LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_23.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 23, | |
| "seed": 1023, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 79, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.95, | |
| "wall_time_s": 1.9089148044586182, | |
| "raw": { | |
| "completion_time": 1.9065420627593994, | |
| "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": 0.0953327047555454, | |
| "block_0-gripper_Right": 0.1742584136736139, | |
| "block_1-gripper_Left": 0.13533858417836678, | |
| "block_1-gripper_Right": 0.19743530826226993, | |
| "cube 1 lift distance": 0.04020256800117883, | |
| "cube 2 lift distance": 0.0002103670260151791, | |
| "inter-block distance": 0.04009659707117625 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.7039729037559547, | |
| "right": 0.6184008468989813 | |
| }, | |
| "total_cartesian_path_length": 1.322373750654936, | |
| "avg_cartesian_path_length": 0.661186875327468, | |
| "joint_path_length": { | |
| "left": 2.9096200061816972, | |
| "right": 2.118439529149668 | |
| }, | |
| "total_joint_path_length": 5.028059535331366, | |
| "avg_joint_path_length": 2.514029767665683, | |
| "orientation_path_length": { | |
| "left": 0.9675024701126689, | |
| "right": 1.0043682438413692 | |
| }, | |
| "total_orientation_path_length": 1.9718707139540381, | |
| "avg_orientation_path_length": 0.9859353569770191, | |
| "avg_cartesian_jerk": { | |
| "left": 12.929497841162643, | |
| "right": 13.328052628168114 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 16.389407049785568, | |
| "right": 19.12625800324716 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 59.12476061124719, | |
| "right": 54.925399614683364 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 83.95369356659157, | |
| "right": 85.35048655084087 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.36746130473981886, | |
| "bimanual_gripper_vertical_difference": 0.03385463225076144, | |
| "overall_avg_cartesian_jerk": 13.12877523466538, | |
| "overall_rms_cartesian_jerk": 17.810480182329965, | |
| "overall_avg_joint_jerk": 57.025080112965284, | |
| "overall_rms_joint_jerk": 84.65497096431616, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.36746130473981886, | |
| "bgvd": 0.03385463225076144, | |
| "cpl": 1.322373750654936, | |
| "ct": 3.95, | |
| "ecc": 0.0, | |
| "jpl": 5.028059535331366, | |
| "mcj": 13.12877523466538, | |
| "mjj": 57.025080112965284, | |
| "opl": 1.9718707139540381, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 79.0 | |
| }, | |
| "actions_file": "episode_23.npz", | |
| "actions_sha256": "3c245029159e232a7783a9d1bee0827043d39fea50f845504b9c18da0a16f632" | |
| } |