LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_2.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 2, | |
| "seed": 1002, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 72, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.6, | |
| "wall_time_s": 1.6843559741973877, | |
| "raw": { | |
| "completion_time": 1.681919813156128, | |
| "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": 0.13801200498949603, | |
| "block_0-gripper_Right": 0.20230743465298687, | |
| "block_1-gripper_Left": 0.0979289699768821, | |
| "block_1-gripper_Right": 0.17891152557885043, | |
| "cube 1 lift distance": 0.00013601197373747098, | |
| "cube 2 lift distance": 0.04013133696914273, | |
| "inter-block distance": 0.040454532832293354 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.7397914907509499, | |
| "right": 0.5358142267060345 | |
| }, | |
| "total_cartesian_path_length": 1.2756057174569844, | |
| "avg_cartesian_path_length": 0.6378028587284922, | |
| "joint_path_length": { | |
| "left": 2.7091173973472746, | |
| "right": 2.004526908267622 | |
| }, | |
| "total_joint_path_length": 4.7136443056148964, | |
| "avg_joint_path_length": 2.3568221528074482, | |
| "orientation_path_length": { | |
| "left": 0.1578291610263812, | |
| "right": 0.4201210250217517 | |
| }, | |
| "total_orientation_path_length": 0.5779501860481329, | |
| "avg_orientation_path_length": 0.28897509302406643, | |
| "avg_cartesian_jerk": { | |
| "left": 14.698188585154346, | |
| "right": 11.251836545778376 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 19.69045121307932, | |
| "right": 17.203806617667528 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 60.836466967289816, | |
| "right": 50.47974858453796 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 82.38408115288662, | |
| "right": 80.74925179606642 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.3957461241073618, | |
| "bimanual_gripper_vertical_difference": 0.030876692836727695, | |
| "overall_avg_cartesian_jerk": 12.975012565466361, | |
| "overall_rms_cartesian_jerk": 18.488980922603034, | |
| "overall_avg_joint_jerk": 55.65810777591389, | |
| "overall_rms_joint_jerk": 81.5707622038373, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.3957461241073618, | |
| "bgvd": 0.030876692836727695, | |
| "cpl": 1.2756057174569844, | |
| "ct": 3.6, | |
| "ecc": 0.0, | |
| "jpl": 4.7136443056148964, | |
| "mcj": 12.975012565466361, | |
| "mjj": 55.65810777591389, | |
| "opl": 0.5779501860481329, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 72.0 | |
| }, | |
| "actions_file": "episode_2.npz", | |
| "actions_sha256": "acb3c8b3beb9fd126eb2103dc8124c4075a9777490f951a277abbbe37c6d4e49" | |
| } |