487235901326e-05,
      "loss": 0.0359,
      "step": 11412
    },
    {
      "epoch": 2.560466681624411,
      "gripper_loss": 0.2734375,
      "loss": 0.01458740234375,
      "pos_loss": 0.0162353515625,
      "rot_loss": 0.0250244140625,
      "step": 11412
    },
    {
      "epoch": 2.560691047789993,
      "grad_norm": 0.37203818559646606,
      "learning_rate": 2.7597207107710827e-05,
      "loss": 0.0423,
      "step": 11413
    },
    {
      "epoch": 2.560691047789993,
      "gripper_loss": 0.018798828125,
      "loss": 0.0478515625,
      "pos_loss": 0.228515625,
      "rot_loss": 0.2490234375,
      "step": 11413
    },
    {
      "epoch": 2.5609154139555756,
      "grad_norm": 0.17162840068340302,
      "learning_rate": 2.75695549069038e-05,
      "loss": 0.0367,
      "step": 11414
    },
    {
      "epoch": 2.5609154139555756,
      "gripper_loss": 0.00469970703125,
      "loss": 0.0255126953125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.08447265625,
      "step": 11414
    },
    {
      "epoch": 2.5611397801211577,
      "grad_norm": 0.26012784242630005,
      "learning_rate": 2.7541915758214908e-05,
      "loss": 0.0439,
      "step": 11415
    },
    {
      "epoch": 2.5611397801211577,
      "gripper_loss": 0.009033203125,
      "loss": 0.0126953125,
      "pos_loss": 0.099609375,
      "rot_loss": 0.00836181640625,
      "step": 11415
    },
    {
      "epoch": 2.56136414628674,
      "grad_norm": 0.2704601585865021,
      "learning_rate": 2.7514289663265912e-05,
      "loss": 0.0278,
      "step": 11416
    },
    {
      "epoch": 2.56136414628674,
      "gripper_loss": 0.1328125,
      "loss": 0.01287841796875,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.007080078125,
      "step": 11416
    },
    {
      "epoch": 2.5615885124523223,
      "grad_norm": 0.3344472050666809,
      "learning_rate": 2.748667662367793e-05,
      "loss": 0.054,
      "step": 11417
    },
    {
      "epoch": 2.5615885124523223,
      "gripper_loss": 0.01043701171875,
      "loss": 0.061279296875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.09130859375,
      "step": 11417
    },
    {
      "epoch": 2.5618128786179044,
      "grad_norm": 0.29956862330436707,
      "learning_rate": 2.7459076641071252e-05,
      "loss": 0.0485,
      "step": 11418
    },
    {
      "epoch": 2.5618128786179044,
      "gripper_loss": 0.005523681640625,
      "loss": 0.0859375,
      "pos_loss": 0.55859375,
      "rot_loss": 0.328125,
      "step": 11418
    },
    {
      "epoch": 2.5620372447834865,
      "grad_norm": 0.5246720910072327,
      "learning_rate": 2.7431489717065438e-05,
      "loss": 0.0428,
      "step": 11419
    },
    {
      "epoch": 2.5620372447834865,
      "gripper_loss": 0.02001953125,
      "loss": 0.052001953125,
      "pos_loss": 0.228515625,
      "rot_loss": 0.2197265625,
      "step": 11419
    },
    {
      "epoch": 2.562261610949069,
      "grad_norm": 0.5858696103096008,
      "learning_rate": 2.740391585327931e-05,
      "loss": 0.0633,
      "step": 11420
    },
    {
      "epoch": 2.562261610949069,
      "gripper_loss": 0.828125,
      "loss": 0.029052734375,
      "pos_loss": 0.00555419921875,
      "rot_loss": 0.0059814453125,
      "step": 11420
    },
    {
      "epoch": 2.562485977114651,
      "grad_norm": 0.4037049114704132,
      "learning_rate": 2.7376355051330903e-05,
      "loss": 0.0424,
      "step": 11421
    },
    {
      "epoch": 2.562485977114651,
      "gripper_loss": 0.01385498046875,
      "loss": 0.051513671875,
      "pos_loss": 0.29296875,
      "rot_loss": 0.22265625,
      "step": 11421
    },
    {
      "epoch": 2.5627103432802336,
      "grad_norm": 0.38060152530670166,
      "learning_rate": 2.73488073128374e-05,
      "loss": 0.0468,
      "step": 11422
    },
    {
      "epoch": 2.5627103432802336,
      "gripper_loss": 0.0107421875,
      "loss": 0.022705078125,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.11376953125,
      "step": 11422
    },
    {
      "epoch": 2.5629347094458157,
      "grad_norm": 0.3002631962299347,
      "learning_rate": 2.7321272639415335e-05,
      "loss": 0.0629,
      "step": 11423
    },
    {
      "epoch": 2.5629347094458157,
      "gripper_loss": 0.0186767578125,
      "loss": 0.01434326171875,
      "pos_loss": 0.052978515625,
      "rot_loss": 0.0673828125,
      "step": 11423
    },
    {
      "epoch": 2.5631590756113978,
      "grad_norm": 0.29252490401268005,
      "learning_rate": 2.7293751032680448e-05,
      "loss": 0.0443,
      "step": 11424
    },
    {
      "epoch": 2.5631590756113978,
      "gripper_loss": 0.005096435546875,
      "loss": 0.050537109375,
      "pos_loss": 0.416015625,
      "rot_loss": 0.0908203125,
      "step": 11424
    },
    {
      "epoch": 2.5633834417769803,
      "grad_norm": 0.39782658219337463,
      "learning_rate": 2.7266242494247694e-05,
      "loss": 0.0727,
      "step": 11425
    },
    {
      "epoch": 2.5633834417769803,
      "gripper_loss": 0.09814453125,
      "loss": 0.0286865234375,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.051025390625,
      "step": 11425
    },
    {
      "epoch": 2.5636078079425624,
      "grad_norm": 0.2486330270767212,
      "learning_rate": 2.7238747025731203e-05,
      "loss": 0.0367,
      "step": 11426
    },
    {
      "epoch": 2.5636078079425624,
      "gripper_loss": 0.04248046875,
      "loss": 0.053955078125,
      "pos_loss": 0.2890625,
      "rot_loss": 0.2431640625,
      "step": 11426
    },
    {
      "epoch": 2.5638321741081445,
      "grad_norm": 0.34473299980163574,
      "learning_rate": 2.7211264628744486e-05,
      "loss": 0.0558,
      "step": 11427
    },
    {
      "epoch": 2.5638321741081445,
      "gripper_loss": 0.02197265625,
      "loss": 0.04833984375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.150390625,
      "step": 11427
    },
    {
      "epoch": 2.564056540273727,
      "grad_norm": 0.2951473593711853,
      "learning_rate": 2.718379530490009e-05,
      "loss": 0.0499,
      "step": 11428
    },
    {
      "epoch": 2.564056540273727,
      "gripper_loss": 0.0284423828125,
      "loss": 0.015380859375,
      "pos_loss": 0.054443359375,
      "rot_loss": 0.042724609375,
      "step": 11428
    },
    {
      "epoch": 2.564280906439309,
      "grad_norm": 0.501980721950531,
      "learning_rate": 2.7156339055809998e-05,
      "loss": 0.066,
      "step": 11429
    },
    {
      "epoch": 2.564280906439309,
      "gripper_loss": 0.007659912109375,
      "loss": 0.083984375,
      "pos_loss": 0.4296875,
      "rot_loss": 0.431640625,
      "step": 11429
    },
    {
      "epoch": 2.564505272604891,
      "grad_norm": 0.3769947588443756,
      "learning_rate": 2.7128895883085258e-05,
      "loss": 0.0542,
      "step": 11430
    },
    {
      "epoch": 2.564505272604891,
      "gripper_loss": 0.0712890625,
      "loss": 0.042724609375,
      "pos_loss": 0.271484375,
      "rot_loss": 0.1328125,
      "step": 11430
    },
    {
      "epoch": 2.5647296387704737,
      "grad_norm": 0.3954673409461975,
      "learning_rate": 2.7101465788336277e-05,
      "loss": 0.0479,
      "step": 11431
    },
    {
      "epoch": 2.5647296387704737,
      "gripper_loss": 0.28125,
      "loss": 0.021240234375,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.03125,
      "step": 11431
    },
    {
      "epoch": 2.5649540049360557,
      "grad_norm": 0.30502116680145264,
      "learning_rate": 2.70740487731726e-05,
      "loss": 0.0426,
      "step": 11432
    },
    {
      "epoch": 2.5649540049360557,
      "gripper_loss": 0.083984375,
      "loss": 0.0201416015625,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.054931640625,
      "step": 11432
    },
    {
      "epoch": 2.565178371101638,
      "grad_norm": 0.1687440574169159,
      "learning_rate": 2.7046644839203107e-05,
      "loss": 0.0204,
      "step": 11433
    },
    {
      "epoch": 2.565178371101638,
      "gripper_loss": 0.004241943359375,
      "loss": 0.05419921875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.01470947265625,
      "step": 11433
    },
    {
      "epoch": 2.5654027372672203,
      "grad_norm": 0.2883763313293457,
      "learning_rate": 2.701925398803576e-05,
      "loss": 0.043,
      "step": 11434
    },
    {
      "epoch": 2.5654027372672203,
      "gripper_loss": 0.00543212890625,
      "loss": 0.034912109375,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.189453125,
      "step": 11434
    },
    {
      "epoch": 2.5656271034328024,
      "grad_norm": 0.3650203049182892,
      "learning_rate": 2.6991876221277883e-05,
      "loss": 0.0393,
      "step": 11435
    },
    {
      "epoch": 2.5656271034328024,
      "gripper_loss": 0.01202392578125,
      "loss": 0.06689453125,
      "pos_loss": 0.484375,
      "rot_loss": 0.1953125,
      "step": 11435
    },
    {
      "epoch": 2.5658514695983845,
      "grad_norm": 0.25362342596054077,
      "learning_rate": 2.6964511540536002e-05,
      "loss": 0.0422,
      "step": 11436
    },
    {
      "epoch": 2.5658514695983845,
      "gripper_loss": 0.2890625,
      "loss": 0.03759765625,
      "pos_loss": 0.12158203125,
      "rot_loss": 0.1572265625,
      "step": 11436
    },
    {
      "epoch": 2.566075835763967,
      "grad_norm": 0.18656405806541443,
      "learning_rate": 2.6937159947415884e-05,
      "loss": 0.036,
      "step": 11437
    },
    {
      "epoch": 2.566075835763967,
      "gripper_loss": 0.03271484375,
      "loss": 0.0859375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.27734375,
      "step": 11437
    },
    {
      "epoch": 2.566300201929549,
      "grad_norm": 0.265376478433609,
      "learning_rate": 2.6909821443522496e-05,
      "loss": 0.0349,
      "step": 11438
    },
    {
      "epoch": 2.566300201929549,
      "gripper_loss": 0.0184326171875,
      "loss": 0.056640625,
      "pos_loss": 0.22265625,
      "rot_loss": 0.34375,
      "step": 11438
    },
    {
      "epoch": 2.566524568095131,
      "grad_norm": 0.3786814212799072,
      "learning_rate": 2.6882496030460058e-05,
      "loss": 0.0545,
      "step": 11439
    },
    {
      "epoch": 2.566524568095131,
      "gripper_loss": 0.025634765625,
      "loss": 0.044921875,
      "pos_loss": 0.3125,
      "rot_loss": 0.130859375,
      "step": 11439
    },
    {
      "epoch": 2.5667489342607137,
      "grad_norm": 0.25980985164642334,
      "learning_rate": 2.685518370983192e-05,
      "loss": 0.051,
      "step": 11440
    },
    {
      "epoch": 2.5667489342607137,
      "gripper_loss": 0.01409912109375,
      "loss": 0.043701171875,
      "pos_loss": 0.330078125,
      "rot_loss": 0.11328125,
      "step": 11440
    },
    {
      "epoch": 2.566973300426296,
      "grad_norm": 0.26727741956710815,
      "learning_rate": 2.6827884483240862e-05,
      "loss": 0.0501,
      "step": 11441
    },
    {
      "epoch": 2.566973300426296,
      "gripper_loss": 0.5546875,
      "loss": 0.021484375,
      "pos_loss": 0.01611328125,
      "rot_loss": 0.00482177734375,
      "step": 11441
    },
    {
      "epoch": 2.567197666591878,
      "grad_norm": 0.34878942370414734,
      "learning_rate": 2.680059835228876e-05,
      "loss": 0.0439,
      "step": 11442
    },
    {
      "epoch": 2.567197666591878,
      "gripper_loss": 0.0390625,
      "loss": 0.0830078125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.251953125,
      "step": 11442
    },
    {
      "epoch": 2.5674220327574604,
      "grad_norm": 0.27763327956199646,
      "learning_rate": 2.6773325318576737e-05,
      "loss": 0.0674,
      "step": 11443
    },
    {
      "epoch": 2.5674220327574604,
      "gripper_loss": 0.01068115234375,
      "loss": 0.07080078125,
      "pos_loss": 0.408203125,
      "rot_loss": 0.3046875,
      "step": 11443
    },
    {
      "epoch": 2.5676463989230425,
      "grad_norm": 0.3078199326992035,
      "learning_rate": 2.6746065383705138e-05,
      "loss": 0.0627,
      "step": 11444
    },
    {
      "epoch": 2.5676463989230425,
      "gripper_loss": 0.2158203125,
      "loss": 0.0255126953125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.0166015625,
      "step": 11444
    },
    {
      "epoch": 2.5678707650886246,
      "grad_norm": 0.29932600259780884,
      "learning_rate": 2.671881854927363e-05,
      "loss": 0.0423,
      "step": 11445
    },
    {
      "epoch": 2.5678707650886246,
      "gripper_loss": 0.0040283203125,
      "loss": 0.021240234375,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.050537109375,
      "step": 11445
    },
    {
      "epoch": 2.568095131254207,
      "grad_norm": 0.2834319472312927,
      "learning_rate": 2.6691584816881054e-05,
      "loss": 0.0304,
      "step": 11446
    },
    {
      "epoch": 2.568095131254207,
      "gripper_loss": 0.0035247802734375,
      "loss": 0.08056640625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.1162109375,
      "step": 11446
    },
    {
      "epoch": 2.568319497419789,
      "grad_norm": 0.3022994101047516,
      "learning_rate": 2.6664364188125374e-05,
      "loss": 0.049,
      "step": 11447
    },
    {
      "epoch": 2.568319497419789,
      "gripper_loss": 0.00555419921875,
      "loss": 0.039794921875,
      "pos_loss": 0.37109375,
      "rot_loss": 0.0294189453125,
      "step": 11447
    },
    {
      "epoch": 2.5685438635853712,
      "grad_norm": 0.31872114539146423,
      "learning_rate": 2.663715666460395e-05,
      "loss": 0.037,
      "step": 11448
    },
    {
      "epoch": 2.5685438635853712,
      "gripper_loss": 0.0159912109375,
      "loss": 0.027099609375,
      "pos_loss": 0.06689453125,
      "rot_loss": 0.1943359375,
      "step": 11448
    },
    {
      "epoch": 2.5687682297509538,
      "grad_norm": 0.33217355608940125,
      "learning_rate": 2.660996224791329e-05,
      "loss": 0.0509,
      "step": 11449
    },
    {
      "epoch": 2.5687682297509538,
      "gripper_loss": 0.01434326171875,
      "loss": 0.0732421875,
      "pos_loss": 0.404296875,
      "rot_loss": 0.33984375,
      "step": 11449
    },
    {
      "epoch": 2.568992595916536,
      "grad_norm": 0.35782885551452637,
      "learning_rate": 2.658278093964922e-05,
      "loss": 0.0495,
      "step": 11450
    },
    {
      "epoch": 2.568992595916536,
      "gripper_loss": 0.197265625,
      "loss": 0.0341796875,
      "pos_loss": 0.205078125,
      "rot_loss": 0.064453125,
      "step": 11450
    },
    {
      "epoch": 2.569216962082118,
      "grad_norm": 0.38512638211250305,
      "learning_rate": 2.655561274140661e-05,
      "loss": 0.03,
      "step": 11451
    },
    {
      "epoch": 2.569216962082118,
      "gripper_loss": 0.005126953125,
      "loss": 0.11669921875,
      "pos_loss": 1.171875,
      "rot_loss": 0.049560546875,
      "step": 11451
    },
    {
      "epoch": 2.5694413282477004,
      "grad_norm": 0.32787302136421204,
      "learning_rate": 2.6528457654779793e-05,
      "loss": 0.0614,
      "step": 11452
    },
    {
      "epoch": 2.5694413282477004,
      "gripper_loss": 0.01275634765625,
      "loss": 0.0106201171875,
      "pos_loss": 0.04443359375,
      "rot_loss": 0.0419921875,
      "step": 11452
    },
    {
      "epoch": 2.5696656944132825,
      "grad_norm": 0.24269025027751923,
      "learning_rate": 2.6501315681362103e-05,
      "loss": 0.0358,
      "step": 11453
    },
    {
      "epoch": 2.5696656944132825,
      "gripper_loss": 0.0625,
      "loss": 0.0830078125,
      "pos_loss": 0.3515625,
      "rot_loss": 0.490234375,
      "step": 11453
    },
    {
      "epoch": 2.5698900605788646,
      "grad_norm": 0.7064706087112427,
      "learning_rate": 2.6474186822746273e-05,
      "loss": 0.0372,
      "step": 11454
    },
    {
      "epoch": 2.5698900605788646,
      "gripper_loss": 0.01324462890625,
      "loss": 0.115234375,
      "pos_loss": 0.859375,
      "rot_loss": 0.333984375,
      "step": 11454
    },
    {
      "epoch": 2.570114426744447,
      "grad_norm": 0.35090330243110657,
      "learning_rate": 2.644707108052427e-05,
      "loss": 0.0603,
      "step": 11455
    },
    {
      "epoch": 2.570114426744447,
      "gripper_loss": 0.006195068359375,
      "loss": 0.0419921875,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.2216796875,
      "step": 11455
    },
    {
      "epoch": 2.570338792910029,
      "grad_norm": 0.2529408931732178,
      "learning_rate": 2.6419968456287135e-05,
      "loss": 0.0307,
      "step": 11456
    },
    {
      "epoch": 2.570338792910029,
      "gripper_loss": 0.9296875,
      "loss": 0.07568359375,
      "pos_loss": 0.40625,
      "rot_loss": 0.0634765625,
      "step": 11456
    },
    {
      "epoch": 2.5705631590756113,
      "grad_norm": 0.3865295350551605,
      "learning_rate": 2.639287895162526e-05,
      "loss": 0.0511,
      "step": 11457
    },
    {
      "epoch": 2.5705631590756113,
      "gripper_loss": 0.01318359375,
      "loss": 0.033935546875,
      "pos_loss": 0.234375,
      "rot_loss": 0.09423828125,
      "step": 11457
    },
    {
      "epoch": 2.570787525241194,
      "grad_norm": 0.4725337326526642,
      "learning_rate": 2.6365802568128287e-05,
      "loss": 0.0463,
      "step": 11458
    },
    {
      "epoch": 2.570787525241194,
      "gripper_loss": 0.19921875,
      "loss": 0.0196533203125,
      "pos_loss": 0.1015625,
      "rot_loss": 0.0162353515625,
      "step": 11458
    },
    {
      "epoch": 2.571011891406776,
      "grad_norm": 0.3351978659629822,
      "learning_rate": 2.633873930738506e-05,
      "loss": 0.0308,
      "step": 11459
    },
    {
      "epoch": 2.571011891406776,
      "gripper_loss": 0.0419921875,
      "loss": 0.0203857421875,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.048583984375,
      "step": 11459
    },
    {
      "epoch": 2.571236257572358,
      "grad_norm": 0.23589278757572174,
      "learning_rate": 2.6311689170983532e-05,
      "loss": 0.0376,
      "step": 11460
    },
    {
      "epoch": 2.571236257572358,
      "gripper_loss": 0.173828125,
      "loss": 0.0341796875,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.05029296875,
      "step": 11460
    },
    {
      "epoch": 2.5714606237379405,
      "grad_norm": 0.20027363300323486,
      "learning_rate": 2.6284652160511098e-05,
      "loss": 0.0268,
      "step": 11461
    },
    {
      "epoch": 2.5714606237379405,
      "gripper_loss": 0.005340576171875,
      "loss": 0.05517578125,
      "pos_loss": 0.248046875,
      "rot_loss": 0.3125,
      "step": 11461
    },
    {
      "epoch": 2.5716849899035226,
      "grad_norm": 0.3751923441886902,
      "learning_rate": 2.625762827755429e-05,
      "loss": 0.0582,
      "step": 11462
    },
    {
      "epoch": 2.5716849899035226,
      "gripper_loss": 0.0751953125,
      "loss": 0.0069580078125,
      "pos_loss": 0.019287109375,
      "rot_loss": 0.01226806640625,
      "step": 11462
    },
    {
      "epoch": 2.5719093560691046,
      "grad_norm": 0.24849314987659454,
      "learning_rate": 2.6230617523698735e-05,
      "loss": 0.0312,
      "step": 11463
    },
    {
      "epoch": 2.5719093560691046,
      "gripper_loss": 0.007598876953125,
      "loss": 0.04248046875,
      "pos_loss": 0.33203125,
      "rot_loss": 0.0947265625,
      "step": 11463
    },
    {
      "epoch": 2.572133722234687,
      "grad_norm": 0.14761827886104584,
      "learning_rate": 2.6203619900529552e-05,
      "loss": 0.0214,
      "step": 11464
    },
    {
      "epoch": 2.572133722234687,
      "gripper_loss": 0.75390625,
      "loss": 0.06689453125,
      "pos_loss": 0.271484375,
      "rot_loss": 0.1689453125,
      "step": 11464
    },
    {
      "epoch": 2.5723580884002692,
      "grad_norm": 0.3600987195968628,
      "learning_rate": 2.6176635409630834e-05,
      "loss": 0.0407,
      "step": 11465
    },
    {
      "epoch": 2.5723580884002692,
      "gripper_loss": 0.01165771484375,
      "loss": 0.049560546875,
      "pos_loss": 0.4609375,
      "rot_loss": 0.04443359375,
      "step": 11465
    },
    {
      "epoch": 2.5725824545658513,
      "grad_norm": 0.4031902551651001,
      "learning_rate": 2.6149664052586065e-05,
      "loss": 0.034,
      "step": 11466
    },
    {
      "epoch": 2.5725824545658513,
      "gripper_loss": 0.0224609375,
      "loss": 0.0390625,
      "pos_loss": 0.19140625,
      "rot_loss": 0.1953125,
      "step": 11466
    },
    {
      "epoch": 2.572806820731434,
      "grad_norm": 0.30791693925857544,
      "learning_rate": 2.6122705830977922e-05,
      "loss": 0.04,
      "step": 11467
    },
    {
      "epoch": 2.572806820731434,
      "gripper_loss": 0.13671875,
      "loss": 0.00927734375,
      "pos_loss": 0.02001953125,
      "rot_loss": 0.00787353515625,
      "step": 11467
    },
    {
      "epoch": 2.573031186897016,
      "grad_norm": 0.2616821229457855,
      "learning_rate": 2.6095760746388336e-05,
      "loss": 0.0231,
      "step": 11468
    },
    {
      "epoch": 2.573031186897016,
      "gripper_loss": 0.326171875,
      "loss": 0.025390625,
      "pos_loss": 0.076171875,
      "rot_loss": 0.0654296875,
      "step": 11468
    },
    {
      "epoch": 2.573255553062598,
      "grad_norm": 0.421367883682251,
      "learning_rate": 2.606882880039835e-05,
      "loss": 0.0494,
      "step": 11469
    },
    {
      "epoch": 2.573255553062598,
      "gripper_loss": 1.8359375,
      "loss": 0.0654296875,
      "pos_loss": 0.032470703125,
      "rot_loss": 0.038818359375,
      "step": 11469
    },
    {
      "epoch": 2.5734799192281805,
      "grad_norm": 0.24636884033679962,
      "learning_rate": 2.604190999458836e-05,
      "loss": 0.0465,
      "step": 11470
    },
    {
      "epoch": 2.5734799192281805,
      "gripper_loss": 0.0062255859375,
      "loss": 0.028564453125,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.1953125,
      "step": 11470
    },
    {
      "epoch": 2.5737042853937626,
      "grad_norm": 0.20443996787071228,
      "learning_rate": 2.6015004330537967e-05,
      "loss": 0.0358,
      "step": 11471
    },
    {
      "epoch": 2.5737042853937626,
      "gripper_loss": 0.0703125,
      "loss": 0.0240478515625,
      "pos_loss": 0.150390625,
      "rot_loss": 0.05859375,
      "step": 11471
    },
    {
      "epoch": 2.5739286515593447,
      "grad_norm": 0.2329343557357788,
      "learning_rate": 2.598811180982599e-05,
      "loss": 0.0284,
      "step": 11472
    },
    {
      "epoch": 2.5739286515593447,
      "gripper_loss": 0.020751953125,
      "loss": 0.01434326171875,
      "pos_loss": 0.05712890625,
      "rot_loss": 0.072265625,
      "step": 11472
    },
    {
      "epoch": 2.574153017724927,
      "grad_norm": 0.23564812541007996,
      "learning_rate": 2.5961232434030398e-05,
      "loss": 0.0426,
      "step": 11473
    },
    {
      "epoch": 2.574153017724927,
      "gripper_loss": 0.0106201171875,
      "loss": 0.030029296875,
      "pos_loss": 0.04833984375,
      "rot_loss": 0.2421875,
      "step": 11473
    },
    {
      "epoch": 2.5743773838905093,
      "grad_norm": 0.48936036229133606,
      "learning_rate": 2.5934366204728582e-05,
      "loss": 0.0536,
      "step": 11474
    },
    {
      "epoch": 2.5743773838905093,
      "gripper_loss": 0.1875,
      "loss": 0.0123291015625,
      "pos_loss": 0.03125,
      "rot_loss": 0.016845703125,
      "step": 11474
    },
    {
      "epoch": 2.5746017500560914,
      "grad_norm": 0.2380017340183258,
      "learning_rate": 2.5907513123496873e-05,
      "loss": 0.0251,
      "step": 11475
    },
    {
      "epoch": 2.5746017500560914,
      "gripper_loss": 0.185546875,
      "loss": 0.03466796875,
      "pos_loss": 0.23046875,
      "rot_loss": 0.052734375,
      "step": 11475
    },
    {
      "epoch": 2.574826116221674,
      "grad_norm": 0.4905325770378113,
      "learning_rate": 2.5880673191911175e-05,
      "loss": 0.0292,
      "step": 11476
    },
    {
      "epoch": 2.574826116221674,
      "gripper_loss": 0.0277099609375,
      "loss": 0.022705078125,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.07373046875,
      "step": 11476
    },
    {
      "epoch": 2.575050482387256,
      "grad_norm": 0.20299550890922546,
      "learning_rate": 2.585384641154631e-05,
      "loss": 0.0255,
      "step": 11477
    },
    {
      "epoch": 2.575050482387256,
      "gripper_loss": 0.0986328125,
      "loss": 0.01092529296875,
      "pos_loss": 0.029296875,
      "rot_loss": 0.03662109375,
      "step": 11477
    },
    {
      "epoch": 2.575274848552838,
      "grad_norm": 0.40331727266311646,
      "learning_rate": 2.5827032783976494e-05,
      "loss": 0.0496,
      "step": 11478
    },
    {
      "epoch": 2.575274848552838,
      "gripper_loss": 0.00311279296875,
      "loss": 0.0283203125,
      "pos_loss": 0.1796875,
      "rot_loss": 0.10302734375,
      "step": 11478
    },
    {
      "epoch": 2.5754992147184206,
      "grad_norm": 0.1631714403629303,
      "learning_rate": 2.5800232310775163e-05,
      "loss": 0.0306,
      "step": 11479
    },
    {
      "epoch": 2.5754992147184206,
      "gripper_loss": 0.5859375,
      "loss": 0.02099609375,
      "pos_loss": 0.00518798828125,
      "rot_loss": 0.00445556640625,
      "step": 11479
    },
    {
      "epoch": 2.5757235808840027,
      "grad_norm": 0.28133881092071533,
      "learning_rate": 2.5773444993514942e-05,
      "loss": 0.0467,
      "step": 11480
    },
    {
      "epoch": 2.5757235808840027,
      "gripper_loss": 0.0050048828125,
      "loss": 0.02197265625,
      "pos_loss": 0.1767578125,
      "rot_loss": 0.029296875,
      "step": 11480
    },
    {
      "epoch": 2.5759479470495847,
      "grad_norm": 0.30857694149017334,
      "learning_rate": 2.5746670833767778e-05,
      "loss": 0.0331,
      "step": 11481
    },
    {
      "epoch": 2.5759479470495847,
      "gripper_loss": 0.0150146484375,
      "loss": 0.048583984375,
      "pos_loss": 0.46484375,
      "rot_loss": 0.0244140625,
      "step": 11481
    },
    {
      "epoch": 2.5761723132151673,
      "grad_norm": 0.1879010647535324,
      "learning_rate": 2.5719909833104628e-05,
      "loss": 0.0298,
      "step": 11482
    },
    {
      "epoch": 2.5761723132151673,
      "gripper_loss": 0.03076171875,
      "loss": 0.0306396484375,
      "pos_loss": 0.240234375,
      "rot_loss": 0.04736328125,
      "step": 11482
    },
    {
      "epoch": 2.5763966793807493,
      "grad_norm": 0.2899683117866516,
      "learning_rate": 2.5693161993095874e-05,
      "loss": 0.045,
      "step": 11483
    },
    {
      "epoch": 2.5763966793807493,
      "gripper_loss": 0.002532958984375,
      "loss": 0.11669921875,
      "pos_loss": 0.83984375,
      "rot_loss": 0.38671875,
      "step": 11483
    },
    {
      "epoch": 2.5766210455463314,
      "grad_norm": 0.44858843088150024,
      "learning_rate": 2.5666427315311104e-05,
      "loss": 0.0497,
      "step": 11484
    },
    {
      "epoch": 2.5766210455463314,
      "gripper_loss": 2.875,
      "loss": 0.1689453125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.1962890625,
      "step": 11484
    },
    {
      "epoch": 2.576845411711914,
      "grad_norm": 0.3360348641872406,
      "learning_rate": 2.563970580131908e-05,
      "loss": 0.0574,
      "step": 11485
    },
    {
      "epoch": 2.576845411711914,
      "gripper_loss": 0.3671875,
      "loss": 0.014404296875,
      "pos_loss": 0.0054931640625,
      "rot_loss": 0.003631591796875,
      "step": 11485
    },
    {
      "epoch": 2.577069777877496,
      "grad_norm": 0.19503147900104523,
      "learning_rate": 2.561299745268783e-05,
      "loss": 0.0327,
      "step": 11486
    },
    {
      "epoch": 2.577069777877496,
      "gripper_loss": 1.0703125,
      "loss": 0.0625,
      "pos_loss": 0.1015625,
      "rot_loss": 0.1884765625,
      "step": 11486
    },
    {
      "epoch": 2.577294144043078,
      "grad_norm": 0.379572331905365,
      "learning_rate": 2.558630227098449e-05,
      "loss": 0.0462,
      "step": 11487
    },
    {
      "epoch": 2.577294144043078,
      "gripper_loss": 0.0498046875,
      "loss": 0.0262451171875,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.1552734375,
      "step": 11487
    },
    {
      "epoch": 2.5775185102086606,
      "grad_norm": 0.3762640953063965,
      "learning_rate": 2.5559620257775585e-05,
      "loss": 0.0478,
      "step": 11488
    },
    {
      "epoch": 2.5775185102086606,
      "gripper_loss": 0.01092529296875,
      "loss": 0.028076171875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.140625,
      "step": 11488
    },
    {
      "epoch": 2.5777428763742427,
      "grad_norm": 0.21839401125907898,
      "learning_rate": 2.5532951414626833e-05,
      "loss": 0.0467,
      "step": 11489
    },
    {
      "epoch": 2.5777428763742427,
      "gripper_loss": 0.734375,
      "loss": 0.07421875,
      "pos_loss": 0.326171875,
      "rot_loss": 0.2021484375,
      "step": 11489
    },
    {
      "epoch": 2.577967242539825,
      "grad_norm": 0.39536988735198975,
      "learning_rate": 2.5506295743103092e-05,
      "loss": 0.0486,
      "step": 11490
    },
    {
      "epoch": 2.577967242539825,
      "gripper_loss": 0.0146484375,
      "loss": 0.019287109375,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.059326171875,
      "step": 11490
    },
    {
      "epoch": 2.5781916087054073,
      "grad_norm": 0.3966606855392456,
      "learning_rate": 2.547965324476853e-05,
      "loss": 0.0347,
      "step": 11491
    },
    {
      "epoch": 2.5781916087054073,
      "gripper_loss": 0.005401611328125,
      "loss": 0.0238037109375,
      "pos_loss": 0.150390625,
      "rot_loss": 0.080078125,
      "step": 11491
    },
    {
      "epoch": 2.5784159748709894,
      "grad_norm": 0.18158213794231415,
      "learning_rate": 2.5453023921186536e-05,
      "loss": 0.0355,
      "step": 11492
    },
    {
      "epoch": 2.5784159748709894,
      "gripper_loss": 0.07763671875,
      "loss": 0.041015625,
      "pos_loss": 0.3203125,
      "rot_loss": 0.068359375,
      "step": 11492
    },
    {
      "epoch": 2.5786403410365715,
      "grad_norm": 0.3762069344520569,
      "learning_rate": 2.542640777391972e-05,
      "loss": 0.0361,
      "step": 11493
    },
    {
      "epoch": 2.5786403410365715,
      "gripper_loss": 0.0024871826171875,
      "loss": 0.08349609375,
      "pos_loss": 0.59765625,
      "rot_loss": 0.26953125,
      "step": 11493
    },
    {
      "epoch": 2.578864707202154,
      "grad_norm": 0.4846031963825226,
      "learning_rate": 2.539980480452983e-05,
      "loss": 0.0522,
      "step": 11494
    },
    {
      "epoch": 2.578864707202154,
      "gripper_loss": 0.0301513671875,
      "loss": 0.072265625,
      "pos_loss": 0.314453125,
      "rot_loss": 0.41015625,
      "step": 11494
    },
    {
      "epoch": 2.579089073367736,
      "grad_norm": 0.7252370715141296,
      "learning_rate": 2.5373215014577956e-05,
      "loss": 0.0692,
      "step": 11495
    },
    {
      "epoch": 2.579089073367736,
      "gripper_loss": 0.00787353515625,
      "loss": 0.03955078125,
      "pos_loss": 0.265625,
      "rot_loss": 0.1328125,
      "step": 11495
    },
    {
      "epoch": 2.579313439533318,
      "grad_norm": 0.3320194184780121,
      "learning_rate": 2.5346638405624373e-05,
      "loss": 0.0483,
      "step": 11496
    },
    {
      "epoch": 2.579313439533318,
      "gripper_loss": 0.21484375,
      "loss": 0.07373046875,
      "pos_loss": 0.4375,
      "rot_loss": 0.2470703125,
      "step": 11496
    },
    {
      "epoch": 2.5795378056989007,
      "grad_norm": 0.35041964054107666,
      "learning_rate": 2.532007497922867e-05,
      "loss": 0.0533,
      "step": 11497
    },
    {
      "epoch": 2.5795378056989007,
      "gripper_loss": 0.00445556640625,
      "loss": 0.032470703125,
      "pos_loss": 0.2421875,
      "rot_loss": 0.08447265625,
      "step": 11497
    },
    {
      "epoch": 2.5797621718644828,
      "grad_norm": 0.31300172209739685,
      "learning_rate": 2.5293524736949432e-05,
      "loss": 0.0524,
      "step": 11498
    },
    {
      "epoch": 2.5797621718644828,
      "gripper_loss": 0.005462646484375,
      "loss": 0.06298828125,
      "pos_loss": 0.490234375,
      "rot_loss": 0.1552734375,
      "step": 11498
    },
    {
      "epoch": 2.579986538030065,
      "grad_norm": 0.24570368230342865,
      "learning_rate": 2.5266987680344746e-05,
      "loss": 0.0421,
      "step": 11499
    },
    {
      "epoch": 2.579986538030065,
      "gripper_loss": 0.01177978515625,
      "loss": 0.06396484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.27734375,
      "step": 11499
    },
    {
      "epoch": 2.5802109041956474,
      "grad_norm": 0.4605303406715393,
      "learning_rate": 2.524046381097167e-05,
      "loss": 0.0725,
      "step": 11500
    },
    {
      "epoch": 2.5802109041956474,
      "gripper_loss": 0.032470703125,
      "loss": 0.052978515625,
      "pos_loss": 0.408203125,
      "rot_loss": 0.11865234375,
      "step": 11500
    },
    {
      "epoch": 2.5804352703612294,
      "grad_norm": 0.21707722544670105,
      "learning_rate": 2.5213953130386686e-05,
      "loss": 0.0401,
      "step": 11501
    },
    {
      "epoch": 2.5804352703612294,
      "gripper_loss": 0.003509521484375,
      "loss": 0.0067138671875,
      "pos_loss": 0.0113525390625,
      "rot_loss": 0.038330078125,
      "step": 11501
    },
    {
      "epoch": 2.5806596365268115,
      "grad_norm": 0.3373592495918274,
      "learning_rate": 2.5187455640145434e-05,
      "loss": 0.0417,
      "step": 11502
    },
    {
      "epoch": 2.5806596365268115,
      "gripper_loss": 0.010986328125,
      "loss": 0.01324462890625,
      "pos_loss": 0.06787109375,
      "rot_loss": 0.045166015625,
      "step": 11502
    },
    {
      "epoch": 2.580884002692394,
      "grad_norm": 0.2635352313518524,
      "learning_rate": 2.516097134180273e-05,
      "loss": 0.0205,
      "step": 11503
    },
    {
      "epoch": 2.580884002692394,
      "gripper_loss": 0.01531982421875,
      "loss": 0.03271484375,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.0869140625,
      "step": 11503
    },
    {
      "epoch": 2.581108368857976,
      "grad_norm": 0.2015315294265747,
      "learning_rate": 2.5134500236912687e-05,
      "loss": 0.0417,
      "step": 11504
    },
    {
      "epoch": 2.581108368857976,
      "gripper_loss": 0.69921875,
      "loss": 0.055908203125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.00872802734375,
      "step": 11504
    },
    {
      "epoch": 2.581332735023558,
      "grad_norm": 0.39873892068862915,
      "learning_rate": 2.5108042327028625e-05,
      "loss": 0.0429,
      "step": 11505
    },
    {
      "epoch": 2.581332735023558,
      "gripper_loss": 0.279296875,
      "loss": 0.016845703125,
      "pos_loss": 0.01153564453125,
      "rot_loss": 0.0517578125,
      "step": 11505
    },
    {
      "epoch": 2.5815571011891407,
      "grad_norm": 0.33371809124946594,
      "learning_rate": 2.5081597613703128e-05,
      "loss": 0.0369,
      "step": 11506
    },
    {
      "epoch": 2.5815571011891407,
      "gripper_loss": 0.1435546875,
      "loss": 0.0147705078125,
      "pos_loss": 0.046142578125,
      "rot_loss": 0.03955078125,
      "step": 11506
    },
    {
      "epoch": 2.581781467354723,
      "grad_norm": 0.5270276069641113,
      "learning_rate": 2.505516609848785e-05,
      "loss": 0.0427,
      "step": 11507
    },
    {
      "epoch": 2.581781467354723,
      "gripper_loss": 0.00689697265625,
      "loss": 0.0174560546875,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.015625,
      "step": 11507
    },
    {
      "epoch": 2.582005833520305,
      "grad_norm": 0.30053412914276123,
      "learning_rate": 2.502874778293382e-05,
      "loss": 0.048,
      "step": 11508
    },
    {
      "epoch": 2.582005833520305,
      "gripper_loss": 0.00616455078125,
      "loss": 0.041259765625,
      "pos_loss": 0.287109375,
      "rot_loss": 0.1328125,
      "step": 11508
    },
    {
      "epoch": 2.5822301996858874,
      "grad_norm": 0.26683446764945984,
      "learning_rate": 2.5002342668591333e-05,
      "loss": 0.0358,
      "step": 11509
    },
    {
      "epoch": 2.5822301996858874,
      "gripper_loss": 0.027099609375,
      "loss": 0.049560546875,
      "pos_loss": 0.486328125,
      "rot_loss": 0.01239013671875,
      "step": 11509
    },
    {
      "epoch": 2.5824545658514695,
      "grad_norm": 0.48390206694602966,
      "learning_rate": 2.497595075700973e-05,
      "loss": 0.0503,
      "step": 11510
    },
    {
      "epoch": 2.5824545658514695,
      "gripper_loss": 0.234375,
      "loss": 0.03271484375,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.0233154296875,
      "step": 11510
    },
    {
      "epoch": 2.5826789320170516,
      "grad_norm": 0.33555465936660767,
      "learning_rate": 2.4949572049737747e-05,
      "loss": 0.0458,
      "step": 11511
    },
    {
      "epoch": 2.5826789320170516,
      "gripper_loss": 0.006683349609375,
      "loss": 0.02783203125,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.05322265625,
      "step": 11511
    },
    {
      "epoch": 2.582903298182634,
      "grad_norm": 0.31582799553871155,
      "learning_rate": 2.4923206548323196e-05,
      "loss": 0.0336,
      "step": 11512
    },
    {
      "epoch": 2.582903298182634,
      "gripper_loss": 0.0137939453125,
      "loss": 0.0625,
      "pos_loss": 0.154296875,
      "rot_loss": 0.4921875,
      "step": 11512
    },
    {
      "epoch": 2.583127664348216,
      "grad_norm": 0.35269877314567566,
      "learning_rate": 2.489685425431326e-05,
      "loss": 0.0487,
      "step": 11513
    },
    {
      "epoch": 2.583127664348216,
      "gripper_loss": 0.0033416748046875,
      "loss": 0.0225830078125,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.02734375,
      "step": 11513
    },
    {
      "epoch": 2.5833520305137982,
      "grad_norm": 0.3486575782299042,
      "learning_rate": 2.487051516925423e-05,
      "loss": 0.0456,
      "step": 11514
    },
    {
      "epoch": 2.5833520305137982,
      "gripper_loss": 0.020263671875,
      "loss": 0.021728515625,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.06396484375,
      "step": 11514
    },
    {
      "epoch": 2.5835763966793808,
      "grad_norm": 0.3193659484386444,
      "learning_rate": 2.484418929469176e-05,
      "loss": 0.0466,
      "step": 11515
    },
    {
      "epoch": 2.5835763966793808,
      "gripper_loss": 0.00836181640625,
      "loss": 0.042724609375,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.275390625,
      "step": 11515
    },
    {
      "epoch": 2.583800762844963,
      "grad_norm": 0.34543293714523315,
      "learning_rate": 2.4817876632170527e-05,
      "loss": 0.0623,
      "step": 11516
    },
    {
      "epoch": 2.583800762844963,
      "gripper_loss": 0.0068359375,
      "loss": 0.017333984375,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.006439208984375,
      "step": 11516
    },
    {
      "epoch": 2.5840251290105454,
      "grad_norm": 0.8867286443710327,
      "learning_rate": 2.4791577183234604e-05,
      "loss": 0.0602,
      "step": 11517
    },
    {
      "epoch": 2.5840251290105454,
      "gripper_loss": 0.00408935546875,
      "loss": 0.050537109375,
      "pos_loss": 0.423828125,
      "rot_loss": 0.09423828125,
      "step": 11517
    },
    {
      "epoch": 2.5842494951761275,
      "grad_norm": 0.701555073261261,
      "learning_rate": 2.47652909494272e-05,
      "loss": 0.0423,
      "step": 11518
    },
    {
      "epoch": 2.5842494951761275,
      "gripper_loss": 0.01434326171875,
      "loss": 0.1875,
      "pos_loss": 1.84375,
      "rot_loss": 0.126953125,
      "step": 11518
    },
    {
      "epoch": 2.5844738613417095,
      "grad_norm": 0.5178524851799011,
      "learning_rate": 2.4739017932290887e-05,
      "loss": 0.0857,
      "step": 11519
    },
    {
      "epoch": 2.5844738613417095,
      "gripper_loss": 0.058349609375,
      "loss": 0.014892578125,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.00823974609375,
      "step": 11519
    },
    {
      "epoch": 2.584698227507292,
      "grad_norm": 0.35850855708122253,
      "learning_rate": 2.4712758133367208e-05,
      "loss": 0.0464,
      "step": 11520
    },
    {
      "epoch": 2.584698227507292,
      "gripper_loss": 0.5078125,
      "loss": 0.0634765625,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.1396484375,
      "step": 11520
    },
    {
      "epoch": 2.584922593672874,
      "grad_norm": 1.059387445449829,
      "learning_rate": 2.4686511554197183e-05,
      "loss": 0.1364,
      "step": 11521
    },
    {
      "epoch": 2.584922593672874,
      "gripper_loss": 0.01495361328125,
      "loss": 0.010986328125,
      "pos_loss": 0.0703125,
      "rot_loss": 0.01953125,
      "step": 11521
    },
    {
      "epoch": 2.585146959838456,
      "grad_norm": 0.23484429717063904,
      "learning_rate": 2.4660278196320856e-05,
      "loss": 0.0226,
      "step": 11522
    },
    {
      "epoch": 2.585146959838456,
      "gripper_loss": 0.91796875,
      "loss": 0.064453125,
      "pos_loss": 0.2109375,
      "rot_loss": 0.15234375,
      "step": 11522
    },
    {
      "epoch": 2.5853713260040387,
      "grad_norm": 0.46039846539497375,
      "learning_rate": 2.463405806127769e-05,
      "loss": 0.0549,
      "step": 11523
    },
    {
      "epoch": 2.5853713260040387,
      "gripper_loss": 0.04833984375,
      "loss": 0.181640625,
      "pos_loss": 1.234375,
      "rot_loss": 0.66015625,
      "step": 11523
    },
    {
      "epoch": 2.585595692169621,
      "grad_norm": 0.8139353394508362,
      "learning_rate": 2.460785115060618e-05,
      "loss": 0.0537,
      "step": 11524
    },
    {
      "epoch": 2.585595692169621,
      "gripper_loss": 0.0201416015625,
      "loss": 0.038330078125,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.212890625,
      "step": 11524
    },
    {
      "epoch": 2.585820058335203,
      "grad_norm": 0.2588232457637787,
      "learning_rate": 2.4581657465844175e-05,
      "loss": 0.0343,
      "step": 11525
    },
    {
      "epoch": 2.585820058335203,
      "gripper_loss": 0.01190185546875,
      "loss": 0.0400390625,
      "pos_loss": 0.166015625,
      "rot_loss": 0.234375,
      "step": 11525
    },
    {
      "epoch": 2.5860444245007854,
      "grad_norm": 0.32222288846969604,
      "learning_rate": 2.45554770085287e-05,
      "loss": 0.0585,
      "step": 11526
    },
    {
      "epoch": 2.5860444245007854,
      "gripper_loss": 0.0028076171875,
      "loss": 0.1708984375,
      "pos_loss": 1.4140625,
      "rot_loss": 0.37890625,
      "step": 11526
    },
    {
      "epoch": 2.5862687906663675,
      "grad_norm": 0.71701979637146,
      "learning_rate": 2.4529309780196017e-05,
      "loss": 0.0584,
      "step": 11527
    },
    {
      "epoch": 2.5862687906663675,
      "gripper_loss": 0.0179443359375,
      "loss": 0.045166015625,
      "pos_loss": 0.2197265625,
      "rot_loss": 0.2275390625,
      "step": 11527
    },
    {
      "epoch": 2.5864931568319496,
      "grad_norm": 0.46793320775032043,
      "learning_rate": 2.4503155782381687e-05,
      "loss": 0.0499,
      "step": 11528
    },
    {
      "epoch": 2.5864931568319496,
      "gripper_loss": 0.0108642578125,
      "loss": 0.007781982421875,
      "pos_loss": 0.037841796875,
      "rot_loss": 0.0218505859375,
      "step": 11528
    },
    {
      "epoch": 2.586717522997532,
      "grad_norm": 0.2651411294937134,
      "learning_rate": 2.447701501662025e-05,
      "loss": 0.0317,
      "step": 11529
    },
    {
      "epoch": 2.586717522997532,
      "gripper_loss": 0.302734375,
      "loss": 0.058837890625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.21484375,
      "step": 11529
    },
    {
      "epoch": 2.586941889163114,
      "grad_norm": 0.6065242290496826,
      "learning_rate": 2.4450887484445767e-05,
      "loss": 0.059,
      "step": 11530
    },
    {
      "epoch": 2.586941889163114,
      "gripper_loss": 0.006011962890625,
      "loss": 0.033447265625,
      "pos_loss": 0.3125,
      "rot_loss": 0.0194091796875,
      "step": 11530
    },
    {
      "epoch": 2.5871662553286967,
      "grad_norm": 0.3142789602279663,
      "learning_rate": 2.4424773187391308e-05,
      "loss": 0.0395,
      "step": 11531
    },
    {
      "epoch": 2.5871662553286967,
      "gripper_loss": 0.005828857421875,
      "loss": 0.048095703125,
      "pos_loss": 0.30078125,
      "rot_loss": 0.185546875,
      "step": 11531
    },
    {
      "epoch": 2.587390621494279,
      "grad_norm": 0.22376973927021027,
      "learning_rate": 2.4398672126989345e-05,
      "loss": 0.0358,
      "step": 11532
    },
    {
      "epoch": 2.587390621494279,
      "gripper_loss": 0.1298828125,
      "loss": 0.0272216796875,
      "pos_loss": 0.205078125,
      "rot_loss": 0.0184326171875,
      "step": 11532
    },
    {
      "epoch": 2.587614987659861,
      "grad_norm": 0.35007524490356445,
      "learning_rate": 2.4372584304771434e-05,
      "loss": 0.0346,
      "step": 11533
    },
    {
      "epoch": 2.587614987659861,
      "gripper_loss": 0.353515625,
      "loss": 0.0240478515625,
      "pos_loss": 0.09521484375,
      "rot_loss": 0.022705078125,
      "step": 11533
    },
    {
      "epoch": 2.5878393538254434,
      "grad_norm": 0.4020179212093353,
      "learning_rate": 2.4346509722268317e-05,
      "loss": 0.0531,
      "step": 11534
    },
    {
      "epoch": 2.5878393538254434,
      "gripper_loss": 0.0103759765625,
      "loss": 0.072265625,
      "pos_loss": 0.73828125,
      "rot_loss": 0.0128173828125,
      "step": 11534
    },
    {
      "epoch": 2.5880637199910255,
      "grad_norm": 0.46007010340690613,
      "learning_rate": 2.4320448381010107e-05,
      "loss": 0.0486,
      "step": 11535
    },
    {
      "epoch": 2.5880637199910255,
      "gripper_loss": 0.2470703125,
      "loss": 0.05126953125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.2177734375,
      "step": 11535
    },
    {
      "epoch": 2.5882880861566075,
      "grad_norm": 0.2776269018650055,
      "learning_rate": 2.4294400282526107e-05,
      "loss": 0.0456,
      "step": 11536
    },
    {
      "epoch": 2.5882880861566075,
      "gripper_loss": 0.046875,
      "loss": 0.03955078125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.083984375,
      "step": 11536
    },
    {
      "epoch": 2.58851245232219,
      "grad_norm": 0.18854855000972748,
      "learning_rate": 2.4268365428344735e-05,
      "loss": 0.0395,
      "step": 11537
    },
    {
      "epoch": 2.58851245232219,
      "gripper_loss": 0.55859375,
      "loss": 0.02880859375,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.01226806640625,
      "step": 11537
    },
    {
      "epoch": 2.588736818487772,
      "grad_norm": 0.34163323044776917,
      "learning_rate": 2.4242343819993712e-05,
      "loss": 0.0349,
      "step": 11538
    },
    {
      "epoch": 2.588736818487772,
      "gripper_loss": 0.0947265625,
      "loss": 0.0213623046875,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.07421875,
      "step": 11538
    },
    {
      "epoch": 2.5889611846533542,
      "grad_norm": 0.4747569262981415,
      "learning_rate": 2.421633545900001e-05,
      "loss": 0.0522,
      "step": 11539
    },
    {
      "epoch": 2.5889611846533542,
      "gripper_loss": 0.00579833984375,
      "loss": 0.035400390625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.026123046875,
      "step": 11539
    },
    {
      "epoch": 2.5891855508189368,
      "grad_norm": 0.9897244572639465,
      "learning_rate": 2.41903403468898e-05,
      "loss": 0.0674,
      "step": 11540
    },
    {
      "epoch": 2.5891855508189368,
      "gripper_loss": 0.58984375,
      "loss": 0.024169921875,
      "pos_loss": 0.0179443359375,
      "rot_loss": 0.02197265625,
      "step": 11540
    },
    {
      "epoch": 2.589409916984519,
      "grad_norm": 0.34600189328193665,
      "learning_rate": 2.416435848518844e-05,
      "loss": 0.0341,
      "step": 11541
    },
    {
      "epoch": 2.589409916984519,
      "gripper_loss": 0.005401611328125,
      "loss": 0.058837890625,
      "pos_loss": 0.47265625,
      "rot_loss": 0.1298828125,
      "step": 11541
    },
    {
      "epoch": 2.589634283150101,
      "grad_norm": 0.6377896070480347,
      "learning_rate": 2.4138389875420524e-05,
      "loss": 0.0794,
      "step": 11542
    },
    {
      "epoch": 2.589634283150101,
      "gripper_loss": 0.023193359375,
      "loss": 0.0185546875,
      "pos_loss": 0.099609375,
      "rot_loss": 0.06982421875,
      "step": 11542
    },
    {
      "epoch": 2.5898586493156834,
      "grad_norm": 0.3367156386375427,
      "learning_rate": 2.4112434519109884e-05,
      "loss": 0.0468,
      "step": 11543
    },
    {
      "epoch": 2.5898586493156834,
      "gripper_loss": 0.01171875,
      "loss": 0.0257568359375,
      "pos_loss": 0.177734375,
      "rot_loss": 0.07080078125,
      "step": 11543
    },
    {
      "epoch": 2.5900830154812655,
      "grad_norm": 0.42888736724853516,
      "learning_rate": 2.4086492417779633e-05,
      "loss": 0.0695,
      "step": 11544
    },
    {
      "epoch": 2.5900830154812655,
      "gripper_loss": 0.0859375,
      "loss": 0.01806640625,
      "pos_loss": 0.10595703125,
      "rot_loss": 0.040283203125,
      "step": 11544
    },
    {
      "epoch": 2.5903073816468476,
      "grad_norm": 0.35041362047195435,
      "learning_rate": 2.4060563572951917e-05,
      "loss": 0.0518,
      "step": 11545
    },
    {
      "epoch": 2.5903073816468476,
      "gripper_loss": 0.21875,
      "loss": 0.0244140625,
      "pos_loss": 0.056396484375,
      "rot_loss": 0.10791015625,
      "step": 11545
    },
    {
      "epoch": 2.59053174781243,
      "grad_norm": 0.4953322112560272,
      "learning_rate": 2.403464798614832e-05,
      "loss": 0.0321,
      "step": 11546
    },
    {
      "epoch": 2.59053174781243,
      "gripper_loss": 1.0859375,
      "loss": 0.08837890625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.296875,
      "step": 11546
    },
    {
      "epoch": 2.590756113978012,
      "grad_norm": 0.38334617018699646,
      "learning_rate": 2.4008745658889524e-05,
      "loss": 0.0488,
      "step": 11547
    },
    {
      "epoch": 2.590756113978012,
      "gripper_loss": 0.00482177734375,
      "loss": 0.1015625,
      "pos_loss": 0.6328125,
      "rot_loss": 0.427734375,
      "step": 11547
    },
    {
      "epoch": 2.5909804801435943,
      "grad_norm": 0.43476492166519165,
      "learning_rate": 2.3982856592695445e-05,
      "loss": 0.0626,
      "step": 11548
    },
    {
      "epoch": 2.5909804801435943,
      "gripper_loss": 0.00494384765625,
      "loss": 0.041259765625,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.255859375,
      "step": 11548
    },
    {
      "epoch": 2.591204846309177,
      "grad_norm": 0.346591979265213,
      "learning_rate": 2.3956980789085316e-05,
      "loss": 0.0433,
      "step": 11549
    },
    {
      "epoch": 2.591204846309177,
      "gripper_loss": 0.01202392578125,
      "loss": 0.0322265625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.1767578125,
      "step": 11549
    },
    {
      "epoch": 2.591429212474759,
      "grad_norm": 0.2912583649158478,
      "learning_rate": 2.3931118249577443e-05,
      "loss": 0.0432,
      "step": 11550
    },
    {
      "epoch": 2.591429212474759,
      "gripper_loss": 0.01153564453125,
      "loss": 0.041259765625,
      "pos_loss": 0.125,
      "rot_loss": 0.2890625,
      "step": 11550
    },
    {
      "epoch": 2.591653578640341,
      "grad_norm": 0.2905538082122803,
      "learning_rate": 2.3905268975689455e-05,
      "loss": 0.054,
      "step": 11551
    },
    {
      "epoch": 2.591653578640341,
      "gripper_loss": 0.125,
      "loss": 0.04638671875,
      "pos_loss": 0.1884765625,
      "rot_loss": 0.1865234375,
      "step": 11551
    },
    {
      "epoch": 2.5918779448059235,
      "grad_norm": 0.4240139126777649,
      "learning_rate": 2.3879432968938157e-05,
      "loss": 0.0564,
      "step": 11552
    },
    {
      "epoch": 2.5918779448059235,
      "gripper_loss": 0.031982421875,
      "loss": 0.024658203125,
      "pos_loss": 0.0252685546875,
      "rot_loss": 0.1845703125,
      "step": 11552
    },
    {
      "epoch": 2.5921023109715056,
      "grad_norm": 0.5343691110610962,
      "learning_rate": 2.385361023083968e-05,
      "loss": 0.0547,
      "step": 11553
    },
    {
      "epoch": 2.5921023109715056,
      "gripper_loss": 0.00640869140625,
      "loss": 0.04931640625,
      "pos_loss": 0.44921875,
      "rot_loss": 0.05224609375,
      "step": 11553
    },
    {
      "epoch": 2.5923266771370876,
      "grad_norm": 0.273062527179718,
      "learning_rate": 2.3827800762909164e-05,
      "loss": 0.0346,
      "step": 11554
    },
    {
      "epoch": 2.5923266771370876,
      "gripper_loss": 0.01519775390625,
      "loss": 0.032958984375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.201171875,
      "step": 11554
    },
    {
      "epoch": 2.59255104330267,
      "grad_norm": 0.38306593894958496,
      "learning_rate": 2.3802004566661177e-05,
      "loss": 0.0415,
      "step": 11555
    },
    {
      "epoch": 2.59255104330267,
      "gripper_loss": 0.44921875,
      "loss": 0.042724609375,
      "pos_loss": 0.076171875,
      "rot_loss": 0.2099609375,
      "step": 11555
    },
    {
      "epoch": 2.5927754094682522,
      "grad_norm": 0.24420608580112457,
      "learning_rate": 2.3776221643609432e-05,
      "loss": 0.0366,
      "step": 11556
    },
    {
      "epoch": 2.5927754094682522,
      "gripper_loss": 0.2451171875,
      "loss": 0.07763671875,
      "pos_loss": 0.69921875,
      "rot_loss": 0.0206298828125,
      "step": 11556
    },
    {
      "epoch": 2.5929997756338343,
      "grad_norm": 0.28454306721687317,
      "learning_rate": 2.375045199526679e-05,
      "loss": 0.0444,
      "step": 11557
    },
    {
      "epoch": 2.5929997756338343,
      "gripper_loss": 0.45703125,
      "loss": 0.053466796875,
      "pos_loss": 0.380859375,
      "rot_loss": 0.0145263671875,
      "step": 11557
    },
    {
      "epoch": 2.593224141799417,
      "grad_norm": 0.6688090562820435,
      "learning_rate": 2.3724695623145496e-05,
      "loss": 0.0443,
      "step": 11558
    },
    {
      "epoch": 2.593224141799417,
      "gripper_loss": 0.08984375,
      "loss": 0.04931640625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.02783203125,
      "step": 11558
    },
    {
      "epoch": 2.593448507964999,
      "grad_norm": 0.23683327436447144,
      "learning_rate": 2.369895252875684e-05,
      "loss": 0.0352,
      "step": 11559
    },
    {
      "epoch": 2.593448507964999,
      "gripper_loss": 0.027587890625,
      "loss": 0.01239013671875,
      "pos_loss": 0.03564453125,
      "rot_loss": 0.061767578125,
      "step": 11559
    },
    {
      "epoch": 2.593672874130581,
      "grad_norm": 0.5450249910354614,
      "learning_rate": 2.367322271361144e-05,
      "loss": 0.0624,
      "step": 11560
    },
    {
      "epoch": 2.593672874130581,
      "gripper_loss": 0.0179443359375,
      "loss": 0.1005859375,
      "pos_loss": 0.70703125,
      "rot_loss": 0.33984375,
      "step": 11560
    },
    {
      "epoch": 2.5938972402961635,
      "grad_norm": 0.33515462279319763,
      "learning_rate": 2.364750617921915e-05,
      "loss": 0.0472,
      "step": 11561
    },
    {
      "epoch": 2.5938972402961635,
      "gripper_loss": 0.005462646484375,
      "loss": 0.03125,
      "pos_loss": 0.078125,
      "rot_loss": 0.228515625,
      "step": 11561
    },
    {
      "epoch": 2.5941216064617456,
      "grad_norm": 0.44463324546813965,
      "learning_rate": 2.3621802927088986e-05,
      "loss": 0.0327,
      "step": 11562
    },
    {
      "epoch": 2.5941216064617456,
      "gripper_loss": 0.060791015625,
      "loss": 0.01519775390625,
      "pos_loss": 0.055908203125,
      "rot_loss": 0.06298828125,
      "step": 11562
    },
    {
      "epoch": 2.5943459726273277,
      "grad_norm": 0.2788539230823517,
      "learning_rate": 2.3596112958729155e-05,
      "loss": 0.0409,
      "step": 11563
    },
    {
      "epoch": 2.5943459726273277,
      "gripper_loss": 0.0032501220703125,
      "loss": 0.041015625,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.19140625,
      "step": 11563
    },
    {
      "epoch": 2.59457033879291,
      "grad_norm": 0.27875542640686035,
      "learning_rate": 2.3570436275647173e-05,
      "loss": 0.0349,
      "step": 11564
    },
    {
      "epoch": 2.59457033879291,
      "gripper_loss": 0.2451171875,
      "loss": 0.029052734375,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.130859375,
      "step": 11564
    },
    {
      "epoch": 2.5947947049584923,
      "grad_norm": 0.21277059614658356,
      "learning_rate": 2.3544772879349723e-05,
      "loss": 0.0411,
      "step": 11565
    },
    {
      "epoch": 2.5947947049584923,
      "gripper_loss": 0.006866455078125,
      "loss": 0.019287109375,
      "pos_loss": 0.12890625,
      "rot_loss": 0.052490234375,
      "step": 11565
    },
    {
      "epoch": 2.5950190711240744,
      "grad_norm": 0.31385618448257446,
      "learning_rate": 2.351912277134277e-05,
      "loss": 0.044,
      "step": 11566
    },
    {
      "epoch": 2.5950190711240744,
      "gripper_loss": 0.453125,
      "loss": 0.0361328125,
      "pos_loss": 0.107421875,
      "rot_loss": 0.1064453125,
      "step": 11566
    },
    {
      "epoch": 2.595243437289657,
      "grad_norm": 0.30456024408340454,
      "learning_rate": 2.349348595313139e-05,
      "loss": 0.0381,
      "step": 11567
    },
    {
      "epoch": 2.595243437289657,
      "gripper_loss": 0.01287841796875,
      "loss": 0.045654296875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.060546875,
      "step": 11567
    },
    {
      "epoch": 2.595467803455239,
      "grad_norm": 0.1865290254354477,
      "learning_rate": 2.346786242621998e-05,
      "loss": 0.0362,
      "step": 11568
    },
    {
      "epoch": 2.595467803455239,
      "gripper_loss": 0.1103515625,
      "loss": 0.06298828125,
      "pos_loss": 0.26953125,
      "rot_loss": 0.326171875,
      "step": 11568
    },
    {
      "epoch": 2.595692169620821,
      "grad_norm": 0.37490105628967285,
      "learning_rate": 2.3442252192112073e-05,
      "loss": 0.0558,
      "step": 11569
    },
    {
      "epoch": 2.595692169620821,
      "gripper_loss": 0.01031494140625,
      "loss": 0.023681640625,
      "pos_loss": 0.185546875,
      "rot_loss": 0.043701171875,
      "step": 11569
    },
    {
      "epoch": 2.5959165357864036,
      "grad_norm": 0.2823789119720459,
      "learning_rate": 2.341665525231054e-05,
      "loss": 0.0385,
      "step": 11570
    },
    {
      "epoch": 2.5959165357864036,
      "gripper_loss": 0.84375,
      "loss": 0.0296630859375,
      "pos_loss": 0.00982666015625,
      "rot_loss": 0.007476806640625,
      "step": 11570
    },
    {
      "epoch": 2.5961409019519857,
      "grad_norm": 0.3494523763656616,
      "learning_rate": 2.33910716083173e-05,
      "loss": 0.0441,
      "step": 11571
    },
    {
      "epoch": 2.5961409019519857,
      "gripper_loss": 0.212890625,
      "loss": 0.02392578125,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.06982421875,
      "step": 11571
    },
    {
      "epoch": 2.5963652681175677,
      "grad_norm": 0.5075342655181885,
      "learning_rate": 2.3365501261633615e-05,
      "loss": 0.0371,
      "step": 11572
    },
    {
      "epoch": 2.5963652681175677,
      "gripper_loss": 0.00787353515625,
      "loss": 0.0400390625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.1884765625,
      "step": 11572
    },
    {
      "epoch": 2.5965896342831503,
      "grad_norm": 0.3053681254386902,
      "learning_rate": 2.3339944213759983e-05,
      "loss": 0.036,
      "step": 11573
    },
    {
      "epoch": 2.5965896342831503,
      "gripper_loss": 0.16015625,
      "loss": 0.12353515625,
      "pos_loss": 0.21875,
      "rot_loss": 0.353515625,
      "step": 11573
    },
    {
      "epoch": 2.5968140004487323,
      "grad_norm": 1.2549010515213013,
      "learning_rate": 2.3314400466196067e-05,
      "loss": 0.1469,
      "step": 11574
    },
    {
      "epoch": 2.5968140004487323,
      "gripper_loss": 0.0108642578125,
      "loss": 0.019287109375,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.0159912109375,
      "step": 11574
    },
    {
      "epoch": 2.5970383666143144,
      "grad_norm": 0.31563687324523926,
      "learning_rate": 2.3288870020440807e-05,
      "loss": 0.0341,
      "step": 11575
    },
    {
      "epoch": 2.5970383666143144,
      "gripper_loss": 0.02392578125,
      "loss": 0.024658203125,
      "pos_loss": 0.0303955078125,
      "rot_loss": 0.203125,
      "step": 11575
    },
    {
      "epoch": 2.597262732779897,
      "grad_norm": 0.21656973659992218,
      "learning_rate": 2.3263352877992222e-05,
      "loss": 0.0402,
      "step": 11576
    },
    {
      "epoch": 2.597262732779897,
      "gripper_loss": 0.004425048828125,
      "loss": 0.042236328125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.033203125,
      "step": 11576
    },
    {
      "epoch": 2.597487098945479,
      "grad_norm": 0.7676607966423035,
      "learning_rate": 2.3237849040347676e-05,
      "loss": 0.0506,
      "step": 11577
    },
    {
      "epoch": 2.597487098945479,
      "gripper_loss": 0.0084228515625,
      "loss": 0.01470947265625,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.00970458984375,
      "step": 11577
    },
    {
      "epoch": 2.597711465111061,
      "grad_norm": 0.37452566623687744,
      "learning_rate": 2.3212358509003772e-05,
      "loss": 0.0362,
      "step": 11578
    },
    {
      "epoch": 2.597711465111061,
      "gripper_loss": 0.10302734375,
      "loss": 0.02685546875,
      "pos_loss": 0.158203125,
      "rot_loss": 0.068359375,
      "step": 11578
    },
    {
      "epoch": 2.5979358312766436,
      "grad_norm": 0.24507933855056763,
      "learning_rate": 2.3186881285456264e-05,
      "loss": 0.0317,
      "step": 11579
    },
    {
      "epoch": 2.5979358312766436,
      "gripper_loss": 0.012939453125,
      "loss": 0.0115966796875,
      "pos_loss": 0.04638671875,
      "rot_loss": 0.052978515625,
      "step": 11579
    },
    {
      "epoch": 2.5981601974422257,
      "grad_norm": 0.30818530917167664,
      "learning_rate": 2.3161417371200146e-05,
      "loss": 0.0371,
      "step": 11580
    },
    {
      "epoch": 2.5981601974422257,
      "gripper_loss": 0.05859375,
      "loss": 0.0289306640625,
      "pos_loss": 0.224609375,
      "rot_loss": 0.04345703125,
      "step": 11580
    },
    {
      "epoch": 2.598384563607808,
      "grad_norm": 0.2910879850387573,
      "learning_rate": 2.3135966767729583e-05,
      "loss": 0.0503,
      "step": 11581
    },
    {
      "epoch": 2.598384563607808,
      "gripper_loss": 0.0086669921875,
      "loss": 0.06103515625,
      "pos_loss": 0.61328125,
      "rot_loss": 0.01361083984375,
      "step": 11581
    },
    {
      "epoch": 2.5986089297733903,
      "grad_norm": 0.3783673942089081,
      "learning_rate": 2.3110529476537996e-05,
      "loss": 0.0529,
      "step": 11582
    },
    {
      "epoch": 2.5986089297733903,
      "gripper_loss": 0.828125,
      "loss": 0.02880859375,
      "pos_loss": 0.006103515625,
      "rot_loss": 0.00518798828125,
      "step": 11582
    },
    {
      "epoch": 2.5988332959389724,
      "grad_norm": 0.20035815238952637,
      "learning_rate": 2.308510549911816e-05,
      "loss": 0.0255,
      "step": 11583
    },
    {
      "epoch": 2.5988332959389724,
      "gripper_loss": 0.00933837890625,
      "loss": 0.05517578125,
      "pos_loss": 0.27734375,
      "rot_loss": 0.28125,
      "step": 11583
    },
    {
      "epoch": 2.5990576621045545,
      "grad_norm": 0.5001291632652283,
      "learning_rate": 2.30596948369618e-05,
      "loss": 0.0536,
      "step": 11584
    },
    {
      "epoch": 2.5990576621045545,
      "gripper_loss": 0.75390625,
      "loss": 0.451171875,
      "pos_loss": 0.390625,
      "rot_loss": 0.7109375,
      "step": 11584
    },
    {
      "epoch": 2.599282028270137,
      "grad_norm": 1.6243760585784912,
      "learning_rate": 2.3034297491560025e-05,
      "loss": 0.4956,
      "step": 11585
    },
    {
      "epoch": 2.599282028270137,
      "gripper_loss": 0.00775146484375,
      "loss": 0.044677734375,
      "pos_loss": 0.28515625,
      "rot_loss": 0.1630859375,
      "step": 11585
    },
    {
      "epoch": 2.599506394435719,
      "grad_norm": 0.23887424170970917,
      "learning_rate": 2.3008913464403203e-05,
      "loss": 0.0273,
      "step": 11586
    },
    {
      "epoch": 2.599506394435719,
      "gripper_loss": 0.0074462890625,
      "loss": 0.1455078125,
      "pos_loss": 1.1640625,
      "rot_loss": 0.357421875,
      "step": 11586
    },
    {
      "epoch": 2.599730760601301,
      "grad_norm": 0.31986719369888306,
      "learning_rate": 2.2983542756980835e-05,
      "loss": 0.0628,
      "step": 11587
    },
    {
      "epoch": 2.599730760601301,
      "gripper_loss": 0.0184326171875,
      "loss": 0.09228515625,
      "pos_loss": 0.427734375,
      "rot_loss": 0.52734375,
      "step": 11587
    },
    {
      "epoch": 2.5999551267668837,
      "grad_norm": 0.3287045359611511,
      "learning_rate": 2.2958185370781675e-05,
      "loss": 0.0511,
      "step": 11588
    },
    {
      "epoch": 2.5999551267668837,
      "gripper_loss": 0.01953125,
      "loss": 0.193359375,
      "pos_loss": 0.890625,
      "rot_loss": 1.0859375,
      "step": 11588
    },
    {
      "epoch": 2.6001794929324658,
      "grad_norm": 0.6946688890457153,
      "learning_rate": 2.2932841307293644e-05,
      "loss": 0.0914,
      "step": 11589
    },
    {
      "epoch": 2.6001794929324658,
      "gripper_loss": 0.12890625,
      "loss": 0.06298828125,
      "pos_loss": 0.59765625,
      "rot_loss": 0.00933837890625,
      "step": 11589
    },
    {
      "epoch": 2.600403859098048,
      "grad_norm": 0.2799014747142792,
      "learning_rate": 2.2907510568003914e-05,
      "loss": 0.0535,
      "step": 11590
    },
    {
      "epoch": 2.600403859098048,
      "gripper_loss": 0.01177978515625,
      "loss": 0.037109375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.1962890625,
      "step": 11590
    },
    {
      "epoch": 2.6006282252636304,
      "grad_norm": 0.19787895679473877,
      "learning_rate": 2.288219315439896e-05,
      "loss": 0.0259,
      "step": 11591
    },
    {
      "epoch": 2.6006282252636304,
      "gripper_loss": 0.033203125,
      "loss": 0.031982421875,
      "pos_loss": 0.041015625,
      "rot_loss": 0.267578125,
      "step": 11591
    },
    {
      "epoch": 2.6008525914292124,
      "grad_norm": 0.2554028630256653,
      "learning_rate": 2.285688906796432e-05,
      "loss": 0.0379,
      "step": 11592
    },
    {
      "epoch": 2.6008525914292124,
      "gripper_loss": 0.00469970703125,
      "loss": 0.02978515625,
      "pos_loss": 0.205078125,
      "rot_loss": 0.0869140625,
      "step": 11592
    },
    {
      "epoch": 2.6010769575947945,
      "grad_norm": 0.5627774000167847,
      "learning_rate": 2.283159831018486e-05,
      "loss": 0.0659,
      "step": 11593
    },
    {
      "epoch": 2.6010769575947945,
      "gripper_loss": 0.005584716796875,
      "loss": 0.09326171875,
      "pos_loss": 0.53125,
      "rot_loss": 0.43359375,
      "step": 11593
    },
    {
      "epoch": 2.601301323760377,
      "grad_norm": 0.2906719446182251,
      "learning_rate": 2.280632088254461e-05,
      "loss": 0.0415,
      "step": 11594
    },
    {
      "epoch": 2.601301323760377,
      "gripper_loss": 0.01202392578125,
      "loss": 0.02783203125,
      "pos_loss": 0.177734375,
      "rot_loss": 0.0966796875,
      "step": 11594
    },
    {
      "epoch": 2.601525689925959,
      "grad_norm": 0.45663905143737793,
      "learning_rate": 2.278105678652681e-05,
      "loss": 0.0559,
      "step": 11595
    },
    {
      "epoch": 2.601525689925959,
      "gripper_loss": 0.00396728515625,
      "loss": 0.07275390625,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.5078125,
      "step": 11595
    },
    {
      "epoch": 2.601750056091541,
      "grad_norm": 0.5435920357704163,
      "learning_rate": 2.2755806023614045e-05,
      "loss": 0.045,
      "step": 11596
    },
    {
      "epoch": 2.601750056091541,
      "gripper_loss": 0.1572265625,
      "loss": 0.0078125,
      "pos_loss": 0.005645751953125,
      "rot_loss": 0.00323486328125,
      "step": 11596
    },
    {
      "epoch": 2.6019744222571237,
      "grad_norm": 0.5320791006088257,
      "learning_rate": 2.2730568595287936e-05,
      "loss": 0.0542,
      "step": 11597
    },
    {
      "epoch": 2.6019744222571237,
      "gripper_loss": 0.026611328125,
      "loss": 0.04541015625,
      "pos_loss": 0.357421875,
      "rot_loss": 0.091796875,
      "step": 11597
    },
    {
      "epoch": 2.602198788422706,
      "grad_norm": 0.2064010053873062,
      "learning_rate": 2.2705344503029386e-05,
      "loss": 0.0308,
      "step": 11598
    },
    {
      "epoch": 2.602198788422706,
      "gripper_loss": 0.00592041015625,
      "loss": 0.107421875,
      "pos_loss": 1.0703125,
      "rot_loss": 0.0517578125,
      "step": 11598
    },
    {
      "epoch": 2.602423154588288,
      "grad_norm": 0.40671205520629883,
      "learning_rate": 2.2680133748318593e-05,
      "loss": 0.0477,
      "step": 11599
    },
    {
      "epoch": 2.602423154588288,
      "gripper_loss": 0.58203125,
      "loss": 0.0291748046875,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.005035400390625,
      "step": 11599
    },
    {
      "epoch": 2.6026475207538704,
      "grad_norm": 0.19020976126194,
      "learning_rate": 2.2654936332634935e-05,
      "loss": 0.0254,
      "step": 11600
    },
    {
      "epoch": 2.6026475207538704,
      "gripper_loss": 0.006622314453125,
      "loss": 0.0255126953125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.019775390625,
      "step": 11600
    },
    {
      "epoch": 2.6028718869194525,
      "grad_norm": 0.4500387907028198,
      "learning_rate": 2.262975225745689e-05,
      "loss": 0.0469,
      "step": 11601
    },
    {
      "epoch": 2.6028718869194525,
      "gripper_loss": 0.025634765625,
      "loss": 0.0732421875,
      "pos_loss": 0.5390625,
      "rot_loss": 0.142578125,
      "step": 11601
    },
    {
      "epoch": 2.6030962530850346,
      "grad_norm": 0.47998395562171936,
      "learning_rate": 2.2604581524262286e-05,
      "loss": 0.0603,
      "step": 11602
    },
    {
      "epoch": 2.6030962530850346,
      "gripper_loss": 0.5390625,
      "loss": 0.0625,
      "pos_loss": 0.435546875,
      "rot_loss": 0.02734375,
      "step": 11602
    },
    {
      "epoch": 2.603320619250617,
      "grad_norm": 0.3996519148349762,
      "learning_rate": 2.257942413452821e-05,
      "loss": 0.0413,
      "step": 11603
    },
    {
      "epoch": 2.603320619250617,
      "gripper_loss": 0.0123291015625,
      "loss": 0.0478515625,
      "pos_loss": 0.46875,
      "rot_loss": 0.01806640625,
      "step": 11603
    },
    {
      "epoch": 2.603544985416199,
      "grad_norm": 0.3255074918270111,
      "learning_rate": 2.2554280089730788e-05,
      "loss": 0.0619,
      "step": 11604
    },
    {
      "epoch": 2.603544985416199,
      "gripper_loss": 0.018798828125,
      "loss": 0.021728515625,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.146484375,
      "step": 11604
    },
    {
      "epoch": 2.6037693515817812,
      "grad_norm": 0.31115293502807617,
      "learning_rate": 2.252914939134551e-05,
      "loss": 0.0293,
      "step": 11605
    },
    {
      "epoch": 2.6037693515817812,
      "gripper_loss": 0.12890625,
      "loss": 0.037353515625,
      "pos_loss": 0.2041015625,
      "rot_loss": 0.11376953125,
      "step": 11605
    },
    {
      "epoch": 2.6039937177473638,
      "grad_norm": 0.5711172223091125,
      "learning_rate": 2.2504032040846972e-05,
      "loss": 0.0425,
      "step": 11606
    },
    {
      "epoch": 2.6039937177473638,
      "gripper_loss": 0.283203125,
      "loss": 0.051513671875,
      "pos_loss": 0.337890625,
      "rot_loss": 0.099609375,
      "step": 11606
    },
    {
      "epoch": 2.604218083912946,
      "grad_norm": 0.3025006651878357,
      "learning_rate": 2.2478928039709107e-05,
      "loss": 0.0363,
      "step": 11607
    },
    {
      "epoch": 2.604218083912946,
      "gripper_loss": 0.6171875,
      "loss": 0.05029296875,
      "pos_loss": 0.28515625,
      "rot_loss": 0.025146484375,
      "step": 11607
    },
    {
      "epoch": 2.604442450078528,
      "grad_norm": 0.26496803760528564,
      "learning_rate": 2.2453837389405013e-05,
      "loss": 0.0472,
      "step": 11608
    },
    {
      "epoch": 2.604442450078528,
      "gripper_loss": 0.00579833984375,
      "loss": 0.044189453125,
      "pos_loss": 0.2890625,
      "rot_loss": 0.158203125,
      "step": 11608
    },
    {
      "epoch": 2.6046668162441104,
      "grad_norm": 0.31592151522636414,
      "learning_rate": 2.2428760091406986e-05,
      "loss": 0.0426,
      "step": 11609
    },
    {
      "epoch": 2.6046668162441104,
      "gripper_loss": 0.1845703125,
      "loss": 0.0162353515625,
      "pos_loss": 0.0859375,
      "rot_loss": 0.005126953125,
      "step": 11609
    },
    {
      "epoch": 2.6048911824096925,
      "grad_norm": 0.22176901996135712,
      "learning_rate": 2.2403696147186516e-05,
      "loss": 0.0364,
      "step": 11610
    },
    {
      "epoch": 2.6048911824096925,
      "gripper_loss": 0.07177734375,
      "loss": 0.0849609375,
      "pos_loss": 0.8046875,
      "rot_loss": 0.057861328125,
      "step": 11610
    },
    {
      "epoch": 2.6051155485752746,
      "grad_norm": 0.4125719964504242,
      "learning_rate": 2.2378645558214366e-05,
      "loss": 0.0376,
      "step": 11611
    },
    {
      "epoch": 2.6051155485752746,
      "gripper_loss": 0.007232666015625,
      "loss": 0.040771484375,
      "pos_loss": 0.35546875,
      "rot_loss": 0.05322265625,
      "step": 11611
    },
    {
      "epoch": 2.605339914740857,
      "grad_norm": 0.31689104437828064,
      "learning_rate": 2.2353608325960505e-05,
      "loss": 0.0245,
      "step": 11612
    },
    {
      "epoch": 2.605339914740857,
      "gripper_loss": 0.006103515625,
      "loss": 0.022705078125,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.07080078125,
      "step": 11612
    },
    {
      "epoch": 2.605564280906439,
      "grad_norm": 0.20950977504253387,
      "learning_rate": 2.2328584451894145e-05,
      "loss": 0.0288,
      "step": 11613
    },
    {
      "epoch": 2.605564280906439,
      "gripper_loss": 0.0093994140625,
      "loss": 0.02783203125,
      "pos_loss": 0.236328125,
      "rot_loss": 0.03369140625,
      "step": 11613
    },
    {
      "epoch": 2.6057886470720213,
      "grad_norm": 0.30742648243904114,
      "learning_rate": 2.2303573937483585e-05,
      "loss": 0.0307,
      "step": 11614
    },
    {
      "epoch": 2.6057886470720213,
      "gripper_loss": 0.1513671875,
      "loss": 0.0380859375,
      "pos_loss": 0.21484375,
      "rot_loss": 0.12255859375,
      "step": 11614
    },
    {
      "epoch": 2.606013013237604,
      "grad_norm": 0.3144491910934448,
      "learning_rate": 2.2278576784196508e-05,
      "loss": 0.0524,
      "step": 11615
    },
    {
      "epoch": 2.606013013237604,
      "gripper_loss": 0.005645751953125,
      "loss": 0.01300048828125,
      "pos_loss": 0.06396484375,
      "rot_loss": 0.052978515625,
      "step": 11615
    },
    {
      "epoch": 2.606237379403186,
      "grad_norm": 0.38493919372558594,
      "learning_rate": 2.2253592993499687e-05,
      "loss": 0.0462,
      "step": 11616
    },
    {
      "epoch": 2.606237379403186,
      "gripper_loss": 0.00823974609375,
      "loss": 0.0260009765625,
      "pos_loss": 0.166015625,
      "rot_loss": 0.0810546875,
      "step": 11616
    },
    {
      "epoch": 2.606461745568768,
      "grad_norm": 0.5931287407875061,
      "learning_rate": 2.2228622566859147e-05,
      "loss": 0.0548,
      "step": 11617
    },
    {
      "epoch": 2.606461745568768,
      "gripper_loss": 0.007110595703125,
      "loss": 0.0859375,
      "pos_loss": 0.50390625,
      "rot_loss": 0.37109375,
      "step": 11617
    },
    {
      "epoch": 2.6066861117343505,
      "grad_norm": 0.6151278614997864,
      "learning_rate": 2.220366550574024e-05,
      "loss": 0.069,
      "step": 11618
    },
    {
      "epoch": 2.6066861117343505,
      "gripper_loss": 0.01519775390625,
      "loss": 0.03369140625,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.09423828125,
      "step": 11618
    },
    {
      "epoch": 2.6069104778999326,
      "grad_norm": 0.17270474135875702,
      "learning_rate": 2.2178721811607294e-05,
      "loss": 0.0252,
      "step": 11619
    },
    {
      "epoch": 2.6069104778999326,
      "gripper_loss": 0.0546875,
      "loss": 0.0703125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.09130859375,
      "step": 11619
    },
    {
      "epoch": 2.6071348440655147,
      "grad_norm": 0.24192099273204803,
      "learning_rate": 2.2153791485924086e-05,
      "loss": 0.039,
      "step": 11620
    },
    {
      "epoch": 2.6071348440655147,
      "gripper_loss": 0.003814697265625,
      "loss": 0.046142578125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.12353515625,
      "step": 11620
    },
    {
      "epoch": 2.607359210231097,
      "grad_norm": 0.5458712577819824,
      "learning_rate": 2.2128874530153496e-05,
      "loss": 0.0483,
      "step": 11621
    },
    {
      "epoch": 2.607359210231097,
      "gripper_loss": 0.361328125,
      "loss": 0.0223388671875,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.0150146484375,
      "step": 11621
    },
    {
      "epoch": 2.6075835763966793,
      "grad_norm": 0.17415767908096313,
      "learning_rate": 2.2103970945757668e-05,
      "loss": 0.0279,
      "step": 11622
    },
    {
      "epoch": 2.6075835763966793,
      "gripper_loss": 0.10302734375,
      "loss": 0.0140380859375,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.00970458984375,
      "step": 11622
    },
    {
      "epoch": 2.6078079425622613,
      "grad_norm": 0.2467428594827652,
      "learning_rate": 2.207908073419787e-05,
      "loss": 0.0304,
      "step": 11623
    },
    {
      "epoch": 2.6078079425622613,
      "gripper_loss": 0.0225830078125,
      "loss": 0.00958251953125,
      "pos_loss": 0.0615234375,
      "rot_loss": 0.01116943359375,
      "step": 11623
    },
    {
      "epoch": 2.608032308727844,
      "grad_norm": 0.40890541672706604,
      "learning_rate": 2.205420389693469e-05,
      "loss": 0.0387,
      "step": 11624
    },
    {
      "epoch": 2.608032308727844,
      "gripper_loss": 0.2109375,
      "loss": 0.049072265625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.166015625,
      "step": 11624
    },
    {
      "epoch": 2.608256674893426,
      "grad_norm": 0.3539404273033142,
      "learning_rate": 2.202934043542787e-05,
      "loss": 0.0561,
      "step": 11625
    },
    {
      "epoch": 2.608256674893426,
      "gripper_loss": 0.06201171875,
      "loss": 0.01141357421875,
      "pos_loss": 0.0228271484375,
      "rot_loss": 0.056884765625,
      "step": 11625
    },
    {
      "epoch": 2.6084810410590085,
      "grad_norm": 0.45346692204475403,
      "learning_rate": 2.200449035113647e-05,
      "loss": 0.0445,
      "step": 11626
    },
    {
      "epoch": 2.6084810410590085,
      "gripper_loss": 0.0034332275390625,
      "loss": 0.053955078125,
      "pos_loss": 0.44140625,
      "rot_loss": 0.111328125,
      "step": 11626
    },
    {
      "epoch": 2.6087054072245905,
      "grad_norm": 0.29597941040992737,
      "learning_rate": 2.1979653645518544e-05,
      "loss": 0.0477,
      "step": 11627
    },
    {
      "epoch": 2.6087054072245905,
      "gripper_loss": 0.048583984375,
      "loss": 0.0220947265625,
      "pos_loss": 0.0615234375,
      "rot_loss": 0.130859375,
      "step": 11627
    },
    {
      "epoch": 2.6089297733901726,
      "grad_norm": 0.33682259917259216,
      "learning_rate": 2.1954830320031593e-05,
      "loss": 0.0335,
      "step": 11628
    },
    {
      "epoch": 2.6089297733901726,
      "gripper_loss": 0.044921875,
      "loss": 0.010498046875,
      "pos_loss": 0.047119140625,
      "rot_loss": 0.033203125,
      "step": 11628
    },
    {
      "epoch": 2.609154139555755,
      "grad_norm": 0.45978644490242004,
      "learning_rate": 2.1930020376132204e-05,
      "loss": 0.0264,
      "step": 11629
    },
    {
      "epoch": 2.609154139555755,
      "gripper_loss": 0.010009765625,
      "loss": 0.0849609375,
      "pos_loss": 0.84375,
      "rot_loss": 0.03515625,
      "step": 11629
    },
    {
      "epoch": 2.6093785057213372,
      "grad_norm": 0.266144722700119,
      "learning_rate": 2.1905223815276237e-05,
      "loss": 0.0545,
      "step": 11630
    },
    {
      "epoch": 2.6093785057213372,
      "gripper_loss": 0.008544921875,
      "loss": 0.09326171875,
      "pos_loss": 0.55859375,
      "rot_loss": 0.408203125,
      "step": 11630
    },
    {
      "epoch": 2.6096028718869193,
      "grad_norm": 0.2605670392513275,
      "learning_rate": 2.1880440638918698e-05,
      "loss": 0.0385,
      "step": 11631
    },
    {
      "epoch": 2.6096028718869193,
      "gripper_loss": 0.1650390625,
      "loss": 0.036865234375,
      "pos_loss": 0.2890625,
      "rot_loss": 0.0225830078125,
      "step": 11631
    },
    {
      "epoch": 2.609827238052502,
      "grad_norm": 0.2309836447238922,
      "learning_rate": 2.1855670848513865e-05,
      "loss": 0.0371,
      "step": 11632
    },
    {
      "epoch": 2.609827238052502,
      "gripper_loss": 0.007110595703125,
      "loss": 0.01806640625,
      "pos_loss": 0.038818359375,
      "rot_loss": 0.130859375,
      "step": 11632
    },
    {
      "epoch": 2.610051604218084,
      "grad_norm": 0.3537410795688629,
      "learning_rate": 2.1830914445515244e-05,
      "loss": 0.0488,
      "step": 11633
    },
    {
      "epoch": 2.610051604218084,
      "gripper_loss": 0.011474609375,
      "loss": 0.01416015625,
      "pos_loss": 0.046630859375,
      "rot_loss": 0.0751953125,
      "step": 11633
    },
    {
      "epoch": 2.610275970383666,
      "grad_norm": 0.25597822666168213,
      "learning_rate": 2.1806171431375532e-05,
      "loss": 0.0243,
      "step": 11634
    },
    {
      "epoch": 2.610275970383666,
      "gripper_loss": 0.04150390625,
      "loss": 0.0419921875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.1396484375,
      "step": 11634
    },
    {
      "epoch": 2.6105003365492485,
      "grad_norm": 0.24324141442775726,
      "learning_rate": 2.1781441807546653e-05,
      "loss": 0.0359,
      "step": 11635
    },
    {
      "epoch": 2.6105003365492485,
      "gripper_loss": 0.022216796875,
      "loss": 0.01806640625,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.07666015625,
      "step": 11635
    },
    {
      "epoch": 2.6107247027148306,
      "grad_norm": 0.23518645763397217,
      "learning_rate": 2.175672557547967e-05,
      "loss": 0.0437,
      "step": 11636
    },
    {
      "epoch": 2.6107247027148306,
      "gripper_loss": 0.0172119140625,
      "loss": 0.01806640625,
      "pos_loss": 0.150390625,
      "rot_loss": 0.017333984375,
      "step": 11636
    },
    {
      "epoch": 2.6109490688804127,
      "grad_norm": 0.1701521873474121,
      "learning_rate": 2.1732022736624945e-05,
      "loss": 0.0273,
      "step": 11637
    },
    {
      "epoch": 2.6109490688804127,
      "gripper_loss": 0.008056640625,
      "loss": 0.05078125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.00665283203125,
      "step": 11637
    },
    {
      "epoch": 2.611173435045995,
      "grad_norm": 0.20374412834644318,
      "learning_rate": 2.1707333292432075e-05,
      "loss": 0.0337,
      "step": 11638
    },
    {
      "epoch": 2.611173435045995,
      "gripper_loss": 0.734375,
      "loss": 0.0439453125,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.03759765625,
      "step": 11638
    },
    {
      "epoch": 2.6113978012115773,
      "grad_norm": 0.2508281469345093,
      "learning_rate": 2.1682657244349758e-05,
      "loss": 0.0411,
      "step": 11639
    },
    {
      "epoch": 2.6113978012115773,
      "gripper_loss": 0.0634765625,
      "loss": 0.126953125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.5703125,
      "step": 11639
    },
    {
      "epoch": 2.61162216737716,
      "grad_norm": 0.8979915380477905,
      "learning_rate": 2.165799459382603e-05,
      "loss": 0.1317,
      "step": 11640
    },
    {
      "epoch": 2.61162216737716,
      "gripper_loss": 0.00726318359375,
      "loss": 0.0186767578125,
      "pos_loss": 0.10107421875,
      "rot_loss": 0.0751953125,
      "step": 11640
    },
    {
      "epoch": 2.611846533542742,
      "grad_norm": 0.21656320989131927,
      "learning_rate": 2.1633345342308042e-05,
      "loss": 0.0371,
      "step": 11641
    },
    {
      "epoch": 2.611846533542742,
      "gripper_loss": 0.0042724609375,
      "loss": 0.025634765625,
      "pos_loss": 0.21875,
      "rot_loss": 0.033935546875,
      "step": 11641
    },
    {
      "epoch": 2.612070899708324,
      "grad_norm": 0.27419352531433105,
      "learning_rate": 2.160870949124219e-05,
      "loss": 0.0268,
      "step": 11642
    },
    {
      "epoch": 2.612070899708324,
      "gripper_loss": 0.0625,
      "loss": 0.03173828125,
      "pos_loss": 0.2490234375,
      "rot_loss": 0.0458984375,
      "step": 11642
    },
    {
      "epoch": 2.6122952658739065,
      "grad_norm": 0.2959888279438019,
      "learning_rate": 2.158408704207418e-05,
      "loss": 0.0273,
      "step": 11643
    },
    {
      "epoch": 2.6122952658739065,
      "gripper_loss": 0.010009765625,
      "loss": 0.0908203125,
      "pos_loss": 0.6484375,
      "rot_loss": 0.294921875,
      "step": 11643
    },
    {
      "epoch": 2.6125196320394886,
      "grad_norm": 0.29488879442214966,
      "learning_rate": 2.1559477996248744e-05,
      "loss": 0.0608,
      "step": 11644
    },
    {
      "epoch": 2.6125196320394886,
      "gripper_loss": 0.1572265625,
      "loss": 0.0274658203125,
      "pos_loss": 0.09228515625,
      "rot_loss": 0.11572265625,
      "step": 11644
    },
    {
      "epoch": 2.6127439982050706,
      "grad_norm": 0.550671398639679,
      "learning_rate": 2.153488235520995e-05,
      "loss": 0.0531,
      "step": 11645
    },
    {
      "epoch": 2.6127439982050706,
      "gripper_loss": 0.00634765625,
      "loss": 0.043701171875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.0322265625,
      "step": 11645
    },
    {
      "epoch": 2.612968364370653,
      "grad_norm": 0.22468721866607666,
      "learning_rate": 2.1510300120401115e-05,
      "loss": 0.0452,
      "step": 11646
    },
    {
      "epoch": 2.612968364370653,
      "gripper_loss": 0.027587890625,
      "loss": 0.0634765625,
      "pos_loss": 0.33984375,
      "rot_loss": 0.29296875,
      "step": 11646
    },
    {
      "epoch": 2.6131927305362352,
      "grad_norm": 0.5792133808135986,
      "learning_rate": 2.1485731293264644e-05,
      "loss": 0.0757,
      "step": 11647
    },
    {
      "epoch": 2.6131927305362352,
      "gripper_loss": 0.09814453125,
      "loss": 0.00860595703125,
      "pos_loss": 0.03125,
      "rot_loss": 0.00836181640625,
      "step": 11647
    },
    {
      "epoch": 2.6134170967018173,
      "grad_norm": 0.4895622432231903,
      "learning_rate": 2.146117587524232e-05,
      "loss": 0.0499,
      "step": 11648
    },
    {
      "epoch": 2.6134170967018173,
      "gripper_loss": 0.45703125,
      "loss": 0.0203857421875,
      "pos_loss": 0.01904296875,
      "rot_loss": 0.024658203125,
      "step": 11648
    },
    {
      "epoch": 2.6136414628674,
      "grad_norm": 0.34774863719940186,
      "learning_rate": 2.1436633867774972e-05,
      "loss": 0.0414,
      "step": 11649
    },
    {
      "epoch": 2.6136414628674,
      "gripper_loss": 0.0108642578125,
      "loss": 0.029296875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.0380859375,
      "step": 11649
    },
    {
      "epoch": 2.613865829032982,
      "grad_norm": 0.26687392592430115,
      "learning_rate": 2.1412105272302724e-05,
      "loss": 0.0425,
      "step": 11650
    },
    {
      "epoch": 2.613865829032982,
      "gripper_loss": 0.12353515625,
      "loss": 0.0419921875,
      "pos_loss": 0.328125,
      "rot_loss": 0.055419921875,
      "step": 11650
    },
    {
      "epoch": 2.614090195198564,
      "grad_norm": 0.22125568985939026,
      "learning_rate": 2.138759009026489e-05,
      "loss": 0.0295,
      "step": 11651
    },
    {
      "epoch": 2.614090195198564,
      "gripper_loss": 0.006591796875,
      "loss": 0.048828125,
      "pos_loss": 0.431640625,
      "rot_loss": 0.06787109375,
      "step": 11651
    },
    {
      "epoch": 2.6143145613641465,
      "grad_norm": 0.5456132888793945,
      "learning_rate": 2.1363088323100077e-05,
      "loss": 0.0625,
      "step": 11652
    },
    {
      "epoch": 2.6143145613641465,
      "gripper_loss": 0.0166015625,
      "loss": 0.06005859375,
      "pos_loss": 0.515625,
      "rot_loss": 0.0966796875,
      "step": 11652
    },
    {
      "epoch": 2.6145389275297286,
      "grad_norm": 0.3002224266529083,
      "learning_rate": 2.1338599972245908e-05,
      "loss": 0.0479,
      "step": 11653
    },
    {
      "epoch": 2.6145389275297286,
      "gripper_loss": 0.01007080078125,
      "loss": 0.057373046875,
      "pos_loss": 0.44140625,
      "rot_loss": 0.138671875,
      "step": 11653
    },
    {
      "epoch": 2.6147632936953107,
      "grad_norm": 0.21167869865894318,
      "learning_rate": 2.131412503913946e-05,
      "loss": 0.0388,
      "step": 11654
    },
    {
      "epoch": 2.6147632936953107,
      "gripper_loss": 0.01556396484375,
      "loss": 0.05029296875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.051513671875,
      "step": 11654
    },
    {
      "epoch": 2.614987659860893,
      "grad_norm": 0.2431701421737671,
      "learning_rate": 2.1289663525216856e-05,
      "loss": 0.0597,
      "step": 11655
    },
    {
      "epoch": 2.614987659860893,
      "gripper_loss": 0.2294921875,
      "loss": 0.03759765625,
      "pos_loss": 0.138671875,
      "rot_loss": 0.15234375,
      "step": 11655
    },
    {
      "epoch": 2.6152120260264753,
      "grad_norm": 0.3067256808280945,
      "learning_rate": 2.1265215431913564e-05,
      "loss": 0.0394,
      "step": 11656
    },
    {
      "epoch": 2.6152120260264753,
      "gripper_loss": 0.01495361328125,
      "loss": 0.042724609375,
      "pos_loss": 0.28125,
      "rot_loss": 0.1435546875,
      "step": 11656
    },
    {
      "epoch": 2.6154363921920574,
      "grad_norm": 0.48106813430786133,
      "learning_rate": 2.12407807606641e-05,
