LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_22.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 22, | |
| "seed": 1022, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 78, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.9, | |
| "wall_time_s": 1.8622541427612305, | |
| "raw": { | |
| "completion_time": 1.8581275939941406, | |
| "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": 0.09731465692773965, | |
| "block_0-gripper_Right": 0.17687638603013442, | |
| "block_1-gripper_Left": 0.137414491655255, | |
| "block_1-gripper_Right": 0.20229108188766476, | |
| "cube 1 lift distance": 0.04053095583631272, | |
| "cube 2 lift distance": 0.00043655019070543144, | |
| "inter-block distance": 0.04021111779558234 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6893143565479382, | |
| "right": 0.621184991965974 | |
| }, | |
| "total_cartesian_path_length": 1.310499348513912, | |
| "avg_cartesian_path_length": 0.655249674256956, | |
| "joint_path_length": { | |
| "left": 2.6586725530207986, | |
| "right": 2.2060034917812437 | |
| }, | |
| "total_joint_path_length": 4.864676044802042, | |
| "avg_joint_path_length": 2.432338022401021, | |
| "orientation_path_length": { | |
| "left": 1.0119177167428999, | |
| "right": 0.13349446603351228 | |
| }, | |
| "total_orientation_path_length": 1.145412182776412, | |
| "avg_orientation_path_length": 0.572706091388206, | |
| "avg_cartesian_jerk": { | |
| "left": 13.359203675979241, | |
| "right": 11.04563294617209 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 17.862333714856995, | |
| "right": 16.810877961267288 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 57.08148357344314, | |
| "right": 44.19237605333305 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 74.39027813045877, | |
| "right": 71.94768767686348 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.40977156784174257, | |
| "bimanual_gripper_vertical_difference": 0.03539181436094358, | |
| "overall_avg_cartesian_jerk": 12.202418311075665, | |
| "overall_rms_cartesian_jerk": 17.344575284069933, | |
| "overall_avg_joint_jerk": 50.63692981338809, | |
| "overall_rms_joint_jerk": 73.17917477798757, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.40977156784174257, | |
| "bgvd": 0.03539181436094358, | |
| "cpl": 1.310499348513912, | |
| "ct": 3.9, | |
| "ecc": 0.0, | |
| "jpl": 4.864676044802042, | |
| "mcj": 12.202418311075665, | |
| "mjj": 50.63692981338809, | |
| "opl": 1.145412182776412, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 78.0 | |
| }, | |
| "actions_file": "episode_22.npz", | |
| "actions_sha256": "aa06393136b3d9f77711820d03d37d958b09a77678ca179ace21becb3176d41b" | |
| } |