LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_18.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 18, | |
| "seed": 1018, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 112, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 5.6, | |
| "wall_time_s": 2.655531167984009, | |
| "raw": { | |
| "completion_time": 2.6531405448913574, | |
| "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": 0.1753725222913813, | |
| "block_0-gripper_Right": 0.09731697485680457, | |
| "block_1-gripper_Left": 0.20088352064679552, | |
| "block_1-gripper_Right": 0.13736476306052342, | |
| "cube 1 lift distance": 0.04010864832449501, | |
| "cube 2 lift distance": 0.00010812755956313147, | |
| "inter-block distance": 0.04021095112112709 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.8711106424192009, | |
| "right": 0.6739889594779283 | |
| }, | |
| "total_cartesian_path_length": 1.545099601897129, | |
| "avg_cartesian_path_length": 0.7725498009485645, | |
| "joint_path_length": { | |
| "left": 3.278032217529068, | |
| "right": 2.750305546088803 | |
| }, | |
| "total_joint_path_length": 6.028337763617872, | |
| "avg_joint_path_length": 3.014168881808936, | |
| "orientation_path_length": { | |
| "left": 0.9346040731979907, | |
| "right": 0.6276790781544911 | |
| }, | |
| "total_orientation_path_length": 1.5622831513524817, | |
| "avg_orientation_path_length": 0.7811415756762409, | |
| "avg_cartesian_jerk": { | |
| "left": 12.502043749643972, | |
| "right": 8.836763280363966 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 19.674219316300753, | |
| "right": 15.431800338485218 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 53.31294553761412, | |
| "right": 37.485115794823464 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 83.47428797456226, | |
| "right": 64.17909437043508 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.46181539921926124, | |
| "bimanual_gripper_vertical_difference": 0.04100990906461018, | |
| "overall_avg_cartesian_jerk": 10.66940351500397, | |
| "overall_rms_cartesian_jerk": 17.680715022203913, | |
| "overall_avg_joint_jerk": 45.3990306662188, | |
| "overall_rms_joint_jerk": 74.4543917679453, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.46181539921926124, | |
| "bgvd": 0.04100990906461018, | |
| "cpl": 1.545099601897129, | |
| "ct": 5.6, | |
| "ecc": 0.0, | |
| "jpl": 6.028337763617872, | |
| "mcj": 10.66940351500397, | |
| "mjj": 45.3990306662188, | |
| "opl": 1.5622831513524817, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 112.0 | |
| }, | |
| "actions_file": "episode_18.npz", | |
| "actions_sha256": "b746c9167a2ec714d1b2c438f7bb5b806341a5f1bf0dae1be5d4ef264068cf89" | |
| } |