LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_12.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 12, | |
| "seed": 1012, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 78, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.9, | |
| "wall_time_s": 1.8289406299591064, | |
| "raw": { | |
| "completion_time": 1.8265111446380615, | |
| "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": 0.17649592167702957, | |
| "block_0-gripper_Right": 0.09812875352228985, | |
| "block_1-gripper_Left": 0.20221505150800664, | |
| "block_1-gripper_Right": 0.13811634803092407, | |
| "cube 1 lift distance": 0.04013032453973442, | |
| "cube 2 lift distance": 0.00013440613381165978, | |
| "inter-block distance": 0.04018175484634829 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6230957636014115, | |
| "right": 0.6642664494529312 | |
| }, | |
| "total_cartesian_path_length": 1.2873622130543427, | |
| "avg_cartesian_path_length": 0.6436811065271714, | |
| "joint_path_length": { | |
| "left": 2.2018047542227706, | |
| "right": 2.360052582660142 | |
| }, | |
| "total_joint_path_length": 4.5618573368829125, | |
| "avg_joint_path_length": 2.2809286684414563, | |
| "orientation_path_length": { | |
| "left": 0.7541290108891588, | |
| "right": 0.489572786022502 | |
| }, | |
| "total_orientation_path_length": 1.2437017969116608, | |
| "avg_orientation_path_length": 0.6218508984558304, | |
| "avg_cartesian_jerk": { | |
| "left": 10.82155357402648, | |
| "right": 13.308310611134344 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 16.629410822185815, | |
| "right": 18.215946014236984 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 48.25328494431785, | |
| "right": 54.17213658426104 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 77.11386988550424, | |
| "right": 76.33813215179278 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.46957503094986863, | |
| "bimanual_gripper_vertical_difference": 0.04445552838593505, | |
| "overall_avg_cartesian_jerk": 12.064932092580412, | |
| "overall_rms_cartesian_jerk": 17.440728102442097, | |
| "overall_avg_joint_jerk": 51.21271076428944, | |
| "overall_rms_joint_jerk": 76.72698139879823, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.46957503094986863, | |
| "bgvd": 0.04445552838593505, | |
| "cpl": 1.2873622130543427, | |
| "ct": 3.9, | |
| "ecc": 0.0, | |
| "jpl": 4.5618573368829125, | |
| "mcj": 12.064932092580412, | |
| "mjj": 51.21271076428944, | |
| "opl": 1.2437017969116608, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 78.0 | |
| }, | |
| "actions_file": "episode_12.npz", | |
| "actions_sha256": "c1831943503478b23cbff02fc5ae9c89c2f637b5ce538dc05acc4cc6b49ec25c" | |
| } |