      "loss": 0.0531,
      "step": 11657
    },
    {
      "epoch": 2.6154363921920574,
      "gripper_loss": 0.01055908203125,
      "loss": 0.035400390625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.0211181640625,
      "step": 11657
    },
    {
      "epoch": 2.61566075835764,
      "grad_norm": 0.311190664768219,
      "learning_rate": 2.1216359512902295e-05,
      "loss": 0.0454,
      "step": 11658
    },
    {
      "epoch": 2.61566075835764,
      "gripper_loss": 0.0068359375,
      "loss": 0.0164794921875,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.09912109375,
      "step": 11658
    },
    {
      "epoch": 2.615885124523222,
      "grad_norm": 0.4157312512397766,
      "learning_rate": 2.119195169006119e-05,
      "loss": 0.0424,
      "step": 11659
    },
    {
      "epoch": 2.615885124523222,
      "gripper_loss": 0.0196533203125,
      "loss": 0.031494140625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.0198974609375,
      "step": 11659
    },
    {
      "epoch": 2.616109490688804,
      "grad_norm": 0.4604950547218323,
      "learning_rate": 2.1167557293573057e-05,
      "loss": 0.0389,
      "step": 11660
    },
    {
      "epoch": 2.616109490688804,
      "gripper_loss": 0.10009765625,
      "loss": 0.006927490234375,
      "pos_loss": 0.005218505859375,
      "rot_loss": 0.013671875,
      "step": 11660
    },
    {
      "epoch": 2.6163338568543866,
      "grad_norm": 0.18841084837913513,
      "learning_rate": 2.114317632486931e-05,
      "loss": 0.0357,
      "step": 11661
    },
    {
      "epoch": 2.6163338568543866,
      "gripper_loss": 0.012451171875,
      "loss": 0.0186767578125,
      "pos_loss": 0.05859375,
      "rot_loss": 0.1162109375,
      "step": 11661
    },
    {
      "epoch": 2.6165582230199687,
      "grad_norm": 0.33558690547943115,
      "learning_rate": 2.1118808785380638e-05,
      "loss": 0.0471,
      "step": 11662
    },
    {
      "epoch": 2.6165582230199687,
      "gripper_loss": 0.431640625,
      "loss": 0.0179443359375,
      "pos_loss": 0.00579833984375,
      "rot_loss": 0.019775390625,
      "step": 11662
    },
    {
      "epoch": 2.6167825891855507,
      "grad_norm": 0.34867364168167114,
      "learning_rate": 2.1094454676536867e-05,
      "loss": 0.027,
      "step": 11663
    },
    {
      "epoch": 2.6167825891855507,
      "gripper_loss": 0.00543212890625,
      "loss": 0.015869140625,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.012939453125,
      "step": 11663
    },
    {
      "epoch": 2.6170069553511333,
      "grad_norm": 0.5732331871986389,
      "learning_rate": 2.1070113999767132e-05,
      "loss": 0.0431,
      "step": 11664
    },
    {
      "epoch": 2.6170069553511333,
      "gripper_loss": 0.09765625,
      "loss": 0.0277099609375,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.04541015625,
      "step": 11664
    },
    {
      "epoch": 2.6172313215167153,
      "grad_norm": 0.2684671878814697,
      "learning_rate": 2.1045786756499734e-05,
      "loss": 0.037,
      "step": 11665
    },
    {
      "epoch": 2.6172313215167153,
      "gripper_loss": 0.07421875,
      "loss": 0.09716796875,
      "pos_loss": 0.146484375,
      "rot_loss": 0.5078125,
      "step": 11665
    },
    {
      "epoch": 2.6174556876822974,
      "grad_norm": 1.101481318473816,
      "learning_rate": 2.1021472948162147e-05,
      "loss": 0.0915,
      "step": 11666
    },
    {
      "epoch": 2.6174556876822974,
      "gripper_loss": 0.1845703125,
      "loss": 0.046875,
      "pos_loss": 0.296875,
      "rot_loss": 0.1162109375,
      "step": 11666
    },
    {
      "epoch": 2.61768005384788,
      "grad_norm": 0.23946958780288696,
      "learning_rate": 2.0997172576181138e-05,
      "loss": 0.0308,
      "step": 11667
    },
    {
      "epoch": 2.61768005384788,
      "gripper_loss": 0.005767822265625,
      "loss": 0.0791015625,
      "pos_loss": 0.458984375,
      "rot_loss": 0.357421875,
      "step": 11667
    },
    {
      "epoch": 2.617904420013462,
      "grad_norm": 0.22796215116977692,
      "learning_rate": 2.0972885641982604e-05,
      "loss": 0.0356,
      "step": 11668
    },
    {
      "epoch": 2.617904420013462,
      "gripper_loss": 0.01385498046875,
      "loss": 0.031494140625,
      "pos_loss": 0.197265625,
      "rot_loss": 0.0849609375,
      "step": 11668
    },
    {
      "epoch": 2.618128786179044,
      "grad_norm": 0.4143012762069702,
      "learning_rate": 2.094861214699173e-05,
      "loss": 0.0473,
      "step": 11669
    },
    {
      "epoch": 2.618128786179044,
      "gripper_loss": 0.12353515625,
      "loss": 0.0208740234375,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.11572265625,
      "step": 11669
    },
    {
      "epoch": 2.6183531523446266,
      "grad_norm": 0.4532400071620941,
      "learning_rate": 2.0924352092632825e-05,
      "loss": 0.0563,
      "step": 11670
    },
    {
      "epoch": 2.6183531523446266,
      "gripper_loss": 0.0169677734375,
      "loss": 0.0390625,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.1669921875,
      "step": 11670
    },
    {
      "epoch": 2.6185775185102087,
      "grad_norm": 0.3039339780807495,
      "learning_rate": 2.09001054803295e-05,
      "loss": 0.0298,
      "step": 11671
    },
    {
      "epoch": 2.6185775185102087,
      "gripper_loss": 0.01904296875,
      "loss": 0.0213623046875,
      "pos_loss": 0.09228515625,
      "rot_loss": 0.10205078125,
      "step": 11671
    },
    {
      "epoch": 2.618801884675791,
      "grad_norm": 0.3674527704715729,
      "learning_rate": 2.0875872311504506e-05,
      "loss": 0.0498,
      "step": 11672
    },
    {
      "epoch": 2.618801884675791,
      "gripper_loss": 0.013916015625,
      "loss": 0.0272216796875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.1123046875,
      "step": 11672
    },
    {
      "epoch": 2.6190262508413733,
      "grad_norm": 0.5315797328948975,
      "learning_rate": 2.08516525875799e-05,
      "loss": 0.0675,
      "step": 11673
    },
    {
      "epoch": 2.6190262508413733,
      "gripper_loss": 0.00848388671875,
      "loss": 0.09130859375,
      "pos_loss": 0.8671875,
      "rot_loss": 0.08349609375,
      "step": 11673
    },
    {
      "epoch": 2.6192506170069554,
      "grad_norm": 0.5068173408508301,
      "learning_rate": 2.0827446309976795e-05,
      "loss": 0.0582,
      "step": 11674
    },
    {
      "epoch": 2.6192506170069554,
      "gripper_loss": 0.298828125,
      "loss": 0.043701171875,
      "pos_loss": 0.2265625,
      "rot_loss": 0.11572265625,
      "step": 11674
    },
    {
      "epoch": 2.6194749831725375,
      "grad_norm": 1.8580379486083984,
      "learning_rate": 2.0803253480115692e-05,
      "loss": 0.0842,
      "step": 11675
    },
    {
      "epoch": 2.6194749831725375,
      "gripper_loss": 0.39453125,
      "loss": 0.03173828125,
      "pos_loss": 0.107421875,
      "rot_loss": 0.0771484375,
      "step": 11675
    },
    {
      "epoch": 2.61969934933812,
      "grad_norm": 0.3116191029548645,
      "learning_rate": 2.0779074099416096e-05,
      "loss": 0.0354,
      "step": 11676
    },
    {
      "epoch": 2.61969934933812,
      "gripper_loss": 0.004150390625,
      "loss": 0.07470703125,
      "pos_loss": 0.66796875,
      "rot_loss": 0.1044921875,
      "step": 11676
    },
    {
      "epoch": 2.619923715503702,
      "grad_norm": 0.5501052737236023,
      "learning_rate": 2.0754908169296955e-05,
      "loss": 0.0564,
      "step": 11677
    },
    {
      "epoch": 2.619923715503702,
      "gripper_loss": 0.00286865234375,
      "loss": 0.0284423828125,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.181640625,
      "step": 11677
    },
    {
      "epoch": 2.620148081669284,
      "grad_norm": 0.3803049921989441,
      "learning_rate": 2.0730755691176274e-05,
      "loss": 0.034,
      "step": 11678
    },
    {
      "epoch": 2.620148081669284,
      "gripper_loss": 0.01141357421875,
      "loss": 0.05419921875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.0079345703125,
      "step": 11678
    },
    {
      "epoch": 2.6203724478348667,
      "grad_norm": 0.19932051002979279,
      "learning_rate": 2.070661666647128e-05,
      "loss": 0.0292,
      "step": 11679
    },
    {
      "epoch": 2.6203724478348667,
      "gripper_loss": 0.04931640625,
      "loss": 0.053466796875,
      "pos_loss": 0.423828125,
      "rot_loss": 0.103515625,
      "step": 11679
    },
    {
      "epoch": 2.6205968140004487,
      "grad_norm": 0.3993777334690094,
      "learning_rate": 2.0682491096598476e-05,
      "loss": 0.0632,
      "step": 11680
    },
    {
      "epoch": 2.6205968140004487,
      "gripper_loss": 0.03369140625,
      "loss": 0.05615234375,
      "pos_loss": 0.5390625,
      "rot_loss": 0.0277099609375,
      "step": 11680
    },
    {
      "epoch": 2.620821180166031,
      "grad_norm": 0.44164666533470154,
      "learning_rate": 2.065837898297354e-05,
      "loss": 0.0447,
      "step": 11681
    },
    {
      "epoch": 2.620821180166031,
      "gripper_loss": 0.0033111572265625,
      "loss": 0.1806640625,
      "pos_loss": 1.0703125,
      "rot_loss": 0.83203125,
      "step": 11681
    },
    {
      "epoch": 2.6210455463316134,
      "grad_norm": 0.5289160013198853,
      "learning_rate": 2.0634280327011396e-05,
      "loss": 0.0627,
      "step": 11682
    },
    {
      "epoch": 2.6210455463316134,
      "gripper_loss": 0.008056640625,
      "loss": 0.02490234375,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.021728515625,
      "step": 11682
    },
    {
      "epoch": 2.6212699124971954,
      "grad_norm": 0.49334684014320374,
      "learning_rate": 2.061019513012602e-05,
      "loss": 0.0521,
      "step": 11683
    },
    {
      "epoch": 2.6212699124971954,
      "gripper_loss": 0.294921875,
      "loss": 0.031982421875,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.060546875,
      "step": 11683
    },
    {
      "epoch": 2.6214942786627775,
      "grad_norm": 0.2853482663631439,
      "learning_rate": 2.0586123393730837e-05,
      "loss": 0.0412,
      "step": 11684
    },
    {
      "epoch": 2.6214942786627775,
      "gripper_loss": 0.373046875,
      "loss": 0.0196533203125,
      "pos_loss": 0.051025390625,
      "rot_loss": 0.01171875,
      "step": 11684
    },
    {
      "epoch": 2.62171864482836,
      "grad_norm": 0.42208561301231384,
      "learning_rate": 2.056206511923836e-05,
      "loss": 0.0465,
      "step": 11685
    },
    {
      "epoch": 2.62171864482836,
      "gripper_loss": 0.3984375,
      "loss": 0.0247802734375,
      "pos_loss": 0.0859375,
      "rot_loss": 0.0228271484375,
      "step": 11685
    },
    {
      "epoch": 2.621943010993942,
      "grad_norm": 0.23571595549583435,
      "learning_rate": 2.0538020308060235e-05,
      "loss": 0.0333,
      "step": 11686
    },
    {
      "epoch": 2.621943010993942,
      "gripper_loss": 0.32421875,
      "loss": 0.059814453125,
      "pos_loss": 0.47265625,
      "rot_loss": 0.036865234375,
      "step": 11686
    },
    {
      "epoch": 2.622167377159524,
      "grad_norm": 0.259018212556839,
      "learning_rate": 2.05139889616075e-05,
      "loss": 0.0392,
      "step": 11687
    },
    {
      "epoch": 2.622167377159524,
      "gripper_loss": 0.08984375,
      "loss": 0.01214599609375,
      "pos_loss": 0.0294189453125,
      "rot_loss": 0.0458984375,
      "step": 11687
    },
    {
      "epoch": 2.6223917433251067,
      "grad_norm": 0.2613688111305237,
      "learning_rate": 2.0489971081290192e-05,
      "loss": 0.032,
      "step": 11688
    },
    {
      "epoch": 2.6223917433251067,
      "gripper_loss": 0.002838134765625,
      "loss": 0.173828125,
      "pos_loss": 1.1484375,
      "rot_loss": 0.671875,
      "step": 11688
    },
    {
      "epoch": 2.622616109490689,
      "grad_norm": 0.4307881295681,
      "learning_rate": 2.0465966668517742e-05,
      "loss": 0.0489,
      "step": 11689
    },
    {
      "epoch": 2.622616109490689,
      "gripper_loss": 0.291015625,
      "loss": 0.031494140625,
      "pos_loss": 0.1171875,
      "rot_loss": 0.09716796875,
      "step": 11689
    },
    {
      "epoch": 2.622840475656271,
      "grad_norm": 0.19278119504451752,
      "learning_rate": 2.0441975724698774e-05,
      "loss": 0.0259,
      "step": 11690
    },
    {
      "epoch": 2.622840475656271,
      "gripper_loss": 0.0225830078125,
      "loss": 0.0147705078125,
      "pos_loss": 0.083984375,
      "rot_loss": 0.040283203125,
      "step": 11690
    },
    {
      "epoch": 2.6230648418218534,
      "grad_norm": 0.24036329984664917,
      "learning_rate": 2.0417998251240937e-05,
      "loss": 0.0449,
      "step": 11691
    },
    {
      "epoch": 2.6230648418218534,
      "gripper_loss": 0.00185394287109375,
      "loss": 0.032470703125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.01953125,
      "step": 11691
    },
    {
      "epoch": 2.6232892079874355,
      "grad_norm": 0.5909101963043213,
      "learning_rate": 2.0394034249551273e-05,
      "loss": 0.0343,
      "step": 11692
    },
    {
      "epoch": 2.6232892079874355,
      "gripper_loss": 0.0111083984375,
      "loss": 0.080078125,
      "pos_loss": 0.79296875,
      "rot_loss": 0.033203125,
      "step": 11692
    },
    {
      "epoch": 2.6235135741530176,
      "grad_norm": 0.4315681755542755,
      "learning_rate": 2.0370083721035994e-05,
      "loss": 0.0465,
      "step": 11693
    },
    {
      "epoch": 2.6235135741530176,
      "gripper_loss": 0.1435546875,
      "loss": 0.024658203125,
      "pos_loss": 0.072265625,
      "rot_loss": 0.12109375,
      "step": 11693
    },
    {
      "epoch": 2.6237379403186,
      "grad_norm": 0.3075869083404541,
      "learning_rate": 2.0346146667100524e-05,
      "loss": 0.0438,
      "step": 11694
    },
    {
      "epoch": 2.6237379403186,
      "gripper_loss": 0.0089111328125,
      "loss": 0.091796875,
      "pos_loss": 0.84765625,
      "rot_loss": 0.10009765625,
      "step": 11694
    },
    {
      "epoch": 2.623962306484182,
      "grad_norm": 0.30593761801719666,
      "learning_rate": 2.0322223089149465e-05,
      "loss": 0.0672,
      "step": 11695
    },
    {
      "epoch": 2.623962306484182,
      "gripper_loss": 0.01287841796875,
      "loss": 0.1591796875,
      "pos_loss": 1.5859375,
      "rot_loss": 0.08154296875,
      "step": 11695
    },
    {
      "epoch": 2.6241866726497642,
      "grad_norm": 0.5148528814315796,
      "learning_rate": 2.0298312988586587e-05,
      "loss": 0.0711,
      "step": 11696
    },
    {
      "epoch": 2.6241866726497642,
      "gripper_loss": 0.004425048828125,
      "loss": 0.0517578125,
      "pos_loss": 0.40234375,
      "rot_loss": 0.130859375,
      "step": 11696
    },
    {
      "epoch": 2.6244110388153468,
      "grad_norm": 0.3347184956073761,
      "learning_rate": 2.0274416366815042e-05,
      "loss": 0.03,
      "step": 11697
    },
    {
      "epoch": 2.6244110388153468,
      "gripper_loss": 0.003997802734375,
      "loss": 0.01904296875,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.11865234375,
      "step": 11697
    },
    {
      "epoch": 2.624635404980929,
      "grad_norm": 0.2586005628108978,
      "learning_rate": 2.025053322523693e-05,
      "loss": 0.0402,
      "step": 11698
    },
    {
      "epoch": 2.624635404980929,
      "gripper_loss": 0.09619140625,
      "loss": 0.021484375,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.054931640625,
      "step": 11698
    },
    {
      "epoch": 2.624859771146511,
      "grad_norm": 0.19136855006217957,
      "learning_rate": 2.0226663565253796e-05,
      "loss": 0.0401,
      "step": 11699
    },
    {
      "epoch": 2.624859771146511,
      "gripper_loss": 0.2421875,
      "loss": 0.0107421875,
      "pos_loss": 0.008544921875,
      "rot_loss": 0.004730224609375,
      "step": 11699
    },
    {
      "epoch": 2.6250841373120934,
      "grad_norm": 0.39665257930755615,
      "learning_rate": 2.020280738826627e-05,
      "loss": 0.0323,
      "step": 11700
    },
    {
      "epoch": 2.6250841373120934,
      "gripper_loss": 0.12451171875,
      "loss": 0.0179443359375,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.047119140625,
      "step": 11700
    },
    {
      "epoch": 2.6253085034776755,
      "grad_norm": 0.21458975970745087,
      "learning_rate": 2.0178964695674207e-05,
      "loss": 0.0273,
      "step": 11701
    },
    {
      "epoch": 2.6253085034776755,
      "gripper_loss": 0.0036163330078125,
      "loss": 0.0201416015625,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.01446533203125,
      "step": 11701
    },
    {
      "epoch": 2.6255328696432576,
      "grad_norm": 0.5461409687995911,
      "learning_rate": 2.015513548887671e-05,
      "loss": 0.0459,
      "step": 11702
    },
    {
      "epoch": 2.6255328696432576,
      "gripper_loss": 0.0147705078125,
      "loss": 0.036865234375,
      "pos_loss": 0.2890625,
      "rot_loss": 0.0751953125,
      "step": 11702
    },
    {
      "epoch": 2.62575723580884,
      "grad_norm": 0.18823577463626862,
      "learning_rate": 2.01313197692721e-05,
      "loss": 0.0246,
      "step": 11703
    },
    {
      "epoch": 2.62575723580884,
      "gripper_loss": 0.003448486328125,
      "loss": 0.07666015625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.341796875,
      "step": 11703
    },
    {
      "epoch": 2.625981601974422,
      "grad_norm": 0.46524477005004883,
      "learning_rate": 2.0107517538257793e-05,
      "loss": 0.059,
      "step": 11704
    },
    {
      "epoch": 2.625981601974422,
      "gripper_loss": 0.27734375,
      "loss": 0.06201171875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.279296875,
      "step": 11704
    },
    {
      "epoch": 2.6262059681400043,
      "grad_norm": 0.3882869780063629,
      "learning_rate": 2.0083728797230556e-05,
      "loss": 0.0397,
      "step": 11705
    },
    {
      "epoch": 2.6262059681400043,
      "gripper_loss": 0.57421875,
      "loss": 0.040771484375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.07958984375,
      "step": 11705
    },
    {
      "epoch": 2.626430334305587,
      "grad_norm": 0.323792427778244,
      "learning_rate": 2.0059953547586247e-05,
      "loss": 0.0355,
      "step": 11706
    },
    {
      "epoch": 2.626430334305587,
      "gripper_loss": 0.0810546875,
      "loss": 0.0927734375,
      "pos_loss": 0.890625,
      "rot_loss": 0.0498046875,
      "step": 11706
    },
    {
      "epoch": 2.626654700471169,
      "grad_norm": 0.42418378591537476,
      "learning_rate": 2.0036191790720054e-05,
      "loss": 0.0478,
      "step": 11707
    },
    {
      "epoch": 2.626654700471169,
      "gripper_loss": 0.00579833984375,
      "loss": 0.103515625,
      "pos_loss": 1.0390625,
      "rot_loss": 0.039306640625,
      "step": 11707
    },
    {
      "epoch": 2.626879066636751,
      "grad_norm": 0.3861944377422333,
      "learning_rate": 2.001244352802628e-05,
      "loss": 0.0508,
      "step": 11708
    },
    {
      "epoch": 2.626879066636751,
      "gripper_loss": 0.146484375,
      "loss": 0.0281982421875,
      "pos_loss": 0.19140625,
      "rot_loss": 0.03466796875,
      "step": 11708
    },
    {
      "epoch": 2.6271034328023335,
      "grad_norm": 0.28091514110565186,
      "learning_rate": 1.9988708760898478e-05,
      "loss": 0.0363,
      "step": 11709
    },
    {
      "epoch": 2.6271034328023335,
      "gripper_loss": 0.169921875,
      "loss": 0.038330078125,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.1630859375,
      "step": 11709
    },
    {
      "epoch": 2.6273277989679156,
      "grad_norm": 0.3119065463542938,
      "learning_rate": 1.9964987490729335e-05,
      "loss": 0.0414,
      "step": 11710
    },
    {
      "epoch": 2.6273277989679156,
      "gripper_loss": 0.21484375,
      "loss": 0.0771484375,
      "pos_loss": 0.66015625,
      "rot_loss": 0.06005859375,
      "step": 11710
    },
    {
      "epoch": 2.6275521651334977,
      "grad_norm": 0.5518625974655151,
      "learning_rate": 1.9941279718910826e-05,
      "loss": 0.0561,
      "step": 11711
    },
    {
      "epoch": 2.6275521651334977,
      "gripper_loss": 0.01202392578125,
      "loss": 0.03662109375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.06640625,
      "step": 11711
    },
    {
      "epoch": 2.62777653129908,
      "grad_norm": 0.25653815269470215,
      "learning_rate": 1.991758544683417e-05,
      "loss": 0.0464,
      "step": 11712
    },
    {
      "epoch": 2.62777653129908,
      "gripper_loss": 0.01190185546875,
      "loss": 0.06787109375,
      "pos_loss": 0.64453125,
      "rot_loss": 0.052490234375,
      "step": 11712
    },
    {
      "epoch": 2.6280008974646623,
      "grad_norm": 0.6677367687225342,
      "learning_rate": 1.989390467588964e-05,
      "loss": 0.0489,
      "step": 11713
    },
    {
      "epoch": 2.6280008974646623,
      "gripper_loss": 0.0264892578125,
      "loss": 0.0272216796875,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.1279296875,
      "step": 11713
    },
    {
      "epoch": 2.6282252636302443,
      "grad_norm": 0.24414917826652527,
      "learning_rate": 1.987023740746688e-05,
      "loss": 0.0323,
      "step": 11714
    },
    {
      "epoch": 2.6282252636302443,
      "gripper_loss": 0.0057373046875,
      "loss": 0.11083984375,
      "pos_loss": 1.140625,
      "rot_loss": 0.0206298828125,
      "step": 11714
    },
    {
      "epoch": 2.628449629795827,
      "grad_norm": 0.31970885396003723,
      "learning_rate": 1.9846583642954664e-05,
      "loss": 0.0427,
      "step": 11715
    },
    {
      "epoch": 2.628449629795827,
      "gripper_loss": 0.12451171875,
      "loss": 0.0205078125,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.07421875,
      "step": 11715
    },
    {
      "epoch": 2.628673995961409,
      "grad_norm": 0.22439761459827423,
      "learning_rate": 1.9822943383740993e-05,
      "loss": 0.028,
      "step": 11716
    },
    {
      "epoch": 2.628673995961409,
      "gripper_loss": 0.0247802734375,
      "loss": 0.014404296875,
      "pos_loss": 0.017578125,
      "rot_loss": 0.10498046875,
      "step": 11716
    },
    {
      "epoch": 2.628898362126991,
      "grad_norm": 0.4116635024547577,
      "learning_rate": 1.9799316631213037e-05,
      "loss": 0.0599,
      "step": 11717
    },
    {
      "epoch": 2.628898362126991,
      "gripper_loss": 0.008056640625,
      "loss": 0.037353515625,
      "pos_loss": 0.220703125,
      "rot_loss": 0.15625,
      "step": 11717
    },
    {
      "epoch": 2.6291227282925735,
      "grad_norm": 0.22856298089027405,
      "learning_rate": 1.9775703386757215e-05,
      "loss": 0.0443,
      "step": 11718
    },
    {
      "epoch": 2.6291227282925735,
      "gripper_loss": 0.022216796875,
      "loss": 0.0267333984375,
      "pos_loss": 0.14453125,
      "rot_loss": 0.1103515625,
      "step": 11718
    },
    {
      "epoch": 2.6293470944581556,
      "grad_norm": 0.2384636253118515,
      "learning_rate": 1.975210365175917e-05,
      "loss": 0.0363,
      "step": 11719
    },
    {
      "epoch": 2.6293470944581556,
      "gripper_loss": 0.01312255859375,
      "loss": 0.05126953125,
      "pos_loss": 0.484375,
      "rot_loss": 0.02978515625,
      "step": 11719
    },
    {
      "epoch": 2.6295714606237377,
      "grad_norm": 0.3415404260158539,
      "learning_rate": 1.9728517427603705e-05,
      "loss": 0.0392,
      "step": 11720
    },
    {
      "epoch": 2.6295714606237377,
      "gripper_loss": 0.00823974609375,
      "loss": 0.0654296875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.1826171875,
      "step": 11720
    },
    {
      "epoch": 2.6297958267893202,
      "grad_norm": 0.3001368045806885,
      "learning_rate": 1.9704944715674826e-05,
      "loss": 0.0528,
      "step": 11721
    },
    {
      "epoch": 2.6297958267893202,
      "gripper_loss": 0.01544189453125,
      "loss": 0.0673828125,
      "pos_loss": 0.296875,
      "rot_loss": 0.3984375,
      "step": 11721
    },
    {
      "epoch": 2.6300201929549023,
      "grad_norm": 0.506089448928833,
      "learning_rate": 1.968138551735582e-05,
      "loss": 0.0545,
      "step": 11722
    },
    {
      "epoch": 2.6300201929549023,
      "gripper_loss": 0.74609375,
      "loss": 0.059326171875,
      "pos_loss": 0.20703125,
      "rot_loss": 0.1474609375,
      "step": 11722
    },
    {
      "epoch": 2.6302445591204844,
      "grad_norm": 0.2990201413631439,
      "learning_rate": 1.965783983402905e-05,
      "loss": 0.0351,
      "step": 11723
    },
    {
      "epoch": 2.6302445591204844,
      "gripper_loss": 0.162109375,
      "loss": 0.056396484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.1689453125,
      "step": 11723
    },
    {
      "epoch": 2.630468925286067,
      "grad_norm": 0.19916048645973206,
      "learning_rate": 1.963430766707622e-05,
      "loss": 0.0423,
      "step": 11724
    },
    {
      "epoch": 2.630468925286067,
      "gripper_loss": 0.2060546875,
      "loss": 0.033935546875,
      "pos_loss": 0.232421875,
      "rot_loss": 0.0380859375,
      "step": 11724
    },
    {
      "epoch": 2.630693291451649,
      "grad_norm": 0.5970065593719482,
      "learning_rate": 1.9610789017878218e-05,
      "loss": 0.0578,
      "step": 11725
    },
    {
      "epoch": 2.630693291451649,
      "gripper_loss": 0.01287841796875,
      "loss": 0.027099609375,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.06103515625,
      "step": 11725
    },
    {
      "epoch": 2.630917657617231,
      "grad_norm": 0.44858527183532715,
      "learning_rate": 1.9587283887815027e-05,
      "loss": 0.0585,
      "step": 11726
    },
    {
      "epoch": 2.630917657617231,
      "gripper_loss": 0.01806640625,
      "loss": 0.03125,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.193359375,
      "step": 11726
    },
    {
      "epoch": 2.6311420237828136,
      "grad_norm": 0.4289294481277466,
      "learning_rate": 1.956379227826596e-05,
      "loss": 0.0434,
      "step": 11727
    },
    {
      "epoch": 2.6311420237828136,
      "gripper_loss": 0.009521484375,
      "loss": 0.027587890625,
      "pos_loss": 0.103515625,
      "rot_loss": 0.16796875,
      "step": 11727
    },
    {
      "epoch": 2.6313663899483957,
      "grad_norm": 0.23054099082946777,
      "learning_rate": 1.9540314190609503e-05,
      "loss": 0.0388,
      "step": 11728
    },
    {
      "epoch": 2.6313663899483957,
      "gripper_loss": 0.13671875,
      "loss": 0.01214599609375,
      "pos_loss": 0.01446533203125,
      "rot_loss": 0.0498046875,
      "step": 11728
    },
    {
      "epoch": 2.6315907561139777,
      "grad_norm": 0.699499249458313,
      "learning_rate": 1.951684962622338e-05,
      "loss": 0.046,
      "step": 11729
    },
    {
      "epoch": 2.6315907561139777,
      "gripper_loss": 0.01153564453125,
      "loss": 0.0927734375,
      "pos_loss": 0.82421875,
      "rot_loss": 0.1435546875,
      "step": 11729
    },
    {
      "epoch": 2.6318151222795603,
      "grad_norm": 0.29012933373451233,
      "learning_rate": 1.9493398586484383e-05,
      "loss": 0.041,
      "step": 11730
    },
    {
      "epoch": 2.6318151222795603,
      "gripper_loss": 0.00714111328125,
      "loss": 0.0419921875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.150390625,
      "step": 11730
    },
    {
      "epoch": 2.6320394884451424,
      "grad_norm": 0.35584893822669983,
      "learning_rate": 1.9469961072768633e-05,
      "loss": 0.0436,
      "step": 11731
    },
    {
      "epoch": 2.6320394884451424,
      "gripper_loss": 0.2119140625,
      "loss": 0.07421875,
      "pos_loss": 0.50390625,
      "rot_loss": 0.193359375,
      "step": 11731
    },
    {
      "epoch": 2.6322638546107244,
      "grad_norm": 0.3225337862968445,
      "learning_rate": 1.9446537086451525e-05,
      "loss": 0.0413,
      "step": 11732
    },
    {
      "epoch": 2.6322638546107244,
      "gripper_loss": 0.30859375,
      "loss": 0.0194091796875,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.0120849609375,
      "step": 11732
    },
    {
      "epoch": 2.632488220776307,
      "grad_norm": 0.41494420170783997,
      "learning_rate": 1.9423126628907467e-05,
      "loss": 0.0427,
      "step": 11733
    },
    {
      "epoch": 2.632488220776307,
      "gripper_loss": 0.0038909912109375,
      "loss": 0.034423828125,
      "pos_loss": 0.177734375,
      "rot_loss": 0.1708984375,
      "step": 11733
    },
    {
      "epoch": 2.632712586941889,
      "grad_norm": 0.35294365882873535,
      "learning_rate": 1.9399729701510243e-05,
      "loss": 0.0486,
      "step": 11734
    },
    {
      "epoch": 2.632712586941889,
      "gripper_loss": 0.00872802734375,
      "loss": 0.01214599609375,
      "pos_loss": 0.048828125,
      "rot_loss": 0.05419921875,
      "step": 11734
    },
    {
      "epoch": 2.6329369531074716,
      "grad_norm": 0.24564909934997559,
      "learning_rate": 1.9376346305632674e-05,
      "loss": 0.0349,
      "step": 11735
    },
    {
      "epoch": 2.6329369531074716,
      "gripper_loss": 0.01165771484375,
      "loss": 0.017578125,
      "pos_loss": 0.1171875,
      "rot_loss": 0.048095703125,
      "step": 11735
    },
    {
      "epoch": 2.6331613192730536,
      "grad_norm": 0.1671353280544281,
      "learning_rate": 1.935297644264697e-05,
      "loss": 0.0312,
      "step": 11736
    },
    {
      "epoch": 2.6331613192730536,
      "gripper_loss": 0.5625,
      "loss": 0.029052734375,
      "pos_loss": 0.01226806640625,
      "rot_loss": 0.09033203125,
      "step": 11736
    },
    {
      "epoch": 2.6333856854386357,
      "grad_norm": 0.26911264657974243,
      "learning_rate": 1.9329620113924444e-05,
      "loss": 0.0264,
      "step": 11737
    },
    {
      "epoch": 2.6333856854386357,
      "gripper_loss": 0.6953125,
      "loss": 0.1015625,
      "pos_loss": 0.42578125,
      "rot_loss": 0.408203125,
      "step": 11737
    },
    {
      "epoch": 2.6336100516042182,
      "grad_norm": 0.5215370655059814,
      "learning_rate": 1.9306277320835676e-05,
      "loss": 0.0376,
      "step": 11738
    },
    {
      "epoch": 2.6336100516042182,
      "gripper_loss": 0.326171875,
      "loss": 0.0198974609375,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.033935546875,
      "step": 11738
    },
    {
      "epoch": 2.6338344177698003,
      "grad_norm": 0.350965678691864,
      "learning_rate": 1.928294806475034e-05,
      "loss": 0.0576,
      "step": 11739
    },
    {
      "epoch": 2.6338344177698003,
      "gripper_loss": 0.1552734375,
      "loss": 0.01611328125,
      "pos_loss": 0.04052734375,
      "rot_loss": 0.054443359375,
      "step": 11739
    },
    {
      "epoch": 2.6340587839353824,
      "grad_norm": 0.40293461084365845,
      "learning_rate": 1.9259632347037396e-05,
      "loss": 0.0425,
      "step": 11740
    },
    {
      "epoch": 2.6340587839353824,
      "gripper_loss": 0.0908203125,
      "loss": 0.0087890625,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.0087890625,
      "step": 11740
    },
    {
      "epoch": 2.634283150100965,
      "grad_norm": 0.7465254664421082,
      "learning_rate": 1.9236330169065035e-05,
      "loss": 0.0399,
      "step": 11741
    },
    {
      "epoch": 2.634283150100965,
      "gripper_loss": 0.7578125,
      "loss": 0.054443359375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.049560546875,
      "step": 11741
    },
    {
      "epoch": 2.634507516266547,
      "grad_norm": 0.2188531905412674,
      "learning_rate": 1.921304153220066e-05,
      "loss": 0.0383,
      "step": 11742
    },
    {
      "epoch": 2.634507516266547,
      "gripper_loss": 0.2412109375,
      "loss": 0.038330078125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.022216796875,
      "step": 11742
    },
    {
      "epoch": 2.634731882432129,
      "grad_norm": 0.23742996156215668,
      "learning_rate": 1.9189766437810728e-05,
      "loss": 0.0324,
      "step": 11743
    },
    {
      "epoch": 2.634731882432129,
      "gripper_loss": 0.0098876953125,
      "loss": 0.04248046875,
      "pos_loss": 0.232421875,
      "rot_loss": 0.193359375,
      "step": 11743
    },
    {
      "epoch": 2.6349562485977116,
      "grad_norm": 0.26035380363464355,
      "learning_rate": 1.9166504887261098e-05,
      "loss": 0.0417,
      "step": 11744
    },
    {
      "epoch": 2.6349562485977116,
      "gripper_loss": 0.0185546875,
      "loss": 0.049560546875,
      "pos_loss": 0.3203125,
      "rot_loss": 0.1826171875,
      "step": 11744
    },
    {
      "epoch": 2.6351806147632937,
      "grad_norm": 0.6515699625015259,
      "learning_rate": 1.9143256881916678e-05,
      "loss": 0.0339,
      "step": 11745
    },
    {
      "epoch": 2.6351806147632937,
      "gripper_loss": 0.024658203125,
      "loss": 0.026123046875,
      "pos_loss": 0.2265625,
      "rot_loss": 0.023193359375,
      "step": 11745
    },
    {
      "epoch": 2.6354049809288758,
      "grad_norm": 0.4570319354534149,
      "learning_rate": 1.912002242314173e-05,
      "loss": 0.0343,
      "step": 11746
    },
    {
      "epoch": 2.6354049809288758,
      "gripper_loss": 0.00872802734375,
      "loss": 0.049072265625,
      "pos_loss": 0.1982421875,
      "rot_loss": 0.30078125,
      "step": 11746
    },
    {
      "epoch": 2.6356293470944583,
      "grad_norm": 0.31921789050102234,
      "learning_rate": 1.909680151229956e-05,
      "loss": 0.0449,
      "step": 11747
    },
    {
      "epoch": 2.6356293470944583,
      "gripper_loss": 0.287109375,
      "loss": 0.03515625,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.06005859375,
      "step": 11747
    },
    {
      "epoch": 2.6358537132600404,
      "grad_norm": 0.3951708674430847,
      "learning_rate": 1.90735941507528e-05,
      "loss": 0.0421,
      "step": 11748
    },
    {
      "epoch": 2.6358537132600404,
      "gripper_loss": 0.006591796875,
      "loss": 0.017822265625,
      "pos_loss": 0.064453125,
      "rot_loss": 0.103515625,
      "step": 11748
    },
    {
      "epoch": 2.636078079425623,
      "grad_norm": 0.47597694396972656,
      "learning_rate": 1.9050400339863215e-05,
      "loss": 0.0472,
      "step": 11749
    },
    {
      "epoch": 2.636078079425623,
      "gripper_loss": 0.029052734375,
      "loss": 0.01953125,
      "pos_loss": 0.08447265625,
      "rot_loss": 0.083984375,
      "step": 11749
    },
    {
      "epoch": 2.636302445591205,
      "grad_norm": 0.3013608455657959,
      "learning_rate": 1.902722008099192e-05,
      "loss": 0.0409,
      "step": 11750
    },
    {
      "epoch": 2.636302445591205,
      "gripper_loss": 0.169921875,
      "loss": 0.0169677734375,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.041015625,
      "step": 11750
    },
    {
      "epoch": 2.636526811756787,
      "grad_norm": 0.3445148766040802,
      "learning_rate": 1.9004053375498987e-05,
      "loss": 0.0476,
      "step": 11751
    },
    {
      "epoch": 2.636526811756787,
      "gripper_loss": 0.0072021484375,
      "loss": 0.039306640625,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.1474609375,
      "step": 11751
    },
    {
      "epoch": 2.6367511779223696,
      "grad_norm": 0.6210987567901611,
      "learning_rate": 1.8980900224743885e-05,
      "loss": 0.0457,
      "step": 11752
    },
    {
      "epoch": 2.6367511779223696,
      "gripper_loss": 0.00732421875,
      "loss": 0.01104736328125,
      "pos_loss": 0.072265625,
      "rot_loss": 0.0228271484375,
      "step": 11752
    },
    {
      "epoch": 2.6369755440879517,
      "grad_norm": 0.27531591057777405,
      "learning_rate": 1.8957760630085225e-05,
      "loss": 0.0486,
      "step": 11753
    },
    {
      "epoch": 2.6369755440879517,
      "gripper_loss": 0.10107421875,
      "loss": 0.01007080078125,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.0069580078125,
      "step": 11753
    },
    {
      "epoch": 2.6371999102535337,
      "grad_norm": 0.2157004326581955,
      "learning_rate": 1.8934634592880806e-05,
      "loss": 0.0254,
      "step": 11754
    },
    {
      "epoch": 2.6371999102535337,
      "gripper_loss": 0.0155029296875,
      "loss": 0.00848388671875,
      "pos_loss": 0.042236328125,
      "rot_loss": 0.0257568359375,
      "step": 11754
    },
    {
      "epoch": 2.6374242764191163,
      "grad_norm": 0.24454247951507568,
      "learning_rate": 1.8911522114487738e-05,
      "loss": 0.0298,
      "step": 11755
    },
    {
      "epoch": 2.6374242764191163,
      "gripper_loss": 0.023681640625,
      "loss": 0.0281982421875,
      "pos_loss": 0.058837890625,
      "rot_loss": 0.2119140625,
      "step": 11755
    },
    {
      "epoch": 2.6376486425846983,
      "grad_norm": 0.5670889019966125,
      "learning_rate": 1.8888423196262216e-05,
      "loss": 0.0354,
      "step": 11756
    },
    {
      "epoch": 2.6376486425846983,
      "gripper_loss": 0.006317138671875,
      "loss": 0.01397705078125,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.060791015625,
      "step": 11756
    },
    {
      "epoch": 2.6378730087502804,
      "grad_norm": 0.5617252588272095,
      "learning_rate": 1.886533783955957e-05,
      "loss": 0.0548,
      "step": 11757
    },
    {
      "epoch": 2.6378730087502804,
      "gripper_loss": 0.006866455078125,
      "loss": 0.031982421875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.056396484375,
      "step": 11757
    },
    {
      "epoch": 2.638097374915863,
      "grad_norm": 0.20007075369358063,
      "learning_rate": 1.8842266045734525e-05,
      "loss": 0.0278,
      "step": 11758
    },
    {
      "epoch": 2.638097374915863,
      "gripper_loss": 0.0076904296875,
      "loss": 0.05615234375,
      "pos_loss": 0.5078125,
      "rot_loss": 0.06884765625,
      "step": 11758
    },
    {
      "epoch": 2.638321741081445,
      "grad_norm": 0.22631458938121796,
      "learning_rate": 1.8819207816140965e-05,
      "loss": 0.0324,
      "step": 11759
    },
    {
      "epoch": 2.638321741081445,
      "gripper_loss": 0.00506591796875,
      "loss": 0.0263671875,
      "pos_loss": 0.11962890625,
      "rot_loss": 0.138671875,
      "step": 11759
    },
    {
      "epoch": 2.638546107247027,
      "grad_norm": 0.27308017015457153,
      "learning_rate": 1.879616315213184e-05,
      "loss": 0.0326,
      "step": 11760
    },
    {
      "epoch": 2.638546107247027,
      "gripper_loss": 0.134765625,
      "loss": 0.055908203125,
      "pos_loss": 0.21875,
      "rot_loss": 0.310546875,
      "step": 11760
    },
    {
      "epoch": 2.6387704734126096,
      "grad_norm": 0.33396852016448975,
      "learning_rate": 1.8773132055059455e-05,
      "loss": 0.0593,
      "step": 11761
    },
    {
      "epoch": 2.6387704734126096,
      "gripper_loss": 0.005279541015625,
      "loss": 0.09326171875,
      "pos_loss": 0.83984375,
      "rot_loss": 0.130859375,
      "step": 11761
    },
    {
      "epoch": 2.6389948395781917,
      "grad_norm": 0.3269292712211609,
      "learning_rate": 1.875011452627526e-05,
      "loss": 0.05,
      "step": 11762
    },
    {
      "epoch": 2.6389948395781917,
      "gripper_loss": 0.2177734375,
      "loss": 0.055419921875,
      "pos_loss": 0.4296875,
      "rot_loss": 0.07275390625,
      "step": 11762
    },
    {
      "epoch": 2.6392192057437738,
      "grad_norm": 0.3023070991039276,
      "learning_rate": 1.8727110567129947e-05,
      "loss": 0.041,
      "step": 11763
    },
    {
      "epoch": 2.6392192057437738,
      "gripper_loss": 0.004638671875,
      "loss": 0.03369140625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.01007080078125,
      "step": 11763
    },
    {
      "epoch": 2.6394435719093563,
      "grad_norm": 0.4700140655040741,
      "learning_rate": 1.870412017897327e-05,
      "loss": 0.0468,
      "step": 11764
    },
    {
      "epoch": 2.6394435719093563,
      "gripper_loss": 0.005767822265625,
      "loss": 0.041015625,
      "pos_loss": 0.373046875,
      "rot_loss": 0.040283203125,
      "step": 11764
    },
    {
      "epoch": 2.6396679380749384,
      "grad_norm": 0.2590705156326294,
      "learning_rate": 1.8681143363154406e-05,
      "loss": 0.0398,
      "step": 11765
    },
    {
      "epoch": 2.6396679380749384,
      "gripper_loss": 0.0081787109375,
      "loss": 0.05712890625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.034423828125,
      "step": 11765
    },
    {
      "epoch": 2.6398923042405205,
      "grad_norm": 0.2453441321849823,
      "learning_rate": 1.865818012102155e-05,
      "loss": 0.0372,
      "step": 11766
    },
    {
      "epoch": 2.6398923042405205,
      "gripper_loss": 0.007781982421875,
      "loss": 0.02783203125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.14453125,
      "step": 11766
    },
    {
      "epoch": 2.640116670406103,
      "grad_norm": 0.23775194585323334,
      "learning_rate": 1.8635230453922262e-05,
      "loss": 0.0279,
      "step": 11767
    },
    {
      "epoch": 2.640116670406103,
      "gripper_loss": 0.1162109375,
      "loss": 0.042236328125,
      "pos_loss": 0.0751953125,
      "rot_loss": 0.31640625,
      "step": 11767
    },
    {
      "epoch": 2.640341036571685,
      "grad_norm": 0.2450227588415146,
      "learning_rate": 1.8612294363203135e-05,
      "loss": 0.0393,
      "step": 11768
    },
    {
      "epoch": 2.640341036571685,
      "gripper_loss": 0.004852294921875,
      "loss": 0.047607421875,
      "pos_loss": 0.349609375,
      "rot_loss": 0.13671875,
      "step": 11768
    },
    {
      "epoch": 2.640565402737267,
      "grad_norm": 0.34468334913253784,
      "learning_rate": 1.858937185021012e-05,
      "loss": 0.0428,
      "step": 11769
    },
    {
      "epoch": 2.640565402737267,
      "gripper_loss": 0.01129150390625,
      "loss": 0.0181884765625,
      "pos_loss": 0.140625,
      "rot_loss": 0.02685546875,
      "step": 11769
    },
    {
      "epoch": 2.6407897689028497,
      "grad_norm": 0.29281383752822876,
      "learning_rate": 1.856646291628819e-05,
      "loss": 0.0363,
      "step": 11770
    },
    {
      "epoch": 2.6407897689028497,
      "gripper_loss": 0.034423828125,
      "loss": 0.052978515625,
      "pos_loss": 0.40625,
      "rot_loss": 0.125,
      "step": 11770
    },
    {
      "epoch": 2.6410141350684317,
      "grad_norm": 0.253263920545578,
      "learning_rate": 1.854356756278172e-05,
      "loss": 0.0341,
      "step": 11771
    },
    {
      "epoch": 2.6410141350684317,
      "gripper_loss": 0.00823974609375,
      "loss": 0.0235595703125,
      "pos_loss": 0.166015625,
      "rot_loss": 0.061279296875,
      "step": 11771
    },
    {
      "epoch": 2.641238501234014,
      "grad_norm": 0.3379240930080414,
      "learning_rate": 1.852068579103422e-05,
      "loss": 0.0345,
      "step": 11772
    },
    {
      "epoch": 2.641238501234014,
      "gripper_loss": 0.015869140625,
      "loss": 0.0849609375,
      "pos_loss": 0.6875,
      "rot_loss": 0.1943359375,
      "step": 11772
    },
    {
      "epoch": 2.6414628673995963,
      "grad_norm": 0.5535953044891357,
      "learning_rate": 1.8497817602388278e-05,
      "loss": 0.045,
      "step": 11773
    },
    {
      "epoch": 2.6414628673995963,
      "gripper_loss": 0.2021484375,
      "loss": 0.05908203125,
      "pos_loss": 0.123046875,
      "rot_loss": 0.419921875,
      "step": 11773
    },
    {
      "epoch": 2.6416872335651784,
      "grad_norm": 0.26214343309402466,
      "learning_rate": 1.847496299818588e-05,
      "loss": 0.0444,
      "step": 11774
    },
    {
      "epoch": 2.6416872335651784,
      "gripper_loss": 0.061767578125,
      "loss": 0.068359375,
      "pos_loss": 0.6171875,
      "rot_loss": 0.0712890625,
      "step": 11774
    },
    {
      "epoch": 2.6419115997307605,
      "grad_norm": 0.36431774497032166,
      "learning_rate": 1.845212197976806e-05,
      "loss": 0.0567,
      "step": 11775
    },
    {
      "epoch": 2.6419115997307605,
      "gripper_loss": 0.014404296875,
      "loss": 0.033203125,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.078125,
      "step": 11775
    },
    {
      "epoch": 2.642135965896343,
      "grad_norm": 0.552686333656311,
      "learning_rate": 1.8429294548475223e-05,
      "loss": 0.0512,
      "step": 11776
    },
    {
      "epoch": 2.642135965896343,
      "gripper_loss": 0.08837890625,
      "loss": 0.024169921875,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.02978515625,
      "step": 11776
    },
    {
      "epoch": 2.642360332061925,
      "grad_norm": 0.3991163372993469,
      "learning_rate": 1.840648070564674e-05,
      "loss": 0.0394,
      "step": 11777
    },
    {
      "epoch": 2.642360332061925,
      "gripper_loss": 0.69921875,
      "loss": 0.053955078125,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.076171875,
      "step": 11777
    },
    {
      "epoch": 2.642584698227507,
      "grad_norm": 0.2733980715274811,
      "learning_rate": 1.83836804526214e-05,
      "loss": 0.0282,
      "step": 11778
    },
    {
      "epoch": 2.642584698227507,
      "gripper_loss": 0.041015625,
      "loss": 0.09033203125,
      "pos_loss": 0.71875,
      "rot_loss": 0.193359375,
      "step": 11778
    },
    {
      "epoch": 2.6428090643930897,
      "grad_norm": 0.413860023021698,
      "learning_rate": 1.836089379073713e-05,
      "loss": 0.0619,
      "step": 11779
    },
    {
      "epoch": 2.6428090643930897,
      "gripper_loss": 0.01007080078125,
      "loss": 0.031494140625,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.11181640625,
      "step": 11779
    },
    {
      "epoch": 2.643033430558672,
      "grad_norm": 0.18183626234531403,
      "learning_rate": 1.8338120721330952e-05,
      "loss": 0.0332,
      "step": 11780
    },
    {
      "epoch": 2.643033430558672,
      "gripper_loss": 0.0634765625,
      "loss": 0.02587890625,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.061767578125,
      "step": 11780
    },
    {
      "epoch": 2.643257796724254,
      "grad_norm": 0.5220973491668701,
      "learning_rate": 1.8315361245739265e-05,
      "loss": 0.0374,
      "step": 11781
    },
    {
      "epoch": 2.643257796724254,
      "gripper_loss": 0.003204345703125,
      "loss": 0.01141357421875,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.007415771484375,
      "step": 11781
    },
    {
      "epoch": 2.6434821628898364,
      "grad_norm": 0.7480354905128479,
      "learning_rate": 1.82926153652975e-05,
      "loss": 0.063,
      "step": 11782
    },
    {
      "epoch": 2.6434821628898364,
      "gripper_loss": 0.2734375,
      "loss": 0.0264892578125,
      "pos_loss": 0.134765625,
      "rot_loss": 0.037109375,
      "step": 11782
    },
    {
      "epoch": 2.6437065290554185,
      "grad_norm": 0.5413832068443298,
      "learning_rate": 1.8269883081340448e-05,
      "loss": 0.0471,
      "step": 11783
    },
    {
      "epoch": 2.6437065290554185,
      "gripper_loss": 0.0133056640625,
      "loss": 0.0157470703125,
      "pos_loss": 0.08984375,
      "rot_loss": 0.052734375,
      "step": 11783
    },
    {
      "epoch": 2.6439308952210006,
      "grad_norm": 0.7155628204345703,
      "learning_rate": 1.8247164395201994e-05,
      "loss": 0.0522,
      "step": 11784
    },
    {
      "epoch": 2.6439308952210006,
      "gripper_loss": 0.369140625,
      "loss": 0.0162353515625,
      "pos_loss": 0.020263671875,
      "rot_loss": 0.00738525390625,
      "step": 11784
    },
    {
      "epoch": 2.644155261386583,
      "grad_norm": 0.41482871770858765,
      "learning_rate": 1.8224459308215312e-05,
      "loss": 0.0456,
      "step": 11785
    },
    {
      "epoch": 2.644155261386583,
      "gripper_loss": 0.0289306640625,
      "loss": 0.078125,
      "pos_loss": 0.6875,
      "rot_loss": 0.109375,
      "step": 11785
    },
    {
      "epoch": 2.644379627552165,
      "grad_norm": 0.7342401742935181,
      "learning_rate": 1.8201767821712624e-05,
      "loss": 0.0635,
      "step": 11786
    },
    {
      "epoch": 2.644379627552165,
      "gripper_loss": 0.169921875,
      "loss": 0.0198974609375,
      "pos_loss": 0.087890625,
      "rot_loss": 0.041748046875,
      "step": 11786
    },
    {
      "epoch": 2.6446039937177472,
      "grad_norm": 0.552996039390564,
      "learning_rate": 1.817908993702555e-05,
      "loss": 0.0506,
      "step": 11787
    },
    {
      "epoch": 2.6446039937177472,
      "gripper_loss": 0.09033203125,
      "loss": 0.0157470703125,
      "pos_loss": 0.06884765625,
      "rot_loss": 0.04638671875,
      "step": 11787
    },
    {
      "epoch": 2.6448283598833298,
      "grad_norm": 0.15908071398735046,
      "learning_rate": 1.8156425655484753e-05,
      "loss": 0.0258,
      "step": 11788
    },
    {
      "epoch": 2.6448283598833298,
      "gripper_loss": 0.007354736328125,
      "loss": 0.0291748046875,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.031982421875,
      "step": 11788
    },
    {
      "epoch": 2.645052726048912,
      "grad_norm": 0.8848927021026611,
      "learning_rate": 1.813377497842028e-05,
      "loss": 0.0717,
      "step": 11789
    },
    {
      "epoch": 2.645052726048912,
      "gripper_loss": 0.01031494140625,
      "loss": 0.0478515625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.0223388671875,
      "step": 11789
    },
    {
      "epoch": 2.645277092214494,
      "grad_norm": 0.38624584674835205,
      "learning_rate": 1.8111137907161097e-05,
      "loss": 0.0569,
      "step": 11790
    },
    {
      "epoch": 2.645277092214494,
      "gripper_loss": 0.00579833984375,
      "loss": 0.0625,
      "pos_loss": 0.578125,
      "rot_loss": 0.06689453125,
      "step": 11790
    },
    {
      "epoch": 2.6455014583800764,
      "grad_norm": 0.33592474460601807,
      "learning_rate": 1.808851444303569e-05,
      "loss": 0.0335,
      "step": 11791
    },
    {
      "epoch": 2.6455014583800764,
      "gripper_loss": 0.109375,
      "loss": 0.04638671875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.1298828125,
      "step": 11791
    },
    {
      "epoch": 2.6457258245456585,
      "grad_norm": 0.22201012074947357,
      "learning_rate": 1.806590458737145e-05,
      "loss": 0.0474,
      "step": 11792
    },
    {
      "epoch": 2.6457258245456585,
      "gripper_loss": 0.0033416748046875,
      "loss": 0.025634765625,
      "pos_loss": 0.1044921875,
      "rot_loss": 0.140625,
      "step": 11792
    },
    {
      "epoch": 2.6459501907112406,
      "grad_norm": 0.3808877468109131,
      "learning_rate": 1.8043308341495257e-05,
      "loss": 0.0615,
      "step": 11793
    },
    {
      "epoch": 2.6459501907112406,
      "gripper_loss": 0.185546875,
      "loss": 0.0179443359375,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.019287109375,
      "step": 11793
    },
    {
      "epoch": 2.646174556876823,
      "grad_norm": 0.6538512110710144,
      "learning_rate": 1.802072570673291e-05,
      "loss": 0.0447,
      "step": 11794
    },
    {
      "epoch": 2.646174556876823,
      "gripper_loss": 0.020751953125,
      "loss": 0.07568359375,
      "pos_loss": 0.62109375,
      "rot_loss": 0.1552734375,
      "step": 11794
    },
    {
      "epoch": 2.646398923042405,
      "grad_norm": 0.30817005038261414,
      "learning_rate": 1.7998156684409628e-05,
      "loss": 0.0439,
      "step": 11795
    },
    {
      "epoch": 2.646398923042405,
      "gripper_loss": 0.0068359375,
      "loss": 0.0291748046875,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.205078125,
      "step": 11795
    },
    {
      "epoch": 2.6466232892079873,
      "grad_norm": 0.22042110562324524,
      "learning_rate": 1.797560127584974e-05,
      "loss": 0.0456,
      "step": 11796
    },
    {
      "epoch": 2.6466232892079873,
      "gripper_loss": 0.04833984375,
      "loss": 0.0269775390625,
      "pos_loss": 0.12890625,
      "rot_loss": 0.1220703125,
      "step": 11796
    },
    {
      "epoch": 2.64684765537357,
      "grad_norm": 0.3660431504249573,
      "learning_rate": 1.79530594823768e-05,
      "loss": 0.0534,
      "step": 11797
    },
    {
      "epoch": 2.64684765537357,
      "gripper_loss": 0.64453125,
      "loss": 0.07568359375,
      "pos_loss": 0.197265625,
      "rot_loss": 0.373046875,
      "step": 11797
    },
    {
      "epoch": 2.647072021539152,
      "grad_norm": 0.43891263008117676,
      "learning_rate": 1.7930531305313526e-05,
      "loss": 0.0463,
      "step": 11798
    },
    {
      "epoch": 2.647072021539152,
      "gripper_loss": 0.265625,
      "loss": 0.01495361328125,
      "pos_loss": 0.0048828125,
      "rot_loss": 0.049072265625,
      "step": 11798
    },
    {
      "epoch": 2.647296387704734,
      "grad_norm": 0.20219025015830994,
      "learning_rate": 1.7908016745981858e-05,
      "loss": 0.0268,
      "step": 11799
    },
    {
      "epoch": 2.647296387704734,
      "gripper_loss": 1.0625,
      "loss": 0.035888671875,
      "pos_loss": 0.00543212890625,
      "rot_loss": 0.005523681640625,
      "step": 11799
    },
    {
      "epoch": 2.6475207538703165,
      "grad_norm": 0.2944321632385254,
      "learning_rate": 1.788551580570294e-05,
      "loss": 0.0418,
      "step": 11800
    },
    {
      "epoch": 2.6475207538703165,
      "gripper_loss": 0.0093994140625,
      "loss": 0.02685546875,
      "pos_loss": 0.18359375,
      "rot_loss": 0.0771484375,
      "step": 11800
    },
    {
      "epoch": 2.6477451200358986,
      "grad_norm": 0.2406124621629715,
      "learning_rate": 1.7863028485797154e-05,
      "loss": 0.0433,
      "step": 11801
    },
    {
      "epoch": 2.6477451200358986,
      "gripper_loss": 0.25,
      "loss": 0.01708984375,
      "pos_loss": 0.01373291015625,
      "rot_loss": 0.06591796875,
      "step": 11801
    },
    {
      "epoch": 2.6479694862014806,
      "grad_norm": 0.3515283465385437,
      "learning_rate": 1.7840554787584035e-05,
      "loss": 0.0299,
      "step": 11802
    },
    {
      "epoch": 2.6479694862014806,
      "gripper_loss": 0.77734375,
      "loss": 0.02783203125,
      "pos_loss": 0.00567626953125,
      "rot_loss": 0.01324462890625,
      "step": 11802
    },
    {
      "epoch": 2.648193852367063,
      "grad_norm": 0.33754628896713257,
      "learning_rate": 1.7818094712382327e-05,
      "loss": 0.0443,
      "step": 11803
    },
    {
      "epoch": 2.648193852367063,
      "gripper_loss": 0.08447265625,
      "loss": 0.034912109375,
      "pos_loss": 0.255859375,
      "rot_loss": 0.06494140625,
      "step": 11803
    },
    {
      "epoch": 2.6484182185326453,
      "grad_norm": 0.2341098189353943,
      "learning_rate": 1.7795648261509924e-05,
      "loss": 0.0289,
      "step": 11804
    },
    {
      "epoch": 2.6484182185326453,
      "gripper_loss": 0.0079345703125,
      "loss": 0.05615234375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.1455078125,
      "step": 11804
    },
    {
      "epoch": 2.6486425846982273,
      "grad_norm": 0.22471149265766144,
      "learning_rate": 1.7773215436284017e-05,
      "loss": 0.0445,
      "step": 11805
    },
    {
      "epoch": 2.6486425846982273,
      "gripper_loss": 0.006011962890625,
      "loss": 0.047119140625,
      "pos_loss": 0.412109375,
      "rot_loss": 0.0693359375,
      "step": 11805
    },
    {
      "epoch": 2.64886695086381,
      "grad_norm": 0.19240520894527435,
      "learning_rate": 1.7750796238021007e-05,
      "loss": 0.0285,
      "step": 11806
    },
    {
      "epoch": 2.64886695086381,
      "gripper_loss": 0.7421875,
      "loss": 0.5234375,
      "pos_loss": 0.84375,
      "rot_loss": 0.73828125,
      "step": 11806
    },
    {
      "epoch": 2.649091317029392,
      "grad_norm": 1.1417231559753418,
      "learning_rate": 1.7728390668036333e-05,
      "loss": 0.4316,
      "step": 11807
    },
    {
      "epoch": 2.649091317029392,
      "gripper_loss": 0.0106201171875,
      "loss": 0.033447265625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.15234375,
      "step": 11807
    },
    {
      "epoch": 2.649315683194974,
      "grad_norm": 0.6982942223548889,
      "learning_rate": 1.770599872764478e-05,
      "loss": 0.0479,
      "step": 11808
    },
    {
      "epoch": 2.649315683194974,
      "gripper_loss": 0.65234375,
      "loss": 0.0703125,
      "pos_loss": 0.482421875,
      "rot_loss": 0.025390625,
      "step": 11808
    },
    {
      "epoch": 2.6495400493605565,
      "grad_norm": 0.34527671337127686,
      "learning_rate": 1.768362041816035e-05,
      "loss": 0.0574,
      "step": 11809
    },
    {
      "epoch": 2.6495400493605565,
      "gripper_loss": 0.0032806396484375,
      "loss": 0.0341796875,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.1064453125,
      "step": 11809
    },
    {
      "epoch": 2.6497644155261386,
      "grad_norm": 0.41243377327919006,
      "learning_rate": 1.7661255740896165e-05,
      "loss": 0.0506,
      "step": 11810
    },
    {
      "epoch": 2.6497644155261386,
      "gripper_loss": 0.26953125,
      "loss": 0.01336669921875,
      "pos_loss": 0.023193359375,
      "rot_loss": 0.0087890625,
      "step": 11810
    },
    {
      "epoch": 2.6499887816917207,
      "grad_norm": 0.47930634021759033,
      "learning_rate": 1.763890469716453e-05,
      "loss": 0.0492,
      "step": 11811
    },
    {
      "epoch": 2.6499887816917207,
      "gripper_loss": 0.06005859375,
      "loss": 0.076171875,
      "pos_loss": 0.189453125,
      "rot_loss": 0.44140625,
      "step": 11811
    },
    {
      "epoch": 2.650213147857303,
      "grad_norm": 0.5267278552055359,
      "learning_rate": 1.761656728827707e-05,
      "loss": 0.0885,
      "step": 11812
    },
    {
      "epoch": 2.650213147857303,
      "gripper_loss": 0.1025390625,
      "loss": 0.01300048828125,
      "pos_loss": 0.055419921875,
      "rot_loss": 0.0281982421875,
      "step": 11812
    },
    {
      "epoch": 2.6504375140228853,
      "grad_norm": 0.15714585781097412,
      "learning_rate": 1.759424351554445e-05,
      "loss": 0.0184,
      "step": 11813
    },
    {
      "epoch": 2.6504375140228853,
      "gripper_loss": 0.3359375,
      "loss": 0.0194091796875,
      "pos_loss": 0.0115966796875,
      "rot_loss": 0.06298828125,
      "step": 11813
    },
    {
      "epoch": 2.6506618801884674,
      "grad_norm": 0.26700693368911743,
      "learning_rate": 1.7571933380276713e-05,
      "loss": 0.0291,
      "step": 11814
    },
    {
      "epoch": 2.6506618801884674,
      "gripper_loss": 0.193359375,
      "loss": 0.05126953125,
      "pos_loss": 0.263671875,
      "rot_loss": 0.17578125,
      "step": 11814
    },
    {
      "epoch": 2.65088624635405,
      "grad_norm": 0.28726497292518616,
      "learning_rate": 1.7549636883782943e-05,
      "loss": 0.0382,
      "step": 11815
    },
    {
      "epoch": 2.65088624635405,
      "gripper_loss": 0.0145263671875,
      "loss": 0.04052734375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.1533203125,
      "step": 11815
    },
    {
      "epoch": 2.651110612519632,
      "grad_norm": 0.32807159423828125,
      "learning_rate": 1.7527354027371516e-05,
      "loss": 0.0276,
      "step": 11816
    },
    {
      "epoch": 2.651110612519632,
      "gripper_loss": 0.5390625,
      "loss": 0.052978515625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.06640625,
      "step": 11816
    },
    {
      "epoch": 2.651334978685214,
      "grad_norm": 0.3646804690361023,
      "learning_rate": 1.7505084812349942e-05,
      "loss": 0.0402,
      "step": 11817
    },
    {
      "epoch": 2.651334978685214,
      "gripper_loss": 0.005218505859375,
      "loss": 0.0179443359375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.0125732421875,
      "step": 11817
    },
    {
      "epoch": 2.6515593448507966,
      "grad_norm": 0.2886764407157898,
      "learning_rate": 1.7482829240024977e-05,
      "loss": 0.0283,
      "step": 11818
    },
    {
      "epoch": 2.6515593448507966,
      "gripper_loss": 0.0059814453125,
      "loss": 0.07373046875,
      "pos_loss": 0.65234375,
      "rot_loss": 0.1064453125,
      "step": 11818
    },
    {
      "epoch": 2.6517837110163787,
      "grad_norm": 0.34315812587738037,
      "learning_rate": 1.7460587311702664e-05,
      "loss": 0.0606,
      "step": 11819
    },
    {
      "epoch": 2.6517837110163787,
      "gripper_loss": 1.0625,
      "loss": 0.08056640625,
      "pos_loss": 0.44921875,
      "rot_loss": 0.0283203125,
      "step": 11819
    },
    {
      "epoch": 2.6520080771819607,
      "grad_norm": 0.508313775062561,
      "learning_rate": 1.7438359028687983e-05,
      "loss": 0.0454,
      "step": 11820
    },
    {
      "epoch": 2.6520080771819607,
      "gripper_loss": 0.009033203125,
      "loss": 0.026123046875,
      "pos_loss": 0.236328125,
      "rot_loss": 0.0159912109375,
      "step": 11820
    },
    {
      "epoch": 2.6522324433475433,
      "grad_norm": 0.3216190040111542,
      "learning_rate": 1.7416144392285394e-05,
      "loss": 0.0391,
      "step": 11821
    },
    {
      "epoch": 2.6522324433475433,
      "gripper_loss": 0.01153564453125,
      "loss": 0.0380859375,
      "pos_loss": 0.267578125,
      "rot_loss": 0.1142578125,
      "step": 11821
    },
    {
      "epoch": 2.6524568095131253,
      "grad_norm": 0.471123605966568,
      "learning_rate": 1.7393943403798408e-05,
      "loss": 0.0547,
      "step": 11822
    },
    {
      "epoch": 2.6524568095131253,
      "gripper_loss": 0.035400390625,
      "loss": 0.0113525390625,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.03955078125,
      "step": 11822
    },
    {
      "epoch": 2.6526811756787074,
      "grad_norm": 0.18965205550193787,
      "learning_rate": 1.7371756064529814e-05,
      "loss": 0.0338,
      "step": 11823
    },
    {
      "epoch": 2.6526811756787074,
      "gripper_loss": 0.013916015625,
      "loss": 0.04150390625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.087890625,
      "step": 11823
    },
    {
      "epoch": 2.65290554184429,
      "grad_norm": 0.32434356212615967,
      "learning_rate": 1.7349582375781493e-05,
      "loss": 0.056,
      "step": 11824
    },
    {
      "epoch": 2.65290554184429,
      "gripper_loss": 0.275390625,
      "loss": 0.0291748046875,
      "pos_loss": 0.154296875,
      "rot_loss": 0.04638671875,
      "step": 11824
    },
    {
      "epoch": 2.653129908009872,
      "grad_norm": 0.282741516828537,
      "learning_rate": 1.7327422338854592e-05,
      "loss": 0.037,
      "step": 11825
    },
    {
      "epoch": 2.653129908009872,
      "gripper_loss": 0.004547119140625,
      "loss": 0.04931640625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.138671875,
      "step": 11825
    },
    {
      "epoch": 2.653354274175454,
      "grad_norm": 0.4085395932197571,
      "learning_rate": 1.730527595504952e-05,
      "loss": 0.0538,
      "step": 11826
    },
    {
      "epoch": 2.653354274175454,
      "gripper_loss": 0.004302978515625,
      "loss": 0.08837890625,
      "pos_loss": 0.77734375,
      "rot_loss": 0.13671875,
      "step": 11826
    },
    {
      "epoch": 2.6535786403410366,
      "grad_norm": 0.20035825669765472,
      "learning_rate": 1.728314322566571e-05,
      "loss": 0.0454,
      "step": 11827
    },
    {
      "epoch": 2.6535786403410366,
      "gripper_loss": 0.00970458984375,
      "loss": 0.036865234375,
      "pos_loss": 0.146484375,
      "rot_loss": 0.2158203125,
      "step": 11827
    },
    {
      "epoch": 2.6538030065066187,
      "grad_norm": 0.3117457330226898,
      "learning_rate": 1.726102415200201e-05,
      "loss": 0.0463,
      "step": 11828
    },
    {
      "epoch": 2.6538030065066187,
      "gripper_loss": 0.0037994384765625,
      "loss": 0.1396484375,
      "pos_loss": 1.4609375,
      "rot_loss": 0.0101318359375,
      "step": 11828
    },
    {
      "epoch": 2.654027372672201,
      "grad_norm": 0.49875104427337646,
      "learning_rate": 1.723891873535627e-05,
      "loss": 0.0528,
      "step": 11829
    },
    {
      "epoch": 2.654027372672201,
      "gripper_loss": 0.0289306640625,
      "loss": 0.07861328125,
      "pos_loss": 0.462890625,
      "rot_loss": 0.345703125,
      "step": 11829
    },
    {
      "epoch": 2.6542517388377833,
      "grad_norm": 0.44622907042503357,
      "learning_rate": 1.7216826977025646e-05,
      "loss": 0.0384,
      "step": 11830
    },
    {
      "epoch": 2.6542517388377833,
      "gripper_loss": 0.027587890625,
      "loss": 0.00457763671875,
      "pos_loss": 0.005859375,
      "rot_loss": 0.0155029296875,
      "step": 11830
    },
    {
      "epoch": 2.6544761050033654,
      "grad_norm": 0.2811357378959656,
      "learning_rate": 1.719474887830652e-05,
      "loss": 0.045,
      "step": 11831
    },
    {
      "epoch": 2.6544761050033654,
      "gripper_loss": 0.0093994140625,
      "loss": 0.04541015625,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.333984375,
      "step": 11831
    },
    {
      "epoch": 2.6547004711689475,
      "grad_norm": 0.4483800530433655,
      "learning_rate": 1.7172684440494414e-05,
      "loss": 0.0574,
      "step": 11832
    },
    {
      "epoch": 2.6547004711689475,
      "gripper_loss": 0.265625,
      "loss": 0.05810546875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.216796875,
      "step": 11832
    },
    {
      "epoch": 2.65492483733453,
      "grad_norm": 0.38292771577835083,
      "learning_rate": 1.715063366488398e-05,
      "loss": 0.0428,
      "step": 11833
    },
    {
      "epoch": 2.65492483733453,
      "gripper_loss": 0.00543212890625,
      "loss": 0.08154296875,
      "pos_loss": 0.578125,
      "rot_loss": 0.267578125,
      "step": 11833
    },
    {
      "epoch": 2.655149203500112,
      "grad_norm": 0.349178284406662,
      "learning_rate": 1.7128596552769215e-05,
      "loss": 0.0432,
      "step": 11834
    },
    {
      "epoch": 2.655149203500112,
      "gripper_loss": 0.0079345703125,
      "loss": 0.05810546875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.4296875,
      "step": 11834
    },
    {
      "epoch": 2.655373569665694,
      "grad_norm": 0.4997656047344208,
      "learning_rate": 1.710657310544325e-05,
      "loss": 0.0534,
      "step": 11835
    },
    {
      "epoch": 2.655373569665694,
      "gripper_loss": 0.19921875,
      "loss": 0.09423828125,
      "pos_loss": 0.70703125,
      "rot_loss": 0.2119140625,
      "step": 11835
    },
    {
      "epoch": 2.6555979358312767,
      "grad_norm": 0.3128150403499603,
      "learning_rate": 1.7084563324198443e-05,
      "loss": 0.0494,
      "step": 11836
    },
    {
      "epoch": 2.6555979358312767,
      "gripper_loss": 0.12060546875,
      "loss": 0.02685546875,
      "pos_loss": 0.1875,
      "rot_loss": 0.03564453125,
      "step": 11836
    },
    {
      "epoch": 2.6558223019968588,
      "grad_norm": 0.3833213746547699,
      "learning_rate": 1.7062567210326204e-05,
      "loss": 0.0304,
      "step": 11837
    },
    {
      "epoch": 2.6558223019968588,
      "gripper_loss": 0.0115966796875,
      "loss": 0.00677490234375,
      "pos_loss": 0.03662109375,
      "rot_loss": 0.01116943359375,
      "step": 11837
    },
    {
      "epoch": 2.656046668162441,
      "grad_norm": 0.23857831954956055,
      "learning_rate": 1.7040584765117384e-05,
      "loss": 0.0284,
      "step": 11838
    },
    {
      "epoch": 2.656046668162441,
      "gripper_loss": 0.1259765625,
      "loss": 0.0185546875,
      "pos_loss": 0.07568359375,
      "rot_loss": 0.058349609375,
      "step": 11838
    },
    {
      "epoch": 2.6562710343280234,
      "grad_norm": 0.22766318917274475,
      "learning_rate": 1.7018615989861792e-05,
      "loss": 0.0339,
      "step": 11839
    },
    {
      "epoch": 2.6562710343280234,
      "gripper_loss": 1.3515625,
      "loss": 0.05712890625,
      "pos_loss": 0.083984375,
      "rot_loss": 0.055908203125,
      "step": 11839
    },
    {
      "epoch": 2.6564954004936054,
      "grad_norm": 0.3022751212120056,
      "learning_rate": 1.6996660885848642e-05,
      "loss": 0.0531,
      "step": 11840
    },
    {
      "epoch": 2.6564954004936054,
      "gripper_loss": 0.007720947265625,
      "loss": 0.02099609375,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.0186767578125,
      "step": 11840
    },
    {
      "epoch": 2.6567197666591875,
      "grad_norm": 0.2368468940258026,
      "learning_rate": 1.6974719454366183e-05,
      "loss": 0.0382,
      "step": 11841
    },
    {
      "epoch": 2.6567197666591875,
      "gripper_loss": 0.009521484375,
      "loss": 0.0703125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.3671875,
      "step": 11841
    },
    {
      "epoch": 2.65694413282477,
      "grad_norm": 0.35144340991973877,
      "learning_rate": 1.695279169670194e-05,
      "loss": 0.0536,
      "step": 11842
    },
    {
      "epoch": 2.65694413282477,
      "gripper_loss": 0.58984375,
      "loss": 0.0303955078125,
      "pos_loss": 0.09814453125,
      "rot_loss": 0.00823974609375,
      "step": 11842
    },
    {
      "epoch": 2.657168498990352,
      "grad_norm": 0.3916124403476715,
      "learning_rate": 1.693087761414261e-05,
      "loss": 0.0599,
      "step": 11843
    },
    {
      "epoch": 2.657168498990352,
      "gripper_loss": 1.109375,
      "loss": 0.059326171875,
      "pos_loss": 0.072265625,
      "rot_loss": 0.1708984375,
      "step": 11843
    },
    {
      "epoch": 2.6573928651559346,
      "grad_norm": 0.32271865010261536,
      "learning_rate": 1.690897720797416e-05,
      "loss": 0.0395,
      "step": 11844
    },
    {
      "epoch": 2.6573928651559346,
      "gripper_loss": 1.15625,
      "loss": 0.05517578125,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.05810546875,
      "step": 11844
    },
    {
      "epoch": 2.6576172313215167,
      "grad_norm": 0.3157161772251129,
      "learning_rate": 1.688709047948167e-05,
      "loss": 0.0409,
      "step": 11845
    },
    {
      "epoch": 2.6576172313215167,
      "gripper_loss": 0.00439453125,
      "loss": 0.043701171875,
      "pos_loss": 0.42578125,
      "rot_loss": 0.0179443359375,
      "step": 11845
    },
    {
      "epoch": 2.657841597487099,
      "grad_norm": 0.2912202775478363,
      "learning_rate": 1.6865217429949396e-05,
      "loss": 0.038,
      "step": 11846
    },
    {
      "epoch": 2.657841597487099,
      "gripper_loss": 0.004638671875,
      "loss": 0.0245361328125,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.031494140625,
      "step": 11846
    },
    {
      "epoch": 2.6580659636526813,
      "grad_norm": 0.2823929190635681,
      "learning_rate": 1.6843358060660895e-05,
      "loss": 0.0389,
      "step": 11847
    },
    {
      "epoch": 2.6580659636526813,
      "gripper_loss": 0.0157470703125,
      "loss": 0.06494140625,
      "pos_loss": 0.3515625,
      "rot_loss": 0.3046875,
      "step": 11847
    },
    {
      "epoch": 2.6582903298182634,
      "grad_norm": 0.2533511817455292,
      "learning_rate": 1.6821512372898833e-05,
      "loss": 0.0483,
      "step": 11848
    },
    {
      "epoch": 2.6582903298182634,
      "gripper_loss": 0.38671875,
      "loss": 0.0191650390625,
      "pos_loss": 0.0478515625,
      "rot_loss": 0.00689697265625,
      "step": 11848
    },
    {
      "epoch": 2.6585146959838455,
      "grad_norm": 0.35545235872268677,
      "learning_rate": 1.6799680367945186e-05,
      "loss": 0.0343,
      "step": 11849
    },
    {
      "epoch": 2.6585146959838455,
      "gripper_loss": 0.0181884765625,
      "loss": 0.091796875,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.72265625,
      "step": 11849
    },
    {
      "epoch": 2.658739062149428,
      "grad_norm": 0.2478713095188141,
      "learning_rate": 1.67778620470809e-05,
      "loss": 0.0405,
      "step": 11850
    },
    {
      "epoch": 2.658739062149428,
      "gripper_loss": 0.361328125,
      "loss": 0.04345703125,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.2021484375,
      "step": 11850
    },
    {
      "epoch": 2.65896342831501,
      "grad_norm": 0.35671889781951904,
      "learning_rate": 1.6756057411586424e-05,
      "loss": 0.0362,
      "step": 11851
    },
    {
      "epoch": 2.65896342831501,
      "gripper_loss": 0.09228515625,
      "loss": 0.05517578125,
      "pos_loss": 0.25,
      "rot_loss": 0.28515625,
      "step": 11851
    },
    {
      "epoch": 2.659187794480592,
      "grad_norm": 0.2376692146062851,
      "learning_rate": 1.6734266462741093e-05,
      "loss": 0.0533,
      "step": 11852
    },
    {
      "epoch": 2.659187794480592,
      "gripper_loss": 0.00836181640625,
      "loss": 0.053466796875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.1376953125,
      "step": 11852
    },
    {
      "epoch": 2.6594121606461747,
      "grad_norm": 0.2292071282863617,
      "learning_rate": 1.6712489201823722e-05,
      "loss": 0.0296,
      "step": 11853
    },
    {
      "epoch": 2.6594121606461747,
      "gripper_loss": 0.01300048828125,
      "loss": 0.015380859375,
      "pos_loss": 0.05615234375,
      "rot_loss": 0.08251953125,
      "step": 11853
    },
    {
      "epoch": 2.6596365268117568,
      "grad_norm": 0.21633465588092804,
      "learning_rate": 1.6690725630112063e-05,
      "loss": 0.0392,
      "step": 11854
    },
    {
      "epoch": 2.6596365268117568,
      "gripper_loss": 0.01422119140625,
      "loss": 0.1162109375,
      "pos_loss": 0.84375,
      "rot_loss": 0.369140625,
      "step": 11854
    },
    {
      "epoch": 2.659860892977339,
      "grad_norm": 0.5929030179977417,
      "learning_rate": 1.6668975748883293e-05,
      "loss": 0.0553,
      "step": 11855
    },
    {
      "epoch": 2.659860892977339,
      "gripper_loss": 0.01470947265625,
      "loss": 0.0252685546875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.02392578125,
      "step": 11855
    },
    {
      "epoch": 2.6600852591429214,
      "grad_norm": 0.42117202281951904,
      "learning_rate": 1.664723955941361e-05,
      "loss": 0.0534,
      "step": 11856
    },
    {
      "epoch": 2.6600852591429214,
      "gripper_loss": 0.0086669921875,
      "loss": 0.02880859375,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.083984375,
      "step": 11856
    },
    {
      "epoch": 2.6603096253085035,
      "grad_norm": 0.17748688161373138,
      "learning_rate": 1.6625517062978602e-05,
      "loss": 0.0305,
      "step": 11857
    },
    {
      "epoch": 2.6603096253085035,
      "gripper_loss": 0.005889892578125,
      "loss": 0.044189453125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1142578125,
      "step": 11857
    },
    {
      "epoch": 2.660533991474086,
      "grad_norm": 0.24309179186820984,
      "learning_rate": 1.660380826085281e-05,
      "loss": 0.0366,
      "step": 11858
    },
    {
      "epoch": 2.660533991474086,
      "gripper_loss": 0.041015625,
      "loss": 0.032470703125,
      "pos_loss": 0.0859375,
      "rot_loss": 0.224609375,
      "step": 11858
    },
    {
      "epoch": 2.660758357639668,
      "grad_norm": 0.18935424089431763,
      "learning_rate": 1.658211315431013e-05,
      "loss": 0.0335,
      "step": 11859
    },
    {
      "epoch": 2.660758357639668,
      "gripper_loss": 0.2080078125,
      "loss": 0.0281982421875,
      "pos_loss": 0.125,
      "rot_loss": 0.0859375,
      "step": 11859
    },
    {
      "epoch": 2.66098272380525,
      "grad_norm": 0.2552521526813507,
      "learning_rate": 1.6560431744623655e-05,
      "loss": 0.0361,
      "step": 11860
    },
    {
      "epoch": 2.66098272380525,
      "gripper_loss": 0.01458740234375,
      "loss": 0.0556640625,
      "pos_loss": 0.40625,
      "rot_loss": 0.162109375,
      "step": 11860
    },
    {
      "epoch": 2.6612070899708327,
      "grad_norm": 0.35904449224472046,
      "learning_rate": 1.6538764033065645e-05,
      "loss": 0.0363,
      "step": 11861
    },
    {
      "epoch": 2.6612070899708327,
      "gripper_loss": 0.486328125,
      "loss": 0.0546875,
      "pos_loss": 0.3515625,
      "rot_loss": 0.0478515625,
      "step": 11861
    },
    {
      "epoch": 2.6614314561364147,
      "grad_norm": 0.2460172027349472,
      "learning_rate": 1.65171100209075e-05,
      "loss": 0.0311,
      "step": 11862
    },
    {
      "epoch": 2.6614314561364147,
      "gripper_loss": 0.020263671875,
      "loss": 0.0218505859375,
      "pos_loss": 0.036376953125,
      "rot_loss": 0.1728515625,
      "step": 11862
    },
    {
      "epoch": 2.661655822301997,
      "grad_norm": 0.4138519763946533,
      "learning_rate": 1.6495469709419926e-05,
      "loss": 0.038,
      "step": 11863
    },
    {
      "epoch": 2.661655822301997,
      "gripper_loss": 0.033203125,
      "loss": 0.0206298828125,
      "pos_loss": 0.031494140625,
      "rot_loss": 0.1533203125,
      "step": 11863
    },
    {
      "epoch": 2.6618801884675793,
      "grad_norm": 0.22975550591945648,
      "learning_rate": 1.647384309987268e-05,
      "loss": 0.0355,
      "step": 11864
    },
    {
      "epoch": 2.6618801884675793,
      "gripper_loss": 0.0146484375,
      "loss": 0.01202392578125,
      "pos_loss": 0.0267333984375,
      "rot_loss": 0.07275390625,
      "step": 11864
    },
    {
      "epoch": 2.6621045546331614,
      "grad_norm": 0.3666970729827881,
      "learning_rate": 1.6452230193534896e-05,
      "loss": 0.0537,
      "step": 11865
    },
    {
      "epoch": 2.6621045546331614,
      "gripper_loss": 0.0133056640625,
      "loss": 0.041259765625,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.32421875,
      "step": 11865
    },
    {
      "epoch": 2.6623289207987435,
      "grad_norm": 0.3264256715774536,
      "learning_rate": 1.64306309916748e-05,
      "loss": 0.0506,
      "step": 11866
    },
    {
      "epoch": 2.6623289207987435,
      "gripper_loss": 0.006744384765625,
      "loss": 0.0224609375,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.1611328125,
      "step": 11866
    },
    {
      "epoch": 2.662553286964326,
      "grad_norm": 0.5785170793533325,
      "learning_rate": 1.6409045495559744e-05,
      "loss": 0.0456,
      "step": 11867
    },
    {
      "epoch": 2.662553286964326,
      "gripper_loss": 0.0037841796875,
      "loss": 0.048828125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.1494140625,
      "step": 11867
    },
    {
      "epoch": 2.662777653129908,
      "grad_norm": 0.2709091603755951,
      "learning_rate": 1.6387473706456406e-05,
      "loss": 0.0361,
      "step": 11868
    },
    {
      "epoch": 2.662777653129908,
      "gripper_loss": 0.01116943359375,
      "loss": 0.0546875,
      "pos_loss": 0.4453125,
      "rot_loss": 0.111328125,
      "step": 11868
    },
    {
      "epoch": 2.66300201929549,
      "grad_norm": 0.4356350898742676,
      "learning_rate": 1.6365915625630613e-05,
      "loss": 0.0587,
      "step": 11869
    },
    {
      "epoch": 2.66300201929549,
      "gripper_loss": 0.25,
      "loss": 0.04248046875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.08056640625,
      "step": 11869
    },
    {
      "epoch": 2.6632263854610727,
      "grad_norm": 0.25750309228897095,
      "learning_rate": 1.634437125434743e-05,
      "loss": 0.0371,
      "step": 11870
    },
    {
      "epoch": 2.6632263854610727,
      "gripper_loss": 0.0250244140625,
      "loss": 0.03759765625,
      "pos_loss": 0.3046875,
      "rot_loss": 0.059326171875,
      "step": 11870
    },
    {
      "epoch": 2.663450751626655,
      "grad_norm": 0.24936439096927643,
      "learning_rate": 1.632284059387096e-05,
      "loss": 0.0448,
      "step": 11871
    },
    {
      "epoch": 2.663450751626655,
      "gripper_loss": 0.00994873046875,
      "loss": 0.03466796875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.058837890625,
      "step": 11871
    },
    {
      "epoch": 2.663675117792237,
      "grad_norm": 0.27580785751342773,
      "learning_rate": 1.630132364546469e-05,
      "loss": 0.0321,
      "step": 11872
    },
    {
      "epoch": 2.663675117792237,
      "gripper_loss": 0.0028533935546875,
      "loss": 0.046630859375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.07568359375,
      "step": 11872
    },
    {
      "epoch": 2.6638994839578194,
      "grad_norm": 0.19720302522182465,
      "learning_rate": 1.627982041039122e-05,
      "loss": 0.0385,
      "step": 11873
    },
    {
      "epoch": 2.6638994839578194,
      "gripper_loss": 0.0234375,
      "loss": 0.052734375,
      "pos_loss": 0.279296875,
      "rot_loss": 0.2431640625,
      "step": 11873
    },
    {
      "epoch": 2.6641238501234015,
      "grad_norm": 0.2801286280155182,
      "learning_rate": 1.6258330889912325e-05,
      "loss": 0.0533,
      "step": 11874
    },
    {
      "epoch": 2.6641238501234015,
      "gripper_loss": 0.5859375,
      "loss": 0.054443359375,
      "pos_loss": 0.33984375,
      "rot_loss": 0.0245361328125,
      "step": 11874
    },
    {
      "epoch": 2.6643482162889836,
      "grad_norm": 0.41110652685165405,
      "learning_rate": 1.623685508528905e-05,
      "loss": 0.0486,
      "step": 11875
    },
    {
      "epoch": 2.6643482162889836,
      "gripper_loss": 0.0201416015625,
      "loss": 0.06396484375,
      "pos_loss": 0.40234375,
      "rot_loss": 0.2294921875,
      "step": 11875
    },
    {
      "epoch": 2.664572582454566,
      "grad_norm": 0.4345792233943939,
      "learning_rate": 1.621539299778152e-05,
      "loss": 0.0592,
      "step": 11876
    },
    {
      "epoch": 2.664572582454566,
      "gripper_loss": 0.034912109375,
      "loss": 0.046630859375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.1318359375,
      "step": 11876
    },
    {
      "epoch": 2.664796948620148,
      "grad_norm": 0.33276844024658203,
      "learning_rate": 1.6193944628649122e-05,
      "loss": 0.0621,
      "step": 11877
    },
    {
      "epoch": 2.664796948620148,
      "gripper_loss": 0.69921875,
      "loss": 0.0252685546875,
      "pos_loss": 0.01141357421875,
      "rot_loss": 0.0045166015625,
      "step": 11877
    },
    {
      "epoch": 2.6650213147857302,
      "grad_norm": 0.2414921671152115,
      "learning_rate": 1.6172509979150486e-05,
      "loss": 0.032,
      "step": 11878
    },
    {
      "epoch": 2.6650213147857302,
      "gripper_loss": 0.00567626953125,
      "loss": 0.0400390625,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.1796875,
      "step": 11878
    },
    {
      "epoch": 2.6652456809513128,
      "grad_norm": 0.5338529348373413,
      "learning_rate": 1.6151089050543383e-05,
      "loss": 0.0392,
      "step": 11879
    },
    {
      "epoch": 2.6652456809513128,
      "gripper_loss": 0.021728515625,
      "loss": 0.00811767578125,
      "pos_loss": 0.036865234375,
      "rot_loss": 0.016357421875,
      "step": 11879
    },
    {
      "epoch": 2.665470047116895,
      "grad_norm": 0.37199094891548157,
      "learning_rate": 1.6129681844084755e-05,
      "loss": 0.0344,
      "step": 11880
    },
    {
      "epoch": 2.665470047116895,
      "gripper_loss": 0.012939453125,
      "loss": 0.02587890625,
      "pos_loss": 0.0517578125,
      "rot_loss": 0.19921875,
      "step": 11880
    },
    {
      "epoch": 2.665694413282477,
      "grad_norm": 0.24527259171009064,
      "learning_rate": 1.610828836103076e-05,
      "loss": 0.0469,
      "step": 11881
    },
    {
      "epoch": 2.665694413282477,
      "gripper_loss": 0.003997802734375,
      "loss": 0.05859375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.224609375,
      "step": 11881
    },
    {
      "epoch": 2.6659187794480594,
      "grad_norm": 0.40640971064567566,
      "learning_rate": 1.6086908602636758e-05,
      "loss": 0.0557,
      "step": 11882
    },
    {
      "epoch": 2.6659187794480594,
      "gripper_loss": 0.2373046875,
      "loss": 0.0169677734375,
      "pos_loss": 0.039306640625,
      "rot_loss": 0.04345703125,
      "step": 11882
    },
    {
      "epoch": 2.6661431456136415,
      "grad_norm": 0.2549106478691101,
      "learning_rate": 1.606554257015738e-05,
      "loss": 0.029,
      "step": 11883
    },
    {
      "epoch": 2.6661431456136415,
      "gripper_loss": 0.006988525390625,
      "loss": 0.140625,
      "pos_loss": 1.3046875,
      "rot_loss": 0.1591796875,
      "step": 11883
    },
    {
      "epoch": 2.6663675117792236,
      "grad_norm": 0.5878974795341492,
      "learning_rate": 1.60441902648463e-05,
      "loss": 0.0548,
      "step": 11884
    },
    {
      "epoch": 2.6663675117792236,
      "gripper_loss": 0.07470703125,
      "loss": 0.03515625,
      "pos_loss": 0.24609375,
      "rot_loss": 0.0869140625,
      "step": 11884
    },
    {
      "epoch": 2.666591877944806,
      "grad_norm": 0.24995112419128418,
      "learning_rate": 1.6022851687956475e-05,
      "loss": 0.0314,
      "step": 11885
    },
    {
      "epoch": 2.666591877944806,
      "gripper_loss": 0.37890625,
      "loss": 0.0152587890625,
      "pos_loss": 0.004302978515625,
      "rot_loss": 0.00994873046875,
      "step": 11885
    },
    {
      "epoch": 2.666816244110388,
      "grad_norm": 0.2568572759628296,
      "learning_rate": 1.600152684074005e-05,
      "loss": 0.0328,
      "step": 11886
    },
    {
      "epoch": 2.666816244110388,
      "gripper_loss": 0.007080078125,
      "loss": 0.0498046875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.1259765625,
      "step": 11886
    },
    {
      "epoch": 2.6670406102759703,
      "grad_norm": 0.2622172236442566,
      "learning_rate": 1.5980215724448355e-05,
      "loss": 0.035,
      "step": 11887
    },
    {
      "epoch": 2.6670406102759703,
      "gripper_loss": 0.006134033203125,
      "loss": 0.01202392578125,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.052734375,
      "step": 11887
    },
    {
      "epoch": 2.667264976441553,
      "grad_norm": 0.21633051335811615,
      "learning_rate": 1.5958918340331892e-05,
      "loss": 0.0283,
      "step": 11888
    },
    {
      "epoch": 2.667264976441553,
      "gripper_loss": 0.11181640625,
      "loss": 0.119140625,
      "pos_loss": 1.1171875,
      "rot_loss": 0.09619140625,
      "step": 11888
    },
    {
      "epoch": 2.667489342607135,
      "grad_norm": 0.4079402685165405,
      "learning_rate": 1.5937634689640406e-05,
      "loss": 0.0674,
      "step": 11889
    },
    {
      "epoch": 2.667489342607135,
      "gripper_loss": 0.041748046875,
      "loss": 0.06494140625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.10009765625,
      "step": 11889
    },
    {
      "epoch": 2.667713708772717,
      "grad_norm": 0.28486567735671997,
      "learning_rate": 1.591636477362282e-05,
      "loss": 0.038,
      "step": 11890
    },
    {
      "epoch": 2.667713708772717,
      "gripper_loss": 0.005218505859375,
      "loss": 0.052001953125,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.3515625,
      "step": 11890
    },
    {
      "epoch": 2.6679380749382995,
      "grad_norm": 0.49012717604637146,
      "learning_rate": 1.589510859352722e-05,
      "loss": 0.0621,
      "step": 11891
    },
    {
      "epoch": 2.6679380749382995,
      "gripper_loss": 0.13671875,
      "loss": 0.0546875,
      "pos_loss": 0.484375,
      "rot_loss": 0.032470703125,
      "step": 11891
    },
    {
      "epoch": 2.6681624411038816,
      "grad_norm": 0.6243637800216675,
      "learning_rate": 1.587386615060096e-05,
      "loss": 0.0537,
      "step": 11892
    },
    {
      "epoch": 2.6681624411038816,
      "gripper_loss": 0.1513671875,
      "loss": 0.10595703125,
      "pos_loss": 0.349609375,
      "rot_loss": 0.287109375,
      "step": 11892
    },
    {
      "epoch": 2.6683868072694636,
      "grad_norm": 0.9747807383537292,
      "learning_rate": 1.5852637446090473e-05,
      "loss": 0.1212,
      "step": 11893
    },
    {
      "epoch": 2.6683868072694636,
      "gripper_loss": 0.14453125,
      "loss": 0.08154296875,
      "pos_loss": 0.62109375,
      "rot_loss": 0.1796875,
      "step": 11893
    },
    {
      "epoch": 2.668611173435046,
      "grad_norm": 0.23524770140647888,
      "learning_rate": 1.5831422481241477e-05,
      "loss": 0.0366,
      "step": 11894
    },
    {
      "epoch": 2.668611173435046,
      "gripper_loss": 0.099609375,
      "loss": 0.0145263671875,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.013916015625,
      "step": 11894
    },
    {
      "epoch": 2.6688355396006282,
      "grad_norm": 0.22481875121593475,
      "learning_rate": 1.5810221257298862e-05,
      "loss": 0.0237,
      "step": 11895
    },
    {
      "epoch": 2.6688355396006282,
      "gripper_loss": 0.005615234375,
      "loss": 0.0400390625,
      "pos_loss": 0.296875,
      "rot_loss": 0.10595703125,
      "step": 11895
    },
    {
      "epoch": 2.6690599057662103,
      "grad_norm": 0.6092728972434998,
      "learning_rate": 1.578903377550672e-05,
      "loss": 0.0514,
      "step": 11896
    },
    {
      "epoch": 2.6690599057662103,
      "gripper_loss": 0.006561279296875,
      "loss": 0.03955078125,
      "pos_loss": 0.3828125,
      "rot_loss": 0.0159912109375,
      "step": 11896
    },
    {
      "epoch": 2.669284271931793,
      "grad_norm": 0.7140458226203918,
      "learning_rate": 1.5767860037108282e-05,
      "loss": 0.0762,
      "step": 11897
    },
    {
      "epoch": 2.669284271931793,
      "gripper_loss": 0.01019287109375,
      "loss": 0.04541015625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.07568359375,
      "step": 11897
    },
    {
      "epoch": 2.669508638097375,
      "grad_norm": 0.2515181005001068,
      "learning_rate": 1.574670004334608e-05,
      "loss": 0.0337,
      "step": 11898
    },
    {
      "epoch": 2.669508638097375,
      "gripper_loss": 0.1728515625,
      "loss": 0.01263427734375,
      "pos_loss": 0.016357421875,
      "rot_loss": 0.03662109375,
      "step": 11898
    },
    {
      "epoch": 2.669733004262957,
      "grad_norm": 0.25924399495124817,
      "learning_rate": 1.5725553795461674e-05,
      "loss": 0.0358,
      "step": 11899
    },
    {
      "epoch": 2.669733004262957,
      "gripper_loss": 0.0115966796875,
      "loss": 0.0458984375,
      "pos_loss": 0.30859375,
      "rot_loss": 0.154296875,
      "step": 11899
    },
    {
      "epoch": 2.6699573704285395,
      "grad_norm": 0.41068604588508606,
      "learning_rate": 1.5704421294696016e-05,
      "loss": 0.0456,
      "step": 11900
    },
    {
      "epoch": 2.6699573704285395,
      "gripper_loss": 0.126953125,
      "loss": 0.043212890625,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.2080078125,
      "step": 11900
    },
    {
      "epoch": 2.6701817365941216,
      "grad_norm": 0.2477172464132309,
      "learning_rate": 1.5683302542289058e-05,
      "loss": 0.0415,
      "step": 11901
    },
    {
      "epoch": 2.6701817365941216,
      "gripper_loss": 0.1455078125,
      "loss": 0.053955078125,
      "pos_loss": 0.4140625,
      "rot_loss": 0.0830078125,
      "step": 11901
    },
    {
      "epoch": 2.6704061027597037,
      "grad_norm": 0.1891217827796936,
