LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_11.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 11, | |
| "seed": 1011, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 117, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 5.85, | |
| "wall_time_s": 2.6025538444519043, | |
| "raw": { | |
| "completion_time": 2.600205898284912, | |
| "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": 0.20209634192261294, | |
| "block_0-gripper_Right": 0.1384364873406384, | |
| "block_1-gripper_Left": 0.17858266475533296, | |
| "block_1-gripper_Right": 0.09838648755543129, | |
| "cube 1 lift distance": 0.0001411016781183161, | |
| "cube 2 lift distance": 0.04012668865314284, | |
| "inter-block distance": 0.0404634934389998 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6662450061192248, | |
| "right": 0.6545937187609704 | |
| }, | |
| "total_cartesian_path_length": 1.3208387248801952, | |
| "avg_cartesian_path_length": 0.6604193624400976, | |
| "joint_path_length": { | |
| "left": 2.354880661809512, | |
| "right": 2.3695360864605695 | |
| }, | |
| "total_joint_path_length": 4.724416748270082, | |
| "avg_joint_path_length": 2.362208374135041, | |
| "orientation_path_length": { | |
| "left": 0.5546130620270616, | |
| "right": 0.34936196163513544 | |
| }, | |
| "total_orientation_path_length": 0.9039750236621971, | |
| "avg_orientation_path_length": 0.45198751183109853, | |
| "avg_cartesian_jerk": { | |
| "left": 7.771618025106215, | |
| "right": 8.965681279260306 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 14.713192848332586, | |
| "right": 15.033111346942627 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 41.5492510687995, | |
| "right": 37.50593640665543 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 81.45991099119128, | |
| "right": 65.32361291882007 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.5514180369422147, | |
| "bimanual_gripper_vertical_difference": 0.07535138059216895, | |
| "overall_avg_cartesian_jerk": 8.36864965218326, | |
| "overall_rms_cartesian_jerk": 14.874012245554331, | |
| "overall_avg_joint_jerk": 39.527593737727464, | |
| "overall_rms_joint_jerk": 73.833906518146, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.5514180369422147, | |
| "bgvd": 0.07535138059216895, | |
| "cpl": 1.3208387248801952, | |
| "ct": 5.85, | |
| "ecc": 0.0, | |
| "jpl": 4.724416748270082, | |
| "mcj": 8.36864965218326, | |
| "mjj": 39.527593737727464, | |
| "opl": 0.9039750236621971, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 117.0 | |
| }, | |
| "actions_file": "episode_11.npz", | |
| "actions_sha256": "fc52cac727f08339d3e2faa59f61f337faac7cda02bf9a1463a34eb31bdffc5d" | |
| } |