LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_24.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 24, | |
| "seed": 1024, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 112, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 5.6, | |
| "wall_time_s": 2.630030870437622, | |
| "raw": { | |
| "completion_time": 2.627500057220459, | |
| "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": 0.17699401923088817, | |
| "block_0-gripper_Right": 0.09810424207617291, | |
| "block_1-gripper_Left": 0.20088255422698081, | |
| "block_1-gripper_Right": 0.1380457551273601, | |
| "cube 1 lift distance": 0.04007640255006528, | |
| "cube 2 lift distance": 9.712048481513857e-05, | |
| "inter-block distance": 0.04037540774683696 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.8655888439685319, | |
| "right": 0.715238113575304 | |
| }, | |
| "total_cartesian_path_length": 1.5808269575438358, | |
| "avg_cartesian_path_length": 0.7904134787719179, | |
| "joint_path_length": { | |
| "left": 3.2237787249016066, | |
| "right": 2.703320616179468 | |
| }, | |
| "total_joint_path_length": 5.927099341081075, | |
| "avg_joint_path_length": 2.9635496705405373, | |
| "orientation_path_length": { | |
| "left": 0.9123705566503613, | |
| "right": 0.6217505674422847 | |
| }, | |
| "total_orientation_path_length": 1.534121124092646, | |
| "avg_orientation_path_length": 0.767060562046323, | |
| "avg_cartesian_jerk": { | |
| "left": 12.474325610065286, | |
| "right": 9.018396746928369 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 19.62606940241247, | |
| "right": 15.15234593637508 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 50.38789300390828, | |
| "right": 38.60614539709125 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 76.47125164396442, | |
| "right": 66.2331087204428 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.4209256430077035, | |
| "bimanual_gripper_vertical_difference": 0.037173246638929215, | |
| "overall_avg_cartesian_jerk": 10.746361178496826, | |
| "overall_rms_cartesian_jerk": 17.532486811115717, | |
| "overall_avg_joint_jerk": 44.497019200499764, | |
| "overall_rms_joint_jerk": 71.53557513142859, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.4209256430077035, | |
| "bgvd": 0.037173246638929215, | |
| "cpl": 1.5808269575438358, | |
| "ct": 5.6, | |
| "ecc": 0.0, | |
| "jpl": 5.927099341081075, | |
| "mcj": 10.746361178496826, | |
| "mjj": 44.497019200499764, | |
| "opl": 1.534121124092646, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 112.0 | |
| }, | |
| "actions_file": "episode_24.npz", | |
| "actions_sha256": "1765ea41feda004cb56b0d3c55bac3891a677b2a455727f0806937d0d8537cae" | |
| } |