LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_26.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 26, | |
| "seed": 1026, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 134, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 6.7, | |
| "wall_time_s": 2.9653422832489014, | |
| "raw": { | |
| "completion_time": 2.963045835494995, | |
| "slip_count": 0, | |
| "slip_count_per_object": { | |
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| "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": 0.19892869891496406, | |
| "block_0-gripper_Right": 0.13764218642732304, | |
| "block_1-gripper_Left": 0.17470920536188264, | |
| "block_1-gripper_Right": 0.09746698171929932, | |
| "cube 1 lift distance": 0.0005390594577808772, | |
| "cube 2 lift distance": 0.040625854476323164, | |
| "inter-block distance": 0.040460559523528276 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.8805461484597257, | |
| "right": 0.6847750675844719 | |
| }, | |
| "total_cartesian_path_length": 1.5653212160441976, | |
| "avg_cartesian_path_length": 0.7826606080220988, | |
| "joint_path_length": { | |
| "left": 3.1356329269880514, | |
| "right": 2.6157912915738466 | |
| }, | |
| "total_joint_path_length": 5.751424218561898, | |
| "avg_joint_path_length": 2.875712109280949, | |
| "orientation_path_length": { | |
| "left": 0.12422950619986259, | |
| "right": 0.8063904495244066 | |
| }, | |
| "total_orientation_path_length": 0.9306199557242693, | |
| "avg_orientation_path_length": 0.4653099778621346, | |
| "avg_cartesian_jerk": { | |
| "left": 10.272606809331968, | |
| "right": 7.3433947509439275 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 18.009621597335066, | |
| "right": 13.864261511240834 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 40.874071332239936, | |
| "right": 31.71854313628177 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 71.47166889484367, | |
| "right": 57.999349517305426 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.3521954837126375, | |
| "bimanual_gripper_vertical_difference": 0.040611844205057986, | |
| "overall_avg_cartesian_jerk": 8.808000780137947, | |
| "overall_rms_cartesian_jerk": 16.071157664139687, | |
| "overall_avg_joint_jerk": 36.29630723426085, | |
| "overall_rms_joint_jerk": 65.08503667911974, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.3521954837126375, | |
| "bgvd": 0.040611844205057986, | |
| "cpl": 1.5653212160441976, | |
| "ct": 6.7, | |
| "ecc": 0.0, | |
| "jpl": 5.751424218561898, | |
| "mcj": 8.808000780137947, | |
| "mjj": 36.29630723426085, | |
| "opl": 0.9306199557242693, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 134.0 | |
| }, | |
| "actions_file": "episode_26.npz", | |
| "actions_sha256": "c4c3411d1bd5005b8b81da0c29ec2b3569f251e556ca41ef470709a70175a43c" | |
| } |