LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_19.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 19, | |
| "seed": 1019, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 72, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.6, | |
| "wall_time_s": 1.559056282043457, | |
| "raw": { | |
| "completion_time": 1.5567066669464111, | |
| "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": 0.2035871179856243, | |
| "block_0-gripper_Right": 0.138461473272165, | |
| "block_1-gripper_Left": 0.17851577950305525, | |
| "block_1-gripper_Right": 0.09843780165351375, | |
| "cube 1 lift distance": 0.00011928480746181691, | |
| "cube 2 lift distance": 0.04011407896400043, | |
| "inter-block distance": 0.040190615870420804 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.5260036456127892, | |
| "right": 0.7511338103368308 | |
| }, | |
| "total_cartesian_path_length": 1.27713745594962, | |
| "avg_cartesian_path_length": 0.63856872797481, | |
| "joint_path_length": { | |
| "left": 1.8752395172685972, | |
| "right": 2.8539584219837404 | |
| }, | |
| "total_joint_path_length": 4.729197939252337, | |
| "avg_joint_path_length": 2.3645989696261687, | |
| "orientation_path_length": { | |
| "left": 0.2994934699849005, | |
| "right": 0.4171155867945055 | |
| }, | |
| "total_orientation_path_length": 0.716609056779406, | |
| "avg_orientation_path_length": 0.358304528389703, | |
| "avg_cartesian_jerk": { | |
| "left": 11.406748211173438, | |
| "right": 14.952525409272628 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 17.26767591838363, | |
| "right": 20.53300068076343 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 49.0732784501552, | |
| "right": 66.6856534617726 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 76.0551188666028, | |
| "right": 91.72975602030381 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.3726782913591234, | |
| "bimanual_gripper_vertical_difference": 0.03349001245932483, | |
| "overall_avg_cartesian_jerk": 13.179636810223032, | |
| "overall_rms_cartesian_jerk": 18.970724137187773, | |
| "overall_avg_joint_jerk": 57.8794659559639, | |
| "overall_rms_joint_jerk": 84.25772737665532, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.3726782913591234, | |
| "bgvd": 0.03349001245932483, | |
| "cpl": 1.27713745594962, | |
| "ct": 3.6, | |
| "ecc": 0.0, | |
| "jpl": 4.729197939252337, | |
| "mcj": 13.179636810223032, | |
| "mjj": 57.8794659559639, | |
| "opl": 0.716609056779406, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 72.0 | |
| }, | |
| "actions_file": "episode_19.npz", | |
| "actions_sha256": "19b7d88f2e80918a22e5bcce7563f9e6e59addebad8b00b29b54bc1ce93d4c76" | |
| } |