LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_27.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 27, | |
| "seed": 1027, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 86, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 4.3, | |
| "wall_time_s": 1.924354076385498, | |
| "raw": { | |
| "completion_time": 1.9218614101409912, | |
| "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": 0.17628779260579155, | |
| "block_0-gripper_Right": 0.10099828186071791, | |
| "block_1-gripper_Left": 0.20263772970206717, | |
| "block_1-gripper_Right": 0.14089470350031225, | |
| "cube 1 lift distance": 0.04022658132972734, | |
| "cube 2 lift distance": 0.0002838270342679916, | |
| "inter-block distance": 0.04010077971546603 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6338651805555199, | |
| "right": 0.6669176206055922 | |
| }, | |
| "total_cartesian_path_length": 1.300782801161112, | |
| "avg_cartesian_path_length": 0.650391400580556, | |
| "joint_path_length": { | |
| "left": 2.0991691761377727, | |
| "right": 2.6720160404443467 | |
| }, | |
| "total_joint_path_length": 4.771185216582119, | |
| "avg_joint_path_length": 2.3855926082910597, | |
| "orientation_path_length": { | |
| "left": 0.12909584880734779, | |
| "right": 0.3532727129545457 | |
| }, | |
| "total_orientation_path_length": 0.48236856176189347, | |
| "avg_orientation_path_length": 0.24118428088094673, | |
| "avg_cartesian_jerk": { | |
| "left": 9.817073311332518, | |
| "right": 15.64313533947848 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 15.741573318067765, | |
| "right": 27.258404462134653 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 44.88646468629475, | |
| "right": 61.1253063207121 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 80.88294609131917, | |
| "right": 89.67447627902168 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.5352940603432383, | |
| "bimanual_gripper_vertical_difference": 0.04477355441599655, | |
| "overall_avg_cartesian_jerk": 12.730104325405499, | |
| "overall_rms_cartesian_jerk": 22.257782283388266, | |
| "overall_avg_joint_jerk": 53.00588550350343, | |
| "overall_rms_joint_jerk": 85.39192779276055, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.5352940603432383, | |
| "bgvd": 0.04477355441599655, | |
| "cpl": 1.300782801161112, | |
| "ct": 4.3, | |
| "ecc": 0.0, | |
| "jpl": 4.771185216582119, | |
| "mcj": 12.730104325405499, | |
| "mjj": 53.00588550350343, | |
| "opl": 0.48236856176189347, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 86.0 | |
| }, | |
| "actions_file": "episode_27.npz", | |
| "actions_sha256": "656079101186911be6d3a9a7f805f5982ec00ca0b6f80f381e2303750e64f0ff" | |
| } |