LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_10.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 10, | |
| "seed": 1010, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 79, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.95, | |
| "wall_time_s": 1.8031444549560547, | |
| "raw": { | |
| "completion_time": 1.8008396625518799, | |
| "slip_count": 0, | |
| "slip_count_per_object": { | |
| "137660033152576": 0, | |
| "137660088981904": 0 | |
| }, | |
| "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": 0.13824124490826256, | |
| "block_0-gripper_Right": 0.20296464341727613, | |
| "block_1-gripper_Left": 0.09821960001785128, | |
| "block_1-gripper_Right": 0.17666922453234238, | |
| "cube 1 lift distance": 0.00011044742168653254, | |
| "cube 2 lift distance": 0.040105486245708644, | |
| "inter-block distance": 0.04015239618226902 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6693570424290095, | |
| "right": 0.6263613524855393 | |
| }, | |
| "total_cartesian_path_length": 1.2957183949145488, | |
| "avg_cartesian_path_length": 0.6478591974572744, | |
| "joint_path_length": { | |
| "left": 2.772740939838229, | |
| "right": 2.2026174201202497 | |
| }, | |
| "total_joint_path_length": 4.975358359958479, | |
| "avg_joint_path_length": 2.4876791799792395, | |
| "orientation_path_length": { | |
| "left": 0.6240260666667713, | |
| "right": 0.6152281396384909 | |
| }, | |
| "total_orientation_path_length": 1.239254206305262, | |
| "avg_orientation_path_length": 0.619627103152631, | |
| "avg_cartesian_jerk": { | |
| "left": 13.048514312152655, | |
| "right": 10.832506007836484 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 18.099674438303907, | |
| "right": 16.591618196669838 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 57.19775852688069, | |
| "right": 48.31906507541558 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 82.31518048343563, | |
| "right": 78.01538490466042 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.5536972009687603, | |
| "bimanual_gripper_vertical_difference": 0.046239278662628454, | |
| "overall_avg_cartesian_jerk": 11.940510159994568, | |
| "overall_rms_cartesian_jerk": 17.362027663217475, | |
| "overall_avg_joint_jerk": 52.758411801148135, | |
| "overall_rms_joint_jerk": 80.19410583030057, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.5536972009687603, | |
| "bgvd": 0.046239278662628454, | |
| "cpl": 1.2957183949145488, | |
| "ct": 3.95, | |
| "ecc": 0.0, | |
| "jpl": 4.975358359958479, | |
| "mcj": 11.940510159994568, | |
| "mjj": 52.758411801148135, | |
| "opl": 1.239254206305262, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 79.0 | |
| }, | |
| "actions_file": "episode_10.npz", | |
| "actions_sha256": "4016a4d2eae4de8c153dcbf1fad4527bff96cf0c77d2265ec32b5e9700be0de8" | |
| } |