      "learning_rate": 1.5662197539480087e-05,
      "loss": 0.036,
      "step": 11902
    },
    {
      "epoch": 2.6704061027597037,
      "gripper_loss": 0.004547119140625,
      "loss": 0.041015625,
      "pos_loss": 0.37890625,
      "rot_loss": 0.035400390625,
      "step": 11902
    },
    {
      "epoch": 2.670630468925286,
      "grad_norm": 0.5821767449378967,
      "learning_rate": 1.5641106287507534e-05,
      "loss": 0.0736,
      "step": 11903
    },
    {
      "epoch": 2.670630468925286,
      "gripper_loss": 0.0059814453125,
      "loss": 0.06787109375,
      "pos_loss": 0.6640625,
      "rot_loss": 0.041015625,
      "step": 11903
    },
    {
      "epoch": 2.6708548350908683,
      "grad_norm": 0.2746575176715851,
      "learning_rate": 1.5620028787609042e-05,
      "loss": 0.0524,
      "step": 11904
    },
    {
      "epoch": 2.6708548350908683,
      "gripper_loss": 1.1484375,
      "loss": 0.07763671875,
      "pos_loss": 0.40625,
      "rot_loss": 0.0177001953125,
      "step": 11904
    },
    {
      "epoch": 2.6710792012564504,
      "grad_norm": 0.2926659882068634,
      "learning_rate": 1.5598965041021428e-05,
      "loss": 0.0435,
      "step": 11905
    },
    {
      "epoch": 2.6710792012564504,
      "gripper_loss": 0.0126953125,
      "loss": 0.03564453125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.0458984375,
      "step": 11905
    },
    {
      "epoch": 2.671303567422033,
      "grad_norm": 0.3305845260620117,
      "learning_rate": 1.557791504898068e-05,
      "loss": 0.0442,
      "step": 11906
    },
    {
      "epoch": 2.671303567422033,
      "gripper_loss": 0.01458740234375,
      "loss": 0.0712890625,
      "pos_loss": 0.48046875,
      "rot_loss": 0.2041015625,
      "step": 11906
    },
    {
      "epoch": 2.671527933587615,
      "grad_norm": 0.5794205665588379,
      "learning_rate": 1.555687881272197e-05,
      "loss": 0.0645,
      "step": 11907
    },
    {
      "epoch": 2.671527933587615,
      "gripper_loss": 0.040771484375,
      "loss": 0.048095703125,
      "pos_loss": 0.224609375,
      "rot_loss": 0.25390625,
      "step": 11907
    },
    {
      "epoch": 2.671752299753197,
      "grad_norm": 0.2860967218875885,
      "learning_rate": 1.5535856333479813e-05,
      "loss": 0.0534,
      "step": 11908
    },
    {
      "epoch": 2.671752299753197,
      "gripper_loss": 0.75390625,
      "loss": 0.0576171875,
      "pos_loss": 0.12890625,
      "rot_loss": 0.212890625,
      "step": 11908
    },
    {
      "epoch": 2.6719766659187796,
      "grad_norm": 0.43996813893318176,
      "learning_rate": 1.551484761248764e-05,
      "loss": 0.0441,
      "step": 11909
    },
    {
      "epoch": 2.6719766659187796,
      "gripper_loss": 0.008544921875,
      "loss": 0.10400390625,
      "pos_loss": 0.75390625,
      "rot_loss": 0.326171875,
      "step": 11909
    },
    {
      "epoch": 2.6722010320843617,
      "grad_norm": 0.39833030104637146,
      "learning_rate": 1.5493852650978386e-05,
      "loss": 0.0448,
      "step": 11910
    },
    {
      "epoch": 2.6722010320843617,
      "gripper_loss": 0.439453125,
      "loss": 0.016845703125,
      "pos_loss": 0.005279541015625,
      "rot_loss": 0.007598876953125,
      "step": 11910
    },
    {
      "epoch": 2.6724253982499437,
      "grad_norm": 0.36054927110671997,
      "learning_rate": 1.547287145018389e-05,
      "loss": 0.0401,
      "step": 11911
    },
    {
      "epoch": 2.6724253982499437,
      "gripper_loss": 0.00689697265625,
      "loss": 0.0306396484375,
      "pos_loss": 0.248046875,
      "rot_loss": 0.050048828125,
      "step": 11911
    },
    {
      "epoch": 2.6726497644155263,
      "grad_norm": 0.23176001012325287,
      "learning_rate": 1.5451904011335393e-05,
      "loss": 0.0454,
      "step": 11912
    },
    {
      "epoch": 2.6726497644155263,
      "gripper_loss": 0.0269775390625,
      "loss": 0.04638671875,
      "pos_loss": 0.2109375,
      "rot_loss": 0.2353515625,
      "step": 11912
    },
    {
      "epoch": 2.6728741305811083,
      "grad_norm": 0.28255775570869446,
      "learning_rate": 1.5430950335663302e-05,
      "loss": 0.0507,
      "step": 11913
    },
    {
      "epoch": 2.6728741305811083,
      "gripper_loss": 0.039794921875,
      "loss": 0.031494140625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.04736328125,
      "step": 11913
    },
    {
      "epoch": 2.6730984967466904,
      "grad_norm": 0.24892809987068176,
      "learning_rate": 1.5410010424397046e-05,
      "loss": 0.0276,
      "step": 11914
    },
    {
      "epoch": 2.6730984967466904,
      "gripper_loss": 0.1455078125,
      "loss": 0.01263427734375,
      "pos_loss": 0.0208740234375,
      "rot_loss": 0.0458984375,
      "step": 11914
    },
    {
      "epoch": 2.673322862912273,
      "grad_norm": 0.23453189432621002,
      "learning_rate": 1.5389084278765452e-05,
      "loss": 0.0348,
      "step": 11915
    },
    {
      "epoch": 2.673322862912273,
      "gripper_loss": 0.004302978515625,
      "loss": 0.020751953125,
      "pos_loss": 0.0751953125,
      "rot_loss": 0.1240234375,
      "step": 11915
    },
    {
      "epoch": 2.673547229077855,
      "grad_norm": 0.24501900374889374,
      "learning_rate": 1.5368171899996424e-05,
      "loss": 0.0323,
      "step": 11916
    },
    {
      "epoch": 2.673547229077855,
      "gripper_loss": 0.1162109375,
      "loss": 0.0615234375,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.392578125,
      "step": 11916
    },
    {
      "epoch": 2.673771595243437,
      "grad_norm": 0.29614579677581787,
      "learning_rate": 1.5347273289317148e-05,
      "loss": 0.0512,
      "step": 11917
    },
    {
      "epoch": 2.673771595243437,
      "gripper_loss": 0.2353515625,
      "loss": 0.020751953125,
      "pos_loss": 0.05712890625,
      "rot_loss": 0.06201171875,
      "step": 11917
    },
    {
      "epoch": 2.6739959614090196,
      "grad_norm": 0.24392114579677582,
      "learning_rate": 1.5326388447953865e-05,
      "loss": 0.0261,
      "step": 11918
    },
    {
      "epoch": 2.6739959614090196,
      "gripper_loss": 0.45703125,
      "loss": 0.060302734375,
      "pos_loss": 0.380859375,
      "rot_loss": 0.080078125,
      "step": 11918
    },
    {
      "epoch": 2.6742203275746017,
      "grad_norm": 0.679558277130127,
      "learning_rate": 1.530551737713215e-05,
      "loss": 0.0548,
      "step": 11919
    },
    {
      "epoch": 2.6742203275746017,
      "gripper_loss": 0.1572265625,
      "loss": 0.0654296875,
      "pos_loss": 0.275390625,
      "rot_loss": 0.283203125,
      "step": 11919
    },
    {
      "epoch": 2.674444693740184,
      "grad_norm": 0.4274325966835022,
      "learning_rate": 1.528466007807669e-05,
      "loss": 0.0556,
      "step": 11920
    },
    {
      "epoch": 2.674444693740184,
      "gripper_loss": 0.005645751953125,
      "loss": 0.0361328125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.05859375,
      "step": 11920
    },
    {
      "epoch": 2.6746690599057663,
      "grad_norm": 0.3693578839302063,
      "learning_rate": 1.5263816552011367e-05,
      "loss": 0.0359,
      "step": 11921
    },
    {
      "epoch": 2.6746690599057663,
      "gripper_loss": 0.0179443359375,
      "loss": 0.0625,
      "pos_loss": 0.396484375,
      "rot_loss": 0.2333984375,
      "step": 11921
    },
    {
      "epoch": 2.6748934260713484,
      "grad_norm": 0.2895665764808655,
      "learning_rate": 1.5242986800159287e-05,
      "loss": 0.043,
      "step": 11922
    },
    {
      "epoch": 2.6748934260713484,
      "gripper_loss": 0.016357421875,
      "loss": 0.013427734375,
      "pos_loss": 0.095703125,
      "rot_loss": 0.0196533203125,
      "step": 11922
    },
    {
      "epoch": 2.6751177922369305,
      "grad_norm": 0.3386900722980499,
      "learning_rate": 1.522217082374272e-05,
      "loss": 0.0468,
      "step": 11923
    },
    {
      "epoch": 2.6751177922369305,
      "gripper_loss": 0.57421875,
      "loss": 0.0654296875,
      "pos_loss": 0.451171875,
      "rot_loss": 0.034423828125,
      "step": 11923
    },
    {
      "epoch": 2.675342158402513,
      "grad_norm": 0.30114805698394775,
      "learning_rate": 1.5201368623983108e-05,
      "loss": 0.0378,
      "step": 11924
    },
    {
      "epoch": 2.675342158402513,
      "gripper_loss": 0.09814453125,
      "loss": 0.019775390625,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.07080078125,
      "step": 11924
    },
    {
      "epoch": 2.675566524568095,
      "grad_norm": 0.3357678949832916,
      "learning_rate": 1.5180580202101169e-05,
      "loss": 0.0506,
      "step": 11925
    },
    {
      "epoch": 2.675566524568095,
      "gripper_loss": 0.6796875,
      "loss": 0.05078125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.064453125,
      "step": 11925
    },
    {
      "epoch": 2.675790890733677,
      "grad_norm": 0.35199785232543945,
      "learning_rate": 1.5159805559316759e-05,
      "loss": 0.0552,
      "step": 11926
    },
    {
      "epoch": 2.675790890733677,
      "gripper_loss": 0.01239013671875,
      "loss": 0.0123291015625,
      "pos_loss": 0.026123046875,
      "rot_loss": 0.08447265625,
      "step": 11926
    },
    {
      "epoch": 2.6760152568992597,
      "grad_norm": 0.3146432340145111,
      "learning_rate": 1.5139044696848875e-05,
      "loss": 0.0425,
      "step": 11927
    },
    {
      "epoch": 2.6760152568992597,
      "gripper_loss": 0.220703125,
      "loss": 0.0264892578125,
      "pos_loss": 0.103515625,
      "rot_loss": 0.0859375,
      "step": 11927
    },
    {
      "epoch": 2.6762396230648418,
      "grad_norm": 0.26271137595176697,
      "learning_rate": 1.5118297615915793e-05,
      "loss": 0.0371,
      "step": 11928
    },
    {
      "epoch": 2.6762396230648418,
      "gripper_loss": 0.00469970703125,
      "loss": 0.032470703125,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.1025390625,
      "step": 11928
    },
    {
      "epoch": 2.676463989230424,
      "grad_norm": 0.22550638020038605,
      "learning_rate": 1.5097564317734902e-05,
      "loss": 0.0376,
      "step": 11929
    },
    {
      "epoch": 2.676463989230424,
      "gripper_loss": 0.482421875,
      "loss": 0.04736328125,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.216796875,
      "step": 11929
    },
    {
      "epoch": 2.6766883553960064,
      "grad_norm": 0.27170515060424805,
      "learning_rate": 1.5076844803522921e-05,
      "loss": 0.0406,
      "step": 11930
    },
    {
      "epoch": 2.6766883553960064,
      "gripper_loss": 0.26953125,
      "loss": 0.0361328125,
      "pos_loss": 0.244140625,
      "rot_loss": 0.03173828125,
      "step": 11930
    },
    {
      "epoch": 2.6769127215615884,
      "grad_norm": 0.14970478415489197,
      "learning_rate": 1.5056139074495545e-05,
      "loss": 0.0239,
      "step": 11931
    },
    {
      "epoch": 2.6769127215615884,
      "gripper_loss": 0.11083984375,
      "loss": 0.0264892578125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.042236328125,
      "step": 11931
    },
    {
      "epoch": 2.6771370877271705,
      "grad_norm": 0.480913907289505,
      "learning_rate": 1.5035447131867858e-05,
      "loss": 0.0479,
      "step": 11932
    },
    {
      "epoch": 2.6771370877271705,
      "gripper_loss": 0.220703125,
      "loss": 0.03076171875,
      "pos_loss": 0.083984375,
      "rot_loss": 0.150390625,
      "step": 11932
    },
    {
      "epoch": 2.677361453892753,
      "grad_norm": 0.6958335638046265,
      "learning_rate": 1.501476897685397e-05,
      "loss": 0.0454,
      "step": 11933
    },
    {
      "epoch": 2.677361453892753,
      "gripper_loss": 1.0078125,
      "loss": 0.0712890625,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.28515625,
      "step": 11933
    },
    {
      "epoch": 2.677585820058335,
      "grad_norm": 0.3410128355026245,
      "learning_rate": 1.4994104610667331e-05,
      "loss": 0.0492,
      "step": 11934
    },
    {
      "epoch": 2.677585820058335,
      "gripper_loss": 0.01361083984375,
      "loss": 0.00970458984375,
      "pos_loss": 0.041748046875,
      "rot_loss": 0.038330078125,
      "step": 11934
    },
    {
      "epoch": 2.677810186223917,
      "grad_norm": 0.23336946964263916,
      "learning_rate": 1.497345403452055e-05,
      "loss": 0.0297,
      "step": 11935
    },
    {
      "epoch": 2.677810186223917,
      "gripper_loss": 0.021484375,
      "loss": 0.01708984375,
      "pos_loss": 0.062255859375,
      "rot_loss": 0.0908203125,
      "step": 11935
    },
    {
      "epoch": 2.6780345523894997,
      "grad_norm": 0.2262856364250183,
      "learning_rate": 1.49528172496253e-05,
      "loss": 0.0284,
      "step": 11936
    },
    {
      "epoch": 2.6780345523894997,
      "gripper_loss": 0.007415771484375,
      "loss": 0.03662109375,
      "pos_loss": 0.26953125,
      "rot_loss": 0.09130859375,
      "step": 11936
    },
    {
      "epoch": 2.678258918555082,
      "grad_norm": 0.4472677707672119,
      "learning_rate": 1.4932194257192582e-05,
      "loss": 0.0424,
      "step": 11937
    },
    {
      "epoch": 2.678258918555082,
      "gripper_loss": 0.2109375,
      "loss": 0.0267333984375,
      "pos_loss": 0.13671875,
      "rot_loss": 0.061279296875,
      "step": 11937
    },
    {
      "epoch": 2.678483284720664,
      "grad_norm": 0.2088956981897354,
      "learning_rate": 1.4911585058432541e-05,
      "loss": 0.028,
      "step": 11938
    },
    {
      "epoch": 2.678483284720664,
      "gripper_loss": 0.0030059814453125,
      "loss": 0.040771484375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.140625,
      "step": 11938
    },
    {
      "epoch": 2.6787076508862464,
      "grad_norm": 0.221452996134758,
      "learning_rate": 1.4890989654554571e-05,
      "loss": 0.0304,
      "step": 11939
    },
    {
      "epoch": 2.6787076508862464,
      "gripper_loss": 0.035888671875,
      "loss": 0.0908203125,
      "pos_loss": 0.6328125,
      "rot_loss": 0.248046875,
      "step": 11939
    },
    {
      "epoch": 2.6789320170518285,
      "grad_norm": 0.7052866220474243,
      "learning_rate": 1.4870408046767092e-05,
      "loss": 0.0971,
      "step": 11940
    },
    {
      "epoch": 2.6789320170518285,
      "gripper_loss": 0.00701904296875,
      "loss": 0.05029296875,
      "pos_loss": 0.353515625,
      "rot_loss": 0.1572265625,
      "step": 11940
    },
    {
      "epoch": 2.6791563832174106,
      "grad_norm": 0.24816013872623444,
      "learning_rate": 1.484984023627789e-05,
      "loss": 0.0397,
      "step": 11941
    },
    {
      "epoch": 2.6791563832174106,
      "gripper_loss": 0.004364013671875,
      "loss": 0.06396484375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.2216796875,
      "step": 11941
    },
    {
      "epoch": 2.679380749382993,
      "grad_norm": 0.31532976031303406,
      "learning_rate": 1.4829286224293886e-05,
      "loss": 0.042,
      "step": 11942
    },
    {
      "epoch": 2.679380749382993,
      "gripper_loss": 0.0220947265625,
      "loss": 0.05126953125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.1513671875,
      "step": 11942
    },
    {
      "epoch": 2.679605115548575,
      "grad_norm": 0.2559971809387207,
      "learning_rate": 1.4808746012021173e-05,
      "loss": 0.0474,
      "step": 11943
    },
    {
      "epoch": 2.679605115548575,
      "gripper_loss": 0.0126953125,
      "loss": 0.043212890625,
      "pos_loss": 0.359375,
      "rot_loss": 0.0751953125,
      "step": 11943
    },
    {
      "epoch": 2.6798294817141572,
      "grad_norm": 0.3148820698261261,
      "learning_rate": 1.4788219600665009e-05,
      "loss": 0.0334,
      "step": 11944
    },
    {
      "epoch": 2.6798294817141572,
      "gripper_loss": 0.0033416748046875,
      "loss": 0.068359375,
      "pos_loss": 0.51953125,
      "rot_loss": 0.189453125,
      "step": 11944
    },
    {
      "epoch": 2.6800538478797398,
      "grad_norm": 0.2831801176071167,
      "learning_rate": 1.476770699142993e-05,
      "loss": 0.0454,
      "step": 11945
    },
    {
      "epoch": 2.6800538478797398,
      "gripper_loss": 0.0859375,
      "loss": 0.061767578125,
      "pos_loss": 0.4765625,
      "rot_loss": 0.12060546875,
      "step": 11945
    },
    {
      "epoch": 2.680278214045322,
      "grad_norm": 0.4077931344509125,
      "learning_rate": 1.4747208185519528e-05,
      "loss": 0.0484,
      "step": 11946
    },
    {
      "epoch": 2.680278214045322,
      "gripper_loss": 1.515625,
      "loss": 0.057373046875,
      "pos_loss": 0.01483154296875,
      "rot_loss": 0.0732421875,
      "step": 11946
    },
    {
      "epoch": 2.680502580210904,
      "grad_norm": 0.24358585476875305,
      "learning_rate": 1.4726723184136732e-05,
      "loss": 0.041,
      "step": 11947
    },
    {
      "epoch": 2.680502580210904,
      "gripper_loss": 0.3359375,
      "loss": 0.033447265625,
      "pos_loss": 0.1796875,
      "rot_loss": 0.04443359375,
      "step": 11947
    },
    {
      "epoch": 2.6807269463764865,
      "grad_norm": 0.6293530464172363,
      "learning_rate": 1.4706251988483549e-05,
      "loss": 0.0578,
      "step": 11948
    },
    {
      "epoch": 2.6807269463764865,
      "gripper_loss": 0.0079345703125,
      "loss": 0.01953125,
      "pos_loss": 0.11865234375,
      "rot_loss": 0.06787109375,
      "step": 11948
    },
    {
      "epoch": 2.6809513125420685,
      "grad_norm": 0.40811869502067566,
      "learning_rate": 1.4685794599761243e-05,
      "loss": 0.0363,
      "step": 11949
    },
    {
      "epoch": 2.6809513125420685,
      "gripper_loss": 0.26953125,
      "loss": 0.1064453125,
      "pos_loss": 0.341796875,
      "rot_loss": 0.388671875,
      "step": 11949
    },
    {
      "epoch": 2.6811756787076506,
      "grad_norm": 1.0456463098526,
      "learning_rate": 1.4665351019170215e-05,
      "loss": 0.1049,
      "step": 11950
    },
    {
      "epoch": 2.6811756787076506,
      "gripper_loss": 0.0137939453125,
      "loss": 0.0081787109375,
      "pos_loss": 0.0084228515625,
      "rot_loss": 0.054931640625,
      "step": 11950
    },
    {
      "epoch": 2.681400044873233,
      "grad_norm": 0.39153701066970825,
      "learning_rate": 1.4644921247910115e-05,
      "loss": 0.0333,
      "step": 11951
    },
    {
      "epoch": 2.681400044873233,
      "gripper_loss": 0.0106201171875,
      "loss": 0.03857421875,
      "pos_loss": 0.3359375,
      "rot_loss": 0.049072265625,
      "step": 11951
    },
    {
      "epoch": 2.681624411038815,
      "grad_norm": 0.456007719039917,
      "learning_rate": 1.4624505287179818e-05,
      "loss": 0.0498,
      "step": 11952
    },
    {
      "epoch": 2.681624411038815,
      "gripper_loss": 0.00921630859375,
      "loss": 0.0272216796875,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.2041015625,
      "step": 11952
    },
    {
      "epoch": 2.6818487772043977,
      "grad_norm": 0.23055514693260193,
      "learning_rate": 1.4604103138177172e-05,
      "loss": 0.0403,
      "step": 11953
    },
    {
      "epoch": 2.6818487772043977,
      "gripper_loss": 0.1474609375,
      "loss": 0.1337890625,
      "pos_loss": 0.447265625,
      "rot_loss": 0.75390625,
      "step": 11953
    },
    {
      "epoch": 2.68207314336998,
      "grad_norm": 0.936803936958313,
      "learning_rate": 1.4583714802099468e-05,
      "loss": 0.109,
      "step": 11954
    },
    {
      "epoch": 2.68207314336998,
      "gripper_loss": 0.06982421875,
      "loss": 0.038818359375,
      "pos_loss": 0.212890625,
      "rot_loss": 0.142578125,
      "step": 11954
    },
    {
      "epoch": 2.682297509535562,
      "grad_norm": 0.23183852434158325,
      "learning_rate": 1.4563340280143111e-05,
      "loss": 0.0382,
      "step": 11955
    },
    {
      "epoch": 2.682297509535562,
      "gripper_loss": 0.006134033203125,
      "loss": 0.06005859375,
      "pos_loss": 0.53515625,
      "rot_loss": 0.08447265625,
      "step": 11955
    },
    {
      "epoch": 2.6825218757011444,
      "grad_norm": 0.3339225649833679,
      "learning_rate": 1.4542979573503563e-05,
      "loss": 0.0502,
      "step": 11956
    },
    {
      "epoch": 2.6825218757011444,
      "gripper_loss": 0.00830078125,
      "loss": 0.031494140625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.1796875,
      "step": 11956
    },
    {
      "epoch": 2.6827462418667265,
      "grad_norm": 0.29358983039855957,
      "learning_rate": 1.452263268337567e-05,
      "loss": 0.0557,
      "step": 11957
    },
    {
      "epoch": 2.6827462418667265,
      "gripper_loss": 0.01458740234375,
      "loss": 0.015625,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.06201171875,
      "step": 11957
    },
    {
      "epoch": 2.6829706080323086,
      "grad_norm": 0.47277727723121643,
      "learning_rate": 1.450229961095334e-05,
      "loss": 0.0561,
      "step": 11958
    },
    {
      "epoch": 2.6829706080323086,
      "gripper_loss": 0.12890625,
      "loss": 0.062255859375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.310546875,
      "step": 11958
    },
    {
      "epoch": 2.683194974197891,
      "grad_norm": 0.48764127492904663,
      "learning_rate": 1.4481980357429675e-05,
      "loss": 0.0683,
      "step": 11959
    },
    {
      "epoch": 2.683194974197891,
      "gripper_loss": 0.005157470703125,
      "loss": 0.0311279296875,
      "pos_loss": 0.21484375,
      "rot_loss": 0.0966796875,
      "step": 11959
    },
    {
      "epoch": 2.683419340363473,
      "grad_norm": 0.24453416466712952,
      "learning_rate": 1.4461674923997108e-05,
      "loss": 0.0405,
      "step": 11960
    },
    {
      "epoch": 2.683419340363473,
      "gripper_loss": 0.050048828125,
      "loss": 0.06494140625,
      "pos_loss": 0.30078125,
      "rot_loss": 0.34765625,
      "step": 11960
    },
    {
      "epoch": 2.6836437065290553,
      "grad_norm": 0.503271222114563,
      "learning_rate": 1.444138331184705e-05,
      "loss": 0.0589,
      "step": 11961
    },
    {
      "epoch": 2.6836437065290553,
      "gripper_loss": 0.2470703125,
      "loss": 0.10498046875,
      "pos_loss": 0.78125,
      "rot_loss": 0.2314453125,
      "step": 11961
    },
    {
      "epoch": 2.683868072694638,
      "grad_norm": 0.2240973263978958,
      "learning_rate": 1.4421105522170213e-05,
      "loss": 0.0504,
      "step": 11962
    },
    {
      "epoch": 2.683868072694638,
      "gripper_loss": 0.00787353515625,
      "loss": 0.058837890625,
      "pos_loss": 0.41796875,
      "rot_loss": 0.1826171875,
      "step": 11962
    },
    {
      "epoch": 2.68409243886022,
      "grad_norm": 0.4889340102672577,
      "learning_rate": 1.4400841556156536e-05,
      "loss": 0.0362,
      "step": 11963
    },
    {
      "epoch": 2.68409243886022,
      "gripper_loss": 0.150390625,
      "loss": 0.054443359375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.208984375,
      "step": 11963
    },
    {
      "epoch": 2.684316805025802,
      "grad_norm": 0.42661526799201965,
      "learning_rate": 1.4380591414995064e-05,
      "loss": 0.0705,
      "step": 11964
    },
    {
      "epoch": 2.684316805025802,
      "gripper_loss": 0.08056640625,
      "loss": 0.10107421875,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.2236328125,
      "step": 11964
    },
    {
      "epoch": 2.6845411711913845,
      "grad_norm": 1.0780949592590332,
      "learning_rate": 1.4360355099874128e-05,
      "loss": 0.1344,
      "step": 11965
    },
    {
      "epoch": 2.6845411711913845,
      "gripper_loss": 0.0230712890625,
      "loss": 0.0888671875,
      "pos_loss": 0.796875,
      "rot_loss": 0.11767578125,
      "step": 11965
    },
    {
      "epoch": 2.6847655373569665,
      "grad_norm": 0.29385319352149963,
      "learning_rate": 1.434013261198111e-05,
      "loss": 0.047,
      "step": 11966
    },
    {
      "epoch": 2.6847655373569665,
      "gripper_loss": 0.4375,
      "loss": 0.025146484375,
      "pos_loss": 0.06591796875,
      "rot_loss": 0.03369140625,
      "step": 11966
    },
    {
      "epoch": 2.684989903522549,
      "grad_norm": 0.31823596358299255,
      "learning_rate": 1.4319923952502701e-05,
      "loss": 0.043,
      "step": 11967
    },
    {
      "epoch": 2.684989903522549,
      "gripper_loss": 0.03564453125,
      "loss": 0.03759765625,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.1806640625,
      "step": 11967
    },
    {
      "epoch": 2.685214269688131,
      "grad_norm": 0.3399578630924225,
      "learning_rate": 1.4299729122624672e-05,
      "loss": 0.0456,
      "step": 11968
    },
    {
      "epoch": 2.685214269688131,
      "gripper_loss": 0.1591796875,
      "loss": 0.01336669921875,
      "pos_loss": 0.0361328125,
      "rot_loss": 0.037353515625,
      "step": 11968
    },
    {
      "epoch": 2.6854386358537132,
      "grad_norm": 0.32174596190452576,
      "learning_rate": 1.427954812353216e-05,
      "loss": 0.0336,
      "step": 11969
    },
    {
      "epoch": 2.6854386358537132,
      "gripper_loss": 0.007720947265625,
      "loss": 0.06591796875,
      "pos_loss": 0.52734375,
      "rot_loss": 0.1533203125,
      "step": 11969
    },
    {
      "epoch": 2.6856630020192958,
      "grad_norm": 0.3000522553920746,
      "learning_rate": 1.4259380956409246e-05,
      "loss": 0.0359,
      "step": 11970
    },
    {
      "epoch": 2.6856630020192958,
      "gripper_loss": 0.0908203125,
      "loss": 0.042724609375,
      "pos_loss": 0.369140625,
      "rot_loss": 0.0302734375,
      "step": 11970
    },
    {
      "epoch": 2.685887368184878,
      "grad_norm": 0.5506762862205505,
      "learning_rate": 1.4239227622439427e-05,
      "loss": 0.0632,
      "step": 11971
    },
    {
      "epoch": 2.685887368184878,
      "gripper_loss": 0.0303955078125,
      "loss": 0.060546875,
      "pos_loss": 0.1015625,
      "rot_loss": 0.498046875,
      "step": 11971
    },
    {
      "epoch": 2.68611173435046,
      "grad_norm": 0.4091562330722809,
      "learning_rate": 1.421908812280523e-05,
      "loss": 0.0555,
      "step": 11972
    },
    {
      "epoch": 2.68611173435046,
      "gripper_loss": 0.197265625,
      "loss": 0.0576171875,
      "pos_loss": 0.30078125,
      "rot_loss": 0.2275390625,
      "step": 11972
    },
    {
      "epoch": 2.6863361005160424,
      "grad_norm": 0.4460570514202118,
      "learning_rate": 1.4198962458688514e-05,
      "loss": 0.0318,
      "step": 11973
    },
    {
      "epoch": 2.6863361005160424,
      "gripper_loss": 0.10498046875,
      "loss": 0.041748046875,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.2421875,
      "step": 11973
    },
    {
      "epoch": 2.6865604666816245,
      "grad_norm": 0.4241107106208801,
      "learning_rate": 1.4178850631270141e-05,
      "loss": 0.0467,
      "step": 11974
    },
    {
      "epoch": 2.6865604666816245,
      "gripper_loss": 0.00653076171875,
      "loss": 0.0238037109375,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.09521484375,
      "step": 11974
    },
    {
      "epoch": 2.6867848328472066,
      "grad_norm": 0.3440253436565399,
      "learning_rate": 1.4158752641730305e-05,
      "loss": 0.0279,
      "step": 11975
    },
    {
      "epoch": 2.6867848328472066,
      "gripper_loss": 0.0047607421875,
      "loss": 0.07470703125,
      "pos_loss": 0.72265625,
      "rot_loss": 0.050537109375,
      "step": 11975
    },
    {
      "epoch": 2.687009199012789,
      "grad_norm": 0.34054189920425415,
      "learning_rate": 1.4138668491248369e-05,
      "loss": 0.0457,
      "step": 11976
    },
    {
      "epoch": 2.687009199012789,
      "gripper_loss": 0.16015625,
      "loss": 0.054443359375,
      "pos_loss": 0.283203125,
      "rot_loss": 0.166015625,
      "step": 11976
    },
    {
      "epoch": 2.687233565178371,
      "grad_norm": 0.5259658098220825,
      "learning_rate": 1.4118598181002889e-05,
      "loss": 0.0444,
      "step": 11977
    },
    {
      "epoch": 2.687233565178371,
      "gripper_loss": 0.2421875,
      "loss": 0.06591796875,
      "pos_loss": 0.427734375,
      "rot_loss": 0.1708984375,
      "step": 11977
    },
    {
      "epoch": 2.6874579313439533,
      "grad_norm": 0.37724459171295166,
      "learning_rate": 1.4098541712171508e-05,
      "loss": 0.0327,
      "step": 11978
    },
    {
      "epoch": 2.6874579313439533,
      "gripper_loss": 0.00299072265625,
      "loss": 0.031982421875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.0272216796875,
      "step": 11978
    },
    {
      "epoch": 2.687682297509536,
      "grad_norm": 0.23287251591682434,
      "learning_rate": 1.4078499085931201e-05,
      "loss": 0.0367,
      "step": 11979
    },
    {
      "epoch": 2.687682297509536,
      "gripper_loss": 0.0400390625,
      "loss": 0.056396484375,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.337890625,
      "step": 11979
    },
    {
      "epoch": 2.687906663675118,
      "grad_norm": 0.7337967753410339,
      "learning_rate": 1.405847030345797e-05,
      "loss": 0.0729,
      "step": 11980
    },
    {
      "epoch": 2.687906663675118,
      "gripper_loss": 0.005584716796875,
      "loss": 0.02783203125,
      "pos_loss": 0.060546875,
      "rot_loss": 0.21484375,
      "step": 11980
    },
    {
      "epoch": 2.6881310298407,
      "grad_norm": 0.5478391051292419,
      "learning_rate": 1.4038455365927156e-05,
      "loss": 0.0351,
      "step": 11981
    },
    {
      "epoch": 2.6881310298407,
      "gripper_loss": 0.005615234375,
      "loss": 0.02783203125,
      "pos_loss": 0.1953125,
      "rot_loss": 0.0771484375,
      "step": 11981
    },
    {
      "epoch": 2.6883553960062825,
      "grad_norm": 0.25480273365974426,
      "learning_rate": 1.401845427451326e-05,
      "loss": 0.0288,
      "step": 11982
    },
    {
      "epoch": 2.6883553960062825,
      "gripper_loss": 0.10107421875,
      "loss": 0.04345703125,
      "pos_loss": 0.345703125,
      "rot_loss": 0.06103515625,
      "step": 11982
    },
    {
      "epoch": 2.6885797621718646,
      "grad_norm": 0.3933381736278534,
      "learning_rate": 1.3998467030389844e-05,
      "loss": 0.0587,
      "step": 11983
    },
    {
      "epoch": 2.6885797621718646,
      "gripper_loss": 0.01043701171875,
      "loss": 0.017333984375,
      "pos_loss": 0.06640625,
      "rot_loss": 0.0947265625,
      "step": 11983
    },
    {
      "epoch": 2.6888041283374466,
      "grad_norm": 0.3695944845676422,
      "learning_rate": 1.3978493634729834e-05,
      "loss": 0.0681,
      "step": 11984
    },
    {
      "epoch": 2.6888041283374466,
      "gripper_loss": 0.1650390625,
      "loss": 0.047607421875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.1396484375,
      "step": 11984
    },
    {
      "epoch": 2.689028494503029,
      "grad_norm": 0.3596847355365753,
      "learning_rate": 1.3958534088705205e-05,
      "loss": 0.0535,
      "step": 11985
    },
    {
      "epoch": 2.689028494503029,
      "gripper_loss": 0.0576171875,
      "loss": 0.035400390625,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.2333984375,
      "step": 11985
    },
    {
      "epoch": 2.6892528606686112,
      "grad_norm": 0.5593221783638,
      "learning_rate": 1.3938588393487217e-05,
      "loss": 0.0534,
      "step": 11986
    },
    {
      "epoch": 2.6892528606686112,
      "gripper_loss": 0.045654296875,
      "loss": 0.0205078125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.0194091796875,
      "step": 11986
    },
    {
      "epoch": 2.6894772268341933,
      "grad_norm": 0.37291568517684937,
      "learning_rate": 1.3918656550246239e-05,
      "loss": 0.0448,
      "step": 11987
    },
    {
      "epoch": 2.6894772268341933,
      "gripper_loss": 1.1484375,
      "loss": 0.07958984375,
      "pos_loss": 0.328125,
      "rot_loss": 0.1171875,
      "step": 11987
    },
    {
      "epoch": 2.689701592999776,
      "grad_norm": 0.2764071822166443,
      "learning_rate": 1.389873856015189e-05,
      "loss": 0.0488,
      "step": 11988
    },
    {
      "epoch": 2.689701592999776,
      "gripper_loss": 1.359375,
      "loss": 0.046142578125,
      "pos_loss": 0.00494384765625,
      "rot_loss": 0.01177978515625,
      "step": 11988
    },
    {
      "epoch": 2.689925959165358,
      "grad_norm": 0.43357571959495544,
      "learning_rate": 1.3878834424372905e-05,
      "loss": 0.057,
      "step": 11989
    },
    {
      "epoch": 2.689925959165358,
      "gripper_loss": 0.0106201171875,
      "loss": 0.037109375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.10595703125,
      "step": 11989
    },
    {
      "epoch": 2.69015032533094,
      "grad_norm": 0.666572093963623,
      "learning_rate": 1.3858944144077346e-05,
      "loss": 0.0451,
      "step": 11990
    },
    {
      "epoch": 2.69015032533094,
      "gripper_loss": 0.003204345703125,
      "loss": 0.07275390625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.427734375,
      "step": 11990
    },
    {
      "epoch": 2.6903746914965225,
      "grad_norm": 0.29542267322540283,
      "learning_rate": 1.3839067720432253e-05,
      "loss": 0.0459,
      "step": 11991
    },
    {
      "epoch": 2.6903746914965225,
      "gripper_loss": 0.2353515625,
      "loss": 0.04638671875,
      "pos_loss": 0.36328125,
      "rot_loss": 0.029052734375,
      "step": 11991
    },
    {
      "epoch": 2.6905990576621046,
      "grad_norm": 0.5160419344902039,
      "learning_rate": 1.3819205154604025e-05,
      "loss": 0.0454,
      "step": 11992
    },
    {
      "epoch": 2.6905990576621046,
      "gripper_loss": 0.0052490234375,
      "loss": 0.0137939453125,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.035400390625,
      "step": 11992
    },
    {
      "epoch": 2.6908234238276867,
      "grad_norm": 0.3343534469604492,
      "learning_rate": 1.3799356447758177e-05,
      "loss": 0.0364,
      "step": 11993
    },
    {
      "epoch": 2.6908234238276867,
      "gripper_loss": 0.00537109375,
      "loss": 0.031982421875,
      "pos_loss": 0.2421875,
      "rot_loss": 0.07958984375,
      "step": 11993
    },
    {
      "epoch": 2.691047789993269,
      "grad_norm": 0.38369080424308777,
      "learning_rate": 1.3779521601059414e-05,
      "loss": 0.0439,
      "step": 11994
    },
    {
      "epoch": 2.691047789993269,
      "gripper_loss": 0.011474609375,
      "loss": 0.0223388671875,
      "pos_loss": 0.06396484375,
      "rot_loss": 0.14453125,
      "step": 11994
    },
    {
      "epoch": 2.6912721561588513,
      "grad_norm": 0.19469663500785828,
      "learning_rate": 1.3759700615671666e-05,
      "loss": 0.0351,
      "step": 11995
    },
    {
      "epoch": 2.6912721561588513,
      "gripper_loss": 0.0947265625,
      "loss": 0.00653076171875,
      "pos_loss": 0.0147705078125,
      "rot_loss": 0.004425048828125,
      "step": 11995
    },
    {
      "epoch": 2.6914965223244334,
      "grad_norm": 0.4683731198310852,
      "learning_rate": 1.3739893492757976e-05,
      "loss": 0.0327,
      "step": 11996
    },
    {
      "epoch": 2.6914965223244334,
      "gripper_loss": 0.009033203125,
      "loss": 0.0322265625,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.154296875,
      "step": 11996
    },
    {
      "epoch": 2.691720888490016,
      "grad_norm": 0.22658751904964447,
      "learning_rate": 1.3720100233480637e-05,
      "loss": 0.0391,
      "step": 11997
    },
    {
      "epoch": 2.691720888490016,
      "gripper_loss": 0.00482177734375,
      "loss": 0.023193359375,
      "pos_loss": 0.123046875,
      "rot_loss": 0.10009765625,
      "step": 11997
    },
    {
      "epoch": 2.691945254655598,
      "grad_norm": 0.26804468035697937,
      "learning_rate": 1.3700320839001079e-05,
      "loss": 0.0398,
      "step": 11998
    },
    {
      "epoch": 2.691945254655598,
      "gripper_loss": 0.203125,
      "loss": 0.021484375,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.060302734375,
      "step": 11998
    },
    {
      "epoch": 2.69216962082118,
      "grad_norm": 0.21721038222312927,
      "learning_rate": 1.3680555310480041e-05,
      "loss": 0.0329,
      "step": 11999
    },
    {
      "epoch": 2.69216962082118,
      "gripper_loss": 0.005706787109375,
      "loss": 0.0150146484375,
      "pos_loss": 0.103515625,
      "rot_loss": 0.031494140625,
      "step": 11999
    },
    {
      "epoch": 2.6923939869867626,
      "grad_norm": 0.18794193863868713,
      "learning_rate": 1.3660803649077264e-05,
      "loss": 0.0425,
      "step": 12000
    },
    {
      "epoch": 2.6923939869867626,
      "gripper_loss": 0.004180908203125,
      "loss": 0.0130615234375,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.041748046875,
      "step": 12000
    },
    {
      "epoch": 2.6926183531523447,
      "grad_norm": 0.2373199313879013,
      "learning_rate": 1.3641065855951789e-05,
      "loss": 0.0308,
      "step": 12001
    },
    {
      "epoch": 2.6926183531523447,
      "gripper_loss": 0.54296875,
      "loss": 0.07861328125,
      "pos_loss": 0.55859375,
      "rot_loss": 0.0830078125,
      "step": 12001
    },
    {
      "epoch": 2.6928427193179267,
      "grad_norm": 0.33649954199790955,
      "learning_rate": 1.362134193226186e-05,
      "loss": 0.0508,
      "step": 12002
    },
    {
      "epoch": 2.6928427193179267,
      "gripper_loss": 0.00909423828125,
      "loss": 0.0216064453125,
      "pos_loss": 0.18359375,
      "rot_loss": 0.0250244140625,
      "step": 12002
    },
    {
      "epoch": 2.6930670854835093,
      "grad_norm": 0.34960970282554626,
      "learning_rate": 1.36016318791648e-05,
      "loss": 0.0422,
      "step": 12003
    },
    {
      "epoch": 2.6930670854835093,
      "gripper_loss": 0.006988525390625,
      "loss": 0.04541015625,
      "pos_loss": 0.384765625,
      "rot_loss": 0.07421875,
      "step": 12003
    },
    {
      "epoch": 2.6932914516490913,
      "grad_norm": 0.4293693006038666,
      "learning_rate": 1.3581935697817265e-05,
      "loss": 0.0486,
      "step": 12004
    },
    {
      "epoch": 2.6932914516490913,
      "gripper_loss": 0.447265625,
      "loss": 0.041015625,
      "pos_loss": 0.21875,
      "rot_loss": 0.0498046875,
      "step": 12004
    },
    {
      "epoch": 2.6935158178146734,
      "grad_norm": 0.6937726140022278,
      "learning_rate": 1.3562253389374917e-05,
      "loss": 0.0666,
      "step": 12005
    },
    {
      "epoch": 2.6935158178146734,
      "gripper_loss": 0.039794921875,
      "loss": 0.06005859375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.26953125,
      "step": 12005
    },
    {
      "epoch": 2.693740183980256,
      "grad_norm": 0.3275305926799774,
      "learning_rate": 1.3542584954992803e-05,
      "loss": 0.0475,
      "step": 12006
    },
    {
      "epoch": 2.693740183980256,
      "gripper_loss": 0.1689453125,
      "loss": 0.0306396484375,
      "pos_loss": 0.234375,
      "rot_loss": 0.01434326171875,
      "step": 12006
    },
    {
      "epoch": 2.693964550145838,
      "grad_norm": 0.2720586657524109,
      "learning_rate": 1.3522930395825028e-05,
      "loss": 0.0329,
      "step": 12007
    },
    {
      "epoch": 2.693964550145838,
      "gripper_loss": 0.004669189453125,
      "loss": 0.0247802734375,
      "pos_loss": 0.130859375,
      "rot_loss": 0.1103515625,
      "step": 12007
    },
    {
      "epoch": 2.69418891631142,
      "grad_norm": 0.32288500666618347,
      "learning_rate": 1.3503289713024864e-05,
      "loss": 0.0432,
      "step": 12008
    },
    {
      "epoch": 2.69418891631142,
      "gripper_loss": 0.00860595703125,
      "loss": 0.0220947265625,
      "pos_loss": 0.162109375,
      "rot_loss": 0.050537109375,
      "step": 12008
    },
    {
      "epoch": 2.6944132824770026,
      "grad_norm": 0.31514111161231995,
      "learning_rate": 1.3483662907744832e-05,
      "loss": 0.024,
      "step": 12009
    },
    {
      "epoch": 2.6944132824770026,
      "gripper_loss": 0.05712890625,
      "loss": 0.080078125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.345703125,
      "step": 12009
    },
    {
      "epoch": 2.6946376486425847,
      "grad_norm": 0.48773428797721863,
      "learning_rate": 1.3464049981136678e-05,
      "loss": 0.0825,
      "step": 12010
    },
    {
      "epoch": 2.6946376486425847,
      "gripper_loss": 0.005859375,
      "loss": 0.1357421875,
      "pos_loss": 1.0546875,
      "rot_loss": 0.365234375,
      "step": 12010
    },
    {
      "epoch": 2.694862014808167,
      "grad_norm": 0.44490498304367065,
      "learning_rate": 1.344445093435126e-05,
      "loss": 0.062,
      "step": 12011
    },
    {
      "epoch": 2.694862014808167,
      "gripper_loss": 0.0068359375,
      "loss": 0.010498046875,
      "pos_loss": 0.024169921875,
      "rot_loss": 0.0673828125,
      "step": 12011
    },
    {
      "epoch": 2.6950863809737493,
      "grad_norm": 0.3198224604129791,
      "learning_rate": 1.342486576853863e-05,
      "loss": 0.045,
      "step": 12012
    },
    {
      "epoch": 2.6950863809737493,
      "gripper_loss": 0.57421875,
      "loss": 0.0208740234375,
      "pos_loss": 0.01068115234375,
      "rot_loss": 0.006683349609375,
      "step": 12012
    },
    {
      "epoch": 2.6953107471393314,
      "grad_norm": 0.17385300993919373,
      "learning_rate": 1.3405294484848036e-05,
      "loss": 0.0325,
      "step": 12013
    },
    {
      "epoch": 2.6953107471393314,
      "gripper_loss": 0.1826171875,
      "loss": 0.04052734375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.1953125,
      "step": 12013
    },
    {
      "epoch": 2.6955351133049135,
      "grad_norm": 0.21219708025455475,
      "learning_rate": 1.3385737084427918e-05,
      "loss": 0.0425,
      "step": 12014
    },
    {
      "epoch": 2.6955351133049135,
      "gripper_loss": 0.1044921875,
      "loss": 0.0103759765625,
      "pos_loss": 0.00543212890625,
      "rot_loss": 0.05078125,
      "step": 12014
    },
    {
      "epoch": 2.695759479470496,
      "grad_norm": 0.2360253632068634,
      "learning_rate": 1.336619356842586e-05,
      "loss": 0.0363,
      "step": 12015
    },
    {
      "epoch": 2.695759479470496,
      "gripper_loss": 0.00823974609375,
      "loss": 0.05029296875,
      "pos_loss": 0.4765625,
      "rot_loss": 0.0296630859375,
      "step": 12015
    },
    {
      "epoch": 2.695983845636078,
      "grad_norm": 0.6077612638473511,
      "learning_rate": 1.334666393798875e-05,
      "loss": 0.0587,
      "step": 12016
    },
    {
      "epoch": 2.695983845636078,
      "gripper_loss": 0.00885009765625,
      "loss": 0.0301513671875,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.08203125,
      "step": 12016
    },
    {
      "epoch": 2.69620821180166,
      "grad_norm": 0.30922606587409973,
      "learning_rate": 1.3327148194262478e-05,
      "loss": 0.0469,
      "step": 12017
    },
    {
      "epoch": 2.69620821180166,
      "gripper_loss": 0.004119873046875,
      "loss": 0.003814697265625,
      "pos_loss": 0.0125732421875,
      "rot_loss": 0.004974365234375,
      "step": 12017
    },
    {
      "epoch": 2.6964325779672427,
      "grad_norm": 0.23075906932353973,
      "learning_rate": 1.3307646338392265e-05,
      "loss": 0.0403,
      "step": 12018
    },
    {
      "epoch": 2.6964325779672427,
      "gripper_loss": 0.0302734375,
      "loss": 0.0076904296875,
      "pos_loss": 0.017333984375,
      "rot_loss": 0.03466796875,
      "step": 12018
    },
    {
      "epoch": 2.6966569441328248,
      "grad_norm": 0.15771451592445374,
      "learning_rate": 1.3288158371522474e-05,
      "loss": 0.0249,
      "step": 12019
    },
    {
      "epoch": 2.6966569441328248,
      "gripper_loss": 0.005462646484375,
      "loss": 0.09912109375,
      "pos_loss": 0.306640625,
      "rot_loss": 0.72265625,
      "step": 12019
    },
    {
      "epoch": 2.696881310298407,
      "grad_norm": 0.5229970216751099,
      "learning_rate": 1.326868429479669e-05,
      "loss": 0.0432,
      "step": 12020
    },
    {
      "epoch": 2.696881310298407,
      "gripper_loss": 0.0032806396484375,
      "loss": 0.0595703125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.07373046875,
      "step": 12020
    },
    {
      "epoch": 2.6971056764639894,
      "grad_norm": 0.7598772644996643,
      "learning_rate": 1.3249224109357555e-05,
      "loss": 0.0515,
      "step": 12021
    },
    {
      "epoch": 2.6971056764639894,
      "gripper_loss": 0.10791015625,
      "loss": 0.00872802734375,
      "pos_loss": 0.01220703125,
      "rot_loss": 0.02392578125,
      "step": 12021
    },
    {
      "epoch": 2.6973300426295714,
      "grad_norm": 0.5778661370277405,
      "learning_rate": 1.3229777816347045e-05,
      "loss": 0.0349,
      "step": 12022
    },
    {
      "epoch": 2.6973300426295714,
      "gripper_loss": 0.0027008056640625,
      "loss": 0.03564453125,
      "pos_loss": 0.251953125,
      "rot_loss": 0.10986328125,
      "step": 12022
    },
    {
      "epoch": 2.6975544087951535,
      "grad_norm": 0.20493751764297485,
      "learning_rate": 1.3210345416906245e-05,
      "loss": 0.0219,
      "step": 12023
    },
    {
      "epoch": 2.6975544087951535,
      "gripper_loss": 0.0164794921875,
      "loss": 0.018798828125,
      "pos_loss": 0.08203125,
      "rot_loss": 0.09619140625,
      "step": 12023
    },
    {
      "epoch": 2.697778774960736,
      "grad_norm": 0.2722117006778717,
      "learning_rate": 1.3190926912175467e-05,
      "loss": 0.0418,
      "step": 12024
    },
    {
      "epoch": 2.697778774960736,
      "gripper_loss": 0.00445556640625,
      "loss": 0.05859375,
      "pos_loss": 0.55078125,
      "rot_loss": 0.0537109375,
      "step": 12024
    },
    {
      "epoch": 2.698003141126318,
      "grad_norm": 0.24028608202934265,
      "learning_rate": 1.3171522303294104e-05,
      "loss": 0.0328,
      "step": 12025
    },
    {
      "epoch": 2.698003141126318,
      "gripper_loss": 0.006011962890625,
      "loss": 0.042236328125,
      "pos_loss": 0.326171875,
      "rot_loss": 0.09765625,
      "step": 12025
    },
    {
      "epoch": 2.6982275072919,
      "grad_norm": 0.26389071345329285,
      "learning_rate": 1.3152131591400884e-05,
      "loss": 0.0432,
      "step": 12026
    },
    {
      "epoch": 2.6982275072919,
      "gripper_loss": 0.1064453125,
      "loss": 0.0228271484375,
      "pos_loss": 0.16015625,
      "rot_loss": 0.032958984375,
      "step": 12026
    },
    {
      "epoch": 2.6984518734574827,
      "grad_norm": 0.25253182649612427,
      "learning_rate": 1.3132754777633622e-05,
      "loss": 0.0406,
      "step": 12027
    },
    {
      "epoch": 2.6984518734574827,
      "gripper_loss": 0.349609375,
      "loss": 0.037841796875,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.0289306640625,
      "step": 12027
    },
    {
      "epoch": 2.698676239623065,
      "grad_norm": 0.32452908158302307,
      "learning_rate": 1.311339186312932e-05,
      "loss": 0.0621,
      "step": 12028
    },
    {
      "epoch": 2.698676239623065,
      "gripper_loss": 0.007537841796875,
      "loss": 0.027099609375,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.06884765625,
      "step": 12028
    },
    {
      "epoch": 2.698900605788647,
      "grad_norm": 0.20834456384181976,
      "learning_rate": 1.309404284902424e-05,
      "loss": 0.0414,
      "step": 12029
    },
    {
      "epoch": 2.698900605788647,
      "gripper_loss": 0.00701904296875,
      "loss": 0.052734375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.150390625,
      "step": 12029
    },
    {
      "epoch": 2.6991249719542294,
      "grad_norm": 0.2186720371246338,
      "learning_rate": 1.3074707736453695e-05,
      "loss": 0.0444,
      "step": 12030
    },
    {
      "epoch": 2.6991249719542294,
      "gripper_loss": 0.01336669921875,
      "loss": 0.01470947265625,
      "pos_loss": 0.053466796875,
      "rot_loss": 0.0703125,
      "step": 12030
    },
    {
      "epoch": 2.6993493381198115,
      "grad_norm": 0.16196434199810028,
      "learning_rate": 1.3055386526552304e-05,
      "loss": 0.0211,
      "step": 12031
    },
    {
      "epoch": 2.6993493381198115,
      "gripper_loss": 0.29296875,
      "loss": 0.01416015625,
      "pos_loss": 0.023193359375,
      "rot_loss": 0.01263427734375,
      "step": 12031
    },
    {
      "epoch": 2.6995737042853936,
      "grad_norm": 0.2371048629283905,
      "learning_rate": 1.3036079220453828e-05,
      "loss": 0.0309,
      "step": 12032
    },
    {
      "epoch": 2.6995737042853936,
      "gripper_loss": 0.005859375,
      "loss": 0.06494140625,
      "pos_loss": 0.65234375,
      "rot_loss": 0.0142822265625,
      "step": 12032
    },
    {
      "epoch": 2.699798070450976,
      "grad_norm": 0.5333499312400818,
      "learning_rate": 1.3016785819291249e-05,
      "loss": 0.0381,
      "step": 12033
    },
    {
      "epoch": 2.699798070450976,
      "gripper_loss": 0.59765625,
      "loss": 0.0296630859375,
      "pos_loss": 0.0859375,
      "rot_loss": 0.01226806640625,
      "step": 12033
    },
    {
      "epoch": 2.700022436616558,
      "grad_norm": 0.48659974336624146,
      "learning_rate": 1.2997506324196606e-05,
      "loss": 0.0647,
      "step": 12034
    },
    {
      "epoch": 2.700022436616558,
      "gripper_loss": 0.341796875,
      "loss": 0.019775390625,
      "pos_loss": 0.047607421875,
      "rot_loss": 0.0294189453125,
      "step": 12034
    },
    {
      "epoch": 2.7002468027821402,
      "grad_norm": 0.5371293425559998,
      "learning_rate": 1.2978240736301272e-05,
      "loss": 0.0476,
      "step": 12035
    },
    {
      "epoch": 2.7002468027821402,
      "gripper_loss": 0.021728515625,
      "loss": 0.0120849609375,
      "pos_loss": 0.0546875,
      "rot_loss": 0.048828125,
      "step": 12035
    },
    {
      "epoch": 2.7004711689477228,
      "grad_norm": 0.1806027889251709,
      "learning_rate": 1.2958989056735731e-05,
      "loss": 0.0238,
      "step": 12036
    },
    {
      "epoch": 2.7004711689477228,
      "gripper_loss": 0.0067138671875,
      "loss": 0.08349609375,
      "pos_loss": 0.78125,
      "rot_loss": 0.08447265625,
      "step": 12036
    },
    {
      "epoch": 2.700695535113305,
      "grad_norm": 0.507714569568634,
      "learning_rate": 1.2939751286629692e-05,
      "loss": 0.0519,
      "step": 12037
    },
    {
      "epoch": 2.700695535113305,
      "gripper_loss": 0.007080078125,
      "loss": 0.0252685546875,
      "pos_loss": 0.22265625,
      "rot_loss": 0.022705078125,
      "step": 12037
    },
    {
      "epoch": 2.700919901278887,
      "grad_norm": 0.3052085041999817,
      "learning_rate": 1.2920527427111944e-05,
      "loss": 0.0332,
      "step": 12038
    },
    {
      "epoch": 2.700919901278887,
      "gripper_loss": 0.01165771484375,
      "loss": 0.044677734375,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.2353515625,
      "step": 12038
    },
    {
      "epoch": 2.7011442674444694,
      "grad_norm": 0.4117079973220825,
      "learning_rate": 1.2901317479310615e-05,
      "loss": 0.0435,
      "step": 12039
    },
    {
      "epoch": 2.7011442674444694,
      "gripper_loss": 0.1728515625,
      "loss": 0.0361328125,
      "pos_loss": 0.234375,
      "rot_loss": 0.0673828125,
      "step": 12039
    },
    {
      "epoch": 2.7013686336100515,
      "grad_norm": 0.23107919096946716,
      "learning_rate": 1.2882121444352885e-05,
      "loss": 0.0249,
      "step": 12040
    },
    {
      "epoch": 2.7013686336100515,
      "gripper_loss": 0.11669921875,
      "loss": 0.02685546875,
      "pos_loss": 0.087890625,
      "rot_loss": 0.140625,
      "step": 12040
    },
    {
      "epoch": 2.7015929997756336,
      "grad_norm": 0.2857617139816284,
      "learning_rate": 1.2862939323365158e-05,
      "loss": 0.0624,
      "step": 12041
    },
    {
      "epoch": 2.7015929997756336,
      "gripper_loss": 0.0162353515625,
      "loss": 0.017822265625,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.059326171875,
      "step": 12041
    },
    {
      "epoch": 2.701817365941216,
      "grad_norm": 0.28123095631599426,
      "learning_rate": 1.2843771117473119e-05,
      "loss": 0.0368,
      "step": 12042
    },
    {
      "epoch": 2.701817365941216,
      "gripper_loss": 0.020263671875,
      "loss": 0.035400390625,
      "pos_loss": 0.1484375,
      "rot_loss": 0.177734375,
      "step": 12042
    },
    {
      "epoch": 2.702041732106798,
      "grad_norm": 0.5620233416557312,
      "learning_rate": 1.2824616827801421e-05,
      "loss": 0.0504,
      "step": 12043
    },
    {
      "epoch": 2.702041732106798,
      "gripper_loss": 1.015625,
      "loss": 0.048095703125,
      "pos_loss": 0.10009765625,
      "rot_loss": 0.056640625,
      "step": 12043
    },
    {
      "epoch": 2.7022660982723803,
      "grad_norm": 0.33228984475135803,
      "learning_rate": 1.2805476455474113e-05,
      "loss": 0.0324,
      "step": 12044
    },
    {
      "epoch": 2.7022660982723803,
      "gripper_loss": 0.0045166015625,
      "loss": 0.0123291015625,
      "pos_loss": 0.07421875,
      "rot_loss": 0.032470703125,
      "step": 12044
    },
    {
      "epoch": 2.702490464437963,
      "grad_norm": 0.48224133253097534,
      "learning_rate": 1.278635000161435e-05,
      "loss": 0.0443,
      "step": 12045
    },
    {
      "epoch": 2.702490464437963,
      "gripper_loss": 0.0791015625,
      "loss": 0.0235595703125,
      "pos_loss": 0.058837890625,
      "rot_loss": 0.14453125,
      "step": 12045
    },
    {
      "epoch": 2.702714830603545,
      "grad_norm": 0.3296860158443451,
      "learning_rate": 1.2767237467344455e-05,
      "loss": 0.0285,
      "step": 12046
    },
    {
      "epoch": 2.702714830603545,
      "gripper_loss": 0.0084228515625,
      "loss": 0.0162353515625,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.037841796875,
      "step": 12046
    },
    {
      "epoch": 2.702939196769127,
      "grad_norm": 0.4019151031970978,
      "learning_rate": 1.2748138853785868e-05,
      "loss": 0.0414,
      "step": 12047
    },
    {
      "epoch": 2.702939196769127,
      "gripper_loss": 0.00775146484375,
      "loss": 0.02001953125,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.060302734375,
      "step": 12047
    },
    {
      "epoch": 2.7031635629347095,
      "grad_norm": 0.30416133999824524,
      "learning_rate": 1.2729054162059384e-05,
      "loss": 0.0443,
      "step": 12048
    },
    {
      "epoch": 2.7031635629347095,
      "gripper_loss": 0.00909423828125,
      "loss": 0.095703125,
      "pos_loss": 0.640625,
      "rot_loss": 0.3515625,
      "step": 12048
    },
    {
      "epoch": 2.7033879291002916,
      "grad_norm": 0.35274550318717957,
      "learning_rate": 1.2709983393284857e-05,
      "loss": 0.0401,
      "step": 12049
    },
    {
      "epoch": 2.7033879291002916,
      "gripper_loss": 0.00482177734375,
      "loss": 0.0306396484375,
      "pos_loss": 0.216796875,
      "rot_loss": 0.083984375,
      "step": 12049
    },
    {
      "epoch": 2.7036122952658737,
      "grad_norm": 0.31171315908432007,
      "learning_rate": 1.2690926548581339e-05,
      "loss": 0.0448,
      "step": 12050
    },
    {
      "epoch": 2.7036122952658737,
      "gripper_loss": 0.0033111572265625,
      "loss": 0.031005859375,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.2265625,
      "step": 12050
    },
    {
      "epoch": 2.703836661431456,
      "grad_norm": 0.31911760568618774,
      "learning_rate": 1.2671883629067099e-05,
      "loss": 0.041,
      "step": 12051
    },
    {
      "epoch": 2.703836661431456,
      "gripper_loss": 0.02099609375,
      "loss": 0.004150390625,
      "pos_loss": 0.0068359375,
      "rot_loss": 0.01202392578125,
      "step": 12051
    },
    {
      "epoch": 2.7040610275970383,
      "grad_norm": 0.2714759111404419,
      "learning_rate": 1.2652854635859495e-05,
      "loss": 0.043,
      "step": 12052
    },
    {
      "epoch": 2.7040610275970383,
      "gripper_loss": 0.1064453125,
      "loss": 0.06103515625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.12451171875,
      "step": 12052
    },
    {
      "epoch": 2.7042853937626203,
      "grad_norm": 1.0552135705947876,
      "learning_rate": 1.2633839570075218e-05,
      "loss": 0.0956,
      "step": 12053
    },
    {
      "epoch": 2.7042853937626203,
      "gripper_loss": 0.017578125,
      "loss": 0.0517578125,
      "pos_loss": 0.140625,
      "rot_loss": 0.388671875,
      "step": 12053
    },
    {
      "epoch": 2.704509759928203,
      "grad_norm": 0.29734185338020325,
      "learning_rate": 1.2614838432830067e-05,
      "loss": 0.0442,
      "step": 12054
    },
    {
      "epoch": 2.704509759928203,
      "gripper_loss": 0.63671875,
      "loss": 0.06884765625,
      "pos_loss": 0.46484375,
      "rot_loss": 0.04150390625,
      "step": 12054
    },
    {
      "epoch": 2.704734126093785,
      "grad_norm": 0.5505454540252686,
      "learning_rate": 1.2595851225238958e-05,
      "loss": 0.0771,
      "step": 12055
    },
    {
      "epoch": 2.704734126093785,
      "gripper_loss": 0.0072021484375,
      "loss": 0.08935546875,
      "pos_loss": 0.474609375,
      "rot_loss": 0.453125,
      "step": 12055
    },
    {
      "epoch": 2.704958492259367,
      "grad_norm": 0.5117254853248596,
      "learning_rate": 1.2576877948416054e-05,
      "loss": 0.0326,
      "step": 12056
    },
    {
      "epoch": 2.704958492259367,
      "gripper_loss": 0.00628662109375,
      "loss": 0.01336669921875,
      "pos_loss": 0.0174560546875,
      "rot_loss": 0.10498046875,
      "step": 12056
    },
    {
      "epoch": 2.7051828584249495,
      "grad_norm": 0.40233883261680603,
      "learning_rate": 1.2557918603474772e-05,
      "loss": 0.0371,
      "step": 12057
    },
    {
      "epoch": 2.7051828584249495,
      "gripper_loss": 0.1630859375,
      "loss": 0.0130615234375,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.02783203125,
      "step": 12057
    },
    {
      "epoch": 2.7054072245905316,
      "grad_norm": 0.1969558298587799,
      "learning_rate": 1.253897319152758e-05,
      "loss": 0.0258,
      "step": 12058
    },
    {
      "epoch": 2.7054072245905316,
      "gripper_loss": 0.003143310546875,
      "loss": 0.08837890625,
      "pos_loss": 0.88671875,
      "rot_loss": 0.031005859375,
      "step": 12058
    },
    {
      "epoch": 2.7056315907561137,
      "grad_norm": 0.37702250480651855,
      "learning_rate": 1.2520041713686232e-05,
      "loss": 0.0431,
      "step": 12059
    },
    {
      "epoch": 2.7056315907561137,
      "gripper_loss": 0.640625,
      "loss": 0.162109375,
      "pos_loss": 0.66015625,
      "rot_loss": 0.828125,
      "step": 12059
    },
    {
      "epoch": 2.7058559569216962,
      "grad_norm": 0.5992573499679565,
      "learning_rate": 1.2501124171061557e-05,
      "loss": 0.063,
      "step": 12060
    },
    {
      "epoch": 2.7058559569216962,
      "gripper_loss": 0.81640625,
      "loss": 0.0732421875,
      "pos_loss": 0.46875,
      "rot_loss": 0.01495361328125,
      "step": 12060
    },
    {
      "epoch": 2.7060803230872783,
      "grad_norm": 0.2202177494764328,
      "learning_rate": 1.2482220564763668e-05,
      "loss": 0.0287,
      "step": 12061
    },
    {
      "epoch": 2.7060803230872783,
      "gripper_loss": 0.00860595703125,
      "loss": 0.0245361328125,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.12353515625,
      "step": 12061
    },
    {
      "epoch": 2.706304689252861,
      "grad_norm": 0.2978181838989258,
      "learning_rate": 1.246333089590182e-05,
      "loss": 0.0313,
      "step": 12062
    },
    {
      "epoch": 2.706304689252861,
      "gripper_loss": 0.037353515625,
      "loss": 0.0091552734375,
      "pos_loss": 0.054931640625,
      "rot_loss": 0.005096435546875,
      "step": 12062
    },
    {
      "epoch": 2.706529055418443,
      "grad_norm": 0.23426206409931183,
      "learning_rate": 1.2444455165584429e-05,
      "loss": 0.0261,
      "step": 12063
    },
    {
      "epoch": 2.706529055418443,
      "gripper_loss": 0.00836181640625,
      "loss": 0.007659912109375,
      "pos_loss": 0.01611328125,
      "rot_loss": 0.038818359375,
      "step": 12063
    },
    {
      "epoch": 2.706753421584025,
      "grad_norm": 0.31097710132598877,
      "learning_rate": 1.2425593374919137e-05,
      "loss": 0.0662,
      "step": 12064
    },
    {
      "epoch": 2.706753421584025,
      "gripper_loss": 0.005950927734375,
      "loss": 0.041259765625,
      "pos_loss": 0.173828125,
      "rot_loss": 0.24609375,
      "step": 12064
    },
    {
      "epoch": 2.7069777877496075,
      "grad_norm": 0.2783917784690857,
      "learning_rate": 1.2406745525012697e-05,
      "loss": 0.0511,
      "step": 12065
    },
    {
      "epoch": 2.7069777877496075,
      "gripper_loss": 0.203125,
      "loss": 0.0125732421875,
      "pos_loss": 0.03076171875,
      "rot_loss": 0.0166015625,
      "step": 12065
    },
    {
      "epoch": 2.7072021539151896,
      "grad_norm": 0.2583441138267517,
      "learning_rate": 1.2387911616971142e-05,
      "loss": 0.0411,
      "step": 12066
    },
    {
      "epoch": 2.7072021539151896,
      "gripper_loss": 0.232421875,
      "loss": 0.10205078125,
      "pos_loss": 0.87890625,
      "rot_loss": 0.11181640625,
      "step": 12066
    },
    {
      "epoch": 2.7074265200807717,
      "grad_norm": 0.22190232574939728,
      "learning_rate": 1.2369091651899672e-05,
      "loss": 0.0362,
      "step": 12067
    },
    {
      "epoch": 2.7074265200807717,
      "gripper_loss": 0.10888671875,
      "loss": 0.06201171875,
      "pos_loss": 0.46875,
      "rot_loss": 0.1318359375,
      "step": 12067
    },
    {
      "epoch": 2.707650886246354,
      "grad_norm": 0.34769371151924133,
      "learning_rate": 1.2350285630902541e-05,
      "loss": 0.0625,
      "step": 12068
    },
    {
      "epoch": 2.707650886246354,
      "gripper_loss": 0.00640869140625,
      "loss": 0.0281982421875,
      "pos_loss": 0.1123046875,
      "rot_loss": 0.1650390625,
      "step": 12068
    },
    {
      "epoch": 2.7078752524119363,
      "grad_norm": 0.4157882332801819,
      "learning_rate": 1.233149355508334e-05,
      "loss": 0.0435,
      "step": 12069
    },
    {
      "epoch": 2.7078752524119363,
      "gripper_loss": 0.203125,
      "loss": 0.1416015625,
      "pos_loss": 1.1484375,
      "rot_loss": 0.279296875,
      "step": 12069
    },
    {
      "epoch": 2.7080996185775184,
      "grad_norm": 0.35242101550102234,
      "learning_rate": 1.231271542554474e-05,
      "loss": 0.0567,
      "step": 12070
    },
    {
      "epoch": 2.7080996185775184,
      "gripper_loss": 0.00836181640625,
      "loss": 0.0859375,
      "pos_loss": 0.490234375,
      "rot_loss": 0.3984375,
      "step": 12070
    },
    {
      "epoch": 2.708323984743101,
      "grad_norm": 0.39630499482154846,
      "learning_rate": 1.2293951243388668e-05,
      "loss": 0.0395,
      "step": 12071
    },
    {
      "epoch": 2.708323984743101,
      "gripper_loss": 0.006591796875,
      "loss": 0.053466796875,
      "pos_loss": 0.52734375,
      "rot_loss": 0.0164794921875,
      "step": 12071
    },
    {
      "epoch": 2.708548350908683,
      "grad_norm": 0.284183531999588,
      "learning_rate": 1.2275201009716242e-05,
      "loss": 0.0364,
      "step": 12072
    },
    {
      "epoch": 2.708548350908683,
      "gripper_loss": 0.08349609375,
      "loss": 0.0634765625,
      "pos_loss": 0.4609375,
      "rot_loss": 0.16015625,
      "step": 12072
    },
    {
      "epoch": 2.708772717074265,
      "grad_norm": 0.2759018540382385,
      "learning_rate": 1.2256464725627581e-05,
      "loss": 0.0448,
      "step": 12073
    },
    {
      "epoch": 2.708772717074265,
      "gripper_loss": 0.44921875,
      "loss": 0.0281982421875,
      "pos_loss": 0.0712890625,
      "rot_loss": 0.056884765625,
      "step": 12073
    },
    {
      "epoch": 2.7089970832398476,
      "grad_norm": 0.28129446506500244,
      "learning_rate": 1.2237742392222279e-05,
      "loss": 0.0388,
      "step": 12074
    },
    {
      "epoch": 2.7089970832398476,
      "gripper_loss": 0.005859375,
      "loss": 0.0101318359375,
      "pos_loss": 0.035400390625,
      "rot_loss": 0.0478515625,
      "step": 12074
    },
    {
      "epoch": 2.7092214494054296,
      "grad_norm": 0.33376145362854004,
      "learning_rate": 1.2219034010598817e-05,
      "loss": 0.0268,
      "step": 12075
    },
    {
      "epoch": 2.7092214494054296,
      "gripper_loss": 0.47265625,
      "loss": 0.0361328125,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.1015625,
      "step": 12075
    },
    {
      "epoch": 2.709445815571012,
      "grad_norm": 0.4360261857509613,
      "learning_rate": 1.2200339581855096e-05,
      "loss": 0.046,
      "step": 12076
    },
    {
      "epoch": 2.709445815571012,
      "gripper_loss": 0.55078125,
      "loss": 0.0308837890625,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.004730224609375,
      "step": 12076
    },
    {
      "epoch": 2.7096701817365942,
      "grad_norm": 0.2956179082393646,
      "learning_rate": 1.2181659107088017e-05,
      "loss": 0.0324,
      "step": 12077
    },
    {
      "epoch": 2.7096701817365942,
      "gripper_loss": 0.283203125,
      "loss": 0.044677734375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.020751953125,
      "step": 12077
    },
    {
      "epoch": 2.7098945479021763,
      "grad_norm": 0.2364954948425293,
      "learning_rate": 1.2162992587393812e-05,
      "loss": 0.0504,
      "step": 12078
    },
    {
      "epoch": 2.7098945479021763,
      "gripper_loss": 0.00653076171875,
      "loss": 0.0277099609375,
      "pos_loss": 0.2353515625,
      "rot_loss": 0.0380859375,
      "step": 12078
    },
    {
      "epoch": 2.710118914067759,
      "grad_norm": 0.5311514735221863,
      "learning_rate": 1.2144340023867745e-05,
      "loss": 0.042,
      "step": 12079
    },
    {
      "epoch": 2.710118914067759,
      "gripper_loss": 0.005126953125,
      "loss": 0.032470703125,
      "pos_loss": 0.228515625,
      "rot_loss": 0.09375,
      "step": 12079
    },
    {
      "epoch": 2.710343280233341,
      "grad_norm": 0.38217693567276,
      "learning_rate": 1.212570141760444e-05,
      "loss": 0.0362,
      "step": 12080
    },
    {
      "epoch": 2.710343280233341,
      "gripper_loss": 0.1455078125,
      "loss": 0.0260009765625,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.12890625,
      "step": 12080
    },
    {
      "epoch": 2.710567646398923,
      "grad_norm": 0.3329450488090515,
      "learning_rate": 1.2107076769697522e-05,
      "loss": 0.0496,
      "step": 12081
    },
    {
      "epoch": 2.710567646398923,
      "gripper_loss": 0.453125,
      "loss": 0.03759765625,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.047607421875,
      "step": 12081
    },
    {
      "epoch": 2.7107920125645055,
      "grad_norm": 0.5549083352088928,
      "learning_rate": 1.2088466081239895e-05,
      "loss": 0.0374,
      "step": 12082
    },
    {
      "epoch": 2.7107920125645055,
      "gripper_loss": 0.01458740234375,
      "loss": 0.0498046875,
      "pos_loss": 0.189453125,
      "rot_loss": 0.306640625,
      "step": 12082
    },
    {
      "epoch": 2.7110163787300876,
      "grad_norm": 0.37233084440231323,
      "learning_rate": 1.206986935332366e-05,
      "loss": 0.051,
      "step": 12083
    },
    {
      "epoch": 2.7110163787300876,
      "gripper_loss": 0.0211181640625,
      "loss": 0.0419921875,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.185546875,
      "step": 12083
    },
    {
      "epoch": 2.7112407448956697,
      "grad_norm": 0.2300231158733368,
      "learning_rate": 1.205128658704005e-05,
      "loss": 0.0389,
      "step": 12084
    },
    {
      "epoch": 2.7112407448956697,
      "gripper_loss": 0.0439453125,
      "loss": 0.1025390625,
      "pos_loss": 0.58984375,
      "rot_loss": 0.349609375,
      "step": 12084
    },
    {
      "epoch": 2.711465111061252,
      "grad_norm": 0.4197496771812439,
      "learning_rate": 1.2032717783479446e-05,
      "loss": 0.0847,
      "step": 12085
    },
    {
      "epoch": 2.711465111061252,
      "gripper_loss": 0.018310546875,
      "loss": 0.03955078125,
      "pos_loss": 0.083984375,
      "rot_loss": 0.306640625,
      "step": 12085
    },
    {
      "epoch": 2.7116894772268343,
      "grad_norm": 0.26936888694763184,
      "learning_rate": 1.2014162943731533e-05,
      "loss": 0.0428,
      "step": 12086
    },
    {
      "epoch": 2.7116894772268343,
      "gripper_loss": 0.0732421875,
      "loss": 0.0322265625,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.142578125,
      "step": 12086
    },
    {
      "epoch": 2.7119138433924164,
      "grad_norm": 0.2747487723827362,
      "learning_rate": 1.1995622068885049e-05,
      "loss": 0.053,
      "step": 12087
    },
    {
      "epoch": 2.7119138433924164,
      "gripper_loss": 0.65234375,
      "loss": 0.0252685546875,
      "pos_loss": 0.0272216796875,
      "rot_loss": 0.00555419921875,
      "step": 12087
    },
    {
      "epoch": 2.712138209557999,
      "grad_norm": 0.4098116159439087,
      "learning_rate": 1.1977095160027957e-05,
      "loss": 0.0405,
      "step": 12088
    },
    {
      "epoch": 2.712138209557999,
      "gripper_loss": 0.01324462890625,
      "loss": 0.0654296875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.291015625,
      "step": 12088
    },
    {
      "epoch": 2.712362575723581,
      "grad_norm": 0.2621972858905792,
      "learning_rate": 1.1958582218247443e-05,
      "loss": 0.0614,
      "step": 12089
    },
    {
      "epoch": 2.712362575723581,
      "gripper_loss": 0.01202392578125,
      "loss": 0.02685546875,
      "pos_loss": 0.169921875,
      "rot_loss": 0.083984375,
      "step": 12089
    },
    {
      "epoch": 2.712586941889163,
      "grad_norm": 0.26619744300842285,
      "learning_rate": 1.1940083244629806e-05,
      "loss": 0.0399,
      "step": 12090
    },
    {
      "epoch": 2.712586941889163,
      "gripper_loss": 0.014892578125,
      "loss": 0.04296875,
      "pos_loss": 0.341796875,
      "rot_loss": 0.0849609375,
      "step": 12090
    },
    {
      "epoch": 2.7128113080547456,
      "grad_norm": 0.2935294806957245,
      "learning_rate": 1.1921598240260595e-05,
      "loss": 0.0391,
      "step": 12091
    },
    {
      "epoch": 2.7128113080547456,
      "gripper_loss": 0.0771484375,
      "loss": 0.045166015625,
      "pos_loss": 0.010986328125,
      "rot_loss": 0.42578125,
      "step": 12091
    },
    {
      "epoch": 2.7130356742203277,
      "grad_norm": 0.1899922788143158,
      "learning_rate": 1.190312720622444e-05,
      "loss": 0.0272,
      "step": 12092
    },
    {
      "epoch": 2.7130356742203277,
      "gripper_loss": 0.07080078125,
      "loss": 0.0211181640625,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.0242919921875,
      "step": 12092
    },
    {
      "epoch": 2.7132600403859097,
      "grad_norm": 0.27870482206344604,
      "learning_rate": 1.1884670143605308e-05,
      "loss": 0.0175,
      "step": 12093
    },
    {
      "epoch": 2.7132600403859097,
      "gripper_loss": 0.10888671875,
      "loss": 0.0419921875,
      "pos_loss": 0.337890625,
      "rot_loss": 0.050537109375,
      "step": 12093
    },
    {
      "epoch": 2.7134844065514923,
      "grad_norm": 0.2061791568994522,
      "learning_rate": 1.1866227053486167e-05,
      "loss": 0.0244,
      "step": 12094
    },
    {
      "epoch": 2.7134844065514923,
      "gripper_loss": 0.0458984375,
      "loss": 0.04736328125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.0693359375,
      "step": 12094
    },
    {
      "epoch": 2.7137087727170743,
      "grad_norm": 0.30073943734169006,
      "learning_rate": 1.1847797936949261e-05,
      "loss": 0.0412,
      "step": 12095
    },
    {
      "epoch": 2.7137087727170743,
      "gripper_loss": 0.07958984375,
      "loss": 0.038330078125,
      "pos_loss": 0.265625,
      "rot_loss": 0.091796875,
      "step": 12095
    },
    {
      "epoch": 2.7139331388826564,
      "grad_norm": 0.29776445031166077,
      "learning_rate": 1.1829382795076088e-05,
      "loss": 0.0338,
      "step": 12096
    },
    {
      "epoch": 2.7139331388826564,
      "gripper_loss": 0.005462646484375,
      "loss": 0.0341796875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.06884765625,
      "step": 12096
    },
    {
      "epoch": 2.714157505048239,
      "grad_norm": 0.3719726502895355,
      "learning_rate": 1.1810981628947116e-05,
      "loss": 0.0385,
      "step": 12097
    },
    {
      "epoch": 2.714157505048239,
      "gripper_loss": 0.00982666015625,
      "loss": 0.042724609375,
      "pos_loss": 0.236328125,
      "rot_loss": 0.1962890625,
      "step": 12097
    },
    {
      "epoch": 2.714381871213821,
      "grad_norm": 0.18944840133190155,
      "learning_rate": 1.1792594439642202e-05,
      "loss": 0.0375,
      "step": 12098
    },
    {
      "epoch": 2.714381871213821,
      "gripper_loss": 0.014892578125,
      "loss": 0.06689453125,
      "pos_loss": 0.419921875,
      "rot_loss": 0.263671875,
      "step": 12098
    },
    {
      "epoch": 2.714606237379403,
      "grad_norm": 0.46298378705978394,
      "learning_rate": 1.1774221228240233e-05,
      "loss": 0.0458,
      "step": 12099
    },
    {
      "epoch": 2.714606237379403,
      "gripper_loss": 0.00897216796875,
      "loss": 0.0235595703125,
      "pos_loss": 0.19921875,
      "rot_loss": 0.0264892578125,
      "step": 12099
    },
    {
      "epoch": 2.7148306035449856,
      "grad_norm": 0.2407529205083847,
      "learning_rate": 1.1755861995819406e-05,
      "loss": 0.0349,
      "step": 12100
    },
    {
      "epoch": 2.7148306035449856,
      "gripper_loss": 0.006134033203125,
      "loss": 0.126953125,
      "pos_loss": 1.3046875,
      "rot_loss": 0.0186767578125,
      "step": 12100
    },
    {
      "epoch": 2.7150549697105677,
      "grad_norm": 0.32814186811447144,
      "learning_rate": 1.1737516743456967e-05,
      "loss": 0.0589,
      "step": 12101
    },
    {
      "epoch": 2.7150549697105677,
      "gripper_loss": 0.004791259765625,
      "loss": 0.09130859375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.1806640625,
      "step": 12101
    },
    {
      "epoch": 2.71527933587615,
      "grad_norm": 0.36778783798217773,
      "learning_rate": 1.17191854722295e-05,
      "loss": 0.0504,
      "step": 12102
    },
    {
      "epoch": 2.71527933587615,
      "gripper_loss": 0.330078125,
      "loss": 0.040283203125,
      "pos_loss": 0.181640625,
      "rot_loss": 0.11962890625,
      "step": 12102
    },
    {
      "epoch": 2.7155037020417323,
      "grad_norm": 0.21682532131671906,
      "learning_rate": 1.1700868183212587e-05,
      "loss": 0.0398,
      "step": 12103
    },
    {
      "epoch": 2.7155037020417323,
      "gripper_loss": 0.1953125,
      "loss": 0.0186767578125,
      "pos_loss": 0.03271484375,
      "rot_loss": 0.0791015625,
      "step": 12103
    },
    {
      "epoch": 2.7157280682073144,
      "grad_norm": 0.32597818970680237,
      "learning_rate": 1.1682564877481094e-05,
      "loss": 0.031,
      "step": 12104
    },
    {
      "epoch": 2.7157280682073144,
      "gripper_loss": 0.041259765625,
      "loss": 0.049560546875,
      "pos_loss": 0.3046875,
      "rot_loss": 0.189453125,
      "step": 12104
    },
    {
      "epoch": 2.7159524343728965,
      "grad_norm": 0.38629376888275146,
      "learning_rate": 1.1664275556109078e-05,
      "loss": 0.0347,
      "step": 12105
    },
    {
      "epoch": 2.7159524343728965,
      "gripper_loss": 0.012451171875,
      "loss": 0.005157470703125,
      "pos_loss": 0.01458740234375,
      "rot_loss": 0.0152587890625,
      "step": 12105
    },
    {
      "epoch": 2.716176800538479,
      "grad_norm": 0.22312234342098236,
      "learning_rate": 1.1646000220169762e-05,
      "loss": 0.0347,
      "step": 12106
    },
    {
      "epoch": 2.716176800538479,
      "gripper_loss": 0.734375,
      "loss": 0.0380859375,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.099609375,
      "step": 12106
    },
    {
      "epoch": 2.716401166704061,
      "grad_norm": 0.21864601969718933,
      "learning_rate": 1.1627738870735483e-05,
      "loss": 0.0321,
      "step": 12107
    },
    {
      "epoch": 2.716401166704061,
      "gripper_loss": 0.004180908203125,
      "loss": 0.00592041015625,
      "pos_loss": 0.0302734375,
      "rot_loss": 0.012939453125,
      "step": 12107
    },
    {
      "epoch": 2.716625532869643,
      "grad_norm": 0.591573178768158,
      "learning_rate": 1.1609491508877857e-05,
      "loss": 0.0611,
      "step": 12108
    },
    {
      "epoch": 2.716625532869643,
      "gripper_loss": 0.09716796875,
      "loss": 0.02587890625,
      "pos_loss": 0.107421875,
      "rot_loss": 0.109375,
      "step": 12108
    },
    {
      "epoch": 2.7168498990352257,
      "grad_norm": 0.33047786355018616,
      "learning_rate": 1.1591258135667609e-05,
      "loss": 0.0486,
      "step": 12109
    },
    {
      "epoch": 2.7168498990352257,
      "gripper_loss": 0.37109375,
      "loss": 0.018798828125,
      "pos_loss": 0.04833984375,
      "rot_loss": 0.008056640625,
      "step": 12109
    },
    {
      "epoch": 2.7170742652008077,
      "grad_norm": 0.4355316162109375,
      "learning_rate": 1.1573038752174664e-05,
      "loss": 0.0502,
      "step": 12110
    },
    {
      "epoch": 2.7170742652008077,
      "gripper_loss": 0.006866455078125,
      "loss": 0.0208740234375,
      "pos_loss": 0.1123046875,
      "rot_loss": 0.09033203125,
      "step": 12110
    },
    {
      "epoch": 2.71729863136639,
      "grad_norm": 0.1794068068265915,
      "learning_rate": 1.1554833359468108e-05,
      "loss": 0.0276,
      "step": 12111
    },
    {
      "epoch": 2.71729863136639,
      "gripper_loss": 0.004425048828125,
      "loss": 0.017578125,
      "pos_loss": 0.16015625,
      "rot_loss": 0.01007080078125,
      "step": 12111
    },
    {
      "epoch": 2.7175229975319724,
      "grad_norm": 0.22721070051193237,
      "learning_rate": 1.1536641958616256e-05,
      "loss": 0.0304,
      "step": 12112
    },
    {
      "epoch": 2.7175229975319724,
      "gripper_loss": 0.02392578125,
      "loss": 0.0291748046875,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.07470703125,
      "step": 12112
    },
    {
      "epoch": 2.7177473636975544,
      "grad_norm": 0.3854376971721649,
      "learning_rate": 1.1518464550686558e-05,
      "loss": 0.0551,
      "step": 12113
    },
    {
      "epoch": 2.7177473636975544,
      "gripper_loss": 0.00927734375,
      "loss": 0.03369140625,
      "pos_loss": 0.1142578125,
      "rot_loss": 0.220703125,
      "step": 12113
    },
    {
      "epoch": 2.7179717298631365,
      "grad_norm": 0.3635057508945465,
      "learning_rate": 1.1500301136745689e-05,
      "loss": 0.0406,
      "step": 12114
    },
    {
      "epoch": 2.7179717298631365,
      "gripper_loss": 0.0703125,
      "loss": 0.00543212890625,
      "pos_loss": 0.005645751953125,
      "rot_loss": 0.00872802734375,
      "step": 12114
    },
    {
      "epoch": 2.718196096028719,
      "grad_norm": 0.23722237348556519,
      "learning_rate": 1.1482151717859407e-05,
      "loss": 0.0348,
      "step": 12115
    },
    {
      "epoch": 2.718196096028719,
      "gripper_loss": 0.29296875,
      "loss": 0.13671875,
      "pos_loss": 0.9375,
      "rot_loss": 0.40234375,
      "step": 12115
    },
    {
      "epoch": 2.718420462194301,
      "grad_norm": 0.3298868238925934,
      "learning_rate": 1.1464016295092722e-05,
      "loss": 0.048,
      "step": 12116
    },
    {
      "epoch": 2.718420462194301,
      "gripper_loss": 0.007293701171875,
      "loss": 0.0693359375,
      "pos_loss": 0.61328125,
      "rot_loss": 0.1015625,
      "step": 12116
    },
    {
      "epoch": 2.718644828359883,
      "grad_norm": 0.2554812431335449,
      "learning_rate": 1.1445894869509865e-05,
      "loss": 0.051,
      "step": 12117
    },
    {
      "epoch": 2.718644828359883,
      "gripper_loss": 0.06201171875,
      "loss": 0.0625,
      "pos_loss": 0.60546875,
      "rot_loss": 0.022216796875,
      "step": 12117
    },
    {
      "epoch": 2.7188691945254657,
      "grad_norm": 0.30555102229118347,
      "learning_rate": 1.1427787442174153e-05,
      "loss": 0.0474,
      "step": 12118
    },
    {
      "epoch": 2.7188691945254657,
      "gripper_loss": 0.01092529296875,
      "loss": 0.0322265625,
      "pos_loss": 0.28515625,
      "rot_loss": 0.032470703125,
      "step": 12118
    },
    {
      "epoch": 2.719093560691048,
      "grad_norm": 0.3981383144855499,
      "learning_rate": 1.1409694014148182e-05,
      "loss": 0.0453,
      "step": 12119
    },
    {
      "epoch": 2.719093560691048,
      "gripper_loss": 0.01318359375,
      "loss": 0.0162353515625,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.0703125,
      "step": 12119
    },
    {
      "epoch": 2.71931792685663,
      "grad_norm": 0.2651063799858093,
      "learning_rate": 1.1391614586493571e-05,
      "loss": 0.0326,
      "step": 12120
    },
    {
      "epoch": 2.71931792685663,
      "gripper_loss": 0.048828125,
      "loss": 0.048828125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.115234375,
      "step": 12120
    },
    {
      "epoch": 2.7195422930222124,
      "grad_norm": 0.26976144313812256,
      "learning_rate": 1.137354916027128e-05,
      "loss": 0.0436,
      "step": 12121
    },
    {
      "epoch": 2.7195422930222124,
      "gripper_loss": 0.671875,
      "loss": 0.06591796875,
      "pos_loss": 0.1953125,
      "rot_loss": 0.2412109375,
      "step": 12121
    },
    {
      "epoch": 2.7197666591877945,
      "grad_norm": 0.4177837371826172,
      "learning_rate": 1.1355497736541321e-05,
      "loss": 0.0733,
      "step": 12122
    },
    {
      "epoch": 2.7197666591877945,
      "gripper_loss": 0.02099609375,
      "loss": 0.0166015625,
      "pos_loss": 0.0869140625,
      "rot_loss": 0.05908203125,
      "step": 12122
    },
    {
      "epoch": 2.7199910253533766,
      "grad_norm": 0.24538758397102356,
      "learning_rate": 1.133746031636304e-05,
      "loss": 0.0525,
      "step": 12123
    },
    {
      "epoch": 2.7199910253533766,
      "gripper_loss": 0.375,
      "loss": 0.09716796875,
      "pos_loss": 0.53125,
      "rot_loss": 0.359375,
      "step": 12123
    },
    {
      "epoch": 2.720215391518959,
      "grad_norm": 0.32779860496520996,
      "learning_rate": 1.1319436900794761e-05,
      "loss": 0.0474,
      "step": 12124
    },
    {
      "epoch": 2.720215391518959,
      "gripper_loss": 0.2275390625,
      "loss": 0.0174560546875,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.048095703125,
      "step": 12124
    },
    {
      "epoch": 2.720439757684541,
      "grad_norm": 0.6529216766357422,
      "learning_rate": 1.1301427490894133e-05,
      "loss": 0.0514,
      "step": 12125
    },
    {
      "epoch": 2.720439757684541,
      "gripper_loss": 0.466796875,
      "loss": 0.04296875,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.08544921875,
      "step": 12125
    },
    {
      "epoch": 2.7206641238501232,
      "grad_norm": 0.3407871127128601,
      "learning_rate": 1.1283432087717926e-05,
      "loss": 0.0524,
      "step": 12126
    },
    {
      "epoch": 2.7206641238501232,
      "gripper_loss": 0.4296875,
      "loss": 0.04833984375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.0791015625,
      "step": 12126
    },
    {
      "epoch": 2.7208884900157058,
      "grad_norm": 0.6405451893806458,
      "learning_rate": 1.1265450692322182e-05,
      "loss": 0.06,
      "step": 12127
    },
    {
      "epoch": 2.7208884900157058,
      "gripper_loss": 0.006866455078125,
      "loss": 0.0118408203125,
      "pos_loss": 0.048095703125,
      "rot_loss": 0.051513671875,
      "step": 12127
    },
    {
      "epoch": 2.721112856181288,
      "grad_norm": 0.3012486398220062,
      "learning_rate": 1.1247483305761918e-05,
      "loss": 0.0334,
      "step": 12128
    },
    {
      "epoch": 2.721112856181288,
      "gripper_loss": 0.016845703125,
      "loss": 0.0286865234375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.11181640625,
      "step": 12128
    },
    {
      "epoch": 2.72133722234687,
      "grad_norm": 0.2975079119205475,
      "learning_rate": 1.1229529929091515e-05,
      "loss": 0.0394,
      "step": 12129
    },
    {
      "epoch": 2.72133722234687,
      "gripper_loss": 0.0108642578125,
      "loss": 0.013671875,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.047119140625,
      "step": 12129
    },
    {
      "epoch": 2.7215615885124524,
      "grad_norm": 0.22059126198291779,
      "learning_rate": 1.121159056336446e-05,
      "loss": 0.0421,
      "step": 12130
    },
    {
      "epoch": 2.7215615885124524,
      "gripper_loss": 0.036376953125,
      "loss": 0.0269775390625,
      "pos_loss": 0.158203125,
      "rot_loss": 0.1005859375,
      "step": 12130
    },
    {
      "epoch": 2.7217859546780345,
      "grad_norm": 0.18706516921520233,
      "learning_rate": 1.1193665209633468e-05,
      "loss": 0.0273,
      "step": 12131
    },
    {
      "epoch": 2.7217859546780345,
      "gripper_loss": 0.011474609375,
      "loss": 0.07177734375,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.498046875,
      "step": 12131
    },
    {
      "epoch": 2.7220103208436166,
      "grad_norm": 0.5345132946968079,
      "learning_rate": 1.1175753868950339e-05,
      "loss": 0.0659,
      "step": 12132
    },
    {
      "epoch": 2.7220103208436166,
      "gripper_loss": 0.0162353515625,
      "loss": 0.07568359375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.376953125,
      "step": 12132
    },
    {
      "epoch": 2.722234687009199,
      "grad_norm": 0.3178449869155884,
      "learning_rate": 1.1157856542366118e-05,
      "loss": 0.0586,
      "step": 12133
    },
    {
      "epoch": 2.722234687009199,
      "gripper_loss": 0.1513671875,
      "loss": 0.0228271484375,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.0194091796875,
      "step": 12133
    },
    {
      "epoch": 2.722459053174781,
      "grad_norm": 0.1963300108909607,
      "learning_rate": 1.1139973230930995e-05,
      "loss": 0.0188,
      "step": 12134
    },
    {
      "epoch": 2.722459053174781,
      "gripper_loss": 0.01409912109375,
      "loss": 0.0079345703125,
      "pos_loss": 0.03857421875,
      "rot_loss": 0.0177001953125,
      "step": 12134
    },
    {
      "epoch": 2.7226834193403633,
      "grad_norm": 0.4917313754558563,
      "learning_rate": 1.1122103935694377e-05,
      "loss": 0.0499,
      "step": 12135
    },
    {
      "epoch": 2.7226834193403633,
      "gripper_loss": 0.423828125,
      "loss": 0.0244140625,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.037353515625,
      "step": 12135
    },
    {
      "epoch": 2.722907785505946,
      "grad_norm": 0.5571913123130798,
      "learning_rate": 1.1104248657704847e-05,
      "loss": 0.0568,
      "step": 12136
    },
    {
      "epoch": 2.722907785505946,
      "gripper_loss": 0.01068115234375,
      "loss": 0.02880859375,
      "pos_loss": 0.0830078125,
      "rot_loss": 0.19921875,
      "step": 12136
    },
    {
      "epoch": 2.723132151671528,
      "grad_norm": 0.24130286276340485,
      "learning_rate": 1.108640739801009e-05,
      "loss": 0.0245,
      "step": 12137
    },
    {
      "epoch": 2.723132151671528,
      "gripper_loss": 0.008544921875,
      "loss": 0.07421875,
      "pos_loss": 0.7109375,
      "rot_loss": 0.0576171875,
      "step": 12137
    },
    {
      "epoch": 2.72335651783711,
      "grad_norm": 0.4175240993499756,
      "learning_rate": 1.106858015765705e-05,
      "loss": 0.0673,
      "step": 12138
    },
    {
      "epoch": 2.72335651783711,
      "gripper_loss": 0.1689453125,
      "loss": 0.0233154296875,
      "pos_loss": 0.16015625,
      "rot_loss": 0.011962890625,
      "step": 12138
    },
    {
      "epoch": 2.7235808840026925,
      "grad_norm": 0.25359174609184265,
      "learning_rate": 1.105076693769183e-05,
      "loss": 0.0281,
      "step": 12139
    },
    {
      "epoch": 2.7235808840026925,
      "gripper_loss": 0.1083984375,
      "loss": 0.06787109375,
      "pos_loss": 0.59375,
      "rot_loss": 0.0791015625,
      "step": 12139
    },
    {
      "epoch": 2.7238052501682746,
      "grad_norm": 0.23722141981124878,
      "learning_rate": 1.103296773915971e-05,
      "loss": 0.029,
      "step": 12140
    },
    {
      "epoch": 2.7238052501682746,
      "gripper_loss": 0.051025390625,
      "loss": 0.029296875,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.11328125,
      "step": 12140
    },
    {
      "epoch": 2.7240296163338567,
      "grad_norm": 0.18997013568878174,
      "learning_rate": 1.1015182563105103e-05,
      "loss": 0.041,
      "step": 12141
    },
    {
      "epoch": 2.7240296163338567,
      "gripper_loss": 0.50390625,
      "loss": 0.036376953125,
      "pos_loss": 0.134765625,
      "rot_loss": 0.06201171875,
      "step": 12141
    },
    {
      "epoch": 2.724253982499439,
      "grad_norm": 0.25258874893188477,
      "learning_rate": 1.0997411410571644e-05,
      "loss": 0.0456,
      "step": 12142
    },
    {
      "epoch": 2.724253982499439,
      "gripper_loss": 0.0927734375,
      "loss": 0.0223388671875,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.083984375,
      "step": 12142
    },
    {
      "epoch": 2.7244783486650213,
      "grad_norm": 0.31094878911972046,
      "learning_rate": 1.097965428260217e-05,
      "loss": 0.0383,
      "step": 12143
    },
    {
      "epoch": 2.7244783486650213,
      "gripper_loss": 0.126953125,
      "loss": 0.1328125,
      "pos_loss": 0.6640625,
      "rot_loss": 0.6171875,
      "step": 12143
    },
    {
      "epoch": 2.7247027148306033,
      "grad_norm": 0.5662829279899597,
      "learning_rate": 1.096191118023862e-05,
      "loss": 0.0768,
      "step": 12144
    },
    {
      "epoch": 2.7247027148306033,
      "gripper_loss": 0.0947265625,
      "loss": 0.0267333984375,
      "pos_loss": 0.0546875,
      "rot_loss": 0.1748046875,
      "step": 12144
    },
    {
      "epoch": 2.724927080996186,
      "grad_norm": 0.2689489722251892,
      "learning_rate": 1.0944182104522221e-05,
      "loss": 0.0378,
      "step": 12145
    },
    {
      "epoch": 2.724927080996186,
      "gripper_loss": 0.431640625,
      "loss": 0.016845703125,
      "pos_loss": 0.00994873046875,
      "rot_loss": 0.00885009765625,
      "step": 12145
    },
    {
      "epoch": 2.725151447161768,
      "grad_norm": 0.19701619446277618,
      "learning_rate": 1.0926467056493194e-05,
      "loss": 0.0227,
      "step": 12146
    },
    {
      "epoch": 2.725151447161768,
      "gripper_loss": 0.08056640625,
      "loss": 0.07666015625,
      "pos_loss": 0.359375,
      "rot_loss": 0.29296875,
      "step": 12146
