LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_29.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 29, | |
| "seed": 1029, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 83, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 4.15, | |
| "wall_time_s": 1.9541168212890625, | |
| "raw": { | |
| "completion_time": 1.9517745971679688, | |
| "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": 0.17385810426095255, | |
| "block_0-gripper_Right": 0.10022377962062315, | |
| "block_1-gripper_Left": 0.20243683465467505, | |
| "block_1-gripper_Right": 0.14014619032694955, | |
| "cube 1 lift distance": 0.04012382123214664, | |
| "cube 2 lift distance": 0.00012641412719027745, | |
| "inter-block distance": 0.04009282681789747 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.6720800072666598, | |
| "right": 0.6285284532042151 | |
| }, | |
| "total_cartesian_path_length": 1.300608460470875, | |
| "avg_cartesian_path_length": 0.6503042302354375, | |
| "joint_path_length": { | |
| "left": 2.4238154464460147, | |
| "right": 2.2630494329907678 | |
| }, | |
| "total_joint_path_length": 4.686864879436783, | |
| "avg_joint_path_length": 2.3434324397183914, | |
| "orientation_path_length": { | |
| "left": 0.5484615051490422, | |
| "right": 0.3207466111345622 | |
| }, | |
| "total_orientation_path_length": 0.8692081162836045, | |
| "avg_orientation_path_length": 0.43460405814180225, | |
| "avg_cartesian_jerk": { | |
| "left": 10.26819244212002, | |
| "right": 12.926545588833822 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 16.15259702848076, | |
| "right": 21.109874630756757 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 49.176276935705914, | |
| "right": 49.90679263324857 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 83.55648958755263, | |
| "right": 73.35156650245419 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.4861167335208457, | |
| "bimanual_gripper_vertical_difference": 0.050726625023349486, | |
| "overall_avg_cartesian_jerk": 11.59736901547692, | |
| "overall_rms_cartesian_jerk": 18.795387701385053, | |
| "overall_avg_joint_jerk": 49.54153478447724, | |
| "overall_rms_joint_jerk": 78.61977887452608, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.4861167335208457, | |
| "bgvd": 0.050726625023349486, | |
| "cpl": 1.300608460470875, | |
| "ct": 4.15, | |
| "ecc": 0.0, | |
| "jpl": 4.686864879436783, | |
| "mcj": 11.59736901547692, | |
| "mjj": 49.54153478447724, | |
| "opl": 0.8692081162836045, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 83.0 | |
| }, | |
| "actions_file": "episode_29.npz", | |
| "actions_sha256": "d4db8a766d02d7cb219e2c81d7928a70bc575fc453f360068c84fd269eab0ffe" | |
| } |