LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_30.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 30, | |
| "seed": 1030, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 110, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 5.5, | |
| "wall_time_s": 2.3944003582000732, | |
| "raw": { | |
| "completion_time": 2.3920915126800537, | |
| "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": 0.17547962739457748, | |
| "block_0-gripper_Right": 0.0971148497839998, | |
| "block_1-gripper_Left": 0.2008432947171319, | |
| "block_1-gripper_Right": 0.13722937508003732, | |
| "cube 1 lift distance": 0.041067976619714175, | |
| "cube 2 lift distance": 0.0010129092550134056, | |
| "inter-block distance": 0.04017110104936487 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.8512132737654097, | |
| "right": 0.6821919611339645 | |
| }, | |
| "total_cartesian_path_length": 1.5334052348993743, | |
| "avg_cartesian_path_length": 0.7667026174496872, | |
| "joint_path_length": { | |
| "left": 2.9937616461438443, | |
| "right": 2.556149917702968 | |
| }, | |
| "total_joint_path_length": 5.549911563846813, | |
| "avg_joint_path_length": 2.7749557819234063, | |
| "orientation_path_length": { | |
| "left": 0.17766428572132864, | |
| "right": 0.4828007723626669 | |
| }, | |
| "total_orientation_path_length": 0.6604650580839955, | |
| "avg_orientation_path_length": 0.33023252904199774, | |
| "avg_cartesian_jerk": { | |
| "left": 12.630204022098235, | |
| "right": 8.97142156530716 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 19.709084848668844, | |
| "right": 15.352212206389593 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 47.73379528189498, | |
| "right": 40.89233818452616 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 75.41667675178314, | |
| "right": 68.30105858162325 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.41746975894703287, | |
| "bimanual_gripper_vertical_difference": 0.03977372704818299, | |
| "overall_avg_cartesian_jerk": 10.800812793702699, | |
| "overall_rms_cartesian_jerk": 17.66548110301621, | |
| "overall_avg_joint_jerk": 44.31306673321056, | |
| "overall_rms_joint_jerk": 71.94688921577249, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.41746975894703287, | |
| "bgvd": 0.03977372704818299, | |
| "cpl": 1.5334052348993743, | |
| "ct": 5.5, | |
| "ecc": 0.0, | |
| "jpl": 5.549911563846813, | |
| "mcj": 10.800812793702699, | |
| "mjj": 44.31306673321056, | |
| "opl": 0.6604650580839955, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 110.0 | |
| }, | |
| "actions_file": "episode_30.npz", | |
| "actions_sha256": "a56aba507462233f1520edf5ac89fbeea8baf2265118c566d2f5622bb0023822" | |
| } |