LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_25.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 25, | |
| "seed": 1025, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 77, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 3.85, | |
| "wall_time_s": 1.7126805782318115, | |
| "raw": { | |
| "completion_time": 1.710331678390503, | |
| "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": 0.20323338195696802, | |
| "block_0-gripper_Right": 0.13828080202529608, | |
| "block_1-gripper_Left": 0.18012908262495977, | |
| "block_1-gripper_Right": 0.09831124484515578, | |
| "cube 1 lift distance": 0.00026936559027157525, | |
| "cube 2 lift distance": 0.04021226923131893, | |
| "inter-block distance": 0.040545684729431146 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6111674766083082, | |
| "right": 0.6858419784269209 | |
| }, | |
| "total_cartesian_path_length": 1.2970094550352291, | |
| "avg_cartesian_path_length": 0.6485047275176146, | |
| "joint_path_length": { | |
| "left": 2.190743107845913, | |
| "right": 2.336796627781621 | |
| }, | |
| "total_joint_path_length": 4.527539735627534, | |
| "avg_joint_path_length": 2.263769867813767, | |
| "orientation_path_length": { | |
| "left": 0.2557653796545907, | |
| "right": 0.31716921789334973 | |
| }, | |
| "total_orientation_path_length": 0.5729345975479404, | |
| "avg_orientation_path_length": 0.2864672987739702, | |
| "avg_cartesian_jerk": { | |
| "left": 10.723099925790285, | |
| "right": 13.71795246018795 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 16.52926190091875, | |
| "right": 18.4243131151067 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 48.754060887471155, | |
| "right": 55.52694251399728 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 78.21332257709254, | |
| "right": 74.04706890958707 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.47954810855875185, | |
| "bimanual_gripper_vertical_difference": 0.04057104169184382, | |
| "overall_avg_cartesian_jerk": 12.220526192989118, | |
| "overall_rms_cartesian_jerk": 17.50245429579316, | |
| "overall_avg_joint_jerk": 52.14050170073422, | |
| "overall_rms_joint_jerk": 76.15869038609274, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.47954810855875185, | |
| "bgvd": 0.04057104169184382, | |
| "cpl": 1.2970094550352291, | |
| "ct": 3.85, | |
| "ecc": 0.0, | |
| "jpl": 4.527539735627534, | |
| "mcj": 12.220526192989118, | |
| "mjj": 52.14050170073422, | |
| "opl": 0.5729345975479404, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 77.0 | |
| }, | |
| "actions_file": "episode_25.npz", | |
| "actions_sha256": "98f361f1e4ae9f57b0173a06e36314b814219706bf6885143042ce18bf0f2ea1" | |
| } |