LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_14.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 14, | |
| "seed": 1014, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 72, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.6, | |
| "wall_time_s": 1.6540863513946533, | |
| "raw": { | |
| "completion_time": 1.6505696773529053, | |
| "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": 0.17815273064754622, | |
| "block_0-gripper_Right": 0.09728735440942445, | |
| "block_1-gripper_Left": 0.2021622565522306, | |
| "block_1-gripper_Right": 0.1375058042831703, | |
| "cube 1 lift distance": 0.04148303020114885, | |
| "cube 2 lift distance": 0.0013413987558287266, | |
| "inter-block distance": 0.04035295785954638 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.5319170624629396, | |
| "right": 0.7355347220820234 | |
| }, | |
| "total_cartesian_path_length": 1.267451784544963, | |
| "avg_cartesian_path_length": 0.6337258922724816, | |
| "joint_path_length": { | |
| "left": 1.9685585175877858, | |
| "right": 2.6026339866724326 | |
| }, | |
| "total_joint_path_length": 4.571192504260218, | |
| "avg_joint_path_length": 2.285596252130109, | |
| "orientation_path_length": { | |
| "left": 0.40197594957087196, | |
| "right": 0.7545466080106943 | |
| }, | |
| "total_orientation_path_length": 1.1565225575815663, | |
| "avg_orientation_path_length": 0.5782612787907832, | |
| "avg_cartesian_jerk": { | |
| "left": 11.392200059030587, | |
| "right": 14.500227919987276 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 17.175073460512905, | |
| "right": 19.680859888671637 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 49.156344265434406, | |
| "right": 62.489250730267024 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 78.13732163082412, | |
| "right": 83.14333334816389 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.39818774128093687, | |
| "bimanual_gripper_vertical_difference": 0.028649380782393714, | |
| "overall_avg_cartesian_jerk": 12.946213989508932, | |
| "overall_rms_cartesian_jerk": 18.470508849670857, | |
| "overall_avg_joint_jerk": 55.82279749785071, | |
| "overall_rms_joint_jerk": 80.67916370378029, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.39818774128093687, | |
| "bgvd": 0.028649380782393714, | |
| "cpl": 1.267451784544963, | |
| "ct": 3.6, | |
| "ecc": 0.0, | |
| "jpl": 4.571192504260218, | |
| "mcj": 12.946213989508932, | |
| "mjj": 55.82279749785071, | |
| "opl": 1.1565225575815663, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 72.0 | |
| }, | |
| "actions_file": "episode_14.npz", | |
| "actions_sha256": "2a4da690d5195a6732e37eb96877a6527abdb0dc290e3c81bd89294884b03861" | |
| } |