LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_20.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 20, | |
| "seed": 1020, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 71, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.55, | |
| "wall_time_s": 1.5707879066467285, | |
| "raw": { | |
| "completion_time": 1.568476915359497, | |
| "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": 0.13798167445302098, | |
| "block_0-gripper_Right": 0.2039761950535852, | |
| "block_1-gripper_Left": 0.09797609179679023, | |
| "block_1-gripper_Right": 0.18216021622686657, | |
| "cube 1 lift distance": 0.0007563072204550547, | |
| "cube 2 lift distance": 0.04073713947369506, | |
| "inter-block distance": 0.04051304888424208 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.7891166067381434, | |
| "right": 0.510108257391155 | |
| }, | |
| "total_cartesian_path_length": 1.2992248641292985, | |
| "avg_cartesian_path_length": 0.6496124320646492, | |
| "joint_path_length": { | |
| "left": 2.8432586478527835, | |
| "right": 1.8053888102551927 | |
| }, | |
| "total_joint_path_length": 4.648647458107976, | |
| "avg_joint_path_length": 2.324323729053988, | |
| "orientation_path_length": { | |
| "left": 0.6986116134225369, | |
| "right": 0.13879860957952458 | |
| }, | |
| "total_orientation_path_length": 0.8374102230020615, | |
| "avg_orientation_path_length": 0.41870511150103074, | |
| "avg_cartesian_jerk": { | |
| "left": 13.400596614665224, | |
| "right": 11.740231427797026 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 18.097459754881754, | |
| "right": 17.859675764184875 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 61.673151050924886, | |
| "right": 45.590470515393676 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 81.02502420120001, | |
| "right": 71.94767478979226 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.4024323082030075, | |
| "bimanual_gripper_vertical_difference": 0.02909632844777418, | |
| "overall_avg_cartesian_jerk": 12.570414021231125, | |
| "overall_rms_cartesian_jerk": 17.978960870714655, | |
| "overall_avg_joint_jerk": 53.63181078315928, | |
| "overall_rms_joint_jerk": 76.62089288980766, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.4024323082030075, | |
| "bgvd": 0.02909632844777418, | |
| "cpl": 1.2992248641292985, | |
| "ct": 3.55, | |
| "ecc": 0.0, | |
| "jpl": 4.648647458107976, | |
| "mcj": 12.570414021231125, | |
| "mjj": 53.63181078315928, | |
| "opl": 0.8374102230020615, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 71.0 | |
| }, | |
| "actions_file": "episode_20.npz", | |
| "actions_sha256": "c3d3a4a5854e97c6eae6245b676ae1e534a32f15d3fdc8605bafad25aebb09e2" | |
| } |