Robotics
LeRobot
Safetensors
act
imitation-learning
reinforcement-learning
grpo
mujoco
bimanual
roboeval
hybird-control
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{
 "family": "StackTwoBlocks",
 "variation": "PositionAndOrientation",
 "env_name": "StackTwoBlocksPositionAndOrientation",
 "episode_index": 3,
 "seed": 1003,
 "policy_seed": 0,
 "control_frequency": 20,
 "max_steps": 400,
 "steps": 130,
 "termination": "success",
 "error": null,
 "sim_time_s": 6.5,
 "wall_time_s": 3.125593900680542,
 "raw": {
  "completion_time": 3.123232126235962,
  "slip_count": 0,
  "slip_count_per_object": {
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  "env_collision_count": 0,
  "self_collision_count": 0,
  "task_stage_reached": {
   "1": true,
   "2": true,
   "3": true
  },
  "subtask_progress": 1.0,
  "target_distance": {
   "block_0-gripper_Left": 0.17526505718041033,
   "block_0-gripper_Right": 0.0984856320051808,
   "block_1-gripper_Left": 0.20122947725927953,
   "block_1-gripper_Right": 0.13850598596826208,
   "cube 1 lift distance": 0.04008908356629104,
   "cube 2 lift distance": 0.00013393924089422082,
   "inter-block distance": 0.04009076219143937
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  "success": 1.0,
  "cartesian_path_length": {
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  "total_cartesian_path_length": 1.5843807451983976,
  "avg_cartesian_path_length": 0.7921903725991988,
  "joint_path_length": {
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  "total_joint_path_length": 5.832110014256558,
  "avg_joint_path_length": 2.916055007128279,
  "orientation_path_length": {
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  "total_orientation_path_length": 0.8097392355512867,
  "avg_orientation_path_length": 0.40486961777564334,
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  "bimanual_gripper_vertical_difference": 0.04039961811727084,
  "overall_avg_cartesian_jerk": 9.332722673572926,
  "overall_rms_cartesian_jerk": 16.2660470144398,
  "overall_avg_joint_jerk": 41.36467865066189,
  "overall_rms_joint_jerk": 75.45616989105896,
  "task_success": 1.0
 },
 "metrics": {
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  "bgvd": 0.04039961811727084,
  "cpl": 1.5843807451983976,
  "ct": 6.5,
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  "jpl": 5.832110014256558,
  "mcj": 9.332722673572926,
  "mjj": 41.36467865066189,
  "opl": 0.8097392355512867,
  "scc": 0.0,
  "sc": 0.0,
  "tl": 130.0
 },
 "actions_file": "episode_3.npz",
 "actions_sha256": "3896fe633c1cf2fe5a68e5c1dcb9a921af8b43fb2e7354ebdf58a800dd01fec9"
}