    },
    {
      "epoch": 2.72537581332735,
      "grad_norm": 0.5895615816116333,
      "learning_rate": 1.0908766037191126e-05,
      "loss": 0.0797,
      "step": 12147
    },
    {
      "epoch": 2.72537581332735,
      "gripper_loss": 0.01409912109375,
      "loss": 0.025634765625,
      "pos_loss": 0.0174560546875,
      "rot_loss": 0.2177734375,
      "step": 12147
    },
    {
      "epoch": 2.7256001794929325,
      "grad_norm": 0.4625418186187744,
      "learning_rate": 1.0891079047654684e-05,
      "loss": 0.0343,
      "step": 12148
    },
    {
      "epoch": 2.7256001794929325,
      "gripper_loss": 0.009521484375,
      "loss": 0.08447265625,
      "pos_loss": 0.73046875,
      "rot_loss": 0.1455078125,
      "step": 12148
    },
    {
      "epoch": 2.7258245456585146,
      "grad_norm": 0.23855310678482056,
      "learning_rate": 1.087340608892176e-05,
      "loss": 0.0355,
      "step": 12149
    },
    {
      "epoch": 2.7258245456585146,
      "gripper_loss": 0.083984375,
      "loss": 0.01141357421875,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.01177978515625,
      "step": 12149
    },
    {
      "epoch": 2.7260489118240967,
      "grad_norm": 0.3673263192176819,
      "learning_rate": 1.0855747162029361e-05,
      "loss": 0.0371,
      "step": 12150
    },
    {
      "epoch": 2.7260489118240967,
      "gripper_loss": 0.012451171875,
      "loss": 0.04833984375,
      "pos_loss": 0.419921875,
      "rot_loss": 0.07666015625,
      "step": 12150
    },
    {
      "epoch": 2.7262732779896792,
      "grad_norm": 0.2387048751115799,
      "learning_rate": 1.0838102268013738e-05,
      "loss": 0.0311,
      "step": 12151
    },
    {
      "epoch": 2.7262732779896792,
      "gripper_loss": 0.0026092529296875,
      "loss": 0.0074462890625,
      "pos_loss": 0.052734375,
      "rot_loss": 0.00726318359375,
      "step": 12151
    },
    {
      "epoch": 2.7264976441552613,
      "grad_norm": 0.29436033964157104,
      "learning_rate": 1.0820471407910232e-05,
      "loss": 0.0365,
      "step": 12152
    },
    {
      "epoch": 2.7264976441552613,
      "gripper_loss": 0.66015625,
      "loss": 0.044189453125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.087890625,
      "step": 12152
    },
    {
      "epoch": 2.7267220103208434,
      "grad_norm": 0.2751966714859009,
      "learning_rate": 1.0802854582753486e-05,
      "loss": 0.0431,
      "step": 12153
    },
    {
      "epoch": 2.7267220103208434,
      "gripper_loss": 0.09814453125,
      "loss": 0.0308837890625,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.09375,
      "step": 12153
    },
    {
      "epoch": 2.726946376486426,
      "grad_norm": 0.51796555519104,
      "learning_rate": 1.0785251793577171e-05,
      "loss": 0.0589,
      "step": 12154
    },
    {
      "epoch": 2.726946376486426,
      "gripper_loss": 0.234375,
      "loss": 0.05126953125,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.2421875,
      "step": 12154
    },
    {
      "epoch": 2.727170742652008,
      "grad_norm": 0.21219082176685333,
      "learning_rate": 1.07676630414143e-05,
      "loss": 0.0361,
      "step": 12155
    },
    {
      "epoch": 2.727170742652008,
      "gripper_loss": 0.365234375,
      "loss": 0.025390625,
      "pos_loss": 0.049072265625,
      "rot_loss": 0.07958984375,
      "step": 12155
    },
    {
      "epoch": 2.72739510881759,
      "grad_norm": 0.27682173252105713,
      "learning_rate": 1.0750088327296876e-05,
      "loss": 0.0315,
      "step": 12156
    },
    {
      "epoch": 2.72739510881759,
      "gripper_loss": 0.00726318359375,
      "loss": 0.0247802734375,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.047119140625,
      "step": 12156
    },
    {
      "epoch": 2.7276194749831726,
      "grad_norm": 0.5444930791854858,
      "learning_rate": 1.0732527652256269e-05,
      "loss": 0.0388,
      "step": 12157
    },
    {
      "epoch": 2.7276194749831726,
      "gripper_loss": 0.02880859375,
      "loss": 0.02734375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.0211181640625,
      "step": 12157
    },
    {
      "epoch": 2.7278438411487547,
      "grad_norm": 0.42902934551239014,
      "learning_rate": 1.071498101732285e-05,
      "loss": 0.0399,
      "step": 12158
    },
    {
      "epoch": 2.7278438411487547,
      "gripper_loss": 0.20703125,
      "loss": 0.050537109375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.1865234375,
      "step": 12158
    },
    {
      "epoch": 2.7280682073143367,
      "grad_norm": 0.2253878265619278,
      "learning_rate": 1.0697448423526269e-05,
      "loss": 0.0344,
      "step": 12159
    },
    {
      "epoch": 2.7280682073143367,
      "gripper_loss": 0.038818359375,
      "loss": 0.036865234375,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.1767578125,
      "step": 12159
    },
    {
      "epoch": 2.7282925734799193,
      "grad_norm": 0.21514536440372467,
      "learning_rate": 1.0679929871895338e-05,
      "loss": 0.0398,
      "step": 12160
    },
    {
      "epoch": 2.7282925734799193,
      "gripper_loss": 0.017333984375,
      "loss": 0.027587890625,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.049072265625,
      "step": 12160
    },
    {
      "epoch": 2.7285169396455013,
      "grad_norm": 0.2721787691116333,
      "learning_rate": 1.0662425363458044e-05,
      "loss": 0.0491,
      "step": 12161
    },
    {
      "epoch": 2.7285169396455013,
      "gripper_loss": 0.006134033203125,
      "loss": 0.034423828125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.0250244140625,
      "step": 12161
    },
    {
      "epoch": 2.7287413058110834,
      "grad_norm": 0.2789115309715271,
      "learning_rate": 1.0644934899241593e-05,
      "loss": 0.0428,
      "step": 12162
    },
    {
      "epoch": 2.7287413058110834,
      "gripper_loss": 0.0072021484375,
      "loss": 0.0478515625,
      "pos_loss": 0.388671875,
      "rot_loss": 0.10009765625,
      "step": 12162
    },
    {
      "epoch": 2.728965671976666,
      "grad_norm": 0.2637482285499573,
      "learning_rate": 1.0627458480272217e-05,
      "loss": 0.0307,
      "step": 12163
    },
    {
      "epoch": 2.728965671976666,
      "gripper_loss": 0.003265380859375,
      "loss": 0.04443359375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.087890625,
      "step": 12163
    },
    {
      "epoch": 2.729190038142248,
      "grad_norm": 0.32651951909065247,
      "learning_rate": 1.0609996107575487e-05,
      "loss": 0.0428,
      "step": 12164
    },
    {
      "epoch": 2.729190038142248,
      "gripper_loss": 0.0045166015625,
      "loss": 0.049560546875,
      "pos_loss": 0.392578125,
      "rot_loss": 0.1142578125,
      "step": 12164
    },
    {
      "epoch": 2.72941440430783,
      "grad_norm": 0.30551376938819885,
      "learning_rate": 1.0592547782176054e-05,
      "loss": 0.0491,
      "step": 12165
    },
    {
      "epoch": 2.72941440430783,
      "gripper_loss": 0.006988525390625,
      "loss": 0.05126953125,
      "pos_loss": 0.333984375,
      "rot_loss": 0.189453125,
      "step": 12165
    },
    {
      "epoch": 2.7296387704734126,
      "grad_norm": 0.798778235912323,
      "learning_rate": 1.057511350509785e-05,
      "loss": 0.0934,
      "step": 12166
    },
    {
      "epoch": 2.7296387704734126,
      "gripper_loss": 0.24609375,
      "loss": 0.0115966796875,
      "pos_loss": 0.01141357421875,
      "rot_loss": 0.00946044921875,
      "step": 12166
    },
    {
      "epoch": 2.7298631366389947,
      "grad_norm": 0.21803557872772217,
      "learning_rate": 1.0557693277363833e-05,
      "loss": 0.0313,
      "step": 12167
    },
    {
      "epoch": 2.7298631366389947,
      "gripper_loss": 0.0294189453125,
      "loss": 0.021240234375,
      "pos_loss": 0.015625,
      "rot_loss": 0.1767578125,
      "step": 12167
    },
    {
      "epoch": 2.730087502804577,
      "grad_norm": 0.23740018904209137,
      "learning_rate": 1.0540287099996243e-05,
      "loss": 0.0276,
      "step": 12168
    },
    {
      "epoch": 2.730087502804577,
      "gripper_loss": 0.0308837890625,
      "loss": 0.09912109375,
      "pos_loss": 0.625,
      "rot_loss": 0.279296875,
      "step": 12168
    },
    {
      "epoch": 2.7303118689701593,
      "grad_norm": 0.6866466403007507,
      "learning_rate": 1.0522894974016456e-05,
      "loss": 0.0858,
      "step": 12169
    },
    {
      "epoch": 2.7303118689701593,
      "gripper_loss": 0.0084228515625,
      "loss": 0.03076171875,
      "pos_loss": 0.193359375,
      "rot_loss": 0.107421875,
      "step": 12169
    },
    {
      "epoch": 2.7305362351357414,
      "grad_norm": 0.21544064581394196,
      "learning_rate": 1.0505516900445073e-05,
      "loss": 0.0375,
      "step": 12170
    },
    {
      "epoch": 2.7305362351357414,
      "gripper_loss": 0.3671875,
      "loss": 0.03857421875,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.1318359375,
      "step": 12170
    },
    {
      "epoch": 2.730760601301324,
      "grad_norm": 0.29315856099128723,
      "learning_rate": 1.048815288030175e-05,
      "loss": 0.0513,
      "step": 12171
    },
    {
      "epoch": 2.730760601301324,
      "gripper_loss": 0.002838134765625,
      "loss": 0.006866455078125,
      "pos_loss": 0.036376953125,
      "rot_loss": 0.01611328125,
      "step": 12171
    },
    {
      "epoch": 2.730984967466906,
      "grad_norm": 0.30571097135543823,
      "learning_rate": 1.0470802914605448e-05,
      "loss": 0.0407,
      "step": 12172
    },
    {
      "epoch": 2.730984967466906,
      "gripper_loss": 0.0233154296875,
      "loss": 0.046875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.0181884765625,
      "step": 12172
    },
    {
      "epoch": 2.731209333632488,
      "grad_norm": 0.27094706892967224,
      "learning_rate": 1.0453467004374273e-05,
      "loss": 0.0366,
      "step": 12173
    },
    {
      "epoch": 2.731209333632488,
      "gripper_loss": 0.006439208984375,
      "loss": 0.08154296875,
      "pos_loss": 0.333984375,
      "rot_loss": 0.515625,
      "step": 12173
    },
    {
      "epoch": 2.7314336997980706,
      "grad_norm": 0.7629256248474121,
      "learning_rate": 1.043614515062552e-05,
      "loss": 0.0439,
      "step": 12174
    },
    {
      "epoch": 2.7314336997980706,
      "gripper_loss": 0.53515625,
      "loss": 0.023681640625,
      "pos_loss": 0.01904296875,
      "rot_loss": 0.03662109375,
      "step": 12174
    },
    {
      "epoch": 2.7316580659636527,
      "grad_norm": 0.21431642770767212,
      "learning_rate": 1.0418837354375516e-05,
      "loss": 0.0402,
      "step": 12175
    },
    {
      "epoch": 2.7316580659636527,
      "gripper_loss": 0.228515625,
      "loss": 0.036376953125,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.2041015625,
      "step": 12175
    },
    {
      "epoch": 2.7318824321292348,
      "grad_norm": 0.3362717628479004,
      "learning_rate": 1.0401543616639946e-05,
      "loss": 0.0415,
      "step": 12176
    },
    {
      "epoch": 2.7318824321292348,
      "gripper_loss": 0.0189208984375,
      "loss": 0.030517578125,
      "pos_loss": 0.2734375,
      "rot_loss": 0.023681640625,
      "step": 12176
    },
    {
      "epoch": 2.7321067982948173,
      "grad_norm": 0.4547569155693054,
      "learning_rate": 1.0384263938433586e-05,
      "loss": 0.0569,
      "step": 12177
    },
    {
      "epoch": 2.7321067982948173,
      "gripper_loss": 0.126953125,
      "loss": 0.050537109375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.051513671875,
      "step": 12177
    },
    {
      "epoch": 2.7323311644603994,
      "grad_norm": 0.4395674169063568,
      "learning_rate": 1.0366998320770454e-05,
      "loss": 0.0415,
      "step": 12178
    },
    {
      "epoch": 2.7323311644603994,
      "gripper_loss": 0.004180908203125,
      "loss": 0.10009765625,
      "pos_loss": 0.9296875,
      "rot_loss": 0.119140625,
      "step": 12178
    },
    {
      "epoch": 2.7325555306259814,
      "grad_norm": 0.3012966215610504,
      "learning_rate": 1.0349746764663604e-05,
      "loss": 0.0463,
      "step": 12179
    },
    {
      "epoch": 2.7325555306259814,
      "gripper_loss": 0.0169677734375,
      "loss": 0.031982421875,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.212890625,
      "step": 12179
    },
    {
      "epoch": 2.732779896791564,
      "grad_norm": 0.27080103754997253,
      "learning_rate": 1.0332509271125417e-05,
      "loss": 0.0375,
      "step": 12180
    },
    {
      "epoch": 2.732779896791564,
      "gripper_loss": 0.046630859375,
      "loss": 0.064453125,
      "pos_loss": 0.396484375,
      "rot_loss": 0.25,
      "step": 12180
    },
    {
      "epoch": 2.733004262957146,
      "grad_norm": 0.31335344910621643,
      "learning_rate": 1.031528584116731e-05,
      "loss": 0.056,
      "step": 12181
    },
    {
      "epoch": 2.733004262957146,
      "gripper_loss": 0.01007080078125,
      "loss": 0.024658203125,
      "pos_loss": 0.15625,
      "rot_loss": 0.08251953125,
      "step": 12181
    },
    {
      "epoch": 2.733228629122728,
      "grad_norm": 0.21472644805908203,
      "learning_rate": 1.02980764758e-05,
      "loss": 0.0359,
      "step": 12182
    },
    {
      "epoch": 2.733228629122728,
      "gripper_loss": 0.0888671875,
      "loss": 0.01153564453125,
      "pos_loss": 0.03369140625,
      "rot_loss": 0.038330078125,
      "step": 12182
    },
    {
      "epoch": 2.7334529952883106,
      "grad_norm": 0.2443401962518692,
      "learning_rate": 1.028088117603332e-05,
      "loss": 0.0322,
      "step": 12183
    },
    {
      "epoch": 2.7334529952883106,
      "gripper_loss": 0.013916015625,
      "loss": 0.01263427734375,
      "pos_loss": 0.051025390625,
      "rot_loss": 0.05908203125,
      "step": 12183
    },
    {
      "epoch": 2.7336773614538927,
      "grad_norm": 0.1901257336139679,
      "learning_rate": 1.0263699942876264e-05,
      "loss": 0.03,
      "step": 12184
    },
    {
      "epoch": 2.7336773614538927,
      "gripper_loss": 0.0198974609375,
      "loss": 0.024658203125,
      "pos_loss": 0.083984375,
      "rot_loss": 0.150390625,
      "step": 12184
    },
    {
      "epoch": 2.7339017276194753,
      "grad_norm": 0.28694215416908264,
      "learning_rate": 1.0246532777337003e-05,
      "loss": 0.039,
      "step": 12185
    },
    {
      "epoch": 2.7339017276194753,
      "gripper_loss": 0.109375,
      "loss": 0.060302734375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0634765625,
      "step": 12185
    },
    {
      "epoch": 2.7341260937850573,
      "grad_norm": 1.0862832069396973,
      "learning_rate": 1.022937968042295e-05,
      "loss": 0.081,
      "step": 12186
    },
    {
      "epoch": 2.7341260937850573,
      "gripper_loss": 0.007720947265625,
      "loss": 0.0179443359375,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.038818359375,
      "step": 12186
    },
    {
      "epoch": 2.7343504599506394,
      "grad_norm": 0.2912597358226776,
      "learning_rate": 1.0212240653140636e-05,
      "loss": 0.0443,
      "step": 12187
    },
    {
      "epoch": 2.7343504599506394,
      "gripper_loss": 0.008544921875,
      "loss": 0.041748046875,
      "pos_loss": 0.26953125,
      "rot_loss": 0.1552734375,
      "step": 12187
    },
    {
      "epoch": 2.734574826116222,
      "grad_norm": 0.26419249176979065,
      "learning_rate": 1.01951156964957e-05,
      "loss": 0.0459,
      "step": 12188
    },
    {
      "epoch": 2.734574826116222,
      "gripper_loss": 0.03759765625,
      "loss": 0.042236328125,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.2060546875,
      "step": 12188
    },
    {
      "epoch": 2.734799192281804,
      "grad_norm": 0.43764016032218933,
      "learning_rate": 1.0178004811493114e-05,
      "loss": 0.0528,
      "step": 12189
    },
    {
      "epoch": 2.734799192281804,
      "gripper_loss": 0.007049560546875,
      "loss": 0.033935546875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.061279296875,
      "step": 12189
    },
    {
      "epoch": 2.735023558447386,
      "grad_norm": 0.20351096987724304,
      "learning_rate": 1.0160907999136909e-05,
      "loss": 0.0404,
      "step": 12190
    },
    {
      "epoch": 2.735023558447386,
      "gripper_loss": 0.005828857421875,
      "loss": 0.07421875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.2255859375,
      "step": 12190
    },
    {
      "epoch": 2.7352479246129686,
      "grad_norm": 0.41165879368782043,
      "learning_rate": 1.0143825260430255e-05,
      "loss": 0.0521,
      "step": 12191
    },
    {
      "epoch": 2.7352479246129686,
      "gripper_loss": 0.006561279296875,
      "loss": 0.03271484375,
      "pos_loss": 0.181640625,
      "rot_loss": 0.1455078125,
      "step": 12191
    },
    {
      "epoch": 2.7354722907785507,
      "grad_norm": 0.5059168338775635,
      "learning_rate": 1.0126756596375685e-05,
      "loss": 0.0542,
      "step": 12192
    },
    {
      "epoch": 2.7354722907785507,
      "gripper_loss": 0.023193359375,
      "loss": 0.072265625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.47265625,
      "step": 12192
    },
    {
      "epoch": 2.7356966569441328,
      "grad_norm": 0.25836533308029175,
      "learning_rate": 1.0109702007974647e-05,
      "loss": 0.0512,
      "step": 12193
    },
    {
      "epoch": 2.7356966569441328,
      "gripper_loss": 0.012451171875,
      "loss": 0.032958984375,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.1767578125,
      "step": 12193
    },
    {
      "epoch": 2.7359210231097153,
      "grad_norm": 0.4905916452407837,
      "learning_rate": 1.0092661496227978e-05,
      "loss": 0.0472,
      "step": 12194
    },
    {
      "epoch": 2.7359210231097153,
      "gripper_loss": 0.013916015625,
      "loss": 0.01397705078125,
      "pos_loss": 0.0296630859375,
      "rot_loss": 0.09326171875,
      "step": 12194
    },
    {
      "epoch": 2.7361453892752974,
      "grad_norm": 0.535638689994812,
      "learning_rate": 1.0075635062135574e-05,
      "loss": 0.0483,
      "step": 12195
    },
    {
      "epoch": 2.7361453892752974,
      "gripper_loss": 0.004669189453125,
      "loss": 0.00909423828125,
      "pos_loss": 0.02490234375,
      "rot_loss": 0.047607421875,
      "step": 12195
    },
    {
      "epoch": 2.7363697554408795,
      "grad_norm": 0.46563804149627686,
      "learning_rate": 1.0058622706696607e-05,
      "loss": 0.0399,
      "step": 12196
    },
    {
      "epoch": 2.7363697554408795,
      "gripper_loss": 0.01409912109375,
      "loss": 0.02978515625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.15234375,
      "step": 12196
    },
    {
      "epoch": 2.736594121606462,
      "grad_norm": 0.2198997586965561,
      "learning_rate": 1.0041624430909251e-05,
      "loss": 0.0313,
      "step": 12197
    },
    {
      "epoch": 2.736594121606462,
      "gripper_loss": 0.006500244140625,
      "loss": 0.04248046875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.02587890625,
      "step": 12197
    },
    {
      "epoch": 2.736818487772044,
      "grad_norm": 0.3521456718444824,
      "learning_rate": 1.0024640235770987e-05,
      "loss": 0.0405,
      "step": 12198
    },
    {
      "epoch": 2.736818487772044,
      "gripper_loss": 0.41015625,
      "loss": 0.0361328125,
      "pos_loss": 0.115234375,
      "rot_loss": 0.1103515625,
      "step": 12198
    },
    {
      "epoch": 2.737042853937626,
      "grad_norm": 0.6594812273979187,
      "learning_rate": 1.000767012227849e-05,
      "loss": 0.0616,
      "step": 12199
    },
    {
      "epoch": 2.737042853937626,
      "gripper_loss": 0.58203125,
      "loss": 0.0771484375,
      "pos_loss": 0.48046875,
      "rot_loss": 0.12890625,
      "step": 12199
    },
    {
      "epoch": 2.7372672201032087,
      "grad_norm": 0.4733932316303253,
      "learning_rate": 9.990714091427544e-06,
      "loss": 0.0533,
      "step": 12200
    },
    {
      "epoch": 2.7372672201032087,
      "gripper_loss": 0.19921875,
      "loss": 0.04296875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.09423828125,
      "step": 12200
    },
    {
      "epoch": 2.7374915862687907,
      "grad_norm": 0.509111762046814,
      "learning_rate": 9.973772144213078e-06,
      "loss": 0.0412,
      "step": 12201
    },
    {
      "epoch": 2.7374915862687907,
      "gripper_loss": 0.005126953125,
      "loss": 0.037841796875,
      "pos_loss": 0.345703125,
      "rot_loss": 0.0303955078125,
      "step": 12201
    },
    {
      "epoch": 2.737715952434373,
      "grad_norm": 0.33161574602127075,
      "learning_rate": 9.956844281629296e-06,
      "loss": 0.0588,
      "step": 12202
    },
    {
      "epoch": 2.737715952434373,
      "gripper_loss": 0.0184326171875,
      "loss": 0.040771484375,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.19921875,
      "step": 12202
    },
    {
      "epoch": 2.7379403185999553,
      "grad_norm": 0.4458524286746979,
      "learning_rate": 9.939930504669431e-06,
      "loss": 0.0549,
      "step": 12203
    },
    {
      "epoch": 2.7379403185999553,
      "gripper_loss": 0.0076904296875,
      "loss": 0.076171875,
      "pos_loss": 0.60546875,
      "rot_loss": 0.1806640625,
      "step": 12203
    },
    {
      "epoch": 2.7381646847655374,
      "grad_norm": 0.3290540874004364,
      "learning_rate": 9.923030814326078e-06,
      "loss": 0.0688,
      "step": 12204
    },
    {
      "epoch": 2.7381646847655374,
      "gripper_loss": 0.330078125,
      "loss": 0.0177001953125,
      "pos_loss": 0.0130615234375,
      "rot_loss": 0.04736328125,
      "step": 12204
    },
    {
      "epoch": 2.7383890509311195,
      "grad_norm": 0.23709912598133087,
      "learning_rate": 9.906145211590834e-06,
      "loss": 0.0479,
      "step": 12205
    },
    {
      "epoch": 2.7383890509311195,
      "gripper_loss": 0.020751953125,
      "loss": 0.0250244140625,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.048828125,
      "step": 12205
    },
    {
      "epoch": 2.738613417096702,
      "grad_norm": 0.19572782516479492,
      "learning_rate": 9.889273697454543e-06,
      "loss": 0.0367,
      "step": 12206
    },
    {
      "epoch": 2.738613417096702,
      "gripper_loss": 0.00738525390625,
      "loss": 0.091796875,
      "pos_loss": 0.6953125,
      "rot_loss": 0.263671875,
      "step": 12206
    },
    {
      "epoch": 2.738837783262284,
      "grad_norm": 0.2262197583913803,
      "learning_rate": 9.872416272907247e-06,
      "loss": 0.0313,
      "step": 12207
    },
    {
      "epoch": 2.738837783262284,
      "gripper_loss": 0.0947265625,
      "loss": 0.01458740234375,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.0208740234375,
      "step": 12207
    },
    {
      "epoch": 2.739062149427866,
      "grad_norm": 0.24643637239933014,
      "learning_rate": 9.855572938938129e-06,
      "loss": 0.0313,
      "step": 12208
    },
    {
      "epoch": 2.739062149427866,
      "gripper_loss": 0.416015625,
      "loss": 0.050537109375,
      "pos_loss": 0.2109375,
      "rot_loss": 0.16796875,
      "step": 12208
    },
    {
      "epoch": 2.7392865155934487,
      "grad_norm": 0.37230998277664185,
      "learning_rate": 9.838743696535562e-06,
      "loss": 0.0576,
      "step": 12209
    },
    {
      "epoch": 2.7392865155934487,
      "gripper_loss": 0.01422119140625,
      "loss": 0.044921875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.07568359375,
      "step": 12209
    },
    {
      "epoch": 2.739510881759031,
      "grad_norm": 0.32403168082237244,
      "learning_rate": 9.821928546687009e-06,
      "loss": 0.0488,
      "step": 12210
    },
    {
      "epoch": 2.739510881759031,
      "gripper_loss": 0.06494140625,
      "loss": 0.1318359375,
      "pos_loss": 0.5546875,
      "rot_loss": 0.2158203125,
      "step": 12210
    },
    {
      "epoch": 2.739735247924613,
      "grad_norm": 1.0385533571243286,
      "learning_rate": 9.805127490379234e-06,
      "loss": 0.106,
      "step": 12211
    },
    {
      "epoch": 2.739735247924613,
      "gripper_loss": 0.0546875,
      "loss": 0.078125,
      "pos_loss": 0.4921875,
      "rot_loss": 0.30078125,
      "step": 12211
    },
    {
      "epoch": 2.7399596140901954,
      "grad_norm": 0.28180453181266785,
      "learning_rate": 9.788340528598116e-06,
      "loss": 0.05,
      "step": 12212
    },
    {
      "epoch": 2.7399596140901954,
      "gripper_loss": 0.173828125,
      "loss": 0.01239013671875,
      "pos_loss": 0.036376953125,
      "rot_loss": 0.01708984375,
      "step": 12212
    },
    {
      "epoch": 2.7401839802557775,
      "grad_norm": 0.22494086623191833,
      "learning_rate": 9.771567662328702e-06,
      "loss": 0.0344,
      "step": 12213
    },
    {
      "epoch": 2.7401839802557775,
      "gripper_loss": 0.0634765625,
      "loss": 0.00836181640625,
      "pos_loss": 0.0400390625,
      "rot_loss": 0.00933837890625,
      "step": 12213
    },
    {
      "epoch": 2.7404083464213596,
      "grad_norm": 0.32982784509658813,
      "learning_rate": 9.7548088925552e-06,
      "loss": 0.0376,
      "step": 12214
    },
    {
      "epoch": 2.7404083464213596,
      "gripper_loss": 0.08154296875,
      "loss": 0.01513671875,
      "pos_loss": 0.059814453125,
      "rot_loss": 0.051513671875,
      "step": 12214
    },
    {
      "epoch": 2.740632712586942,
      "grad_norm": 0.3331356644630432,
      "learning_rate": 9.738064220261022e-06,
      "loss": 0.0458,
      "step": 12215
    },
    {
      "epoch": 2.740632712586942,
      "gripper_loss": 0.0079345703125,
      "loss": 0.0296630859375,
      "pos_loss": 0.20703125,
      "rot_loss": 0.08203125,
      "step": 12215
    },
    {
      "epoch": 2.740857078752524,
      "grad_norm": 0.20479874312877655,
      "learning_rate": 9.721333646428715e-06,
      "loss": 0.0355,
      "step": 12216
    },
    {
      "epoch": 2.740857078752524,
      "gripper_loss": 0.01336669921875,
      "loss": 0.0186767578125,
      "pos_loss": 0.054931640625,
      "rot_loss": 0.1171875,
      "step": 12216
    },
    {
      "epoch": 2.7410814449181062,
      "grad_norm": 0.2100038379430771,
      "learning_rate": 9.704617172040047e-06,
      "loss": 0.0251,
      "step": 12217
    },
    {
      "epoch": 2.7410814449181062,
      "gripper_loss": 0.1923828125,
      "loss": 0.0120849609375,
      "pos_loss": 0.01373291015625,
      "rot_loss": 0.0299072265625,
      "step": 12217
    },
    {
      "epoch": 2.7413058110836888,
      "grad_norm": 0.18461230397224426,
      "learning_rate": 9.687914798075931e-06,
      "loss": 0.0273,
      "step": 12218
    },
    {
      "epoch": 2.7413058110836888,
      "gripper_loss": 0.06689453125,
      "loss": 0.0274658203125,
      "pos_loss": 0.20703125,
      "rot_loss": 0.04052734375,
      "step": 12218
    },
    {
      "epoch": 2.741530177249271,
      "grad_norm": 0.29002678394317627,
      "learning_rate": 9.671226525516414e-06,
      "loss": 0.0274,
      "step": 12219
    },
    {
      "epoch": 2.741530177249271,
      "gripper_loss": 0.7890625,
      "loss": 0.028564453125,
      "pos_loss": 0.01409912109375,
      "rot_loss": 0.006134033203125,
      "step": 12219
    },
    {
      "epoch": 2.741754543414853,
      "grad_norm": 0.2612142860889435,
      "learning_rate": 9.654552355340795e-06,
      "loss": 0.0399,
      "step": 12220
    },
    {
      "epoch": 2.741754543414853,
      "gripper_loss": 0.011474609375,
      "loss": 0.03369140625,
      "pos_loss": 0.232421875,
      "rot_loss": 0.10302734375,
      "step": 12220
    },
    {
      "epoch": 2.7419789095804354,
      "grad_norm": 0.20485171675682068,
      "learning_rate": 9.637892288527517e-06,
      "loss": 0.0339,
      "step": 12221
    },
    {
      "epoch": 2.7419789095804354,
      "gripper_loss": 0.94140625,
      "loss": 0.0419921875,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.00384521484375,
      "step": 12221
    },
    {
      "epoch": 2.7422032757460175,
      "grad_norm": 0.39175230264663696,
      "learning_rate": 9.621246326054184e-06,
      "loss": 0.0334,
      "step": 12222
    },
    {
      "epoch": 2.7422032757460175,
      "gripper_loss": 0.2470703125,
      "loss": 0.050048828125,
      "pos_loss": 0.3828125,
      "rot_loss": 0.05029296875,
      "step": 12222
    },
    {
      "epoch": 2.7424276419115996,
      "grad_norm": 0.37306293845176697,
      "learning_rate": 9.604614468897544e-06,
      "loss": 0.0546,
      "step": 12223
    },
    {
      "epoch": 2.7424276419115996,
      "gripper_loss": 0.146484375,
      "loss": 0.01519775390625,
      "pos_loss": 0.04150390625,
      "rot_loss": 0.050048828125,
      "step": 12223
    },
    {
      "epoch": 2.742652008077182,
      "grad_norm": 0.28978753089904785,
      "learning_rate": 9.587996718033537e-06,
      "loss": 0.0353,
      "step": 12224
    },
    {
      "epoch": 2.742652008077182,
      "gripper_loss": 0.0252685546875,
      "loss": 0.0260009765625,
      "pos_loss": 0.078125,
      "rot_loss": 0.173828125,
      "step": 12224
    },
    {
      "epoch": 2.742876374242764,
      "grad_norm": 0.2065018117427826,
      "learning_rate": 9.571393074437357e-06,
      "loss": 0.0268,
      "step": 12225
    },
    {
      "epoch": 2.742876374242764,
      "gripper_loss": 0.32421875,
      "loss": 0.025146484375,
      "pos_loss": 0.057373046875,
      "rot_loss": 0.08544921875,
      "step": 12225
    },
    {
      "epoch": 2.7431007404083463,
      "grad_norm": 0.30210602283477783,
      "learning_rate": 9.554803539083223e-06,
      "loss": 0.0354,
      "step": 12226
    },
    {
      "epoch": 2.7431007404083463,
      "gripper_loss": 0.01556396484375,
      "loss": 0.0341796875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.091796875,
      "step": 12226
    },
    {
      "epoch": 2.743325106573929,
      "grad_norm": 0.6481183767318726,
      "learning_rate": 9.538228112944664e-06,
      "loss": 0.0404,
      "step": 12227
    },
    {
      "epoch": 2.743325106573929,
      "gripper_loss": 0.71484375,
      "loss": 0.037109375,
      "pos_loss": 0.08642578125,
      "rot_loss": 0.052978515625,
      "step": 12227
    },
    {
      "epoch": 2.743549472739511,
      "grad_norm": 0.38178589940071106,
      "learning_rate": 9.521666796994233e-06,
      "loss": 0.0444,
      "step": 12228
    },
    {
      "epoch": 2.743549472739511,
      "gripper_loss": 0.12451171875,
      "loss": 0.02685546875,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.072265625,
      "step": 12228
    },
    {
      "epoch": 2.743773838905093,
      "grad_norm": 0.27231940627098083,
      "learning_rate": 9.50511959220382e-06,
      "loss": 0.039,
      "step": 12229
    },
    {
      "epoch": 2.743773838905093,
      "gripper_loss": 0.00982666015625,
      "loss": 0.0257568359375,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.162109375,
      "step": 12229
    },
    {
      "epoch": 2.7439982050706755,
      "grad_norm": 0.2634710371494293,
      "learning_rate": 9.488586499544399e-06,
      "loss": 0.0422,
      "step": 12230
    },
    {
      "epoch": 2.7439982050706755,
      "gripper_loss": 0.0038604736328125,
      "loss": 0.027099609375,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.177734375,
      "step": 12230
    },
    {
      "epoch": 2.7442225712362576,
      "grad_norm": 0.21502986550331116,
      "learning_rate": 9.472067519986056e-06,
      "loss": 0.038,
      "step": 12231
    },
    {
      "epoch": 2.7442225712362576,
      "gripper_loss": 0.0096435546875,
      "loss": 0.0185546875,
      "pos_loss": 0.0235595703125,
      "rot_loss": 0.150390625,
      "step": 12231
    },
    {
      "epoch": 2.7444469374018396,
      "grad_norm": 0.2231506109237671,
      "learning_rate": 9.455562654498178e-06,
      "loss": 0.0529,
      "step": 12232
    },
    {
      "epoch": 2.7444469374018396,
      "gripper_loss": 0.44140625,
      "loss": 0.0172119140625,
      "pos_loss": 0.0074462890625,
      "rot_loss": 0.00970458984375,
      "step": 12232
    },
    {
      "epoch": 2.744671303567422,
      "grad_norm": 0.4038040339946747,
      "learning_rate": 9.439071904049245e-06,
      "loss": 0.0376,
      "step": 12233
    },
    {
      "epoch": 2.744671303567422,
      "gripper_loss": 0.00970458984375,
      "loss": 0.0279541015625,
      "pos_loss": 0.062255859375,
      "rot_loss": 0.201171875,
      "step": 12233
    },
    {
      "epoch": 2.7448956697330043,
      "grad_norm": 0.24439291656017303,
      "learning_rate": 9.422595269606982e-06,
      "loss": 0.0432,
      "step": 12234
    },
    {
      "epoch": 2.7448956697330043,
      "gripper_loss": 0.01019287109375,
      "loss": 0.005035400390625,
      "pos_loss": 0.0137939453125,
      "rot_loss": 0.020263671875,
      "step": 12234
    },
    {
      "epoch": 2.7451200358985863,
      "grad_norm": 0.31004855036735535,
      "learning_rate": 9.40613275213814e-06,
      "loss": 0.0502,
      "step": 12235
    },
    {
      "epoch": 2.7451200358985863,
      "gripper_loss": 0.43359375,
      "loss": 0.046875,
      "pos_loss": 0.2265625,
      "rot_loss": 0.109375,
      "step": 12235
    },
    {
      "epoch": 2.745344402064169,
      "grad_norm": 0.3068227171897888,
      "learning_rate": 9.389684352608785e-06,
      "loss": 0.0347,
      "step": 12236
    },
    {
      "epoch": 2.745344402064169,
      "gripper_loss": 0.007354736328125,
      "loss": 0.07275390625,
      "pos_loss": 0.69921875,
      "rot_loss": 0.05517578125,
      "step": 12236
    },
    {
      "epoch": 2.745568768229751,
      "grad_norm": 0.3655845820903778,
      "learning_rate": 9.373250071984086e-06,
      "loss": 0.0421,
      "step": 12237
    },
    {
      "epoch": 2.745568768229751,
      "gripper_loss": 0.0042724609375,
      "loss": 0.045166015625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.201171875,
      "step": 12237
    },
    {
      "epoch": 2.745793134395333,
      "grad_norm": 0.32949361205101013,
      "learning_rate": 9.35682991122841e-06,
      "loss": 0.075,
      "step": 12238
    },
    {
      "epoch": 2.745793134395333,
      "gripper_loss": 0.1279296875,
      "loss": 0.021484375,
      "pos_loss": 0.11474609375,
      "rot_loss": 0.051025390625,
      "step": 12238
    },
    {
      "epoch": 2.7460175005609155,
      "grad_norm": 0.618486225605011,
      "learning_rate": 9.340423871305292e-06,
      "loss": 0.0517,
      "step": 12239
    },
    {
      "epoch": 2.7460175005609155,
      "gripper_loss": 0.07421875,
      "loss": 0.017822265625,
      "pos_loss": 0.0673828125,
      "rot_loss": 0.07958984375,
      "step": 12239
    },
    {
      "epoch": 2.7462418667264976,
      "grad_norm": 0.23490241169929504,
      "learning_rate": 9.32403195317738e-06,
      "loss": 0.049,
      "step": 12240
    },
    {
      "epoch": 2.7462418667264976,
      "gripper_loss": 1.2109375,
      "loss": 0.0439453125,
      "pos_loss": 0.0260009765625,
      "rot_loss": 0.019287109375,
      "step": 12240
    },
    {
      "epoch": 2.7464662328920797,
      "grad_norm": 0.18898427486419678,
      "learning_rate": 9.3076541578066e-06,
      "loss": 0.0311,
      "step": 12241
    },
    {
      "epoch": 2.7464662328920797,
      "gripper_loss": 0.3828125,
      "loss": 0.09521484375,
      "pos_loss": 0.78125,
      "rot_loss": 0.0859375,
      "step": 12241
    },
    {
      "epoch": 2.746690599057662,
      "grad_norm": 0.5733497142791748,
      "learning_rate": 9.291290486153958e-06,
      "loss": 0.0481,
      "step": 12242
    },
    {
      "epoch": 2.746690599057662,
      "gripper_loss": 0.2431640625,
      "loss": 0.0703125,
      "pos_loss": 0.63671875,
      "rot_loss": 0.01043701171875,
      "step": 12242
    },
    {
      "epoch": 2.7469149652232443,
      "grad_norm": 0.23600991070270538,
      "learning_rate": 9.274940939179716e-06,
      "loss": 0.0302,
      "step": 12243
    },
    {
      "epoch": 2.7469149652232443,
      "gripper_loss": 0.01251220703125,
      "loss": 0.0238037109375,
      "pos_loss": 0.11865234375,
      "rot_loss": 0.1064453125,
      "step": 12243
    },
    {
      "epoch": 2.7471393313888264,
      "grad_norm": 0.4078528583049774,
      "learning_rate": 9.258605517843188e-06,
      "loss": 0.0303,
      "step": 12244
    },
    {
      "epoch": 2.7471393313888264,
      "gripper_loss": 0.01007080078125,
      "loss": 0.0198974609375,
      "pos_loss": 0.08251953125,
      "rot_loss": 0.10302734375,
      "step": 12244
    },
    {
      "epoch": 2.747363697554409,
      "grad_norm": 0.3041589856147766,
      "learning_rate": 9.242284223102997e-06,
      "loss": 0.0514,
      "step": 12245
    },
    {
      "epoch": 2.747363697554409,
      "gripper_loss": 0.2177734375,
      "loss": 0.022705078125,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.0654296875,
      "step": 12245
    },
    {
      "epoch": 2.747588063719991,
      "grad_norm": 0.20482562482357025,
      "learning_rate": 9.225977055916824e-06,
      "loss": 0.0309,
      "step": 12246
    },
    {
      "epoch": 2.747588063719991,
      "gripper_loss": 0.26171875,
      "loss": 0.041259765625,
      "pos_loss": 0.259765625,
      "rot_loss": 0.0703125,
      "step": 12246
    },
    {
      "epoch": 2.747812429885573,
      "grad_norm": 0.3247169852256775,
      "learning_rate": 9.209684017241593e-06,
      "loss": 0.0353,
      "step": 12247
    },
    {
      "epoch": 2.747812429885573,
      "gripper_loss": 0.042236328125,
      "loss": 0.03662109375,
      "pos_loss": 0.328125,
      "rot_loss": 0.029052734375,
      "step": 12247
    },
    {
      "epoch": 2.7480367960511556,
      "grad_norm": 0.2173241525888443,
      "learning_rate": 9.193405108033348e-06,
      "loss": 0.033,
      "step": 12248
    },
    {
      "epoch": 2.7480367960511556,
      "gripper_loss": 0.51953125,
      "loss": 0.0478515625,
      "pos_loss": 0.296875,
      "rot_loss": 0.0191650390625,
      "step": 12248
    },
    {
      "epoch": 2.7482611622167377,
      "grad_norm": 0.5498597621917725,
      "learning_rate": 9.177140329247324e-06,
      "loss": 0.0516,
      "step": 12249
    },
    {
      "epoch": 2.7482611622167377,
      "gripper_loss": 0.1328125,
      "loss": 0.02294921875,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.06787109375,
      "step": 12249
    },
    {
      "epoch": 2.7484855283823197,
      "grad_norm": 0.13683493435382843,
      "learning_rate": 9.160889681838008e-06,
      "loss": 0.0231,
      "step": 12250
    },
    {
      "epoch": 2.7484855283823197,
      "gripper_loss": 0.435546875,
      "loss": 0.0859375,
      "pos_loss": 0.72265625,
      "rot_loss": 0.0252685546875,
      "step": 12250
    },
    {
      "epoch": 2.7487098945479023,
      "grad_norm": 0.33360520005226135,
      "learning_rate": 9.144653166758887e-06,
      "loss": 0.0547,
      "step": 12251
    },
    {
      "epoch": 2.7487098945479023,
      "gripper_loss": 0.0064697265625,
      "loss": 0.04931640625,
      "pos_loss": 0.400390625,
      "rot_loss": 0.10546875,
      "step": 12251
    },
    {
      "epoch": 2.7489342607134843,
      "grad_norm": 0.2314893752336502,
      "learning_rate": 9.128430784962755e-06,
      "loss": 0.0349,
      "step": 12252
    },
    {
      "epoch": 2.7489342607134843,
      "gripper_loss": 0.006195068359375,
      "loss": 0.017333984375,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.0186767578125,
      "step": 12252
    },
    {
      "epoch": 2.7491586268790664,
      "grad_norm": 0.2811795473098755,
      "learning_rate": 9.112222537401487e-06,
      "loss": 0.0325,
      "step": 12253
    },
    {
      "epoch": 2.7491586268790664,
      "gripper_loss": 0.0164794921875,
      "loss": 0.01416015625,
      "pos_loss": 0.08349609375,
      "rot_loss": 0.040771484375,
      "step": 12253
    },
    {
      "epoch": 2.749382993044649,
      "grad_norm": 0.24648597836494446,
      "learning_rate": 9.096028425026216e-06,
      "loss": 0.0302,
      "step": 12254
    },
    {
      "epoch": 2.749382993044649,
      "gripper_loss": 0.00640869140625,
      "loss": 0.0301513671875,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0390625,
      "step": 12254
    },
    {
      "epoch": 2.749607359210231,
      "grad_norm": 0.3066020905971527,
      "learning_rate": 9.079848448787231e-06,
      "loss": 0.0524,
      "step": 12255
    },
    {
      "epoch": 2.749607359210231,
      "gripper_loss": 0.275390625,
      "loss": 0.0223388671875,
      "pos_loss": 0.07177734375,
      "rot_loss": 0.05029296875,
      "step": 12255
    },
    {
      "epoch": 2.749831725375813,
      "grad_norm": 0.2357233464717865,
      "learning_rate": 9.063682609633944e-06,
      "loss": 0.048,
      "step": 12256
    },
    {
      "epoch": 2.749831725375813,
      "gripper_loss": 0.0052490234375,
      "loss": 0.048583984375,
      "pos_loss": 0.44140625,
      "rot_loss": 0.0546875,
      "step": 12256
    },
    {
      "epoch": 2.7500560915413956,
      "grad_norm": 0.6002067923545837,
      "learning_rate": 9.047530908514928e-06,
      "loss": 0.0438,
      "step": 12257
    },
    {
      "epoch": 2.7500560915413956,
      "gripper_loss": 0.007476806640625,
      "loss": 0.04541015625,
      "pos_loss": 0.271484375,
      "rot_loss": 0.19140625,
      "step": 12257
    },
    {
      "epoch": 2.7502804577069777,
      "grad_norm": 0.37474286556243896,
      "learning_rate": 9.031393346377982e-06,
      "loss": 0.0448,
      "step": 12258
    },
    {
      "epoch": 2.7502804577069777,
      "gripper_loss": 0.052001953125,
      "loss": 0.0634765625,
      "pos_loss": 0.609375,
      "rot_loss": 0.0255126953125,
      "step": 12258
    },
    {
      "epoch": 2.75050482387256,
      "grad_norm": 0.2783548831939697,
      "learning_rate": 9.015269924170039e-06,
      "loss": 0.0405,
      "step": 12259
    },
    {
      "epoch": 2.75050482387256,
      "gripper_loss": 0.33984375,
      "loss": 0.0286865234375,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.07861328125,
      "step": 12259
    },
    {
      "epoch": 2.7507291900381423,
      "grad_norm": 0.5376219749450684,
      "learning_rate": 8.999160642837262e-06,
      "loss": 0.0513,
      "step": 12260
    },
    {
      "epoch": 2.7507291900381423,
      "gripper_loss": 0.00775146484375,
      "loss": 0.05224609375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.12353515625,
      "step": 12260
    },
    {
      "epoch": 2.7509535562037244,
      "grad_norm": 0.33158454298973083,
      "learning_rate": 8.983065503324866e-06,
      "loss": 0.0323,
      "step": 12261
    },
    {
      "epoch": 2.7509535562037244,
      "gripper_loss": 0.024658203125,
      "loss": 0.032470703125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.0303955078125,
      "step": 12261
    },
    {
      "epoch": 2.7511779223693065,
      "grad_norm": 0.4455343782901764,
      "learning_rate": 8.966984506577375e-06,
      "loss": 0.0476,
      "step": 12262
    },
    {
      "epoch": 2.7511779223693065,
      "gripper_loss": 0.01409912109375,
      "loss": 0.0260009765625,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.12353515625,
      "step": 12262
    },
    {
      "epoch": 2.751402288534889,
      "grad_norm": 0.24761518836021423,
      "learning_rate": 8.950917653538365e-06,
      "loss": 0.035,
      "step": 12263
    },
    {
      "epoch": 2.751402288534889,
      "gripper_loss": 0.0302734375,
      "loss": 0.01263427734375,
      "pos_loss": 0.061279296875,
      "rot_loss": 0.043701171875,
      "step": 12263
    },
    {
      "epoch": 2.751626654700471,
      "grad_norm": 0.23797489702701569,
      "learning_rate": 8.934864945150667e-06,
      "loss": 0.0357,
      "step": 12264
    },
    {
      "epoch": 2.751626654700471,
      "gripper_loss": 0.0625,
      "loss": 0.0191650390625,
      "pos_loss": 0.0986328125,
      "rot_loss": 0.0654296875,
      "step": 12264
    },
    {
      "epoch": 2.751851020866053,
      "grad_norm": 0.21946750581264496,
      "learning_rate": 8.918826382356193e-06,
      "loss": 0.0379,
      "step": 12265
    },
    {
      "epoch": 2.751851020866053,
      "gripper_loss": 0.006378173828125,
      "loss": 0.017822265625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.037841796875,
      "step": 12265
    },
    {
      "epoch": 2.7520753870316357,
      "grad_norm": 0.24537859857082367,
      "learning_rate": 8.902801966096108e-06,
      "loss": 0.0249,
      "step": 12266
    },
    {
      "epoch": 2.7520753870316357,
      "gripper_loss": 0.134765625,
      "loss": 0.028076171875,
      "pos_loss": 0.13671875,
      "rot_loss": 0.0947265625,
      "step": 12266
    },
    {
      "epoch": 2.7522997531972178,
      "grad_norm": 0.20208875834941864,
      "learning_rate": 8.886791697310714e-06,
      "loss": 0.0297,
      "step": 12267
    },
    {
      "epoch": 2.7522997531972178,
      "gripper_loss": 0.01806640625,
      "loss": 0.0478515625,
      "pos_loss": 0.240234375,
      "rot_loss": 0.24609375,
      "step": 12267
    },
    {
      "epoch": 2.7525241193628,
      "grad_norm": 0.359235554933548,
      "learning_rate": 8.87079557693951e-06,
      "loss": 0.0417,
      "step": 12268
    },
    {
      "epoch": 2.7525241193628,
      "gripper_loss": 0.0031585693359375,
      "loss": 0.00799560546875,
      "pos_loss": 0.0218505859375,
      "rot_loss": 0.041015625,
      "step": 12268
    },
    {
      "epoch": 2.7527484855283824,
      "grad_norm": 0.17450739443302155,
      "learning_rate": 8.854813605921164e-06,
      "loss": 0.0311,
      "step": 12269
    },
    {
      "epoch": 2.7527484855283824,
      "gripper_loss": 0.0074462890625,
      "loss": 0.053955078125,
      "pos_loss": 0.291015625,
      "rot_loss": 0.2578125,
      "step": 12269
    },
    {
      "epoch": 2.7529728516939644,
      "grad_norm": 0.40900397300720215,
      "learning_rate": 8.838845785193395e-06,
      "loss": 0.0704,
      "step": 12270
    },
    {
      "epoch": 2.7529728516939644,
      "gripper_loss": 0.004547119140625,
      "loss": 0.026123046875,
      "pos_loss": 0.07421875,
      "rot_loss": 0.1787109375,
      "step": 12270
    },
    {
      "epoch": 2.7531972178595465,
      "grad_norm": 0.18592527508735657,
      "learning_rate": 8.82289211569326e-06,
      "loss": 0.0315,
      "step": 12271
    },
    {
      "epoch": 2.7531972178595465,
      "gripper_loss": 0.92578125,
      "loss": 0.0517578125,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.10400390625,
      "step": 12271
    },
    {
      "epoch": 2.753421584025129,
      "grad_norm": 0.252401202917099,
      "learning_rate": 8.806952598356926e-06,
      "loss": 0.0316,
      "step": 12272
    },
    {
      "epoch": 2.753421584025129,
      "gripper_loss": 0.134765625,
      "loss": 0.0157470703125,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.028076171875,
      "step": 12272
    },
    {
      "epoch": 2.753645950190711,
      "grad_norm": 0.1991223245859146,
      "learning_rate": 8.791027234119647e-06,
      "loss": 0.0246,
      "step": 12273
    },
    {
      "epoch": 2.753645950190711,
      "gripper_loss": 0.216796875,
      "loss": 0.032958984375,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.0390625,
      "step": 12273
    },
    {
      "epoch": 2.753870316356293,
      "grad_norm": 0.32471486926078796,
      "learning_rate": 8.775116023916008e-06,
      "loss": 0.0316,
      "step": 12274
    },
    {
      "epoch": 2.753870316356293,
      "gripper_loss": 0.1181640625,
      "loss": 0.0255126953125,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.08740234375,
      "step": 12274
    },
    {
      "epoch": 2.7540946825218757,
      "grad_norm": 0.4280359148979187,
      "learning_rate": 8.759218968679567e-06,
      "loss": 0.0515,
      "step": 12275
    },
    {
      "epoch": 2.7540946825218757,
      "gripper_loss": 0.00482177734375,
      "loss": 0.033203125,
      "pos_loss": 0.208984375,
      "rot_loss": 0.12353515625,
      "step": 12275
    },
    {
      "epoch": 2.754319048687458,
      "grad_norm": 0.34338945150375366,
      "learning_rate": 8.743336069343243e-06,
      "loss": 0.049,
      "step": 12276
    },
    {
      "epoch": 2.754319048687458,
      "gripper_loss": 0.3515625,
      "loss": 0.020263671875,
      "pos_loss": 0.0693359375,
      "rot_loss": 0.01220703125,
      "step": 12276
    },
    {
      "epoch": 2.75454341485304,
      "grad_norm": 0.40740689635276794,
      "learning_rate": 8.727467326839017e-06,
      "loss": 0.0569,
      "step": 12277
    },
    {
      "epoch": 2.75454341485304,
      "gripper_loss": 0.73828125,
      "loss": 0.041748046875,
      "pos_loss": 0.146484375,
      "rot_loss": 0.0267333984375,
      "step": 12277
    },
    {
      "epoch": 2.7547677810186224,
      "grad_norm": 0.7199227213859558,
      "learning_rate": 8.711612742098002e-06,
      "loss": 0.0483,
      "step": 12278
    },
    {
      "epoch": 2.7547677810186224,
      "gripper_loss": 0.038330078125,
      "loss": 0.06298828125,
      "pos_loss": 0.298828125,
      "rot_loss": 0.3046875,
      "step": 12278
    },
    {
      "epoch": 2.7549921471842045,
      "grad_norm": 0.28260454535484314,
      "learning_rate": 8.695772316050592e-06,
      "loss": 0.0542,
      "step": 12279
    },
    {
      "epoch": 2.7549921471842045,
      "gripper_loss": 0.0791015625,
      "loss": 0.0966796875,
      "pos_loss": 0.55078125,
      "rot_loss": 0.43359375,
      "step": 12279
    },
    {
      "epoch": 2.755216513349787,
      "grad_norm": 0.3397400677204132,
      "learning_rate": 8.679946049626297e-06,
      "loss": 0.0467,
      "step": 12280
    },
    {
      "epoch": 2.755216513349787,
      "gripper_loss": 0.0062255859375,
      "loss": 0.01507568359375,
      "pos_loss": 0.02294921875,
      "rot_loss": 0.1162109375,
      "step": 12280
    },
    {
      "epoch": 2.755440879515369,
      "grad_norm": 0.2825065851211548,
      "learning_rate": 8.664133943753816e-06,
      "loss": 0.039,
      "step": 12281
    },
    {
      "epoch": 2.755440879515369,
      "gripper_loss": 0.134765625,
      "loss": 0.0311279296875,
      "pos_loss": 0.0810546875,
      "rot_loss": 0.1826171875,
      "step": 12281
    },
    {
      "epoch": 2.755665245680951,
      "grad_norm": 0.2779993712902069,
      "learning_rate": 8.648335999360934e-06,
      "loss": 0.0384,
      "step": 12282
    },
    {
      "epoch": 2.755665245680951,
      "gripper_loss": 0.177734375,
      "loss": 0.0216064453125,
      "pos_loss": 0.13671875,
      "rot_loss": 0.0157470703125,
      "step": 12282
    },
    {
      "epoch": 2.7558896118465337,
      "grad_norm": 0.8129847645759583,
      "learning_rate": 8.63255221737469e-06,
      "loss": 0.048,
      "step": 12283
    },
    {
      "epoch": 2.7558896118465337,
      "gripper_loss": 0.0093994140625,
      "loss": 0.040771484375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.234375,
      "step": 12283
    },
    {
      "epoch": 2.7561139780121158,
      "grad_norm": 0.7252721786499023,
      "learning_rate": 8.616782598721313e-06,
      "loss": 0.0519,
      "step": 12284
    },
    {
      "epoch": 2.7561139780121158,
      "gripper_loss": 0.00677490234375,
      "loss": 0.024169921875,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.1435546875,
      "step": 12284
    },
    {
      "epoch": 2.756338344177698,
      "grad_norm": 0.24263408780097961,
      "learning_rate": 8.601027144326062e-06,
      "loss": 0.0384,
      "step": 12285
    },
    {
      "epoch": 2.756338344177698,
      "gripper_loss": 0.004150390625,
      "loss": 0.01043701171875,
      "pos_loss": 0.0673828125,
      "rot_loss": 0.0225830078125,
      "step": 12285
    },
    {
      "epoch": 2.7565627103432804,
      "grad_norm": 0.21720987558364868,
      "learning_rate": 8.585285855113589e-06,
      "loss": 0.0388,
      "step": 12286
    },
    {
      "epoch": 2.7565627103432804,
      "gripper_loss": 0.01318359375,
      "loss": 0.00970458984375,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.0255126953125,
      "step": 12286
    },
    {
      "epoch": 2.7567870765088625,
      "grad_norm": 0.27402350306510925,
      "learning_rate": 8.569558732007488e-06,
      "loss": 0.0278,
      "step": 12287
    },
    {
      "epoch": 2.7567870765088625,
      "gripper_loss": 0.0079345703125,
      "loss": 0.040771484375,
      "pos_loss": 0.380859375,
      "rot_loss": 0.031982421875,
      "step": 12287
    },
    {
      "epoch": 2.7570114426744445,
      "grad_norm": 0.35217440128326416,
      "learning_rate": 8.553845775930629e-06,
      "loss": 0.061,
      "step": 12288
    },
    {
      "epoch": 2.7570114426744445,
      "gripper_loss": 0.515625,
      "loss": 0.033447265625,
      "pos_loss": 0.15234375,
      "rot_loss": 0.0089111328125,
      "step": 12288
    },
    {
      "epoch": 2.757235808840027,
      "grad_norm": 0.4344978630542755,
      "learning_rate": 8.538146987805057e-06,
      "loss": 0.0464,
      "step": 12289
    },
    {
      "epoch": 2.757235808840027,
      "gripper_loss": 0.00262451171875,
      "loss": 0.0203857421875,
      "pos_loss": 0.1572265625,
      "rot_loss": 0.036865234375,
      "step": 12289
    },
    {
      "epoch": 2.757460175005609,
      "grad_norm": 0.20202568173408508,
      "learning_rate": 8.522462368552004e-06,
      "loss": 0.0321,
      "step": 12290
    },
    {
      "epoch": 2.757460175005609,
      "gripper_loss": 0.00848388671875,
      "loss": 0.042236328125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.09765625,
      "step": 12290
    },
    {
      "epoch": 2.7576845411711917,
      "grad_norm": 0.38023921847343445,
      "learning_rate": 8.506791919091788e-06,
      "loss": 0.0573,
      "step": 12291
    },
    {
      "epoch": 2.7576845411711917,
      "gripper_loss": 0.328125,
      "loss": 0.06591796875,
      "pos_loss": 0.546875,
      "rot_loss": 0.0225830078125,
      "step": 12291
    },
    {
      "epoch": 2.7579089073367737,
      "grad_norm": 0.3332659900188446,
      "learning_rate": 8.491135640343955e-06,
      "loss": 0.0386,
      "step": 12292
    },
    {
      "epoch": 2.7579089073367737,
      "gripper_loss": 0.287109375,
      "loss": 0.06884765625,
      "pos_loss": 0.259765625,
      "rot_loss": 0.328125,
      "step": 12292
    },
    {
      "epoch": 2.758133273502356,
      "grad_norm": 0.5545798540115356,
      "learning_rate": 8.475493533227213e-06,
      "loss": 0.0705,
      "step": 12293
    },
    {
      "epoch": 2.758133273502356,
      "gripper_loss": 0.921875,
      "loss": 0.055419921875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.006134033203125,
      "step": 12293
    },
    {
      "epoch": 2.7583576396679383,
      "grad_norm": 0.3302662670612335,
      "learning_rate": 8.459865598659466e-06,
      "loss": 0.0413,
      "step": 12294
    },
    {
      "epoch": 2.7583576396679383,
      "gripper_loss": 0.1083984375,
      "loss": 0.0859375,
      "pos_loss": 0.236328125,
      "rot_loss": 0.62109375,
      "step": 12294
    },
    {
      "epoch": 2.7585820058335204,
      "grad_norm": 0.4743139147758484,
      "learning_rate": 8.444251837557704e-06,
      "loss": 0.0482,
      "step": 12295
    },
    {
      "epoch": 2.7585820058335204,
      "gripper_loss": 0.00634765625,
      "loss": 0.08984375,
      "pos_loss": 0.71484375,
      "rot_loss": 0.224609375,
      "step": 12295
    },
    {
      "epoch": 2.7588063719991025,
      "grad_norm": 0.30279025435447693,
      "learning_rate": 8.428652250838165e-06,
      "loss": 0.0583,
      "step": 12296
    },
    {
      "epoch": 2.7588063719991025,
      "gripper_loss": 0.003753662109375,
      "loss": 0.04150390625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.10400390625,
      "step": 12296
    },
    {
      "epoch": 2.759030738164685,
      "grad_norm": 0.12454073131084442,
      "learning_rate": 8.4130668394162e-06,
      "loss": 0.0224,
      "step": 12297
    },
    {
      "epoch": 2.759030738164685,
      "gripper_loss": 0.09619140625,
      "loss": 0.0196533203125,
      "pos_loss": 0.08203125,
      "rot_loss": 0.07763671875,
      "step": 12297
    },
    {
      "epoch": 2.759255104330267,
      "grad_norm": 0.3399296998977661,
      "learning_rate": 8.397495604206384e-06,
      "loss": 0.0391,
      "step": 12298
    },
    {
      "epoch": 2.759255104330267,
      "gripper_loss": 0.1640625,
      "loss": 0.0291748046875,
      "pos_loss": 0.03662109375,
      "rot_loss": 0.19921875,
      "step": 12298
    },
    {
      "epoch": 2.759479470495849,
      "grad_norm": 0.3542386591434479,
      "learning_rate": 8.38193854612243e-06,
      "loss": 0.0334,
      "step": 12299
    },
    {
      "epoch": 2.759479470495849,
      "gripper_loss": 0.0966796875,
      "loss": 0.029052734375,
      "pos_loss": 0.208984375,
      "rot_loss": 0.0458984375,
      "step": 12299
    },
    {
      "epoch": 2.7597038366614317,
      "grad_norm": 0.25170814990997314,
      "learning_rate": 8.366395666077165e-06,
      "loss": 0.0359,
      "step": 12300
    },
    {
      "epoch": 2.7597038366614317,
      "gripper_loss": 0.0272216796875,
      "loss": 0.045654296875,
      "pos_loss": 0.357421875,
      "rot_loss": 0.1005859375,
      "step": 12300
    },
    {
      "epoch": 2.759928202827014,
      "grad_norm": 0.36414334177970886,
      "learning_rate": 8.35086696498269e-06,
      "loss": 0.0583,
      "step": 12301
    },
    {
      "epoch": 2.759928202827014,
      "gripper_loss": 0.2177734375,
      "loss": 0.01055908203125,
      "pos_loss": 0.01202392578125,
      "rot_loss": 0.01031494140625,
      "step": 12301
    },
    {
      "epoch": 2.760152568992596,
      "grad_norm": 0.31326183676719666,
      "learning_rate": 8.33535244375022e-06,
      "loss": 0.0445,
      "step": 12302
    },
    {
      "epoch": 2.760152568992596,
      "gripper_loss": 0.365234375,
      "loss": 0.03271484375,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.0137939453125,
      "step": 12302
    },
    {
      "epoch": 2.7603769351581784,
      "grad_norm": 0.5048373341560364,
      "learning_rate": 8.319852103290144e-06,
      "loss": 0.053,
      "step": 12303
    },
    {
      "epoch": 2.7603769351581784,
      "gripper_loss": 0.01409912109375,
      "loss": 0.044189453125,
      "pos_loss": 0.306640625,
      "rot_loss": 0.140625,
      "step": 12303
    },
    {
      "epoch": 2.7606013013237605,
      "grad_norm": 0.33500388264656067,
      "learning_rate": 8.304365944511976e-06,
      "loss": 0.0424,
      "step": 12304
    },
    {
      "epoch": 2.7606013013237605,
      "gripper_loss": 0.01324462890625,
      "loss": 0.044189453125,
      "pos_loss": 0.181640625,
      "rot_loss": 0.2578125,
      "step": 12304
    },
    {
      "epoch": 2.7608256674893425,
      "grad_norm": 0.2964816689491272,
      "learning_rate": 8.28889396832444e-06,
      "loss": 0.0363,
      "step": 12305
    },
    {
      "epoch": 2.7608256674893425,
      "gripper_loss": 0.103515625,
      "loss": 0.09619140625,
      "pos_loss": 0.7734375,
      "rot_loss": 0.201171875,
      "step": 12305
    },
    {
      "epoch": 2.761050033654925,
      "grad_norm": 0.5638839602470398,
      "learning_rate": 8.273436175635475e-06,
      "loss": 0.0516,
      "step": 12306
    },
    {
      "epoch": 2.761050033654925,
      "gripper_loss": 0.00836181640625,
      "loss": 0.07275390625,
      "pos_loss": 0.66015625,
      "rot_loss": 0.0947265625,
      "step": 12306
    },
    {
      "epoch": 2.761274399820507,
      "grad_norm": 0.42872098088264465,
      "learning_rate": 8.257992567352129e-06,
      "loss": 0.0376,
      "step": 12307
    },
    {
      "epoch": 2.761274399820507,
      "gripper_loss": 0.2275390625,
      "loss": 0.115234375,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.40625,
      "step": 12307
    },
    {
      "epoch": 2.7614987659860892,
      "grad_norm": 1.2190954685211182,
      "learning_rate": 8.24256314438057e-06,
      "loss": 0.1231,
      "step": 12308
    },
    {
      "epoch": 2.7614987659860892,
      "gripper_loss": 0.0036773681640625,
      "loss": 0.040283203125,
      "pos_loss": 0.388671875,
      "rot_loss": 0.01531982421875,
      "step": 12308
    },
    {
      "epoch": 2.7617231321516718,
      "grad_norm": 0.30029943585395813,
      "learning_rate": 8.22714790762627e-06,
      "loss": 0.031,
      "step": 12309
    },
    {
      "epoch": 2.7617231321516718,
      "gripper_loss": 0.005584716796875,
      "loss": 0.0174560546875,
      "pos_loss": 0.03515625,
      "rot_loss": 0.125,
      "step": 12309
    },
    {
      "epoch": 2.761947498317254,
      "grad_norm": 0.4775613844394684,
      "learning_rate": 8.211746857993724e-06,
      "loss": 0.0519,
      "step": 12310
    },
    {
      "epoch": 2.761947498317254,
      "gripper_loss": 0.1396484375,
      "loss": 0.035888671875,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.166015625,
      "step": 12310
    },
    {
      "epoch": 2.762171864482836,
      "grad_norm": 0.5851678252220154,
      "learning_rate": 8.196359996386682e-06,
      "loss": 0.0432,
      "step": 12311
    },
    {
      "epoch": 2.762171864482836,
      "gripper_loss": 0.00933837890625,
      "loss": 0.0218505859375,
      "pos_loss": 0.064453125,
      "rot_loss": 0.13671875,
      "step": 12311
    },
    {
      "epoch": 2.7623962306484184,
      "grad_norm": 0.3177473843097687,
      "learning_rate": 8.180987323708006e-06,
      "loss": 0.0423,
      "step": 12312
    },
    {
      "epoch": 2.7623962306484184,
      "gripper_loss": 0.00701904296875,
      "loss": 0.08740234375,
      "pos_loss": 0.439453125,
      "rot_loss": 0.462890625,
      "step": 12312
    },
    {
      "epoch": 2.7626205968140005,
      "grad_norm": 0.23699092864990234,
      "learning_rate": 8.165628840859807e-06,
      "loss": 0.0386,
      "step": 12313
    },
    {
      "epoch": 2.7626205968140005,
      "gripper_loss": 0.00872802734375,
      "loss": 0.0294189453125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.10791015625,
      "step": 12313
    },
    {
      "epoch": 2.7628449629795826,
      "grad_norm": 0.1909973919391632,
      "learning_rate": 8.150284548743282e-06,
      "loss": 0.0308,
      "step": 12314
    },
    {
      "epoch": 2.7628449629795826,
      "gripper_loss": 0.00439453125,
      "loss": 0.0230712890625,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.1494140625,
      "step": 12314
    },
    {
      "epoch": 2.763069329145165,
      "grad_norm": 0.2865360975265503,
      "learning_rate": 8.13495444825882e-06,
      "loss": 0.0317,
      "step": 12315
    },
    {
      "epoch": 2.763069329145165,
      "gripper_loss": 0.0194091796875,
      "loss": 0.0225830078125,
      "pos_loss": 0.057373046875,
      "rot_loss": 0.1279296875,
      "step": 12315
    },
    {
      "epoch": 2.763293695310747,
      "grad_norm": 0.5569750666618347,
      "learning_rate": 8.119638540306035e-06,
      "loss": 0.0582,
      "step": 12316
    },
    {
      "epoch": 2.763293695310747,
      "gripper_loss": 0.00994873046875,
      "loss": 0.055908203125,
      "pos_loss": 0.095703125,
      "rot_loss": 0.478515625,
      "step": 12316
    },
    {
      "epoch": 2.7635180614763293,
      "grad_norm": 0.2391081601381302,
      "learning_rate": 8.104336825783626e-06,
      "loss": 0.0398,
      "step": 12317
    },
    {
      "epoch": 2.7635180614763293,
      "gripper_loss": 0.0074462890625,
      "loss": 0.032958984375,
      "pos_loss": 0.055419921875,
      "rot_loss": 0.27734375,
      "step": 12317
    },
    {
      "epoch": 2.763742427641912,
      "grad_norm": 0.2853415608406067,
      "learning_rate": 8.089049305589457e-06,
      "loss": 0.0435,
      "step": 12318
    },
    {
      "epoch": 2.763742427641912,
      "gripper_loss": 0.0037384033203125,
      "loss": 0.095703125,
      "pos_loss": 0.765625,
      "rot_loss": 0.2333984375,
      "step": 12318
    },
    {
      "epoch": 2.763966793807494,
      "grad_norm": 0.7026581764221191,
      "learning_rate": 8.073775980620674e-06,
      "loss": 0.0692,
      "step": 12319
    },
    {
      "epoch": 2.763966793807494,
      "gripper_loss": 0.06298828125,
      "loss": 0.02392578125,
      "pos_loss": 0.1123046875,
      "rot_loss": 0.10205078125,
      "step": 12319
    },
    {
      "epoch": 2.764191159973076,
      "grad_norm": 0.4545961618423462,
      "learning_rate": 8.058516851773418e-06,
      "loss": 0.0466,
      "step": 12320
    },
    {
      "epoch": 2.764191159973076,
      "gripper_loss": 0.00555419921875,
      "loss": 0.06396484375,
      "pos_loss": 0.453125,
      "rot_loss": 0.20703125,
      "step": 12320
    },
    {
      "epoch": 2.7644155261386585,
      "grad_norm": 0.20789813995361328,
      "learning_rate": 8.043271919943169e-06,
      "loss": 0.0317,
      "step": 12321
    },
    {
      "epoch": 2.7644155261386585,
      "gripper_loss": 0.004852294921875,
      "loss": 0.00836181640625,
      "pos_loss": 0.038818359375,
      "rot_loss": 0.0284423828125,
      "step": 12321
    },
    {
      "epoch": 2.7646398923042406,
      "grad_norm": 0.3109000325202942,
      "learning_rate": 8.028041186024431e-06,
      "loss": 0.0511,
      "step": 12322
    },
    {
      "epoch": 2.7646398923042406,
      "gripper_loss": 0.007720947265625,
      "loss": 0.0654296875,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.4609375,
      "step": 12322
    },
    {
      "epoch": 2.7648642584698226,
      "grad_norm": 0.33394426107406616,
      "learning_rate": 8.012824650910938e-06,
      "loss": 0.0418,
      "step": 12323
    },
    {
      "epoch": 2.7648642584698226,
      "gripper_loss": 0.2470703125,
      "loss": 0.031494140625,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.033203125,
      "step": 12323
    },
    {
      "epoch": 2.765088624635405,
      "grad_norm": 0.37308886647224426,
      "learning_rate": 7.997622315495639e-06,
      "loss": 0.037,
      "step": 12324
    },
    {
      "epoch": 2.765088624635405,
      "gripper_loss": 0.0218505859375,
      "loss": 0.0106201171875,
      "pos_loss": 0.0103759765625,
      "rot_loss": 0.07568359375,
      "step": 12324
    },
    {
      "epoch": 2.7653129908009872,
      "grad_norm": 0.5273135304450989,
      "learning_rate": 7.982434180670572e-06,
      "loss": 0.0455,
      "step": 12325
    },
    {
      "epoch": 2.7653129908009872,
      "gripper_loss": 0.00616455078125,
      "loss": 0.028564453125,
      "pos_loss": 0.220703125,
      "rot_loss": 0.061767578125,
      "step": 12325
    },
    {
      "epoch": 2.7655373569665693,
      "grad_norm": 0.3252924084663391,
      "learning_rate": 7.96726024732694e-06,
      "loss": 0.0566,
      "step": 12326
    },
    {
      "epoch": 2.7655373569665693,
      "gripper_loss": 0.01275634765625,
      "loss": 0.019287109375,
      "pos_loss": 0.17578125,
      "rot_loss": 0.005157470703125,
      "step": 12326
    },
    {
      "epoch": 2.765761723132152,
      "grad_norm": 0.39170020818710327,
      "learning_rate": 7.9521005163552e-06,
      "loss": 0.0422,
      "step": 12327
    },
    {
      "epoch": 2.765761723132152,
      "gripper_loss": 0.515625,
      "loss": 0.087890625,
      "pos_loss": 0.50390625,
      "rot_loss": 0.2431640625,
      "step": 12327
    },
    {
      "epoch": 2.765986089297734,
      "grad_norm": 0.2692576050758362,
      "learning_rate": 7.936954988644857e-06,
      "loss": 0.0438,
      "step": 12328
    },
    {
      "epoch": 2.765986089297734,
      "gripper_loss": 0.0048828125,
      "loss": 0.038818359375,
      "pos_loss": 0.3359375,
      "rot_loss": 0.051513671875,
      "step": 12328
    },
    {
      "epoch": 2.766210455463316,
      "grad_norm": 0.3284111022949219,
      "learning_rate": 7.921823665084731e-06,
      "loss": 0.0402,
      "step": 12329
    },
    {
      "epoch": 2.766210455463316,
      "gripper_loss": 0.00408935546875,
      "loss": 0.0390625,
      "pos_loss": 0.220703125,
      "rot_loss": 0.1748046875,
      "step": 12329
    },
    {
      "epoch": 2.7664348216288985,
      "grad_norm": 0.2592991292476654,
      "learning_rate": 7.906706546562614e-06,
      "loss": 0.0328,
      "step": 12330
    },
    {
      "epoch": 2.7664348216288985,
      "gripper_loss": 0.341796875,
      "loss": 0.04345703125,
      "pos_loss": 0.06640625,
      "rot_loss": 0.06494140625,
      "step": 12330
    },
    {
      "epoch": 2.7666591877944806,
      "grad_norm": 0.7743193507194519,
      "learning_rate": 7.891603633965683e-06,
      "loss": 0.0966,
      "step": 12331
    },
    {
      "epoch": 2.7666591877944806,
      "gripper_loss": 0.3046875,
      "loss": 0.05615234375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.1640625,
      "step": 12331
    },
    {
      "epoch": 2.7668835539600627,
      "grad_norm": 0.3081717789173126,
      "learning_rate": 7.876514928180062e-06,
      "loss": 0.0375,
      "step": 12332
    },
    {
      "epoch": 2.7668835539600627,
      "gripper_loss": 0.353515625,
      "loss": 0.021484375,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.025390625,
      "step": 12332
    },
    {
      "epoch": 2.767107920125645,
      "grad_norm": 0.382599800825119,
      "learning_rate": 7.861440430091238e-06,
      "loss": 0.0428,
      "step": 12333
    },
    {
      "epoch": 2.767107920125645,
      "gripper_loss": 0.0050048828125,
      "loss": 0.018798828125,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.06787109375,
      "step": 12333
    },
    {
      "epoch": 2.7673322862912273,
      "grad_norm": 0.2324005514383316,
      "learning_rate": 7.846380140583698e-06,
      "loss": 0.0454,
      "step": 12334
    },
    {
      "epoch": 2.7673322862912273,
      "gripper_loss": 0.2119140625,
      "loss": 0.06396484375,
      "pos_loss": 0.373046875,
      "rot_loss": 0.21484375,
      "step": 12334
    },
    {
      "epoch": 2.7675566524568094,
      "grad_norm": 0.5678973197937012,
      "learning_rate": 7.831334060541235e-06,
      "loss": 0.0477,
      "step": 12335
    },
    {
      "epoch": 2.7675566524568094,
      "gripper_loss": 0.119140625,
      "loss": 0.0233154296875,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.05517578125,
      "step": 12335
    },
    {
      "epoch": 2.767781018622392,
      "grad_norm": 0.2154497653245926,
      "learning_rate": 7.816302190846696e-06,
      "loss": 0.0254,
      "step": 12336
    },
    {
      "epoch": 2.767781018622392,
      "gripper_loss": 0.0250244140625,
      "loss": 0.04248046875,
      "pos_loss": 0.32421875,
      "rot_loss": 0.09814453125,
      "step": 12336
    },
    {
      "epoch": 2.768005384787974,
      "grad_norm": 0.2457287609577179,
      "learning_rate": 7.801284532382214e-06,
      "loss": 0.043,
      "step": 12337
    },
    {
      "epoch": 2.768005384787974,
      "gripper_loss": 0.013427734375,
      "loss": 0.02001953125,
      "pos_loss": 0.054443359375,
      "rot_loss": 0.126953125,
      "step": 12337
    },
    {
      "epoch": 2.768229750953556,
      "grad_norm": 0.4219474196434021,
      "learning_rate": 7.78628108602894e-06,
      "loss": 0.0336,
      "step": 12338
    },
    {
      "epoch": 2.768229750953556,
      "gripper_loss": 0.0162353515625,
      "loss": 0.0291748046875,
      "pos_loss": 0.12109375,
      "rot_loss": 0.1318359375,
      "step": 12338
    },
    {
      "epoch": 2.7684541171191386,
      "grad_norm": 0.8979390859603882,
      "learning_rate": 7.771291852667312e-06,
      "loss": 0.0719,
      "step": 12339
    },
    {
      "epoch": 2.7684541171191386,
      "gripper_loss": 0.078125,
      "loss": 0.0091552734375,
      "pos_loss": 0.0157470703125,
      "rot_loss": 0.0380859375,
      "step": 12339
    },
    {
      "epoch": 2.7686784832847207,
      "grad_norm": 0.20923851430416107,
      "learning_rate": 7.756316833176902e-06,
      "loss": 0.0308,
      "step": 12340
    },
    {
      "epoch": 2.7686784832847207,
      "gripper_loss": 0.015625,
      "loss": 0.01953125,
      "pos_loss": 0.059326171875,
      "rot_loss": 0.12255859375,
      "step": 12340
    },
    {
      "epoch": 2.7689028494503027,
      "grad_norm": 0.23710885643959045,
      "learning_rate": 7.741356028436426e-06,
      "loss": 0.028,
      "step": 12341
    },
    {
      "epoch": 2.7689028494503027,
      "gripper_loss": 0.00830078125,
      "loss": 0.0184326171875,
      "pos_loss": 0.05029296875,
      "rot_loss": 0.123046875,
      "step": 12341
    },
    {
      "epoch": 2.7691272156158853,
      "grad_norm": 0.4822753667831421,
      "learning_rate": 7.726409439323761e-06,
      "loss": 0.0588,
      "step": 12342
    },
    {
      "epoch": 2.7691272156158853,
      "gripper_loss": 0.044921875,
      "loss": 0.0439453125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.1162109375,
      "step": 12342
    },
    {
      "epoch": 2.7693515817814673,
      "grad_norm": 0.3786972761154175,
      "learning_rate": 7.71147706671596e-06,
      "loss": 0.0551,
      "step": 12343
    },
    {
      "epoch": 2.7693515817814673,
      "gripper_loss": 0.015869140625,
      "loss": 0.019287109375,
      "pos_loss": 0.138671875,
      "rot_loss": 0.04248046875,
      "step": 12343
    },
    {
      "epoch": 2.7695759479470494,
      "grad_norm": 0.47479912638664246,
      "learning_rate": 7.696558911489294e-06,
      "loss": 0.0446,
      "step": 12344
    },
    {
      "epoch": 2.7695759479470494,
      "gripper_loss": 0.06591796875,
      "loss": 0.04638671875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.06591796875,
      "step": 12344
    },
    {
      "epoch": 2.769800314112632,
      "grad_norm": 0.5689875483512878,
      "learning_rate": 7.681654974519087e-06,
      "loss": 0.0386,
      "step": 12345
    },
    {
      "epoch": 2.769800314112632,
      "gripper_loss": 0.032470703125,
      "loss": 0.01336669921875,
      "pos_loss": 0.07568359375,
      "rot_loss": 0.034912109375,
      "step": 12345
    },
    {
      "epoch": 2.770024680278214,
      "grad_norm": 0.1405966579914093,
      "learning_rate": 7.666765256679975e-06,
      "loss": 0.0222,
      "step": 12346
    },
    {
      "epoch": 2.770024680278214,
      "gripper_loss": 0.1708984375,
      "loss": 0.011474609375,
      "pos_loss": 0.040771484375,
      "rot_loss": 0.0045166015625,
      "step": 12346
    },
    {
      "epoch": 2.770249046443796,
      "grad_norm": 0.283351331949234,
      "learning_rate": 7.65188975884562e-06,
      "loss": 0.0421,
      "step": 12347
    },
    {
      "epoch": 2.770249046443796,
      "gripper_loss": 0.3125,
      "loss": 0.0296630859375,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.03466796875,
      "step": 12347
    },
    {
      "epoch": 2.7704734126093786,
      "grad_norm": 0.19445505738258362,
      "learning_rate": 7.637028481888909e-06,
      "loss": 0.027,
      "step": 12348
    },
    {
      "epoch": 2.7704734126093786,
      "gripper_loss": 0.0189208984375,
      "loss": 0.056396484375,
      "pos_loss": 0.443359375,
      "rot_loss": 0.1220703125,
      "step": 12348
    },
    {
      "epoch": 2.7706977787749607,
      "grad_norm": 0.3846009373664856,
      "learning_rate": 7.622181426681918e-06,
      "loss": 0.0656,
      "step": 12349
    },
    {
      "epoch": 2.7706977787749607,
      "gripper_loss": 0.20703125,
      "loss": 0.1025390625,
      "pos_loss": 0.380859375,
      "rot_loss": 0.25390625,
      "step": 12349
    },
    {
      "epoch": 2.770922144940543,
      "grad_norm": 0.9895837306976318,
      "learning_rate": 7.6073485940958976e-06,
      "loss": 0.1754,
      "step": 12350
    },
    {
      "epoch": 2.770922144940543,
      "gripper_loss": 0.72265625,
      "loss": 0.03369140625,
      "pos_loss": 0.0390625,
      "rot_loss": 0.0615234375,
      "step": 12350
    },
    {
      "epoch": 2.7711465111061253,
      "grad_norm": 0.30001944303512573,
      "learning_rate": 7.592529985001151e-06,
      "loss": 0.0295,
      "step": 12351
    },
    {
      "epoch": 2.7711465111061253,
      "gripper_loss": 0.004302978515625,
      "loss": 0.0849609375,
      "pos_loss": 0.8203125,
      "rot_loss": 0.061279296875,
      "step": 12351
    },
    {
      "epoch": 2.7713708772717074,
      "grad_norm": 0.24912506341934204,
      "learning_rate": 7.577725600267288e-06,
      "loss": 0.0457,
      "step": 12352
    },
    {
      "epoch": 2.7713708772717074,
      "gripper_loss": 0.00482177734375,
      "loss": 0.06298828125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.1025390625,
      "step": 12352
    },
    {
      "epoch": 2.7715952434372895,
      "grad_norm": 0.30965226888656616,
      "learning_rate": 7.562935440762975e-06,
      "loss": 0.0565,
      "step": 12353
    },
    {
      "epoch": 2.7715952434372895,
      "gripper_loss": 0.005828857421875,
      "loss": 0.095703125,
      "pos_loss": 0.392578125,
      "rot_loss": 0.6015625,
      "step": 12353
    },
    {
      "epoch": 2.771819609602872,
      "grad_norm": 0.46291500329971313,
      "learning_rate": 7.548159507356184e-06,
      "loss": 0.0497,
      "step": 12354
    },
    {
      "epoch": 2.771819609602872,
      "gripper_loss": 0.004425048828125,
      "loss": 0.03369140625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.125,
      "step": 12354
    },
    {
      "epoch": 2.772043975768454,
      "grad_norm": 0.4909764528274536,
      "learning_rate": 7.533397800913861e-06,
      "loss": 0.0397,
      "step": 12355
    },
    {
      "epoch": 2.772043975768454,
      "gripper_loss": 0.013427734375,
      "loss": 0.004241943359375,
      "pos_loss": 0.00823974609375,
      "rot_loss": 0.01446533203125,
      "step": 12355
    },
    {
      "epoch": 2.772268341934036,
      "grad_norm": 0.23565565049648285,
      "learning_rate": 7.518650322302284e-06,
      "loss": 0.0394,
      "step": 12356
    },
    {
      "epoch": 2.772268341934036,
      "gripper_loss": 0.380859375,
      "loss": 0.208984375,
      "pos_loss": 0.578125,
      "rot_loss": 0.46875,
      "step": 12356
    },
    {
      "epoch": 2.7724927080996187,
      "grad_norm": 1.310745358467102,
      "learning_rate": 7.503917072386762e-06,
      "loss": 0.2024,
      "step": 12357
    },
    {
      "epoch": 2.7724927080996187,
      "gripper_loss": 0.009033203125,
      "loss": 0.042236328125,
      "pos_loss": 0.1923828125,
      "rot_loss": 0.2177734375,
      "step": 12357
    },
    {
      "epoch": 2.7727170742652008,
      "grad_norm": 0.31253838539123535,
      "learning_rate": 7.489198052031882e-06,
      "loss": 0.0488,
      "step": 12358
    },
    {
      "epoch": 2.7727170742652008,
      "gripper_loss": 0.0189208984375,
      "loss": 0.024169921875,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.1552734375,
      "step": 12358
    },
    {
      "epoch": 2.772941440430783,
      "grad_norm": 0.307036817073822,
      "learning_rate": 7.4744932621013675e-06,
      "loss": 0.0375,
      "step": 12359
    },
    {
      "epoch": 2.772941440430783,
      "gripper_loss": 0.1455078125,
      "loss": 0.025146484375,
      "pos_loss": 0.130859375,
      "rot_loss": 0.06396484375,
      "step": 12359
    },
    {
      "epoch": 2.7731658065963654,
      "grad_norm": 0.5260210037231445,
      "learning_rate": 7.45980270345803e-06,
      "loss": 0.0434,
      "step": 12360
    },
    {
      "epoch": 2.7731658065963654,
      "gripper_loss": 0.28515625,
      "loss": 0.0184326171875,
      "pos_loss": 0.050537109375,
      "rot_loss": 0.03173828125,
      "step": 12360
    },
    {
      "epoch": 2.7733901727619474,
      "grad_norm": 0.26130974292755127,
      "learning_rate": 7.445126376963929e-06,
      "loss": 0.0394,
      "step": 12361
    },
    {
      "epoch": 2.7733901727619474,
      "gripper_loss": 0.6484375,
      "loss": 0.04296875,
      "pos_loss": 0.166015625,
      "rot_loss": 0.05615234375,
      "step": 12361
    },
    {
      "epoch": 2.7736145389275295,
      "grad_norm": 0.3634014427661896,
      "learning_rate": 7.430464283480293e-06,
      "loss": 0.0573,
      "step": 12362
    },
    {
      "epoch": 2.7736145389275295,
      "gripper_loss": 0.052734375,
      "loss": 0.056640625,
      "pos_loss": 0.4921875,
      "rot_loss": 0.07080078125,
      "step": 12362
    },
    {
      "epoch": 2.773838905093112,
      "grad_norm": 0.3607426881790161,
      "learning_rate": 7.415816423867461e-06,
      "loss": 0.0469,
      "step": 12363
    },
    {
      "epoch": 2.773838905093112,
      "gripper_loss": 0.0126953125,
      "loss": 0.045166015625,
      "pos_loss": 0.43359375,
      "rot_loss": 0.02490234375,
      "step": 12363
    },
    {
      "epoch": 2.774063271258694,
      "grad_norm": 0.37458333373069763,
      "learning_rate": 7.401182798984968e-06,
      "loss": 0.0275,
      "step": 12364
    },
    {
      "epoch": 2.774063271258694,
      "gripper_loss": 0.01214599609375,
      "loss": 0.01953125,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.087890625,
      "step": 12364
    },
    {
      "epoch": 2.774287637424276,
      "grad_norm": 0.3938291370868683,
      "learning_rate": 7.386563409691488e-06,
      "loss": 0.0444,
      "step": 12365
    },
    {
      "epoch": 2.774287637424276,
      "gripper_loss": 0.01129150390625,
      "loss": 0.04736328125,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.2734375,
      "step": 12365
    },
    {
      "epoch": 2.7745120035898587,
      "grad_norm": 0.570528507232666,
      "learning_rate": 7.371958256844946e-06,
      "loss": 0.0536,
      "step": 12366
    },
    {
      "epoch": 2.7745120035898587,
      "gripper_loss": 0.1064453125,
      "loss": 0.01708984375,
      "pos_loss": 0.03369140625,
      "rot_loss": 0.0986328125,
      "step": 12366
    },
    {
      "epoch": 2.774736369755441,
      "grad_norm": 0.2538188695907593,
      "learning_rate": 7.357367341302296e-06,
      "loss": 0.0486,
      "step": 12367
    },
    {
      "epoch": 2.774736369755441,
      "gripper_loss": 0.216796875,
      "loss": 0.0830078125,
      "pos_loss": 0.78125,
      "rot_loss": 0.0118408203125,
      "step": 12367
    },
    {
      "epoch": 2.774960735921023,
      "grad_norm": 0.3558066189289093,
      "learning_rate": 7.3427906639197684e-06,
      "loss": 0.0311,
      "step": 12368
    },
    {
      "epoch": 2.774960735921023,
      "gripper_loss": 0.60546875,
      "loss": 0.103515625,
      "pos_loss": 0.7734375,
      "rot_loss": 0.109375,
      "step": 12368
    },
    {
      "epoch": 2.7751851020866054,
      "grad_norm": 0.291913241147995,
      "learning_rate": 7.328228225552652e-06,
      "loss": 0.0426,
      "step": 12369
    },
    {
      "epoch": 2.7751851020866054,
      "gripper_loss": 0.158203125,
      "loss": 0.036865234375,
      "pos_loss": 0.296875,
      "rot_loss": 0.0223388671875,
      "step": 12369
    },
    {
      "epoch": 2.7754094682521875,
      "grad_norm": 0.18969298899173737,
      "learning_rate": 7.313680027055541e-06,
      "loss": 0.0231,
      "step": 12370
    },
    {
      "epoch": 2.7754094682521875,
      "gripper_loss": 0.1708984375,
      "loss": 0.0262451171875,
      "pos_loss": 0.173828125,
      "rot_loss": 0.02734375,
      "step": 12370
    },
    {
      "epoch": 2.7756338344177696,
      "grad_norm": 0.37031126022338867,
      "learning_rate": 7.299146069282087e-06,
      "loss": 0.0399,
      "step": 12371
    },
    {
      "epoch": 2.7756338344177696,
      "gripper_loss": 0.008056640625,
      "loss": 0.057861328125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.07421875,
      "step": 12371
    },
    {
      "epoch": 2.775858200583352,
      "grad_norm": 0.3014046251773834,
      "learning_rate": 7.2846263530851335e-06,
      "loss": 0.0569,
      "step": 12372
    },
    {
      "epoch": 2.775858200583352,
      "gripper_loss": 0.0576171875,
      "loss": 0.056640625,
      "pos_loss": 0.451171875,
      "rot_loss": 0.09326171875,
      "step": 12372
    },
    {
      "epoch": 2.776082566748934,
      "grad_norm": 0.41255873441696167,
      "learning_rate": 7.270120879316666e-06,
      "loss": 0.0503,
      "step": 12373
    },
    {
      "epoch": 2.776082566748934,
      "gripper_loss": 0.0107421875,
      "loss": 0.053955078125,
      "pos_loss": 0.39453125,
      "rot_loss": 0.1552734375,
      "step": 12373
    },
    {
      "epoch": 2.7763069329145162,
      "grad_norm": 0.3407164216041565,
      "learning_rate": 7.255629648827922e-06,
      "loss": 0.0514,
      "step": 12374
    },
    {
      "epoch": 2.7763069329145162,
      "gripper_loss": 0.00506591796875,
      "loss": 0.01556396484375,
      "pos_loss": 0.115234375,
      "rot_loss": 0.0308837890625,
      "step": 12374
    },
    {
      "epoch": 2.7765312990800988,
      "grad_norm": 0.18320858478546143,
      "learning_rate": 7.241152662469164e-06,
      "loss": 0.0325,
      "step": 12375
    },
    {
      "epoch": 2.7765312990800988,
      "gripper_loss": 0.07763671875,
      "loss": 0.052734375,
      "pos_loss": 0.275390625,
      "rot_loss": 0.1728515625,
      "step": 12375
    },
    {
      "epoch": 2.776755665245681,
      "grad_norm": 0.5481569766998291,
      "learning_rate": 7.2266899210899904e-06,
      "loss": 0.0714,
      "step": 12376
    },
    {
      "epoch": 2.776755665245681,
      "gripper_loss": 0.006195068359375,
      "loss": 0.00933837890625,
      "pos_loss": 0.0458984375,
      "rot_loss": 0.0283203125,
      "step": 12376
    },
    {
      "epoch": 2.776980031411263,
      "grad_norm": 0.1968100219964981,
      "learning_rate": 7.212241425538974e-06,
      "loss": 0.0258,
      "step": 12377
    },
    {
      "epoch": 2.776980031411263,
      "gripper_loss": 0.03564453125,
      "loss": 0.046142578125,
      "pos_loss": 0.28515625,
      "rot_loss": 0.166015625,
      "step": 12377
    },
    {
      "epoch": 2.7772043975768455,
      "grad_norm": 0.19352488219738007,
      "learning_rate": 7.197807176664018e-06,
      "loss": 0.0373,
      "step": 12378
    },
    {
      "epoch": 2.7772043975768455,
      "gripper_loss": 0.00543212890625,
      "loss": 0.0673828125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.326171875,
      "step": 12378
    },
    {
      "epoch": 2.7774287637424275,
      "grad_norm": 0.4321945607662201,
      "learning_rate": 7.183387175312056e-06,
      "loss": 0.0381,
      "step": 12379
    },
    {
      "epoch": 2.7774287637424275,
      "gripper_loss": 0.005157470703125,
      "loss": 0.0849609375,
      "pos_loss": 0.4765625,
      "rot_loss": 0.40234375,
      "step": 12379
    },
    {
      "epoch": 2.7776531299080096,
      "grad_norm": 0.5662487149238586,
      "learning_rate": 7.168981422329302e-06,
      "loss": 0.0371,
      "step": 12380
    },
    {
      "epoch": 2.7776531299080096,
      "gripper_loss": 0.004486083984375,
      "loss": 0.095703125,
      "pos_loss": 0.76171875,
      "rot_loss": 0.23828125,
      "step": 12380
    },
    {
      "epoch": 2.777877496073592,
      "grad_norm": 0.48246684670448303,
      "learning_rate": 7.154589918561022e-06,
      "loss": 0.0463,
      "step": 12381
    },
    {
      "epoch": 2.777877496073592,
      "gripper_loss": 0.00958251953125,
      "loss": 0.01373291015625,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.036865234375,
      "step": 12381
    },
    {
      "epoch": 2.778101862239174,
      "grad_norm": 0.20922227203845978,
      "learning_rate": 7.1402126648517366e-06,
      "loss": 0.0428,
      "step": 12382
    },
    {
      "epoch": 2.778101862239174,
      "gripper_loss": 0.08154296875,
      "loss": 0.044677734375,
      "pos_loss": 0.36328125,
      "rot_loss": 0.06396484375,
      "step": 12382
    },
    {
      "epoch": 2.7783262284047563,
      "grad_norm": 0.19203251600265503,
      "learning_rate": 7.125849662045103e-06,
      "loss": 0.027,
      "step": 12383
    },
    {
      "epoch": 2.7783262284047563,
      "gripper_loss": 0.234375,
      "loss": 0.015869140625,
      "pos_loss": 0.033935546875,
      "rot_loss": 0.035888671875,
      "step": 12383
    },
    {
      "epoch": 2.778550594570339,
      "grad_norm": 0.2757822275161743,
      "learning_rate": 7.111500910983948e-06,
      "loss": 0.0297,
      "step": 12384
    },
    {
      "epoch": 2.778550594570339,
      "gripper_loss": 0.044677734375,
      "loss": 0.037841796875,
      "pos_loss": 0.27734375,
      "rot_loss": 0.0791015625,
      "step": 12384
    },
    {
      "epoch": 2.778774960735921,
      "grad_norm": 0.29716232419013977,
      "learning_rate": 7.097166412510181e-06,
      "loss": 0.046,
      "step": 12385
    },
    {
      "epoch": 2.778774960735921,
      "gripper_loss": 0.006744384765625,
      "loss": 0.032958984375,
      "pos_loss": 0.216796875,
      "rot_loss": 0.107421875,
      "step": 12385
    },
    {
      "epoch": 2.7789993269015034,
      "grad_norm": 0.20743833482265472,
      "learning_rate": 7.082846167465018e-06,
      "loss": 0.0277,
      "step": 12386
    },
    {
      "epoch": 2.7789993269015034,
      "gripper_loss": 0.0185546875,
      "loss": 0.026611328125,
      "pos_loss": 0.048828125,
      "rot_loss": 0.2099609375,
      "step": 12386
    },
    {
      "epoch": 2.7792236930670855,
      "grad_norm": 0.6108635067939758,
      "learning_rate": 7.068540176688731e-06,
      "loss": 0.0393,
      "step": 12387
    },
    {
      "epoch": 2.7792236930670855,
      "gripper_loss": 0.18359375,
      "loss": 0.02392578125,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.0167236328125,
      "step": 12387
    },
    {
      "epoch": 2.7794480592326676,
      "grad_norm": 0.4116351306438446,
      "learning_rate": 7.054248441020789e-06,
      "loss": 0.0598,
      "step": 12388
    },
    {
      "epoch": 2.7794480592326676,
      "gripper_loss": 1.0234375,
      "loss": 0.0458984375,
      "pos_loss": 0.072265625,
      "rot_loss": 0.060791015625,
      "step": 12388
    },
    {
      "epoch": 2.77967242539825,
      "grad_norm": 0.27876487374305725,
      "learning_rate": 7.039970961299852e-06,
      "loss": 0.0362,
      "step": 12389
    },
    {
      "epoch": 2.77967242539825,
      "gripper_loss": 0.1220703125,
      "loss": 0.0634765625,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.490234375,
      "step": 12389
    },
    {
      "epoch": 2.779896791563832,
      "grad_norm": 0.25435006618499756,
      "learning_rate": 7.025707738363696e-06,
      "loss": 0.0364,
      "step": 12390
    },
    {
      "epoch": 2.779896791563832,
      "gripper_loss": 0.00531005859375,
      "loss": 0.06298828125,
      "pos_loss": 0.578125,
      "rot_loss": 0.0693359375,
      "step": 12390
    },
    {
      "epoch": 2.7801211577294143,
      "grad_norm": 0.39996322989463806,
      "learning_rate": 7.01145877304929e-06,
      "loss": 0.0673,
      "step": 12391
    },
    {
      "epoch": 2.7801211577294143,
      "gripper_loss": 0.10595703125,
      "loss": 0.018798828125,
      "pos_loss": 0.07080078125,
      "rot_loss": 0.07275390625,
      "step": 12391
