LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_3.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 3, | |
| "seed": 1003, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 130, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 6.5, | |
| "wall_time_s": 3.125593900680542, | |
| "raw": { | |
| "completion_time": 3.123232126235962, | |
| "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": 0.17526505718041033, | |
| "block_0-gripper_Right": 0.0984856320051808, | |
| "block_1-gripper_Left": 0.20122947725927953, | |
| "block_1-gripper_Right": 0.13850598596826208, | |
| "cube 1 lift distance": 0.04008908356629104, | |
| "cube 2 lift distance": 0.00013393924089422082, | |
| "inter-block distance": 0.04009076219143937 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.8535939171465738, | |
| "right": 0.7307868280518237 | |
| }, | |
| "total_cartesian_path_length": 1.5843807451983976, | |
| "avg_cartesian_path_length": 0.7921903725991988, | |
| "joint_path_length": { | |
| "left": 3.057348732602166, | |
| "right": 2.7747612816543916 | |
| }, | |
| "total_joint_path_length": 5.832110014256558, | |
| "avg_joint_path_length": 2.916055007128279, | |
| "orientation_path_length": { | |
| "left": 0.2064867800375048, | |
| "right": 0.6032524555137818 | |
| }, | |
| "total_orientation_path_length": 0.8097392355512867, | |
| "avg_orientation_path_length": 0.40486961777564334, | |
| "avg_cartesian_jerk": { | |
| "left": 10.720787012134306, | |
| "right": 7.944658335011544 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 18.37503681827099, | |
| "right": 13.839313309522165 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 44.41292379774069, | |
| "right": 38.31643350358309 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 76.24169747609628, | |
| "right": 74.66237817817031 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.3264869707619028, | |
| "bimanual_gripper_vertical_difference": 0.04039961811727084, | |
| "overall_avg_cartesian_jerk": 9.332722673572926, | |
| "overall_rms_cartesian_jerk": 16.2660470144398, | |
| "overall_avg_joint_jerk": 41.36467865066189, | |
| "overall_rms_joint_jerk": 75.45616989105896, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.3264869707619028, | |
| "bgvd": 0.04039961811727084, | |
| "cpl": 1.5843807451983976, | |
| "ct": 6.5, | |
| "ecc": 0.0, | |
| "jpl": 5.832110014256558, | |
| "mcj": 9.332722673572926, | |
| "mjj": 41.36467865066189, | |
| "opl": 0.8097392355512867, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 130.0 | |
| }, | |
| "actions_file": "episode_3.npz", | |
| "actions_sha256": "3896fe633c1cf2fe5a68e5c1dcb9a921af8b43fb2e7354ebdf58a800dd01fec9" | |
| } |