LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_28.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 28, | |
| "seed": 1028, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 108, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 5.4, | |
| "wall_time_s": 2.3910889625549316, | |
| "raw": { | |
| "completion_time": 2.3887739181518555, | |
| "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": 0.1383175424607949, | |
| "block_0-gripper_Right": 0.20517645675243243, | |
| "block_1-gripper_Left": 0.09830245628569446, | |
| "block_1-gripper_Right": 0.1799978314559564, | |
| "cube 1 lift distance": 0.00012696357294184057, | |
| "cube 2 lift distance": 0.040120759535858364, | |
| "inter-block distance": 0.04016913345623106 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.7043025161551146, | |
| "right": 0.8431599591942528 | |
| }, | |
| "total_cartesian_path_length": 1.5474624753493673, | |
| "avg_cartesian_path_length": 0.7737312376746837, | |
| "joint_path_length": { | |
| "left": 2.70775179116404, | |
| "right": 2.98594710427876 | |
| }, | |
| "total_joint_path_length": 5.6936988954428, | |
| "avg_joint_path_length": 2.8468494477214, | |
| "orientation_path_length": { | |
| "left": 0.2993224580576002, | |
| "right": 0.5040680746446079 | |
| }, | |
| "total_orientation_path_length": 0.8033905327022082, | |
| "avg_orientation_path_length": 0.4016952663511041, | |
| "avg_cartesian_jerk": { | |
| "left": 9.769516262566354, | |
| "right": 12.466579940615867 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 15.705521147843248, | |
| "right": 19.776855825280713 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 42.990813047318575, | |
| "right": 53.13965894888146 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 70.35825190667789, | |
| "right": 81.3890255867992 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.45374451964186463, | |
| "bimanual_gripper_vertical_difference": 0.039528100191792204, | |
| "overall_avg_cartesian_jerk": 11.11804810159111, | |
| "overall_rms_cartesian_jerk": 17.857595314869403, | |
| "overall_avg_joint_jerk": 48.065235998100015, | |
| "overall_rms_joint_jerk": 76.07383616373043, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.45374451964186463, | |
| "bgvd": 0.039528100191792204, | |
| "cpl": 1.5474624753493673, | |
| "ct": 5.4, | |
| "ecc": 0.0, | |
| "jpl": 5.6936988954428, | |
| "mcj": 11.11804810159111, | |
| "mjj": 48.065235998100015, | |
| "opl": 0.8033905327022082, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 108.0 | |
| }, | |
| "actions_file": "episode_28.npz", | |
| "actions_sha256": "99b5b9dc4f960d4ef465be14e8c191085d768ded41d73f5468e5f2480a867d79" | |
| } |