    },
    {
      "epoch": 2.780345523894997,
      "grad_norm": 0.1682123988866806,
      "learning_rate": 6.997224066192715e-06,
      "loss": 0.0279,
      "step": 12392
    },
    {
      "epoch": 2.780345523894997,
      "gripper_loss": 0.267578125,
      "loss": 0.0306396484375,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.095703125,
      "step": 12392
    },
    {
      "epoch": 2.780569890060579,
      "grad_norm": 0.4883081614971161,
      "learning_rate": 6.98300361862933e-06,
      "loss": 0.0539,
      "step": 12393
    },
    {
      "epoch": 2.780569890060579,
      "gripper_loss": 0.0037994384765625,
      "loss": 0.051513671875,
      "pos_loss": 0.51171875,
      "rot_loss": 0.015380859375,
      "step": 12393
    },
    {
      "epoch": 2.780794256226161,
      "grad_norm": 0.2187979817390442,
      "learning_rate": 6.968797431193497e-06,
      "loss": 0.0392,
      "step": 12394
    },
    {
      "epoch": 2.780794256226161,
      "gripper_loss": 0.00159454345703125,
      "loss": 0.029052734375,
      "pos_loss": 0.16015625,
      "rot_loss": 0.12890625,
      "step": 12394
    },
    {
      "epoch": 2.7810186223917435,
      "grad_norm": 0.40292495489120483,
      "learning_rate": 6.954605504718908e-06,
      "loss": 0.0568,
      "step": 12395
    },
    {
      "epoch": 2.7810186223917435,
      "gripper_loss": 0.0142822265625,
      "loss": 0.08251953125,
      "pos_loss": 0.70703125,
      "rot_loss": 0.1435546875,
      "step": 12395
    },
    {
      "epoch": 2.7812429885573255,
      "grad_norm": 0.32232266664505005,
      "learning_rate": 6.940427840038288e-06,
      "loss": 0.0621,
      "step": 12396
    },
    {
      "epoch": 2.7812429885573255,
      "gripper_loss": 0.123046875,
      "loss": 0.0693359375,
      "pos_loss": 0.2119140625,
      "rot_loss": 0.32421875,
      "step": 12396
    },
    {
      "epoch": 2.7814673547229076,
      "grad_norm": 0.7205665111541748,
      "learning_rate": 6.926264437983609e-06,
      "loss": 0.0663,
      "step": 12397
    },
    {
      "epoch": 2.7814673547229076,
      "gripper_loss": 0.00469970703125,
      "loss": 0.095703125,
      "pos_loss": 0.640625,
      "rot_loss": 0.353515625,
      "step": 12397
    },
    {
      "epoch": 2.78169172088849,
      "grad_norm": 0.3740828037261963,
      "learning_rate": 6.912115299385929e-06,
      "loss": 0.0472,
      "step": 12398
    },
    {
      "epoch": 2.78169172088849,
      "gripper_loss": 0.009033203125,
      "loss": 0.025390625,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.0751953125,
      "step": 12398
    },
    {
      "epoch": 2.7819160870540722,
      "grad_norm": 0.23196513950824738,
      "learning_rate": 6.8979804250755565e-06,
      "loss": 0.0392,
      "step": 12399
    },
    {
      "epoch": 2.7819160870540722,
      "gripper_loss": 2.71875,
      "loss": 0.095703125,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.01251220703125,
      "step": 12399
    },
    {
      "epoch": 2.7821404532196548,
      "grad_norm": 0.32801422476768494,
      "learning_rate": 6.88385981588191e-06,
      "loss": 0.0451,
      "step": 12400
    },
    {
      "epoch": 2.7821404532196548,
      "gripper_loss": 0.021240234375,
      "loss": 0.037109375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.04052734375,
      "step": 12400
    },
    {
      "epoch": 2.782364819385237,
      "grad_norm": 0.4152541160583496,
      "learning_rate": 6.869753472633606e-06,
      "loss": 0.0442,
      "step": 12401
    },
    {
      "epoch": 2.782364819385237,
      "gripper_loss": 0.005279541015625,
      "loss": 0.03076171875,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.099609375,
      "step": 12401
    },
    {
      "epoch": 2.782589185550819,
      "grad_norm": 0.23219545185565948,
      "learning_rate": 6.8556613961583134e-06,
      "loss": 0.0473,
      "step": 12402
    },
    {
      "epoch": 2.782589185550819,
      "gripper_loss": 0.0106201171875,
      "loss": 0.06298828125,
      "pos_loss": 0.412109375,
      "rot_loss": 0.2353515625,
      "step": 12402
    },
    {
      "epoch": 2.7828135517164014,
      "grad_norm": 0.4370560050010681,
      "learning_rate": 6.84158358728304e-06,
      "loss": 0.0521,
      "step": 12403
    },
    {
      "epoch": 2.7828135517164014,
      "gripper_loss": 0.380859375,
      "loss": 0.020263671875,
      "pos_loss": 0.042724609375,
      "rot_loss": 0.0306396484375,
      "step": 12403
    },
    {
      "epoch": 2.7830379178819835,
      "grad_norm": 0.33890822529792786,
      "learning_rate": 6.827520046833819e-06,
      "loss": 0.0448,
      "step": 12404
    },
    {
      "epoch": 2.7830379178819835,
      "gripper_loss": 0.00811767578125,
      "loss": 0.0274658203125,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.0322265625,
      "step": 12404
    },
    {
      "epoch": 2.7832622840475656,
      "grad_norm": 0.2633695900440216,
      "learning_rate": 6.8134707756359045e-06,
      "loss": 0.0294,
      "step": 12405
    },
    {
      "epoch": 2.7832622840475656,
      "gripper_loss": 0.00543212890625,
      "loss": 0.027587890625,
      "pos_loss": 0.20703125,
      "rot_loss": 0.0654296875,
      "step": 12405
    },
    {
      "epoch": 2.783486650213148,
      "grad_norm": 0.15903666615486145,
      "learning_rate": 6.799435774513696e-06,
      "loss": 0.0263,
      "step": 12406
    },
    {
      "epoch": 2.783486650213148,
      "gripper_loss": 0.0126953125,
      "loss": 0.10498046875,
      "pos_loss": 0.95703125,
      "rot_loss": 0.130859375,
      "step": 12406
    },
    {
      "epoch": 2.78371101637873,
      "grad_norm": 0.28417977690696716,
      "learning_rate": 6.7854150442907545e-06,
      "loss": 0.0426,
      "step": 12407
    },
    {
      "epoch": 2.78371101637873,
      "gripper_loss": 0.5859375,
      "loss": 0.060791015625,
      "pos_loss": 0.318359375,
      "rot_loss": 0.10888671875,
      "step": 12407
    },
    {
      "epoch": 2.7839353825443123,
      "grad_norm": 0.3434402048587799,
      "learning_rate": 6.77140858578984e-06,
      "loss": 0.0541,
      "step": 12408
    },
    {
      "epoch": 2.7839353825443123,
      "gripper_loss": 0.890625,
      "loss": 0.03076171875,
      "pos_loss": 0.006011962890625,
      "rot_loss": 0.00439453125,
      "step": 12408
    },
    {
      "epoch": 2.784159748709895,
      "grad_norm": 0.2875693142414093,
      "learning_rate": 6.757416399832794e-06,
      "loss": 0.0375,
      "step": 12409
    },
    {
      "epoch": 2.784159748709895,
      "gripper_loss": 0.1728515625,
      "loss": 0.04345703125,
      "pos_loss": 0.1484375,
      "rot_loss": 0.23828125,
      "step": 12409
    },
    {
      "epoch": 2.784384114875477,
      "grad_norm": 0.8855632543563843,
      "learning_rate": 6.743438487240739e-06,
      "loss": 0.0536,
      "step": 12410
    },
    {
      "epoch": 2.784384114875477,
      "gripper_loss": 0.00811767578125,
      "loss": 0.0169677734375,
      "pos_loss": 0.039306640625,
      "rot_loss": 0.11962890625,
      "step": 12410
    },
    {
      "epoch": 2.784608481041059,
      "grad_norm": 0.2514813244342804,
      "learning_rate": 6.729474848833822e-06,
      "loss": 0.0398,
      "step": 12411
    },
    {
      "epoch": 2.784608481041059,
      "gripper_loss": 0.00921630859375,
      "loss": 0.0213623046875,
      "pos_loss": 0.09423828125,
      "rot_loss": 0.1142578125,
      "step": 12411
    },
    {
      "epoch": 2.7848328472066415,
      "grad_norm": 0.22315092384815216,
      "learning_rate": 6.715525485431473e-06,
      "loss": 0.0301,
      "step": 12412
    },
    {
      "epoch": 2.7848328472066415,
      "gripper_loss": 0.014892578125,
      "loss": 0.0517578125,
      "pos_loss": 0.3125,
      "rot_loss": 0.20703125,
      "step": 12412
    },
    {
      "epoch": 2.7850572133722236,
      "grad_norm": 0.34075644612312317,
      "learning_rate": 6.7015903978522305e-06,
      "loss": 0.0586,
      "step": 12413
    },
    {
      "epoch": 2.7850572133722236,
      "gripper_loss": 0.0038604736328125,
      "loss": 0.06884765625,
      "pos_loss": 0.40625,
      "rot_loss": 0.3046875,
      "step": 12413
    },
    {
      "epoch": 2.7852815795378056,
      "grad_norm": 0.31254851818084717,
      "learning_rate": 6.687669586913775e-06,
      "loss": 0.0496,
      "step": 12414
    },
    {
      "epoch": 2.7852815795378056,
      "gripper_loss": 0.58203125,
      "loss": 0.031982421875,
      "pos_loss": 0.11328125,
      "rot_loss": 0.00982666015625,
      "step": 12414
    },
    {
      "epoch": 2.785505945703388,
      "grad_norm": 0.2427491396665573,
      "learning_rate": 6.6737630534330076e-06,
      "loss": 0.0299,
      "step": 12415
    },
    {
      "epoch": 2.785505945703388,
      "gripper_loss": 0.0084228515625,
      "loss": 0.04638671875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.09130859375,
      "step": 12415
    },
    {
      "epoch": 2.7857303118689702,
      "grad_norm": 0.21503497660160065,
      "learning_rate": 6.659870798225914e-06,
      "loss": 0.0369,
      "step": 12416
    },
    {
      "epoch": 2.7857303118689702,
      "gripper_loss": 0.00726318359375,
      "loss": 0.037109375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.0284423828125,
      "step": 12416
    },
    {
      "epoch": 2.7859546780345523,
      "grad_norm": 0.24100874364376068,
      "learning_rate": 6.6459928221077045e-06,
      "loss": 0.0296,
      "step": 12417
    },
    {
      "epoch": 2.7859546780345523,
      "gripper_loss": 0.1708984375,
      "loss": 0.025390625,
      "pos_loss": 0.07421875,
      "rot_loss": 0.1171875,
      "step": 12417
    },
    {
      "epoch": 2.786179044200135,
      "grad_norm": 0.2691459357738495,
      "learning_rate": 6.632129125892727e-06,
      "loss": 0.0493,
      "step": 12418
    },
    {
      "epoch": 2.786179044200135,
      "gripper_loss": 0.005584716796875,
      "loss": 0.03271484375,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.1142578125,
      "step": 12418
    },
    {
      "epoch": 2.786403410365717,
      "grad_norm": 0.18555951118469238,
      "learning_rate": 6.618279710394526e-06,
      "loss": 0.0319,
      "step": 12419
    },
    {
      "epoch": 2.786403410365717,
      "gripper_loss": 0.01495361328125,
      "loss": 0.025146484375,
      "pos_loss": 0.2138671875,
      "rot_loss": 0.0289306640625,
      "step": 12419
    },
    {
      "epoch": 2.786627776531299,
      "grad_norm": 0.24597707390785217,
      "learning_rate": 6.604444576425756e-06,
      "loss": 0.0258,
      "step": 12420
    },
    {
      "epoch": 2.786627776531299,
      "gripper_loss": 0.0032196044921875,
      "loss": 0.0810546875,
      "pos_loss": 0.71484375,
      "rot_loss": 0.12060546875,
      "step": 12420
    },
    {
      "epoch": 2.7868521426968815,
      "grad_norm": 0.2530577778816223,
      "learning_rate": 6.590623724798239e-06,
      "loss": 0.0351,
      "step": 12421
    },
    {
      "epoch": 2.7868521426968815,
      "gripper_loss": 0.00506591796875,
      "loss": 0.03759765625,
      "pos_loss": 0.330078125,
      "rot_loss": 0.045166015625,
      "step": 12421
    },
    {
      "epoch": 2.7870765088624636,
      "grad_norm": 0.27614185214042664,
      "learning_rate": 6.576817156322995e-06,
      "loss": 0.0391,
      "step": 12422
    },
    {
      "epoch": 2.7870765088624636,
      "gripper_loss": 0.047607421875,
      "loss": 0.0654296875,
      "pos_loss": 0.54296875,
      "rot_loss": 0.10986328125,
      "step": 12422
    },
    {
      "epoch": 2.7873008750280457,
      "grad_norm": 0.2867443561553955,
      "learning_rate": 6.563024871810236e-06,
      "loss": 0.042,
      "step": 12423
    },
    {
      "epoch": 2.7873008750280457,
      "gripper_loss": 0.0260009765625,
      "loss": 0.043701171875,
      "pos_loss": 0.18359375,
      "rot_loss": 0.236328125,
      "step": 12423
    },
    {
      "epoch": 2.787525241193628,
      "grad_norm": 0.3431236445903778,
      "learning_rate": 6.549246872069175e-06,
      "loss": 0.0692,
      "step": 12424
    },
    {
      "epoch": 2.787525241193628,
      "gripper_loss": 0.00830078125,
      "loss": 0.054443359375,
      "pos_loss": 0.42578125,
      "rot_loss": 0.12890625,
      "step": 12424
    },
    {
      "epoch": 2.7877496073592103,
      "grad_norm": 0.33950671553611755,
      "learning_rate": 6.53548315790839e-06,
      "loss": 0.0437,
      "step": 12425
    },
    {
      "epoch": 2.7877496073592103,
      "gripper_loss": 0.00701904296875,
      "loss": 0.08056640625,
      "pos_loss": 0.421875,
      "rot_loss": 0.412109375,
      "step": 12425
    },
    {
      "epoch": 2.7879739735247924,
      "grad_norm": 0.32846972346305847,
      "learning_rate": 6.52173373013551e-06,
      "loss": 0.0573,
      "step": 12426
    },
    {
      "epoch": 2.7879739735247924,
      "gripper_loss": 0.061279296875,
      "loss": 0.029052734375,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.027099609375,
      "step": 12426
    },
    {
      "epoch": 2.788198339690375,
      "grad_norm": 0.2140311598777771,
      "learning_rate": 6.507998589557362e-06,
      "loss": 0.045,
      "step": 12427
    },
    {
      "epoch": 2.788198339690375,
      "gripper_loss": 0.09619140625,
      "loss": 0.00726318359375,
      "pos_loss": 0.0101318359375,
      "rot_loss": 0.0162353515625,
      "step": 12427
    },
    {
      "epoch": 2.788422705855957,
      "grad_norm": 0.38819369673728943,
      "learning_rate": 6.494277736979859e-06,
      "loss": 0.0429,
      "step": 12428
    },
    {
      "epoch": 2.788422705855957,
      "gripper_loss": 0.0341796875,
      "loss": 0.0286865234375,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.1259765625,
      "step": 12428
    },
    {
      "epoch": 2.788647072021539,
      "grad_norm": 0.19724851846694946,
      "learning_rate": 6.480571173208161e-06,
      "loss": 0.0443,
      "step": 12429
    },
    {
      "epoch": 2.788647072021539,
      "gripper_loss": 0.006439208984375,
      "loss": 0.0400390625,
      "pos_loss": 0.36328125,
      "rot_loss": 0.041015625,
      "step": 12429
    },
    {
      "epoch": 2.7888714381871216,
      "grad_norm": 0.20288091897964478,
      "learning_rate": 6.466878899046569e-06,
      "loss": 0.0254,
      "step": 12430
    },
    {
      "epoch": 2.7888714381871216,
      "gripper_loss": 0.0115966796875,
      "loss": 0.026611328125,
      "pos_loss": 0.2392578125,
      "rot_loss": 0.0247802734375,
      "step": 12430
    },
    {
      "epoch": 2.7890958043527037,
      "grad_norm": 0.20287872850894928,
      "learning_rate": 6.4532009152985795e-06,
      "loss": 0.039,
      "step": 12431
    },
    {
      "epoch": 2.7890958043527037,
      "gripper_loss": 0.466796875,
      "loss": 0.08056640625,
      "pos_loss": 0.388671875,
      "rot_loss": 0.296875,
      "step": 12431
    },
    {
      "epoch": 2.7893201705182857,
      "grad_norm": 0.3911406993865967,
      "learning_rate": 6.439537222766717e-06,
      "loss": 0.0375,
      "step": 12432
    },
    {
      "epoch": 2.7893201705182857,
      "gripper_loss": 0.01043701171875,
      "loss": 0.08349609375,
      "pos_loss": 0.73828125,
      "rot_loss": 0.1318359375,
      "step": 12432
    },
    {
      "epoch": 2.7895445366838683,
      "grad_norm": 0.3836164176464081,
      "learning_rate": 6.425887822252841e-06,
      "loss": 0.0514,
      "step": 12433
    },
    {
      "epoch": 2.7895445366838683,
      "gripper_loss": 0.3984375,
      "loss": 0.03759765625,
      "pos_loss": 0.173828125,
      "rot_loss": 0.07177734375,
      "step": 12433
    },
    {
      "epoch": 2.7897689028494503,
      "grad_norm": 0.6628843545913696,
      "learning_rate": 6.412252714557865e-06,
      "loss": 0.0525,
      "step": 12434
    },
    {
      "epoch": 2.7897689028494503,
      "gripper_loss": 0.0133056640625,
      "loss": 0.018798828125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.0289306640625,
      "step": 12434
    },
    {
      "epoch": 2.7899932690150324,
      "grad_norm": 0.4039299488067627,
      "learning_rate": 6.398631900481899e-06,
      "loss": 0.0372,
      "step": 12435
    },
    {
      "epoch": 2.7899932690150324,
      "gripper_loss": 0.5234375,
      "loss": 0.031494140625,
      "pos_loss": 0.07421875,
      "rot_loss": 0.06591796875,
      "step": 12435
    },
    {
      "epoch": 2.790217635180615,
      "grad_norm": 0.20631279051303864,
      "learning_rate": 6.385025380824222e-06,
      "loss": 0.0321,
      "step": 12436
    },
    {
      "epoch": 2.790217635180615,
      "gripper_loss": 0.0966796875,
      "loss": 0.0225830078125,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.01904296875,
      "step": 12436
    },
    {
      "epoch": 2.790442001346197,
      "grad_norm": 0.3804073631763458,
      "learning_rate": 6.3714331563831936e-06,
      "loss": 0.0419,
      "step": 12437
    },
    {
      "epoch": 2.790442001346197,
      "gripper_loss": 0.01507568359375,
      "loss": 0.036376953125,
      "pos_loss": 0.28125,
      "rot_loss": 0.08056640625,
      "step": 12437
    },
    {
      "epoch": 2.790666367511779,
      "grad_norm": 0.37355366349220276,
      "learning_rate": 6.357855227956482e-06,
      "loss": 0.0399,
      "step": 12438
    },
    {
      "epoch": 2.790666367511779,
      "gripper_loss": 0.09326171875,
      "loss": 0.035400390625,
      "pos_loss": 0.19140625,
      "rot_loss": 0.13671875,
      "step": 12438
    },
    {
      "epoch": 2.7908907336773616,
      "grad_norm": 0.4219231903553009,
      "learning_rate": 6.344291596340756e-06,
      "loss": 0.0538,
      "step": 12439
    },
    {
      "epoch": 2.7908907336773616,
      "gripper_loss": 0.015869140625,
      "loss": 0.021240234375,
      "pos_loss": 0.189453125,
      "rot_loss": 0.01031494140625,
      "step": 12439
    },
    {
      "epoch": 2.7911150998429437,
      "grad_norm": 0.36737698316574097,
      "learning_rate": 6.330742262332018e-06,
      "loss": 0.041,
      "step": 12440
    },
    {
      "epoch": 2.7911150998429437,
      "gripper_loss": 0.0228271484375,
      "loss": 0.0537109375,
      "pos_loss": 0.318359375,
      "rot_loss": 0.2236328125,
      "step": 12440
    },
    {
      "epoch": 2.791339466008526,
      "grad_norm": 0.19429336488246918,
      "learning_rate": 6.3172072267252135e-06,
      "loss": 0.0516,
      "step": 12441
    },
    {
      "epoch": 2.791339466008526,
      "gripper_loss": 0.7578125,
      "loss": 0.042236328125,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.0400390625,
      "step": 12441
    },
    {
      "epoch": 2.7915638321741083,
      "grad_norm": 0.3387519419193268,
      "learning_rate": 6.303686490314681e-06,
      "loss": 0.0296,
      "step": 12442
    },
    {
      "epoch": 2.7915638321741083,
      "gripper_loss": 0.006683349609375,
      "loss": 0.0084228515625,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.0224609375,
      "step": 12442
    },
    {
      "epoch": 2.7917881983396904,
      "grad_norm": 0.19504006206989288,
      "learning_rate": 6.290180053893729e-06,
      "loss": 0.0328,
      "step": 12443
    },
    {
      "epoch": 2.7917881983396904,
      "gripper_loss": 0.0279541015625,
      "loss": 0.014404296875,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.027099609375,
      "step": 12443
    },
    {
      "epoch": 2.7920125645052725,
      "grad_norm": 0.21044345200061798,
      "learning_rate": 6.276687918255003e-06,
      "loss": 0.0422,
      "step": 12444
    },
    {
      "epoch": 2.7920125645052725,
      "gripper_loss": 0.0162353515625,
      "loss": 0.037109375,
      "pos_loss": 0.26953125,
      "rot_loss": 0.09912109375,
      "step": 12444
    },
    {
      "epoch": 2.792236930670855,
      "grad_norm": 0.6670450568199158,
      "learning_rate": 6.263210084190118e-06,
      "loss": 0.0475,
      "step": 12445
    },
    {
      "epoch": 2.792236930670855,
      "gripper_loss": 0.06396484375,
      "loss": 0.04736328125,
      "pos_loss": 0.33984375,
      "rot_loss": 0.126953125,
      "step": 12445
    },
    {
      "epoch": 2.792461296836437,
      "grad_norm": 0.5499101877212524,
      "learning_rate": 6.249746552489999e-06,
      "loss": 0.0453,
      "step": 12446
    },
    {
      "epoch": 2.792461296836437,
      "gripper_loss": 0.0107421875,
      "loss": 0.0537109375,
      "pos_loss": 0.361328125,
      "rot_loss": 0.1796875,
      "step": 12446
    },
    {
      "epoch": 2.792685663002019,
      "grad_norm": 0.46607211232185364,
      "learning_rate": 6.2362973239446785e-06,
      "loss": 0.0386,
      "step": 12447
    },
    {
      "epoch": 2.792685663002019,
      "gripper_loss": 0.1640625,
      "loss": 0.0166015625,
      "pos_loss": 0.068359375,
      "rot_loss": 0.033203125,
      "step": 12447
    },
    {
      "epoch": 2.7929100291676017,
      "grad_norm": 0.3613368570804596,
      "learning_rate": 6.22286239934336e-06,
      "loss": 0.0349,
      "step": 12448
    },
    {
      "epoch": 2.7929100291676017,
      "gripper_loss": 0.11279296875,
      "loss": 0.0498046875,
      "pos_loss": 0.451171875,
      "rot_loss": 0.0206298828125,
      "step": 12448
    },
    {
      "epoch": 2.7931343953331838,
      "grad_norm": 0.21462780237197876,
      "learning_rate": 6.2094417794743844e-06,
      "loss": 0.0296,
      "step": 12449
    },
    {
      "epoch": 2.7931343953331838,
      "gripper_loss": 0.00775146484375,
      "loss": 0.048828125,
      "pos_loss": 0.466796875,
      "rot_loss": 0.0308837890625,
      "step": 12449
    },
    {
      "epoch": 2.793358761498766,
      "grad_norm": 0.20834749937057495,
      "learning_rate": 6.196035465125261e-06,
      "loss": 0.0338,
      "step": 12450
    },
    {
      "epoch": 2.793358761498766,
      "gripper_loss": 0.07080078125,
      "loss": 0.040283203125,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.296875,
      "step": 12450
    },
    {
      "epoch": 2.7935831276643484,
      "grad_norm": 0.24425244331359863,
      "learning_rate": 6.182643457082665e-06,
      "loss": 0.0371,
      "step": 12451
    },
    {
      "epoch": 2.7935831276643484,
      "gripper_loss": 0.1474609375,
      "loss": 0.027099609375,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.125,
      "step": 12451
    },
    {
      "epoch": 2.7938074938299304,
      "grad_norm": 0.8529418706893921,
      "learning_rate": 6.1692657561324135e-06,
      "loss": 0.0489,
      "step": 12452
    },
    {
      "epoch": 2.7938074938299304,
      "gripper_loss": 0.271484375,
      "loss": 0.0166015625,
      "pos_loss": 0.0201416015625,
      "rot_loss": 0.0279541015625,
      "step": 12452
    },
    {
      "epoch": 2.7940318599955125,
      "grad_norm": 0.3238629102706909,
      "learning_rate": 6.1559023630595735e-06,
      "loss": 0.0644,
      "step": 12453
    },
    {
      "epoch": 2.7940318599955125,
      "gripper_loss": 0.004791259765625,
      "loss": 0.0125732421875,
      "pos_loss": 0.054931640625,
      "rot_loss": 0.056396484375,
      "step": 12453
    },
    {
      "epoch": 2.794256226161095,
      "grad_norm": 0.2708704173564911,
      "learning_rate": 6.142553278648239e-06,
      "loss": 0.0327,
      "step": 12454
    },
    {
      "epoch": 2.794256226161095,
      "gripper_loss": 2.265625,
      "loss": 0.08349609375,
      "pos_loss": 0.0189208984375,
      "rot_loss": 0.09033203125,
      "step": 12454
    },
    {
      "epoch": 2.794480592326677,
      "grad_norm": 0.3403199315071106,
      "learning_rate": 6.129218503681755e-06,
      "loss": 0.0484,
      "step": 12455
    },
    {
      "epoch": 2.794480592326677,
      "gripper_loss": 0.005645751953125,
      "loss": 0.09814453125,
      "pos_loss": 0.84765625,
      "rot_loss": 0.1708984375,
      "step": 12455
    },
    {
      "epoch": 2.794704958492259,
      "grad_norm": 0.44193515181541443,
      "learning_rate": 6.11589803894258e-06,
      "loss": 0.0494,
      "step": 12456
    },
    {
      "epoch": 2.794704958492259,
      "gripper_loss": 0.306640625,
      "loss": 0.01312255859375,
      "pos_loss": 0.01361083984375,
      "rot_loss": 0.003997802734375,
      "step": 12456
    },
    {
      "epoch": 2.7949293246578417,
      "grad_norm": 0.3683297336101532,
      "learning_rate": 6.102591885212394e-06,
      "loss": 0.0456,
      "step": 12457
    },
    {
      "epoch": 2.7949293246578417,
      "gripper_loss": 0.54296875,
      "loss": 0.099609375,
      "pos_loss": 0.8515625,
      "rot_loss": 0.0113525390625,
      "step": 12457
    },
    {
      "epoch": 2.795153690823424,
      "grad_norm": 0.3219410181045532,
      "learning_rate": 6.089300043271962e-06,
      "loss": 0.0359,
      "step": 12458
    },
    {
      "epoch": 2.795153690823424,
      "gripper_loss": 0.4921875,
      "loss": 0.047119140625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.1806640625,
      "step": 12458
    },
    {
      "epoch": 2.795378056989006,
      "grad_norm": 0.3579511046409607,
      "learning_rate": 6.076022513901241e-06,
      "loss": 0.0452,
      "step": 12459
    },
    {
      "epoch": 2.795378056989006,
      "gripper_loss": 0.0255126953125,
      "loss": 0.033447265625,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.208984375,
      "step": 12459
    },
    {
      "epoch": 2.7956024231545884,
      "grad_norm": 0.8525733947753906,
      "learning_rate": 6.062759297879389e-06,
      "loss": 0.0536,
      "step": 12460
    },
    {
      "epoch": 2.7956024231545884,
      "gripper_loss": 0.01080322265625,
      "loss": 0.049560546875,
      "pos_loss": 0.45703125,
      "rot_loss": 0.046875,
      "step": 12460
    },
    {
      "epoch": 2.7958267893201705,
      "grad_norm": 0.3478635251522064,
      "learning_rate": 6.049510395984614e-06,
      "loss": 0.051,
      "step": 12461
    },
    {
      "epoch": 2.7958267893201705,
      "gripper_loss": 0.004241943359375,
      "loss": 0.0167236328125,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.0458984375,
      "step": 12461
    },
    {
      "epoch": 2.7960511554857526,
      "grad_norm": 0.3767985701560974,
      "learning_rate": 6.036275808994435e-06,
      "loss": 0.0435,
      "step": 12462
    },
    {
      "epoch": 2.7960511554857526,
      "gripper_loss": 0.00689697265625,
      "loss": 0.06689453125,
      "pos_loss": 0.55078125,
      "rot_loss": 0.134765625,
      "step": 12462
    },
    {
      "epoch": 2.796275521651335,
      "grad_norm": 0.4731357991695404,
      "learning_rate": 6.023055537685396e-06,
      "loss": 0.0389,
      "step": 12463
    },
    {
      "epoch": 2.796275521651335,
      "gripper_loss": 0.00543212890625,
      "loss": 0.0218505859375,
      "pos_loss": 0.1142578125,
      "rot_loss": 0.09033203125,
      "step": 12463
    },
    {
      "epoch": 2.796499887816917,
      "grad_norm": 0.36051246523857117,
      "learning_rate": 6.009849582833265e-06,
      "loss": 0.041,
      "step": 12464
    },
    {
      "epoch": 2.796499887816917,
      "gripper_loss": 0.051025390625,
      "loss": 0.0458984375,
      "pos_loss": 0.392578125,
      "rot_loss": 0.053955078125,
      "step": 12464
    },
    {
      "epoch": 2.7967242539824992,
      "grad_norm": 0.20243267714977264,
      "learning_rate": 5.99665794521298e-06,
      "loss": 0.0299,
      "step": 12465
    },
    {
      "epoch": 2.7967242539824992,
      "gripper_loss": 0.00714111328125,
      "loss": 0.0419921875,
      "pos_loss": 0.380859375,
      "rot_loss": 0.04296875,
      "step": 12465
    },
    {
      "epoch": 2.7969486201480818,
      "grad_norm": 0.6718418002128601,
      "learning_rate": 5.983480625598642e-06,
      "loss": 0.0591,
      "step": 12466
    },
    {
      "epoch": 2.7969486201480818,
      "gripper_loss": 0.00811767578125,
      "loss": 0.11181640625,
      "pos_loss": 0.51953125,
      "rot_loss": 0.64453125,
      "step": 12466
    },
    {
      "epoch": 2.797172986313664,
      "grad_norm": 0.5908790826797485,
      "learning_rate": 5.97031762476341e-06,
      "loss": 0.0459,
      "step": 12467
    },
    {
      "epoch": 2.797172986313664,
      "gripper_loss": 0.01513671875,
      "loss": 0.12060546875,
      "pos_loss": 1.2421875,
      "rot_loss": 0.0205078125,
      "step": 12467
    },
    {
      "epoch": 2.797397352479246,
      "grad_norm": 0.26662689447402954,
      "learning_rate": 5.957168943479752e-06,
      "loss": 0.049,
      "step": 12468
    },
    {
      "epoch": 2.797397352479246,
      "gripper_loss": 0.470703125,
      "loss": 0.055908203125,
      "pos_loss": 0.1875,
      "rot_loss": 0.1494140625,
      "step": 12468
    },
    {
      "epoch": 2.7976217186448284,
      "grad_norm": 0.35527893900871277,
      "learning_rate": 5.944034582519215e-06,
      "loss": 0.0468,
      "step": 12469
    },
    {
      "epoch": 2.7976217186448284,
      "gripper_loss": 0.416015625,
      "loss": 0.0247802734375,
      "pos_loss": 0.027587890625,
      "rot_loss": 0.07958984375,
      "step": 12469
    },
    {
      "epoch": 2.7978460848104105,
      "grad_norm": 0.2561495304107666,
      "learning_rate": 5.930914542652516e-06,
      "loss": 0.0371,
      "step": 12470
    },
    {
      "epoch": 2.7978460848104105,
      "gripper_loss": 0.00555419921875,
      "loss": 0.01202392578125,
      "pos_loss": 0.0595703125,
      "rot_loss": 0.0478515625,
      "step": 12470
    },
    {
      "epoch": 2.7980704509759926,
      "grad_norm": 0.1733980029821396,
      "learning_rate": 5.917808824649512e-06,
      "loss": 0.0277,
      "step": 12471
    },
    {
      "epoch": 2.7980704509759926,
      "gripper_loss": 0.004913330078125,
      "loss": 0.029052734375,
      "pos_loss": 0.08154296875,
      "rot_loss": 0.2080078125,
      "step": 12471
    },
    {
      "epoch": 2.798294817141575,
      "grad_norm": 0.39753150939941406,
      "learning_rate": 5.904717429279255e-06,
      "loss": 0.0544,
      "step": 12472
    },
    {
      "epoch": 2.798294817141575,
      "gripper_loss": 0.01385498046875,
      "loss": 0.036376953125,
      "pos_loss": 0.337890625,
      "rot_loss": 0.02685546875,
      "step": 12472
    },
    {
      "epoch": 2.798519183307157,
      "grad_norm": 0.3289293944835663,
      "learning_rate": 5.8916403573099635e-06,
      "loss": 0.0395,
      "step": 12473
    },
    {
      "epoch": 2.798519183307157,
      "gripper_loss": 0.26953125,
      "loss": 0.03125,
      "pos_loss": 0.189453125,
      "rot_loss": 0.031982421875,
      "step": 12473
    },
    {
      "epoch": 2.7987435494727393,
      "grad_norm": 0.6173175573348999,
      "learning_rate": 5.878577609508995e-06,
      "loss": 0.0641,
      "step": 12474
    },
    {
      "epoch": 2.7987435494727393,
      "gripper_loss": 0.00518798828125,
      "loss": 0.09375,
      "pos_loss": 0.8984375,
      "rot_loss": 0.0771484375,
      "step": 12474
    },
    {
      "epoch": 2.798967915638322,
      "grad_norm": 0.32189664244651794,
      "learning_rate": 5.865529186642793e-06,
      "loss": 0.0516,
      "step": 12475
    },
    {
      "epoch": 2.798967915638322,
      "gripper_loss": 0.111328125,
      "loss": 0.0361328125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.0478515625,
      "step": 12475
    },
    {
      "epoch": 2.799192281803904,
      "grad_norm": 0.4658847153186798,
      "learning_rate": 5.8524950894771054e-06,
      "loss": 0.0457,
      "step": 12476
    },
    {
      "epoch": 2.799192281803904,
      "gripper_loss": 0.78125,
      "loss": 0.076171875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.01019287109375,
      "step": 12476
    },
    {
      "epoch": 2.799416647969486,
      "grad_norm": 0.4858427345752716,
      "learning_rate": 5.839475318776738e-06,
      "loss": 0.0519,
      "step": 12477
    },
    {
      "epoch": 2.799416647969486,
      "gripper_loss": 0.00445556640625,
      "loss": 0.042724609375,
      "pos_loss": 0.1640625,
      "rot_loss": 0.271484375,
      "step": 12477
    },
    {
      "epoch": 2.7996410141350685,
      "grad_norm": 0.30159538984298706,
      "learning_rate": 5.826469875305718e-06,
      "loss": 0.0324,
      "step": 12478
    },
    {
      "epoch": 2.7996410141350685,
      "gripper_loss": 0.004730224609375,
      "loss": 0.00823974609375,
      "pos_loss": 0.052001953125,
      "rot_loss": 0.01092529296875,
      "step": 12478
    },
    {
      "epoch": 2.7998653803006506,
      "grad_norm": 0.3776826560497284,
      "learning_rate": 5.8134787598271565e-06,
      "loss": 0.0268,
      "step": 12479
    },
    {
      "epoch": 2.7998653803006506,
      "gripper_loss": 0.039306640625,
      "loss": 0.004180908203125,
      "pos_loss": 0.004364013671875,
      "rot_loss": 0.00897216796875,
      "step": 12479
    },
    {
      "epoch": 2.8000897464662327,
      "grad_norm": 0.3425213396549225,
      "learning_rate": 5.800501973103362e-06,
      "loss": 0.0365,
      "step": 12480
    },
    {
      "epoch": 2.8000897464662327,
      "gripper_loss": 0.00738525390625,
      "loss": 0.0361328125,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.2236328125,
      "step": 12480
    },
    {
      "epoch": 2.800314112631815,
      "grad_norm": 0.29601988196372986,
      "learning_rate": 5.787539515895834e-06,
      "loss": 0.0374,
      "step": 12481
    },
    {
      "epoch": 2.800314112631815,
      "gripper_loss": 0.95703125,
      "loss": 0.05419921875,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.0859375,
      "step": 12481
    },
    {
      "epoch": 2.8005384787973973,
      "grad_norm": 0.27574801445007324,
      "learning_rate": 5.774591388965217e-06,
      "loss": 0.0342,
      "step": 12482
    },
    {
      "epoch": 2.8005384787973973,
      "gripper_loss": 0.0859375,
      "loss": 0.035888671875,
      "pos_loss": 0.107421875,
      "rot_loss": 0.23046875,
      "step": 12482
    },
    {
      "epoch": 2.8007628449629793,
      "grad_norm": 0.17713622748851776,
      "learning_rate": 5.76165759307129e-06,
      "loss": 0.0297,
      "step": 12483
    },
    {
      "epoch": 2.8007628449629793,
      "gripper_loss": 0.0089111328125,
      "loss": 0.0155029296875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.0240478515625,
      "step": 12483
    },
    {
      "epoch": 2.800987211128562,
      "grad_norm": 0.28884440660476685,
      "learning_rate": 5.748738128972975e-06,
      "loss": 0.0309,
      "step": 12484
    },
    {
      "epoch": 2.800987211128562,
      "gripper_loss": 1.28125,
      "loss": 0.051025390625,
      "pos_loss": 0.08935546875,
      "rot_loss": 0.00933837890625,
      "step": 12484
    },
    {
      "epoch": 2.801211577294144,
      "grad_norm": 0.3066158592700958,
      "learning_rate": 5.7358329974284415e-06,
      "loss": 0.0373,
      "step": 12485
    },
    {
      "epoch": 2.801211577294144,
      "gripper_loss": 0.0712890625,
      "loss": 0.0145263671875,
      "pos_loss": 0.0966796875,
      "rot_loss": 0.016357421875,
      "step": 12485
    },
    {
      "epoch": 2.801435943459726,
      "grad_norm": 0.3447565734386444,
      "learning_rate": 5.7229421991948635e-06,
      "loss": 0.047,
      "step": 12486
    },
    {
      "epoch": 2.801435943459726,
      "gripper_loss": 0.004425048828125,
      "loss": 0.0751953125,
      "pos_loss": 0.515625,
      "rot_loss": 0.267578125,
      "step": 12486
    },
    {
      "epoch": 2.8016603096253085,
      "grad_norm": 0.39055386185646057,
      "learning_rate": 5.710065735028774e-06,
      "loss": 0.0615,
      "step": 12487
    },
    {
      "epoch": 2.8016603096253085,
      "gripper_loss": 0.01519775390625,
      "loss": 0.042236328125,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.265625,
      "step": 12487
    },
    {
      "epoch": 2.8018846757908906,
      "grad_norm": 0.2389884740114212,
      "learning_rate": 5.6972036056856525e-06,
      "loss": 0.0289,
      "step": 12488
    },
    {
      "epoch": 2.8018846757908906,
      "gripper_loss": 0.007171630859375,
      "loss": 0.0234375,
      "pos_loss": 0.205078125,
      "rot_loss": 0.0216064453125,
      "step": 12488
    },
    {
      "epoch": 2.8021090419564727,
      "grad_norm": 0.20538818836212158,
      "learning_rate": 5.684355811920311e-06,
      "loss": 0.038,
      "step": 12489
    },
    {
      "epoch": 2.8021090419564727,
      "gripper_loss": 0.00982666015625,
      "loss": 0.0177001953125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.01904296875,
      "step": 12489
    },
    {
      "epoch": 2.8023334081220552,
      "grad_norm": 0.2999143898487091,
      "learning_rate": 5.671522354486619e-06,
      "loss": 0.032,
      "step": 12490
    },
    {
      "epoch": 2.8023334081220552,
      "gripper_loss": 0.00775146484375,
      "loss": 0.0311279296875,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.1337890625,
      "step": 12490
    },
    {
      "epoch": 2.8025577742876373,
      "grad_norm": 0.2973923683166504,
      "learning_rate": 5.6587032341376964e-06,
      "loss": 0.0406,
      "step": 12491
    },
    {
      "epoch": 2.8025577742876373,
      "gripper_loss": 0.01336669921875,
      "loss": 0.0291748046875,
      "pos_loss": 0.25,
      "rot_loss": 0.0390625,
      "step": 12491
    },
    {
      "epoch": 2.8027821404532194,
      "grad_norm": 0.3230048716068268,
      "learning_rate": 5.645898451625691e-06,
      "loss": 0.0387,
      "step": 12492
    },
    {
      "epoch": 2.8027821404532194,
      "gripper_loss": 0.9765625,
      "loss": 0.08642578125,
      "pos_loss": 0.48828125,
      "rot_loss": 0.0859375,
      "step": 12492
    },
    {
      "epoch": 2.803006506618802,
      "grad_norm": 0.4405823349952698,
      "learning_rate": 5.633108007702003e-06,
      "loss": 0.0515,
      "step": 12493
    },
    {
      "epoch": 2.803006506618802,
      "gripper_loss": 0.0034942626953125,
      "loss": 0.05419921875,
      "pos_loss": 0.53125,
      "rot_loss": 0.026123046875,
      "step": 12493
    },
    {
      "epoch": 2.803230872784384,
      "grad_norm": 0.3359600007534027,
      "learning_rate": 5.6203319031171705e-06,
      "loss": 0.0562,
      "step": 12494
    },
    {
      "epoch": 2.803230872784384,
      "gripper_loss": 0.279296875,
      "loss": 0.0245361328125,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.1083984375,
      "step": 12494
    },
    {
      "epoch": 2.8034552389499665,
      "grad_norm": 0.21646422147750854,
      "learning_rate": 5.607570138620926e-06,
      "loss": 0.0322,
      "step": 12495
    },
    {
      "epoch": 2.8034552389499665,
      "gripper_loss": 0.12353515625,
      "loss": 0.0625,
      "pos_loss": 0.412109375,
      "rot_loss": 0.1982421875,
      "step": 12495
    },
    {
      "epoch": 2.8036796051155486,
      "grad_norm": 0.2244788557291031,
      "learning_rate": 5.594822714962089e-06,
      "loss": 0.0415,
      "step": 12496
    },
    {
      "epoch": 2.8036796051155486,
      "gripper_loss": 0.031494140625,
      "loss": 0.011962890625,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.0537109375,
      "step": 12496
    },
    {
      "epoch": 2.8039039712811307,
      "grad_norm": 0.45425283908843994,
      "learning_rate": 5.5820896328886985e-06,
      "loss": 0.0505,
      "step": 12497
    },
    {
      "epoch": 2.8039039712811307,
      "gripper_loss": 0.0133056640625,
      "loss": 0.0439453125,
      "pos_loss": 0.369140625,
      "rot_loss": 0.0712890625,
      "step": 12497
    },
    {
      "epoch": 2.804128337446713,
      "grad_norm": 0.3155158758163452,
      "learning_rate": 5.569370893147879e-06,
      "loss": 0.0432,
      "step": 12498
    },
    {
      "epoch": 2.804128337446713,
      "gripper_loss": 0.07373046875,
      "loss": 0.0291748046875,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.044677734375,
      "step": 12498
    },
    {
      "epoch": 2.8043527036122953,
      "grad_norm": 0.26755979657173157,
      "learning_rate": 5.556666496485979e-06,
      "loss": 0.0421,
      "step": 12499
    },
    {
      "epoch": 2.8043527036122953,
      "gripper_loss": 0.173828125,
      "loss": 0.0218505859375,
      "pos_loss": 0.09326171875,
      "rot_loss": 0.06298828125,
      "step": 12499
    },
    {
      "epoch": 2.8045770697778774,
      "grad_norm": 0.24029672145843506,
      "learning_rate": 5.543976443648513e-06,
      "loss": 0.0359,
      "step": 12500
    },
    {
      "epoch": 2.8045770697778774,
      "gripper_loss": 0.07666015625,
      "loss": 0.0625,
      "pos_loss": 0.3984375,
      "rot_loss": 0.2236328125,
      "step": 12500
    },
    {
      "epoch": 2.80480143594346,
      "grad_norm": 0.2968095541000366,
      "learning_rate": 5.531300735380107e-06,
      "loss": 0.0482,
      "step": 12501
    },
    {
      "epoch": 2.80480143594346,
      "gripper_loss": 0.0079345703125,
      "loss": 0.033935546875,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.150390625,
      "step": 12501
    },
    {
      "epoch": 2.805025802109042,
      "grad_norm": 0.5783576965332031,
      "learning_rate": 5.518639372424555e-06,
      "loss": 0.0488,
      "step": 12502
    },
    {
      "epoch": 2.805025802109042,
      "gripper_loss": 0.2138671875,
      "loss": 0.06689453125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.345703125,
      "step": 12502
    },
    {
      "epoch": 2.805250168274624,
      "grad_norm": 0.23455646634101868,
      "learning_rate": 5.505992355524847e-06,
      "loss": 0.0585,
      "step": 12503
    },
    {
      "epoch": 2.805250168274624,
      "gripper_loss": 0.015869140625,
      "loss": 0.039794921875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.1474609375,
      "step": 12503
    },
    {
      "epoch": 2.8054745344402066,
      "grad_norm": 0.3564963638782501,
      "learning_rate": 5.493359685423111e-06,
      "loss": 0.0473,
      "step": 12504
    },
    {
      "epoch": 2.8054745344402066,
      "gripper_loss": 0.007568359375,
      "loss": 0.0216064453125,
      "pos_loss": 0.1416015625,
      "rot_loss": 0.061279296875,
      "step": 12504
    },
    {
      "epoch": 2.8056989006057886,
      "grad_norm": 0.24645937979221344,
      "learning_rate": 5.480741362860586e-06,
      "loss": 0.041,
      "step": 12505
    },
    {
      "epoch": 2.8056989006057886,
      "gripper_loss": 1.203125,
      "loss": 0.04052734375,
      "pos_loss": 0.006439208984375,
      "rot_loss": 0.00628662109375,
      "step": 12505
    },
    {
      "epoch": 2.8059232667713707,
      "grad_norm": 0.31734880805015564,
      "learning_rate": 5.468137388577709e-06,
      "loss": 0.035,
      "step": 12506
    },
    {
      "epoch": 2.8059232667713707,
      "gripper_loss": 0.02880859375,
      "loss": 0.1015625,
      "pos_loss": 0.640625,
      "rot_loss": 0.34375,
      "step": 12506
    },
    {
      "epoch": 2.8061476329369532,
      "grad_norm": 0.5050609111785889,
      "learning_rate": 5.455547763314139e-06,
      "loss": 0.0677,
      "step": 12507
    },
    {
      "epoch": 2.8061476329369532,
      "gripper_loss": 0.212890625,
      "loss": 0.0400390625,
      "pos_loss": 0.267578125,
      "rot_loss": 0.06591796875,
      "step": 12507
    },
    {
      "epoch": 2.8063719991025353,
      "grad_norm": 0.39155691862106323,
      "learning_rate": 5.442972487808562e-06,
      "loss": 0.0374,
      "step": 12508
    },
    {
      "epoch": 2.8063719991025353,
      "gripper_loss": 0.00872802734375,
      "loss": 0.0625,
      "pos_loss": 0.55078125,
      "rot_loss": 0.09228515625,
      "step": 12508
    },
    {
      "epoch": 2.806596365268118,
      "grad_norm": 0.20817412436008453,
      "learning_rate": 5.430411562798943e-06,
      "loss": 0.0333,
      "step": 12509
    },
    {
      "epoch": 2.806596365268118,
      "gripper_loss": 0.349609375,
      "loss": 0.05615234375,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.271484375,
      "step": 12509
    },
    {
      "epoch": 2.8068207314337,
      "grad_norm": 0.4349875748157501,
      "learning_rate": 5.4178649890223034e-06,
      "loss": 0.0581,
      "step": 12510
    },
    {
      "epoch": 2.8068207314337,
      "gripper_loss": 0.3515625,
      "loss": 0.0284423828125,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.0189208984375,
      "step": 12510
    },
    {
      "epoch": 2.807045097599282,
      "grad_norm": 0.360419362783432,
      "learning_rate": 5.405332767214888e-06,
      "loss": 0.0399,
      "step": 12511
    },
    {
      "epoch": 2.807045097599282,
      "gripper_loss": 0.004425048828125,
      "loss": 0.0390625,
      "pos_loss": 0.3125,
      "rot_loss": 0.08447265625,
      "step": 12511
    },
    {
      "epoch": 2.8072694637648645,
      "grad_norm": 0.3006545305252075,
      "learning_rate": 5.392814898112081e-06,
      "loss": 0.0338,
      "step": 12512
    },
    {
      "epoch": 2.8072694637648645,
      "gripper_loss": 0.0169677734375,
      "loss": 0.049560546875,
      "pos_loss": 0.2470703125,
      "rot_loss": 0.251953125,
      "step": 12512
    },
    {
      "epoch": 2.8074938299304466,
      "grad_norm": 0.47778135538101196,
      "learning_rate": 5.380311382448433e-06,
      "loss": 0.0393,
      "step": 12513
    },
    {
      "epoch": 2.8074938299304466,
      "gripper_loss": 0.0074462890625,
      "loss": 0.013916015625,
      "pos_loss": 0.11328125,
      "rot_loss": 0.0079345703125,
      "step": 12513
    },
    {
      "epoch": 2.8077181960960287,
      "grad_norm": 0.5868933200836182,
      "learning_rate": 5.367822220957635e-06,
      "loss": 0.0415,
      "step": 12514
    },
    {
      "epoch": 2.8077181960960287,
      "gripper_loss": 0.00592041015625,
      "loss": 0.08984375,
      "pos_loss": 0.44140625,
      "rot_loss": 0.49609375,
      "step": 12514
    },
    {
      "epoch": 2.807942562261611,
      "grad_norm": 0.36428746581077576,
      "learning_rate": 5.355347414372547e-06,
      "loss": 0.0414,
      "step": 12515
    },
    {
      "epoch": 2.807942562261611,
      "gripper_loss": 0.0052490234375,
      "loss": 0.04345703125,
      "pos_loss": 0.34375,
      "rot_loss": 0.0966796875,
      "step": 12515
    },
    {
      "epoch": 2.8081669284271933,
      "grad_norm": 0.1980777233839035,
      "learning_rate": 5.342886963425192e-06,
      "loss": 0.0283,
      "step": 12516
    },
    {
      "epoch": 2.8081669284271933,
      "gripper_loss": 0.007354736328125,
      "loss": 0.048828125,
      "pos_loss": 0.076171875,
      "rot_loss": 0.423828125,
      "step": 12516
    },
    {
      "epoch": 2.8083912945927754,
      "grad_norm": 0.3247227370738983,
      "learning_rate": 5.330440868846764e-06,
      "loss": 0.0427,
      "step": 12517
    },
    {
      "epoch": 2.8083912945927754,
      "gripper_loss": 0.0054931640625,
      "loss": 0.046875,
      "pos_loss": 0.4609375,
      "rot_loss": 0.018798828125,
      "step": 12517
    },
    {
      "epoch": 2.808615660758358,
      "grad_norm": 0.4549153447151184,
      "learning_rate": 5.31800913136754e-06,
      "loss": 0.0578,
      "step": 12518
    },
    {
      "epoch": 2.808615660758358,
      "gripper_loss": 0.004852294921875,
      "loss": 0.029052734375,
      "pos_loss": 0.1455078125,
      "rot_loss": 0.1435546875,
      "step": 12518
    },
    {
      "epoch": 2.80884002692394,
      "grad_norm": 0.18036480247974396,
      "learning_rate": 5.305591751717048e-06,
      "loss": 0.0279,
      "step": 12519
    },
    {
      "epoch": 2.80884002692394,
      "gripper_loss": 0.40234375,
      "loss": 0.0439453125,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.21875,
      "step": 12519
    },
    {
      "epoch": 2.809064393089522,
      "grad_norm": 0.16133850812911987,
      "learning_rate": 5.293188730623955e-06,
      "loss": 0.0219,
      "step": 12520
    },
    {
      "epoch": 2.809064393089522,
      "gripper_loss": 0.2392578125,
      "loss": 0.04150390625,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.240234375,
      "step": 12520
    },
    {
      "epoch": 2.8092887592551046,
      "grad_norm": 0.2937859296798706,
      "learning_rate": 5.2808000688160105e-06,
      "loss": 0.038,
      "step": 12521
    },
    {
      "epoch": 2.8092887592551046,
      "gripper_loss": 0.005645751953125,
      "loss": 0.029052734375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.0257568359375,
      "step": 12521
    },
    {
      "epoch": 2.8095131254206867,
      "grad_norm": 0.2995184361934662,
      "learning_rate": 5.268425767020191e-06,
      "loss": 0.0531,
      "step": 12522
    },
    {
      "epoch": 2.8095131254206867,
      "gripper_loss": 0.0206298828125,
      "loss": 0.047607421875,
      "pos_loss": 0.296875,
      "rot_loss": 0.185546875,
      "step": 12522
    },
    {
      "epoch": 2.8097374915862687,
      "grad_norm": 0.3292701840400696,
      "learning_rate": 5.2560658259626356e-06,
      "loss": 0.036,
      "step": 12523
    },
    {
      "epoch": 2.8097374915862687,
      "gripper_loss": 0.00823974609375,
      "loss": 0.07177734375,
      "pos_loss": 0.4453125,
      "rot_loss": 0.283203125,
      "step": 12523
    },
    {
      "epoch": 2.8099618577518513,
      "grad_norm": 0.24833370745182037,
      "learning_rate": 5.243720246368599e-06,
      "loss": 0.0469,
      "step": 12524
    },
    {
      "epoch": 2.8099618577518513,
      "gripper_loss": 0.00787353515625,
      "loss": 0.040283203125,
      "pos_loss": 0.375,
      "rot_loss": 0.033935546875,
      "step": 12524
    },
    {
      "epoch": 2.8101862239174333,
      "grad_norm": 0.18040576577186584,
      "learning_rate": 5.231389028962502e-06,
      "loss": 0.035,
      "step": 12525
    },
    {
      "epoch": 2.8101862239174333,
      "gripper_loss": 0.056396484375,
      "loss": 0.017822265625,
      "pos_loss": 0.123046875,
      "rot_loss": 0.024169921875,
      "step": 12525
    },
    {
      "epoch": 2.8104105900830154,
      "grad_norm": 0.22706256806850433,
      "learning_rate": 5.219072174468015e-06,
      "loss": 0.0394,
      "step": 12526
    },
    {
      "epoch": 2.8104105900830154,
      "gripper_loss": 0.185546875,
      "loss": 0.035888671875,
      "pos_loss": 0.25390625,
      "rot_loss": 0.0498046875,
      "step": 12526
    },
    {
      "epoch": 2.810634956248598,
      "grad_norm": 0.27613744139671326,
      "learning_rate": 5.206769683607782e-06,
      "loss": 0.0468,
      "step": 12527
    },
    {
      "epoch": 2.810634956248598,
      "gripper_loss": 0.0020751953125,
      "loss": 0.0458984375,
      "pos_loss": 0.234375,
      "rot_loss": 0.236328125,
      "step": 12527
    },
    {
      "epoch": 2.81085932241418,
      "grad_norm": 0.24044758081436157,
      "learning_rate": 5.194481557103753e-06,
      "loss": 0.0481,
      "step": 12528
    },
    {
      "epoch": 2.81085932241418,
      "gripper_loss": 0.022705078125,
      "loss": 0.03515625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.1787109375,
      "step": 12528
    },
    {
      "epoch": 2.811083688579762,
      "grad_norm": 0.1770772486925125,
      "learning_rate": 5.182207795677019e-06,
      "loss": 0.0314,
      "step": 12529
    },
    {
      "epoch": 2.811083688579762,
      "gripper_loss": 0.005828857421875,
      "loss": 0.016845703125,
      "pos_loss": 0.1142578125,
      "rot_loss": 0.038818359375,
      "step": 12529
    },
    {
      "epoch": 2.8113080547453446,
      "grad_norm": 0.2225445955991745,
      "learning_rate": 5.169948400047753e-06,
      "loss": 0.0328,
      "step": 12530
    },
    {
      "epoch": 2.8113080547453446,
      "gripper_loss": 0.1572265625,
      "loss": 0.0245361328125,
      "pos_loss": 0.076171875,
      "rot_loss": 0.10791015625,
      "step": 12530
    },
    {
      "epoch": 2.8115324209109267,
      "grad_norm": 0.35110586881637573,
      "learning_rate": 5.157703370935351e-06,
      "loss": 0.0395,
      "step": 12531
    },
    {
      "epoch": 2.8115324209109267,
      "gripper_loss": 0.00799560546875,
      "loss": 0.07763671875,
      "pos_loss": 0.71875,
      "rot_loss": 0.08203125,
      "step": 12531
    },
    {
      "epoch": 2.811756787076509,
      "grad_norm": 0.4362528622150421,
      "learning_rate": 5.145472709058352e-06,
      "loss": 0.0632,
      "step": 12532
    },
    {
      "epoch": 2.811756787076509,
      "gripper_loss": 0.01263427734375,
      "loss": 0.04736328125,
      "pos_loss": 0.396484375,
      "rot_loss": 0.08251953125,
      "step": 12532
    },
    {
      "epoch": 2.8119811532420913,
      "grad_norm": 0.1627800166606903,
      "learning_rate": 5.133256415134402e-06,
      "loss": 0.0338,
      "step": 12533
    },
    {
      "epoch": 2.8119811532420913,
      "gripper_loss": 0.00628662109375,
      "loss": 0.01153564453125,
      "pos_loss": 0.076171875,
      "rot_loss": 0.027587890625,
      "step": 12533
    },
    {
      "epoch": 2.8122055194076734,
      "grad_norm": 0.21597276628017426,
      "learning_rate": 5.121054489880428e-06,
      "loss": 0.0412,
      "step": 12534
    },
    {
      "epoch": 2.8122055194076734,
      "gripper_loss": 0.1982421875,
      "loss": 0.06103515625,
      "pos_loss": 0.181640625,
      "rot_loss": 0.37890625,
      "step": 12534
    },
    {
      "epoch": 2.8124298855732555,
      "grad_norm": 0.5373706221580505,
      "learning_rate": 5.108866934012357e-06,
      "loss": 0.0493,
      "step": 12535
    },
    {
      "epoch": 2.8124298855732555,
      "gripper_loss": 0.00616455078125,
      "loss": 0.0257568359375,
      "pos_loss": 0.0859375,
      "rot_loss": 0.1708984375,
      "step": 12535
    },
    {
      "epoch": 2.812654251738838,
      "grad_norm": 0.23583699762821198,
      "learning_rate": 5.096693748245368e-06,
      "loss": 0.0407,
      "step": 12536
    },
    {
      "epoch": 2.812654251738838,
      "gripper_loss": 0.0120849609375,
      "loss": 0.046142578125,
      "pos_loss": 0.318359375,
      "rot_loss": 0.1474609375,
      "step": 12536
    },
    {
      "epoch": 2.81287861790442,
      "grad_norm": 0.19415678083896637,
      "learning_rate": 5.084534933293777e-06,
      "loss": 0.0302,
      "step": 12537
    },
    {
      "epoch": 2.81287861790442,
      "gripper_loss": 0.003204345703125,
      "loss": 0.051025390625,
      "pos_loss": 0.49609375,
      "rot_loss": 0.02685546875,
      "step": 12537
    },
    {
      "epoch": 2.813102984070002,
      "grad_norm": 0.19885265827178955,
      "learning_rate": 5.0723904898711256e-06,
      "loss": 0.0316,
      "step": 12538
    },
    {
      "epoch": 2.813102984070002,
      "gripper_loss": 0.384765625,
      "loss": 0.064453125,
      "pos_loss": 0.47265625,
      "rot_loss": 0.06201171875,
      "step": 12538
    },
    {
      "epoch": 2.8133273502355847,
      "grad_norm": 0.2749066650867462,
      "learning_rate": 5.060260418689955e-06,
      "loss": 0.0329,
      "step": 12539
    },
    {
      "epoch": 2.8133273502355847,
      "gripper_loss": 0.009521484375,
      "loss": 0.0189208984375,
      "pos_loss": 0.09130859375,
      "rot_loss": 0.0888671875,
      "step": 12539
    },
    {
      "epoch": 2.8135517164011667,
      "grad_norm": 0.26692143082618713,
      "learning_rate": 5.048144720462083e-06,
      "loss": 0.025,
      "step": 12540
    },
    {
      "epoch": 2.8135517164011667,
      "gripper_loss": 0.0113525390625,
      "loss": 0.056884765625,
      "pos_loss": 0.416015625,
      "rot_loss": 0.1591796875,
      "step": 12540
    },
    {
      "epoch": 2.813776082566749,
      "grad_norm": 0.36717647314071655,
      "learning_rate": 5.036043395898443e-06,
      "loss": 0.0682,
      "step": 12541
    },
    {
      "epoch": 2.813776082566749,
      "gripper_loss": 0.361328125,
      "loss": 0.01904296875,
      "pos_loss": 0.050048828125,
      "rot_loss": 0.013916015625,
      "step": 12541
    },
    {
      "epoch": 2.8140004487323313,
      "grad_norm": 0.5523796677589417,
      "learning_rate": 5.023956445709188e-06,
      "loss": 0.0375,
      "step": 12542
    },
    {
      "epoch": 2.8140004487323313,
      "gripper_loss": 0.00836181640625,
      "loss": 0.043701171875,
      "pos_loss": 0.296875,
      "rot_loss": 0.142578125,
      "step": 12542
    },
    {
      "epoch": 2.8142248148979134,
      "grad_norm": 0.260796457529068,
      "learning_rate": 5.011883870603501e-06,
      "loss": 0.0339,
      "step": 12543
    },
    {
      "epoch": 2.8142248148979134,
      "gripper_loss": 0.1474609375,
      "loss": 0.0703125,
      "pos_loss": 0.6171875,
      "rot_loss": 0.059814453125,
      "step": 12543
    },
    {
      "epoch": 2.8144491810634955,
      "grad_norm": 0.38090986013412476,
      "learning_rate": 4.999825671289842e-06,
      "loss": 0.0643,
      "step": 12544
    },
    {
      "epoch": 2.8144491810634955,
      "gripper_loss": 0.255859375,
      "loss": 0.042236328125,
      "pos_loss": 0.232421875,
      "rot_loss": 0.1103515625,
      "step": 12544
    },
    {
      "epoch": 2.814673547229078,
      "grad_norm": 0.6144589781761169,
      "learning_rate": 4.987781848475759e-06,
      "loss": 0.0412,
      "step": 12545
    },
    {
      "epoch": 2.814673547229078,
      "gripper_loss": 0.9453125,
      "loss": 0.2099609375,
      "pos_loss": 0.34375,
      "rot_loss": 0.66796875,
      "step": 12545
    },
    {
      "epoch": 2.81489791339466,
      "grad_norm": 1.3934016227722168,
      "learning_rate": 4.975752402867989e-06,
      "loss": 0.2321,
      "step": 12546
    },
    {
      "epoch": 2.81489791339466,
      "gripper_loss": 0.390625,
      "loss": 0.0306396484375,
      "pos_loss": 0.126953125,
      "rot_loss": 0.046142578125,
      "step": 12546
    },
    {
      "epoch": 2.815122279560242,
      "grad_norm": 0.2986311912536621,
      "learning_rate": 4.9637373351724415e-06,
      "loss": 0.04,
      "step": 12547
    },
    {
      "epoch": 2.815122279560242,
      "gripper_loss": 0.1162109375,
      "loss": 0.00738525390625,
      "pos_loss": 0.0137939453125,
      "rot_loss": 0.0067138671875,
      "step": 12547
    },
    {
      "epoch": 2.8153466457258247,
      "grad_norm": 0.2553828954696655,
      "learning_rate": 4.951736646094107e-06,
      "loss": 0.0502,
      "step": 12548
    },
    {
      "epoch": 2.8153466457258247,
      "gripper_loss": 0.004058837890625,
      "loss": 0.07373046875,
      "pos_loss": 0.61328125,
      "rot_loss": 0.150390625,
      "step": 12548
    },
    {
      "epoch": 2.815571011891407,
      "grad_norm": 0.4244096577167511,
      "learning_rate": 4.939750336337173e-06,
      "loss": 0.047,
      "step": 12549
    },
    {
      "epoch": 2.815571011891407,
      "gripper_loss": 0.006317138671875,
      "loss": 0.039794921875,
      "pos_loss": 0.37109375,
      "rot_loss": 0.03271484375,
      "step": 12549
    },
    {
      "epoch": 2.815795378056989,
      "grad_norm": 0.16903451085090637,
      "learning_rate": 4.927778406605049e-06,
      "loss": 0.0269,
      "step": 12550
    },
    {
      "epoch": 2.815795378056989,
      "gripper_loss": 0.0059814453125,
      "loss": 0.018798828125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.0478515625,
      "step": 12550
    },
    {
      "epoch": 2.8160197442225714,
      "grad_norm": 0.3103998601436615,
      "learning_rate": 4.915820857600201e-06,
      "loss": 0.0433,
      "step": 12551
    },
    {
      "epoch": 2.8160197442225714,
      "gripper_loss": 0.08203125,
      "loss": 0.01080322265625,
      "pos_loss": 0.057861328125,
      "rot_loss": 0.0086669921875,
      "step": 12551
    },
    {
      "epoch": 2.8162441103881535,
      "grad_norm": 0.32956960797309875,
      "learning_rate": 4.9038776900243165e-06,
      "loss": 0.039,
      "step": 12552
    },
    {
      "epoch": 2.8162441103881535,
      "gripper_loss": 0.0810546875,
      "loss": 0.041015625,
      "pos_loss": 0.361328125,
      "rot_loss": 0.02734375,
      "step": 12552
    },
    {
      "epoch": 2.8164684765537356,
      "grad_norm": 0.25904929637908936,
      "learning_rate": 4.8919489045781695e-06,
      "loss": 0.037,
      "step": 12553
    },
    {
      "epoch": 2.8164684765537356,
      "gripper_loss": 0.00799560546875,
      "loss": 0.036865234375,
      "pos_loss": 0.2294921875,
      "rot_loss": 0.138671875,
      "step": 12553
    },
    {
      "epoch": 2.816692842719318,
      "grad_norm": 0.2704095244407654,
      "learning_rate": 4.8800345019618105e-06,
      "loss": 0.0427,
      "step": 12554
    },
    {
      "epoch": 2.816692842719318,
      "gripper_loss": 0.25,
      "loss": 0.059814453125,
      "pos_loss": 0.380859375,
      "rot_loss": 0.140625,
      "step": 12554
    },
    {
      "epoch": 2.8169172088849,
      "grad_norm": 0.2827872931957245,
      "learning_rate": 4.8681344828742925e-06,
      "loss": 0.0376,
      "step": 12555
    },
    {
      "epoch": 2.8169172088849,
      "gripper_loss": 0.0242919921875,
      "loss": 0.0673828125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.380859375,
      "step": 12555
    },
    {
      "epoch": 2.8171415750504822,
      "grad_norm": 0.2680240869522095,
      "learning_rate": 4.856248848013972e-06,
      "loss": 0.0558,
      "step": 12556
    },
    {
      "epoch": 2.8171415750504822,
      "gripper_loss": 0.006378173828125,
      "loss": 0.02734375,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.10400390625,
      "step": 12556
    },
    {
      "epoch": 2.8173659412160648,
      "grad_norm": 0.2521737515926361,
      "learning_rate": 4.844377598078209e-06,
      "loss": 0.0404,
      "step": 12557
    },
    {
      "epoch": 2.8173659412160648,
      "gripper_loss": 0.125,
      "loss": 0.0103759765625,
      "pos_loss": 0.0301513671875,
      "rot_loss": 0.0172119140625,
      "step": 12557
    },
    {
      "epoch": 2.817590307381647,
      "grad_norm": 0.3801427483558655,
      "learning_rate": 4.8325207337636955e-06,
      "loss": 0.0402,
      "step": 12558
    },
    {
      "epoch": 2.817590307381647,
      "gripper_loss": 0.00677490234375,
      "loss": 0.0234375,
      "pos_loss": 0.11328125,
      "rot_loss": 0.11669921875,
      "step": 12558
    },
    {
      "epoch": 2.817814673547229,
      "grad_norm": 0.23789553344249725,
      "learning_rate": 4.820678255766126e-06,
      "loss": 0.0429,
      "step": 12559
    },
    {
      "epoch": 2.817814673547229,
      "gripper_loss": 0.00848388671875,
      "loss": 0.01123046875,
      "pos_loss": 0.01519775390625,
      "rot_loss": 0.078125,
      "step": 12559
    },
    {
      "epoch": 2.8180390397128114,
      "grad_norm": 0.4303067624568939,
      "learning_rate": 4.8088501647804425e-06,
      "loss": 0.0395,
      "step": 12560
    },
    {
      "epoch": 2.8180390397128114,
      "gripper_loss": 0.009521484375,
      "loss": 0.044189453125,
      "pos_loss": 0.193359375,
      "rot_loss": 0.25,
      "step": 12560
    },
    {
      "epoch": 2.8182634058783935,
      "grad_norm": 0.2964794635772705,
      "learning_rate": 4.797036461500675e-06,
      "loss": 0.0332,
      "step": 12561
    },
    {
      "epoch": 2.8182634058783935,
      "gripper_loss": 0.12353515625,
      "loss": 0.017578125,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.045654296875,
      "step": 12561
    },
    {
      "epoch": 2.8184877720439756,
      "grad_norm": 0.2953222095966339,
      "learning_rate": 4.785237146620103e-06,
      "loss": 0.0313,
      "step": 12562
    },
    {
      "epoch": 2.8184877720439756,
      "gripper_loss": 0.6953125,
      "loss": 0.04541015625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.0223388671875,
      "step": 12562
    },
    {
      "epoch": 2.818712138209558,
      "grad_norm": 0.33626312017440796,
      "learning_rate": 4.773452220831032e-06,
      "loss": 0.0561,
      "step": 12563
    },
    {
      "epoch": 2.818712138209558,
      "gripper_loss": 0.18359375,
      "loss": 0.03369140625,
      "pos_loss": 0.205078125,
      "rot_loss": 0.07080078125,
      "step": 12563
    },
    {
      "epoch": 2.81893650437514,
      "grad_norm": 0.28987544775009155,
      "learning_rate": 4.761681684825103e-06,
      "loss": 0.0311,
      "step": 12564
    },
    {
      "epoch": 2.81893650437514,
      "gripper_loss": 0.010498046875,
      "loss": 0.037109375,
      "pos_loss": 0.28125,
      "rot_loss": 0.0888671875,
      "step": 12564
    },
    {
      "epoch": 2.8191608705407223,
      "grad_norm": 0.3007487654685974,
      "learning_rate": 4.7499255392928765e-06,
      "loss": 0.046,
      "step": 12565
    },
    {
      "epoch": 2.8191608705407223,
      "gripper_loss": 0.00982666015625,
      "loss": 0.064453125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.1328125,
      "step": 12565
    },
    {
      "epoch": 2.819385236706305,
      "grad_norm": 0.35875651240348816,
      "learning_rate": 4.7381837849242996e-06,
      "loss": 0.05,
      "step": 12566
    },
    {
      "epoch": 2.819385236706305,
      "gripper_loss": 0.00726318359375,
      "loss": 0.0191650390625,
      "pos_loss": 0.169921875,
      "rot_loss": 0.01300048828125,
      "step": 12566
    },
    {
      "epoch": 2.819609602871887,
      "grad_norm": 0.28564685583114624,
      "learning_rate": 4.726456422408349e-06,
      "loss": 0.0293,
      "step": 12567
    },
    {
      "epoch": 2.819609602871887,
      "gripper_loss": 0.006317138671875,
      "loss": 0.0101318359375,
      "pos_loss": 0.076171875,
      "rot_loss": 0.01220703125,
      "step": 12567
    },
    {
      "epoch": 2.819833969037469,
      "grad_norm": 0.2319934070110321,
      "learning_rate": 4.71474345243314e-06,
      "loss": 0.0314,
      "step": 12568
    },
    {
      "epoch": 2.819833969037469,
      "gripper_loss": 0.00689697265625,
      "loss": 0.0810546875,
      "pos_loss": 0.8125,
      "rot_loss": 0.03466796875,
      "step": 12568
    },
    {
      "epoch": 2.8200583352030515,
      "grad_norm": 0.41092967987060547,
      "learning_rate": 4.703044875686014e-06,
      "loss": 0.0503,
      "step": 12569
    },
    {
      "epoch": 2.8200583352030515,
      "gripper_loss": 0.16015625,
      "loss": 0.04150390625,
      "pos_loss": 0.283203125,
      "rot_loss": 0.078125,
      "step": 12569
    },
    {
      "epoch": 2.8202827013686336,
      "grad_norm": 0.3247799873352051,
      "learning_rate": 4.691360692853419e-06,
      "loss": 0.0513,
      "step": 12570
    },
    {
      "epoch": 2.8202827013686336,
      "gripper_loss": 0.0703125,
      "loss": 0.0181884765625,
      "pos_loss": 0.04638671875,
      "rot_loss": 0.10595703125,
      "step": 12570
    },
    {
      "epoch": 2.8205070675342157,
      "grad_norm": 0.33090269565582275,
      "learning_rate": 4.679690904621031e-06,
      "loss": 0.0364,
      "step": 12571
    },
    {
      "epoch": 2.8205070675342157,
      "gripper_loss": 0.1533203125,
      "loss": 0.0234375,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.1015625,
      "step": 12571
    },
    {
      "epoch": 2.820731433699798,
      "grad_norm": 0.4010462462902069,
      "learning_rate": 4.668035511673552e-06,
      "loss": 0.0353,
      "step": 12572
    },
    {
      "epoch": 2.820731433699798,
      "gripper_loss": 0.06787109375,
      "loss": 0.0303955078125,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.1796875,
      "step": 12572
    },
    {
      "epoch": 2.8209557998653803,
      "grad_norm": 0.4258251190185547,
      "learning_rate": 4.656394514694989e-06,
      "loss": 0.0649,
      "step": 12573
    },
    {
      "epoch": 2.8209557998653803,
      "gripper_loss": 0.006439208984375,
      "loss": 0.07275390625,
      "pos_loss": 0.703125,
      "rot_loss": 0.049072265625,
      "step": 12573
    },
    {
      "epoch": 2.8211801660309623,
      "grad_norm": 0.5595047473907471,
      "learning_rate": 4.644767914368381e-06,
      "loss": 0.0554,
      "step": 12574
    },
    {
      "epoch": 2.8211801660309623,
      "gripper_loss": 0.005401611328125,
      "loss": 0.03271484375,
      "pos_loss": 0.1865234375,
      "rot_loss": 0.1376953125,
      "step": 12574
    },
    {
      "epoch": 2.821404532196545,
      "grad_norm": 0.4007672667503357,
      "learning_rate": 4.633155711375986e-06,
      "loss": 0.0497,
      "step": 12575
    },
    {
      "epoch": 2.821404532196545,
      "gripper_loss": 0.345703125,
      "loss": 0.03466796875,
      "pos_loss": 0.033447265625,
      "rot_loss": 0.201171875,
      "step": 12575
    },
    {
      "epoch": 2.821628898362127,
      "grad_norm": 0.19868117570877075,
      "learning_rate": 4.6215579063992044e-06,
      "loss": 0.0336,
      "step": 12576
    },
    {
      "epoch": 2.821628898362127,
      "gripper_loss": 0.0111083984375,
      "loss": 0.052001953125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.353515625,
      "step": 12576
    },
    {
      "epoch": 2.821853264527709,
      "grad_norm": 0.21835747361183167,
      "learning_rate": 4.6099745001186026e-06,
      "loss": 0.0309,
      "step": 12577
    },
    {
      "epoch": 2.821853264527709,
      "gripper_loss": 0.011962890625,
      "loss": 0.07568359375,
      "pos_loss": 0.5234375,
      "rot_loss": 0.2578125,
      "step": 12577
    },
    {
      "epoch": 2.8220776306932915,
      "grad_norm": 0.4115617871284485,
      "learning_rate": 4.598405493213858e-06,
      "loss": 0.0519,
      "step": 12578
    },
    {
      "epoch": 2.8220776306932915,
      "gripper_loss": 0.087890625,
      "loss": 0.0306396484375,
      "pos_loss": 0.158203125,
      "rot_loss": 0.11767578125,
      "step": 12578
    },
    {
      "epoch": 2.8223019968588736,
      "grad_norm": 0.4558320939540863,
      "learning_rate": 4.586850886363874e-06,
      "loss": 0.049,
      "step": 12579
    },
    {
      "epoch": 2.8223019968588736,
      "gripper_loss": 0.00958251953125,
      "loss": 0.0091552734375,
      "pos_loss": 0.03125,
      "rot_loss": 0.047119140625,
      "step": 12579
    },
    {
      "epoch": 2.8225263630244557,
      "grad_norm": 0.33112862706184387,
      "learning_rate": 4.575310680246636e-06,
      "loss": 0.0485,
      "step": 12580
    },
    {
      "epoch": 2.8225263630244557,
      "gripper_loss": 0.0040283203125,
      "loss": 0.06787109375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.40234375,
      "step": 12580
    },
    {
      "epoch": 2.822750729190038,
      "grad_norm": 0.337446391582489,
      "learning_rate": 4.563784875539323e-06,
      "loss": 0.0386,
      "step": 12581
    },
    {
      "epoch": 2.822750729190038,
      "gripper_loss": 0.029052734375,
      "loss": 0.042236328125,
      "pos_loss": 0.265625,
      "rot_loss": 0.1337890625,
      "step": 12581
    },
    {
      "epoch": 2.8229750953556203,
      "grad_norm": 0.4927007555961609,
      "learning_rate": 4.552273472918284e-06,
      "loss": 0.0513,
      "step": 12582
    },
    {
      "epoch": 2.8229750953556203,
      "gripper_loss": 0.0294189453125,
      "loss": 0.0196533203125,
      "pos_loss": 0.091796875,
      "rot_loss": 0.087890625,
      "step": 12582
    },
    {
      "epoch": 2.8231994615212024,
      "grad_norm": 0.2611031234264374,
      "learning_rate": 4.5407764730589775e-06,
      "loss": 0.0475,
      "step": 12583
    },
    {
      "epoch": 2.8231994615212024,
      "gripper_loss": 0.08251953125,
      "loss": 0.050048828125,
      "pos_loss": 0.28125,
      "rot_loss": 0.203125,
      "step": 12583
    },
    {
      "epoch": 2.823423827686785,
      "grad_norm": 0.27988338470458984,
      "learning_rate": 4.529293876636059e-06,
      "loss": 0.0492,
      "step": 12584
    },
    {
      "epoch": 2.823423827686785,
      "gripper_loss": 0.056640625,
      "loss": 0.0201416015625,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.02587890625,
      "step": 12584
    },
    {
      "epoch": 2.823648193852367,
      "grad_norm": 0.24332839250564575,
      "learning_rate": 4.517825684323323e-06,
      "loss": 0.0315,
      "step": 12585
    },
    {
      "epoch": 2.823648193852367,
      "gripper_loss": 0.0198974609375,
      "loss": 0.01031494140625,
      "pos_loss": 0.0311279296875,
      "rot_loss": 0.0498046875,
      "step": 12585
    },
    {
      "epoch": 2.823872560017949,
      "grad_norm": 0.17628611624240875,
      "learning_rate": 4.506371896793732e-06,
      "loss": 0.0349,
      "step": 12586
    },
    {
      "epoch": 2.823872560017949,
      "gripper_loss": 0.04736328125,
      "loss": 0.00823974609375,
      "pos_loss": 0.045166015625,
      "rot_loss": 0.01092529296875,
      "step": 12586
    },
    {
      "epoch": 2.8240969261835316,
      "grad_norm": 0.1899261772632599,
      "learning_rate": 4.49493251471933e-06,
      "loss": 0.0301,
      "step": 12587
    },
    {
      "epoch": 2.8240969261835316,
      "gripper_loss": 0.09521484375,
      "loss": 0.041015625,
      "pos_loss": 0.212890625,
      "rot_loss": 0.177734375,
      "step": 12587
    },
    {
      "epoch": 2.8243212923491137,
      "grad_norm": 0.3058571219444275,
      "learning_rate": 4.4835075387714416e-06,
      "loss": 0.0476,
      "step": 12588
    },
    {
      "epoch": 2.8243212923491137,
      "gripper_loss": 0.01544189453125,
      "loss": 0.01495361328125,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.01519775390625,
      "step": 12588
    },
    {
      "epoch": 2.8245456585146957,
      "grad_norm": 0.3116239011287689,
      "learning_rate": 4.4720969696204485e-06,
      "loss": 0.0497,
      "step": 12589
    },
    {
      "epoch": 2.8245456585146957,
      "gripper_loss": 0.0084228515625,
      "loss": 0.0279541015625,
      "pos_loss": 0.1494140625,
      "rot_loss": 0.1240234375,
      "step": 12589
    },
    {
      "epoch": 2.8247700246802783,
      "grad_norm": 0.21534156799316406,
      "learning_rate": 4.460700807935924e-06,
      "loss": 0.0376,
      "step": 12590
    },
    {
      "epoch": 2.8247700246802783,
      "gripper_loss": 0.9765625,
      "loss": 0.033203125,
      "pos_loss": 0.0034637451171875,
      "rot_loss": 0.00396728515625,
      "step": 12590
    },
    {
      "epoch": 2.8249943908458603,
      "grad_norm": 0.2898498773574829,
      "learning_rate": 4.4493190543866136e-06,
      "loss": 0.032,
      "step": 12591
    },
    {
      "epoch": 2.8249943908458603,
      "gripper_loss": 0.56640625,
      "loss": 0.052001953125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.050537109375,
      "step": 12591
    },
    {
      "epoch": 2.8252187570114424,
      "grad_norm": 0.31094658374786377,
      "learning_rate": 4.437951709640314e-06,
      "loss": 0.0503,
      "step": 12592
    },
    {
      "epoch": 2.8252187570114424,
      "gripper_loss": 0.07763671875,
      "loss": 0.037109375,
      "pos_loss": 0.28515625,
      "rot_loss": 0.0634765625,
      "step": 12592
    },
    {
      "epoch": 2.825443123177025,
      "grad_norm": 0.164253830909729,
      "learning_rate": 4.426598774364132e-06,
      "loss": 0.0244,
      "step": 12593
    },
    {
      "epoch": 2.825443123177025,
      "gripper_loss": 0.005126953125,
      "loss": 0.050537109375,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.298828125,
      "step": 12593
    },
    {
      "epoch": 2.825667489342607,
      "grad_norm": 0.24743559956550598,
      "learning_rate": 4.415260249224256e-06,
      "loss": 0.0597,
      "step": 12594
    },
    {
      "epoch": 2.825667489342607,
      "gripper_loss": 0.17578125,
      "loss": 0.03759765625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.00860595703125,
      "step": 12594
    },
    {
      "epoch": 2.825891855508189,
      "grad_norm": 0.3010246753692627,
      "learning_rate": 4.403936134885961e-06,
      "loss": 0.0504,
      "step": 12595
    },
    {
      "epoch": 2.825891855508189,
      "gripper_loss": 0.00860595703125,
      "loss": 0.04345703125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.123046875,
      "step": 12595
    },
    {
      "epoch": 2.8261162216737716,
      "grad_norm": 0.33331725001335144,
      "learning_rate": 4.392626432013797e-06,
      "loss": 0.0558,
      "step": 12596
    },
    {
      "epoch": 2.8261162216737716,
      "gripper_loss": 0.1416015625,
      "loss": 0.022705078125,
      "pos_loss": 0.12890625,
      "rot_loss": 0.048583984375,
      "step": 12596
    },
    {
      "epoch": 2.8263405878393537,
      "grad_norm": 0.2889735996723175,
      "learning_rate": 4.3813311412714e-06,
      "loss": 0.0288,
      "step": 12597
    },
    {
      "epoch": 2.8263405878393537,
      "gripper_loss": 0.01434326171875,
      "loss": 0.04345703125,
      "pos_loss": 0.333984375,
      "rot_loss": 0.10009765625,
      "step": 12597
    },
    {
      "epoch": 2.826564954004936,
      "grad_norm": 0.31871405243873596,
      "learning_rate": 4.370050263321573e-06,
      "loss": 0.0486,
      "step": 12598
    },
    {
      "epoch": 2.826564954004936,
      "gripper_loss": 0.004180908203125,
      "loss": 0.03173828125,
      "pos_loss": 0.2255859375,
      "rot_loss": 0.08935546875,
      "step": 12598
    },
    {
      "epoch": 2.8267893201705183,
      "grad_norm": 0.5603787899017334,
      "learning_rate": 4.35878379882626e-06,
      "loss": 0.0435,
      "step": 12599
    },
    {
      "epoch": 2.8267893201705183,
      "gripper_loss": 0.404296875,
      "loss": 0.0240478515625,
      "pos_loss": 0.07763671875,
      "rot_loss": 0.0277099609375,
      "step": 12599
    },
    {
      "epoch": 2.8270136863361004,
      "grad_norm": 0.20693859457969666,
      "learning_rate": 4.34753174844657e-06,
      "loss": 0.0251,
      "step": 12600
    },
    {
      "epoch": 2.8270136863361004,
      "gripper_loss": 0.00811767578125,
      "loss": 0.060302734375,
      "pos_loss": 0.412109375,
      "rot_loss": 0.205078125,
      "step": 12600
    },
    {
      "epoch": 2.8272380525016825,
      "grad_norm": 0.21652162075042725,
      "learning_rate": 4.336294112842781e-06,
      "loss": 0.0301,
      "step": 12601
    },
    {
      "epoch": 2.8272380525016825,
      "gripper_loss": 0.390625,
      "loss": 0.07958984375,
      "pos_loss": 0.45703125,
      "rot_loss": 0.2431640625,
      "step": 12601
    },
    {
      "epoch": 2.827462418667265,
      "grad_norm": 0.27021172642707825,
      "learning_rate": 4.3250708926743096e-06,
      "loss": 0.0458,
      "step": 12602
    },
    {
      "epoch": 2.827462418667265,
      "gripper_loss": 0.00872802734375,
      "loss": 0.0142822265625,
      "pos_loss": 0.10693359375,
      "rot_loss": 0.0230712890625,
      "step": 12602
    },
    {
      "epoch": 2.827686784832847,
      "grad_norm": 0.2685934901237488,
      "learning_rate": 4.31386208859974e-06,
      "loss": 0.0411,
      "step": 12603
    },
    {
      "epoch": 2.827686784832847,
      "gripper_loss": 0.0205078125,
      "loss": 0.055908203125,
      "pos_loss": 0.451171875,
      "rot_loss": 0.11181640625,
      "step": 12603
    },
    {
      "epoch": 2.8279111509984296,
      "grad_norm": 0.4266176223754883,
      "learning_rate": 4.302667701276797e-06,
      "loss": 0.0561,
      "step": 12604
    },
    {
      "epoch": 2.8279111509984296,
      "gripper_loss": 0.00567626953125,
      "loss": 0.0177001953125,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.0576171875,
      "step": 12604
    },
    {
      "epoch": 2.8281355171640117,
      "grad_norm": 0.30699238181114197,
      "learning_rate": 4.291487731362315e-06,
      "loss": 0.0346,
      "step": 12605
    },
    {
      "epoch": 2.8281355171640117,
      "gripper_loss": 1.65625,
      "loss": 0.06396484375,
      "pos_loss": 0.033447265625,
      "rot_loss": 0.0791015625,
      "step": 12605
    },
    {
      "epoch": 2.8283598833295938,
      "grad_norm": 0.28556740283966064,
      "learning_rate": 4.28032217951238e-06,
      "loss": 0.0389,
      "step": 12606
    },
    {
      "epoch": 2.8283598833295938,
      "gripper_loss": 0.007781982421875,
      "loss": 0.057861328125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.19140625,
      "step": 12606
    },
    {
      "epoch": 2.8285842494951763,
      "grad_norm": 0.3732030391693115,
      "learning_rate": 4.269171046382192e-06,
      "loss": 0.0502,
      "step": 12607
    },
    {
      "epoch": 2.8285842494951763,
      "gripper_loss": 0.010498046875,
      "loss": 0.068359375,
      "pos_loss": 0.65625,
      "rot_loss": 0.053955078125,
      "step": 12607
    },
    {
      "epoch": 2.8288086156607584,
      "grad_norm": 0.5012176632881165,
      "learning_rate": 4.258034332626059e-06,
      "loss": 0.0626,
      "step": 12608
    },
    {
      "epoch": 2.8288086156607584,
      "gripper_loss": 0.05810546875,
      "loss": 0.047119140625,
      "pos_loss": 0.39453125,
      "rot_loss": 0.0703125,
      "step": 12608
    },
    {
      "epoch": 2.8290329818263404,
      "grad_norm": 0.367301881313324,
      "learning_rate": 4.246912038897488e-06,
      "loss": 0.0703,
      "step": 12609
    },
    {
      "epoch": 2.8290329818263404,
      "gripper_loss": 0.03173828125,
      "loss": 0.031494140625,
      "pos_loss": 0.23828125,
      "rot_loss": 0.06494140625,
      "step": 12609
    },
    {
      "epoch": 2.829257347991923,
      "grad_norm": 0.607695996761322,
      "learning_rate": 4.23580416584915e-06,
      "loss": 0.0507,
      "step": 12610
    },
    {
      "epoch": 2.829257347991923,
      "gripper_loss": 0.01007080078125,
      "loss": 0.0224609375,
      "pos_loss": 0.20703125,
      "rot_loss": 0.012451171875,
      "step": 12610
    },
    {
      "epoch": 2.829481714157505,
      "grad_norm": 0.37349697947502136,
      "learning_rate": 4.224710714132829e-06,
      "loss": 0.0442,
      "step": 12611
    },
    {
      "epoch": 2.829481714157505,
      "gripper_loss": 0.29296875,
      "loss": 0.0380859375,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.1806640625,
      "step": 12611
    },
    {
      "epoch": 2.829706080323087,
      "grad_norm": 0.22127795219421387,
      "learning_rate": 4.213631684399477e-06,
      "loss": 0.0362,
      "step": 12612
    },
    {
      "epoch": 2.829706080323087,
      "gripper_loss": 0.00848388671875,
      "loss": 0.033935546875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.06689453125,
      "step": 12612
    },
    {
      "epoch": 2.8299304464886696,
      "grad_norm": 0.2543792426586151,
      "learning_rate": 4.202567077299213e-06,
      "loss": 0.0278,
      "step": 12613
    },
    {
      "epoch": 2.8299304464886696,
      "gripper_loss": 0.013671875,
      "loss": 0.0242919921875,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.11669921875,
      "step": 12613
    },
    {
      "epoch": 2.8301548126542517,
      "grad_norm": 0.2092621624469757,
      "learning_rate": 4.191516893481323e-06,
      "loss": 0.0314,
      "step": 12614
    },
    {
      "epoch": 2.8301548126542517,
      "gripper_loss": 0.08447265625,
      "loss": 0.0224609375,
      "pos_loss": 0.095703125,
      "rot_loss": 0.09375,
      "step": 12614
    },
    {
      "epoch": 2.830379178819834,
      "grad_norm": 0.31086692214012146,
      "learning_rate": 4.180481133594205e-06,
      "loss": 0.0379,
      "step": 12615
    },
    {
      "epoch": 2.830379178819834,
      "gripper_loss": 0.007568359375,
      "loss": 0.04248046875,
      "pos_loss": 0.365234375,
      "rot_loss": 0.0654296875,
      "step": 12615
    },
    {
      "epoch": 2.8306035449854163,
      "grad_norm": 0.40947720408439636,
      "learning_rate": 4.169459798285452e-06,
      "loss": 0.0442,
      "step": 12616
    },
    {
      "epoch": 2.8306035449854163,
      "gripper_loss": 0.0089111328125,
      "loss": 0.01220703125,
      "pos_loss": 0.013916015625,
      "rot_loss": 0.09912109375,
      "step": 12616
    },
    {
      "epoch": 2.8308279111509984,
      "grad_norm": 0.18581871688365936,
      "learning_rate": 4.1584528882017695e-06,
      "loss": 0.035,
      "step": 12617
    },
    {
      "epoch": 2.8308279111509984,
      "gripper_loss": 0.007659912109375,
      "loss": 0.03369140625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.025146484375,
      "step": 12617
    },
    {
      "epoch": 2.831052277316581,
      "grad_norm": 0.38799193501472473,
      "learning_rate": 4.147460403989029e-06,
      "loss": 0.0468,
      "step": 12618
    },
    {
      "epoch": 2.831052277316581,
      "gripper_loss": 0.0155029296875,
      "loss": 0.07373046875,
      "pos_loss": 0.373046875,
      "rot_loss": 0.380859375,
      "step": 12618
    },
    {
      "epoch": 2.831276643482163,
      "grad_norm": 0.4656660258769989,
      "learning_rate": 4.136482346292298e-06,
      "loss": 0.0644,
      "step": 12619
    },
    {
      "epoch": 2.831276643482163,
      "gripper_loss": 0.004486083984375,
      "loss": 0.0274658203125,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.02880859375,
      "step": 12619
    },
    {
      "epoch": 2.831501009647745,
      "grad_norm": 0.3657943904399872,
      "learning_rate": 4.125518715755755e-06,
      "loss": 0.0312,
      "step": 12620
    },
    {
      "epoch": 2.831501009647745,
      "gripper_loss": 0.26171875,
      "loss": 0.03369140625,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.10791015625,
      "step": 12620
    },
    {
      "epoch": 2.8317253758133276,
      "grad_norm": 0.4685198664665222,
      "learning_rate": 4.114569513022748e-06,
      "loss": 0.0428,
      "step": 12621
    },
    {
      "epoch": 2.8317253758133276,
      "gripper_loss": 0.095703125,
      "loss": 0.033447265625,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.09814453125,
      "step": 12621
    },
    {
      "epoch": 2.8319497419789097,
      "grad_norm": 0.2640689015388489,
      "learning_rate": 4.103634738735706e-06,
      "loss": 0.0391,
      "step": 12622
    },
    {
      "epoch": 2.8319497419789097,
      "gripper_loss": 0.0238037109375,
      "loss": 0.0281982421875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.0224609375,
      "step": 12622
    },
    {
      "epoch": 2.8321741081444918,
      "grad_norm": 0.23099496960639954,
      "learning_rate": 4.092714393536367e-06,
      "loss": 0.037,
      "step": 12623
    },
    {
      "epoch": 2.8321741081444918,
      "gripper_loss": 0.009033203125,
      "loss": 0.0751953125,
      "pos_loss": 0.3046875,
      "rot_loss": 0.462890625,
      "step": 12623
    },
    {
      "epoch": 2.8323984743100743,
      "grad_norm": 0.2435103952884674,
      "learning_rate": 4.081808478065496e-06,
      "loss": 0.0451,
      "step": 12624
    },
    {
      "epoch": 2.8323984743100743,
      "gripper_loss": 0.10302734375,
      "loss": 0.044921875,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.205078125,
      "step": 12624
    },
    {
      "epoch": 2.8326228404756564,
      "grad_norm": 0.17158657312393188,
      "learning_rate": 4.070916992963025e-06,
      "loss": 0.0426,
      "step": 12625
    },
    {
      "epoch": 2.8326228404756564,
      "gripper_loss": 0.2451171875,
      "loss": 0.1572265625,
      "pos_loss": 0.2158203125,
      "rot_loss": 0.486328125,
      "step": 12625
    },
    {
      "epoch": 2.8328472066412385,
      "grad_norm": 1.3634566068649292,
      "learning_rate": 4.06003993886811e-06,
      "loss": 0.2053,
      "step": 12626
    },
    {
      "epoch": 2.8328472066412385,
      "gripper_loss": 0.0218505859375,
      "loss": 0.058349609375,
      "pos_loss": 0.173828125,
      "rot_loss": 0.41796875,
      "step": 12626
    },
    {
      "epoch": 2.833071572806821,
      "grad_norm": 0.29653072357177734,
      "learning_rate": 4.0491773164189616e-06,
      "loss": 0.0508,
      "step": 12627
    },
    {
      "epoch": 2.833071572806821,
      "gripper_loss": 0.0031890869140625,
      "loss": 0.10302734375,
      "pos_loss": 0.7734375,
      "rot_loss": 0.294921875,
      "step": 12627
    },
    {
      "epoch": 2.833295938972403,
      "grad_norm": 0.17385977506637573,
      "learning_rate": 4.0383291262530154e-06,
      "loss": 0.0355,
      "step": 12628
    },
    {
      "epoch": 2.833295938972403,
      "gripper_loss": 0.0030975341796875,
      "loss": 0.08203125,
      "pos_loss": 0.73828125,
      "rot_loss": 0.109375,
      "step": 12628
    },
    {
      "epoch": 2.833520305137985,
      "grad_norm": 0.4070568382740021,
      "learning_rate": 4.027495369006845e-06,
      "loss": 0.0475,
      "step": 12629
    },
    {
      "epoch": 2.833520305137985,
      "gripper_loss": 0.1337890625,
      "loss": 0.036376953125,
      "pos_loss": 0.240234375,
      "rot_loss": 0.0810546875,
      "step": 12629
    },
    {
      "epoch": 2.8337446713035677,
      "grad_norm": 0.42611947655677795,
      "learning_rate": 4.016676045316137e-06,
      "loss": 0.0408,
      "step": 12630
    },
    {
      "epoch": 2.8337446713035677,
      "gripper_loss": 0.01092529296875,
      "loss": 0.0235595703125,
      "pos_loss": 0.19921875,
      "rot_loss": 0.0257568359375,
      "step": 12630
    },
    {
      "epoch": 2.8339690374691497,
      "grad_norm": 0.28244128823280334,
      "learning_rate": 4.005871155815799e-06,
      "loss": 0.0277,
      "step": 12631
    },
    {
      "epoch": 2.8339690374691497,
      "gripper_loss": 0.0150146484375,
      "loss": 0.033447265625,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.158203125,
      "step": 12631
    },
    {
      "epoch": 2.834193403634732,
      "grad_norm": 0.2506607174873352,
      "learning_rate": 3.995080701139853e-06,
      "loss": 0.0342,
      "step": 12632
    },
    {
      "epoch": 2.834193403634732,
      "gripper_loss": 0.0025787353515625,
      "loss": 0.05859375,
      "pos_loss": 0.40234375,
      "rot_loss": 0.197265625,
      "step": 12632
    },
    {
      "epoch": 2.8344177698003143,
      "grad_norm": 0.4307723939418793,
      "learning_rate": 3.984304681921486e-06,
      "loss": 0.0333,
      "step": 12633
    },
    {
      "epoch": 2.8344177698003143,
      "gripper_loss": 0.283203125,
      "loss": 0.04296875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.16015625,
      "step": 12633
    },
    {
      "epoch": 2.8346421359658964,
      "grad_norm": 0.3270323574542999,
      "learning_rate": 3.973543098792998e-06,
      "loss": 0.0384,
      "step": 12634
    },
    {
      "epoch": 2.8346421359658964,
      "gripper_loss": 0.00830078125,
      "loss": 0.025634765625,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.08984375,
      "step": 12634
    },
    {
      "epoch": 2.8348665021314785,
      "grad_norm": 0.3426811099052429,
      "learning_rate": 3.962795952385912e-06,
      "loss": 0.0426,
      "step": 12635
    },
    {
      "epoch": 2.8348665021314785,
      "gripper_loss": 0.0146484375,
      "loss": 0.005706787109375,
      "pos_loss": 0.01446533203125,
      "rot_loss": 0.0223388671875,
      "step": 12635
    },
    {
      "epoch": 2.835090868297061,
      "grad_norm": 0.24468646943569183,
      "learning_rate": 3.952063243330834e-06,
      "loss": 0.0416,
      "step": 12636
    },
    {
      "epoch": 2.835090868297061,
      "gripper_loss": 0.01806640625,
      "loss": 0.03369140625,
      "pos_loss": 0.29296875,
      "rot_loss": 0.041748046875,
      "step": 12636
    },
    {
      "epoch": 2.835315234462643,
      "grad_norm": 0.7467539310455322,
