LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_21.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 21, | |
| "seed": 1021, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 71, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.55, | |
| "wall_time_s": 1.7836313247680664, | |
| "raw": { | |
| "completion_time": 1.7812161445617676, | |
| "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": 0.1788588076351069, | |
| "block_0-gripper_Right": 0.09799345518320957, | |
| "block_1-gripper_Left": 0.20321174424358013, | |
| "block_1-gripper_Right": 0.13807009224951158, | |
| "cube 1 lift distance": 0.0401317460388364, | |
| "cube 2 lift distance": 0.0001290779827457511, | |
| "inter-block distance": 0.040300662952849474 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.5208636195578569, | |
| "right": 0.7660826459701844 | |
| }, | |
| "total_cartesian_path_length": 1.2869462655280413, | |
| "avg_cartesian_path_length": 0.6434731327640206, | |
| "joint_path_length": { | |
| "left": 2.1435277774418835, | |
| "right": 3.3494144714421434 | |
| }, | |
| "total_joint_path_length": 5.492942248884027, | |
| "avg_joint_path_length": 2.7464711244420137, | |
| "orientation_path_length": { | |
| "left": 0.6096212836013406, | |
| "right": 0.7994554546333423 | |
| }, | |
| "total_orientation_path_length": 1.409076738234683, | |
| "avg_orientation_path_length": 0.7045383691173415, | |
| "avg_cartesian_jerk": { | |
| "left": 11.471917200670923, | |
| "right": 13.510749318077105 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 17.64681975406056, | |
| "right": 18.597520036785447 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 48.53527547992166, | |
| "right": 64.18925142015608 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 79.30749681135454, | |
| "right": 86.16248707005498 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.3687187058881844, | |
| "bimanual_gripper_vertical_difference": 0.03139201471105831, | |
| "overall_avg_cartesian_jerk": 12.491333259374013, | |
| "overall_rms_cartesian_jerk": 18.12840311432502, | |
| "overall_avg_joint_jerk": 56.36226345003887, | |
| "overall_rms_joint_jerk": 82.80595760143228, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.3687187058881844, | |
| "bgvd": 0.03139201471105831, | |
| "cpl": 1.2869462655280413, | |
| "ct": 3.55, | |
| "ecc": 0.0, | |
| "jpl": 5.492942248884027, | |
| "mcj": 12.491333259374013, | |
| "mjj": 56.36226345003887, | |
| "opl": 1.409076738234683, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 71.0 | |
| }, | |
| "actions_file": "episode_21.npz", | |
| "actions_sha256": "f6226bc410956e4bd1db0a25086f3cbc4529d33b1df4e0fc00138d34c56f4374" | |
| } |