LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_13.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 13, | |
| "seed": 1013, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 78, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.9, | |
| "wall_time_s": 1.8176801204681396, | |
| "raw": { | |
| "completion_time": 1.8153367042541504, | |
| "slip_count": 0, | |
| "slip_count_per_object": { | |
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| "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": 0.13829131274836898, | |
| "block_0-gripper_Right": 0.20453704332018682, | |
| "block_1-gripper_Left": 0.09821353156706718, | |
| "block_1-gripper_Right": 0.17972385200437188, | |
| "cube 1 lift distance": 0.0001300024762214136, | |
| "cube 2 lift distance": 0.04013003042217145, | |
| "inter-block distance": 0.040167576440563325 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6882867540436624, | |
| "right": 0.6170697135927323 | |
| }, | |
| "total_cartesian_path_length": 1.3053564676363947, | |
| "avg_cartesian_path_length": 0.6526782338181973, | |
| "joint_path_length": { | |
| "left": 2.717833452734767, | |
| "right": 2.1937633624317523 | |
| }, | |
| "total_joint_path_length": 4.9115968151665195, | |
| "avg_joint_path_length": 2.4557984075832597, | |
| "orientation_path_length": { | |
| "left": 0.7506148939170023, | |
| "right": 0.2581287633624508 | |
| }, | |
| "total_orientation_path_length": 1.008743657279453, | |
| "avg_orientation_path_length": 0.5043718286397265, | |
| "avg_cartesian_jerk": { | |
| "left": 13.541362998693831, | |
| "right": 10.828375012466527 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 18.31857575533857, | |
| "right": 16.590843602710834 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 55.74693562929152, | |
| "right": 47.800379570822834 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 74.47382226486951, | |
| "right": 76.77084827183644 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.47668306900737495, | |
| "bimanual_gripper_vertical_difference": 0.04231154537915471, | |
| "overall_avg_cartesian_jerk": 12.184869005580179, | |
| "overall_rms_cartesian_jerk": 17.47607377464528, | |
| "overall_avg_joint_jerk": 51.77365760005718, | |
| "overall_rms_joint_jerk": 75.63105627689166, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.47668306900737495, | |
| "bgvd": 0.04231154537915471, | |
| "cpl": 1.3053564676363947, | |
| "ct": 3.9, | |
| "ecc": 0.0, | |
| "jpl": 4.9115968151665195, | |
| "mcj": 12.184869005580179, | |
| "mjj": 51.77365760005718, | |
| "opl": 1.008743657279453, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 78.0 | |
| }, | |
| "actions_file": "episode_13.npz", | |
| "actions_sha256": "90823e80f9037af5232cc4ca47d4ee3b84264cf1420d5818e1751aa492c78b3d" | |
| } |