      "learning_rate": 3.941344972257566e-06,
      "loss": 0.0456,
      "step": 12637
    },
    {
      "epoch": 2.835315234462643,
      "gripper_loss": 0.26171875,
      "loss": 0.031982421875,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.1962890625,
      "step": 12637
    },
    {
      "epoch": 2.835539600628225,
      "grad_norm": 0.2721194624900818,
      "learning_rate": 3.930641139795077e-06,
      "loss": 0.0312,
      "step": 12638
    },
    {
      "epoch": 2.835539600628225,
      "gripper_loss": 0.003662109375,
      "loss": 0.028564453125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.060546875,
      "step": 12638
    },
    {
      "epoch": 2.8357639667938077,
      "grad_norm": 0.39354631304740906,
      "learning_rate": 3.919951746571393e-06,
      "loss": 0.0326,
      "step": 12639
    },
    {
      "epoch": 2.8357639667938077,
      "gripper_loss": 0.0159912109375,
      "loss": 0.03271484375,
      "pos_loss": 0.22265625,
      "rot_loss": 0.09814453125,
      "step": 12639
    },
    {
      "epoch": 2.83598833295939,
      "grad_norm": 0.26385268568992615,
      "learning_rate": 3.909276793213845e-06,
      "loss": 0.0434,
      "step": 12640
    },
    {
      "epoch": 2.83598833295939,
      "gripper_loss": 0.10107421875,
      "loss": 0.0311279296875,
      "pos_loss": 0.23046875,
      "rot_loss": 0.0478515625,
      "step": 12640
    },
    {
      "epoch": 2.836212699124972,
      "grad_norm": 0.2818588316440582,
      "learning_rate": 3.898616280348794e-06,
      "loss": 0.0407,
      "step": 12641
    },
    {
      "epoch": 2.836212699124972,
      "gripper_loss": 0.0174560546875,
      "loss": 0.03662109375,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.255859375,
      "step": 12641
    },
    {
      "epoch": 2.8364370652905544,
      "grad_norm": 0.3895288109779358,
      "learning_rate": 3.8879702086017655e-06,
      "loss": 0.0319,
      "step": 12642
    },
    {
      "epoch": 2.8364370652905544,
      "gripper_loss": 0.1650390625,
      "loss": 0.010498046875,
      "pos_loss": 0.006683349609375,
      "rot_loss": 0.0299072265625,
      "step": 12642
    },
    {
      "epoch": 2.8366614314561365,
      "grad_norm": 0.21239235997200012,
      "learning_rate": 3.877338578597539e-06,
      "loss": 0.0302,
      "step": 12643
    },
    {
      "epoch": 2.8366614314561365,
      "gripper_loss": 0.59375,
      "loss": 0.0260009765625,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.0111083984375,
      "step": 12643
    },
    {
      "epoch": 2.8368857976217186,
      "grad_norm": 0.318798691034317,
      "learning_rate": 3.866721390959893e-06,
      "loss": 0.0331,
      "step": 12644
    },
    {
      "epoch": 2.8368857976217186,
      "gripper_loss": 0.08447265625,
      "loss": 0.01031494140625,
      "pos_loss": 0.0458984375,
      "rot_loss": 0.0159912109375,
      "step": 12644
    },
    {
      "epoch": 2.837110163787301,
      "grad_norm": 0.39969274401664734,
      "learning_rate": 3.856118646311885e-06,
      "loss": 0.0456,
      "step": 12645
    },
    {
      "epoch": 2.837110163787301,
      "gripper_loss": 0.2001953125,
      "loss": 0.045654296875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.008544921875,
      "step": 12645
    },
    {
      "epoch": 2.837334529952883,
      "grad_norm": 0.22037987411022186,
      "learning_rate": 3.845530345275711e-06,
      "loss": 0.0346,
      "step": 12646
    },
    {
      "epoch": 2.837334529952883,
      "gripper_loss": 0.373046875,
      "loss": 0.0291748046875,
      "pos_loss": 0.1181640625,
      "rot_loss": 0.0458984375,
      "step": 12646
    },
    {
      "epoch": 2.8375588961184652,
      "grad_norm": 0.4041594862937927,
      "learning_rate": 3.834956488472624e-06,
      "loss": 0.0489,
      "step": 12647
    },
    {
      "epoch": 2.8375588961184652,
      "gripper_loss": 0.005767822265625,
      "loss": 0.033447265625,
      "pos_loss": 0.32421875,
      "rot_loss": 0.01458740234375,
      "step": 12647
    },
    {
      "epoch": 2.8377832622840478,
      "grad_norm": 0.26706618070602417,
      "learning_rate": 3.8243970765231286e-06,
      "loss": 0.0351,
      "step": 12648
    },
    {
      "epoch": 2.8377832622840478,
      "gripper_loss": 0.0079345703125,
      "loss": 0.07763671875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.1376953125,
      "step": 12648
    },
    {
      "epoch": 2.83800762844963,
      "grad_norm": 0.2499830722808838,
      "learning_rate": 3.8138521100468394e-06,
      "loss": 0.0437,
      "step": 12649
    },
    {
      "epoch": 2.83800762844963,
      "gripper_loss": 0.0038604736328125,
      "loss": 0.0206298828125,
      "pos_loss": 0.1962890625,
      "rot_loss": 0.004364013671875,
      "step": 12649
    },
    {
      "epoch": 2.838231994615212,
      "grad_norm": 0.3572952151298523,
      "learning_rate": 3.8033215896625394e-06,
      "loss": 0.0327,
      "step": 12650
    },
    {
      "epoch": 2.838231994615212,
      "gripper_loss": 0.004241943359375,
      "loss": 0.038818359375,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.16015625,
      "step": 12650
    },
    {
      "epoch": 2.8384563607807944,
      "grad_norm": 0.34734153747558594,
      "learning_rate": 3.7928055159881238e-06,
      "loss": 0.0516,
      "step": 12651
    },
    {
      "epoch": 2.8384563607807944,
      "gripper_loss": 0.263671875,
      "loss": 0.035400390625,
      "pos_loss": 0.095703125,
      "rot_loss": 0.1376953125,
      "step": 12651
    },
    {
      "epoch": 2.8386807269463765,
      "grad_norm": 0.5228453278541565,
      "learning_rate": 3.7823038896406815e-06,
      "loss": 0.0896,
      "step": 12652
    },
    {
      "epoch": 2.8386807269463765,
      "gripper_loss": 0.75390625,
      "loss": 0.0400390625,
      "pos_loss": 0.1298828125,
      "rot_loss": 0.02734375,
      "step": 12652
    },
    {
      "epoch": 2.8389050931119586,
      "grad_norm": 0.2319059669971466,
      "learning_rate": 3.7718167112364422e-06,
      "loss": 0.0377,
      "step": 12653
    },
    {
      "epoch": 2.8389050931119586,
      "gripper_loss": 0.1435546875,
      "loss": 0.0791015625,
      "pos_loss": 0.45703125,
      "rot_loss": 0.31640625,
      "step": 12653
    },
    {
      "epoch": 2.839129459277541,
      "grad_norm": 0.49856671690940857,
      "learning_rate": 3.761343981390858e-06,
      "loss": 0.0538,
      "step": 12654
    },
    {
      "epoch": 2.839129459277541,
      "gripper_loss": 0.279296875,
      "loss": 0.05224609375,
      "pos_loss": 0.251953125,
      "rot_loss": 0.18359375,
      "step": 12654
    },
    {
      "epoch": 2.839353825443123,
      "grad_norm": 0.30145904421806335,
      "learning_rate": 3.750885700718354e-06,
      "loss": 0.0464,
      "step": 12655
    },
    {
      "epoch": 2.839353825443123,
      "gripper_loss": 0.2734375,
      "loss": 0.053955078125,
      "pos_loss": 0.294921875,
      "rot_loss": 0.16796875,
      "step": 12655
    },
    {
      "epoch": 2.8395781916087053,
      "grad_norm": 0.3882972300052643,
      "learning_rate": 3.7404418698326613e-06,
      "loss": 0.0434,
      "step": 12656
    },
    {
      "epoch": 2.8395781916087053,
      "gripper_loss": 0.0048828125,
      "loss": 0.064453125,
      "pos_loss": 0.546875,
      "rot_loss": 0.119140625,
      "step": 12656
    },
    {
      "epoch": 2.839802557774288,
      "grad_norm": 0.280043363571167,
      "learning_rate": 3.7300124893466514e-06,
      "loss": 0.0557,
      "step": 12657
    },
    {
      "epoch": 2.839802557774288,
      "gripper_loss": 0.006256103515625,
      "loss": 0.0206298828125,
      "pos_loss": 0.130859375,
      "rot_loss": 0.06591796875,
      "step": 12657
    },
    {
      "epoch": 2.84002692393987,
      "grad_norm": 0.39651980996131897,
      "learning_rate": 3.7195975598723064e-06,
      "loss": 0.0563,
      "step": 12658
    },
    {
      "epoch": 2.84002692393987,
      "gripper_loss": 0.373046875,
      "loss": 0.033203125,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.055908203125,
      "step": 12658
    },
    {
      "epoch": 2.840251290105452,
      "grad_norm": 0.313748836517334,
      "learning_rate": 3.709197082020721e-06,
      "loss": 0.0404,
      "step": 12659
    },
    {
      "epoch": 2.840251290105452,
      "gripper_loss": 0.00628662109375,
      "loss": 0.02685546875,
      "pos_loss": 0.20703125,
      "rot_loss": 0.05517578125,
      "step": 12659
    },
    {
      "epoch": 2.8404756562710345,
      "grad_norm": 0.19538047909736633,
      "learning_rate": 3.69881105640224e-06,
      "loss": 0.0361,
      "step": 12660
    },
    {
      "epoch": 2.8404756562710345,
      "gripper_loss": 0.68359375,
      "loss": 0.0361328125,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.10107421875,
      "step": 12660
    },
    {
      "epoch": 2.8407000224366166,
      "grad_norm": 0.21170684695243835,
      "learning_rate": 3.6884394836262935e-06,
      "loss": 0.0284,
      "step": 12661
    },
    {
      "epoch": 2.8407000224366166,
      "gripper_loss": 0.0277099609375,
      "loss": 0.01531982421875,
      "pos_loss": 0.05224609375,
      "rot_loss": 0.0830078125,
      "step": 12661
    },
    {
      "epoch": 2.8409243886021986,
      "grad_norm": 0.7915341854095459,
      "learning_rate": 3.678082364301477e-06,
      "loss": 0.0516,
      "step": 12662
    },
    {
      "epoch": 2.8409243886021986,
      "gripper_loss": 0.052490234375,
      "loss": 0.04248046875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.15234375,
      "step": 12662
    },
    {
      "epoch": 2.841148754767781,
      "grad_norm": 0.23185408115386963,
      "learning_rate": 3.667739699035555e-06,
      "loss": 0.0427,
      "step": 12663
    },
    {
      "epoch": 2.841148754767781,
      "gripper_loss": 0.005615234375,
      "loss": 0.046630859375,
      "pos_loss": 0.330078125,
      "rot_loss": 0.1455078125,
      "step": 12663
    },
    {
      "epoch": 2.8413731209333632,
      "grad_norm": 0.3075374364852905,
      "learning_rate": 3.6574114884354025e-06,
      "loss": 0.0463,
      "step": 12664
    },
    {
      "epoch": 2.8413731209333632,
      "gripper_loss": 0.279296875,
      "loss": 0.0240478515625,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.021484375,
      "step": 12664
    },
    {
      "epoch": 2.8415974870989453,
      "grad_norm": 0.41286489367485046,
      "learning_rate": 3.6470977331070907e-06,
      "loss": 0.0315,
      "step": 12665
    },
    {
      "epoch": 2.8415974870989453,
      "gripper_loss": 0.016845703125,
      "loss": 0.00701904296875,
      "pos_loss": 0.03466796875,
      "rot_loss": 0.0164794921875,
      "step": 12665
    },
    {
      "epoch": 2.841821853264528,
      "grad_norm": 0.22446376085281372,
      "learning_rate": 3.6367984336558303e-06,
      "loss": 0.0406,
      "step": 12666
    },
    {
      "epoch": 2.841821853264528,
      "gripper_loss": 0.1474609375,
      "loss": 0.0223388671875,
      "pos_loss": 0.09765625,
      "rot_loss": 0.0693359375,
      "step": 12666
    },
    {
      "epoch": 2.84204621943011,
      "grad_norm": 0.3529186546802521,
      "learning_rate": 3.626513590685998e-06,
      "loss": 0.051,
      "step": 12667
    },
    {
      "epoch": 2.84204621943011,
      "gripper_loss": 0.00946044921875,
      "loss": 0.0157470703125,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.03564453125,
      "step": 12667
    },
    {
      "epoch": 2.842270585595692,
      "grad_norm": 0.28011298179626465,
      "learning_rate": 3.616243204801084e-06,
      "loss": 0.0299,
      "step": 12668
    },
    {
      "epoch": 2.842270585595692,
      "gripper_loss": 0.00396728515625,
      "loss": 0.01336669921875,
      "pos_loss": 0.10302734375,
      "rot_loss": 0.0208740234375,
      "step": 12668
    },
    {
      "epoch": 2.8424949517612745,
      "grad_norm": 0.24081586301326752,
      "learning_rate": 3.605987276603717e-06,
      "loss": 0.0447,
      "step": 12669
    },
    {
      "epoch": 2.8424949517612745,
      "gripper_loss": 0.341796875,
      "loss": 0.048095703125,
      "pos_loss": 0.24609375,
      "rot_loss": 0.1328125,
      "step": 12669
    },
    {
      "epoch": 2.8427193179268566,
      "grad_norm": 0.2653469741344452,
      "learning_rate": 3.595745806695777e-06,
      "loss": 0.0478,
      "step": 12670
    },
    {
      "epoch": 2.8427193179268566,
      "gripper_loss": 0.0185546875,
      "loss": 0.01611328125,
      "pos_loss": 0.034423828125,
      "rot_loss": 0.11474609375,
      "step": 12670
    },
    {
      "epoch": 2.8429436840924387,
      "grad_norm": 0.29456233978271484,
      "learning_rate": 3.585518795678172e-06,
      "loss": 0.045,
      "step": 12671
    },
    {
      "epoch": 2.8429436840924387,
      "gripper_loss": 0.0086669921875,
      "loss": 0.10693359375,
      "pos_loss": 1.0859375,
      "rot_loss": 0.033447265625,
      "step": 12671
    },
    {
      "epoch": 2.843168050258021,
      "grad_norm": 0.2950780689716339,
      "learning_rate": 3.575306244151061e-06,
      "loss": 0.0592,
      "step": 12672
    },
    {
      "epoch": 2.843168050258021,
      "gripper_loss": 0.00701904296875,
      "loss": 0.1611328125,
      "pos_loss": 1.6640625,
      "rot_loss": 0.031494140625,
      "step": 12672
    },
    {
      "epoch": 2.8433924164236033,
      "grad_norm": 0.5937921404838562,
      "learning_rate": 3.5651081527136866e-06,
      "loss": 0.082,
      "step": 12673
    },
    {
      "epoch": 2.8433924164236033,
      "gripper_loss": 0.02197265625,
      "loss": 0.037353515625,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.2255859375,
      "step": 12673
    },
    {
      "epoch": 2.8436167825891854,
      "grad_norm": 0.3022693395614624,
      "learning_rate": 3.5549245219644588e-06,
      "loss": 0.051,
      "step": 12674
    },
    {
      "epoch": 2.8436167825891854,
      "gripper_loss": 0.1259765625,
      "loss": 0.0164794921875,
      "pos_loss": 0.03271484375,
      "rot_loss": 0.08251953125,
      "step": 12674
    },
    {
      "epoch": 2.843841148754768,
      "grad_norm": 0.3809288740158081,
      "learning_rate": 3.5447553525009558e-06,
      "loss": 0.0407,
      "step": 12675
    },
    {
      "epoch": 2.843841148754768,
      "gripper_loss": 0.0103759765625,
      "loss": 0.04736328125,
      "pos_loss": 0.3359375,
      "rot_loss": 0.138671875,
      "step": 12675
    },
    {
      "epoch": 2.84406551492035,
      "grad_norm": 0.3363572657108307,
      "learning_rate": 3.5346006449199496e-06,
      "loss": 0.0354,
      "step": 12676
    },
    {
      "epoch": 2.84406551492035,
      "gripper_loss": 0.0927734375,
      "loss": 0.01263427734375,
      "pos_loss": 0.05517578125,
      "rot_loss": 0.0263671875,
      "step": 12676
    },
    {
      "epoch": 2.844289881085932,
      "grad_norm": 0.2914064824581146,
      "learning_rate": 3.5244603998172143e-06,
      "loss": 0.0327,
      "step": 12677
    },
    {
      "epoch": 2.844289881085932,
      "gripper_loss": 0.12158203125,
      "loss": 0.0262451171875,
      "pos_loss": 0.107421875,
      "rot_loss": 0.107421875,
      "step": 12677
    },
    {
      "epoch": 2.8445142472515146,
      "grad_norm": 0.26303234696388245,
      "learning_rate": 3.5143346177878568e-06,
      "loss": 0.0404,
      "step": 12678
    },
    {
      "epoch": 2.8445142472515146,
      "gripper_loss": 0.462890625,
      "loss": 0.021240234375,
      "pos_loss": 0.0380859375,
      "rot_loss": 0.014892578125,
      "step": 12678
    },
    {
      "epoch": 2.8447386134170967,
      "grad_norm": 0.24607430398464203,
      "learning_rate": 3.5042232994260404e-06,
      "loss": 0.038,
      "step": 12679
    },
    {
      "epoch": 2.8447386134170967,
      "gripper_loss": 0.09326171875,
      "loss": 0.04248046875,
      "pos_loss": 0.220703125,
      "rot_loss": 0.177734375,
      "step": 12679
    },
    {
      "epoch": 2.8449629795826787,
      "grad_norm": 0.39592573046684265,
      "learning_rate": 3.4941264453250686e-06,
      "loss": 0.0492,
      "step": 12680
    },
    {
      "epoch": 2.8449629795826787,
      "gripper_loss": 0.04736328125,
      "loss": 0.05322265625,
      "pos_loss": 0.44140625,
      "rot_loss": 0.09130859375,
      "step": 12680
    },
    {
      "epoch": 2.8451873457482613,
      "grad_norm": 0.338557630777359,
      "learning_rate": 3.48404405607744e-06,
      "loss": 0.0388,
      "step": 12681
    },
    {
      "epoch": 2.8451873457482613,
      "gripper_loss": 0.004364013671875,
      "loss": 0.015869140625,
      "pos_loss": 0.1328125,
      "rot_loss": 0.0113525390625,
      "step": 12681
    },
    {
      "epoch": 2.8454117119138433,
      "grad_norm": 0.12981557846069336,
      "learning_rate": 3.4739761322747643e-06,
      "loss": 0.0154,
      "step": 12682
    },
    {
      "epoch": 2.8454117119138433,
      "gripper_loss": 0.051513671875,
      "loss": 0.0203857421875,
      "pos_loss": 0.1669921875,
      "rot_loss": 0.0157470703125,
      "step": 12682
    },
    {
      "epoch": 2.8456360780794254,
      "grad_norm": 0.1329313963651657,
      "learning_rate": 3.4639226745078465e-06,
      "loss": 0.0252,
      "step": 12683
    },
    {
      "epoch": 2.8456360780794254,
      "gripper_loss": 0.0177001953125,
      "loss": 0.01129150390625,
      "pos_loss": 0.010009765625,
      "rot_loss": 0.0869140625,
      "step": 12683
    },
    {
      "epoch": 2.845860444245008,
      "grad_norm": 0.30267566442489624,
      "learning_rate": 3.453883683366604e-06,
      "loss": 0.0348,
      "step": 12684
    },
    {
      "epoch": 2.845860444245008,
      "gripper_loss": 0.006866455078125,
      "loss": 0.01251220703125,
      "pos_loss": 0.0191650390625,
      "rot_loss": 0.09814453125,
      "step": 12684
    },
    {
      "epoch": 2.84608481041059,
      "grad_norm": 0.21312598884105682,
      "learning_rate": 3.443859159440149e-06,
      "loss": 0.0351,
      "step": 12685
    },
    {
      "epoch": 2.84608481041059,
      "gripper_loss": 0.007720947265625,
      "loss": 0.05859375,
      "pos_loss": 0.220703125,
      "rot_loss": 0.380859375,
      "step": 12685
    },
    {
      "epoch": 2.846309176576172,
      "grad_norm": 0.6085525155067444,
      "learning_rate": 3.4338491033166497e-06,
      "loss": 0.0411,
      "step": 12686
    },
    {
      "epoch": 2.846309176576172,
      "gripper_loss": 0.01190185546875,
      "loss": 0.0595703125,
      "pos_loss": 0.4375,
      "rot_loss": 0.1728515625,
      "step": 12686
    },
    {
      "epoch": 2.8465335427417546,
      "grad_norm": 0.22323399782180786,
      "learning_rate": 3.4238535155835528e-06,
      "loss": 0.0443,
      "step": 12687
    },
    {
      "epoch": 2.8465335427417546,
      "gripper_loss": 0.033447265625,
      "loss": 0.01458740234375,
      "pos_loss": 0.041259765625,
      "rot_loss": 0.08544921875,
      "step": 12687
    },
    {
      "epoch": 2.8467579089073367,
      "grad_norm": 0.22968336939811707,
      "learning_rate": 3.413872396827389e-06,
      "loss": 0.0358,
      "step": 12688
    },
    {
      "epoch": 2.8467579089073367,
      "gripper_loss": 0.484375,
      "loss": 0.369140625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.4453125,
      "step": 12688
    },
    {
      "epoch": 2.846982275072919,
      "grad_norm": 1.5579335689544678,
      "learning_rate": 3.403905747633801e-06,
      "loss": 0.3608,
      "step": 12689
    },
    {
      "epoch": 2.846982275072919,
      "gripper_loss": 0.0223388671875,
      "loss": 0.06494140625,
      "pos_loss": 0.55859375,
      "rot_loss": 0.1103515625,
      "step": 12689
    },
    {
      "epoch": 2.8472066412385013,
      "grad_norm": 0.2362421751022339,
      "learning_rate": 3.393953568587682e-06,
      "loss": 0.0451,
      "step": 12690
    },
    {
      "epoch": 2.8472066412385013,
      "gripper_loss": 0.01043701171875,
      "loss": 0.00946044921875,
      "pos_loss": 0.015625,
      "rot_loss": 0.06201171875,
      "step": 12690
    },
    {
      "epoch": 2.8474310074040834,
      "grad_norm": 0.1965748369693756,
      "learning_rate": 3.384015860272982e-06,
      "loss": 0.027,
      "step": 12691
    },
    {
      "epoch": 2.8474310074040834,
      "gripper_loss": 0.008544921875,
      "loss": 0.047607421875,
      "pos_loss": 0.279296875,
      "rot_loss": 0.20703125,
      "step": 12691
    },
    {
      "epoch": 2.8476553735696655,
      "grad_norm": 0.3403345048427582,
      "learning_rate": 3.3740926232728455e-06,
      "loss": 0.0404,
      "step": 12692
    },
    {
      "epoch": 2.8476553735696655,
      "gripper_loss": 0.0174560546875,
      "loss": 0.099609375,
      "pos_loss": 0.39453125,
      "rot_loss": 0.640625,
      "step": 12692
    },
    {
      "epoch": 2.847879739735248,
      "grad_norm": 1.0701375007629395,
      "learning_rate": 3.3641838581696116e-06,
      "loss": 0.0527,
      "step": 12693
    },
    {
      "epoch": 2.847879739735248,
      "gripper_loss": 0.42578125,
      "loss": 0.052978515625,
      "pos_loss": 0.392578125,
      "rot_loss": 0.007171630859375,
      "step": 12693
    },
    {
      "epoch": 2.84810410590083,
      "grad_norm": 0.2731705904006958,
      "learning_rate": 3.3542895655446493e-06,
      "loss": 0.041,
      "step": 12694
    },
    {
      "epoch": 2.84810410590083,
      "gripper_loss": 0.06298828125,
      "loss": 0.02587890625,
      "pos_loss": 0.060791015625,
      "rot_loss": 0.162109375,
      "step": 12694
    },
    {
      "epoch": 2.848328472066412,
      "grad_norm": 0.34860920906066895,
      "learning_rate": 3.344409745978605e-06,
      "loss": 0.0429,
      "step": 12695
    },
    {
      "epoch": 2.848328472066412,
      "gripper_loss": 0.00555419921875,
      "loss": 0.045166015625,
      "pos_loss": 0.14453125,
      "rot_loss": 0.30859375,
      "step": 12695
    },
    {
      "epoch": 2.8485528382319947,
      "grad_norm": 0.38591548800468445,
      "learning_rate": 3.334544400051209e-06,
      "loss": 0.0531,
      "step": 12696
    },
    {
      "epoch": 2.8485528382319947,
      "gripper_loss": 0.5,
      "loss": 0.025390625,
      "pos_loss": 0.026611328125,
      "rot_loss": 0.0615234375,
      "step": 12696
    },
    {
      "epoch": 2.8487772043975768,
      "grad_norm": 0.26276394724845886,
      "learning_rate": 3.3246935283413606e-06,
      "loss": 0.0289,
      "step": 12697
    },
    {
      "epoch": 2.8487772043975768,
      "gripper_loss": 0.11474609375,
      "loss": 0.0164794921875,
      "pos_loss": 0.10546875,
      "rot_loss": 0.0107421875,
      "step": 12697
    },
    {
      "epoch": 2.849001570563159,
      "grad_norm": 0.23705889284610748,
      "learning_rate": 3.314857131427096e-06,
      "loss": 0.0399,
      "step": 12698
    },
    {
      "epoch": 2.849001570563159,
      "gripper_loss": 0.01123046875,
      "loss": 0.0260009765625,
      "pos_loss": 0.1552734375,
      "rot_loss": 0.095703125,
      "step": 12698
    },
    {
      "epoch": 2.8492259367287414,
      "grad_norm": 0.22946827113628387,
      "learning_rate": 3.305035209885565e-06,
      "loss": 0.0348,
      "step": 12699
    },
    {
      "epoch": 2.8492259367287414,
      "gripper_loss": 0.01129150390625,
      "loss": 0.037109375,
      "pos_loss": 0.294921875,
      "rot_loss": 0.07958984375,
      "step": 12699
    },
    {
      "epoch": 2.8494503028943234,
      "grad_norm": 0.26965638995170593,
      "learning_rate": 3.295227764293196e-06,
      "loss": 0.0341,
      "step": 12700
    },
    {
      "epoch": 2.8494503028943234,
      "gripper_loss": 0.095703125,
      "loss": 0.03515625,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.1328125,
      "step": 12700
    },
    {
      "epoch": 2.8496746690599055,
      "grad_norm": 0.24042874574661255,
      "learning_rate": 3.285434795225445e-06,
      "loss": 0.0387,
      "step": 12701
    },
    {
      "epoch": 2.8496746690599055,
      "gripper_loss": 0.01153564453125,
      "loss": 0.036376953125,
      "pos_loss": 0.279296875,
      "rot_loss": 0.0869140625,
      "step": 12701
    },
    {
      "epoch": 2.849899035225488,
      "grad_norm": 0.3055819869041443,
      "learning_rate": 3.275656303256963e-06,
      "loss": 0.0609,
      "step": 12702
    },
    {
      "epoch": 2.849899035225488,
      "gripper_loss": 0.279296875,
      "loss": 0.0284423828125,
      "pos_loss": 0.0771484375,
      "rot_loss": 0.115234375,
      "step": 12702
    },
    {
      "epoch": 2.85012340139107,
      "grad_norm": 0.3058762848377228,
      "learning_rate": 3.265892288961514e-06,
      "loss": 0.0363,
      "step": 12703
    },
    {
      "epoch": 2.85012340139107,
      "gripper_loss": 0.0546875,
      "loss": 0.0576171875,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.357421875,
      "step": 12703
    },
    {
      "epoch": 2.850347767556652,
      "grad_norm": 0.28983262181282043,
      "learning_rate": 3.2561427529121115e-06,
      "loss": 0.0507,
      "step": 12704
    },
    {
      "epoch": 2.850347767556652,
      "gripper_loss": 0.006103515625,
      "loss": 0.059814453125,
      "pos_loss": 0.490234375,
      "rot_loss": 0.1259765625,
      "step": 12704
    },
    {
      "epoch": 2.8505721337222347,
      "grad_norm": 0.35703980922698975,
      "learning_rate": 3.2464076956807977e-06,
      "loss": 0.0473,
      "step": 12705
    },
    {
      "epoch": 2.8505721337222347,
      "gripper_loss": 0.01068115234375,
      "loss": 0.015625,
      "pos_loss": 0.01483154296875,
      "rot_loss": 0.1279296875,
      "step": 12705
    },
    {
      "epoch": 2.850796499887817,
      "grad_norm": 0.3281579911708832,
      "learning_rate": 3.236687117838866e-06,
      "loss": 0.0449,
      "step": 12706
    },
    {
      "epoch": 2.850796499887817,
      "gripper_loss": 0.006378173828125,
      "loss": 0.0419921875,
      "pos_loss": 0.369140625,
      "rot_loss": 0.058349609375,
      "step": 12706
    },
    {
      "epoch": 2.851020866053399,
      "grad_norm": 0.2784867286682129,
      "learning_rate": 3.2269810199566653e-06,
      "loss": 0.0523,
      "step": 12707
    },
    {
      "epoch": 2.851020866053399,
      "gripper_loss": 0.0093994140625,
      "loss": 0.0252685546875,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.11279296875,
      "step": 12707
    },
    {
      "epoch": 2.8512452322189814,
      "grad_norm": 0.26520705223083496,
      "learning_rate": 3.2172894026037956e-06,
      "loss": 0.0365,
      "step": 12708
    },
    {
      "epoch": 2.8512452322189814,
      "gripper_loss": 0.00946044921875,
      "loss": 0.021484375,
      "pos_loss": 0.0272216796875,
      "rot_loss": 0.1796875,
      "step": 12708
    },
    {
      "epoch": 2.8514695983845635,
      "grad_norm": 0.33158421516418457,
      "learning_rate": 3.2076122663489414e-06,
      "loss": 0.0546,
      "step": 12709
    },
    {
      "epoch": 2.8514695983845635,
      "gripper_loss": 0.00848388671875,
      "loss": 0.1015625,
      "pos_loss": 0.79296875,
      "rot_loss": 0.267578125,
      "step": 12709
    },
    {
      "epoch": 2.8516939645501456,
      "grad_norm": 0.4347453713417053,
      "learning_rate": 3.1979496117599537e-06,
      "loss": 0.0461,
      "step": 12710
    },
    {
      "epoch": 2.8516939645501456,
      "gripper_loss": 0.00848388671875,
      "loss": 0.0308837890625,
      "pos_loss": 0.251953125,
      "rot_loss": 0.0517578125,
      "step": 12710
    },
    {
      "epoch": 2.851918330715728,
      "grad_norm": 0.22257100045681,
      "learning_rate": 3.1883014394037957e-06,
      "loss": 0.0366,
      "step": 12711
    },
    {
      "epoch": 2.851918330715728,
      "gripper_loss": 0.578125,
      "loss": 0.0341796875,
      "pos_loss": 0.015625,
      "rot_loss": 0.140625,
      "step": 12711
    },
    {
      "epoch": 2.85214269688131,
      "grad_norm": 0.2020019292831421,
      "learning_rate": 3.1786677498466255e-06,
      "loss": 0.0281,
      "step": 12712
    },
    {
      "epoch": 2.85214269688131,
      "gripper_loss": 0.062255859375,
      "loss": 0.0155029296875,
      "pos_loss": 0.1162109375,
      "rot_loss": 0.01043701171875,
      "step": 12712
    },
    {
      "epoch": 2.8523670630468927,
      "grad_norm": 0.3776360750198364,
      "learning_rate": 3.1690485436537964e-06,
      "loss": 0.0501,
      "step": 12713
    },
    {
      "epoch": 2.8523670630468927,
      "gripper_loss": 0.046630859375,
      "loss": 0.05078125,
      "pos_loss": 0.171875,
      "rot_loss": 0.296875,
      "step": 12713
    },
    {
      "epoch": 2.8525914292124748,
      "grad_norm": 0.4834216833114624,
      "learning_rate": 3.159443821389746e-06,
      "loss": 0.0613,
      "step": 12714
    },
    {
      "epoch": 2.8525914292124748,
      "gripper_loss": 0.0186767578125,
      "loss": 0.0208740234375,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.015380859375,
      "step": 12714
    },
    {
      "epoch": 2.852815795378057,
      "grad_norm": 0.29772132635116577,
      "learning_rate": 3.149853583618023e-06,
      "loss": 0.0288,
      "step": 12715
    },
    {
      "epoch": 2.852815795378057,
      "gripper_loss": 0.010009765625,
      "loss": 0.04833984375,
      "pos_loss": 0.337890625,
      "rot_loss": 0.1533203125,
      "step": 12715
    },
    {
      "epoch": 2.8530401615436394,
      "grad_norm": 0.2687583267688751,
      "learning_rate": 3.1402778309014278e-06,
      "loss": 0.0329,
      "step": 12716
    },
    {
      "epoch": 2.8530401615436394,
      "gripper_loss": 0.044677734375,
      "loss": 0.053466796875,
      "pos_loss": 0.224609375,
      "rot_loss": 0.30859375,
      "step": 12716
    },
    {
      "epoch": 2.8532645277092215,
      "grad_norm": 0.32526761293411255,
      "learning_rate": 3.1307165638018166e-06,
      "loss": 0.0513,
      "step": 12717
    },
    {
      "epoch": 2.8532645277092215,
      "gripper_loss": 0.4921875,
      "loss": 0.041748046875,
      "pos_loss": 0.255859375,
      "rot_loss": 0.006683349609375,
      "step": 12717
    },
    {
      "epoch": 2.8534888938748035,
      "grad_norm": 0.20935119688510895,
      "learning_rate": 3.1211697828802952e-06,
      "loss": 0.0305,
      "step": 12718
    },
    {
      "epoch": 2.8534888938748035,
      "gripper_loss": 0.004058837890625,
      "loss": 0.04150390625,
      "pos_loss": 0.18359375,
      "rot_loss": 0.234375,
      "step": 12718
    },
    {
      "epoch": 2.853713260040386,
      "grad_norm": 0.6102963089942932,
      "learning_rate": 3.1116374886970556e-06,
      "loss": 0.0605,
      "step": 12719
    },
    {
      "epoch": 2.853713260040386,
      "gripper_loss": 0.00653076171875,
      "loss": 0.0888671875,
      "pos_loss": 0.71875,
      "rot_loss": 0.2021484375,
      "step": 12719
    },
    {
      "epoch": 2.853937626205968,
      "grad_norm": 0.4186035096645355,
      "learning_rate": 3.1021196818113996e-06,
      "loss": 0.0626,
      "step": 12720
    },
    {
      "epoch": 2.853937626205968,
      "gripper_loss": 0.008544921875,
      "loss": 0.040283203125,
      "pos_loss": 0.240234375,
      "rot_loss": 0.1669921875,
      "step": 12720
    },
    {
      "epoch": 2.85416199237155,
      "grad_norm": 0.34017494320869446,
      "learning_rate": 3.0926163627818805e-06,
      "loss": 0.043,
      "step": 12721
    },
    {
      "epoch": 2.85416199237155,
      "gripper_loss": 0.01361083984375,
      "loss": 0.09130859375,
      "pos_loss": 0.431640625,
      "rot_loss": 0.51171875,
      "step": 12721
    },
    {
      "epoch": 2.8543863585371327,
      "grad_norm": 0.2238950878381729,
      "learning_rate": 3.083127532166108e-06,
      "loss": 0.0375,
      "step": 12722
    },
    {
      "epoch": 2.8543863585371327,
      "gripper_loss": 0.0133056640625,
      "loss": 0.0198974609375,
      "pos_loss": 0.103515625,
      "rot_loss": 0.0859375,
      "step": 12722
    },
    {
      "epoch": 2.854610724702715,
      "grad_norm": 0.23514200747013092,
      "learning_rate": 3.0736531905209144e-06,
      "loss": 0.0387,
      "step": 12723
    },
    {
      "epoch": 2.854610724702715,
      "gripper_loss": 0.005645751953125,
      "loss": 0.02783203125,
      "pos_loss": 0.2578125,
      "rot_loss": 0.0179443359375,
      "step": 12723
    },
    {
      "epoch": 2.854835090868297,
      "grad_norm": 0.2494312971830368,
      "learning_rate": 3.0641933384022157e-06,
      "loss": 0.0297,
      "step": 12724
    },
    {
      "epoch": 2.854835090868297,
      "gripper_loss": 0.00946044921875,
      "loss": 0.0140380859375,
      "pos_loss": 0.072265625,
      "rot_loss": 0.054931640625,
      "step": 12724
    },
    {
      "epoch": 2.8550594570338794,
      "grad_norm": 0.2344081699848175,
      "learning_rate": 3.054747976365152e-06,
      "loss": 0.0374,
      "step": 12725
    },
    {
      "epoch": 2.8550594570338794,
      "gripper_loss": 0.3515625,
      "loss": 0.050537109375,
      "pos_loss": 0.21484375,
      "rot_loss": 0.1875,
      "step": 12725
    },
    {
      "epoch": 2.8552838231994615,
      "grad_norm": 0.35656654834747314,
      "learning_rate": 3.045317104963946e-06,
      "loss": 0.0521,
      "step": 12726
    },
    {
      "epoch": 2.8552838231994615,
      "gripper_loss": 0.546875,
      "loss": 0.033447265625,
      "pos_loss": 0.06884765625,
      "rot_loss": 0.08984375,
      "step": 12726
    },
    {
      "epoch": 2.855508189365044,
      "grad_norm": 0.24595722556114197,
      "learning_rate": 3.0359007247520167e-06,
      "loss": 0.0387,
      "step": 12727
    },
    {
      "epoch": 2.855508189365044,
      "gripper_loss": 0.4375,
      "loss": 0.02587890625,
      "pos_loss": 0.031494140625,
      "rot_loss": 0.080078125,
      "step": 12727
    },
    {
      "epoch": 2.855732555530626,
      "grad_norm": 0.30894550681114197,
      "learning_rate": 3.0264988362818936e-06,
      "loss": 0.0623,
      "step": 12728
    },
    {
      "epoch": 2.855732555530626,
      "gripper_loss": 0.1181640625,
      "loss": 0.1123046875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.263671875,
      "step": 12728
    },
    {
      "epoch": 2.855956921696208,
      "grad_norm": 1.0027477741241455,
      "learning_rate": 3.0171114401052746e-06,
      "loss": 0.0988,
      "step": 12729
    },
    {
      "epoch": 2.855956921696208,
      "gripper_loss": 0.0028839111328125,
      "loss": 0.0654296875,
      "pos_loss": 0.53515625,
      "rot_loss": 0.1337890625,
      "step": 12729
    },
    {
      "epoch": 2.8561812878617907,
      "grad_norm": 0.23560859262943268,
      "learning_rate": 3.0077385367730527e-06,
      "loss": 0.049,
      "step": 12730
    },
    {
      "epoch": 2.8561812878617907,
      "gripper_loss": 0.01318359375,
      "loss": 0.02978515625,
      "pos_loss": 0.208984375,
      "rot_loss": 0.08203125,
      "step": 12730
    },
    {
      "epoch": 2.856405654027373,
      "grad_norm": 0.34982267022132874,
      "learning_rate": 2.9983801268351483e-06,
      "loss": 0.0482,
      "step": 12731
    },
    {
      "epoch": 2.856405654027373,
      "gripper_loss": 0.0115966796875,
      "loss": 0.07080078125,
      "pos_loss": 0.4296875,
      "rot_loss": 0.291015625,
      "step": 12731
    },
    {
      "epoch": 2.856630020192955,
      "grad_norm": 0.3442942202091217,
      "learning_rate": 2.989036210840762e-06,
      "loss": 0.0407,
      "step": 12732
    },
    {
      "epoch": 2.856630020192955,
      "gripper_loss": 0.002227783203125,
      "loss": 0.0771484375,
      "pos_loss": 0.390625,
      "rot_loss": 0.416015625,
      "step": 12732
    },
    {
      "epoch": 2.8568543863585374,
      "grad_norm": 0.3222053349018097,
      "learning_rate": 2.979706789338177e-06,
      "loss": 0.0485,
      "step": 12733
    },
    {
      "epoch": 2.8568543863585374,
      "gripper_loss": 0.0220947265625,
      "loss": 0.048095703125,
      "pos_loss": 0.2421875,
      "rot_loss": 0.236328125,
      "step": 12733
    },
    {
      "epoch": 2.8570787525241195,
      "grad_norm": 0.32161837816238403,
      "learning_rate": 2.970391862874844e-06,
      "loss": 0.0449,
      "step": 12734
    },
    {
      "epoch": 2.8570787525241195,
      "gripper_loss": 0.0087890625,
      "loss": 0.00927734375,
      "pos_loss": 0.059814453125,
      "rot_loss": 0.016845703125,
      "step": 12734
    },
    {
      "epoch": 2.8573031186897015,
      "grad_norm": 0.2717655599117279,
      "learning_rate": 2.9610914319973536e-06,
      "loss": 0.0288,
      "step": 12735
    },
    {
      "epoch": 2.8573031186897015,
      "gripper_loss": 0.00567626953125,
      "loss": 0.006011962890625,
      "pos_loss": 0.0238037109375,
      "rot_loss": 0.0211181640625,
      "step": 12735
    },
    {
      "epoch": 2.857527484855284,
      "grad_norm": 0.22245870530605316,
      "learning_rate": 2.951805497251464e-06,
      "loss": 0.0339,
      "step": 12736
    },
    {
      "epoch": 2.857527484855284,
      "gripper_loss": 0.0257568359375,
      "loss": 0.0255126953125,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.09326171875,
      "step": 12736
    },
    {
      "epoch": 2.857751851020866,
      "grad_norm": 0.16543178260326385,
      "learning_rate": 2.942534059182045e-06,
      "loss": 0.027,
      "step": 12737
    },
    {
      "epoch": 2.857751851020866,
      "gripper_loss": 0.005401611328125,
      "loss": 0.034912109375,
      "pos_loss": 0.302734375,
      "rot_loss": 0.042236328125,
      "step": 12737
    },
    {
      "epoch": 2.8579762171864482,
      "grad_norm": 0.49187996983528137,
      "learning_rate": 2.933277118333133e-06,
      "loss": 0.0401,
      "step": 12738
    },
    {
      "epoch": 2.8579762171864482,
      "gripper_loss": 0.014404296875,
      "loss": 0.034423828125,
      "pos_loss": 0.314453125,
      "rot_loss": 0.0306396484375,
      "step": 12738
    },
    {
      "epoch": 2.8582005833520308,
      "grad_norm": 0.4271530210971832,
      "learning_rate": 2.924034675247961e-06,
      "loss": 0.0465,
      "step": 12739
    },
    {
      "epoch": 2.8582005833520308,
      "gripper_loss": 0.0037384033203125,
      "loss": 0.05224609375,
      "pos_loss": 0.333984375,
      "rot_loss": 0.2021484375,
      "step": 12739
    },
    {
      "epoch": 2.858424949517613,
      "grad_norm": 0.21985584497451782,
      "learning_rate": 2.914806730468872e-06,
      "loss": 0.0322,
      "step": 12740
    },
    {
      "epoch": 2.858424949517613,
      "gripper_loss": 0.6015625,
      "loss": 0.08251953125,
      "pos_loss": 0.44921875,
      "rot_loss": 0.2099609375,
      "step": 12740
    },
    {
      "epoch": 2.858649315683195,
      "grad_norm": 0.21370713412761688,
      "learning_rate": 2.9055932845373225e-06,
      "loss": 0.0387,
      "step": 12741
    },
    {
      "epoch": 2.858649315683195,
      "gripper_loss": 0.0107421875,
      "loss": 0.0289306640625,
      "pos_loss": 0.11181640625,
      "rot_loss": 0.169921875,
      "step": 12741
    },
    {
      "epoch": 2.8588736818487774,
      "grad_norm": 0.6143017411231995,
      "learning_rate": 2.8963943379939627e-06,
      "loss": 0.0365,
      "step": 12742
    },
    {
      "epoch": 2.8588736818487774,
      "gripper_loss": 0.10400390625,
      "loss": 0.028564453125,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.06396484375,
      "step": 12742
    },
    {
      "epoch": 2.8590980480143595,
      "grad_norm": 0.2961747348308563,
      "learning_rate": 2.8872098913786115e-06,
      "loss": 0.0398,
      "step": 12743
    },
    {
      "epoch": 2.8590980480143595,
      "gripper_loss": 0.26953125,
      "loss": 0.06396484375,
      "pos_loss": 0.201171875,
      "rot_loss": 0.375,
      "step": 12743
    },
    {
      "epoch": 2.8593224141799416,
      "grad_norm": 0.2359989434480667,
      "learning_rate": 2.878039945230171e-06,
      "loss": 0.0562,
      "step": 12744
    },
    {
      "epoch": 2.8593224141799416,
      "gripper_loss": 0.171875,
      "loss": 0.043701171875,
      "pos_loss": 0.37109375,
      "rot_loss": 0.017333984375,
      "step": 12744
    },
    {
      "epoch": 2.859546780345524,
      "grad_norm": 0.48180750012397766,
      "learning_rate": 2.868884500086738e-06,
      "loss": 0.0434,
      "step": 12745
    },
    {
      "epoch": 2.859546780345524,
      "gripper_loss": 0.130859375,
      "loss": 0.034912109375,
      "pos_loss": 0.201171875,
      "rot_loss": 0.1083984375,
      "step": 12745
    },
    {
      "epoch": 2.859771146511106,
      "grad_norm": 0.19545391201972961,
      "learning_rate": 2.85974355648555e-06,
      "loss": 0.0282,
      "step": 12746
    },
    {
      "epoch": 2.859771146511106,
      "gripper_loss": 0.171875,
      "loss": 0.1669921875,
      "pos_loss": 0.380859375,
      "rot_loss": 0.2236328125,
      "step": 12746
    },
    {
      "epoch": 2.8599955126766883,
      "grad_norm": 1.3132007122039795,
      "learning_rate": 2.850617114962983e-06,
      "loss": 0.2281,
      "step": 12747
    },
    {
      "epoch": 2.8599955126766883,
      "gripper_loss": 0.212890625,
      "loss": 0.021728515625,
      "pos_loss": 0.07080078125,
      "rot_loss": 0.07421875,
      "step": 12747
    },
    {
      "epoch": 2.860219878842271,
      "grad_norm": 0.3955042064189911,
      "learning_rate": 2.8415051760546374e-06,
      "loss": 0.0495,
      "step": 12748
    },
    {
      "epoch": 2.860219878842271,
      "gripper_loss": 0.0084228515625,
      "loss": 0.036865234375,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.1259765625,
      "step": 12748
    },
    {
      "epoch": 2.860444245007853,
      "grad_norm": 0.19646361470222473,
      "learning_rate": 2.832407740295112e-06,
      "loss": 0.0383,
      "step": 12749
    },
    {
      "epoch": 2.860444245007853,
      "gripper_loss": 0.314453125,
      "loss": 0.047607421875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.1259765625,
      "step": 12749
    },
    {
      "epoch": 2.860668611173435,
      "grad_norm": 0.31596097350120544,
      "learning_rate": 2.8233248082182862e-06,
      "loss": 0.0429,
      "step": 12750
    },
    {
      "epoch": 2.860668611173435,
      "gripper_loss": 0.0101318359375,
      "loss": 0.03271484375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.0537109375,
      "step": 12750
    },
    {
      "epoch": 2.8608929773390175,
      "grad_norm": 0.24296237528324127,
      "learning_rate": 2.814256380357122e-06,
      "loss": 0.0533,
      "step": 12751
    },
    {
      "epoch": 2.8608929773390175,
      "gripper_loss": 0.006134033203125,
      "loss": 0.06103515625,
      "pos_loss": 0.3359375,
      "rot_loss": 0.294921875,
      "step": 12751
    },
    {
      "epoch": 2.8611173435045996,
      "grad_norm": 0.48851248621940613,
      "learning_rate": 2.805202457243777e-06,
      "loss": 0.0503,
      "step": 12752
    },
    {
      "epoch": 2.8611173435045996,
      "gripper_loss": 0.0732421875,
      "loss": 0.08544921875,
      "pos_loss": 0.671875,
      "rot_loss": 0.1943359375,
      "step": 12752
    },
    {
      "epoch": 2.8613417096701816,
      "grad_norm": 0.244973823428154,
      "learning_rate": 2.7961630394095217e-06,
      "loss": 0.0372,
      "step": 12753
    },
    {
      "epoch": 2.8613417096701816,
      "gripper_loss": 0.0068359375,
      "loss": 0.06298828125,
      "pos_loss": 0.365234375,
      "rot_loss": 0.287109375,
      "step": 12753
    },
    {
      "epoch": 2.861566075835764,
      "grad_norm": 0.29176515340805054,
      "learning_rate": 2.787138127384764e-06,
      "loss": 0.0507,
      "step": 12754
    },
    {
      "epoch": 2.861566075835764,
      "gripper_loss": 0.007598876953125,
      "loss": 0.0390625,
      "pos_loss": 0.251953125,
      "rot_loss": 0.14453125,
      "step": 12754
    },
    {
      "epoch": 2.8617904420013462,
      "grad_norm": 0.40158340334892273,
      "learning_rate": 2.7781277216991086e-06,
      "loss": 0.0494,
      "step": 12755
    },
    {
      "epoch": 2.8617904420013462,
      "gripper_loss": 0.00823974609375,
      "loss": 0.0262451171875,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.12060546875,
      "step": 12755
    },
    {
      "epoch": 2.8620148081669283,
      "grad_norm": 0.31066232919692993,
      "learning_rate": 2.769131822881271e-06,
      "loss": 0.0341,
      "step": 12756
    },
    {
      "epoch": 2.8620148081669283,
      "gripper_loss": 1.5625,
      "loss": 0.1455078125,
      "pos_loss": 0.98828125,
      "rot_loss": 0.018310546875,
      "step": 12756
    },
    {
      "epoch": 2.862239174332511,
      "grad_norm": 0.9912561178207397,
      "learning_rate": 2.760150431459135e-06,
      "loss": 0.0623,
      "step": 12757
    },
    {
      "epoch": 2.862239174332511,
      "gripper_loss": 0.0035858154296875,
      "loss": 0.042724609375,
      "pos_loss": 0.404296875,
      "rot_loss": 0.03369140625,
      "step": 12757
    },
    {
      "epoch": 2.862463540498093,
      "grad_norm": 0.318827748298645,
      "learning_rate": 2.7511835479596957e-06,
      "loss": 0.0376,
      "step": 12758
    },
    {
      "epoch": 2.862463540498093,
      "gripper_loss": 0.004608154296875,
      "loss": 0.04248046875,
      "pos_loss": 0.34765625,
      "rot_loss": 0.08447265625,
      "step": 12758
    },
    {
      "epoch": 2.862687906663675,
      "grad_norm": 0.29739731550216675,
      "learning_rate": 2.742231172909143e-06,
      "loss": 0.0265,
      "step": 12759
    },
    {
      "epoch": 2.862687906663675,
      "gripper_loss": 0.0223388671875,
      "loss": 0.010009765625,
      "pos_loss": 0.0089111328125,
      "rot_loss": 0.07177734375,
      "step": 12759
    },
    {
      "epoch": 2.8629122728292575,
      "grad_norm": 0.2805699408054352,
      "learning_rate": 2.7332933068327793e-06,
      "loss": 0.0431,
      "step": 12760
    },
    {
      "epoch": 2.8629122728292575,
      "gripper_loss": 0.2109375,
      "loss": 0.024658203125,
      "pos_loss": 0.053955078125,
      "rot_loss": 0.057373046875,
      "step": 12760
    },
    {
      "epoch": 2.8631366389948396,
      "grad_norm": 0.5000105500221252,
      "learning_rate": 2.7243699502551566e-06,
      "loss": 0.0697,
      "step": 12761
    },
    {
      "epoch": 2.8631366389948396,
      "gripper_loss": 0.007598876953125,
      "loss": 0.05078125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.291015625,
      "step": 12761
    },
    {
      "epoch": 2.8633610051604217,
      "grad_norm": 0.713233470916748,
      "learning_rate": 2.715461103699801e-06,
      "loss": 0.0573,
      "step": 12762
    },
    {
      "epoch": 2.8633610051604217,
      "gripper_loss": 0.052734375,
      "loss": 0.00994873046875,
      "pos_loss": 0.0262451171875,
      "rot_loss": 0.04052734375,
      "step": 12762
    },
    {
      "epoch": 2.863585371326004,
      "grad_norm": 0.3042573034763336,
      "learning_rate": 2.706566767689489e-06,
      "loss": 0.029,
      "step": 12763
    },
    {
      "epoch": 2.863585371326004,
      "gripper_loss": 0.169921875,
      "loss": 0.07861328125,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.54296875,
      "step": 12763
    },
    {
      "epoch": 2.8638097374915863,
      "grad_norm": 0.3039341866970062,
      "learning_rate": 2.6976869427461914e-06,
      "loss": 0.0384,
      "step": 12764
    },
    {
      "epoch": 2.8638097374915863,
      "gripper_loss": 0.1474609375,
      "loss": 0.048095703125,
      "pos_loss": 0.35546875,
      "rot_loss": 0.0791015625,
      "step": 12764
    },
    {
      "epoch": 2.8640341036571684,
      "grad_norm": 0.19702565670013428,
      "learning_rate": 2.688821629390936e-06,
      "loss": 0.0343,
      "step": 12765
    },
    {
      "epoch": 2.8640341036571684,
      "gripper_loss": 0.427734375,
      "loss": 0.041015625,
      "pos_loss": 0.08447265625,
      "rot_loss": 0.1865234375,
      "step": 12765
    },
    {
      "epoch": 2.864258469822751,
      "grad_norm": 0.28581348061561584,
      "learning_rate": 2.6799708281439183e-06,
      "loss": 0.0514,
      "step": 12766
    },
    {
      "epoch": 2.864258469822751,
      "gripper_loss": 0.00323486328125,
      "loss": 0.0230712890625,
      "pos_loss": 0.103515625,
      "rot_loss": 0.125,
      "step": 12766
    },
    {
      "epoch": 2.864482835988333,
      "grad_norm": 0.36429017782211304,
      "learning_rate": 2.671134539524556e-06,
      "loss": 0.0416,
      "step": 12767
    },
    {
      "epoch": 2.864482835988333,
      "gripper_loss": 0.042724609375,
      "loss": 0.0284423828125,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.1787109375,
      "step": 12767
    },
    {
      "epoch": 2.864707202153915,
      "grad_norm": 0.19756442308425903,
      "learning_rate": 2.6623127640512947e-06,
      "loss": 0.0304,
      "step": 12768
    },
    {
      "epoch": 2.864707202153915,
      "gripper_loss": 0.2236328125,
      "loss": 0.01611328125,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.034912109375,
      "step": 12768
    },
    {
      "epoch": 2.8649315683194976,
      "grad_norm": 0.26372647285461426,
      "learning_rate": 2.653505502241804e-06,
      "loss": 0.03,
      "step": 12769
    },
    {
      "epoch": 2.8649315683194976,
      "gripper_loss": 0.0135498046875,
      "loss": 0.035400390625,
      "pos_loss": 0.208984375,
      "rot_loss": 0.142578125,
      "step": 12769
    },
    {
      "epoch": 2.8651559344850797,
      "grad_norm": 0.5107560157775879,
      "learning_rate": 2.644712754612949e-06,
      "loss": 0.0406,
      "step": 12770
    },
    {
      "epoch": 2.8651559344850797,
      "gripper_loss": 0.00408935546875,
      "loss": 0.03564453125,
      "pos_loss": 0.275390625,
      "rot_loss": 0.083984375,
      "step": 12770
    },
    {
      "epoch": 2.8653803006506617,
      "grad_norm": 0.29405736923217773,
      "learning_rate": 2.6359345216806217e-06,
      "loss": 0.0464,
      "step": 12771
    },
    {
      "epoch": 2.8653803006506617,
      "gripper_loss": 0.80859375,
      "loss": 0.0751953125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.04638671875,
      "step": 12771
    },
    {
      "epoch": 2.8656046668162443,
      "grad_norm": 0.49556541442871094,
      "learning_rate": 2.6271708039599383e-06,
      "loss": 0.0562,
      "step": 12772
    },
    {
      "epoch": 2.8656046668162443,
      "gripper_loss": 0.006744384765625,
      "loss": 0.0439453125,
      "pos_loss": 0.349609375,
      "rot_loss": 0.09375,
      "step": 12772
    },
    {
      "epoch": 2.8658290329818263,
      "grad_norm": 0.23834264278411865,
      "learning_rate": 2.618421601965154e-06,
      "loss": 0.0324,
      "step": 12773
    },
    {
      "epoch": 2.8658290329818263,
      "gripper_loss": 0.004974365234375,
      "loss": 0.02392578125,
      "pos_loss": 0.041015625,
      "rot_loss": 0.1923828125,
      "step": 12773
    },
    {
      "epoch": 2.8660533991474084,
      "grad_norm": 0.24163316190242767,
      "learning_rate": 2.6096869162096916e-06,
      "loss": 0.0381,
      "step": 12774
    },
    {
      "epoch": 2.8660533991474084,
      "gripper_loss": 0.255859375,
      "loss": 0.02197265625,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.03369140625,
      "step": 12774
    },
    {
      "epoch": 2.866277765312991,
      "grad_norm": 0.2511356770992279,
      "learning_rate": 2.600966747206057e-06,
      "loss": 0.0449,
      "step": 12775
    },
    {
      "epoch": 2.866277765312991,
      "gripper_loss": 0.375,
      "loss": 0.0255126953125,
      "pos_loss": 0.1005859375,
      "rot_loss": 0.0240478515625,
      "step": 12775
    },
    {
      "epoch": 2.866502131478573,
      "grad_norm": 0.25475236773490906,
      "learning_rate": 2.592261095465953e-06,
      "loss": 0.0496,
      "step": 12776
    },
    {
      "epoch": 2.866502131478573,
      "gripper_loss": 0.103515625,
      "loss": 0.07421875,
      "pos_loss": 0.4140625,
      "rot_loss": 0.302734375,
      "step": 12776
    },
    {
      "epoch": 2.866726497644155,
      "grad_norm": 0.45165666937828064,
      "learning_rate": 2.583569961500276e-06,
      "loss": 0.0556,
      "step": 12777
    },
    {
      "epoch": 2.866726497644155,
      "gripper_loss": 0.006439208984375,
      "loss": 0.03662109375,
      "pos_loss": 0.28125,
      "rot_loss": 0.08447265625,
      "step": 12777
    },
    {
      "epoch": 2.8669508638097376,
      "grad_norm": 0.60892653465271,
      "learning_rate": 2.5748933458189517e-06,
      "loss": 0.0523,
      "step": 12778
    },
    {
      "epoch": 2.8669508638097376,
      "gripper_loss": 0.0732421875,
      "loss": 0.0281982421875,
      "pos_loss": 0.228515625,
      "rot_loss": 0.0252685546875,
      "step": 12778
    },
    {
      "epoch": 2.8671752299753197,
      "grad_norm": 0.4261608421802521,
      "learning_rate": 2.5662312489311555e-06,
      "loss": 0.0475,
      "step": 12779
    },
    {
      "epoch": 2.8671752299753197,
      "gripper_loss": 0.0047607421875,
      "loss": 0.02490234375,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.1552734375,
      "step": 12779
    },
    {
      "epoch": 2.867399596140902,
      "grad_norm": 0.31139621138572693,
      "learning_rate": 2.557583671345148e-06,
      "loss": 0.0432,
      "step": 12780
    },
    {
      "epoch": 2.867399596140902,
      "gripper_loss": 0.007293701171875,
      "loss": 0.091796875,
      "pos_loss": 0.81640625,
      "rot_loss": 0.1376953125,
      "step": 12780
    },
    {
      "epoch": 2.8676239623064843,
      "grad_norm": 0.3006289303302765,
      "learning_rate": 2.548950613568385e-06,
      "loss": 0.0605,
      "step": 12781
    },
    {
      "epoch": 2.8676239623064843,
      "gripper_loss": 0.01806640625,
      "loss": 0.13671875,
      "pos_loss": 0.76953125,
      "rot_loss": 0.6640625,
      "step": 12781
    },
    {
      "epoch": 2.8678483284720664,
      "grad_norm": 0.47426852583885193,
      "learning_rate": 2.54033207610746e-06,
      "loss": 0.055,
      "step": 12782
    },
    {
      "epoch": 2.8678483284720664,
      "gripper_loss": 0.21484375,
      "loss": 0.09716796875,
      "pos_loss": 0.40234375,
      "rot_loss": 0.54296875,
      "step": 12782
    },
    {
      "epoch": 2.8680726946376485,
      "grad_norm": 0.29135334491729736,
      "learning_rate": 2.531728059468108e-06,
      "loss": 0.0584,
      "step": 12783
    },
    {
      "epoch": 2.8680726946376485,
      "gripper_loss": 0.64453125,
      "loss": 0.042236328125,
      "pos_loss": 0.10888671875,
      "rot_loss": 0.107421875,
      "step": 12783
    },
    {
      "epoch": 2.868297060803231,
      "grad_norm": 0.5387586951255798,
      "learning_rate": 2.5231385641551753e-06,
      "loss": 0.0511,
      "step": 12784
    },
    {
      "epoch": 2.868297060803231,
      "gripper_loss": 0.255859375,
      "loss": 0.013671875,
      "pos_loss": 0.03271484375,
      "rot_loss": 0.0068359375,
      "step": 12784
    },
    {
      "epoch": 2.868521426968813,
      "grad_norm": 0.38839584589004517,
      "learning_rate": 2.514563590672703e-06,
      "loss": 0.0329,
      "step": 12785
    },
    {
      "epoch": 2.868521426968813,
      "gripper_loss": 0.072265625,
      "loss": 0.080078125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.1796875,
      "step": 12785
    },
    {
      "epoch": 2.868745793134395,
      "grad_norm": 0.22631362080574036,
      "learning_rate": 2.5060031395238715e-06,
      "loss": 0.0323,
      "step": 12786
    },
    {
      "epoch": 2.868745793134395,
      "gripper_loss": 0.0101318359375,
      "loss": 0.010986328125,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.010009765625,
      "step": 12786
    },
    {
      "epoch": 2.8689701592999777,
      "grad_norm": 0.3591199219226837,
      "learning_rate": 2.4974572112110295e-06,
      "loss": 0.0539,
      "step": 12787
    },
    {
      "epoch": 2.8689701592999777,
      "gripper_loss": 0.1083984375,
      "loss": 0.0849609375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.1357421875,
      "step": 12787
    },
    {
      "epoch": 2.8691945254655598,
      "grad_norm": 0.8775626420974731,
      "learning_rate": 2.4889258062355813e-06,
      "loss": 0.1018,
      "step": 12788
    },
    {
      "epoch": 2.8691945254655598,
      "gripper_loss": 0.50390625,
      "loss": 0.034423828125,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.01239013671875,
      "step": 12788
    },
    {
      "epoch": 2.869418891631142,
      "grad_norm": 0.40031763911247253,
      "learning_rate": 2.4804089250982097e-06,
      "loss": 0.03,
      "step": 12789
    },
    {
      "epoch": 2.869418891631142,
      "gripper_loss": 0.01611328125,
      "loss": 0.06787109375,
      "pos_loss": 0.46484375,
      "rot_loss": 0.2255859375,
      "step": 12789
    },
    {
      "epoch": 2.8696432577967244,
      "grad_norm": 0.35145121812820435,
      "learning_rate": 2.4719065682986817e-06,
      "loss": 0.043,
      "step": 12790
    },
    {
      "epoch": 2.8696432577967244,
      "gripper_loss": 0.07421875,
      "loss": 0.10009765625,
      "pos_loss": 0.953125,
      "rot_loss": 0.06982421875,
      "step": 12790
    },
    {
      "epoch": 2.8698676239623064,
      "grad_norm": 0.3087031841278076,
      "learning_rate": 2.4634187363358763e-06,
      "loss": 0.0478,
      "step": 12791
    },
    {
      "epoch": 2.8698676239623064,
      "gripper_loss": 0.10986328125,
      "loss": 0.036865234375,
      "pos_loss": 0.263671875,
      "rot_loss": 0.07275390625,
      "step": 12791
    },
    {
      "epoch": 2.8700919901278885,
      "grad_norm": 0.3509541153907776,
      "learning_rate": 2.4549454297078666e-06,
      "loss": 0.039,
      "step": 12792
    },
    {
      "epoch": 2.8700919901278885,
      "gripper_loss": 0.2265625,
      "loss": 0.048095703125,
      "pos_loss": 0.36328125,
      "rot_loss": 0.052490234375,
      "step": 12792
    },
    {
      "epoch": 2.870316356293471,
      "grad_norm": 0.5002291798591614,
      "learning_rate": 2.4464866489118666e-06,
      "loss": 0.0546,
      "step": 12793
    },
    {
      "epoch": 2.870316356293471,
      "gripper_loss": 0.008056640625,
      "loss": 0.049072265625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.2431640625,
      "step": 12793
    },
    {
      "epoch": 2.870540722459053,
      "grad_norm": 0.2649240791797638,
      "learning_rate": 2.4380423944442286e-06,
      "loss": 0.0426,
      "step": 12794
    },
    {
      "epoch": 2.870540722459053,
      "gripper_loss": 0.07958984375,
      "loss": 0.11962890625,
      "pos_loss": 0.4296875,
      "rot_loss": 0.2255859375,
      "step": 12794
    },
    {
      "epoch": 2.870765088624635,
      "grad_norm": 1.3495795726776123,
      "learning_rate": 2.4296126668004737e-06,
      "loss": 0.1537,
      "step": 12795
    },
    {
      "epoch": 2.870765088624635,
      "gripper_loss": 0.703125,
      "loss": 0.030029296875,
      "pos_loss": 0.051025390625,
      "rot_loss": 0.0167236328125,
      "step": 12795
    },
    {
      "epoch": 2.8709894547902177,
      "grad_norm": 0.659488320350647,
      "learning_rate": 2.4211974664752335e-06,
      "loss": 0.0362,
      "step": 12796
    },
    {
      "epoch": 2.8709894547902177,
      "gripper_loss": 0.01348876953125,
      "loss": 0.03466796875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.1044921875,
      "step": 12796
    },
    {
      "epoch": 2.8712138209558,
      "grad_norm": 0.1735668182373047,
      "learning_rate": 2.4127967939623075e-06,
      "loss": 0.024,
      "step": 12797
    },
    {
      "epoch": 2.8712138209558,
      "gripper_loss": 0.46484375,
      "loss": 0.0235595703125,
      "pos_loss": 0.01544189453125,
      "rot_loss": 0.062255859375,
      "step": 12797
    },
    {
      "epoch": 2.871438187121382,
      "grad_norm": 0.25385352969169617,
      "learning_rate": 2.4044106497546346e-06,
      "loss": 0.0311,
      "step": 12798
    },
    {
      "epoch": 2.871438187121382,
      "gripper_loss": 0.5234375,
      "loss": 0.06982421875,
      "pos_loss": 0.423828125,
      "rot_loss": 0.12353515625,
      "step": 12798
    },
    {
      "epoch": 2.8716625532869644,
      "grad_norm": 0.455208420753479,
      "learning_rate": 2.3960390343443493e-06,
      "loss": 0.0466,
      "step": 12799
    },
    {
      "epoch": 2.8716625532869644,
      "gripper_loss": 0.23046875,
      "loss": 0.051513671875,
      "pos_loss": 0.41015625,
      "rot_loss": 0.036376953125,
      "step": 12799
    },
    {
      "epoch": 2.8718869194525465,
      "grad_norm": 0.23376165330410004,
      "learning_rate": 2.3876819482226974e-06,
      "loss": 0.0299,
      "step": 12800
    },
    {
      "epoch": 2.8718869194525465,
      "gripper_loss": 0.00885009765625,
      "loss": 0.0654296875,
      "pos_loss": 0.5625,
      "rot_loss": 0.11328125,
      "step": 12800
    },
    {
      "epoch": 2.8721112856181286,
      "grad_norm": 0.2745155692100525,
      "learning_rate": 2.379339391880009e-06,
      "loss": 0.0433,
      "step": 12801
    },
    {
      "epoch": 2.8721112856181286,
      "gripper_loss": 0.018310546875,
      "loss": 0.0751953125,
      "pos_loss": 0.5078125,
      "rot_loss": 0.2490234375,
      "step": 12801
    },
    {
      "epoch": 2.872335651783711,
      "grad_norm": 0.35455575585365295,
      "learning_rate": 2.371011365805892e-06,
      "loss": 0.0678,
      "step": 12802
    },
    {
      "epoch": 2.872335651783711,
      "gripper_loss": 0.52734375,
      "loss": 0.035400390625,
      "pos_loss": 0.10986328125,
      "rot_loss": 0.078125,
      "step": 12802
    },
    {
      "epoch": 2.872560017949293,
      "grad_norm": 0.23802343010902405,
      "learning_rate": 2.3626978704889556e-06,
      "loss": 0.0408,
      "step": 12803
    },
    {
      "epoch": 2.872560017949293,
      "gripper_loss": 0.0040283203125,
      "loss": 0.09765625,
      "pos_loss": 0.69140625,
      "rot_loss": 0.328125,
      "step": 12803
    },
    {
      "epoch": 2.8727843841148752,
      "grad_norm": 0.2496580332517624,
      "learning_rate": 2.3543989064171158e-06,
      "loss": 0.0351,
      "step": 12804
    },
    {
      "epoch": 2.8727843841148752,
      "gripper_loss": 0.01409912109375,
      "loss": 0.07275390625,
      "pos_loss": 0.45703125,
      "rot_loss": 0.294921875,
      "step": 12804
    },
    {
      "epoch": 2.8730087502804578,
      "grad_norm": 0.276576966047287,
      "learning_rate": 2.3461144740772876e-06,
      "loss": 0.0382,
      "step": 12805
    },
    {
      "epoch": 2.8730087502804578,
      "gripper_loss": 0.007598876953125,
      "loss": 0.07666015625,
      "pos_loss": 0.41796875,
      "rot_loss": 0.3671875,
      "step": 12805
    },
    {
      "epoch": 2.87323311644604,
      "grad_norm": 0.252588152885437,
      "learning_rate": 2.337844573955611e-06,
      "loss": 0.048,
      "step": 12806
    },
    {
      "epoch": 2.87323311644604,
      "gripper_loss": 0.86328125,
      "loss": 0.1005859375,
      "pos_loss": 0.57421875,
      "rot_loss": 0.19140625,
      "step": 12806
    },
    {
      "epoch": 2.873457482611622,
      "grad_norm": 0.9305807948112488,
      "learning_rate": 2.3295892065373638e-06,
      "loss": 0.0569,
      "step": 12807
    },
    {
      "epoch": 2.873457482611622,
      "gripper_loss": 0.00732421875,
      "loss": 0.02685546875,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.031494140625,
      "step": 12807
    },
    {
      "epoch": 2.8736818487772045,
      "grad_norm": 0.6290633678436279,
      "learning_rate": 2.3213483723069917e-06,
      "loss": 0.0411,
      "step": 12808
    },
    {
      "epoch": 2.8736818487772045,
      "gripper_loss": 0.1455078125,
      "loss": 0.0294189453125,
      "pos_loss": 0.134765625,
      "rot_loss": 0.1064453125,
      "step": 12808
    },
    {
      "epoch": 2.8739062149427865,
      "grad_norm": 0.515975832939148,
      "learning_rate": 2.313122071748025e-06,
      "loss": 0.0487,
      "step": 12809
    },
    {
      "epoch": 2.8739062149427865,
      "gripper_loss": 0.006988525390625,
      "loss": 0.0306396484375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.041015625,
      "step": 12809
    },
    {
      "epoch": 2.8741305811083686,
      "grad_norm": 0.336244136095047,
      "learning_rate": 2.3049103053431887e-06,
      "loss": 0.0459,
      "step": 12810
    },
    {
      "epoch": 2.8741305811083686,
      "gripper_loss": 0.005126953125,
      "loss": 0.043701171875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.0244140625,
      "step": 12810
    },
    {
      "epoch": 2.874354947273951,
      "grad_norm": 1.2729557752609253,
      "learning_rate": 2.2967130735743746e-06,
      "loss": 0.0417,
      "step": 12811
    },
    {
      "epoch": 2.874354947273951,
      "gripper_loss": 1.7109375,
      "loss": 0.07958984375,
      "pos_loss": 0.051025390625,
      "rot_loss": 0.2138671875,
      "step": 12811
    },
    {
      "epoch": 2.874579313439533,
      "grad_norm": 0.22808223962783813,
      "learning_rate": 2.2885303769225598e-06,
      "loss": 0.0377,
      "step": 12812
    },
    {
      "epoch": 2.874579313439533,
      "gripper_loss": 0.059326171875,
      "loss": 0.038818359375,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.2060546875,
      "step": 12812
    },
    {
      "epoch": 2.8748036796051153,
      "grad_norm": 0.25589293241500854,
      "learning_rate": 2.280362215867915e-06,
      "loss": 0.0365,
      "step": 12813
    },
    {
      "epoch": 2.8748036796051153,
      "gripper_loss": 0.02197265625,
      "loss": 0.026123046875,
      "pos_loss": 0.12890625,
      "rot_loss": 0.12255859375,
      "step": 12813
    },
    {
      "epoch": 2.875028045770698,
      "grad_norm": 0.16780227422714233,
      "learning_rate": 2.2722085908897794e-06,
      "loss": 0.0202,
      "step": 12814
    },
    {
      "epoch": 2.875028045770698,
      "gripper_loss": 0.306640625,
      "loss": 0.09033203125,
      "pos_loss": 0.5859375,
      "rot_loss": 0.251953125,
      "step": 12814
    },
    {
      "epoch": 2.87525241193628,
      "grad_norm": 0.28243690729141235,
      "learning_rate": 2.2640695024665205e-06,
      "loss": 0.0533,
      "step": 12815
    },
    {
      "epoch": 2.87525241193628,
      "gripper_loss": 0.00482177734375,
      "loss": 0.1171875,
      "pos_loss": 0.765625,
      "rot_loss": 0.458984375,
      "step": 12815
    },
    {
      "epoch": 2.875476778101862,
      "grad_norm": 0.3235747814178467,
      "learning_rate": 2.2559449510757836e-06,
      "loss": 0.0556,
      "step": 12816
    },
    {
      "epoch": 2.875476778101862,
      "gripper_loss": 0.0264892578125,
      "loss": 0.07421875,
      "pos_loss": 0.455078125,
      "rot_loss": 0.291015625,
      "step": 12816
    },
    {
      "epoch": 2.8757011442674445,
      "grad_norm": 0.2364296317100525,
      "learning_rate": 2.247834937194354e-06,
      "loss": 0.0415,
      "step": 12817
    },
    {
      "epoch": 2.8757011442674445,
      "gripper_loss": 0.447265625,
      "loss": 0.021728515625,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.024658203125,
      "step": 12817
    },
    {
      "epoch": 2.8759255104330266,
      "grad_norm": 0.22042164206504822,
      "learning_rate": 2.239739461298046e-06,
      "loss": 0.032,
      "step": 12818
    },
    {
      "epoch": 2.8759255104330266,
      "gripper_loss": 0.01043701171875,
      "loss": 0.062255859375,
      "pos_loss": 0.40625,
      "rot_loss": 0.22265625,
      "step": 12818
    },
    {
      "epoch": 2.8761498765986087,
      "grad_norm": 0.2911328077316284,
      "learning_rate": 2.2316585238619235e-06,
      "loss": 0.0432,
      "step": 12819
    },
    {
      "epoch": 2.8761498765986087,
      "gripper_loss": 0.2890625,
      "loss": 0.04345703125,
      "pos_loss": 0.322265625,
      "rot_loss": 0.026611328125,
      "step": 12819
    },
    {
      "epoch": 2.876374242764191,
      "grad_norm": 0.35511207580566406,
      "learning_rate": 2.223592125360219e-06,
      "loss": 0.0496,
      "step": 12820
    },
    {
      "epoch": 2.876374242764191,
      "gripper_loss": 0.05224609375,
      "loss": 0.038330078125,
      "pos_loss": 0.310546875,
      "rot_loss": 0.061279296875,
      "step": 12820
    },
    {
      "epoch": 2.8765986089297733,
      "grad_norm": 0.257209837436676,
      "learning_rate": 2.2155402662662194e-06,
      "loss": 0.0361,
      "step": 12821
    },
    {
      "epoch": 2.8765986089297733,
      "gripper_loss": 0.0087890625,
      "loss": 0.01251220703125,
      "pos_loss": 0.00787353515625,
      "rot_loss": 0.10546875,
      "step": 12821
    },
    {
      "epoch": 2.876822975095356,
      "grad_norm": 0.18294799327850342,
      "learning_rate": 2.2075029470524087e-06,
      "loss": 0.0308,
      "step": 12822
    },
    {
      "epoch": 2.876822975095356,
      "gripper_loss": 0.005279541015625,
      "loss": 0.037353515625,
      "pos_loss": 0.27734375,
      "rot_loss": 0.0966796875,
      "step": 12822
    },
    {
      "epoch": 2.877047341260938,
      "grad_norm": 0.36589089035987854,
      "learning_rate": 2.1994801681904095e-06,
      "loss": 0.0581,
      "step": 12823
    },
    {
      "epoch": 2.877047341260938,
      "gripper_loss": 0.00958251953125,
      "loss": 0.083984375,
      "pos_loss": 0.80078125,
      "rot_loss": 0.0634765625,
      "step": 12823
    },
    {
      "epoch": 2.87727170742652,
      "grad_norm": 0.28349804878234863,
      "learning_rate": 2.191471930151012e-06,
      "loss": 0.035,
      "step": 12824
    },
    {
      "epoch": 2.87727170742652,
      "gripper_loss": 1.2734375,
      "loss": 0.04736328125,
      "pos_loss": 0.0478515625,
      "rot_loss": 0.0137939453125,
      "step": 12824
    },
    {
      "epoch": 2.8774960735921025,
      "grad_norm": 0.23805657029151917,
      "learning_rate": 2.1834782334041457e-06,
      "loss": 0.0439,
      "step": 12825
    },
    {
      "epoch": 2.8774960735921025,
      "gripper_loss": 0.0159912109375,
      "loss": 0.050048828125,
      "pos_loss": 0.267578125,
      "rot_loss": 0.2294921875,
      "step": 12825
    },
    {
      "epoch": 2.8777204397576845,
      "grad_norm": 0.20101971924304962,
      "learning_rate": 2.1754990784188523e-06,
      "loss": 0.0397,
      "step": 12826
    },
    {
      "epoch": 2.8777204397576845,
      "gripper_loss": 0.007171630859375,
      "loss": 0.02587890625,
      "pos_loss": 0.076171875,
      "rot_loss": 0.1708984375,
      "step": 12826
    },
    {
      "epoch": 2.8779448059232666,
      "grad_norm": 0.28420159220695496,
      "learning_rate": 2.167534465663368e-06,
      "loss": 0.0602,
      "step": 12827
    },
    {
      "epoch": 2.8779448059232666,
      "gripper_loss": 0.63671875,
      "loss": 0.03857421875,
      "pos_loss": 0.14453125,
      "rot_loss": 0.035400390625,
      "step": 12827
    },
    {
      "epoch": 2.878169172088849,
      "grad_norm": 0.2151334434747696,
      "learning_rate": 2.159584395605013e-06,
      "loss": 0.0421,
      "step": 12828
    },
    {
      "epoch": 2.878169172088849,
      "gripper_loss": 0.002777099609375,
      "loss": 0.07861328125,
      "pos_loss": 0.73046875,
      "rot_loss": 0.08447265625,
      "step": 12828
    },
    {
      "epoch": 2.8783935382544312,
      "grad_norm": 0.36493849754333496,
      "learning_rate": 2.151648868710304e-06,
      "loss": 0.0433,
      "step": 12829
    },
    {
      "epoch": 2.8783935382544312,
      "gripper_loss": 0.004486083984375,
      "loss": 0.06787109375,
      "pos_loss": 0.6875,
      "rot_loss": 0.017578125,
      "step": 12829
    },
    {
      "epoch": 2.8786179044200133,
      "grad_norm": 0.31173428893089294,
      "learning_rate": 2.1437278854449516e-06,
      "loss": 0.0373,
      "step": 12830
    },
    {
      "epoch": 2.8786179044200133,
      "gripper_loss": 0.007110595703125,
      "loss": 0.0478515625,
      "pos_loss": 0.34375,
      "rot_loss": 0.1435546875,
      "step": 12830
    },
    {
      "epoch": 2.878842270585596,
      "grad_norm": 0.22609113156795502,
      "learning_rate": 2.135821446273667e-06,
      "loss": 0.0496,
      "step": 12831
    },
    {
      "epoch": 2.878842270585596,
      "gripper_loss": 0.0189208984375,
      "loss": 0.0252685546875,
      "pos_loss": 0.185546875,
      "rot_loss": 0.052490234375,
      "step": 12831
    },
    {
      "epoch": 2.879066636751178,
      "grad_norm": 0.4116514027118683,
      "learning_rate": 2.127929551660468e-06,
      "loss": 0.0331,
      "step": 12832
    },
    {
      "epoch": 2.879066636751178,
      "gripper_loss": 0.171875,
      "loss": 0.022705078125,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.0184326171875,
      "step": 12832
    },
    {
      "epoch": 2.87929100291676,
      "grad_norm": 0.31688663363456726,
      "learning_rate": 2.120052202068401e-06,
      "loss": 0.0444,
      "step": 12833
    },
    {
      "epoch": 2.87929100291676,
      "gripper_loss": 0.046142578125,
      "loss": 0.008544921875,
      "pos_loss": 0.034912109375,
      "rot_loss": 0.025634765625,
      "step": 12833
    },
    {
      "epoch": 2.8795153690823425,
      "grad_norm": 0.3918442130088806,
      "learning_rate": 2.1121893979597627e-06,
      "loss": 0.0531,
      "step": 12834
    },
    {
      "epoch": 2.8795153690823425,
      "gripper_loss": 0.431640625,
      "loss": 0.0478515625,
      "pos_loss": 0.1728515625,
      "rot_loss": 0.1748046875,
      "step": 12834
    },
    {
      "epoch": 2.8797397352479246,
      "grad_norm": 0.552410900592804,
      "learning_rate": 2.104341139795879e-06,
      "loss": 0.0678,
      "step": 12835
    },
    {
      "epoch": 2.8797397352479246,
      "gripper_loss": 0.28125,
      "loss": 0.020263671875,
      "pos_loss": 0.05517578125,
      "rot_loss": 0.043212890625,
      "step": 12835
    },
    {
      "epoch": 2.879964101413507,
      "grad_norm": 0.6042023301124573,
      "learning_rate": 2.0965074280372974e-06,
      "loss": 0.0391,
      "step": 12836
    },
    {
      "epoch": 2.879964101413507,
      "gripper_loss": 0.017578125,
      "loss": 0.0140380859375,
      "pos_loss": 0.0654296875,
      "rot_loss": 0.05712890625,
      "step": 12836
    },
    {
      "epoch": 2.880188467579089,
      "grad_norm": 0.48707523941993713,
      "learning_rate": 2.088688263143734e-06,
      "loss": 0.0473,
      "step": 12837
    },
    {
      "epoch": 2.880188467579089,
      "gripper_loss": 0.5859375,
      "loss": 0.048583984375,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.1123046875,
      "step": 12837
    },
    {
      "epoch": 2.8804128337446713,
      "grad_norm": 0.6156823635101318,
      "learning_rate": 2.080883645573961e-06,
      "loss": 0.045,
      "step": 12838
    },
    {
      "epoch": 2.8804128337446713,
      "gripper_loss": 0.34375,
      "loss": 0.0361328125,
      "pos_loss": 0.2373046875,
      "rot_loss": 0.01239013671875,
      "step": 12838
    },
    {
      "epoch": 2.880637199910254,
      "grad_norm": 0.4547226130962372,
      "learning_rate": 2.0730935757859727e-06,
      "loss": 0.0369,
      "step": 12839
    },
    {
      "epoch": 2.880637199910254,
      "gripper_loss": 0.00653076171875,
      "loss": 0.0242919921875,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.11083984375,
      "step": 12839
    },
    {
      "epoch": 2.880861566075836,
      "grad_norm": 0.23335064947605133,
      "learning_rate": 2.0653180542368753e-06,
      "loss": 0.0412,
      "step": 12840
    },
    {
      "epoch": 2.880861566075836,
      "gripper_loss": 0.05419921875,
      "loss": 0.041748046875,
      "pos_loss": 0.28515625,
      "rot_loss": 0.0927734375,
      "step": 12840
    },
    {
      "epoch": 2.881085932241418,
      "grad_norm": 0.4270707964897156,
      "learning_rate": 2.057557081382971e-06,
      "loss": 0.0469,
      "step": 12841
    },
    {
      "epoch": 2.881085932241418,
      "gripper_loss": 0.4375,
      "loss": 0.04052734375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.0167236328125,
      "step": 12841
    },
    {
      "epoch": 2.8813102984070005,
      "grad_norm": 0.20266641676425934,
      "learning_rate": 2.0498106576796184e-06,
      "loss": 0.026,
      "step": 12842
    },
    {
      "epoch": 2.8813102984070005,
      "gripper_loss": 0.0150146484375,
      "loss": 0.08203125,
      "pos_loss": 0.625,
      "rot_loss": 0.2197265625,
      "step": 12842
    },
    {
      "epoch": 2.8815346645725826,
      "grad_norm": 0.24319839477539062,
      "learning_rate": 2.0420787835814247e-06,
      "loss": 0.0495,
      "step": 12843
    },
    {
      "epoch": 2.8815346645725826,
      "gripper_loss": 0.0040283203125,
      "loss": 0.030029296875,
      "pos_loss": 0.22265625,
      "rot_loss": 0.0751953125,
      "step": 12843
    },
    {
      "epoch": 2.8817590307381646,
      "grad_norm": 0.37770378589630127,
      "learning_rate": 2.0343614595420558e-06,
      "loss": 0.073,
      "step": 12844
    },
    {
      "epoch": 2.8817590307381646,
      "gripper_loss": 0.0034942626953125,
      "loss": 0.12158203125,
      "pos_loss": 1.2265625,
      "rot_loss": 0.05126953125,
      "step": 12844
    },
    {
      "epoch": 2.881983396903747,
      "grad_norm": 0.2814071476459503,
      "learning_rate": 2.026658686014371e-06,
      "loss": 0.0558,
      "step": 12845
    },
    {
      "epoch": 2.881983396903747,
      "gripper_loss": 0.75390625,
      "loss": 0.06103515625,
      "pos_loss": 0.302734375,
      "rot_loss": 0.07470703125,
      "step": 12845
    },
    {
      "epoch": 2.8822077630693292,
      "grad_norm": 0.22843287885189056,
      "learning_rate": 2.0189704634503426e-06,
      "loss": 0.0351,
      "step": 12846
    },
    {
      "epoch": 2.8822077630693292,
      "gripper_loss": 0.0272216796875,
      "loss": 0.0595703125,
      "pos_loss": 0.23828125,
      "rot_loss": 0.353515625,
      "step": 12846
    },
    {
      "epoch": 2.8824321292349113,
      "grad_norm": 0.268777996301651,
      "learning_rate": 2.011296792301165e-06,
      "loss": 0.0317,
      "step": 12847
    },
    {
      "epoch": 2.8824321292349113,
      "gripper_loss": 0.01239013671875,
      "loss": 0.0262451171875,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.17578125,
      "step": 12847
    },
    {
      "epoch": 2.882656495400494,
      "grad_norm": 0.29708245396614075,
      "learning_rate": 2.0036376730170893e-06,
      "loss": 0.0456,
      "step": 12848
    },
    {
      "epoch": 2.882656495400494,
      "gripper_loss": 0.08935546875,
      "loss": 0.055908203125,
      "pos_loss": 0.255859375,
      "rot_loss": 0.287109375,
      "step": 12848
    },
    {
      "epoch": 2.882880861566076,
      "grad_norm": 0.27654731273651123,
      "learning_rate": 1.995993106047589e-06,
      "loss": 0.0354,
      "step": 12849
    },
    {
      "epoch": 2.882880861566076,
      "gripper_loss": 0.1484375,
      "loss": 0.028564453125,
      "pos_loss": 0.2109375,
      "rot_loss": 0.02197265625,
      "step": 12849
    },
    {
      "epoch": 2.883105227731658,
      "grad_norm": 0.3790878653526306,
      "learning_rate": 1.9883630918411668e-06,
      "loss": 0.0426,
      "step": 12850
    },
    {
      "epoch": 2.883105227731658,
      "gripper_loss": 0.005340576171875,
      "loss": 0.06298828125,
      "pos_loss": 0.443359375,
      "rot_loss": 0.2099609375,
      "step": 12850
    },
    {
      "epoch": 2.8833295938972405,
      "grad_norm": 0.3332693576812744,
      "learning_rate": 1.980747630845631e-06,
      "loss": 0.0455,
      "step": 12851
    },
    {
      "epoch": 2.8833295938972405,
      "gripper_loss": 0.0341796875,
      "loss": 0.046630859375,
      "pos_loss": 0.26171875,
      "rot_loss": 0.1826171875,
      "step": 12851
    },
    {
      "epoch": 2.8835539600628226,
      "grad_norm": 0.2490234375,
      "learning_rate": 1.9731467235077903e-06,
      "loss": 0.0377,
      "step": 12852
    },
    {
      "epoch": 2.8835539600628226,
      "gripper_loss": 0.005706787109375,
      "loss": 0.038818359375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.039794921875,
      "step": 12852
    },
    {
      "epoch": 2.8837783262284047,
      "grad_norm": 0.22210118174552917,
      "learning_rate": 1.965560370273678e-06,
      "loss": 0.0393,
      "step": 12853
    },
    {
      "epoch": 2.8837783262284047,
      "gripper_loss": 0.025634765625,
      "loss": 0.0732421875,
      "pos_loss": 0.73828125,
      "rot_loss": 0.01434326171875,
      "step": 12853
    },
    {
      "epoch": 2.884002692393987,
      "grad_norm": 0.37426215410232544,
      "learning_rate": 1.9579885715884925e-06,
      "loss": 0.0583,
      "step": 12854
    },
    {
      "epoch": 2.884002692393987,
      "gripper_loss": 0.0169677734375,
      "loss": 0.0556640625,
      "pos_loss": 0.5546875,
      "rot_loss": 0.01312255859375,
      "step": 12854
    },
    {
      "epoch": 2.8842270585595693,
      "grad_norm": 0.23081861436367035,
      "learning_rate": 1.950431327896518e-06,
      "loss": 0.0321,
      "step": 12855
    },
    {
      "epoch": 2.8842270585595693,
      "gripper_loss": 0.2578125,
      "loss": 0.019775390625,
      "pos_loss": 0.049072265625,
      "rot_loss": 0.0517578125,
      "step": 12855
    },
    {
      "epoch": 2.8844514247251514,
      "grad_norm": 0.29965800046920776,
      "learning_rate": 1.942888639641205e-06,
      "loss": 0.0329,
      "step": 12856
    },
    {
      "epoch": 2.8844514247251514,
      "gripper_loss": 0.0108642578125,
      "loss": 0.0250244140625,
      "pos_loss": 0.06005859375,
      "rot_loss": 0.18359375,
      "step": 12856
    },
    {
      "epoch": 2.884675790890734,
      "grad_norm": 0.27710986137390137,
      "learning_rate": 1.9353605072651435e-06,
      "loss": 0.0369,
      "step": 12857
    },
    {
      "epoch": 2.884675790890734,
      "gripper_loss": 0.006439208984375,
      "loss": 0.09814453125,
      "pos_loss": 0.390625,
      "rot_loss": 0.62890625,
      "step": 12857
    },
    {
      "epoch": 2.884900157056316,
      "grad_norm": 0.3777320384979248,
      "learning_rate": 1.9278469312101197e-06,
      "loss": 0.0501,
      "step": 12858
    },
    {
      "epoch": 2.884900157056316,
      "gripper_loss": 0.007080078125,
      "loss": 0.03662109375,
      "pos_loss": 0.29296875,
      "rot_loss": 0.0771484375,
      "step": 12858
    },
    {
      "epoch": 2.885124523221898,
      "grad_norm": 0.2648158073425293,
      "learning_rate": 1.9203479119170033e-06,
      "loss": 0.0413,
      "step": 12859
    },
    {
      "epoch": 2.885124523221898,
      "gripper_loss": 0.50390625,
      "loss": 0.09326171875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.234375,
      "step": 12859
    },
    {
      "epoch": 2.8853488893874806,
      "grad_norm": 0.6317528486251831,
      "learning_rate": 1.9128634498258302e-06,
      "loss": 0.082,
      "step": 12860
    },
    {
      "epoch": 2.8853488893874806,
      "gripper_loss": 0.00921630859375,
      "loss": 0.029052734375,
      "pos_loss": 0.2421875,
      "rot_loss": 0.041259765625,
      "step": 12860
    },
    {
      "epoch": 2.8855732555530627,
      "grad_norm": 0.2697688937187195,
      "learning_rate": 1.9053935453758054e-06,
      "loss": 0.0418,
      "step": 12861
    },
    {
      "epoch": 2.8855732555530627,
      "gripper_loss": 1.2578125,
      "loss": 0.048583984375,
      "pos_loss": 0.037109375,
      "rot_loss": 0.03955078125,
      "step": 12861
    },
    {
      "epoch": 2.8857976217186447,
      "grad_norm": 0.28908100724220276,
      "learning_rate": 1.8979381990052447e-06,
      "loss": 0.0282,
      "step": 12862
    },
    {
      "epoch": 2.8857976217186447,
      "gripper_loss": 0.412109375,
      "loss": 0.0228271484375,
      "pos_loss": 0.0244140625,
      "rot_loss": 0.058837890625,
      "step": 12862
    },
    {
      "epoch": 2.8860219878842273,
      "grad_norm": 0.3953913450241089,
      "learning_rate": 1.8904974111516038e-06,
      "loss": 0.0358,
      "step": 12863
    },
    {
      "epoch": 2.8860219878842273,
      "gripper_loss": 0.0849609375,
      "loss": 0.01336669921875,
      "pos_loss": 0.0859375,
      "rot_loss": 0.00653076171875,
      "step": 12863
    },
    {
      "epoch": 2.8862463540498093,
      "grad_norm": 0.3378813564777374,
      "learning_rate": 1.8830711822515613e-06,
      "loss": 0.0485,
      "step": 12864
    },
    {
      "epoch": 2.8862463540498093,
      "gripper_loss": 0.03955078125,
      "loss": 0.06298828125,
      "pos_loss": 0.423828125,
      "rot_loss": 0.2099609375,
      "step": 12864
    },
    {
      "epoch": 2.8864707202153914,
      "grad_norm": 0.40010616183280945,
      "learning_rate": 1.8756595127408239e-06,
      "loss": 0.0558,
      "step": 12865
    },
    {
      "epoch": 2.8864707202153914,
      "gripper_loss": 0.0206298828125,
      "loss": 0.00506591796875,
      "pos_loss": 0.02001953125,
      "rot_loss": 0.007354736328125,
      "step": 12865
    },
    {
      "epoch": 2.886695086380974,
      "grad_norm": 0.33180007338523865,
      "learning_rate": 1.8682624030543216e-06,
      "loss": 0.0598,
      "step": 12866
    },
    {
      "epoch": 2.886695086380974,
      "gripper_loss": 0.01055908203125,
      "loss": 0.04833984375,
      "pos_loss": 0.2734375,
      "rot_loss": 0.2001953125,
      "step": 12866
    },
    {
      "epoch": 2.886919452546556,
      "grad_norm": 0.3322974145412445,
      "learning_rate": 1.860879853626124e-06,
      "loss": 0.0481,
      "step": 12867
    },
    {
      "epoch": 2.886919452546556,
      "gripper_loss": 0.005615234375,
      "loss": 0.022705078125,
      "pos_loss": 0.07958984375,
      "rot_loss": 0.1435546875,
      "step": 12867
    },
    {
      "epoch": 2.887143818712138,
      "grad_norm": 0.3441348075866699,
      "learning_rate": 1.8535118648894678e-06,
      "loss": 0.045,
      "step": 12868
    },
    {
      "epoch": 2.887143818712138,
      "gripper_loss": 0.11181640625,
      "loss": 0.1494140625,
      "pos_loss": 0.85546875,
      "rot_loss": 0.390625,
      "step": 12868
    },
    {
      "epoch": 2.8873681848777206,
      "grad_norm": 0.8772623538970947,
      "learning_rate": 1.8461584372766182e-06,
      "loss": 0.1357,
      "step": 12869
    },
    {
      "epoch": 2.8873681848777206,
      "gripper_loss": 0.007232666015625,
      "loss": 0.053466796875,
      "pos_loss": 0.28515625,
      "rot_loss": 0.263671875,
      "step": 12869
    },
    {
      "epoch": 2.8875925510433027,
      "grad_norm": 0.26801246404647827,
      "learning_rate": 1.838819571219147e-06,
      "loss": 0.0538,
      "step": 12870
    },
    {
      "epoch": 2.8875925510433027,
      "gripper_loss": 0.0771484375,
      "loss": 0.04443359375,
      "pos_loss": 0.203125,
      "rot_loss": 0.2255859375,
      "step": 12870
    },
    {
      "epoch": 2.887816917208885,
      "grad_norm": 0.3638238310813904,
      "learning_rate": 1.8314952671476815e-06,
      "loss": 0.0442,
      "step": 12871
    },
    {
      "epoch": 2.887816917208885,
      "gripper_loss": 0.002685546875,
      "loss": 0.1318359375,
      "pos_loss": 0.78515625,
      "rot_loss": 0.6015625,
      "step": 12871
    },
    {
      "epoch": 2.8880412833744673,
      "grad_norm": 0.28794726729393005,
      "learning_rate": 1.8241855254919893e-06,
      "loss": 0.0401,
      "step": 12872
    },
    {
      "epoch": 2.8880412833744673,
      "gripper_loss": 0.0052490234375,
      "loss": 0.0771484375,
      "pos_loss": 0.74609375,
      "rot_loss": 0.053466796875,
      "step": 12872
    },
    {
      "epoch": 2.8882656495400494,
      "grad_norm": 0.1880493015050888,
      "learning_rate": 1.8168903466810328e-06,
      "loss": 0.0329,
      "step": 12873
    },
    {
      "epoch": 2.8882656495400494,
      "gripper_loss": 0.0272216796875,
      "loss": 0.06298828125,
      "pos_loss": 0.345703125,
      "rot_loss": 0.283203125,
      "step": 12873
    },
    {
      "epoch": 2.8884900157056315,
      "grad_norm": 0.32521969079971313,
      "learning_rate": 1.8096097311428583e-06,
      "loss": 0.0632,
      "step": 12874
    },
    {
      "epoch": 2.8884900157056315,
      "gripper_loss": 0.049560546875,
      "loss": 0.009765625,
      "pos_loss": 0.04736328125,
      "rot_loss": 0.0194091796875,
      "step": 12874
    },
    {
      "epoch": 2.888714381871214,
      "grad_norm": 0.271946519613266,
      "learning_rate": 1.80234367930468e-06,
      "loss": 0.0316,
      "step": 12875
    },
    {
      "epoch": 2.888714381871214,
      "gripper_loss": 0.00732421875,
      "loss": 0.048095703125,
      "pos_loss": 0.404296875,
      "rot_loss": 0.08154296875,
      "step": 12875
    },
    {
      "epoch": 2.888938748036796,
      "grad_norm": 0.1704311966896057,
      "learning_rate": 1.7950921915928787e-06,
      "loss": 0.0286,
      "step": 12876
    },
    {
      "epoch": 2.888938748036796,
      "gripper_loss": 0.392578125,
      "loss": 0.302734375,
      "pos_loss": 0.8671875,
      "rot_loss": 0.458984375,
      "step": 12876
    },
    {
      "epoch": 2.889163114202378,
      "grad_norm": 1.283206582069397,
      "learning_rate": 1.787855268433003e-06,
      "loss": 0.2123,
      "step": 12877
    },
    {
      "epoch": 2.889163114202378,
      "gripper_loss": 0.103515625,
      "loss": 0.025390625,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.0869140625,
      "step": 12877
    },
    {
      "epoch": 2.8893874803679607,
      "grad_norm": 0.21216320991516113,
      "learning_rate": 1.7806329102496855e-06,
      "loss": 0.0287,
      "step": 12878
    },
    {
      "epoch": 2.8893874803679607,
      "gripper_loss": 0.11376953125,
      "loss": 0.02685546875,
      "pos_loss": 0.1337890625,
      "rot_loss": 0.09521484375,
      "step": 12878
    },
    {
      "epoch": 2.8896118465335427,
      "grad_norm": 0.2493162751197815,
      "learning_rate": 1.7734251174666982e-06,
      "loss": 0.0334,
      "step": 12879
    },
    {
      "epoch": 2.8896118465335427,
      "gripper_loss": 0.002349853515625,
      "loss": 0.06591796875,
      "pos_loss": 0.66015625,
      "rot_loss": 0.0252685546875,
      "step": 12879
    },
    {
      "epoch": 2.889836212699125,
      "grad_norm": 0.5560644865036011,
      "learning_rate": 1.7662318905070362e-06,
      "loss": 0.0503,
      "step": 12880
    },
    {
      "epoch": 2.889836212699125,
      "gripper_loss": 0.369140625,
      "loss": 0.1943359375,
      "pos_loss": 0.2197265625,
      "rot_loss": 1.703125,
      "step": 12880
    },
    {
      "epoch": 2.8900605788647074,
      "grad_norm": 0.6340863704681396,
      "learning_rate": 1.7590532297928064e-06,
      "loss": 0.0623,
      "step": 12881
    },
    {
      "epoch": 2.8900605788647074,
      "gripper_loss": 0.017333984375,
      "loss": 0.0712890625,
      "pos_loss": 0.65625,
      "rot_loss": 0.07275390625,
      "step": 12881
    },
    {
      "epoch": 2.8902849450302894,
      "grad_norm": 0.2951350212097168,
      "learning_rate": 1.7518891357451995e-06,
      "loss": 0.0398,
      "step": 12882
    },
    {
