LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_16.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 16, | |
| "seed": 1016, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 79, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.95, | |
| "wall_time_s": 1.8271846771240234, | |
| "raw": { | |
| "completion_time": 1.824815273284912, | |
| "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": 0.09820647973076048, | |
| "block_0-gripper_Right": 0.1792277152425304, | |
| "block_1-gripper_Left": 0.13822099841362523, | |
| "block_1-gripper_Right": 0.20354991675800965, | |
| "cube 1 lift distance": 0.04009408124807079, | |
| "cube 2 lift distance": 0.00010416146234759616, | |
| "inter-block distance": 0.04036067671540187 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6627695926741389, | |
| "right": 0.6043031202881833 | |
| }, | |
| "total_cartesian_path_length": 1.2670727129623223, | |
| "avg_cartesian_path_length": 0.6335363564811611, | |
| "joint_path_length": { | |
| "left": 2.5419893254582755, | |
| "right": 2.072919086689655 | |
| }, | |
| "total_joint_path_length": 4.614908412147931, | |
| "avg_joint_path_length": 2.3074542060739653, | |
| "orientation_path_length": { | |
| "left": 0.5703480718093291, | |
| "right": 0.5622399360140007 | |
| }, | |
| "total_orientation_path_length": 1.1325880078233297, | |
| "avg_orientation_path_length": 0.5662940039116648, | |
| "avg_cartesian_jerk": { | |
| "left": 12.855298172664838, | |
| "right": 10.549765375308263 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 17.54946138454018, | |
| "right": 16.40378676344867 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 51.275463911021006, | |
| "right": 47.157967336537375 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 69.89748169293262, | |
| "right": 79.29667363304245 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.5092753329629836, | |
| "bimanual_gripper_vertical_difference": 0.0424611406205038, | |
| "overall_avg_cartesian_jerk": 11.70253177398655, | |
| "overall_rms_cartesian_jerk": 16.986285866371155, | |
| "overall_avg_joint_jerk": 49.21671562377919, | |
| "overall_rms_joint_jerk": 74.74496771114126, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.5092753329629836, | |
| "bgvd": 0.0424611406205038, | |
| "cpl": 1.2670727129623223, | |
| "ct": 3.95, | |
| "ecc": 0.0, | |
| "jpl": 4.614908412147931, | |
| "mcj": 11.70253177398655, | |
| "mjj": 49.21671562377919, | |
| "opl": 1.1325880078233297, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 79.0 | |
| }, | |
| "actions_file": "episode_16.npz", | |
| "actions_sha256": "1f455a32d49b76d89d455979e71d940e27ee99f0465f03f53063fd61b177a485" | |
| } |