LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_15.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 15, | |
| "seed": 1015, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 77, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.85, | |
| "wall_time_s": 1.6961772441864014, | |
| "raw": { | |
| "completion_time": 1.6935415267944336, | |
| "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": 0.17447532867128182, | |
| "block_0-gripper_Right": 0.09675430636070065, | |
| "block_1-gripper_Left": 0.1984894180794043, | |
| "block_1-gripper_Right": 0.13679656608791815, | |
| "cube 1 lift distance": 0.040098811875206364, | |
| "cube 2 lift distance": 0.00010357509843417212, | |
| "inter-block distance": 0.04011651972819037 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.622338024543185, | |
| "right": 0.7056031264927075 | |
| }, | |
| "total_cartesian_path_length": 1.3279411510358925, | |
| "avg_cartesian_path_length": 0.6639705755179462, | |
| "joint_path_length": { | |
| "left": 2.238035516948509, | |
| "right": 2.625979236443044 | |
| }, | |
| "total_joint_path_length": 4.864014753391553, | |
| "avg_joint_path_length": 2.4320073766957764, | |
| "orientation_path_length": { | |
| "left": 0.8843158870331238, | |
| "right": 0.8959768400265181 | |
| }, | |
| "total_orientation_path_length": 1.780292727059642, | |
| "avg_orientation_path_length": 0.890146363529821, | |
| "avg_cartesian_jerk": { | |
| "left": 13.473373607883842, | |
| "right": 15.976333625543223 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 18.88618837453967, | |
| "right": 22.258822260353213 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 56.37251566515177, | |
| "right": 56.87244675743179 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 85.58448690452043, | |
| "right": 76.38453203829435 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.39430172668842806, | |
| "bimanual_gripper_vertical_difference": 0.03608934673076761, | |
| "overall_avg_cartesian_jerk": 14.724853616713533, | |
| "overall_rms_cartesian_jerk": 20.641502849073188, | |
| "overall_avg_joint_jerk": 56.622481211291785, | |
| "overall_rms_joint_jerk": 81.11504525493173, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.39430172668842806, | |
| "bgvd": 0.03608934673076761, | |
| "cpl": 1.3279411510358925, | |
| "ct": 3.85, | |
| "ecc": 0.0, | |
| "jpl": 4.864014753391553, | |
| "mcj": 14.724853616713533, | |
| "mjj": 56.622481211291785, | |
| "opl": 1.780292727059642, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 77.0 | |
| }, | |
| "actions_file": "episode_15.npz", | |
| "actions_sha256": "d7eecba80cfad55af93a6c079c9a023b6b37ebd24aaf46f190166d5cadcfdda0" | |
| } |