      "epoch": 2.8902849450302894,
      "gripper_loss": 0.05078125,
      "loss": 0.054931640625,
      "pos_loss": 0.322265625,
      "rot_loss": 0.197265625,
      "step": 12882
    },
    {
      "epoch": 2.8905093111958715,
      "grad_norm": 0.5132082104682922,
      "learning_rate": 1.7447396087846567e-06,
      "loss": 0.058,
      "step": 12883
    },
    {
      "epoch": 2.8905093111958715,
      "gripper_loss": 2.28125,
      "loss": 0.07861328125,
      "pos_loss": 0.0303955078125,
      "rot_loss": 0.0296630859375,
      "step": 12883
    },
    {
      "epoch": 2.890733677361454,
      "grad_norm": 0.4008401036262512,
      "learning_rate": 1.7376046493306485e-06,
      "loss": 0.0529,
      "step": 12884
    },
    {
      "epoch": 2.890733677361454,
      "gripper_loss": 0.0184326171875,
      "loss": 0.0242919921875,
      "pos_loss": 0.193359375,
      "rot_loss": 0.03662109375,
      "step": 12884
    },
    {
      "epoch": 2.890958043527036,
      "grad_norm": 0.2974405884742737,
      "learning_rate": 1.7304842578018954e-06,
      "loss": 0.0324,
      "step": 12885
    },
    {
      "epoch": 2.890958043527036,
      "gripper_loss": 0.033447265625,
      "loss": 0.006103515625,
      "pos_loss": 0.01495361328125,
      "rot_loss": 0.0206298828125,
      "step": 12885
    },
    {
      "epoch": 2.891182409692618,
      "grad_norm": 0.296403169631958,
      "learning_rate": 1.7233784346162019e-06,
      "loss": 0.0604,
      "step": 12886
    },
    {
      "epoch": 2.891182409692618,
      "gripper_loss": 0.004119873046875,
      "loss": 0.033447265625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.0264892578125,
      "step": 12886
    },
    {
      "epoch": 2.8914067758582007,
      "grad_norm": 0.2859545946121216,
      "learning_rate": 1.71628718019054e-06,
      "loss": 0.0452,
      "step": 12887
    },
    {
      "epoch": 2.8914067758582007,
      "gripper_loss": 0.005615234375,
      "loss": 0.046875,
      "pos_loss": 0.1826171875,
      "rot_loss": 0.291015625,
      "step": 12887
    },
    {
      "epoch": 2.891631142023783,
      "grad_norm": 0.20986902713775635,
      "learning_rate": 1.7092104949410215e-06,
      "loss": 0.0335,
      "step": 12888
    },
    {
      "epoch": 2.891631142023783,
      "gripper_loss": 0.00946044921875,
      "loss": 0.0771484375,
      "pos_loss": 0.60546875,
      "rot_loss": 0.1904296875,
      "step": 12888
    },
    {
      "epoch": 2.891855508189365,
      "grad_norm": 0.26074299216270447,
      "learning_rate": 1.7021483792828696e-06,
      "loss": 0.0478,
      "step": 12889
    },
    {
      "epoch": 2.891855508189365,
      "gripper_loss": 0.1923828125,
      "loss": 0.310546875,
      "pos_loss": 1.4296875,
      "rot_loss": 0.90625,
      "step": 12889
    },
    {
      "epoch": 2.8920798743549474,
      "grad_norm": 1.4136654138565063,
      "learning_rate": 1.6951008336305585e-06,
      "loss": 0.2112,
      "step": 12890
    },
    {
      "epoch": 2.8920798743549474,
      "gripper_loss": 0.03515625,
      "loss": 0.0361328125,
      "pos_loss": 0.08837890625,
      "rot_loss": 0.263671875,
      "step": 12890
    },
    {
      "epoch": 2.8923042405205295,
      "grad_norm": 0.8584122061729431,
      "learning_rate": 1.6880678583975628e-06,
      "loss": 0.0432,
      "step": 12891
    },
    {
      "epoch": 2.8923042405205295,
      "gripper_loss": 0.0286865234375,
      "loss": 0.03955078125,
      "pos_loss": 0.330078125,
      "rot_loss": 0.06689453125,
      "step": 12891
    },
    {
      "epoch": 2.8925286066861116,
      "grad_norm": 0.2254054844379425,
      "learning_rate": 1.6810494539966082e-06,
      "loss": 0.0339,
      "step": 12892
    },
    {
      "epoch": 2.8925286066861116,
      "gripper_loss": 0.0118408203125,
      "loss": 0.017333984375,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.0869140625,
      "step": 12892
    },
    {
      "epoch": 2.892752972851694,
      "grad_norm": 0.5372419357299805,
      "learning_rate": 1.6740456208395594e-06,
      "loss": 0.0443,
      "step": 12893
    },
    {
      "epoch": 2.892752972851694,
      "gripper_loss": 0.08984375,
      "loss": 0.01708984375,
      "pos_loss": 0.1083984375,
      "rot_loss": 0.0194091796875,
      "step": 12893
    },
    {
      "epoch": 2.892977339017276,
      "grad_norm": 0.4161251187324524,
      "learning_rate": 1.6670563593373377e-06,
      "loss": 0.0338,
      "step": 12894
    },
    {
      "epoch": 2.892977339017276,
      "gripper_loss": 0.15625,
      "loss": 0.02392578125,
      "pos_loss": 0.1689453125,
      "rot_loss": 0.01275634765625,
      "step": 12894
    },
    {
      "epoch": 2.8932017051828582,
      "grad_norm": 0.3573240637779236,
      "learning_rate": 1.6600816699001153e-06,
      "loss": 0.0272,
      "step": 12895
    },
    {
      "epoch": 2.8932017051828582,
      "gripper_loss": 0.00225830078125,
      "loss": 0.029296875,
      "pos_loss": 0.271484375,
      "rot_loss": 0.0262451171875,
      "step": 12895
    },
    {
      "epoch": 2.8934260713484408,
      "grad_norm": 0.27444931864738464,
      "learning_rate": 1.6531215529371479e-06,
      "loss": 0.0472,
      "step": 12896
    },
    {
      "epoch": 2.8934260713484408,
      "gripper_loss": 0.1728515625,
      "loss": 0.0234375,
      "pos_loss": 0.09521484375,
      "rot_loss": 0.07861328125,
      "step": 12896
    },
    {
      "epoch": 2.893650437514023,
      "grad_norm": 0.29249459505081177,
      "learning_rate": 1.6461760088568312e-06,
      "loss": 0.0475,
      "step": 12897
    },
    {
      "epoch": 2.893650437514023,
      "gripper_loss": 0.01422119140625,
      "loss": 0.0732421875,
      "pos_loss": 0.4921875,
      "rot_loss": 0.2578125,
      "step": 12897
    },
    {
      "epoch": 2.893874803679605,
      "grad_norm": 0.21377211809158325,
      "learning_rate": 1.6392450380667555e-06,
      "loss": 0.0451,
      "step": 12898
    },
    {
      "epoch": 2.893874803679605,
      "gripper_loss": 0.0181884765625,
      "loss": 0.0286865234375,
      "pos_loss": 0.09765625,
      "rot_loss": 0.1826171875,
      "step": 12898
    },
    {
      "epoch": 2.8940991698451874,
      "grad_norm": 0.17175404727458954,
      "learning_rate": 1.6323286409736239e-06,
      "loss": 0.0495,
      "step": 12899
    },
    {
      "epoch": 2.8940991698451874,
      "gripper_loss": 0.007232666015625,
      "loss": 0.0458984375,
      "pos_loss": 0.30078125,
      "rot_loss": 0.1650390625,
      "step": 12899
    },
    {
      "epoch": 2.8943235360107695,
      "grad_norm": 0.4377940893173218,
      "learning_rate": 1.6254268179832777e-06,
      "loss": 0.0491,
      "step": 12900
    },
    {
      "epoch": 2.8943235360107695,
      "gripper_loss": 0.00457763671875,
      "loss": 0.052490234375,
      "pos_loss": 0.349609375,
      "rot_loss": 0.1884765625,
      "step": 12900
    },
    {
      "epoch": 2.8945479021763516,
      "grad_norm": 0.31525683403015137,
      "learning_rate": 1.6185395695007266e-06,
      "loss": 0.0466,
      "step": 12901
    },
    {
      "epoch": 2.8945479021763516,
      "gripper_loss": 0.006805419921875,
      "loss": 0.078125,
      "pos_loss": 0.50390625,
      "rot_loss": 0.30078125,
      "step": 12901
    },
    {
      "epoch": 2.894772268341934,
      "grad_norm": 0.38859397172927856,
      "learning_rate": 1.6116668959300918e-06,
      "loss": 0.0402,
      "step": 12902
    },
    {
      "epoch": 2.894772268341934,
      "gripper_loss": 0.0927734375,
      "loss": 0.06787109375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.1630859375,
      "step": 12902
    },
    {
      "epoch": 2.894996634507516,
      "grad_norm": 0.7222347855567932,
      "learning_rate": 1.6048087976746616e-06,
      "loss": 0.094,
      "step": 12903
    },
    {
      "epoch": 2.894996634507516,
      "gripper_loss": 0.0019683837890625,
      "loss": 0.06884765625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1865234375,
      "step": 12903
    },
    {
      "epoch": 2.8952210006730983,
      "grad_norm": 0.266385555267334,
      "learning_rate": 1.5979652751368923e-06,
      "loss": 0.0425,
      "step": 12904
    },
    {
      "epoch": 2.8952210006730983,
      "gripper_loss": 0.020263671875,
      "loss": 0.01483154296875,
      "pos_loss": 0.0198974609375,
      "rot_loss": 0.11474609375,
      "step": 12904
    },
    {
      "epoch": 2.895445366838681,
      "grad_norm": 0.18785004317760468,
      "learning_rate": 1.5911363287183233e-06,
      "loss": 0.042,
      "step": 12905
    },
    {
      "epoch": 2.895445366838681,
      "gripper_loss": 0.2490234375,
      "loss": 0.0439453125,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.1103515625,
      "step": 12905
    },
    {
      "epoch": 2.895669733004263,
      "grad_norm": 0.321974515914917,
      "learning_rate": 1.58432195881969e-06,
      "loss": 0.0406,
      "step": 12906
    },
    {
      "epoch": 2.895669733004263,
      "gripper_loss": 0.0791015625,
      "loss": 0.0230712890625,
      "pos_loss": 0.1357421875,
      "rot_loss": 0.06494140625,
      "step": 12906
    },
    {
      "epoch": 2.895894099169845,
      "grad_norm": 0.5303796529769897,
      "learning_rate": 1.5775221658408667e-06,
      "loss": 0.0441,
      "step": 12907
    },
    {
      "epoch": 2.895894099169845,
      "gripper_loss": 0.01141357421875,
      "loss": 0.0498046875,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.26171875,
      "step": 12907
    },
    {
      "epoch": 2.8961184653354275,
      "grad_norm": 0.2436615228652954,
      "learning_rate": 1.5707369501808676e-06,
      "loss": 0.0441,
      "step": 12908
    },
    {
      "epoch": 2.8961184653354275,
      "gripper_loss": 0.0028839111328125,
      "loss": 0.0186767578125,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.0096435546875,
      "step": 12908
    },
    {
      "epoch": 2.8963428315010096,
      "grad_norm": 0.25161013007164,
      "learning_rate": 1.5639663122378189e-06,
      "loss": 0.0364,
      "step": 12909
    },
    {
      "epoch": 2.8963428315010096,
      "gripper_loss": 0.1806640625,
      "loss": 0.150390625,
      "pos_loss": 0.70703125,
      "rot_loss": 0.82421875,
      "step": 12909
    },
    {
      "epoch": 2.8965671976665917,
      "grad_norm": 0.41587960720062256,
      "learning_rate": 1.5572102524090138e-06,
      "loss": 0.0537,
      "step": 12910
    },
    {
      "epoch": 2.8965671976665917,
      "gripper_loss": 0.006988525390625,
      "loss": 0.062255859375,
      "pos_loss": 0.478515625,
      "rot_loss": 0.1572265625,
      "step": 12910
    },
    {
      "epoch": 2.896791563832174,
      "grad_norm": 0.2688300311565399,
      "learning_rate": 1.5504687710909403e-06,
      "loss": 0.0425,
      "step": 12911
    },
    {
      "epoch": 2.896791563832174,
      "gripper_loss": 0.01190185546875,
      "loss": 0.040283203125,
      "pos_loss": 0.34765625,
      "rot_loss": 0.056640625,
      "step": 12911
    },
    {
      "epoch": 2.8970159299977563,
      "grad_norm": 0.2484525591135025,
      "learning_rate": 1.543741868679116e-06,
      "loss": 0.0431,
      "step": 12912
    },
    {
      "epoch": 2.8970159299977563,
      "gripper_loss": 0.0174560546875,
      "loss": 0.025146484375,
      "pos_loss": 0.19140625,
      "rot_loss": 0.043212890625,
      "step": 12912
    },
    {
      "epoch": 2.8972402961633383,
      "grad_norm": 0.2513235807418823,
      "learning_rate": 1.5370295455683358e-06,
      "loss": 0.0353,
      "step": 12913
    },
    {
      "epoch": 2.8972402961633383,
      "gripper_loss": 0.52734375,
      "loss": 0.029296875,
      "pos_loss": 0.1103515625,
      "rot_loss": 0.0030059814453125,
      "step": 12913
    },
    {
      "epoch": 2.897464662328921,
      "grad_norm": 0.5024257302284241,
      "learning_rate": 1.5303318021524515e-06,
      "loss": 0.0399,
      "step": 12914
    },
    {
      "epoch": 2.897464662328921,
      "gripper_loss": 0.251953125,
      "loss": 0.07373046875,
      "pos_loss": 0.279296875,
      "rot_loss": 0.396484375,
      "step": 12914
    },
    {
      "epoch": 2.897689028494503,
      "grad_norm": 0.29778143763542175,
      "learning_rate": 1.5236486388245097e-06,
      "loss": 0.0379,
      "step": 12915
    },
    {
      "epoch": 2.897689028494503,
      "gripper_loss": 0.421875,
      "loss": 0.044189453125,
      "pos_loss": 0.146484375,
      "rot_loss": 0.1630859375,
      "step": 12915
    },
    {
      "epoch": 2.897913394660085,
      "grad_norm": 0.6202908754348755,
      "learning_rate": 1.5169800559766133e-06,
      "loss": 0.0502,
      "step": 12916
    },
    {
      "epoch": 2.897913394660085,
      "gripper_loss": 0.03125,
      "loss": 0.01904296875,
      "pos_loss": 0.01300048828125,
      "rot_loss": 0.1552734375,
      "step": 12916
    },
    {
      "epoch": 2.8981377608256675,
      "grad_norm": 0.3834686577320099,
      "learning_rate": 1.5103260540001163e-06,
      "loss": 0.0521,
      "step": 12917
    },
    {
      "epoch": 2.8981377608256675,
      "gripper_loss": 0.32421875,
      "loss": 0.026611328125,
      "pos_loss": 0.11328125,
      "rot_loss": 0.044677734375,
      "step": 12917
    },
    {
      "epoch": 2.8983621269912496,
      "grad_norm": 0.2796775996685028,
      "learning_rate": 1.5036866332854838e-06,
      "loss": 0.054,
      "step": 12918
    },
    {
      "epoch": 2.8983621269912496,
      "gripper_loss": 0.40625,
      "loss": 0.04248046875,
      "pos_loss": 0.095703125,
      "rot_loss": 0.19921875,
      "step": 12918
    },
    {
      "epoch": 2.8985864931568317,
      "grad_norm": 0.4973110556602478,
      "learning_rate": 1.4970617942222931e-06,
      "loss": 0.0369,
      "step": 12919
    },
    {
      "epoch": 2.8985864931568317,
      "gripper_loss": 0.00732421875,
      "loss": 0.01904296875,
      "pos_loss": 0.1611328125,
      "rot_loss": 0.0225830078125,
      "step": 12919
    },
    {
      "epoch": 2.8988108593224142,
      "grad_norm": 0.20054025948047638,
      "learning_rate": 1.4904515371992889e-06,
      "loss": 0.0324,
      "step": 12920
    },
    {
      "epoch": 2.8988108593224142,
      "gripper_loss": 0.203125,
      "loss": 0.0184326171875,
      "pos_loss": 0.01507568359375,
      "rot_loss": 0.09228515625,
      "step": 12920
    },
    {
      "epoch": 2.8990352254879963,
      "grad_norm": 0.363137811422348,
      "learning_rate": 1.4838558626043553e-06,
      "loss": 0.0366,
      "step": 12921
    },
    {
      "epoch": 2.8990352254879963,
      "gripper_loss": 0.00811767578125,
      "loss": 0.051513671875,
      "pos_loss": 0.103515625,
      "rot_loss": 0.41796875,
      "step": 12921
    },
    {
      "epoch": 2.8992595916535784,
      "grad_norm": 0.2220410853624344,
      "learning_rate": 1.477274770824516e-06,
      "loss": 0.0497,
      "step": 12922
    },
    {
      "epoch": 2.8992595916535784,
      "gripper_loss": 0.017333984375,
      "loss": 0.08203125,
      "pos_loss": 0.51953125,
      "rot_loss": 0.3203125,
      "step": 12922
    },
    {
      "epoch": 2.899483957819161,
      "grad_norm": 0.33815425634384155,
      "learning_rate": 1.4707082622459621e-06,
      "loss": 0.0487,
      "step": 12923
    },
    {
      "epoch": 2.899483957819161,
      "gripper_loss": 0.0115966796875,
      "loss": 0.04931640625,
      "pos_loss": 0.2412109375,
      "rot_loss": 0.24609375,
      "step": 12923
    },
    {
      "epoch": 2.899708323984743,
      "grad_norm": 0.3540055751800537,
      "learning_rate": 1.4641563372540245e-06,
      "loss": 0.0556,
      "step": 12924
    },
    {
      "epoch": 2.899708323984743,
      "gripper_loss": 0.0079345703125,
      "loss": 0.055908203125,
      "pos_loss": 0.296875,
      "rot_loss": 0.2734375,
      "step": 12924
    },
    {
      "epoch": 2.899932690150325,
      "grad_norm": 0.23678205907344818,
      "learning_rate": 1.4576189962331455e-06,
      "loss": 0.0364,
      "step": 12925
    },
    {
      "epoch": 2.899932690150325,
      "gripper_loss": 0.004913330078125,
      "loss": 0.045654296875,
      "pos_loss": 0.388671875,
      "rot_loss": 0.080078125,
      "step": 12925
    },
    {
      "epoch": 2.9001570563159076,
      "grad_norm": 0.2742099165916443,
      "learning_rate": 1.4510962395669348e-06,
      "loss": 0.0373,
      "step": 12926
    },
    {
      "epoch": 2.9001570563159076,
      "gripper_loss": 0.00616455078125,
      "loss": 0.045166015625,
      "pos_loss": 0.4453125,
      "rot_loss": 0.01544189453125,
      "step": 12926
    },
    {
      "epoch": 2.9003814224814897,
      "grad_norm": 0.33457452058792114,
      "learning_rate": 1.4445880676381418e-06,
      "loss": 0.0462,
      "step": 12927
    },
    {
      "epoch": 2.9003814224814897,
      "gripper_loss": 0.0181884765625,
      "loss": 0.06787109375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.33984375,
      "step": 12927
    },
    {
      "epoch": 2.9006057886470717,
      "grad_norm": 0.26458901166915894,
      "learning_rate": 1.4380944808286834e-06,
      "loss": 0.06,
      "step": 12928
    },
    {
      "epoch": 2.9006057886470717,
      "gripper_loss": 0.01031494140625,
      "loss": 0.040771484375,
      "pos_loss": 0.296875,
      "rot_loss": 0.11279296875,
      "step": 12928
    },
    {
      "epoch": 2.9008301548126543,
      "grad_norm": 0.31857866048812866,
      "learning_rate": 1.431615479519588e-06,
      "loss": 0.0456,
      "step": 12929
    },
    {
      "epoch": 2.9008301548126543,
      "gripper_loss": 0.1279296875,
      "loss": 0.04296875,
      "pos_loss": 0.205078125,
      "rot_loss": 0.185546875,
      "step": 12929
    },
    {
      "epoch": 2.9010545209782364,
      "grad_norm": 0.3616369068622589,
      "learning_rate": 1.4251510640910237e-06,
      "loss": 0.0356,
      "step": 12930
    },
    {
      "epoch": 2.9010545209782364,
      "gripper_loss": 0.054443359375,
      "loss": 0.0576171875,
      "pos_loss": 0.1953125,
      "rot_loss": 0.3359375,
      "step": 12930
    },
    {
      "epoch": 2.901278887143819,
      "grad_norm": 0.48163652420043945,
      "learning_rate": 1.4187012349223538e-06,
      "loss": 0.0883,
      "step": 12931
    },
    {
      "epoch": 2.901278887143819,
      "gripper_loss": 0.00799560546875,
      "loss": 0.0986328125,
      "pos_loss": 0.470703125,
      "rot_loss": 0.5546875,
      "step": 12931
    },
    {
      "epoch": 2.901503253309401,
      "grad_norm": 0.22123011946678162,
      "learning_rate": 1.4122659923920533e-06,
      "loss": 0.0442,
      "step": 12932
    },
    {
      "epoch": 2.901503253309401,
      "gripper_loss": 0.005462646484375,
      "loss": 0.027587890625,
      "pos_loss": 0.1259765625,
      "rot_loss": 0.1376953125,
      "step": 12932
    },
    {
      "epoch": 2.901727619474983,
      "grad_norm": 0.3049602210521698,
      "learning_rate": 1.4058453368776814e-06,
      "loss": 0.0405,
      "step": 12933
    },
    {
      "epoch": 2.901727619474983,
      "gripper_loss": 0.006378173828125,
      "loss": 0.0419921875,
      "pos_loss": 0.28125,
      "rot_loss": 0.140625,
      "step": 12933
    },
    {
      "epoch": 2.9019519856405656,
      "grad_norm": 0.35481685400009155,
      "learning_rate": 1.3994392687560475e-06,
      "loss": 0.0509,
      "step": 12934
    },
    {
      "epoch": 2.9019519856405656,
      "gripper_loss": 0.76171875,
      "loss": 0.032958984375,
      "pos_loss": 0.06640625,
      "rot_loss": 0.01116943359375,
      "step": 12934
    },
    {
      "epoch": 2.9021763518061476,
      "grad_norm": 0.36829686164855957,
      "learning_rate": 1.3930477884030458e-06,
      "loss": 0.0462,
      "step": 12935
    },
    {
      "epoch": 2.9021763518061476,
      "gripper_loss": 0.091796875,
      "loss": 0.10986328125,
      "pos_loss": 0.5859375,
      "rot_loss": 0.388671875,
      "step": 12935
    },
    {
      "epoch": 2.9024007179717297,
      "grad_norm": 0.4052591025829315,
      "learning_rate": 1.3866708961937369e-06,
      "loss": 0.0599,
      "step": 12936
    },
    {
      "epoch": 2.9024007179717297,
      "gripper_loss": 0.004364013671875,
      "loss": 0.0179443359375,
      "pos_loss": 0.11572265625,
      "rot_loss": 0.048095703125,
      "step": 12936
    },
    {
      "epoch": 2.9026250841373122,
      "grad_norm": 0.8223212361335754,
      "learning_rate": 1.3803085925022941e-06,
      "loss": 0.0557,
      "step": 12937
    },
    {
      "epoch": 2.9026250841373122,
      "gripper_loss": 0.013916015625,
      "loss": 0.01055908203125,
      "pos_loss": 0.0439453125,
      "rot_loss": 0.0439453125,
      "step": 12937
    },
    {
      "epoch": 2.9028494503028943,
      "grad_norm": 0.3128320276737213,
      "learning_rate": 1.3739608777020573e-06,
      "loss": 0.0665,
      "step": 12938
    },
    {
      "epoch": 2.9028494503028943,
      "gripper_loss": 0.008544921875,
      "loss": 0.047119140625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.2001953125,
      "step": 12938
    },
    {
      "epoch": 2.9030738164684764,
      "grad_norm": 0.4833550453186035,
      "learning_rate": 1.3676277521655068e-06,
      "loss": 0.0424,
      "step": 12939
    },
    {
      "epoch": 2.9030738164684764,
      "gripper_loss": 0.00927734375,
      "loss": 0.051025390625,
      "pos_loss": 0.376953125,
      "rot_loss": 0.142578125,
      "step": 12939
    },
    {
      "epoch": 2.903298182634059,
      "grad_norm": 0.1893346756696701,
      "learning_rate": 1.3613092162642893e-06,
      "loss": 0.0251,
      "step": 12940
    },
    {
      "epoch": 2.903298182634059,
      "gripper_loss": 0.0064697265625,
      "loss": 0.029296875,
      "pos_loss": 0.10595703125,
      "rot_loss": 0.181640625,
      "step": 12940
    },
    {
      "epoch": 2.903522548799641,
      "grad_norm": 0.32005465030670166,
      "learning_rate": 1.3550052703691918e-06,
      "loss": 0.0358,
      "step": 12941
    },
    {
      "epoch": 2.903522548799641,
      "gripper_loss": 1.0625,
      "loss": 0.1572265625,
      "pos_loss": 1.234375,
      "rot_loss": 0.0673828125,
      "step": 12941
    },
    {
      "epoch": 2.903746914965223,
      "grad_norm": 0.5494434237480164,
      "learning_rate": 1.348715914850057e-06,
      "loss": 0.0508,
      "step": 12942
    },
    {
      "epoch": 2.903746914965223,
      "gripper_loss": 0.02734375,
      "loss": 0.06689453125,
      "pos_loss": 0.578125,
      "rot_loss": 0.099609375,
      "step": 12942
    },
    {
      "epoch": 2.9039712811308056,
      "grad_norm": 0.3333241641521454,
      "learning_rate": 1.3424411500759793e-06,
      "loss": 0.0667,
      "step": 12943
    },
    {
      "epoch": 2.9039712811308056,
      "gripper_loss": 0.05126953125,
      "loss": 0.008544921875,
      "pos_loss": 0.0118408203125,
      "rot_loss": 0.04541015625,
      "step": 12943
    },
    {
      "epoch": 2.9041956472963877,
      "grad_norm": 0.2056986689567566,
      "learning_rate": 1.3361809764151633e-06,
      "loss": 0.0254,
      "step": 12944
    },
    {
      "epoch": 2.9041956472963877,
      "gripper_loss": 0.005279541015625,
      "loss": 0.11279296875,
      "pos_loss": 0.69140625,
      "rot_loss": 0.490234375,
      "step": 12944
    },
    {
      "epoch": 2.90442001346197,
      "grad_norm": 0.5017873644828796,
      "learning_rate": 1.3299353942349545e-06,
      "loss": 0.1022,
      "step": 12945
    },
    {
      "epoch": 2.90442001346197,
      "gripper_loss": 0.0022735595703125,
      "loss": 0.0634765625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.1298828125,
      "step": 12945
    },
    {
      "epoch": 2.9046443796275523,
      "grad_norm": 0.36992064118385315,
      "learning_rate": 1.3237044039018098e-06,
      "loss": 0.0432,
      "step": 12946
    },
    {
      "epoch": 2.9046443796275523,
      "gripper_loss": 0.0103759765625,
      "loss": 0.019287109375,
      "pos_loss": 0.05126953125,
      "rot_loss": 0.1279296875,
      "step": 12946
    },
    {
      "epoch": 2.9048687457931344,
      "grad_norm": 0.24698573350906372,
      "learning_rate": 1.3174880057814087e-06,
      "loss": 0.0316,
      "step": 12947
    },
    {
      "epoch": 2.9048687457931344,
      "gripper_loss": 0.1376953125,
      "loss": 0.01165771484375,
      "pos_loss": 0.03515625,
      "rot_loss": 0.025390625,
      "step": 12947
    },
    {
      "epoch": 2.905093111958717,
      "grad_norm": 0.3075447380542755,
      "learning_rate": 1.3112862002385151e-06,
      "loss": 0.0502,
      "step": 12948
    },
    {
      "epoch": 2.905093111958717,
      "gripper_loss": 1.0625,
      "loss": 0.0478515625,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.0166015625,
      "step": 12948
    },
    {
      "epoch": 2.905317478124299,
      "grad_norm": 0.310829758644104,
      "learning_rate": 1.3050989876370046e-06,
      "loss": 0.0497,
      "step": 12949
    },
    {
      "epoch": 2.905317478124299,
      "gripper_loss": 0.1005859375,
      "loss": 0.021484375,
      "pos_loss": 0.11376953125,
      "rot_loss": 0.06201171875,
      "step": 12949
    },
    {
      "epoch": 2.905541844289881,
      "grad_norm": 1.044664740562439,
      "learning_rate": 1.2989263683400032e-06,
      "loss": 0.076,
      "step": 12950
    },
    {
      "epoch": 2.905541844289881,
      "gripper_loss": 0.08154296875,
      "loss": 0.038330078125,
      "pos_loss": 0.057861328125,
      "rot_loss": 0.3046875,
      "step": 12950
    },
    {
      "epoch": 2.9057662104554636,
      "grad_norm": 0.2541990876197815,
      "learning_rate": 1.2927683427096659e-06,
      "loss": 0.0444,
      "step": 12951
    },
    {
      "epoch": 2.9057662104554636,
      "gripper_loss": 0.09326171875,
      "loss": 0.0252685546875,
      "pos_loss": 0.189453125,
      "rot_loss": 0.0294189453125,
      "step": 12951
    },
    {
      "epoch": 2.9059905766210457,
      "grad_norm": 0.4017617106437683,
      "learning_rate": 1.2866249111073703e-06,
      "loss": 0.0446,
      "step": 12952
    },
    {
      "epoch": 2.9059905766210457,
      "gripper_loss": 0.0022125244140625,
      "loss": 0.0322265625,
      "pos_loss": 0.30859375,
      "rot_loss": 0.01239013671875,
      "step": 12952
    },
    {
      "epoch": 2.9062149427866277,
      "grad_norm": 0.27376896142959595,
      "learning_rate": 1.2804960738936055e-06,
      "loss": 0.0347,
      "step": 12953
    },
    {
      "epoch": 2.9062149427866277,
      "gripper_loss": 0.005462646484375,
      "loss": 0.020263671875,
      "pos_loss": 0.08203125,
      "rot_loss": 0.109375,
      "step": 12953
    },
    {
      "epoch": 2.9064393089522103,
      "grad_norm": 0.37255746126174927,
      "learning_rate": 1.274381831428001e-06,
      "loss": 0.0491,
      "step": 12954
    },
    {
      "epoch": 2.9064393089522103,
      "gripper_loss": 0.00958251953125,
      "loss": 0.029052734375,
      "pos_loss": 0.107421875,
      "rot_loss": 0.1787109375,
      "step": 12954
    },
    {
      "epoch": 2.9066636751177923,
      "grad_norm": 0.3647303581237793,
      "learning_rate": 1.2682821840693527e-06,
      "loss": 0.0577,
      "step": 12955
    },
    {
      "epoch": 2.9066636751177923,
      "gripper_loss": 1.0,
      "loss": 0.049560546875,
      "pos_loss": 0.13671875,
      "rot_loss": 0.041748046875,
      "step": 12955
    },
    {
      "epoch": 2.9068880412833744,
      "grad_norm": 0.4048282504081726,
      "learning_rate": 1.2621971321755687e-06,
      "loss": 0.0626,
      "step": 12956
    },
    {
      "epoch": 2.9068880412833744,
      "gripper_loss": 0.06201171875,
      "loss": 0.039794921875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.11962890625,
      "step": 12956
    },
    {
      "epoch": 2.907112407448957,
      "grad_norm": 0.1640501171350479,
      "learning_rate": 1.2561266761037248e-06,
      "loss": 0.0209,
      "step": 12957
    },
    {
      "epoch": 2.907112407448957,
      "gripper_loss": 0.013671875,
      "loss": 0.07666015625,
      "pos_loss": 0.60546875,
      "rot_loss": 0.189453125,
      "step": 12957
    },
    {
      "epoch": 2.907336773614539,
      "grad_norm": 0.30188706517219543,
      "learning_rate": 1.2500708162100361e-06,
      "loss": 0.0423,
      "step": 12958
    },
    {
      "epoch": 2.907336773614539,
      "gripper_loss": 0.52734375,
      "loss": 0.0289306640625,
      "pos_loss": 0.048583984375,
      "rot_loss": 0.061767578125,
      "step": 12958
    },
    {
      "epoch": 2.907561139780121,
      "grad_norm": 0.3526740074157715,
      "learning_rate": 1.2440295528498291e-06,
      "loss": 0.0356,
      "step": 12959
    },
    {
      "epoch": 2.907561139780121,
      "gripper_loss": 0.09326171875,
      "loss": 0.0177001953125,
      "pos_loss": 0.12451171875,
      "rot_loss": 0.0101318359375,
      "step": 12959
    },
    {
      "epoch": 2.9077855059457036,
      "grad_norm": 0.434564471244812,
      "learning_rate": 1.2380028863776538e-06,
      "loss": 0.0476,
      "step": 12960
    },
    {
      "epoch": 2.9077855059457036,
      "gripper_loss": 0.0177001953125,
      "loss": 0.052490234375,
      "pos_loss": 0.3046875,
      "rot_loss": 0.193359375,
      "step": 12960
    },
    {
      "epoch": 2.9080098721112857,
      "grad_norm": 0.297610878944397,
      "learning_rate": 1.2319908171471161e-06,
      "loss": 0.0629,
      "step": 12961
    },
    {
      "epoch": 2.9080098721112857,
      "gripper_loss": 0.0135498046875,
      "loss": 0.052734375,
      "pos_loss": 0.46484375,
      "rot_loss": 0.07080078125,
      "step": 12961
    },
    {
      "epoch": 2.908234238276868,
      "grad_norm": 0.4695543050765991,
      "learning_rate": 1.2259933455110172e-06,
      "loss": 0.0551,
      "step": 12962
    },
    {
      "epoch": 2.908234238276868,
      "gripper_loss": 0.0194091796875,
      "loss": 0.037109375,
      "pos_loss": 0.33203125,
      "rot_loss": 0.03857421875,
      "step": 12962
    },
    {
      "epoch": 2.9084586044424503,
      "grad_norm": 0.30768248438835144,
      "learning_rate": 1.2200104718212702e-06,
      "loss": 0.0406,
      "step": 12963
    },
    {
      "epoch": 2.9084586044424503,
      "gripper_loss": 0.220703125,
      "loss": 0.0419921875,
      "pos_loss": 0.291015625,
      "rot_loss": 0.06640625,
      "step": 12963
    },
    {
      "epoch": 2.9086829706080324,
      "grad_norm": 0.21900266408920288,
      "learning_rate": 1.2140421964289827e-06,
      "loss": 0.0376,
      "step": 12964
    },
    {
      "epoch": 2.9086829706080324,
      "gripper_loss": 0.01708984375,
      "loss": 0.0262451171875,
      "pos_loss": 0.2333984375,
      "rot_loss": 0.0218505859375,
      "step": 12964
    },
    {
      "epoch": 2.9089073367736145,
      "grad_norm": 0.3463769257068634,
      "learning_rate": 1.2080885196843195e-06,
      "loss": 0.0412,
      "step": 12965
    },
    {
      "epoch": 2.9089073367736145,
      "gripper_loss": 0.1474609375,
      "loss": 0.0205078125,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.0693359375,
      "step": 12965
    },
    {
      "epoch": 2.909131702939197,
      "grad_norm": 0.18647557497024536,
      "learning_rate": 1.2021494419366674e-06,
      "loss": 0.0273,
      "step": 12966
    },
    {
      "epoch": 2.909131702939197,
      "gripper_loss": 0.0033416748046875,
      "loss": 0.046630859375,
      "pos_loss": 0.453125,
      "rot_loss": 0.022705078125,
      "step": 12966
    },
    {
      "epoch": 2.909356069104779,
      "grad_norm": 0.40543562173843384,
      "learning_rate": 1.1962249635345535e-06,
      "loss": 0.0558,
      "step": 12967
    },
    {
      "epoch": 2.909356069104779,
      "gripper_loss": 0.0732421875,
      "loss": 0.0106201171875,
      "pos_loss": 0.0537109375,
      "rot_loss": 0.015625,
      "step": 12967
    },
    {
      "epoch": 2.909580435270361,
      "grad_norm": 0.8054840564727783,
      "learning_rate": 1.1903150848255606e-06,
      "loss": 0.046,
      "step": 12968
    },
    {
      "epoch": 2.909580435270361,
      "gripper_loss": 0.40625,
      "loss": 0.05615234375,
      "pos_loss": 0.259765625,
      "rot_loss": 0.1767578125,
      "step": 12968
    },
    {
      "epoch": 2.9098048014359437,
      "grad_norm": 0.3620752692222595,
      "learning_rate": 1.1844198061565225e-06,
      "loss": 0.0425,
      "step": 12969
    },
    {
      "epoch": 2.9098048014359437,
      "gripper_loss": 0.00897216796875,
      "loss": 0.015869140625,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.0625,
      "step": 12969
    },
    {
      "epoch": 2.9100291676015257,
      "grad_norm": 0.18639658391475677,
      "learning_rate": 1.178539127873357e-06,
      "loss": 0.0288,
      "step": 12970
    },
    {
      "epoch": 2.9100291676015257,
      "gripper_loss": 0.00347900390625,
      "loss": 0.0380859375,
      "pos_loss": 0.3125,
      "rot_loss": 0.07275390625,
      "step": 12970
    },
    {
      "epoch": 2.910253533767108,
      "grad_norm": 0.669362485408783,
      "learning_rate": 1.172673050321149e-06,
      "loss": 0.0361,
      "step": 12971
    },
    {
      "epoch": 2.910253533767108,
      "gripper_loss": 0.05322265625,
      "loss": 0.01202392578125,
      "pos_loss": 0.0595703125,
      "rot_loss": 0.031982421875,
      "step": 12971
    },
    {
      "epoch": 2.9104778999326903,
      "grad_norm": 0.4790739417076111,
      "learning_rate": 1.1668215738441234e-06,
      "loss": 0.0462,
      "step": 12972
    },
    {
      "epoch": 2.9104778999326903,
      "gripper_loss": 0.095703125,
      "loss": 0.0174560546875,
      "pos_loss": 0.059814453125,
      "rot_loss": 0.07470703125,
      "step": 12972
    },
    {
      "epoch": 2.9107022660982724,
      "grad_norm": 0.2210286557674408,
      "learning_rate": 1.1609846987856164e-06,
      "loss": 0.026,
      "step": 12973
    },
    {
      "epoch": 2.9107022660982724,
      "gripper_loss": 0.010498046875,
      "loss": 0.049072265625,
      "pos_loss": 0.28125,
      "rot_loss": 0.2158203125,
      "step": 12973
    },
    {
      "epoch": 2.9109266322638545,
      "grad_norm": 0.46568751335144043,
      "learning_rate": 1.1551624254881598e-06,
      "loss": 0.0628,
      "step": 12974
    },
    {
      "epoch": 2.9109266322638545,
      "gripper_loss": 0.318359375,
      "loss": 0.0230712890625,
      "pos_loss": 0.03271484375,
      "rot_loss": 0.0849609375,
      "step": 12974
    },
    {
      "epoch": 2.911150998429437,
      "grad_norm": 0.309007465839386,
      "learning_rate": 1.149354754293397e-06,
      "loss": 0.0299,
      "step": 12975
    },
    {
      "epoch": 2.911150998429437,
      "gripper_loss": 0.09765625,
      "loss": 0.0830078125,
      "pos_loss": 0.375,
      "rot_loss": 0.453125,
      "step": 12975
    },
    {
      "epoch": 2.911375364595019,
      "grad_norm": 0.30987095832824707,
      "learning_rate": 1.1435616855421106e-06,
      "loss": 0.0435,
      "step": 12976
    },
    {
      "epoch": 2.911375364595019,
      "gripper_loss": 0.2392578125,
      "loss": 0.0303955078125,
      "pos_loss": 0.1376953125,
      "rot_loss": 0.087890625,
      "step": 12976
    },
    {
      "epoch": 2.911599730760601,
      "grad_norm": 0.2717741131782532,
      "learning_rate": 1.1377832195742233e-06,
      "loss": 0.0543,
      "step": 12977
    },
    {
      "epoch": 2.911599730760601,
      "gripper_loss": 0.87890625,
      "loss": 0.053466796875,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.138671875,
      "step": 12977
    },
    {
      "epoch": 2.9118240969261837,
      "grad_norm": 0.40157589316368103,
      "learning_rate": 1.1320193567288528e-06,
      "loss": 0.0522,
      "step": 12978
    },
    {
      "epoch": 2.9118240969261837,
      "gripper_loss": 0.012939453125,
      "loss": 0.059326171875,
      "pos_loss": 0.376953125,
      "rot_loss": 0.2314453125,
      "step": 12978
    },
    {
      "epoch": 2.912048463091766,
      "grad_norm": 0.3050571382045746,
      "learning_rate": 1.1262700973441732e-06,
      "loss": 0.048,
      "step": 12979
    },
    {
      "epoch": 2.912048463091766,
      "gripper_loss": 0.0927734375,
      "loss": 0.083984375,
      "pos_loss": 0.734375,
      "rot_loss": 0.1123046875,
      "step": 12979
    },
    {
      "epoch": 2.912272829257348,
      "grad_norm": 0.3240271508693695,
      "learning_rate": 1.1205354417575808e-06,
      "loss": 0.0521,
      "step": 12980
    },
    {
      "epoch": 2.912272829257348,
      "gripper_loss": 0.064453125,
      "loss": 0.060791015625,
      "pos_loss": 0.451171875,
      "rot_loss": 0.146484375,
      "step": 12980
    },
    {
      "epoch": 2.9124971954229304,
      "grad_norm": 0.3177988827228546,
      "learning_rate": 1.1148153903055847e-06,
      "loss": 0.0584,
      "step": 12981
    },
    {
      "epoch": 2.9124971954229304,
      "gripper_loss": 0.0101318359375,
      "loss": 0.05517578125,
      "pos_loss": 0.31640625,
      "rot_loss": 0.2470703125,
      "step": 12981
    },
    {
      "epoch": 2.9127215615885125,
      "grad_norm": 0.15492399036884308,
      "learning_rate": 1.109109943323805e-06,
      "loss": 0.0342,
      "step": 12982
    },
    {
      "epoch": 2.9127215615885125,
      "gripper_loss": 0.01092529296875,
      "loss": 0.041015625,
      "pos_loss": 0.1630859375,
      "rot_loss": 0.251953125,
      "step": 12982
    },
    {
      "epoch": 2.9129459277540946,
      "grad_norm": 0.2462545931339264,
      "learning_rate": 1.1034191011470295e-06,
      "loss": 0.0519,
      "step": 12983
    },
    {
      "epoch": 2.9129459277540946,
      "gripper_loss": 0.1533203125,
      "loss": 0.039794921875,
      "pos_loss": 0.2421875,
      "rot_loss": 0.10498046875,
      "step": 12983
    },
    {
      "epoch": 2.913170293919677,
      "grad_norm": 0.28972479701042175,
      "learning_rate": 1.097742864109269e-06,
      "loss": 0.0315,
      "step": 12984
    },
    {
      "epoch": 2.913170293919677,
      "gripper_loss": 0.01324462890625,
      "loss": 0.024169921875,
      "pos_loss": 0.0927734375,
      "rot_loss": 0.140625,
      "step": 12984
    },
    {
      "epoch": 2.913394660085259,
      "grad_norm": 0.4253557622432709,
      "learning_rate": 1.092081232543507e-06,
      "loss": 0.0547,
      "step": 12985
    },
    {
      "epoch": 2.913394660085259,
      "gripper_loss": 0.53125,
      "loss": 0.09521484375,
      "pos_loss": 0.181640625,
      "rot_loss": 0.6328125,
      "step": 12985
    },
    {
      "epoch": 2.9136190262508412,
      "grad_norm": 0.26386895775794983,
      "learning_rate": 1.0864342067820332e-06,
      "loss": 0.0441,
      "step": 12986
    },
    {
      "epoch": 2.9136190262508412,
      "gripper_loss": 0.1806640625,
      "loss": 0.11376953125,
      "pos_loss": 0.51171875,
      "rot_loss": 0.62109375,
      "step": 12986
    },
    {
      "epoch": 2.9138433924164238,
      "grad_norm": 0.5049914121627808,
      "learning_rate": 1.0808017871561659e-06,
      "loss": 0.0505,
      "step": 12987
    },
    {
      "epoch": 2.9138433924164238,
      "gripper_loss": 0.09716796875,
      "loss": 0.07666015625,
      "pos_loss": 0.474609375,
      "rot_loss": 0.29296875,
      "step": 12987
    },
    {
      "epoch": 2.914067758582006,
      "grad_norm": 0.5753515958786011,
      "learning_rate": 1.0751839739964465e-06,
      "loss": 0.0585,
      "step": 12988
    },
    {
      "epoch": 2.914067758582006,
      "gripper_loss": 0.0062255859375,
      "loss": 0.042236328125,
      "pos_loss": 0.248046875,
      "rot_loss": 0.1767578125,
      "step": 12988
    },
    {
      "epoch": 2.914292124747588,
      "grad_norm": 0.39289119839668274,
      "learning_rate": 1.0695807676325275e-06,
      "loss": 0.0464,
      "step": 12989
    },
    {
      "epoch": 2.914292124747588,
      "gripper_loss": 0.0274658203125,
      "loss": 0.02490234375,
      "pos_loss": 0.193359375,
      "rot_loss": 0.042236328125,
      "step": 12989
    },
    {
      "epoch": 2.9145164909131704,
      "grad_norm": 0.5230688452720642,
      "learning_rate": 1.0639921683931741e-06,
      "loss": 0.0504,
      "step": 12990
    },
    {
      "epoch": 2.9145164909131704,
      "gripper_loss": 0.0111083984375,
      "loss": 0.053466796875,
      "pos_loss": 0.1748046875,
      "rot_loss": 0.333984375,
      "step": 12990
    },
    {
      "epoch": 2.9147408570787525,
      "grad_norm": 0.403574675321579,
      "learning_rate": 1.0584181766063462e-06,
      "loss": 0.059,
      "step": 12991
    },
    {
      "epoch": 2.9147408570787525,
      "gripper_loss": 0.007232666015625,
      "loss": 0.0157470703125,
      "pos_loss": 0.03125,
      "rot_loss": 0.11376953125,
      "step": 12991
    },
    {
      "epoch": 2.9149652232443346,
      "grad_norm": 0.2599049508571625,
      "learning_rate": 1.052858792599115e-06,
      "loss": 0.0525,
      "step": 12992
    },
    {
      "epoch": 2.9149652232443346,
      "gripper_loss": 0.02587890625,
      "loss": 0.07275390625,
      "pos_loss": 0.58984375,
      "rot_loss": 0.1552734375,
      "step": 12992
    },
    {
      "epoch": 2.915189589409917,
      "grad_norm": 0.43839675188064575,
      "learning_rate": 1.0473140166976925e-06,
      "loss": 0.0522,
      "step": 12993
    },
    {
      "epoch": 2.915189589409917,
      "gripper_loss": 0.494140625,
      "loss": 0.51953125,
      "pos_loss": 0.94921875,
      "rot_loss": 0.62890625,
      "step": 12993
    },
    {
      "epoch": 2.915413955575499,
      "grad_norm": 1.4759005308151245,
      "learning_rate": 1.0417838492274568e-06,
      "loss": 0.5107,
      "step": 12994
    },
    {
      "epoch": 2.915413955575499,
      "gripper_loss": 0.0115966796875,
      "loss": 0.039306640625,
      "pos_loss": 0.25,
      "rot_loss": 0.138671875,
      "step": 12994
    },
    {
      "epoch": 2.9156383217410813,
      "grad_norm": 0.25930774211883545,
      "learning_rate": 1.0362682905129262e-06,
      "loss": 0.0526,
      "step": 12995
    },
    {
      "epoch": 2.9156383217410813,
      "gripper_loss": 0.259765625,
      "loss": 0.05078125,
      "pos_loss": 0.25,
      "rot_loss": 0.1875,
      "step": 12995
    },
    {
      "epoch": 2.915862687906664,
      "grad_norm": 0.2098418027162552,
      "learning_rate": 1.0307673408777307e-06,
      "loss": 0.0384,
      "step": 12996
    },
    {
      "epoch": 2.915862687906664,
      "gripper_loss": 0.0072021484375,
      "loss": 0.07568359375,
      "pos_loss": 0.73046875,
      "rot_loss": 0.054931640625,
      "step": 12996
    },
    {
      "epoch": 2.916087054072246,
      "grad_norm": 0.26203542947769165,
      "learning_rate": 1.0252810006446677e-06,
      "loss": 0.044,
      "step": 12997
    },
    {
      "epoch": 2.916087054072246,
      "gripper_loss": 0.220703125,
      "loss": 0.0208740234375,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.039794921875,
      "step": 12997
    },
    {
      "epoch": 2.916311420237828,
      "grad_norm": 0.3493454158306122,
      "learning_rate": 1.0198092701356743e-06,
      "loss": 0.0348,
      "step": 12998
    },
    {
      "epoch": 2.916311420237828,
      "gripper_loss": 0.07568359375,
      "loss": 0.0184326171875,
      "pos_loss": 0.142578125,
      "rot_loss": 0.00970458984375,
      "step": 12998
    },
    {
      "epoch": 2.9165357864034105,
      "grad_norm": 0.11891655623912811,
      "learning_rate": 1.0143521496718267e-06,
      "loss": 0.0169,
      "step": 12999
    },
    {
      "epoch": 2.9165357864034105,
      "gripper_loss": 0.0031585693359375,
      "loss": 0.054931640625,
      "pos_loss": 0.5234375,
      "rot_loss": 0.040283203125,
      "step": 12999
    },
    {
      "epoch": 2.9167601525689926,
      "grad_norm": 0.24648527801036835,
      "learning_rate": 1.008909639573341e-06,
      "loss": 0.0343,
      "step": 13000
    },
    {
      "epoch": 2.9167601525689926,
      "gripper_loss": 0.01239013671875,
      "loss": 0.036376953125,
      "pos_loss": 0.19140625,
      "rot_loss": 0.1669921875,
      "step": 13000
    },
    {
      "epoch": 2.9169845187345746,
      "grad_norm": 0.2897460162639618,
      "learning_rate": 1.0034817401596285e-06,
      "loss": 0.0362,
      "step": 13001
    },
    {
      "epoch": 2.9169845187345746,
      "gripper_loss": 0.027587890625,
      "loss": 0.06982421875,
      "pos_loss": 0.283203125,
      "rot_loss": 0.4296875,
      "step": 13001
    },
    {
      "epoch": 2.917208884900157,
      "grad_norm": 0.2556067109107971,
      "learning_rate": 9.980684517491289e-07,
      "loss": 0.0664,
      "step": 13002
    },
    {
      "epoch": 2.917208884900157,
      "gripper_loss": 0.203125,
      "loss": 0.04638671875,
      "pos_loss": 0.09716796875,
      "rot_loss": 0.3046875,
      "step": 13002
    },
    {
      "epoch": 2.9174332510657393,
      "grad_norm": 0.5611688494682312,
      "learning_rate": 9.926697746595326e-07,
      "loss": 0.0678,
      "step": 13003
    },
    {
      "epoch": 2.9174332510657393,
      "gripper_loss": 0.01239013671875,
      "loss": 0.0303955078125,
      "pos_loss": 0.04248046875,
      "rot_loss": 0.26171875,
      "step": 13003
    },
    {
      "epoch": 2.9176576172313213,
      "grad_norm": 0.23671407997608185,
      "learning_rate": 9.872857092076137e-07,
      "loss": 0.0414,
      "step": 13004
    },
    {
      "epoch": 2.9176576172313213,
      "gripper_loss": 0.00543212890625,
      "loss": 0.0654296875,
      "pos_loss": 0.43359375,
      "rot_loss": 0.2421875,
      "step": 13004
    },
    {
      "epoch": 2.917881983396904,
      "grad_norm": 0.573155403137207,
      "learning_rate": 9.819162557093141e-07,
      "loss": 0.0537,
      "step": 13005
    },
    {
      "epoch": 2.917881983396904,
      "gripper_loss": 0.0224609375,
      "loss": 0.07421875,
      "pos_loss": 0.5234375,
      "rot_loss": 0.23046875,
      "step": 13005
    },
    {
      "epoch": 2.918106349562486,
      "grad_norm": 0.4021192193031311,
      "learning_rate": 9.765614144796876e-07,
      "loss": 0.06,
      "step": 13006
    },
    {
      "epoch": 2.918106349562486,
      "gripper_loss": 0.1015625,
      "loss": 0.006744384765625,
      "pos_loss": 0.013427734375,
      "rot_loss": 0.006988525390625,
      "step": 13006
    },
    {
      "epoch": 2.918330715728068,
      "grad_norm": 0.2805297374725342,
      "learning_rate": 9.7122118583301e-07,
      "loss": 0.0315,
      "step": 13007
    },
    {
      "epoch": 2.918330715728068,
      "gripper_loss": 0.09130859375,
      "loss": 0.10498046875,
      "pos_loss": 0.46875,
      "rot_loss": 0.60546875,
      "step": 13007
    },
    {
      "epoch": 2.9185550818936505,
      "grad_norm": 0.37668681144714355,
      "learning_rate": 9.658955700825867e-07,
      "loss": 0.0509,
      "step": 13008
    },
    {
      "epoch": 2.9185550818936505,
      "gripper_loss": 0.0032806396484375,
      "loss": 0.07177734375,
      "pos_loss": 0.58984375,
      "rot_loss": 0.1533203125,
      "step": 13008
    },
    {
      "epoch": 2.9187794480592326,
      "grad_norm": 0.22596582770347595,
      "learning_rate": 9.605845675409453e-07,
      "loss": 0.0489,
      "step": 13009
    },
    {
      "epoch": 2.9187794480592326,
      "gripper_loss": 0.005950927734375,
      "loss": 0.037353515625,
      "pos_loss": 0.333984375,
      "rot_loss": 0.04248046875,
      "step": 13009
    },
    {
      "epoch": 2.9190038142248147,
      "grad_norm": 0.6245657801628113,
      "learning_rate": 9.55288178519753e-07,
      "loss": 0.0554,
      "step": 13010
    },
    {
      "epoch": 2.9190038142248147,
      "gripper_loss": 0.0157470703125,
      "loss": 0.021240234375,
      "pos_loss": 0.14453125,
      "rot_loss": 0.05517578125,
      "step": 13010
    },
    {
      "epoch": 2.919228180390397,
      "grad_norm": 0.3645518124103546,
      "learning_rate": 9.500064033297617e-07,
      "loss": 0.0543,
      "step": 13011
    },
    {
      "epoch": 2.919228180390397,
      "gripper_loss": 0.02392578125,
      "loss": 0.0322265625,
      "pos_loss": 0.0498046875,
      "rot_loss": 0.134765625,
      "step": 13011
    },
    {
      "epoch": 2.9194525465559793,
      "grad_norm": 0.7003610730171204,
      "learning_rate": 9.447392422809176e-07,
      "loss": 0.0854,
      "step": 13012
    },
    {
      "epoch": 2.9194525465559793,
      "gripper_loss": 0.0164794921875,
      "loss": 0.028564453125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.123046875,
      "step": 13012
    },
    {
      "epoch": 2.9196769127215614,
      "grad_norm": 0.2950565218925476,
      "learning_rate": 9.394866956823067e-07,
      "loss": 0.057,
      "step": 13013
    },
    {
      "epoch": 2.9196769127215614,
      "gripper_loss": 0.84375,
      "loss": 0.034912109375,
      "pos_loss": 0.056884765625,
      "rot_loss": 0.0152587890625,
      "step": 13013
    },
    {
      "epoch": 2.919901278887144,
      "grad_norm": 0.34309178590774536,
      "learning_rate": 9.342487638421548e-07,
      "loss": 0.026,
      "step": 13014
    },
    {
      "epoch": 2.919901278887144,
      "gripper_loss": 0.1357421875,
      "loss": 0.04150390625,
      "pos_loss": 0.2080078125,
      "rot_loss": 0.1708984375,
      "step": 13014
    },
    {
      "epoch": 2.920125645052726,
      "grad_norm": 0.2086295336484909,
      "learning_rate": 9.290254470677717e-07,
      "loss": 0.0297,
      "step": 13015
    },
    {
      "epoch": 2.920125645052726,
      "gripper_loss": 0.26171875,
      "loss": 0.015625,
      "pos_loss": 0.0400390625,
      "rot_loss": 0.0179443359375,
      "step": 13015
    },
    {
      "epoch": 2.920350011218308,
      "grad_norm": 0.7540736198425293,
      "learning_rate": 9.238167456657176e-07,
      "loss": 0.0606,
      "step": 13016
    },
    {
      "epoch": 2.920350011218308,
      "gripper_loss": 0.306640625,
      "loss": 0.0166015625,
      "pos_loss": 0.0184326171875,
      "rot_loss": 0.03125,
      "step": 13016
    },
    {
      "epoch": 2.9205743773838906,
      "grad_norm": 0.8716410994529724,
      "learning_rate": 9.186226599416092e-07,
      "loss": 0.0655,
      "step": 13017
    },
    {
      "epoch": 2.9205743773838906,
      "gripper_loss": 0.1005859375,
      "loss": 0.046630859375,
      "pos_loss": 0.185546875,
      "rot_loss": 0.25390625,
      "step": 13017
    },
    {
      "epoch": 2.9207987435494727,
      "grad_norm": 0.25379678606987,
      "learning_rate": 9.134431902002305e-07,
      "loss": 0.0455,
      "step": 13018
    },
    {
      "epoch": 2.9207987435494727,
      "gripper_loss": 0.671875,
      "loss": 0.035400390625,
      "pos_loss": 0.01263427734375,
      "rot_loss": 0.12255859375,
      "step": 13018
    },
    {
      "epoch": 2.9210231097150547,
      "grad_norm": 0.4242941737174988,
      "learning_rate": 9.08278336745505e-07,
      "loss": 0.0557,
      "step": 13019
    },
    {
      "epoch": 2.9210231097150547,
      "gripper_loss": 0.61328125,
      "loss": 0.04736328125,
      "pos_loss": 0.263671875,
      "rot_loss": 0.018310546875,
      "step": 13019
    },
    {
      "epoch": 2.9212474758806373,
      "grad_norm": 0.22326675057411194,
      "learning_rate": 9.031280998805236e-07,
      "loss": 0.0358,
      "step": 13020
    },
    {
      "epoch": 2.9212474758806373,
      "gripper_loss": 0.005126953125,
      "loss": 0.037109375,
      "pos_loss": 0.17578125,
      "rot_loss": 0.197265625,
      "step": 13020
    },
    {
      "epoch": 2.9214718420462193,
      "grad_norm": 0.2277688980102539,
      "learning_rate": 8.97992479907489e-07,
      "loss": 0.0239,
      "step": 13021
    },
    {
      "epoch": 2.9214718420462193,
      "gripper_loss": 0.6796875,
      "loss": 0.040771484375,
      "pos_loss": 0.1640625,
      "rot_loss": 0.0255126953125,
      "step": 13021
    },
    {
      "epoch": 2.9216962082118014,
      "grad_norm": 0.28453528881073,
      "learning_rate": 8.928714771277713e-07,
      "loss": 0.0389,
      "step": 13022
    },
    {
      "epoch": 2.9216962082118014,
      "gripper_loss": 0.0103759765625,
      "loss": 0.030517578125,
      "pos_loss": 0.15234375,
      "rot_loss": 0.146484375,
      "step": 13022
    },
    {
      "epoch": 2.921920574377384,
      "grad_norm": 0.2587398588657379,
      "learning_rate": 8.877650918418245e-07,
      "loss": 0.0309,
      "step": 13023
    },
    {
      "epoch": 2.921920574377384,
      "gripper_loss": 0.01190185546875,
      "loss": 0.03515625,
      "pos_loss": 0.197265625,
      "rot_loss": 0.1533203125,
      "step": 13023
    },
    {
      "epoch": 2.922144940542966,
      "grad_norm": 0.2164268046617508,
      "learning_rate": 8.826733243493256e-07,
      "loss": 0.0454,
      "step": 13024
    },
    {
      "epoch": 2.922144940542966,
      "gripper_loss": 0.022705078125,
      "loss": 0.0439453125,
      "pos_loss": 0.400390625,
      "rot_loss": 0.04052734375,
      "step": 13024
    },
    {
      "epoch": 2.922369306708548,
      "grad_norm": 0.34591659903526306,
      "learning_rate": 8.775961749490913e-07,
      "loss": 0.0426,
      "step": 13025
    },
    {
      "epoch": 2.922369306708548,
      "gripper_loss": 0.005279541015625,
      "loss": 0.0213623046875,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.01165771484375,
      "step": 13025
    },
    {
      "epoch": 2.9225936728741306,
      "grad_norm": 0.3189074695110321,
      "learning_rate": 8.725336439389664e-07,
      "loss": 0.0557,
      "step": 13026
    },
    {
      "epoch": 2.9225936728741306,
      "gripper_loss": 0.0054931640625,
      "loss": 0.041015625,
      "pos_loss": 0.21484375,
      "rot_loss": 0.2001953125,
      "step": 13026
    },
    {
      "epoch": 2.9228180390397127,
      "grad_norm": 0.2681846022605896,
      "learning_rate": 8.674857316160745e-07,
      "loss": 0.0437,
      "step": 13027
    },
    {
      "epoch": 2.9228180390397127,
      "gripper_loss": 0.0019073486328125,
      "loss": 0.06640625,
      "pos_loss": 0.51171875,
      "rot_loss": 0.1767578125,
      "step": 13027
    },
    {
      "epoch": 2.923042405205295,
      "grad_norm": 0.49489107728004456,
      "learning_rate": 8.62452438276623e-07,
      "loss": 0.0612,
      "step": 13028
    },
    {
      "epoch": 2.923042405205295,
      "gripper_loss": 0.038330078125,
      "loss": 0.036376953125,
      "pos_loss": 0.28125,
      "rot_loss": 0.0732421875,
      "step": 13028
    },
    {
      "epoch": 2.9232667713708773,
      "grad_norm": 0.47950950264930725,
      "learning_rate": 8.574337642159314e-07,
      "loss": 0.0574,
      "step": 13029
    },
    {
      "epoch": 2.9232667713708773,
      "gripper_loss": 1.09375,
      "loss": 0.048095703125,
      "pos_loss": 0.037841796875,
      "rot_loss": 0.08740234375,
      "step": 13029
    },
    {
      "epoch": 2.9234911375364594,
      "grad_norm": 0.24854175746440887,
      "learning_rate": 8.524297097285138e-07,
      "loss": 0.0261,
      "step": 13030
    },
    {
      "epoch": 2.9234911375364594,
      "gripper_loss": 0.05859375,
      "loss": 0.04931640625,
      "pos_loss": 0.255859375,
      "rot_loss": 0.208984375,
      "step": 13030
    },
    {
      "epoch": 2.9237155037020415,
      "grad_norm": 0.2714582085609436,
      "learning_rate": 8.474402751079968e-07,
      "loss": 0.0454,
      "step": 13031
    },
    {
      "epoch": 2.9237155037020415,
      "gripper_loss": 0.1708984375,
      "loss": 0.0184326171875,
      "pos_loss": 0.0634765625,
      "rot_loss": 0.055419921875,
      "step": 13031
    },
    {
      "epoch": 2.923939869867624,
      "grad_norm": 0.16099077463150024,
      "learning_rate": 8.424654606471738e-07,
      "loss": 0.0289,
      "step": 13032
    },
    {
      "epoch": 2.923939869867624,
      "gripper_loss": 0.4609375,
      "loss": 0.0380859375,
      "pos_loss": 0.1796875,
      "rot_loss": 0.0556640625,
      "step": 13032
    },
    {
      "epoch": 2.924164236033206,
      "grad_norm": 0.493979275226593,
      "learning_rate": 8.375052666379501e-07,
      "loss": 0.0367,
      "step": 13033
    },
    {
      "epoch": 2.924164236033206,
      "gripper_loss": 0.0026092529296875,
      "loss": 0.0238037109375,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.12109375,
      "step": 13033
    },
    {
      "epoch": 2.924388602198788,
      "grad_norm": 0.2407597452402115,
      "learning_rate": 8.325596933713986e-07,
      "loss": 0.0311,
      "step": 13034
    },
    {
      "epoch": 2.924388602198788,
      "gripper_loss": 0.01953125,
      "loss": 0.00579833984375,
      "pos_loss": 0.019287109375,
      "rot_loss": 0.0166015625,
      "step": 13034
    },
    {
      "epoch": 2.9246129683643707,
      "grad_norm": 0.5751574635505676,
      "learning_rate": 8.276287411377037e-07,
      "loss": 0.0234,
      "step": 13035
    },
    {
      "epoch": 2.9246129683643707,
      "gripper_loss": 0.010009765625,
      "loss": 0.03369140625,
      "pos_loss": 0.2578125,
      "rot_loss": 0.06787109375,
      "step": 13035
    },
    {
      "epoch": 2.9248373345299528,
      "grad_norm": 0.3683362305164337,
      "learning_rate": 8.227124102262451e-07,
      "loss": 0.0427,
      "step": 13036
    },
    {
      "epoch": 2.9248373345299528,
      "gripper_loss": 0.0045166015625,
      "loss": 0.006072998046875,
      "pos_loss": 0.01171875,
      "rot_loss": 0.03564453125,
      "step": 13036
    },
    {
      "epoch": 2.925061700695535,
      "grad_norm": 0.234760582447052,
      "learning_rate": 8.178107009254865e-07,
      "loss": 0.0359,
      "step": 13037
    },
    {
      "epoch": 2.925061700695535,
      "gripper_loss": 0.04296875,
      "loss": 0.048583984375,
      "pos_loss": 0.11083984375,
      "rot_loss": 0.36328125,
      "step": 13037
    },
    {
      "epoch": 2.9252860668611174,
      "grad_norm": 0.35402941703796387,
      "learning_rate": 8.129236135230589e-07,
      "loss": 0.0419,
      "step": 13038
    },
    {
      "epoch": 2.9252860668611174,
      "gripper_loss": 0.01806640625,
      "loss": 0.0361328125,
      "pos_loss": 0.08544921875,
      "rot_loss": 0.271484375,
      "step": 13038
    },
    {
      "epoch": 2.9255104330266994,
      "grad_norm": 0.2102784365415573,
      "learning_rate": 8.080511483057329e-07,
      "loss": 0.038,
      "step": 13039
    },
    {
      "epoch": 2.9255104330266994,
      "gripper_loss": 0.08984375,
      "loss": 0.0189208984375,
      "pos_loss": 0.0458984375,
      "rot_loss": 0.10888671875,
      "step": 13039
    },
    {
      "epoch": 2.925734799192282,
      "grad_norm": 0.34412094950675964,
      "learning_rate": 8.031933055594187e-07,
      "loss": 0.0304,
      "step": 13040
    },
    {
      "epoch": 2.925734799192282,
      "gripper_loss": 0.63671875,
      "loss": 0.06298828125,
      "pos_loss": 0.390625,
      "rot_loss": 0.052001953125,
      "step": 13040
    },
    {
      "epoch": 2.925959165357864,
      "grad_norm": 0.27667632699012756,
      "learning_rate": 7.983500855691939e-07,
      "loss": 0.0421,
      "step": 13041
    },
    {
      "epoch": 2.925959165357864,
      "gripper_loss": 0.3671875,
      "loss": 0.0234375,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.0341796875,
      "step": 13041
    },
    {
      "epoch": 2.926183531523446,
      "grad_norm": 0.3224700689315796,
      "learning_rate": 7.935214886192477e-07,
      "loss": 0.0539,
      "step": 13042
    },
    {
      "epoch": 2.926183531523446,
      "gripper_loss": 0.006927490234375,
      "loss": 0.045166015625,
      "pos_loss": 0.240234375,
      "rot_loss": 0.216796875,
      "step": 13042
    },
    {
      "epoch": 2.9264078976890286,
      "grad_norm": 0.2702001929283142,
      "learning_rate": 7.887075149929091e-07,
      "loss": 0.0482,
      "step": 13043
    },
    {
      "epoch": 2.9264078976890286,
      "gripper_loss": 0.00799560546875,
      "loss": 0.01312255859375,
      "pos_loss": 0.08984375,
      "rot_loss": 0.0291748046875,
      "step": 13043
    },
    {
      "epoch": 2.9266322638546107,
      "grad_norm": 0.2281712144613266,
      "learning_rate": 7.839081649726743e-07,
      "loss": 0.0284,
      "step": 13044
    },
    {
      "epoch": 2.9266322638546107,
      "gripper_loss": 0.4765625,
      "loss": 0.0211181640625,
      "pos_loss": 0.027099609375,
      "rot_loss": 0.017822265625,
      "step": 13044
    },
    {
      "epoch": 2.926856630020193,
      "grad_norm": 0.2564537525177002,
      "learning_rate": 7.791234388401513e-07,
      "loss": 0.0322,
      "step": 13045
    },
    {
      "epoch": 2.926856630020193,
      "gripper_loss": 0.41015625,
      "loss": 0.01904296875,
      "pos_loss": 0.0294189453125,
      "rot_loss": 0.0137939453125,
      "step": 13045
    },
    {
      "epoch": 2.9270809961857753,
      "grad_norm": 0.4148346483707428,
      "learning_rate": 7.743533368761158e-07,
      "loss": 0.0406,
      "step": 13046
    },
    {
      "epoch": 2.9270809961857753,
      "gripper_loss": 0.0087890625,
      "loss": 0.041259765625,
      "pos_loss": 0.314453125,
      "rot_loss": 0.09912109375,
      "step": 13046
    },
    {
      "epoch": 2.9273053623513574,
      "grad_norm": 0.26867812871932983,
      "learning_rate": 7.695978593604825e-07,
      "loss": 0.043,
      "step": 13047
    },
    {
      "epoch": 2.9273053623513574,
      "gripper_loss": 0.2412109375,
      "loss": 0.05712890625,
      "pos_loss": 0.345703125,
      "rot_loss": 0.154296875,
      "step": 13047
    },
    {
      "epoch": 2.9275297285169395,
      "grad_norm": 0.16983427107334137,
      "learning_rate": 7.648570065723059e-07,
      "loss": 0.0375,
      "step": 13048
    },
    {
      "epoch": 2.9275297285169395,
      "gripper_loss": 0.2060546875,
      "loss": 0.107421875,
      "pos_loss": 0.51953125,
      "rot_loss": 0.46875,
      "step": 13048
    },
    {
      "epoch": 2.927754094682522,
      "grad_norm": 0.47086301445961,
      "learning_rate": 7.601307787897249e-07,
      "loss": 0.0662,
      "step": 13049
    },
    {
      "epoch": 2.927754094682522,
      "gripper_loss": 0.0189208984375,
      "loss": 0.02294921875,
      "pos_loss": 0.1142578125,
      "rot_loss": 0.0966796875,
      "step": 13049
    },
    {
      "epoch": 2.927978460848104,
      "grad_norm": 0.22373121976852417,
      "learning_rate": 7.554191762901286e-07,
      "loss": 0.032,
      "step": 13050
    },
    {
      "epoch": 2.927978460848104,
      "gripper_loss": 0.0040283203125,
      "loss": 0.056640625,
      "pos_loss": 0.546875,
      "rot_loss": 0.028564453125,
      "step": 13050
    },
    {
      "epoch": 2.928202827013686,
      "grad_norm": 0.4839530289173126,
      "learning_rate": 7.507221993499902e-07,
      "loss": 0.0313,
      "step": 13051
    },
    {
      "epoch": 2.928202827013686,
      "gripper_loss": 0.1201171875,
      "loss": 0.0079345703125,
      "pos_loss": 0.0172119140625,
      "rot_loss": 0.00823974609375,
      "step": 13051
    },
    {
      "epoch": 2.9284271931792687,
      "grad_norm": 0.42495033144950867,
      "learning_rate": 7.460398482448949e-07,
      "loss": 0.0326,
      "step": 13052
    },
    {
      "epoch": 2.9284271931792687,
      "gripper_loss": 0.73046875,
      "loss": 0.09912109375,
      "pos_loss": 0.7578125,
      "rot_loss": 0.03173828125,
      "step": 13052
    },
    {
      "epoch": 2.9286515593448508,
      "grad_norm": 0.36016544699668884,
      "learning_rate": 7.413721232495951e-07,
      "loss": 0.0561,
      "step": 13053
    },
    {
      "epoch": 2.9286515593448508,
      "gripper_loss": 0.049072265625,
      "loss": 0.1396484375,
      "pos_loss": 1.1875,
      "rot_loss": 0.251953125,
      "step": 13053
    },
    {
      "epoch": 2.9288759255104333,
      "grad_norm": 0.33480820059776306,
      "learning_rate": 7.367190246380384e-07,
      "loss": 0.0532,
      "step": 13054
    },
    {
      "epoch": 2.9288759255104333,
      "gripper_loss": 0.00634765625,
      "loss": 0.064453125,
      "pos_loss": 0.58984375,
      "rot_loss": 0.07666015625,
      "step": 13054
    },
    {
      "epoch": 2.9291002916760154,
      "grad_norm": 0.24966216087341309,
      "learning_rate": 7.320805526832285e-07,
      "loss": 0.0317,
      "step": 13055
    },
    {
      "epoch": 2.9291002916760154,
      "gripper_loss": 0.2021484375,
      "loss": 0.0177001953125,
      "pos_loss": 0.08984375,
      "rot_loss": 0.00860595703125,
      "step": 13055
    },
    {
      "epoch": 2.9293246578415975,
      "grad_norm": 0.32370465993881226,
      "learning_rate": 7.274567076573646e-07,
      "loss": 0.0348,
      "step": 13056
    },
    {
      "epoch": 2.9293246578415975,
      "gripper_loss": 0.033935546875,
      "loss": 0.0303955078125,
      "pos_loss": 0.095703125,
      "rot_loss": 0.17578125,
      "step": 13056
    },
    {
      "epoch": 2.92954902400718,
      "grad_norm": 0.4723791778087616,
      "learning_rate": 7.228474898317572e-07,
      "loss": 0.0799,
      "step": 13057
    },
    {
      "epoch": 2.92954902400718,
      "gripper_loss": 0.031494140625,
      "loss": 0.0233154296875,
      "pos_loss": 0.10791015625,
      "rot_loss": 0.111328125,
      "step": 13057
    },
    {
      "epoch": 2.929773390172762,
      "grad_norm": 0.2020353078842163,
      "learning_rate": 7.182528994768844e-07,
      "loss": 0.0309,
      "step": 13058
    },
    {
      "epoch": 2.929773390172762,
      "gripper_loss": 1.6015625,
      "loss": 0.06396484375,
      "pos_loss": 0.0703125,
      "rot_loss": 0.05615234375,
      "step": 13058
    },
    {
      "epoch": 2.929997756338344,
      "grad_norm": 0.6880587935447693,
      "learning_rate": 7.13672936862364e-07,
      "loss": 0.0443,
      "step": 13059
    },
    {
      "epoch": 2.929997756338344,
      "gripper_loss": 0.56640625,
      "loss": 0.0218505859375,
      "pos_loss": 0.0196533203125,
      "rot_loss": 0.005615234375,
      "step": 13059
    },
    {
      "epoch": 2.9302221225039267,
      "grad_norm": 0.3032660484313965,
      "learning_rate": 7.091076022569254e-07,
      "loss": 0.0403,
      "step": 13060
    },
    {
      "epoch": 2.9302221225039267,
      "gripper_loss": 0.005096435546875,
      "loss": 0.00909423828125,
      "pos_loss": 0.04833984375,
      "rot_loss": 0.0291748046875,
      "step": 13060
    },
    {
      "epoch": 2.9304464886695087,
      "grad_norm": 0.28869321942329407,
      "learning_rate": 7.045568959284932e-07,
      "loss": 0.0414,
      "step": 13061
    },
    {
      "epoch": 2.9304464886695087,
      "gripper_loss": 0.09423828125,
      "loss": 0.0255126953125,
      "pos_loss": 0.1787109375,
      "rot_loss": 0.040283203125,
      "step": 13061
    },
    {
      "epoch": 2.930670854835091,
      "grad_norm": 0.19399012625217438,
      "learning_rate": 7.000208181440482e-07,
      "loss": 0.0336,
      "step": 13062
    },
    {
      "epoch": 2.930670854835091,
      "gripper_loss": 0.00567626953125,
      "loss": 0.02587890625,
      "pos_loss": 0.1064453125,
      "rot_loss": 0.1455078125,
      "step": 13062
    },
    {
      "epoch": 2.9308952210006733,
      "grad_norm": 0.5807672142982483,
      "learning_rate": 6.954993691698219e-07,
      "loss": 0.0431,
      "step": 13063
    },
    {
      "epoch": 2.9308952210006733,
      "gripper_loss": 0.875,
      "loss": 0.05224609375,
      "pos_loss": 0.095703125,
      "rot_loss": 0.1455078125,
      "step": 13063
    },
    {
      "epoch": 2.9311195871662554,
      "grad_norm": 0.372581422328949,
      "learning_rate": 6.909925492710745e-07,
      "loss": 0.0382,
      "step": 13064
    },
    {
      "epoch": 2.9311195871662554,
      "gripper_loss": 0.00628662109375,
      "loss": 0.0244140625,
      "pos_loss": 0.1015625,
      "rot_loss": 0.1357421875,
      "step": 13064
    },
    {
      "epoch": 2.9313439533318375,
      "grad_norm": 0.26835036277770996,
      "learning_rate": 6.865003587123164e-07,
      "loss": 0.0471,
      "step": 13065
    },
    {
      "epoch": 2.9313439533318375,
      "gripper_loss": 0.00860595703125,
      "loss": 0.0157470703125,
      "pos_loss": 0.06298828125,
      "rot_loss": 0.07958984375,
      "step": 13065
    },
    {
      "epoch": 2.93156831949742,
      "grad_norm": 0.2800813317298889,
      "learning_rate": 6.820227977571148e-07,
      "loss": 0.0511,
      "step": 13066
    },
    {
      "epoch": 2.93156831949742,
      "gripper_loss": 0.01373291015625,
      "loss": 0.0595703125,
      "pos_loss": 0.26171875,
      "rot_loss": 0.34765625,
      "step": 13066
    },
    {
      "epoch": 2.931792685663002,
      "grad_norm": 0.2672470510005951,
      "learning_rate": 6.775598666682037e-07,
      "loss": 0.0348,
      "step": 13067
    },
    {
      "epoch": 2.931792685663002,
      "gripper_loss": 0.0086669921875,
      "loss": 0.031494140625,
      "pos_loss": 0.189453125,
      "rot_loss": 0.11328125,
      "step": 13067
    },
    {
      "epoch": 2.932017051828584,
      "grad_norm": 0.2698335647583008,
      "learning_rate": 6.731115657075126e-07,
      "loss": 0.0488,
      "step": 13068
    },
    {
      "epoch": 2.932017051828584,
      "gripper_loss": 0.0047607421875,
      "loss": 0.0869140625,
      "pos_loss": 0.486328125,
      "rot_loss": 0.416015625,
      "step": 13068
    },
    {
      "epoch": 2.9322414179941667,
      "grad_norm": 0.26901766657829285,
      "learning_rate": 6.686778951360273e-07,
      "loss": 0.0468,
      "step": 13069
    },
    {
      "epoch": 2.9322414179941667,
      "gripper_loss": 0.0115966796875,
      "loss": 0.02490234375,
      "pos_loss": 0.0908203125,
      "rot_loss": 0.142578125,
      "step": 13069
    },
    {
      "epoch": 2.932465784159749,
      "grad_norm": 0.2779727578163147,
      "learning_rate": 6.642588552139284e-07,
      "loss": 0.0402,
      "step": 13070
    },
    {
      "epoch": 2.932465784159749,
      "gripper_loss": 0.0198974609375,
      "loss": 0.00543212890625,
      "pos_loss": 0.0174560546875,
      "rot_loss": 0.0166015625,
      "step": 13070
    },
    {
      "epoch": 2.932690150325331,
      "grad_norm": 0.1615736484527588,
      "learning_rate": 6.598544462004808e-07,
      "loss": 0.0255,
      "step": 13071
    },
    {
      "epoch": 2.932690150325331,
      "gripper_loss": 0.11279296875,
      "loss": 0.044677734375,
      "pos_loss": 0.1435546875,
      "rot_loss": 0.251953125,
      "step": 13071
    },
    {
      "epoch": 2.9329145164909134,
      "grad_norm": 0.30731868743896484,
      "learning_rate": 6.554646683541998e-07,
      "loss": 0.0395,
      "step": 13072
    },
    {
      "epoch": 2.9329145164909134,
      "gripper_loss": 1.2265625,
      "loss": 0.05029296875,
      "pos_loss": 0.08740234375,
      "rot_loss": 0.02099609375,
      "step": 13072
    },
    {
      "epoch": 2.9331388826564955,
      "grad_norm": 0.3524726927280426,
      "learning_rate": 6.510895219326574e-07,
      "loss": 0.0508,
      "step": 13073
    },
    {
      "epoch": 2.9331388826564955,
      "gripper_loss": 0.0177001953125,
      "loss": 0.0277099609375,
      "pos_loss": 0.203125,
      "rot_loss": 0.06640625,
      "step": 13073
    },
    {
      "epoch": 2.9333632488220776,
      "grad_norm": 0.39503297209739685,
      "learning_rate": 6.467290071925646e-07,
      "loss": 0.0603,
      "step": 13074
    },
    {
      "epoch": 2.9333632488220776,
      "gripper_loss": 0.00537109375,
      "loss": 0.036376953125,
      "pos_loss": 0.34375,
      "rot_loss": 0.0257568359375,
      "step": 13074
    },
    {
      "epoch": 2.93358761498766,
      "grad_norm": 0.2592051327228546,
      "learning_rate": 6.423831243898004e-07,
      "loss": 0.0397,
      "step": 13075
    },
    {
      "epoch": 2.93358761498766,
      "gripper_loss": 0.017578125,
      "loss": 0.0263671875,
      "pos_loss": 0.212890625,
      "rot_loss": 0.04150390625,
      "step": 13075
    },
    {
      "epoch": 2.933811981153242,
      "grad_norm": 0.5716407299041748,
      "learning_rate": 6.38051873779355e-07,
      "loss": 0.0374,
      "step": 13076
    },
    {
      "epoch": 2.933811981153242,
      "gripper_loss": 0.546875,
      "loss": 0.046875,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.1435546875,
      "step": 13076
    },
    {
      "epoch": 2.9340363473188242,
      "grad_norm": 0.41227588057518005,
      "learning_rate": 6.337352556154419e-07,
      "loss": 0.041,
      "step": 13077
    },
    {
      "epoch": 2.9340363473188242,
      "gripper_loss": 0.5390625,
      "loss": 0.0693359375,
      "pos_loss": 0.49609375,
      "rot_loss": 0.046630859375,
      "step": 13077
    },
    {
      "epoch": 2.9342607134844068,
      "grad_norm": 0.28637439012527466,
      "learning_rate": 6.294332701513305e-07,
      "loss": 0.0328,
      "step": 13078
    },
    {
      "epoch": 2.9342607134844068,
      "gripper_loss": 0.08544921875,
      "loss": 0.07861328125,
      "pos_loss": 0.267578125,
      "rot_loss": 0.328125,
      "step": 13078
    },
    {
      "epoch": 2.934485079649989,
      "grad_norm": 0.7288967370986938,
      "learning_rate": 6.251459176394303e-07,
      "loss": 0.073,
      "step": 13079
    },
    {
      "epoch": 2.934485079649989,
      "gripper_loss": 0.013427734375,
      "loss": 0.0291748046875,
      "pos_loss": 0.2001953125,
      "rot_loss": 0.08642578125,
      "step": 13079
    },
    {
      "epoch": 2.934709445815571,
      "grad_norm": 0.4305066466331482,
      "learning_rate": 6.208731983313731e-07,
      "loss": 0.0422,
      "step": 13080
    },
    {
      "epoch": 2.934709445815571,
      "gripper_loss": 0.004150390625,
      "loss": 0.01275634765625,
      "pos_loss": 0.0299072265625,
      "rot_loss": 0.08251953125,
      "step": 13080
    },
    {
      "epoch": 2.9349338119811534,
      "grad_norm": 0.2532058656215668,
      "learning_rate": 6.166151124778474e-07,
      "loss": 0.0335,
      "step": 13081
    },
    {
      "epoch": 2.9349338119811534,
      "gripper_loss": 0.01409912109375,
      "loss": 0.0289306640625,
      "pos_loss": 0.158203125,
      "rot_loss": 0.1259765625,
      "step": 13081
    },
    {
      "epoch": 2.9351581781467355,
      "grad_norm": 0.5030099749565125,
      "learning_rate": 6.123716603287089e-07,
      "loss": 0.0498,
      "step": 13082
    },
    {
      "epoch": 2.9351581781467355,
      "gripper_loss": 0.345703125,
      "loss": 0.064453125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.0072021484375,
      "step": 13082
    },
    {
      "epoch": 2.9353825443123176,
      "grad_norm": 0.38202792406082153,
      "learning_rate": 6.081428421329804e-07,
      "loss": 0.0605,
      "step": 13083
    },
    {
      "epoch": 2.9353825443123176,
      "gripper_loss": 0.00506591796875,
      "loss": 0.0458984375,
      "pos_loss": 0.359375,
      "rot_loss": 0.107421875,
      "step": 13083
    },
    {
      "epoch": 2.9356069104779,
      "grad_norm": 0.4115486741065979,
      "learning_rate": 6.039286581388248e-07,
      "loss": 0.0558,
      "step": 13084
    },
    {
      "epoch": 2.9356069104779,
      "gripper_loss": 0.0106201171875,
      "loss": 0.034423828125,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.12890625,
      "step": 13084
    },
    {
      "epoch": 2.935831276643482,
      "grad_norm": 0.30430465936660767,
      "learning_rate": 5.997291085934886e-07,
      "loss": 0.0405,
      "step": 13085
    },
    {
      "epoch": 2.935831276643482,
      "gripper_loss": 0.005340576171875,
      "loss": 0.0830078125,
      "pos_loss": 0.62890625,
      "rot_loss": 0.2333984375,
      "step": 13085
    },
    {
      "epoch": 2.9360556428090643,
      "grad_norm": 0.23352326452732086,
      "learning_rate": 5.955441937434136e-07,
      "loss": 0.041,
      "step": 13086
    },
    {
      "epoch": 2.9360556428090643,
      "gripper_loss": 0.18359375,
      "loss": 0.01031494140625,
      "pos_loss": 0.0169677734375,
      "rot_loss": 0.007781982421875,
      "step": 13086
    },
    {
      "epoch": 2.936280008974647,
      "grad_norm": 0.2671411335468292,
      "learning_rate": 5.913739138341811e-07,
      "loss": 0.0331,
      "step": 13087
    },
    {
      "epoch": 2.936280008974647,
      "gripper_loss": 0.0174560546875,
      "loss": 0.00665283203125,
      "pos_loss": 0.0361328125,
      "rot_loss": 0.0106201171875,
      "step": 13087
    },
    {
      "epoch": 2.936504375140229,
      "grad_norm": 0.2690712511539459,
      "learning_rate": 5.872182691104844e-07,
      "loss": 0.0348,
      "step": 13088
    },
    {
      "epoch": 2.936504375140229,
      "gripper_loss": 0.00775146484375,
      "loss": 0.04638671875,
      "pos_loss": 0.099609375,
      "rot_loss": 0.37109375,
      "step": 13088
    },
    {
      "epoch": 2.936728741305811,
      "grad_norm": 0.274063378572464,
      "learning_rate": 5.83077259816156e-07,
      "loss": 0.0366,
      "step": 13089
    },
    {
      "epoch": 2.936728741305811,
      "gripper_loss": 0.01806640625,
      "loss": 0.0125732421875,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.03125,
      "step": 13089
    },
    {
      "epoch": 2.9369531074713935,
      "grad_norm": 0.30980873107910156,
      "learning_rate": 5.789508861942517e-07,
      "loss": 0.0288,
      "step": 13090
    },
    {
      "epoch": 2.9369531074713935,
      "gripper_loss": 0.007354736328125,
      "loss": 0.0458984375,
      "pos_loss": 0.2578125,
      "rot_loss": 0.205078125,
      "step": 13090
    },
    {
      "epoch": 2.9371774736369756,
      "grad_norm": 0.32202592492103577,
      "learning_rate": 5.748391484868554e-07,
      "loss": 0.0371,
      "step": 13091
    },
    {
      "epoch": 2.9371774736369756,
      "gripper_loss": 0.09375,
      "loss": 0.052734375,
      "pos_loss": 0.50390625,
      "rot_loss": 0.00726318359375,
      "step": 13091
    },
    {
      "epoch": 2.9374018398025576,
      "grad_norm": 0.3911949694156647,
      "learning_rate": 5.707420469352742e-07,
      "loss": 0.0515,
      "step": 13092
    },
    {
      "epoch": 2.9374018398025576,
      "gripper_loss": 0.00628662109375,
      "loss": 0.044677734375,
      "pos_loss": 0.3515625,
      "rot_loss": 0.0986328125,
      "step": 13092
    },
    {
      "epoch": 2.93762620596814,
      "grad_norm": 0.371111124753952,
      "learning_rate": 5.666595817798714e-07,
      "loss": 0.0335,
      "step": 13093
    },
    {
      "epoch": 2.93762620596814,
      "gripper_loss": 0.01190185546875,
      "loss": 0.07177734375,
      "pos_loss": 0.51953125,
      "rot_loss": 0.2294921875,
      "step": 13093
    },
    {
      "epoch": 2.9378505721337222,
      "grad_norm": 0.31463271379470825,
      "learning_rate": 5.625917532602609e-07,
      "loss": 0.0457,
      "step": 13094
    },
    {
      "epoch": 2.9378505721337222,
      "gripper_loss": 0.279296875,
      "loss": 0.02734375,
      "pos_loss": 0.109375,
      "rot_loss": 0.06884765625,
      "step": 13094
    },
    {
      "epoch": 2.9380749382993043,
      "grad_norm": 0.17089585959911346,
      "learning_rate": 5.585385616151128e-07,
      "loss": 0.034,
      "step": 13095
    },
    {
      "epoch": 2.9380749382993043,
      "gripper_loss": 0.00543212890625,
      "loss": 0.040771484375,
      "pos_loss": 0.341796875,
      "rot_loss": 0.064453125,
      "step": 13095
    },
    {
      "epoch": 2.938299304464887,
      "grad_norm": 0.18868383765220642,
      "learning_rate": 5.545000070822648e-07,
      "loss": 0.0325,
      "step": 13096
    },
    {
      "epoch": 2.938299304464887,
      "gripper_loss": 0.01177978515625,
      "loss": 0.05126953125,
      "pos_loss": 0.46484375,
      "rot_loss": 0.05810546875,
      "step": 13096
    },
    {
      "epoch": 2.938523670630469,
      "grad_norm": 0.26683101058006287,
      "learning_rate": 5.504760898987216e-07,
      "loss": 0.0411,
      "step": 13097
    },
    {
      "epoch": 2.938523670630469,
      "gripper_loss": 0.515625,
      "loss": 0.057373046875,
      "pos_loss": 0.26171875,
      "rot_loss": 0.14453125,
      "step": 13097
    },
    {
      "epoch": 2.938748036796051,
      "grad_norm": 0.25359582901000977,
      "learning_rate": 5.464668103005721e-07,
      "loss": 0.0379,
      "step": 13098
    },
    {
      "epoch": 2.938748036796051,
      "gripper_loss": 0.01300048828125,
      "loss": 0.04931640625,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.26953125,
      "step": 13098
    },
    {
      "epoch": 2.9389724029616335,
      "grad_norm": 0.3173225224018097,
      "learning_rate": 5.424721685230726e-07,
      "loss": 0.0515,
      "step": 13099
    },
    {
      "epoch": 2.9389724029616335,
      "gripper_loss": 0.006195068359375,
      "loss": 0.0361328125,
      "pos_loss": 0.185546875,
      "rot_loss": 0.1796875,
      "step": 13099
    },
    {
      "epoch": 2.9391967691272156,
      "grad_norm": 0.20909515023231506,
      "learning_rate": 5.384921648006747e-07,
      "loss": 0.0365,
      "step": 13100
    },
    {
      "epoch": 2.9391967691272156,
      "gripper_loss": 0.30859375,
      "loss": 0.0181884765625,
      "pos_loss": 0.038330078125,
      "rot_loss": 0.037353515625,
      "step": 13100
    },
    {
      "epoch": 2.9394211352927977,
      "grad_norm": 0.1781473457813263,
      "learning_rate": 5.345267993669134e-07,
      "loss": 0.0222,
      "step": 13101
    },
    {
      "epoch": 2.9394211352927977,
      "gripper_loss": 0.007720947265625,
      "loss": 0.031982421875,
      "pos_loss": 0.2451171875,
      "rot_loss": 0.068359375,
      "step": 13101
    },
    {
      "epoch": 2.93964550145838,
      "grad_norm": 0.4194403886795044,
      "learning_rate": 5.305760724544362e-07,
      "loss": 0.0638,
      "step": 13102
    },
    {
      "epoch": 2.93964550145838,
      "gripper_loss": 0.00775146484375,
      "loss": 0.0286865234375,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.1337890625,
      "step": 13102
    },
    {
      "epoch": 2.9398698676239623,
      "grad_norm": 0.4372911751270294,
      "learning_rate": 5.266399842950853e-07,
      "loss": 0.0401,
      "step": 13103
    },
    {
      "epoch": 2.9398698676239623,
      "gripper_loss": 0.1455078125,
      "loss": 0.021728515625,
      "pos_loss": 0.0302734375,
      "rot_loss": 0.130859375,
      "step": 13103
    },
    {
      "epoch": 2.9400942337895444,
      "grad_norm": 0.38128015398979187,
      "learning_rate": 5.227185351198427e-07,
      "loss": 0.0357,
      "step": 13104
    },
    {
      "epoch": 2.9400942337895444,
      "gripper_loss": 0.005828857421875,
      "loss": 0.05615234375,
      "pos_loss": 0.44921875,
      "rot_loss": 0.125,
      "step": 13104
    },
    {
      "epoch": 2.940318599955127,
      "grad_norm": 0.24973809719085693,
      "learning_rate": 5.18811725158802e-07,
      "loss": 0.0342,
      "step": 13105
    },
    {
      "epoch": 2.940318599955127,
      "gripper_loss": 0.01190185546875,
      "loss": 0.1884765625,
      "pos_loss": 1.96875,
      "rot_loss": 0.0166015625,
      "step": 13105
    },
    {
      "epoch": 2.940542966120709,
      "grad_norm": 0.5517141819000244,
      "learning_rate": 5.149195546412521e-07,
      "loss": 0.0491,
      "step": 13106
    },
    {
      "epoch": 2.940542966120709,
      "gripper_loss": 0.0296630859375,
      "loss": 0.0169677734375,
      "pos_loss": 0.0654296875,
      "rot_loss": 0.0849609375,
      "step": 13106
    },
    {
      "epoch": 2.940767332286291,
      "grad_norm": 0.23034454882144928,
      "learning_rate": 5.110420237955382e-07,
      "loss": 0.0305,
      "step": 13107
    },
    {
      "epoch": 2.940767332286291,
      "gripper_loss": 0.6796875,
      "loss": 0.038818359375,
      "pos_loss": 0.1083984375,
      "rot_loss": 0.06396484375,
      "step": 13107
    },
    {
      "epoch": 2.9409916984518736,
      "grad_norm": 0.19414637982845306,
      "learning_rate": 5.071791328492004e-07,
      "loss": 0.028,
      "step": 13108
    },
    {
      "epoch": 2.9409916984518736,
      "gripper_loss": 0.006317138671875,
      "loss": 0.055419921875,
      "pos_loss": 0.427734375,
      "rot_loss": 0.13671875,
      "step": 13108
    },
    {
      "epoch": 2.9412160646174557,
      "grad_norm": 0.46527615189552307,
      "learning_rate": 5.033308820289185e-07,
      "loss": 0.0408,
      "step": 13109
    },
    {
      "epoch": 2.9412160646174557,
      "gripper_loss": 0.003204345703125,
      "loss": 0.138671875,
      "pos_loss": 0.9765625,
      "rot_loss": 0.474609375,
      "step": 13109
    },
    {
      "epoch": 2.9414404307830377,
      "grad_norm": 0.5030412077903748,
      "learning_rate": 4.994972715604839e-07,
      "loss": 0.0577,
      "step": 13110
    },
    {
      "epoch": 2.9414404307830377,
      "gripper_loss": 0.007293701171875,
      "loss": 0.02685546875,
      "pos_loss": 0.1904296875,
      "rot_loss": 0.07373046875,
      "step": 13110
    },
    {
      "epoch": 2.9416647969486203,
      "grad_norm": 0.29628872871398926,
      "learning_rate": 4.956783016688837e-07,
      "loss": 0.0373,
      "step": 13111
    },
    {
      "epoch": 2.9416647969486203,
      "gripper_loss": 0.00421142578125,
      "loss": 0.0294189453125,
      "pos_loss": 0.19921875,
      "rot_loss": 0.09375,
      "step": 13111
    },
    {
      "epoch": 2.9418891631142023,
      "grad_norm": 0.3440179228782654,
      "learning_rate": 4.918739725782162e-07,
      "loss": 0.0458,
      "step": 13112
    },
    {
      "epoch": 2.9418891631142023,
      "gripper_loss": 0.036376953125,
      "loss": 0.004730224609375,
      "pos_loss": 0.007568359375,
      "rot_loss": 0.0115966796875,
      "step": 13112
    },
    {
      "epoch": 2.9421135292797844,
      "grad_norm": 0.41172510385513306,
      "learning_rate": 4.880842845116917e-07,
      "loss": 0.0308,
      "step": 13113
    },
    {
      "epoch": 2.9421135292797844,
      "gripper_loss": 0.2080078125,
      "loss": 0.0118408203125,
      "pos_loss": 0.026611328125,
      "rot_loss": 0.006591796875,
      "step": 13113
    },
    {
      "epoch": 2.942337895445367,
      "grad_norm": 0.30774036049842834,
      "learning_rate": 4.843092376917157e-07,
      "loss": 0.0275,
      "step": 13114
    },
    {
      "epoch": 2.942337895445367,
      "gripper_loss": 0.12158203125,
      "loss": 0.012451171875,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.027587890625,
      "step": 13114
    },
    {
      "epoch": 2.942562261610949,
      "grad_norm": 0.34418293833732605,
      "learning_rate": 4.805488323397777e-07,
      "loss": 0.0306,
      "step": 13115
    },
    {
      "epoch": 2.942562261610949,
      "gripper_loss": 0.12255859375,
      "loss": 0.031494140625,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.10791015625,
      "step": 13115
    },
    {
      "epoch": 2.942786627776531,
      "grad_norm": 0.39043235778808594,
      "learning_rate": 4.768030686765346e-07,
      "loss": 0.0496,
      "step": 13116
    },
    {
      "epoch": 2.942786627776531,
      "gripper_loss": 0.01953125,
      "loss": 0.0400390625,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.328125,
      "step": 13116
    },
    {
      "epoch": 2.9430109939421136,
      "grad_norm": 0.7499193549156189,
      "learning_rate": 4.730719469218381e-07,
      "loss": 0.0647,
      "step": 13117
    },
    {
      "epoch": 2.9430109939421136,
      "gripper_loss": 0.0126953125,
      "loss": 0.064453125,
      "pos_loss": 0.5,
      "rot_loss": 0.1591796875,
      "step": 13117
    },
    {
      "epoch": 2.9432353601076957,
      "grad_norm": 0.43346285820007324,
      "learning_rate": 4.693554672945688e-07,
      "loss": 0.0541,
      "step": 13118
    },
    {
      "epoch": 2.9432353601076957,
      "gripper_loss": 0.0031585693359375,
      "loss": 0.00653076171875,
      "pos_loss": 0.0267333984375,
      "rot_loss": 0.0235595703125,
      "step": 13118
    },
    {
      "epoch": 2.943459726273278,
      "grad_norm": 0.39142486453056335,
      "learning_rate": 4.6565363001283e-07,
      "loss": 0.0402,
      "step": 13119
    },
    {
      "epoch": 2.943459726273278,
      "gripper_loss": 0.01007080078125,
      "loss": 0.049072265625,
      "pos_loss": 0.25390625,
      "rot_loss": 0.24609375,
      "step": 13119
    },
    {
      "epoch": 2.9436840924388603,
      "grad_norm": 0.27926546335220337,
      "learning_rate": 4.619664352938369e-07,
      "loss": 0.0382,
      "step": 13120
    },
    {
      "epoch": 2.9436840924388603,
      "gripper_loss": 0.0106201171875,
      "loss": 0.056396484375,
      "pos_loss": 0.357421875,
      "rot_loss": 0.2119140625,
      "step": 13120
    },
    {
      "epoch": 2.9439084586044424,
      "grad_norm": 0.2915724217891693,
      "learning_rate": 4.582938833539718e-07,
      "loss": 0.0309,
      "step": 13121
    },
    {
      "epoch": 2.9439084586044424,
      "gripper_loss": 0.006072998046875,
      "loss": 0.049560546875,
      "pos_loss": 0.41796875,
      "rot_loss": 0.0869140625,
      "step": 13121
    },
    {
      "epoch": 2.9441328247700245,
      "grad_norm": 0.7338376045227051,
      "learning_rate": 4.546359744087014e-07,
      "loss": 0.0598,
      "step": 13122
    },
    {
      "epoch": 2.9441328247700245,
      "gripper_loss": 0.1865234375,
      "loss": 0.0238037109375,
      "pos_loss": 0.017822265625,
      "rot_loss": 0.1552734375,
      "step": 13122
    },
    {
      "epoch": 2.944357190935607,
      "grad_norm": 0.3520647883415222,
      "learning_rate": 4.50992708672715e-07,
      "loss": 0.0351,
      "step": 13123
    },
    {
      "epoch": 2.944357190935607,
      "gripper_loss": 0.0052490234375,
      "loss": 0.04345703125,
      "pos_loss": 0.30078125,
      "rot_loss": 0.1435546875,
      "step": 13123
    },
    {
      "epoch": 2.944581557101189,
      "grad_norm": 0.25715598464012146,
      "learning_rate": 4.473640863597861e-07,
      "loss": 0.0331,
      "step": 13124
    },
    {
      "epoch": 2.944581557101189,
      "gripper_loss": 0.1201171875,
      "loss": 0.03515625,
      "pos_loss": 0.26171875,
      "rot_loss": 0.052001953125,
      "step": 13124
    },
    {
      "epoch": 2.944805923266771,
      "grad_norm": 0.294406533241272,
      "learning_rate": 4.437501076828276e-07,
      "loss": 0.0408,
      "step": 13125
    },
    {
      "epoch": 2.944805923266771,
      "gripper_loss": 0.248046875,
      "loss": 0.0517578125,
      "pos_loss": 0.150390625,
      "rot_loss": 0.30078125,
      "step": 13125
    },
    {
      "epoch": 2.9450302894323537,
      "grad_norm": 0.7997913360595703,
      "learning_rate": 4.4015077285389225e-07,
      "loss": 0.0469,
      "step": 13126
    },
    {
      "epoch": 2.9450302894323537,
      "gripper_loss": 1.2421875,
      "loss": 0.04150390625,
      "pos_loss": 0.006378173828125,
      "rot_loss": 0.006195068359375,
      "step": 13126
    },
    {
      "epoch": 2.9452546555979358,
      "grad_norm": 0.205770343542099,
      "learning_rate": 4.3656608208422766e-07,
      "loss": 0.0421,
      "step": 13127
    },
    {
      "epoch": 2.9452546555979358,
      "gripper_loss": 0.015625,
      "loss": 0.034912109375,
      "pos_loss": 0.30859375,
      "rot_loss": 0.028564453125,
      "step": 13127
    },
    {
