LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_17.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 17, | |
| "seed": 1017, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 79, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.95, | |
| "wall_time_s": 1.7855217456817627, | |
| "raw": { | |
| "completion_time": 1.783092737197876, | |
| "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": 0.13826405895237434, | |
| "block_0-gripper_Right": 0.20403946055047564, | |
| "block_1-gripper_Left": 0.09823434958653696, | |
| "block_1-gripper_Right": 0.17867639448326822, | |
| "cube 1 lift distance": 9.63894571431867e-05, | |
| "cube 2 lift distance": 0.0400936423473337, | |
| "inter-block distance": 0.040182354028426036 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6770398150556067, | |
| "right": 0.6480386653769917 | |
| }, | |
| "total_cartesian_path_length": 1.3250784804325986, | |
| "avg_cartesian_path_length": 0.6625392402162993, | |
| "joint_path_length": { | |
| "left": 2.81979601364736, | |
| "right": 2.3399083722038605 | |
| }, | |
| "total_joint_path_length": 5.159704385851221, | |
| "avg_joint_path_length": 2.5798521929256104, | |
| "orientation_path_length": { | |
| "left": 0.7038384063459167, | |
| "right": 0.33147172025814564 | |
| }, | |
| "total_orientation_path_length": 1.0353101266040623, | |
| "avg_orientation_path_length": 0.5176550633020311, | |
| "avg_cartesian_jerk": { | |
| "left": 12.827983273810835, | |
| "right": 11.008850423907687 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 17.55820341966314, | |
| "right": 16.696980695017654 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 58.49342895711202, | |
| "right": 47.74926337467219 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 84.56464580813181, | |
| "right": 75.69849048560133 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.5126532554394811, | |
| "bimanual_gripper_vertical_difference": 0.04387698964322289, | |
| "overall_avg_cartesian_jerk": 11.91841684885926, | |
| "overall_rms_cartesian_jerk": 17.133004284947557, | |
| "overall_avg_joint_jerk": 53.121346165892106, | |
| "overall_rms_joint_jerk": 80.25409890607912, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.5126532554394811, | |
| "bgvd": 0.04387698964322289, | |
| "cpl": 1.3250784804325986, | |
| "ct": 3.95, | |
| "ecc": 0.0, | |
| "jpl": 5.159704385851221, | |
| "mcj": 11.91841684885926, | |
| "mjj": 53.121346165892106, | |
| "opl": 1.0353101266040623, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 79.0 | |
| }, | |
| "actions_file": "episode_17.npz", | |
| "actions_sha256": "b5074fb87ed09dd14d4d39a2920c2e78cff5322fdbb4a5e7cb73f6e942c52e16" | |
| } |