      "epoch": 2.945479021763518,
      "grad_norm": 0.5116885900497437,
      "learning_rate": 4.329960355841378e-07,
      "loss": 0.0684,
      "step": 13128
    },
    {
      "epoch": 2.945479021763518,
      "gripper_loss": 0.0169677734375,
      "loss": 0.030029296875,
      "pos_loss": 0.1708984375,
      "rot_loss": 0.11865234375,
      "step": 13128
    },
    {
      "epoch": 2.9457033879291004,
      "grad_norm": 0.2379681020975113,
      "learning_rate": 4.2944063356314957e-07,
      "loss": 0.0359,
      "step": 13129
    },
    {
      "epoch": 2.9457033879291004,
      "gripper_loss": 0.00909423828125,
      "loss": 0.04345703125,
      "pos_loss": 0.388671875,
      "rot_loss": 0.042724609375,
      "step": 13129
    },
    {
      "epoch": 2.9459277540946824,
      "grad_norm": 0.1931435763835907,
      "learning_rate": 4.2589987622987383e-07,
      "loss": 0.0345,
      "step": 13130
    },
    {
      "epoch": 2.9459277540946824,
      "gripper_loss": 0.00701904296875,
      "loss": 0.0255126953125,
      "pos_loss": 0.216796875,
      "rot_loss": 0.0341796875,
      "step": 13130
    },
    {
      "epoch": 2.9461521202602645,
      "grad_norm": 0.40723931789398193,
      "learning_rate": 4.223737637920888e-07,
      "loss": 0.0301,
      "step": 13131
    },
    {
      "epoch": 2.9461521202602645,
      "gripper_loss": 0.043701171875,
      "loss": 0.00909423828125,
      "pos_loss": 0.043701171875,
      "rot_loss": 0.0177001953125,
      "step": 13131
    },
    {
      "epoch": 2.946376486425847,
      "grad_norm": 0.23745281994342804,
      "learning_rate": 4.188622964566846e-07,
      "loss": 0.0358,
      "step": 13132
    },
    {
      "epoch": 2.946376486425847,
      "gripper_loss": 0.006500244140625,
      "loss": 0.037109375,
      "pos_loss": 0.3203125,
      "rot_loss": 0.048828125,
      "step": 13132
    },
    {
      "epoch": 2.946600852591429,
      "grad_norm": 0.17712068557739258,
      "learning_rate": 4.153654744297186e-07,
      "loss": 0.0232,
      "step": 13133
    },
    {
      "epoch": 2.946600852591429,
      "gripper_loss": 0.010498046875,
      "loss": 0.06396484375,
      "pos_loss": 0.37890625,
      "rot_loss": 0.275390625,
      "step": 13133
    },
    {
      "epoch": 2.946825218757011,
      "grad_norm": 0.44839635491371155,
      "learning_rate": 4.1188329791641554e-07,
      "loss": 0.0459,
      "step": 13134
    },
    {
      "epoch": 2.946825218757011,
      "gripper_loss": 0.0103759765625,
      "loss": 0.04345703125,
      "pos_loss": 0.37890625,
      "rot_loss": 0.06201171875,
      "step": 13134
    },
    {
      "epoch": 2.9470495849225937,
      "grad_norm": 0.584889829158783,
      "learning_rate": 4.084157671210842e-07,
      "loss": 0.0457,
      "step": 13135
    },
    {
      "epoch": 2.9470495849225937,
      "gripper_loss": 0.00775146484375,
      "loss": 0.04931640625,
      "pos_loss": 0.2890625,
      "rot_loss": 0.2109375,
      "step": 13135
    },
    {
      "epoch": 2.947273951088176,
      "grad_norm": 0.23773077130317688,
      "learning_rate": 4.049628822471729e-07,
      "loss": 0.0459,
      "step": 13136
    },
    {
      "epoch": 2.947273951088176,
      "gripper_loss": 0.00640869140625,
      "loss": 0.05029296875,
      "pos_loss": 0.4921875,
      "rot_loss": 0.0216064453125,
      "step": 13136
    },
    {
      "epoch": 2.947498317253758,
      "grad_norm": 0.4078179597854614,
      "learning_rate": 4.015246434973252e-07,
      "loss": 0.0511,
      "step": 13137
    },
    {
      "epoch": 2.947498317253758,
      "gripper_loss": 0.00567626953125,
      "loss": 0.059326171875,
      "pos_loss": 0.6015625,
      "rot_loss": 0.00732421875,
      "step": 13137
    },
    {
      "epoch": 2.9477226834193404,
      "grad_norm": 0.6646941900253296,
      "learning_rate": 3.9810105107332404e-07,
      "loss": 0.0702,
      "step": 13138
    },
    {
      "epoch": 2.9477226834193404,
      "gripper_loss": 0.28515625,
      "loss": 0.09228515625,
      "pos_loss": 0.3125,
      "rot_loss": 0.54296875,
      "step": 13138
    },
    {
      "epoch": 2.9479470495849225,
      "grad_norm": 0.42685040831565857,
      "learning_rate": 3.9469210517600885e-07,
      "loss": 0.0568,
      "step": 13139
    },
    {
      "epoch": 2.9479470495849225,
      "gripper_loss": 0.00714111328125,
      "loss": 0.049560546875,
      "pos_loss": 0.3671875,
      "rot_loss": 0.138671875,
      "step": 13139
    },
    {
      "epoch": 2.9481714157505046,
      "grad_norm": 0.35416409373283386,
      "learning_rate": 3.9129780600541397e-07,
      "loss": 0.0594,
      "step": 13140
    },
    {
      "epoch": 2.9481714157505046,
      "gripper_loss": 0.059326171875,
      "loss": 0.033935546875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.0166015625,
      "step": 13140
    },
    {
      "epoch": 2.948395781916087,
      "grad_norm": 0.29122790694236755,
      "learning_rate": 3.87918153760769e-07,
      "loss": 0.0356,
      "step": 13141
    },
    {
      "epoch": 2.948395781916087,
      "gripper_loss": 0.004302978515625,
      "loss": 0.017333984375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.03662109375,
      "step": 13141
    },
    {
      "epoch": 2.948620148081669,
      "grad_norm": 0.22315531969070435,
      "learning_rate": 3.84553148640332e-07,
      "loss": 0.0418,
      "step": 13142
    },
    {
      "epoch": 2.948620148081669,
      "gripper_loss": 0.0322265625,
      "loss": 0.006500244140625,
      "pos_loss": 0.022216796875,
      "rot_loss": 0.01116943359375,
      "step": 13142
    },
    {
      "epoch": 2.9488445142472512,
      "grad_norm": 0.4533350467681885,
      "learning_rate": 3.812027908416116e-07,
      "loss": 0.0463,
      "step": 13143
    },
    {
      "epoch": 2.9488445142472512,
      "gripper_loss": 0.2138671875,
      "loss": 0.044921875,
      "pos_loss": 0.345703125,
      "rot_loss": 0.036865234375,
      "step": 13143
    },
    {
      "epoch": 2.9490688804128338,
      "grad_norm": 0.3500874638557434,
      "learning_rate": 3.778670805611728e-07,
      "loss": 0.0517,
      "step": 13144
    },
    {
      "epoch": 2.9490688804128338,
      "gripper_loss": 0.006317138671875,
      "loss": 0.03662109375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.06591796875,
      "step": 13144
    },
    {
      "epoch": 2.949293246578416,
      "grad_norm": 0.876570463180542,
      "learning_rate": 3.7454601799477575e-07,
      "loss": 0.053,
      "step": 13145
    },
    {
      "epoch": 2.949293246578416,
      "gripper_loss": 0.0115966796875,
      "loss": 0.03857421875,
      "pos_loss": 0.341796875,
      "rot_loss": 0.04443359375,
      "step": 13145
    },
    {
      "epoch": 2.949517612743998,
      "grad_norm": 0.5942181348800659,
      "learning_rate": 3.7123960333726446e-07,
      "loss": 0.049,
      "step": 13146
    },
    {
      "epoch": 2.949517612743998,
      "gripper_loss": 0.275390625,
      "loss": 0.0859375,
      "pos_loss": 0.3671875,
      "rot_loss": 0.396484375,
      "step": 13146
    },
    {
      "epoch": 2.9497419789095805,
      "grad_norm": 0.418506920337677,
      "learning_rate": 3.679478367826783e-07,
      "loss": 0.062,
      "step": 13147
    },
    {
      "epoch": 2.9497419789095805,
      "gripper_loss": 0.69921875,
      "loss": 0.0419921875,
      "pos_loss": 0.134765625,
      "rot_loss": 0.064453125,
      "step": 13147
    },
    {
      "epoch": 2.9499663450751625,
      "grad_norm": 0.2890165150165558,
      "learning_rate": 3.64670718524196e-07,
      "loss": 0.0467,
      "step": 13148
    },
    {
      "epoch": 2.9499663450751625,
      "gripper_loss": 0.26171875,
      "loss": 0.039306640625,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.130859375,
      "step": 13148
    },
    {
      "epoch": 2.950190711240745,
      "grad_norm": 0.20306548476219177,
      "learning_rate": 3.614082487540804e-07,
      "loss": 0.0294,
      "step": 13149
    },
    {
      "epoch": 2.950190711240745,
      "gripper_loss": 0.0296630859375,
      "loss": 0.00799560546875,
      "pos_loss": 0.02490234375,
      "rot_loss": 0.0277099609375,
      "step": 13149
    },
    {
      "epoch": 2.950415077406327,
      "grad_norm": 0.1820407211780548,
      "learning_rate": 3.5816042766378953e-07,
      "loss": 0.0247,
      "step": 13150
    },
    {
      "epoch": 2.950415077406327,
      "gripper_loss": 0.0693359375,
      "loss": 0.0159912109375,
      "pos_loss": 0.1171875,
      "rot_loss": 0.0157470703125,
      "step": 13150
    },
    {
      "epoch": 2.950639443571909,
      "grad_norm": 0.22221283614635468,
      "learning_rate": 3.5492725544389313e-07,
      "loss": 0.0337,
      "step": 13151
    },
    {
      "epoch": 2.950639443571909,
      "gripper_loss": 0.01385498046875,
      "loss": 0.01275634765625,
      "pos_loss": 0.07666015625,
      "rot_loss": 0.035888671875,
      "step": 13151
    },
    {
      "epoch": 2.9508638097374917,
      "grad_norm": 0.14830535650253296,
      "learning_rate": 3.517087322841561e-07,
      "loss": 0.023,
      "step": 13152
    },
    {
      "epoch": 2.9508638097374917,
      "gripper_loss": 0.00830078125,
      "loss": 0.03955078125,
      "pos_loss": 0.34375,
      "rot_loss": 0.056396484375,
      "step": 13152
    },
    {
      "epoch": 2.951088175903074,
      "grad_norm": 0.4834904372692108,
      "learning_rate": 3.485048583733719e-07,
      "loss": 0.0342,
      "step": 13153
    },
    {
      "epoch": 2.951088175903074,
      "gripper_loss": 0.88671875,
      "loss": 0.038330078125,
      "pos_loss": 0.072265625,
      "rot_loss": 0.022705078125,
      "step": 13153
    },
    {
      "epoch": 2.951312542068656,
      "grad_norm": 0.3918655812740326,
      "learning_rate": 3.4531563389961216e-07,
      "loss": 0.0393,
      "step": 13154
    },
    {
      "epoch": 2.951312542068656,
      "gripper_loss": 0.005828857421875,
      "loss": 0.025146484375,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.1484375,
      "step": 13154
    },
    {
      "epoch": 2.9515369082342384,
      "grad_norm": 0.6269165277481079,
      "learning_rate": 3.4214105904994963e-07,
      "loss": 0.0532,
      "step": 13155
    },
    {
      "epoch": 2.9515369082342384,
      "gripper_loss": 0.0159912109375,
      "loss": 0.03955078125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.10791015625,
      "step": 13155
    },
    {
      "epoch": 2.9517612743998205,
      "grad_norm": 0.22702813148498535,
      "learning_rate": 3.3898113401073516e-07,
      "loss": 0.0426,
      "step": 13156
    },
    {
      "epoch": 2.9517612743998205,
      "gripper_loss": 0.0037994384765625,
      "loss": 0.06298828125,
      "pos_loss": 0.625,
      "rot_loss": 0.0242919921875,
      "step": 13156
    },
    {
      "epoch": 2.9519856405654026,
      "grad_norm": 0.1983192414045334,
      "learning_rate": 3.358358589673205e-07,
      "loss": 0.0324,
      "step": 13157
    },
    {
      "epoch": 2.9519856405654026,
      "gripper_loss": 0.34765625,
      "loss": 0.0269775390625,
      "pos_loss": 0.126953125,
      "rot_loss": 0.025634765625,
      "step": 13157
    },
    {
      "epoch": 2.952210006730985,
      "grad_norm": 0.2354237288236618,
      "learning_rate": 3.327052341043357e-07,
      "loss": 0.0326,
      "step": 13158
    },
    {
      "epoch": 2.952210006730985,
      "gripper_loss": 0.009765625,
      "loss": 0.034912109375,
      "pos_loss": 0.244140625,
      "rot_loss": 0.10400390625,
      "step": 13158
    },
    {
      "epoch": 2.952434372896567,
      "grad_norm": 0.34607747197151184,
      "learning_rate": 3.295892596054395e-07,
      "loss": 0.0283,
      "step": 13159
    },
    {
      "epoch": 2.952434372896567,
      "gripper_loss": 0.007049560546875,
      "loss": 0.0546875,
      "pos_loss": 0.478515625,
      "rot_loss": 0.08642578125,
      "step": 13159
    },
    {
      "epoch": 2.9526587390621493,
      "grad_norm": 0.25882819294929504,
      "learning_rate": 3.264879356535133e-07,
      "loss": 0.0501,
      "step": 13160
    },
    {
      "epoch": 2.9526587390621493,
      "gripper_loss": 0.06591796875,
      "loss": 0.0908203125,
      "pos_loss": 0.640625,
      "rot_loss": 0.2314453125,
      "step": 13160
    },
    {
      "epoch": 2.952883105227732,
      "grad_norm": 0.4333202540874481,
      "learning_rate": 3.2340126243049494e-07,
      "loss": 0.0603,
      "step": 13161
    },
    {
      "epoch": 2.952883105227732,
      "gripper_loss": 0.00482177734375,
      "loss": 0.02685546875,
      "pos_loss": 0.25,
      "rot_loss": 0.0172119140625,
      "step": 13161
    },
    {
      "epoch": 2.953107471393314,
      "grad_norm": 0.355172723531723,
      "learning_rate": 3.2032924011754504e-07,
      "loss": 0.0512,
      "step": 13162
    },
    {
      "epoch": 2.953107471393314,
      "gripper_loss": 0.00537109375,
      "loss": 0.0380859375,
      "pos_loss": 0.30859375,
      "rot_loss": 0.0771484375,
      "step": 13162
    },
    {
      "epoch": 2.9533318375588964,
      "grad_norm": 0.3953448534011841,
      "learning_rate": 3.1727186889490834e-07,
      "loss": 0.0376,
      "step": 13163
    },
    {
      "epoch": 2.9533318375588964,
      "gripper_loss": 0.007568359375,
      "loss": 0.00927734375,
      "pos_loss": 0.052734375,
      "rot_loss": 0.0264892578125,
      "step": 13163
    },
    {
      "epoch": 2.9535562037244785,
      "grad_norm": 0.20853792130947113,
      "learning_rate": 3.142291489420246e-07,
      "loss": 0.0386,
      "step": 13164
    },
    {
      "epoch": 2.9535562037244785,
      "gripper_loss": 0.134765625,
      "loss": 0.03466796875,
      "pos_loss": 0.01226806640625,
      "rot_loss": 0.287109375,
      "step": 13164
    },
    {
      "epoch": 2.9537805698900605,
      "grad_norm": 0.4304388463497162,
      "learning_rate": 3.112010804373899e-07,
      "loss": 0.0372,
      "step": 13165
    },
    {
      "epoch": 2.9537805698900605,
      "gripper_loss": 0.0208740234375,
      "loss": 0.0093994140625,
      "pos_loss": 0.046630859375,
      "rot_loss": 0.023681640625,
      "step": 13165
    },
    {
      "epoch": 2.954004936055643,
      "grad_norm": 0.1814064383506775,
      "learning_rate": 3.081876635587233e-07,
      "loss": 0.0293,
      "step": 13166
    },
    {
      "epoch": 2.954004936055643,
      "gripper_loss": 0.2080078125,
      "loss": 0.04296875,
      "pos_loss": 0.267578125,
      "rot_loss": 0.0986328125,
      "step": 13166
    },
    {
      "epoch": 2.954229302221225,
      "grad_norm": 0.284496933221817,
      "learning_rate": 3.051888984828277e-07,
      "loss": 0.0274,
      "step": 13167
    },
    {
      "epoch": 2.954229302221225,
      "gripper_loss": 0.34765625,
      "loss": 0.025146484375,
      "pos_loss": 0.12060546875,
      "rot_loss": 0.009521484375,
      "step": 13167
    },
    {
      "epoch": 2.9544536683868072,
      "grad_norm": 0.2283547818660736,
      "learning_rate": 3.022047853857013e-07,
      "loss": 0.0324,
      "step": 13168
    },
    {
      "epoch": 2.9544536683868072,
      "gripper_loss": 0.03369140625,
      "loss": 0.058349609375,
      "pos_loss": 0.310546875,
      "rot_loss": 0.265625,
      "step": 13168
    },
    {
      "epoch": 2.9546780345523898,
      "grad_norm": 0.29660025238990784,
      "learning_rate": 2.9923532444242617e-07,
      "loss": 0.0517,
      "step": 13169
    },
    {
      "epoch": 2.9546780345523898,
      "gripper_loss": 0.302734375,
      "loss": 0.023681640625,
      "pos_loss": 0.11767578125,
      "rot_loss": 0.01318359375,
      "step": 13169
    },
    {
      "epoch": 2.954902400717972,
      "grad_norm": 0.27318260073661804,
      "learning_rate": 2.962805158272519e-07,
      "loss": 0.0468,
      "step": 13170
    },
    {
      "epoch": 2.954902400717972,
      "gripper_loss": 0.03369140625,
      "loss": 0.015869140625,
      "pos_loss": 0.0849609375,
      "rot_loss": 0.0517578125,
      "step": 13170
    },
    {
      "epoch": 2.955126766883554,
      "grad_norm": 0.210176020860672,
      "learning_rate": 2.9334035971356754e-07,
      "loss": 0.0325,
      "step": 13171
    },
    {
      "epoch": 2.955126766883554,
      "gripper_loss": 0.026123046875,
      "loss": 0.0281982421875,
      "pos_loss": 0.251953125,
      "rot_loss": 0.02099609375,
      "step": 13171
    },
    {
      "epoch": 2.9553511330491364,
      "grad_norm": 0.3058163821697235,
      "learning_rate": 2.9041485627390177e-07,
      "loss": 0.0464,
      "step": 13172
    },
    {
      "epoch": 2.9553511330491364,
      "gripper_loss": 0.39453125,
      "loss": 0.0174560546875,
      "pos_loss": 0.0272216796875,
      "rot_loss": 0.008544921875,
      "step": 13172
    },
    {
      "epoch": 2.9555754992147185,
      "grad_norm": 0.3541431128978729,
      "learning_rate": 2.8750400567992274e-07,
      "loss": 0.0464,
      "step": 13173
    },
    {
      "epoch": 2.9555754992147185,
      "gripper_loss": 0.01092529296875,
      "loss": 0.037841796875,
      "pos_loss": 0.2431640625,
      "rot_loss": 0.1298828125,
      "step": 13173
    },
    {
      "epoch": 2.9557998653803006,
      "grad_norm": 0.2477864772081375,
      "learning_rate": 2.846078081024106e-07,
      "loss": 0.0514,
      "step": 13174
    },
    {
      "epoch": 2.9557998653803006,
      "gripper_loss": 0.12060546875,
      "loss": 0.017578125,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.033935546875,
      "step": 13174
    },
    {
      "epoch": 2.956024231545883,
      "grad_norm": 0.34638136625289917,
      "learning_rate": 2.817262637113682e-07,
      "loss": 0.0332,
      "step": 13175
    },
    {
      "epoch": 2.956024231545883,
      "gripper_loss": 0.0162353515625,
      "loss": 0.07275390625,
      "pos_loss": 0.63671875,
      "rot_loss": 0.111328125,
      "step": 13175
    },
    {
      "epoch": 2.956248597711465,
      "grad_norm": 0.3839211165904999,
      "learning_rate": 2.7885937267585484e-07,
      "loss": 0.0452,
      "step": 13176
    },
    {
      "epoch": 2.956248597711465,
      "gripper_loss": 0.03759765625,
      "loss": 0.0289306640625,
      "pos_loss": 0.2216796875,
      "rot_loss": 0.052978515625,
      "step": 13176
    },
    {
      "epoch": 2.9564729638770473,
      "grad_norm": 0.15727545320987701,
      "learning_rate": 2.7600713516409694e-07,
      "loss": 0.0215,
      "step": 13177
    },
    {
      "epoch": 2.9564729638770473,
      "gripper_loss": 0.034423828125,
      "loss": 0.033447265625,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.10009765625,
      "step": 13177
    },
    {
      "epoch": 2.95669733004263,
      "grad_norm": 0.2854340374469757,
      "learning_rate": 2.731695513434329e-07,
      "loss": 0.0407,
      "step": 13178
    },
    {
      "epoch": 2.95669733004263,
      "gripper_loss": 0.006195068359375,
      "loss": 0.044677734375,
      "pos_loss": 0.34765625,
      "rot_loss": 0.103515625,
      "step": 13178
    },
    {
      "epoch": 2.956921696208212,
      "grad_norm": 0.26316964626312256,
      "learning_rate": 2.70346621380424e-07,
      "loss": 0.0324,
      "step": 13179
    },
    {
      "epoch": 2.956921696208212,
      "gripper_loss": 0.0751953125,
      "loss": 0.041015625,
      "pos_loss": 0.138671875,
      "rot_loss": 0.251953125,
      "step": 13179
    },
    {
      "epoch": 2.957146062373794,
      "grad_norm": 0.7162874341011047,
      "learning_rate": 2.675383454406877e-07,
      "loss": 0.0465,
      "step": 13180
    },
    {
      "epoch": 2.957146062373794,
      "gripper_loss": 0.65234375,
      "loss": 0.0291748046875,
      "pos_loss": 0.0137939453125,
      "rot_loss": 0.054931640625,
      "step": 13180
    },
    {
      "epoch": 2.9573704285393765,
      "grad_norm": 0.1686328500509262,
      "learning_rate": 2.647447236890366e-07,
      "loss": 0.0252,
      "step": 13181
    },
    {
      "epoch": 2.9573704285393765,
      "gripper_loss": 0.07861328125,
      "loss": 0.018310546875,
      "pos_loss": 0.142578125,
      "rot_loss": 0.00653076171875,
      "step": 13181
    },
    {
      "epoch": 2.9575947947049586,
      "grad_norm": 0.25375649333000183,
      "learning_rate": 2.619657562893674e-07,
      "loss": 0.0354,
      "step": 13182
    },
    {
      "epoch": 2.9575947947049586,
      "gripper_loss": 0.4140625,
      "loss": 0.0260009765625,
      "pos_loss": 0.031982421875,
      "rot_loss": 0.08935546875,
      "step": 13182
    },
    {
      "epoch": 2.9578191608705406,
      "grad_norm": 0.19124186038970947,
      "learning_rate": 2.5920144340474404e-07,
      "loss": 0.0396,
      "step": 13183
    },
    {
      "epoch": 2.9578191608705406,
      "gripper_loss": 1.6796875,
      "loss": 0.07177734375,
      "pos_loss": 0.1513671875,
      "rot_loss": 0.029296875,
      "step": 13183
    },
    {
      "epoch": 2.958043527036123,
      "grad_norm": 0.2690095007419586,
      "learning_rate": 2.564517851974257e-07,
      "loss": 0.0387,
      "step": 13184
    },
    {
      "epoch": 2.958043527036123,
      "gripper_loss": 0.11328125,
      "loss": 0.01531982421875,
      "pos_loss": 0.059814453125,
      "rot_loss": 0.044921875,
      "step": 13184
    },
    {
      "epoch": 2.9582678932017052,
      "grad_norm": 0.2749575674533844,
      "learning_rate": 2.537167818287278e-07,
      "loss": 0.033,
      "step": 13185
    },
    {
      "epoch": 2.9582678932017052,
      "gripper_loss": 0.007568359375,
      "loss": 0.03857421875,
      "pos_loss": 0.37890625,
      "rot_loss": 0.01092529296875,
      "step": 13185
    },
    {
      "epoch": 2.9584922593672873,
      "grad_norm": 0.32090437412261963,
      "learning_rate": 2.5099643345913303e-07,
      "loss": 0.0317,
      "step": 13186
    },
    {
      "epoch": 2.9584922593672873,
      "gripper_loss": 0.01043701171875,
      "loss": 0.072265625,
      "pos_loss": 0.56640625,
      "rot_loss": 0.1826171875,
      "step": 13186
    },
    {
      "epoch": 2.95871662553287,
      "grad_norm": 0.5381993055343628,
      "learning_rate": 2.482907402482637e-07,
      "loss": 0.0714,
      "step": 13187
    },
    {
      "epoch": 2.95871662553287,
      "gripper_loss": 0.01318359375,
      "loss": 0.040283203125,
      "pos_loss": 0.34375,
      "rot_loss": 0.060546875,
      "step": 13187
    },
    {
      "epoch": 2.958940991698452,
      "grad_norm": 0.4081462621688843,
      "learning_rate": 2.4559970235490946e-07,
      "loss": 0.0518,
      "step": 13188
    },
    {
      "epoch": 2.958940991698452,
      "gripper_loss": 0.09423828125,
      "loss": 0.02294921875,
      "pos_loss": 0.115234375,
      "rot_loss": 0.072265625,
      "step": 13188
    },
    {
      "epoch": 2.959165357864034,
      "grad_norm": 0.21126089990139008,
      "learning_rate": 2.429233199369996e-07,
      "loss": 0.0334,
      "step": 13189
    },
    {
      "epoch": 2.959165357864034,
      "gripper_loss": 0.2734375,
      "loss": 0.036865234375,
      "pos_loss": 0.0625,
      "rot_loss": 0.2197265625,
      "step": 13189
    },
    {
      "epoch": 2.9593897240296165,
      "grad_norm": 0.27296459674835205,
      "learning_rate": 2.402615931515195e-07,
      "loss": 0.0389,
      "step": 13190
    },
    {
      "epoch": 2.9593897240296165,
      "gripper_loss": 0.07421875,
      "loss": 0.019287109375,
      "pos_loss": 0.12255859375,
      "rot_loss": 0.0380859375,
      "step": 13190
    },
    {
      "epoch": 2.9596140901951986,
      "grad_norm": 0.182670459151268,
      "learning_rate": 2.376145221547332e-07,
      "loss": 0.0318,
      "step": 13191
    },
    {
      "epoch": 2.9596140901951986,
      "gripper_loss": 0.2265625,
      "loss": 0.0634765625,
      "pos_loss": 0.462890625,
      "rot_loss": 0.119140625,
      "step": 13191
    },
    {
      "epoch": 2.9598384563607807,
      "grad_norm": 0.6011930704116821,
      "learning_rate": 2.3498210710190537e-07,
      "loss": 0.0445,
      "step": 13192
    },
    {
      "epoch": 2.9598384563607807,
      "gripper_loss": 0.068359375,
      "loss": 0.11279296875,
      "pos_loss": 0.76171875,
      "rot_loss": 0.3125,
      "step": 13192
    },
    {
      "epoch": 2.960062822526363,
      "grad_norm": 0.4831691086292267,
      "learning_rate": 2.323643481475235e-07,
      "loss": 0.0858,
      "step": 13193
    },
    {
      "epoch": 2.960062822526363,
      "gripper_loss": 0.0177001953125,
      "loss": 0.2158203125,
      "pos_loss": 2.25,
      "rot_loss": 0.0186767578125,
      "step": 13193
    },
    {
      "epoch": 2.9602871886919453,
      "grad_norm": 0.3015478849411011,
      "learning_rate": 2.297612454452147e-07,
      "loss": 0.0639,
      "step": 13194
    },
    {
      "epoch": 2.9602871886919453,
      "gripper_loss": 0.13671875,
      "loss": 0.009033203125,
      "pos_loss": 0.0181884765625,
      "rot_loss": 0.00982666015625,
      "step": 13194
    },
    {
      "epoch": 2.9605115548575274,
      "grad_norm": 0.411540687084198,
      "learning_rate": 2.2717279914771794e-07,
      "loss": 0.0304,
      "step": 13195
    },
    {
      "epoch": 2.9605115548575274,
      "gripper_loss": 0.2578125,
      "loss": 0.031982421875,
      "pos_loss": 0.228515625,
      "rot_loss": 0.00787353515625,
      "step": 13195
    },
    {
      "epoch": 2.96073592102311,
      "grad_norm": 0.3167884647846222,
      "learning_rate": 2.2459900940691168e-07,
      "loss": 0.0446,
      "step": 13196
    },
    {
      "epoch": 2.96073592102311,
      "gripper_loss": 0.00885009765625,
      "loss": 0.0201416015625,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.05224609375,
      "step": 13196
    },
    {
      "epoch": 2.960960287188692,
      "grad_norm": 0.3990563452243805,
      "learning_rate": 2.2203987637384182e-07,
      "loss": 0.0314,
      "step": 13197
    },
    {
      "epoch": 2.960960287188692,
      "gripper_loss": 0.158203125,
      "loss": 0.0115966796875,
      "pos_loss": 0.014404296875,
      "rot_loss": 0.035888671875,
      "step": 13197
    },
    {
      "epoch": 2.961184653354274,
      "grad_norm": 0.2626461386680603,
      "learning_rate": 2.1949540019869375e-07,
      "loss": 0.0437,
      "step": 13198
    },
    {
      "epoch": 2.961184653354274,
      "gripper_loss": 0.01556396484375,
      "loss": 0.0198974609375,
      "pos_loss": 0.115234375,
      "rot_loss": 0.0751953125,
      "step": 13198
    },
    {
      "epoch": 2.9614090195198566,
      "grad_norm": 0.652480959892273,
      "learning_rate": 2.1696558103073695e-07,
      "loss": 0.0555,
      "step": 13199
    },
    {
      "epoch": 2.9614090195198566,
      "gripper_loss": 0.072265625,
      "loss": 0.0478515625,
      "pos_loss": 0.404296875,
      "rot_loss": 0.0654296875,
      "step": 13199
    },
    {
      "epoch": 2.9616333856854387,
      "grad_norm": 0.2639095187187195,
      "learning_rate": 2.1445041901840823e-07,
      "loss": 0.0446,
      "step": 13200
    },
    {
      "epoch": 2.9616333856854387,
      "gripper_loss": 0.003326416015625,
      "loss": 0.0286865234375,
      "pos_loss": 0.27734375,
      "rot_loss": 0.005828857421875,
      "step": 13200
    },
    {
      "epoch": 2.9618577518510207,
      "grad_norm": 0.37429535388946533,
      "learning_rate": 2.1194991430933952e-07,
      "loss": 0.0404,
      "step": 13201
    },
    {
      "epoch": 2.9618577518510207,
      "gripper_loss": 0.00372314453125,
      "loss": 0.038818359375,
      "pos_loss": 0.376953125,
      "rot_loss": 0.01336669921875,
      "step": 13201
    },
    {
      "epoch": 2.9620821180166033,
      "grad_norm": 0.30578553676605225,
      "learning_rate": 2.0946406705027454e-07,
      "loss": 0.0443,
      "step": 13202
    },
    {
      "epoch": 2.9620821180166033,
      "gripper_loss": 0.00897216796875,
      "loss": 0.05224609375,
      "pos_loss": 0.466796875,
      "rot_loss": 0.06689453125,
      "step": 13202
    },
    {
      "epoch": 2.9623064841821853,
      "grad_norm": 0.32671353220939636,
      "learning_rate": 2.0699287738701333e-07,
      "loss": 0.0347,
      "step": 13203
    },
    {
      "epoch": 2.9623064841821853,
      "gripper_loss": 0.12890625,
      "loss": 0.037841796875,
      "pos_loss": 0.2265625,
      "rot_loss": 0.11083984375,
      "step": 13203
    },
    {
      "epoch": 2.9625308503477674,
      "grad_norm": 0.7413438558578491,
      "learning_rate": 2.0453634546460653e-07,
      "loss": 0.0547,
      "step": 13204
    },
    {
      "epoch": 2.9625308503477674,
      "gripper_loss": 0.005462646484375,
      "loss": 0.0732421875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.1806640625,
      "step": 13204
    },
    {
      "epoch": 2.96275521651335,
      "grad_norm": 0.2944917380809784,
      "learning_rate": 2.0209447142718884e-07,
      "loss": 0.0453,
      "step": 13205
    },
    {
      "epoch": 2.96275521651335,
      "gripper_loss": 0.220703125,
      "loss": 0.05517578125,
      "pos_loss": 0.12353515625,
      "rot_loss": 0.369140625,
      "step": 13205
    },
    {
      "epoch": 2.962979582678932,
      "grad_norm": 0.22931423783302307,
      "learning_rate": 1.996672554180623e-07,
      "loss": 0.0382,
      "step": 13206
    },
    {
      "epoch": 2.962979582678932,
      "gripper_loss": 0.166015625,
      "loss": 0.0712890625,
      "pos_loss": 0.50390625,
      "rot_loss": 0.181640625,
      "step": 13206
    },
    {
      "epoch": 2.963203948844514,
      "grad_norm": 0.7025761604309082,
      "learning_rate": 1.9725469757966852e-07,
      "loss": 0.0665,
      "step": 13207
    },
    {
      "epoch": 2.963203948844514,
      "gripper_loss": 0.002777099609375,
      "loss": 0.12451171875,
      "pos_loss": 1.296875,
      "rot_loss": 0.00775146484375,
      "step": 13207
    },
    {
      "epoch": 2.9634283150100966,
      "grad_norm": 0.9135597944259644,
      "learning_rate": 1.948567980535332e-07,
      "loss": 0.0416,
      "step": 13208
    },
    {
      "epoch": 2.9634283150100966,
      "gripper_loss": 0.0093994140625,
      "loss": 0.0166015625,
      "pos_loss": 0.0947265625,
      "rot_loss": 0.055908203125,
      "step": 13208
    },
    {
      "epoch": 2.9636526811756787,
      "grad_norm": 0.15102505683898926,
      "learning_rate": 1.924735569804048e-07,
      "loss": 0.0276,
      "step": 13209
    },
    {
      "epoch": 2.9636526811756787,
      "gripper_loss": 0.54296875,
      "loss": 0.341796875,
      "pos_loss": 0.6484375,
      "rot_loss": 0.7109375,
      "step": 13209
    },
    {
      "epoch": 2.963877047341261,
      "grad_norm": 1.115507960319519,
      "learning_rate": 1.9010497450008823e-07,
      "loss": 0.3748,
      "step": 13210
    },
    {
      "epoch": 2.963877047341261,
      "gripper_loss": 0.058349609375,
      "loss": 0.0263671875,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.007476806640625,
      "step": 13210
    },
    {
      "epoch": 2.9641014135068433,
      "grad_norm": 0.4443674087524414,
      "learning_rate": 1.8775105075161113e-07,
      "loss": 0.04,
      "step": 13211
    },
    {
      "epoch": 2.9641014135068433,
      "gripper_loss": 0.005096435546875,
      "loss": 0.0303955078125,
      "pos_loss": 0.287109375,
      "rot_loss": 0.0179443359375,
      "step": 13211
    },
    {
      "epoch": 2.9643257796724254,
      "grad_norm": 0.2243506908416748,
      "learning_rate": 1.8541178587308528e-07,
      "loss": 0.0261,
      "step": 13212
    },
    {
      "epoch": 2.9643257796724254,
      "gripper_loss": 0.04638671875,
      "loss": 0.11474609375,
      "pos_loss": 1.171875,
      "rot_loss": 0.0146484375,
      "step": 13212
    },
    {
      "epoch": 2.9645501458380075,
      "grad_norm": 0.32510650157928467,
      "learning_rate": 1.8308718000176196e-07,
      "loss": 0.0385,
      "step": 13213
    },
    {
      "epoch": 2.9645501458380075,
      "gripper_loss": 1.015625,
      "loss": 0.1005859375,
      "pos_loss": 0.6015625,
      "rot_loss": 0.11328125,
      "step": 13213
    },
    {
      "epoch": 2.96477451200359,
      "grad_norm": 0.40580201148986816,
      "learning_rate": 1.8077723327408758e-07,
      "loss": 0.0335,
      "step": 13214
    },
    {
      "epoch": 2.96477451200359,
      "gripper_loss": 0.045654296875,
      "loss": 0.06298828125,
      "pos_loss": 0.58203125,
      "rot_loss": 0.05419921875,
      "step": 13214
    },
    {
      "epoch": 2.964998878169172,
      "grad_norm": 0.7124562859535217,
      "learning_rate": 1.7848194582556488e-07,
      "loss": 0.0598,
      "step": 13215
    },
    {
      "epoch": 2.964998878169172,
      "gripper_loss": 0.042724609375,
      "loss": 0.05078125,
      "pos_loss": 0.1806640625,
      "rot_loss": 0.279296875,
      "step": 13215
    },
    {
      "epoch": 2.965223244334754,
      "grad_norm": 0.2973301410675049,
      "learning_rate": 1.762013177909194e-07,
      "loss": 0.0523,
      "step": 13216
    },
    {
      "epoch": 2.965223244334754,
      "gripper_loss": 0.0111083984375,
      "loss": 0.028076171875,
      "pos_loss": 0.09765625,
      "rot_loss": 0.173828125,
      "step": 13216
    },
    {
      "epoch": 2.9654476105003367,
      "grad_norm": 0.5843330025672913,
      "learning_rate": 1.7393534930393307e-07,
      "loss": 0.059,
      "step": 13217
    },
    {
      "epoch": 2.9654476105003367,
      "gripper_loss": 0.01544189453125,
      "loss": 0.048583984375,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.298828125,
      "step": 13217
    },
    {
      "epoch": 2.9656719766659188,
      "grad_norm": 0.6634528636932373,
      "learning_rate": 1.7168404049761055e-07,
      "loss": 0.0581,
      "step": 13218
    },
    {
      "epoch": 2.9656719766659188,
      "gripper_loss": 0.6171875,
      "loss": 0.083984375,
      "pos_loss": 0.494140625,
      "rot_loss": 0.17578125,
      "step": 13218
    },
    {
      "epoch": 2.965896342831501,
      "grad_norm": 0.3053896725177765,
      "learning_rate": 1.6944739150404065e-07,
      "loss": 0.0335,
      "step": 13219
    },
    {
      "epoch": 2.965896342831501,
      "gripper_loss": 0.0027313232421875,
      "loss": 0.0419921875,
      "pos_loss": 0.36328125,
      "rot_loss": 0.060302734375,
      "step": 13219
    },
    {
      "epoch": 2.9661207089970834,
      "grad_norm": 0.39799922704696655,
      "learning_rate": 1.6722540245445172e-07,
      "loss": 0.0287,
      "step": 13220
    },
    {
      "epoch": 2.9661207089970834,
      "gripper_loss": 0.007232666015625,
      "loss": 0.0791015625,
      "pos_loss": 0.60546875,
      "rot_loss": 0.21484375,
      "step": 13220
    },
    {
      "epoch": 2.9663450751626654,
      "grad_norm": 0.39079925417900085,
      "learning_rate": 1.6501807347926723e-07,
      "loss": 0.0427,
      "step": 13221
    },
    {
      "epoch": 2.9663450751626654,
      "gripper_loss": 0.005218505859375,
      "loss": 0.046875,
      "pos_loss": 0.384765625,
      "rot_loss": 0.0947265625,
      "step": 13221
    },
    {
      "epoch": 2.9665694413282475,
      "grad_norm": 0.39465153217315674,
      "learning_rate": 1.6282540470799467e-07,
      "loss": 0.0518,
      "step": 13222
    },
    {
      "epoch": 2.9665694413282475,
      "gripper_loss": 0.004791259765625,
      "loss": 0.03173828125,
      "pos_loss": 0.265625,
      "rot_loss": 0.05322265625,
      "step": 13222
    },
    {
      "epoch": 2.96679380749383,
      "grad_norm": 0.15939173102378845,
      "learning_rate": 1.6064739626930891e-07,
      "loss": 0.025,
      "step": 13223
    },
    {
      "epoch": 2.96679380749383,
      "gripper_loss": 0.0034942626953125,
      "loss": 0.04443359375,
      "pos_loss": 0.123046875,
      "rot_loss": 0.328125,
      "step": 13223
    },
    {
      "epoch": 2.967018173659412,
      "grad_norm": 0.47858524322509766,
      "learning_rate": 1.584840482909966e-07,
      "loss": 0.0549,
      "step": 13224
    },
    {
      "epoch": 2.967018173659412,
      "gripper_loss": 0.004364013671875,
      "loss": 0.09765625,
      "pos_loss": 0.333984375,
      "rot_loss": 0.68359375,
      "step": 13224
    },
    {
      "epoch": 2.967242539824994,
      "grad_norm": 0.25297996401786804,
      "learning_rate": 1.56335360899984e-07,
      "loss": 0.0461,
      "step": 13225
    },
    {
      "epoch": 2.967242539824994,
      "gripper_loss": 0.1689453125,
      "loss": 0.04931640625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.14453125,
      "step": 13225
    },
    {
      "epoch": 2.9674669059905767,
      "grad_norm": 0.30044904351234436,
      "learning_rate": 1.5420133422242022e-07,
      "loss": 0.0396,
      "step": 13226
    },
    {
      "epoch": 2.9674669059905767,
      "gripper_loss": 0.0245361328125,
      "loss": 0.0164794921875,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.0419921875,
      "step": 13226
    },
    {
      "epoch": 2.967691272156159,
      "grad_norm": 0.4557785987854004,
      "learning_rate": 1.520819683834551e-07,
      "loss": 0.0527,
      "step": 13227
    },
    {
      "epoch": 2.967691272156159,
      "gripper_loss": 0.003509521484375,
      "loss": 0.041015625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.1337890625,
      "step": 13227
    },
    {
      "epoch": 2.967915638321741,
      "grad_norm": 0.23280654847621918,
      "learning_rate": 1.4997726350751694e-07,
      "loss": 0.0401,
      "step": 13228
    },
    {
      "epoch": 2.967915638321741,
      "gripper_loss": 0.049072265625,
      "loss": 0.08544921875,
      "pos_loss": 0.58203125,
      "rot_loss": 0.28515625,
      "step": 13228
    },
    {
      "epoch": 2.9681400044873234,
      "grad_norm": 0.35409650206565857,
      "learning_rate": 1.4788721971806253e-07,
      "loss": 0.0521,
      "step": 13229
    },
    {
      "epoch": 2.9681400044873234,
      "gripper_loss": 0.046875,
      "loss": 0.0252685546875,
      "pos_loss": 0.154296875,
      "rot_loss": 0.0791015625,
      "step": 13229
    },
    {
      "epoch": 2.9683643706529055,
      "grad_norm": 0.3482203781604767,
      "learning_rate": 1.458118371377437e-07,
      "loss": 0.0487,
      "step": 13230
    },
    {
      "epoch": 2.9683643706529055,
      "gripper_loss": 0.59765625,
      "loss": 0.07568359375,
      "pos_loss": 0.1474609375,
      "rot_loss": 0.443359375,
      "step": 13230
    },
    {
      "epoch": 2.9685887368184876,
      "grad_norm": 0.27763885259628296,
      "learning_rate": 1.43751115888352e-07,
      "loss": 0.0521,
      "step": 13231
    },
    {
      "epoch": 2.9685887368184876,
      "gripper_loss": 0.578125,
      "loss": 0.0303955078125,
      "pos_loss": 0.10498046875,
      "rot_loss": 0.006195068359375,
      "step": 13231
    },
    {
      "epoch": 2.96881310298407,
      "grad_norm": 0.29520174860954285,
      "learning_rate": 1.417050560908184e-07,
      "loss": 0.0398,
      "step": 13232
    },
    {
      "epoch": 2.96881310298407,
      "gripper_loss": 0.00885009765625,
      "loss": 0.0220947265625,
      "pos_loss": 0.14453125,
      "rot_loss": 0.06396484375,
      "step": 13232
    },
    {
      "epoch": 2.969037469149652,
      "grad_norm": 0.23373837769031525,
      "learning_rate": 1.3967365786518583e-07,
      "loss": 0.0354,
      "step": 13233
    },
    {
      "epoch": 2.969037469149652,
      "gripper_loss": 0.037109375,
      "loss": 0.059326171875,
      "pos_loss": 0.57421875,
      "rot_loss": 0.0244140625,
      "step": 13233
    },
    {
      "epoch": 2.9692618353152342,
      "grad_norm": 0.36823657155036926,
      "learning_rate": 1.3765692133066444e-07,
      "loss": 0.0458,
      "step": 13234
    },
    {
      "epoch": 2.9692618353152342,
      "gripper_loss": 0.004058837890625,
      "loss": 0.09521484375,
      "pos_loss": 0.7265625,
      "rot_loss": 0.26953125,
      "step": 13234
    },
    {
      "epoch": 2.9694862014808168,
      "grad_norm": 0.3384281396865845,
      "learning_rate": 1.3565484660557626e-07,
      "loss": 0.0523,
      "step": 13235
    },
    {
      "epoch": 2.9694862014808168,
      "gripper_loss": 0.0093994140625,
      "loss": 0.03466796875,
      "pos_loss": 0.130859375,
      "rot_loss": 0.2138671875,
      "step": 13235
    },
    {
      "epoch": 2.969710567646399,
      "grad_norm": 0.2960188388824463,
      "learning_rate": 1.336674338074384e-07,
      "loss": 0.0327,
      "step": 13236
    },
    {
      "epoch": 2.969710567646399,
      "gripper_loss": 0.10693359375,
      "loss": 0.06787109375,
      "pos_loss": 0.435546875,
      "rot_loss": 0.2255859375,
      "step": 13236
    },
    {
      "epoch": 2.969934933811981,
      "grad_norm": 0.28446540236473083,
      "learning_rate": 1.3169468305285203e-07,
      "loss": 0.0457,
      "step": 13237
    },
    {
      "epoch": 2.969934933811981,
      "gripper_loss": 0.007598876953125,
      "loss": 0.0140380859375,
      "pos_loss": 0.052734375,
      "rot_loss": 0.06884765625,
      "step": 13237
    },
    {
      "epoch": 2.9701592999775634,
      "grad_norm": 0.1956445574760437,
      "learning_rate": 1.2973659445758568e-07,
      "loss": 0.0365,
      "step": 13238
    },
    {
      "epoch": 2.9701592999775634,
      "gripper_loss": 0.07421875,
      "loss": 0.01385498046875,
      "pos_loss": 0.03173828125,
      "rot_loss": 0.07080078125,
      "step": 13238
    },
    {
      "epoch": 2.9703836661431455,
      "grad_norm": 0.22261494398117065,
      "learning_rate": 1.2779316813651965e-07,
      "loss": 0.027,
      "step": 13239
    },
    {
      "epoch": 2.9703836661431455,
      "gripper_loss": 0.029296875,
      "loss": 0.062255859375,
      "pos_loss": 0.56640625,
      "rot_loss": 0.06640625,
      "step": 13239
    },
    {
      "epoch": 2.9706080323087276,
      "grad_norm": 0.45644035935401917,
      "learning_rate": 1.2586440420372935e-07,
      "loss": 0.0475,
      "step": 13240
    },
    {
      "epoch": 2.9706080323087276,
      "gripper_loss": 0.18359375,
      "loss": 0.060302734375,
      "pos_loss": 0.44140625,
      "rot_loss": 0.12060546875,
      "step": 13240
    },
    {
      "epoch": 2.97083239847431,
      "grad_norm": 0.46725359559059143,
      "learning_rate": 1.2395030277234654e-07,
      "loss": 0.0489,
      "step": 13241
    },
    {
      "epoch": 2.97083239847431,
      "gripper_loss": 0.423828125,
      "loss": 0.044921875,
      "pos_loss": 0.220703125,
      "rot_loss": 0.099609375,
      "step": 13241
    },
    {
      "epoch": 2.971056764639892,
      "grad_norm": 0.21167948842048645,
      "learning_rate": 1.22050863954698e-07,
      "loss": 0.0345,
      "step": 13242
    },
    {
      "epoch": 2.971056764639892,
      "gripper_loss": 0.0152587890625,
      "loss": 0.09033203125,
      "pos_loss": 0.5390625,
      "rot_loss": 0.40234375,
      "step": 13242
    },
    {
      "epoch": 2.9712811308054743,
      "grad_norm": 0.3096807301044464,
      "learning_rate": 1.201660878622779e-07,
      "loss": 0.0436,
      "step": 13243
    },
    {
      "epoch": 2.9712811308054743,
      "gripper_loss": 0.0089111328125,
      "loss": 0.033447265625,
      "pos_loss": 0.275390625,
      "rot_loss": 0.057861328125,
      "step": 13243
    },
    {
      "epoch": 2.971505496971057,
      "grad_norm": 0.41275808215141296,
      "learning_rate": 1.1829597460566444e-07,
      "loss": 0.0361,
      "step": 13244
    },
    {
      "epoch": 2.971505496971057,
      "gripper_loss": 0.004913330078125,
      "loss": 0.0250244140625,
      "pos_loss": 0.1943359375,
      "rot_loss": 0.0498046875,
      "step": 13244
    },
    {
      "epoch": 2.971729863136639,
      "grad_norm": 0.2996232807636261,
      "learning_rate": 1.1644052429460317e-07,
      "loss": 0.0343,
      "step": 13245
    },
    {
      "epoch": 2.971729863136639,
      "gripper_loss": 0.0732421875,
      "loss": 0.04296875,
      "pos_loss": 0.06884765625,
      "rot_loss": 0.1240234375,
      "step": 13245
    },
    {
      "epoch": 2.971954229302221,
      "grad_norm": 0.7496415972709656,
      "learning_rate": 1.1459973703795146e-07,
      "loss": 0.0826,
      "step": 13246
    },
    {
      "epoch": 2.971954229302221,
      "gripper_loss": 0.19921875,
      "loss": 0.0576171875,
      "pos_loss": 0.265625,
      "rot_loss": 0.2255859375,
      "step": 13246
    },
    {
      "epoch": 2.9721785954678035,
      "grad_norm": 0.46914729475975037,
      "learning_rate": 1.1277361294373401e-07,
      "loss": 0.0473,
      "step": 13247
    },
    {
      "epoch": 2.9721785954678035,
      "gripper_loss": 0.0693359375,
      "loss": 0.03173828125,
      "pos_loss": 0.25,
      "rot_loss": 0.051513671875,
      "step": 13247
    },
    {
      "epoch": 2.9724029616333856,
      "grad_norm": 0.3763328790664673,
      "learning_rate": 1.1096215211911509e-07,
      "loss": 0.0484,
      "step": 13248
    },
    {
      "epoch": 2.9724029616333856,
      "gripper_loss": 0.0147705078125,
      "loss": 0.016357421875,
      "pos_loss": 0.06787109375,
      "rot_loss": 0.07275390625,
      "step": 13248
    },
    {
      "epoch": 2.9726273277989677,
      "grad_norm": 0.25040870904922485,
      "learning_rate": 1.091653546703708e-07,
      "loss": 0.0419,
      "step": 13249
    },
    {
      "epoch": 2.9726273277989677,
      "gripper_loss": 0.0036468505859375,
      "loss": 0.146484375,
      "pos_loss": 1.515625,
      "rot_loss": 0.02392578125,
      "step": 13249
    },
    {
      "epoch": 2.97285169396455,
      "grad_norm": 0.4181114435195923,
      "learning_rate": 1.0738322070297236e-07,
      "loss": 0.047,
      "step": 13250
    },
    {
      "epoch": 2.97285169396455,
      "gripper_loss": 0.421875,
      "loss": 0.0272216796875,
      "pos_loss": 0.064453125,
      "rot_loss": 0.06787109375,
      "step": 13250
    },
    {
      "epoch": 2.9730760601301323,
      "grad_norm": 0.215229794383049,
      "learning_rate": 1.0561575032144721e-07,
      "loss": 0.0319,
      "step": 13251
    },
    {
      "epoch": 2.9730760601301323,
      "gripper_loss": 0.05712890625,
      "loss": 0.055908203125,
      "pos_loss": 0.52734375,
      "rot_loss": 0.030029296875,
      "step": 13251
    },
    {
      "epoch": 2.9733004262957143,
      "grad_norm": 0.23781554400920868,
      "learning_rate": 1.0386294362954574e-07,
      "loss": 0.0468,
      "step": 13252
    },
    {
      "epoch": 2.9733004262957143,
      "gripper_loss": 0.005645751953125,
      "loss": 0.01019287109375,
      "pos_loss": 0.076171875,
      "rot_loss": 0.0140380859375,
      "step": 13252
    },
    {
      "epoch": 2.973524792461297,
      "grad_norm": 0.21294952929019928,
      "learning_rate": 1.0212480073010232e-07,
      "loss": 0.042,
      "step": 13253
    },
    {
      "epoch": 2.973524792461297,
      "gripper_loss": 0.0037689208984375,
      "loss": 0.10107421875,
      "pos_loss": 0.8515625,
      "rot_loss": 0.1826171875,
      "step": 13253
    },
    {
      "epoch": 2.973749158626879,
      "grad_norm": 0.5726762413978577,
      "learning_rate": 1.004013217251465e-07,
      "loss": 0.0707,
      "step": 13254
    },
    {
      "epoch": 2.973749158626879,
      "gripper_loss": 0.057373046875,
      "loss": 0.1103515625,
      "pos_loss": 0.4921875,
      "rot_loss": 0.58203125,
      "step": 13254
    },
    {
      "epoch": 2.973973524792461,
      "grad_norm": 0.3765861392021179,
      "learning_rate": 9.869250671576402e-08,
      "loss": 0.0686,
      "step": 13255
    },
    {
      "epoch": 2.973973524792461,
      "gripper_loss": 0.0517578125,
      "loss": 0.034912109375,
      "pos_loss": 0.25390625,
      "rot_loss": 0.07470703125,
      "step": 13255
    },
    {
      "epoch": 2.9741978909580435,
      "grad_norm": 0.2706228792667389,
      "learning_rate": 9.699835580223582e-08,
      "loss": 0.0326,
      "step": 13256
    },
    {
      "epoch": 2.9741978909580435,
      "gripper_loss": 0.00897216796875,
      "loss": 0.023193359375,
      "pos_loss": 0.07470703125,
      "rot_loss": 0.1494140625,
      "step": 13256
    },
    {
      "epoch": 2.9744222571236256,
      "grad_norm": 0.2414059042930603,
      "learning_rate": 9.531886908401011e-08,
      "loss": 0.0466,
      "step": 13257
    },
    {
      "epoch": 2.9744222571236256,
      "gripper_loss": 0.00958251953125,
      "loss": 0.046875,
      "pos_loss": 0.421875,
      "rot_loss": 0.055908203125,
      "step": 13257
    },
    {
      "epoch": 2.974646623289208,
      "grad_norm": 0.6093750596046448,
      "learning_rate": 9.365404665959143e-08,
      "loss": 0.0497,
      "step": 13258
    },
    {
      "epoch": 2.974646623289208,
      "gripper_loss": 0.1630859375,
      "loss": 0.0255126953125,
      "pos_loss": 0.1650390625,
      "rot_loss": 0.0301513671875,
      "step": 13258
    },
    {
      "epoch": 2.9748709894547902,
      "grad_norm": 0.30364274978637695,
      "learning_rate": 9.200388862670717e-08,
      "loss": 0.0423,
      "step": 13259
    },
    {
      "epoch": 2.9748709894547902,
      "gripper_loss": 0.015380859375,
      "loss": 0.09619140625,
      "pos_loss": 0.6953125,
      "rot_loss": 0.294921875,
      "step": 13259
    },
    {
      "epoch": 2.9750953556203723,
      "grad_norm": 0.24678711593151093,
      "learning_rate": 9.036839508216877e-08,
      "loss": 0.0417,
      "step": 13260
    },
    {
      "epoch": 2.9750953556203723,
      "gripper_loss": 0.6328125,
      "loss": 0.044921875,
      "pos_loss": 0.177734375,
      "rot_loss": 0.07421875,
      "step": 13260
    },
    {
      "epoch": 2.975319721785955,
      "grad_norm": 0.31144091486930847,
      "learning_rate": 8.8747566121955e-08,
      "loss": 0.0468,
      "step": 13261
    },
    {
      "epoch": 2.975319721785955,
      "gripper_loss": 0.087890625,
      "loss": 0.052978515625,
      "pos_loss": 0.2109375,
      "rot_loss": 0.287109375,
      "step": 13261
    },
    {
      "epoch": 2.975544087951537,
      "grad_norm": 0.2508195638656616,
      "learning_rate": 8.714140184118425e-08,
      "loss": 0.0334,
      "step": 13262
    },
    {
      "epoch": 2.975544087951537,
      "gripper_loss": 0.0283203125,
      "loss": 0.03173828125,
      "pos_loss": 0.220703125,
      "rot_loss": 0.0888671875,
      "step": 13262
    },
    {
      "epoch": 2.975768454117119,
      "grad_norm": 0.273516982793808,
      "learning_rate": 8.55499023340589e-08,
      "loss": 0.0317,
      "step": 13263
    },
    {
      "epoch": 2.975768454117119,
      "gripper_loss": 0.0869140625,
      "loss": 0.11474609375,
      "pos_loss": 0.220703125,
      "rot_loss": 0.455078125,
      "step": 13263
    },
    {
      "epoch": 2.9759928202827015,
      "grad_norm": 1.0400458574295044,
      "learning_rate": 8.397306769403201e-08,
      "loss": 0.1378,
      "step": 13264
    },
    {
      "epoch": 2.9759928202827015,
      "gripper_loss": 0.0047607421875,
      "loss": 0.01300048828125,
      "pos_loss": 0.09619140625,
      "rot_loss": 0.0216064453125,
      "step": 13264
    },
    {
      "epoch": 2.9762171864482836,
      "grad_norm": 0.31257933378219604,
      "learning_rate": 8.241089801358515e-08,
      "loss": 0.0521,
      "step": 13265
    },
    {
      "epoch": 2.9762171864482836,
      "gripper_loss": 0.1611328125,
      "loss": 0.0125732421875,
      "pos_loss": 0.021484375,
      "rot_loss": 0.033203125,
      "step": 13265
    },
    {
      "epoch": 2.9764415526138657,
      "grad_norm": 0.34574151039123535,
      "learning_rate": 8.086339338439497e-08,
      "loss": 0.0399,
      "step": 13266
    },
    {
      "epoch": 2.9764415526138657,
      "gripper_loss": 0.007110595703125,
      "loss": 0.1640625,
      "pos_loss": 1.7109375,
      "rot_loss": 0.0198974609375,
      "step": 13266
    },
    {
      "epoch": 2.976665918779448,
      "grad_norm": 0.40735870599746704,
      "learning_rate": 7.933055389730548e-08,
      "loss": 0.0637,
      "step": 13267
    },
    {
      "epoch": 2.976665918779448,
      "gripper_loss": 0.004150390625,
      "loss": 0.004791259765625,
      "pos_loss": 0.025146484375,
      "rot_loss": 0.005523681640625,
      "step": 13267
    },
    {
      "epoch": 2.9768902849450303,
      "grad_norm": 0.2837201654911041,
      "learning_rate": 7.781237964218923e-08,
      "loss": 0.0348,
      "step": 13268
    },
    {
      "epoch": 2.9768902849450303,
      "gripper_loss": 0.365234375,
      "loss": 0.058349609375,
      "pos_loss": 0.451171875,
      "rot_loss": 0.0283203125,
      "step": 13268
    },
    {
      "epoch": 2.9771146511106124,
      "grad_norm": 0.3202357292175293,
      "learning_rate": 7.630887070819714e-08,
      "loss": 0.0357,
      "step": 13269
    },
    {
      "epoch": 2.9771146511106124,
      "gripper_loss": 0.0069580078125,
      "loss": 0.0390625,
      "pos_loss": 0.373046875,
      "rot_loss": 0.021484375,
      "step": 13269
    },
    {
      "epoch": 2.977339017276195,
      "grad_norm": 0.2148185670375824,
      "learning_rate": 7.482002718353642e-08,
      "loss": 0.0351,
      "step": 13270
    },
    {
      "epoch": 2.977339017276195,
      "gripper_loss": 0.37109375,
      "loss": 0.0289306640625,
      "pos_loss": 0.1201171875,
      "rot_loss": 0.044189453125,
      "step": 13270
    },
    {
      "epoch": 2.977563383441777,
      "grad_norm": 0.26607975363731384,
      "learning_rate": 7.334584915555386e-08,
      "loss": 0.0325,
      "step": 13271
    },
    {
      "epoch": 2.977563383441777,
      "gripper_loss": 0.302734375,
      "loss": 0.1591796875,
      "pos_loss": 0.38671875,
      "rot_loss": 0.486328125,
      "step": 13271
    },
    {
      "epoch": 2.9777877496073595,
      "grad_norm": 1.2827054262161255,
      "learning_rate": 7.188633671079136e-08,
      "loss": 0.1234,
      "step": 13272
    },
    {
      "epoch": 2.9777877496073595,
      "gripper_loss": 0.00323486328125,
      "loss": 0.04931640625,
      "pos_loss": 0.4921875,
      "rot_loss": 0.0135498046875,
      "step": 13272
    },
    {
      "epoch": 2.9780121157729416,
      "grad_norm": 0.3376926779747009,
      "learning_rate": 7.044148993484712e-08,
      "loss": 0.0457,
      "step": 13273
    },
    {
      "epoch": 2.9780121157729416,
      "gripper_loss": 0.008056640625,
      "loss": 0.023681640625,
      "pos_loss": 0.1396484375,
      "rot_loss": 0.0849609375,
      "step": 13273
    },
    {
      "epoch": 2.9782364819385236,
      "grad_norm": 0.46352633833885193,
      "learning_rate": 6.901130891254215e-08,
      "loss": 0.0288,
      "step": 13274
    },
    {
      "epoch": 2.9782364819385236,
      "gripper_loss": 0.291015625,
      "loss": 0.01611328125,
      "pos_loss": 0.025634765625,
      "rot_loss": 0.0299072265625,
      "step": 13274
    },
    {
      "epoch": 2.978460848104106,
      "grad_norm": 0.8870379328727722,
      "learning_rate": 6.759579372778157e-08,
      "loss": 0.0712,
      "step": 13275
    },
    {
      "epoch": 2.978460848104106,
      "gripper_loss": 0.1259765625,
      "loss": 0.022705078125,
      "pos_loss": 0.126953125,
      "rot_loss": 0.052490234375,
      "step": 13275
    },
    {
      "epoch": 2.9786852142696882,
      "grad_norm": 0.2752787470817566,
      "learning_rate": 6.619494446361008e-08,
      "loss": 0.0439,
      "step": 13276
    },
    {
      "epoch": 2.9786852142696882,
      "gripper_loss": 0.047607421875,
      "loss": 0.031494140625,
      "pos_loss": 0.248046875,
      "rot_loss": 0.057861328125,
      "step": 13276
    },
    {
      "epoch": 2.9789095804352703,
      "grad_norm": 0.14691002666950226,
      "learning_rate": 6.480876120223967e-08,
      "loss": 0.0296,
      "step": 13277
    },
    {
      "epoch": 2.9789095804352703,
      "gripper_loss": 0.004730224609375,
      "loss": 0.16796875,
      "pos_loss": 0.8984375,
      "rot_loss": 0.87890625,
      "step": 13277
    },
    {
      "epoch": 2.979133946600853,
      "grad_norm": 0.7540768980979919,
      "learning_rate": 6.343724402504969e-08,
      "loss": 0.0698,
      "step": 13278
    },
    {
      "epoch": 2.979133946600853,
      "gripper_loss": 0.0067138671875,
      "loss": 0.02294921875,
      "pos_loss": 0.203125,
      "rot_loss": 0.019287109375,
      "step": 13278
    },
    {
      "epoch": 2.979358312766435,
      "grad_norm": 0.3604908585548401,
      "learning_rate": 6.208039301244806e-08,
      "loss": 0.0361,
      "step": 13279
    },
    {
      "epoch": 2.979358312766435,
      "gripper_loss": 0.005859375,
      "loss": 0.09375,
      "pos_loss": 0.66796875,
      "rot_loss": 0.306640625,
      "step": 13279
    },
    {
      "epoch": 2.979582678932017,
      "grad_norm": 0.2964731454849243,
      "learning_rate": 6.073820824412102e-08,
      "loss": 0.0419,
      "step": 13280
    },
    {
      "epoch": 2.979582678932017,
      "gripper_loss": 0.396484375,
      "loss": 0.046142578125,
      "pos_loss": 0.09375,
      "rot_loss": 0.2138671875,
      "step": 13280
    },
    {
      "epoch": 2.9798070450975995,
      "grad_norm": 0.3541768193244934,
      "learning_rate": 5.941068979881115e-08,
      "loss": 0.052,
      "step": 13281
    },
    {
      "epoch": 2.9798070450975995,
      "gripper_loss": 0.0037841796875,
      "loss": 0.0281982421875,
      "pos_loss": 0.0888671875,
      "rot_loss": 0.1845703125,
      "step": 13281
    },
    {
      "epoch": 2.9800314112631816,
      "grad_norm": 0.296146959066391,
      "learning_rate": 5.809783775437283e-08,
      "loss": 0.0334,
      "step": 13282
    },
    {
      "epoch": 2.9800314112631816,
      "gripper_loss": 0.005401611328125,
      "loss": 0.030517578125,
      "pos_loss": 0.2314453125,
      "rot_loss": 0.0693359375,
      "step": 13282
    },
    {
      "epoch": 2.9802557774287637,
      "grad_norm": 0.30940982699394226,
      "learning_rate": 5.679965218791106e-08,
      "loss": 0.0469,
      "step": 13283
    },
    {
      "epoch": 2.9802557774287637,
      "gripper_loss": 0.2099609375,
      "loss": 0.029296875,
      "pos_loss": 0.047607421875,
      "rot_loss": 0.17578125,
      "step": 13283
    },
    {
      "epoch": 2.980480143594346,
      "grad_norm": 0.33924612402915955,
      "learning_rate": 5.551613317555937e-08,
      "loss": 0.0405,
      "step": 13284
    },
    {
      "epoch": 2.980480143594346,
      "gripper_loss": 0.43359375,
      "loss": 0.033447265625,
      "pos_loss": 0.0228271484375,
      "rot_loss": 0.173828125,
      "step": 13284
    },
    {
      "epoch": 2.9807045097599283,
      "grad_norm": 0.25833064317703247,
      "learning_rate": 5.424728079261865e-08,
      "loss": 0.0358,
      "step": 13285
    },
    {
      "epoch": 2.9807045097599283,
      "gripper_loss": 0.006622314453125,
      "loss": 0.03759765625,
      "pos_loss": 0.279296875,
      "rot_loss": 0.09619140625,
      "step": 13285
    },
    {
      "epoch": 2.9809288759255104,
      "grad_norm": 0.3429596424102783,
      "learning_rate": 5.299309511358485e-08,
      "loss": 0.0391,
      "step": 13286
    },
    {
      "epoch": 2.9809288759255104,
      "gripper_loss": 0.2734375,
      "loss": 0.044921875,
      "pos_loss": 0.326171875,
      "rot_loss": 0.04296875,
      "step": 13286
    },
    {
      "epoch": 2.981153242091093,
      "grad_norm": 0.24566562473773956,
      "learning_rate": 5.175357621206578e-08,
      "loss": 0.0248,
      "step": 13287
    },
    {
      "epoch": 2.981153242091093,
      "gripper_loss": 0.007568359375,
      "loss": 0.0296630859375,
      "pos_loss": 0.220703125,
      "rot_loss": 0.0703125,
      "step": 13287
    },
    {
      "epoch": 2.981377608256675,
      "grad_norm": 0.3872164189815521,
      "learning_rate": 5.0528724160725514e-08,
      "loss": 0.0596,
      "step": 13288
    },
    {
      "epoch": 2.981377608256675,
      "gripper_loss": 0.07080078125,
      "loss": 0.04150390625,
      "pos_loss": 0.1279296875,
      "rot_loss": 0.26953125,
      "step": 13288
    },
    {
      "epoch": 2.981601974422257,
      "grad_norm": 0.2536044120788574,
      "learning_rate": 4.931853903150652e-08,
      "loss": 0.0347,
      "step": 13289
    },
    {
      "epoch": 2.981601974422257,
      "gripper_loss": 0.007354736328125,
      "loss": 0.05322265625,
      "pos_loss": 0.291015625,
      "rot_loss": 0.25390625,
      "step": 13289
    },
    {
      "epoch": 2.9818263405878396,
      "grad_norm": 0.2868497669696808,
      "learning_rate": 4.812302089537979e-08,
      "loss": 0.0377,
      "step": 13290
    },
    {
      "epoch": 2.9818263405878396,
      "gripper_loss": 0.00799560546875,
      "loss": 0.068359375,
      "pos_loss": 0.478515625,
      "rot_loss": 0.2265625,
      "step": 13290
    },
    {
      "epoch": 2.9820507067534217,
      "grad_norm": 0.3433246612548828,
      "learning_rate": 4.6942169822511425e-08,
      "loss": 0.0446,
      "step": 13291
    },
    {
      "epoch": 2.9820507067534217,
      "gripper_loss": 0.020751953125,
      "loss": 0.023193359375,
      "pos_loss": 0.06494140625,
      "rot_loss": 0.15625,
      "step": 13291
    },
    {
      "epoch": 2.9822750729190037,
      "grad_norm": 0.36463335156440735,
      "learning_rate": 4.5775985882207106e-08,
      "loss": 0.0473,
      "step": 13292
    },
    {
      "epoch": 2.9822750729190037,
      "gripper_loss": 0.244140625,
      "loss": 0.0302734375,
      "pos_loss": 0.0576171875,
      "rot_loss": 0.1640625,
      "step": 13292
    },
    {
      "epoch": 2.9824994390845863,
      "grad_norm": 0.2507023811340332,
      "learning_rate": 4.462446914288432e-08,
      "loss": 0.0264,
      "step": 13293
    },
    {
      "epoch": 2.9824994390845863,
      "gripper_loss": 0.005645751953125,
      "loss": 0.02392578125,
      "pos_loss": 0.2177734375,
      "rot_loss": 0.0126953125,
      "step": 13293
    },
    {
      "epoch": 2.9827238052501683,
      "grad_norm": 0.4787854254245758,
      "learning_rate": 4.348761967210013e-08,
      "loss": 0.0573,
      "step": 13294
    },
    {
      "epoch": 2.9827238052501683,
      "gripper_loss": 0.41796875,
      "loss": 0.056884765625,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.224609375,
      "step": 13294
    },
    {
      "epoch": 2.9829481714157504,
      "grad_norm": 0.570368230342865,
      "learning_rate": 4.236543753660671e-08,
      "loss": 0.0751,
      "step": 13295
    },
    {
      "epoch": 2.9829481714157504,
      "gripper_loss": 0.00872802734375,
      "loss": 0.039306640625,
      "pos_loss": 0.2236328125,
      "rot_loss": 0.1748046875,
      "step": 13295
    },
    {
      "epoch": 2.983172537581333,
      "grad_norm": 0.2415778636932373,
      "learning_rate": 4.125792280221252e-08,
      "loss": 0.0301,
      "step": 13296
    },
    {
      "epoch": 2.983172537581333,
      "gripper_loss": 0.01434326171875,
      "loss": 0.05322265625,
      "pos_loss": 0.33203125,
      "rot_loss": 0.212890625,
      "step": 13296
    },
    {
      "epoch": 2.983396903746915,
      "grad_norm": 0.4088350236415863,
      "learning_rate": 4.016507553392113e-08,
      "loss": 0.059,
      "step": 13297
    },
    {
      "epoch": 2.983396903746915,
      "gripper_loss": 0.71875,
      "loss": 0.050537109375,
      "pos_loss": 0.265625,
      "rot_loss": 0.015869140625,
      "step": 13297
    },
    {
      "epoch": 2.983621269912497,
      "grad_norm": 0.3594859540462494,
      "learning_rate": 3.90868957958479e-08,
      "loss": 0.0451,
      "step": 13298
    },
    {
      "epoch": 2.983621269912497,
      "gripper_loss": 0.008544921875,
      "loss": 0.035888671875,
      "pos_loss": 0.1845703125,
      "rot_loss": 0.173828125,
      "step": 13298
    },
    {
      "epoch": 2.9838456360780796,
      "grad_norm": 0.22990718483924866,
      "learning_rate": 3.8023383651275555e-08,
      "loss": 0.0328,
      "step": 13299
    },
    {
      "epoch": 2.9838456360780796,
      "gripper_loss": 0.08251953125,
      "loss": 0.03125,
      "pos_loss": 0.1240234375,
      "rot_loss": 0.154296875,
      "step": 13299
    },
    {
      "epoch": 2.9840700022436617,
      "grad_norm": 0.24377931654453278,
      "learning_rate": 3.697453916259863e-08,
      "loss": 0.0388,
      "step": 13300
    },
    {
      "epoch": 2.9840700022436617,
      "gripper_loss": 0.005615234375,
      "loss": 0.021728515625,
      "pos_loss": 0.03173828125,
      "rot_loss": 0.18359375,
      "step": 13300
    },
    {
      "epoch": 2.984294368409244,
      "grad_norm": 0.2148781269788742,
      "learning_rate": 3.594036239137899e-08,
      "loss": 0.0359,
      "step": 13301
    },
    {
      "epoch": 2.984294368409244,
      "gripper_loss": 0.010498046875,
      "loss": 0.052490234375,
      "pos_loss": 0.427734375,
      "rot_loss": 0.09619140625,
      "step": 13301
    },
    {
      "epoch": 2.9845187345748263,
      "grad_norm": 0.19060392677783966,
      "learning_rate": 3.492085339829032e-08,
      "loss": 0.0383,
      "step": 13302
    },
    {
      "epoch": 2.9845187345748263,
      "gripper_loss": 0.004119873046875,
      "loss": 0.05322265625,
      "pos_loss": 0.265625,
      "rot_loss": 0.279296875,
      "step": 13302
    },
    {
      "epoch": 2.9847431007404084,
      "grad_norm": 0.24864935874938965,
      "learning_rate": 3.3916012243173645e-08,
      "loss": 0.0341,
      "step": 13303
    },
    {
      "epoch": 2.9847431007404084,
      "gripper_loss": 0.4296875,
      "loss": 0.045166015625,
      "pos_loss": 0.1591796875,
      "rot_loss": 0.16015625,
      "step": 13303
    },
    {
      "epoch": 2.9849674669059905,
      "grad_norm": 0.23827746510505676,
      "learning_rate": 3.2925838984954046e-08,
      "loss": 0.0335,
      "step": 13304
    },
    {
      "epoch": 2.9849674669059905,
      "gripper_loss": 0.004608154296875,
      "loss": 0.039306640625,
      "pos_loss": 0.333984375,
      "rot_loss": 0.06298828125,
      "step": 13304
    },
    {
      "epoch": 2.985191833071573,
      "grad_norm": 0.24162177741527557,
      "learning_rate": 3.195033368177946e-08,
      "loss": 0.0317,
      "step": 13305
    },
    {
      "epoch": 2.985191833071573,
      "gripper_loss": 0.19921875,
      "loss": 0.05810546875,
      "pos_loss": 0.515625,
      "rot_loss": 0.01031494140625,
      "step": 13305
    },
    {
      "epoch": 2.985416199237155,
      "grad_norm": 0.2741394340991974,
      "learning_rate": 3.0989496390854135e-08,
      "loss": 0.0605,
      "step": 13306
    },
    {
      "epoch": 2.985416199237155,
      "gripper_loss": 0.498046875,
      "loss": 0.1259765625,
      "pos_loss": 0.85546875,
      "rot_loss": 0.302734375,
      "step": 13306
    },
    {
      "epoch": 2.985640565402737,
      "grad_norm": 0.2151009738445282,
      "learning_rate": 3.0043327168577385e-08,
      "loss": 0.0426,
      "step": 13307
    },
    {
      "epoch": 2.985640565402737,
      "gripper_loss": 0.004913330078125,
      "loss": 0.03759765625,
      "pos_loss": 0.049560546875,
      "rot_loss": 0.328125,
      "step": 13307
    },
    {
      "epoch": 2.9858649315683197,
      "grad_norm": 0.4752073287963867,
      "learning_rate": 2.9111826070488123e-08,
      "loss": 0.036,
      "step": 13308
    },
    {
      "epoch": 2.9858649315683197,
      "gripper_loss": 0.003204345703125,
      "loss": 0.05517578125,
      "pos_loss": 0.396484375,
      "rot_loss": 0.1708984375,
      "step": 13308
    },
    {
      "epoch": 2.9860892977339017,
      "grad_norm": 0.29336604475975037,
      "learning_rate": 2.8194993151209324e-08,
      "loss": 0.0322,
      "step": 13309
    },
    {
      "epoch": 2.9860892977339017,
      "gripper_loss": 0.11376953125,
      "loss": 0.01165771484375,
      "pos_loss": 0.03076171875,
      "rot_loss": 0.03564453125,
      "step": 13309
    },
    {
      "epoch": 2.986313663899484,
      "grad_norm": 0.3502308428287506,
      "learning_rate": 2.729282846455905e-08,
      "loss": 0.0298,
      "step": 13310
    },
    {
      "epoch": 2.986313663899484,
      "gripper_loss": 0.0057373046875,
      "loss": 0.038330078125,
      "pos_loss": 0.30078125,
      "rot_loss": 0.087890625,
      "step": 13310
    },
    {
      "epoch": 2.9865380300650664,
      "grad_norm": 0.22897380590438843,
      "learning_rate": 2.6405332063494937e-08,
      "loss": 0.0312,
      "step": 13311
    },
    {
      "epoch": 2.9865380300650664,
      "gripper_loss": 0.0238037109375,
      "loss": 0.0284423828125,
      "pos_loss": 0.0712890625,
      "rot_loss": 0.1318359375,
      "step": 13311
    },
    {
      "epoch": 2.9867623962306484,
      "grad_norm": 0.5241214632987976,
      "learning_rate": 2.553250400005869e-08,
      "loss": 0.0626,
      "step": 13312
    },
    {
      "epoch": 2.9867623962306484,
      "gripper_loss": 0.002899169921875,
      "loss": 0.0322265625,
      "pos_loss": 0.306640625,
      "rot_loss": 0.00946044921875,
      "step": 13312
    },
    {
      "epoch": 2.9869867623962305,
      "grad_norm": 0.22590120136737823,
      "learning_rate": 2.4674344325487098e-08,
      "loss": 0.0404,
      "step": 13313
    },
    {
      "epoch": 2.9869867623962305,
      "gripper_loss": 0.0031585693359375,
      "loss": 0.034423828125,
      "pos_loss": 0.328125,
      "rot_loss": 0.0198974609375,
      "step": 13313
    },
    {
      "epoch": 2.987211128561813,
      "grad_norm": 0.22253131866455078,
      "learning_rate": 2.383085309012878e-08,
      "loss": 0.0332,
      "step": 13314
    },
    {
      "epoch": 2.987211128561813,
      "gripper_loss": 0.035888671875,
      "loss": 0.072265625,
      "pos_loss": 0.2734375,
      "rot_loss": 0.388671875,
      "step": 13314
    },
    {
      "epoch": 2.987435494727395,
      "grad_norm": 0.4060586988925934,
      "learning_rate": 2.3002030343471926e-08,
      "loss": 0.0479,
      "step": 13315
    },
    {
      "epoch": 2.987435494727395,
      "gripper_loss": 0.0142822265625,
      "loss": 0.0174560546875,
      "pos_loss": 0.09033203125,
      "rot_loss": 0.07666015625,
      "step": 13315
    },
    {
      "epoch": 2.987659860892977,
      "grad_norm": 0.16433656215667725,
      "learning_rate": 2.2187876134172057e-08,
      "loss": 0.0339,
      "step": 13316
    },
    {
      "epoch": 2.987659860892977,
      "gripper_loss": 0.0045166015625,
      "loss": 0.035400390625,
      "pos_loss": 0.3125,
      "rot_loss": 0.044189453125,
      "step": 13316
    },
    {
      "epoch": 2.9878842270585597,
      "grad_norm": 0.495507150888443,
      "learning_rate": 2.138839051002428e-08,
      "loss": 0.0573,
      "step": 13317
    },
    {
      "epoch": 2.9878842270585597,
      "gripper_loss": 0.423828125,
      "loss": 0.0185546875,
      "pos_loss": 0.032470703125,
      "rot_loss": 0.00494384765625,
      "step": 13317
    },
    {
      "epoch": 2.988108593224142,
      "grad_norm": 0.24894127249717712,
      "learning_rate": 2.0603573517880004e-08,
      "loss": 0.0263,
      "step": 13318
    },
    {
      "epoch": 2.988108593224142,
      "gripper_loss": 0.21484375,
      "loss": 0.0106201171875,
      "pos_loss": 0.0069580078125,
      "rot_loss": 0.01141357421875,
      "step": 13318
    },
    {
      "epoch": 2.988332959389724,
      "grad_norm": 0.3217281997203827,
      "learning_rate": 1.9833425203841238e-08,
      "loss": 0.042,
      "step": 13319
    },
    {
      "epoch": 2.988332959389724,
      "gripper_loss": 0.09033203125,
      "loss": 0.026611328125,
      "pos_loss": 0.04541015625,
      "rot_loss": 0.1845703125,
      "step": 13319
    },
    {
      "epoch": 2.9885573255553064,
      "grad_norm": 0.3362060785293579,
      "learning_rate": 1.9077945613066307e-08,
      "loss": 0.0304,
      "step": 13320
    },
    {
      "epoch": 2.9885573255553064,
      "gripper_loss": 0.01470947265625,
      "loss": 0.043701171875,
      "pos_loss": 0.416015625,
      "rot_loss": 0.0272216796875,
      "step": 13320
    },
    {
      "epoch": 2.9887816917208885,
      "grad_norm": 0.34573331475257874,
      "learning_rate": 1.8337134789908616e-08,
      "loss": 0.0452,
      "step": 13321
    },
    {
      "epoch": 2.9887816917208885,
      "gripper_loss": 0.25,
      "loss": 0.01416015625,
      "pos_loss": 0.033203125,
      "rot_loss": 0.01513671875,
      "step": 13321
    },
    {
      "epoch": 2.9890060578864706,
      "grad_norm": 0.3632698059082031,
      "learning_rate": 1.7610992777861155e-08,
      "loss": 0.0363,
      "step": 13322
    },
    {
      "epoch": 2.9890060578864706,
      "gripper_loss": 0.0294189453125,
      "loss": 0.01068115234375,
      "pos_loss": 0.05859375,
      "rot_loss": 0.0225830078125,
      "step": 13322
    },
    {
      "epoch": 2.989230424052053,
      "grad_norm": 0.21514952182769775,
      "learning_rate": 1.6899519619473226e-08,
      "loss": 0.0366,
      "step": 13323
    },
    {
      "epoch": 2.989230424052053,
      "gripper_loss": 0.0400390625,
      "loss": 0.00897216796875,
      "pos_loss": 0.0242919921875,
      "rot_loss": 0.03564453125,
      "step": 13323
    },
    {
      "epoch": 2.989454790217635,
      "grad_norm": 0.29845041036605835,
      "learning_rate": 1.6202715356544717e-08,
      "loss": 0.0217,
      "step": 13324
    },
    {
      "epoch": 2.989454790217635,
      "gripper_loss": 0.265625,
      "loss": 0.057373046875,
      "pos_loss": 0.408203125,
      "rot_loss": 0.0908203125,
      "step": 13324
    },
    {
      "epoch": 2.9896791563832172,
      "grad_norm": 0.2963041663169861,
      "learning_rate": 1.552058002993184e-08,
      "loss": 0.068,
      "step": 13325
    },
    {
      "epoch": 2.9896791563832172,
      "gripper_loss": 0.26953125,
      "loss": 0.0947265625,
      "pos_loss": 0.875,
      "rot_loss": 0.025634765625,
      "step": 13325
    },
    {
      "epoch": 2.9899035225487998,
      "grad_norm": 0.30215615034103394,
      "learning_rate": 1.4853113679685892e-08,
      "loss": 0.0307,
      "step": 13326
    },
    {
      "epoch": 2.9899035225487998,
      "gripper_loss": 0.142578125,
      "loss": 0.0322265625,
      "pos_loss": 0.2021484375,
      "rot_loss": 0.07275390625,
      "step": 13326
    },
    {
      "epoch": 2.990127888714382,
      "grad_norm": 0.3145526051521301,
      "learning_rate": 1.4200316344942233e-08,
      "loss": 0.0358,
      "step": 13327
    },
    {
      "epoch": 2.990127888714382,
      "gripper_loss": 0.022216796875,
      "loss": 0.0478515625,
      "pos_loss": 0.427734375,
      "rot_loss": 0.05712890625,
      "step": 13327
    },
    {
      "epoch": 2.990352254879964,
      "grad_norm": 0.20989413559436798,
      "learning_rate": 1.3562188064059067e-08,
      "loss": 0.0465,
      "step": 13328
    },
    {
      "epoch": 2.990352254879964,
      "gripper_loss": 0.029541015625,
      "loss": 0.01300048828125,
      "pos_loss": 0.040771484375,
      "rot_loss": 0.0703125,
      "step": 13328
    },
    {
      "epoch": 2.9905766210455464,
      "grad_norm": 0.25588124990463257,
      "learning_rate": 1.2938728874423156e-08,
      "loss": 0.054,
      "step": 13329
    },
    {
      "epoch": 2.9905766210455464,
      "gripper_loss": 0.006134033203125,
      "loss": 0.034912109375,
      "pos_loss": 0.2060546875,
      "rot_loss": 0.1484375,
      "step": 13329
    },
    {
      "epoch": 2.9908009872111285,
      "grad_norm": 0.5459061861038208,
      "learning_rate": 1.2329938812644103e-08,
      "loss": 0.0514,
      "step": 13330
    },
    {
      "epoch": 2.9908009872111285,
      "gripper_loss": 0.0024566650390625,
      "loss": 0.049560546875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.267578125,
      "step": 13330
    },
    {
      "epoch": 2.9910253533767106,
      "grad_norm": 0.53579181432724,
      "learning_rate": 1.1735817914471091e-08,
      "loss": 0.0382,
      "step": 13331
    },
    {
      "epoch": 2.9910253533767106,
      "gripper_loss": 0.0162353515625,
      "loss": 0.078125,
      "pos_loss": 0.7734375,
      "rot_loss": 0.031982421875,
      "step": 13331
    },
    {
      "epoch": 2.991249719542293,
      "grad_norm": 0.3310506045818329,
      "learning_rate": 1.1156366214737367e-08,
      "loss": 0.0585,
      "step": 13332
    },
    {
      "epoch": 2.991249719542293,
      "gripper_loss": 0.0079345703125,
      "loss": 0.0732421875,
      "pos_loss": 0.6328125,
      "rot_loss": 0.1259765625,
      "step": 13332
    },
    {
      "epoch": 2.991474085707875,
      "grad_norm": 0.2254508137702942,
      "learning_rate": 1.0591583747443511e-08,
      "loss": 0.0377,
      "step": 13333
    },
    {
      "epoch": 2.991474085707875,
      "gripper_loss": 0.0093994140625,
      "loss": 0.049560546875,
      "pos_loss": 0.287109375,
      "rot_loss": 0.2158203125,
      "step": 13333
    },
    {
      "epoch": 2.9916984518734573,
      "grad_norm": 0.2971653342247009,
      "learning_rate": 1.004147054572968e-08,
      "loss": 0.0504,
      "step": 13334
    },
    {
      "epoch": 2.9916984518734573,
      "gripper_loss": 0.74609375,
      "loss": 0.103515625,
      "pos_loss": 0.31640625,
      "rot_loss": 0.390625,
      "step": 13334
    },
    {
      "epoch": 2.99192281803904,
      "grad_norm": 0.6443178653717041,
      "learning_rate": 9.506026641903365e-09,
      "loss": 0.0658,
      "step": 13335
    },
    {
      "epoch": 2.99192281803904,
      "gripper_loss": 0.15625,
      "loss": 0.0546875,
      "pos_loss": 0.48828125,
      "rot_loss": 0.023193359375,
      "step": 13335
    },
    {
      "epoch": 2.992147184204622,
      "grad_norm": 0.1823025792837143,
      "learning_rate": 8.98525206735612e-09,
      "loss": 0.026,
      "step": 13336
    },
    {
      "epoch": 2.992147184204622,
      "gripper_loss": 0.0072021484375,
      "loss": 0.01190185546875,
      "pos_loss": 0.08984375,
      "rot_loss": 0.0107421875,
      "step": 13336
    },
    {
      "epoch": 2.992371550370204,
      "grad_norm": 0.25594356656074524,
      "learning_rate": 8.479146852646835e-09,
      "loss": 0.0453,
      "step": 13337
    },
    {
      "epoch": 2.992371550370204,
      "gripper_loss": 0.018798828125,
      "loss": 0.0106201171875,
      "pos_loss": 0.0732421875,
      "rot_loss": 0.014404296875,
      "step": 13337
    },
    {
      "epoch": 2.9925959165357865,
      "grad_norm": 0.22000384330749512,
      "learning_rate": 7.987711027501731e-09,
      "loss": 0.032,
      "step": 13338
    },
    {
      "epoch": 2.9925959165357865,
      "gripper_loss": 0.004150390625,
      "loss": 0.00634765625,
      "pos_loss": 0.01190185546875,
      "rot_loss": 0.03564453125,
      "step": 13338
    },
    {
      "epoch": 2.9928202827013686,
      "grad_norm": 0.24474583566188812,
      "learning_rate": 7.510944620731097e-09,
      "loss": 0.0288,
      "step": 13339
    },
    {
      "epoch": 2.9928202827013686,
      "gripper_loss": 0.003692626953125,
      "loss": 0.0147705078125,
      "pos_loss": 0.091796875,
      "rot_loss": 0.047607421875,
      "step": 13339
    },
    {
      "epoch": 2.9930446488669507,
      "grad_norm": 0.21476449072360992,
      "learning_rate": 7.048847660312552e-09,
      "loss": 0.0392,
      "step": 13340
    },
    {
      "epoch": 2.9930446488669507,
      "gripper_loss": 0.01531982421875,
      "loss": 0.01129150390625,
      "pos_loss": 0.07373046875,
      "rot_loss": 0.0157470703125,
      "step": 13340
    },
    {
      "epoch": 2.993269015032533,
      "grad_norm": 0.3154677450656891,
      "learning_rate": 6.601420173363293e-09,
      "loss": 0.0331,
      "step": 13341
    },
    {
      "epoch": 2.993269015032533,
      "gripper_loss": 0.0035400390625,
      "loss": 0.051513671875,
      "pos_loss": 0.23828125,
      "rot_loss": 0.2890625,
      "step": 13341
    },
    {
      "epoch": 2.9934933811981153,
      "grad_norm": 0.20770183205604553,
      "learning_rate": 6.168662186167851e-09,
      "loss": 0.0422,
      "step": 13342
    },
    {
      "epoch": 2.9934933811981153,
      "gripper_loss": 0.1357421875,
      "loss": 0.047119140625,
      "pos_loss": 0.326171875,
      "rot_loss": 0.1044921875,
      "step": 13342
    },
    {
      "epoch": 2.9937177473636973,
      "grad_norm": 0.36659011244773865,
      "learning_rate": 5.750573724067065e-09,
      "loss": 0.0546,
      "step": 13343
    },
    {
      "epoch": 2.9937177473636973,
      "gripper_loss": 0.08349609375,
      "loss": 0.0242919921875,
      "pos_loss": 0.13671875,
      "rot_loss": 0.0673828125,
      "step": 13343
    },
    {
      "epoch": 2.99394211352928,
      "grad_norm": 0.6517825722694397,
      "learning_rate": 5.347154811624622e-09,
      "loss": 0.0376,
      "step": 13344
    },
    {
      "epoch": 2.99394211352928,
      "gripper_loss": 2.390625,
      "loss": 0.0888671875,
      "pos_loss": 0.1025390625,
      "rot_loss": 0.030029296875,
      "step": 13344
    },
    {
      "epoch": 2.994166479694862,
      "grad_norm": 0.45393669605255127,
      "learning_rate": 4.958405472516026e-09,
      "loss": 0.0392,
      "step": 13345
    },
    {
      "epoch": 2.994166479694862,
      "gripper_loss": 0.031494140625,
      "loss": 0.0206298828125,
      "pos_loss": 0.16015625,
      "rot_loss": 0.02685546875,
      "step": 13345
    },
    {
      "epoch": 2.994390845860444,
      "grad_norm": 0.23563939332962036,
      "learning_rate": 4.58432572955636e-09,
      "loss": 0.0297,
      "step": 13346
    },
    {
      "epoch": 2.994390845860444,
      "gripper_loss": 0.0216064453125,
      "loss": 0.087890625,
      "pos_loss": 0.5390625,
      "rot_loss": 0.359375,
      "step": 13346
    },
    {
      "epoch": 2.9946152120260265,
      "grad_norm": 0.39393866062164307,
      "learning_rate": 4.224915604700286e-09,
      "loss": 0.0684,
      "step": 13347
    },
    {
      "epoch": 2.9946152120260265,
      "gripper_loss": 0.41015625,
      "loss": 0.044677734375,
      "pos_loss": 0.09912109375,
      "rot_loss": 0.21875,
      "step": 13347
    },
    {
      "epoch": 2.9948395781916086,
      "grad_norm": 0.360843688249588,
      "learning_rate": 3.880175118986528e-09,
      "loss": 0.0367,
      "step": 13348
    },
    {
      "epoch": 2.9948395781916086,
      "gripper_loss": 0.1025390625,
      "loss": 0.033935546875,
      "pos_loss": 0.2275390625,
      "rot_loss": 0.080078125,
      "step": 13348
    },
    {
      "epoch": 2.9950639443571907,
      "grad_norm": 0.346222460269928,
      "learning_rate": 3.5501042927044148e-09,
      "loss": 0.0471,
      "step": 13349
    },
    {
      "epoch": 2.9950639443571907,
      "gripper_loss": 0.53515625,
      "loss": 0.053955078125,
      "pos_loss": 0.275390625,
      "rot_loss": 0.10546875,
      "step": 13349
    },
    {
      "epoch": 2.9952883105227732,
      "grad_norm": 0.2635708451271057,
      "learning_rate": 3.2347031452273356e-09,
      "loss": 0.0367,
      "step": 13350
    },
    {
      "epoch": 2.9952883105227732,
      "gripper_loss": 0.006683349609375,
      "loss": 0.0172119140625,
      "pos_loss": 0.115234375,
      "rot_loss": 0.0458984375,
      "step": 13350
    },
    {
      "epoch": 2.9955126766883553,
      "grad_norm": 0.49952760338783264,
      "learning_rate": 2.933971694984994e-09,
      "loss": 0.0315,
      "step": 13351
    },
    {
      "epoch": 2.9955126766883553,
      "gripper_loss": 0.0849609375,
      "loss": 0.03271484375,
      "pos_loss": 0.1318359375,
      "rot_loss": 0.1708984375,
      "step": 13351
    },
    {
      "epoch": 2.9957370428539374,
      "grad_norm": 0.29589712619781494,
      "learning_rate": 2.6479099597132016e-09,
      "loss": 0.0384,
      "step": 13352
    },
    {
      "epoch": 2.9957370428539374,
      "gripper_loss": 0.004852294921875,
      "loss": 0.01348876953125,
      "pos_loss": 0.0517578125,
      "rot_loss": 0.07080078125,
      "step": 13352
    },
    {
      "epoch": 2.99596140901952,
      "grad_norm": 0.24431583285331726,
      "learning_rate": 2.3765179561485718e-09,
      "loss": 0.0302,
      "step": 13353
    },
    {
      "epoch": 2.99596140901952,
      "gripper_loss": 0.00811767578125,
      "loss": 0.126953125,
      "pos_loss": 0.84375,
      "rot_loss": 0.48828125,
      "step": 13353
    },
    {
      "epoch": 2.996185775185102,
      "grad_norm": 0.5880834460258484,
      "learning_rate": 2.119795700222804e-09,
      "loss": 0.063,
      "step": 13354
    },
    {
      "epoch": 2.996185775185102,
      "gripper_loss": 0.007537841796875,
      "loss": 0.03662109375,
      "pos_loss": 0.29296875,
      "rot_loss": 0.0751953125,
      "step": 13354
    },
    {
      "epoch": 2.996410141350684,
      "grad_norm": 0.4105954170227051,
      "learning_rate": 1.8777432070071764e-09,
      "loss": 0.031,
      "step": 13355
    },
    {
      "epoch": 2.996410141350684,
      "gripper_loss": 0.00445556640625,
      "loss": 0.10888671875,
      "pos_loss": 1.125,
      "rot_loss": 0.0076904296875,
      "step": 13355
    },
    {
      "epoch": 2.9966345075162666,
      "grad_norm": 0.42178770899772644,
      "learning_rate": 1.6503604907125435e-09,
      "loss": 0.0515,
      "step": 13356
    },
    {
      "epoch": 2.9966345075162666,
      "gripper_loss": 0.01708984375,
      "loss": 0.03515625,
      "pos_loss": 0.2890625,
      "rot_loss": 0.056884765625,
      "step": 13356
    },
    {
      "epoch": 2.9968588736818487,
      "grad_norm": 0.1891060173511505,
      "learning_rate": 1.4376475646893371e-09,
      "loss": 0.0481,
      "step": 13357
    },
    {
      "epoch": 2.9968588736818487,
      "gripper_loss": 0.453125,
      "loss": 0.049560546875,
      "pos_loss": 0.2734375,
      "rot_loss": 0.0859375,
      "step": 13357
    },
    {
      "epoch": 2.9970832398474307,
      "grad_norm": 0.43226805329322815,
      "learning_rate": 1.2396044413720553e-09,
      "loss": 0.0513,
      "step": 13358
    },
    {
      "epoch": 2.9970832398474307,
      "gripper_loss": 0.326171875,
      "loss": 0.026123046875,
      "pos_loss": 0.0791015625,
      "rot_loss": 0.06689453125,
      "step": 13358
    },
    {
      "epoch": 2.9973076060130133,
      "grad_norm": 0.21547631919384003,
      "learning_rate": 1.0562311324180396e-09,
      "loss": 0.028,
      "step": 13359
    },
    {
      "epoch": 2.9973076060130133,
      "gripper_loss": 0.01019287109375,
      "loss": 0.068359375,
      "pos_loss": 0.298828125,
      "rot_loss": 0.408203125,
      "step": 13359
    },
    {
      "epoch": 2.9975319721785953,
      "grad_norm": 0.27039021253585815,
      "learning_rate": 8.875276485964534e-10,
      "loss": 0.0474,
      "step": 13360
    },
    {
      "epoch": 2.9975319721785953,
      "gripper_loss": 0.07470703125,
      "loss": 0.037841796875,
      "pos_loss": 0.1875,
      "rot_loss": 0.13671875,
      "step": 13360
    },
    {
      "epoch": 2.9977563383441774,
      "grad_norm": 0.4688189923763275,
      "learning_rate": 7.334939997882817e-10,
      "loss": 0.0598,
      "step": 13361
    },
    {
      "epoch": 2.9977563383441774,
      "gripper_loss": 0.0035858154296875,
      "loss": 0.01483154296875,
      "pos_loss": 0.03515625,
      "rot_loss": 0.103515625,
      "step": 13361
    },
    {
      "epoch": 2.99798070450976,
      "grad_norm": 0.26711249351501465,
      "learning_rate": 5.941301950140865e-10,
      "loss": 0.0319,
      "step": 13362
    },
    {
      "epoch": 2.99798070450976,
      "gripper_loss": 0.00860595703125,
      "loss": 0.02587890625,
      "pos_loss": 0.10205078125,
      "rot_loss": 0.146484375,
      "step": 13362
    },
    {
      "epoch": 2.998205070675342,
      "grad_norm": 0.3579687774181366,
      "learning_rate": 4.694362424895182e-10,
      "loss": 0.0253,
      "step": 13363
    },
    {
      "epoch": 2.998205070675342,
      "gripper_loss": 0.004364013671875,
      "loss": 0.026123046875,
      "pos_loss": 0.1533203125,
      "rot_loss": 0.10205078125,
      "step": 13363
    },
    {
      "epoch": 2.998429436840924,
      "grad_norm": 0.23326323926448822,
      "learning_rate": 3.5941214951429326e-10,
      "loss": 0.0254,
      "step": 13364
    },
    {
      "epoch": 2.998429436840924,
      "gripper_loss": 0.004730224609375,
      "loss": 0.060302734375,
      "pos_loss": 0.388671875,
      "rot_loss": 0.2265625,
      "step": 13364
    },
    {
      "epoch": 2.9986538030065066,
      "grad_norm": 0.2608843147754669,
      "learning_rate": 2.6405792255546067e-10,
      "loss": 0.0375,
      "step": 13365
    },
    {
      "epoch": 2.9986538030065066,
      "gripper_loss": 0.0026397705078125,
      "loss": 0.0084228515625,
      "pos_loss": 0.060546875,
      "rot_loss": 0.010986328125,
      "step": 13365
    },
    {
      "epoch": 2.9988781691720887,
      "grad_norm": 0.3107145130634308,
      "learning_rate": 1.8337356719189125e-10,
      "loss": 0.0256,
      "step": 13366
    },
    {
      "epoch": 2.9988781691720887,
      "gripper_loss": 0.310546875,
      "loss": 0.0205078125,
      "pos_loss": 0.03759765625,
      "rot_loss": 0.058837890625,
      "step": 13366
    },
    {
      "epoch": 2.9991025353376712,
      "grad_norm": 0.42306414246559143,
      "learning_rate": 1.1735908816978835e-10,
      "loss": 0.0351,
      "step": 13367
    },
    {
      "epoch": 2.9991025353376712,
      "gripper_loss": 0.033447265625,
      "loss": 0.0546875,
      "pos_loss": 0.306640625,
      "rot_loss": 0.2373046875,
      "step": 13367
    },
    {
      "epoch": 2.9993269015032533,
      "grad_norm": 0.5047996640205383,
      "learning_rate": 6.601448934717702e-11,
      "loss": 0.0556,
      "step": 13368
    },
    {
      "epoch": 2.9993269015032533,
      "gripper_loss": 0.0986328125,
      "loss": 0.01470947265625,
      "pos_loss": 0.0498046875,
      "rot_loss": 0.0478515625,
      "step": 13368
    },
    {
      "epoch": 2.9995512676688354,
      "grad_norm": 0.26374953985214233,
      "learning_rate": 2.933977377717056e-11,
      "loss": 0.0358,
      "step": 13369
    },
    {
      "epoch": 2.9995512676688354,
      "gripper_loss": 0.083984375,
      "loss": 0.0091552734375,
      "pos_loss": 0.0145263671875,
      "rot_loss": 0.035400390625,
      "step": 13369
    },
    {
      "epoch": 2.999775633834418,
      "grad_norm": 0.27355796098709106,
      "learning_rate": 7.334943541437155e-12,
      "loss": 0.0461,
      "step": 13370
    },
    {
      "epoch": 2.999775633834418,
      "gripper_loss": 0.020263671875,
      "loss": 0.0198974609375,
      "pos_loss": 0.140625,
      "rot_loss": 0.04736328125,
      "step": 13370
    },
    {
      "epoch": 3.0,
      "grad_norm": 0.20951157808303833,
      "learning_rate": 0.0,
      "loss": 0.0266,
      "step": 13371
    },
    {
      "epoch": 3.0,
      "step": 13371,
      "total_flos": 0.0,
      "train_loss": 0.10818598388279307,
      "train_runtime": 2809.2499,
      "train_samples_per_second": 76.141,
      "train_steps_per_second": 4.76
    }
  ],
  "logging_steps": 1.0,
  "max_steps": 13371,
  "num_input_tokens_seen": 0,
  "num_train_epochs": 3,
  "save_steps": 2210,
  "stateful_callbacks": {
    "TrainerControl": {
      "args": {
        "should_epoch_stop": false,
        "should_evaluate": false,
        "should_log": false,
        "should_save": true,
        "should_training_stop": true
      },
      "attributes": {}
    }
  },
  "total_flos": 0.0,
  "train_batch_size": 2,
  "trial_name": null,
  "trial_params": null
}