Yuuuuuuu1328 commited on
Commit ·
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Parent(s): ed51127
docs: add evaluation log submission template
Browse files- README.md +46 -0
- policy_template/README.md +3 -0
- policy_template/leaderboard_policy_template.json +1388 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/Equi/per_episode.jsonl +1 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/Equi/summary.json +213 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/Full/per_episode.jsonl +1 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/Full/summary.json +213 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/Inv/per_episode.jsonl +1 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/Inv/summary.json +213 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/None/per_episode.jsonl +1 -0
- policy_template/per_task_eval/03_wine_glass_plate_balance/None/summary.json +213 -0
README.md
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---
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language:
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- en
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tags:
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- robotics
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- benchmark
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- evaluation
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---
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# 🧪 Bench2Dex Leaderboard Logs
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Community evaluation logs for the [Bench2Dex leaderboard](https://bench2dex.github.io/Bench2Dex-Leaderboard/). Submit your policy's README, results JSON, and organization logo separately to the [GitHub leaderboard repository](https://github.com/Bench2Dex/Bench2Dex-Leaderboard#readme).
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## 📦 Submit your policy logs
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Copy [policy_template/](policy_template/), rename the policy directory and results JSON, and place your policy directly at the repository root:
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```text
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<policy_id>/
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├── README.md
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├── leaderboard_<policy_id>.json
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└── per_task_eval/
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└── <task_id>_<task_name>/
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└── <channel>/
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├── per_episode.jsonl
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└── summary.json
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```
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The example logs mirror native Bench2Dex output, with `null` placeholders. Replace them with your complete sanitized evaluation files and remove unused example directories; do not fill the examples by hand.
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Copy the README/results JSON from your GitHub submission. Use the same policy ID in the directory, filename, and `model.id`.
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- Submit the **original `per_episode.jsonl` and `summary.json` generated by Bench2Dex**, after sanitization. Preserve the full native JSON structure, fields, and units. **Do not convert logs to another schema or add template fields.**
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- Include all successful, failed, and error episodes from one selected run per task/channel. Report actual episode counts, budgets, and protocol changes.
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- Submit at least **Full** results and logs; all four channels and SR, LSCR, Eff. are encouraged. List all 26 tasks in the results JSON, using `null` (NR) for missing scores.
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- Results JSON channel keys are **None, Equi., Inv., Full**; directory names are **None, Equi, Inv, Full**. Retain the original channel metadata inside the native files.
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- Only the leaderboard results JSON uses SR/LSCR percentages on **0–100** and Eff. as a ratio. Keep native log values unchanged; compute the published scores using the [metric definitions](https://bench2dex.github.io/Bench2Dex-Leaderboard/#protocol-notes).
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- In the results JSON, use `source.runId` to identify the selected run and paths relative to `<policy_id>/` for `source.perEpisodeFile` and `source.summaryFile`. Set `evaluation.logs.repository` to `Bench2Dex/Leaderboard` and `policyPath` to your policy ID. These submission references do not need to be added to the native logs.
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## 🤝 Review
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Open PRs against **main** here and in the [GitHub leaderboard repository](https://github.com/Bench2Dex/Bench2Dex-Leaderboard#readme), then cross-link them. Policy IDs, scores, coverage, and protocol must agree. Authors may leave `evaluation.logs.revision` as `null`; after log review, maintainers record the accepted HF commit in the GitHub results JSON before publishing the entry.
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## 🔒 Privacy and permissions
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Replace private absolute paths with relative paths or consistent anonymized identifiers, including nested asset paths and error messages. Redact credentials, personal/confidential information, internal URLs, and restricted content in files, media, links, and PR descriptions. Preserve native fields, metrics, episode counts, seeds, task/channel identity, and randomization/protocol metadata. Confirm publication rights under applicable licenses and data-use terms.
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policy_template/README.md
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# Model Name
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[Project website](https://example.org/)
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policy_template/leaderboard_policy_template.json
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|
|
| 1 |
+
{
|
| 2 |
+
"model": {
|
| 3 |
+
"id": "policy_template",
|
| 4 |
+
"label": "MODEL_NAME",
|
| 5 |
+
"variantLabel": "",
|
| 6 |
+
"family": "MODEL_NAME",
|
| 7 |
+
"modelVersion": "MODEL_VERSION",
|
| 8 |
+
"checkpoint": null,
|
| 9 |
+
"inputs": null,
|
| 10 |
+
"protocolId": "standard",
|
| 11 |
+
"displayOrder": 10,
|
| 12 |
+
"trainingSetting": null,
|
| 13 |
+
"resultVersion": null,
|
| 14 |
+
"updatedAt": null,
|
| 15 |
+
"evaluationSetting": null,
|
| 16 |
+
"sourceLabel": "Evaluation logs",
|
| 17 |
+
"sourceUrl": null,
|
| 18 |
+
"resultDetailsUrl": null,
|
| 19 |
+
"contributor": "CONTRIBUTING_ORGANIZATION",
|
| 20 |
+
"contributorUrl": null,
|
| 21 |
+
"type": "MODEL_TYPE",
|
| 22 |
+
"modelUrl": null,
|
| 23 |
+
"logoPath": "leaderboard/policy_template/logo.svg",
|
| 24 |
+
"logoAlt": null,
|
| 25 |
+
"weightsUrl": null,
|
| 26 |
+
"codeUrl": null
|
| 27 |
+
},
|
| 28 |
+
"overall": {
|
| 29 |
+
"taskCount": 26,
|
| 30 |
+
"scope": "task-macro",
|
| 31 |
+
"status": "not-reported",
|
| 32 |
+
"sr": null,
|
| 33 |
+
"lscr": null,
|
| 34 |
+
"efficiency": null,
|
| 35 |
+
"efficiencyStatus": "not-reported",
|
| 36 |
+
"efficiencyTaskCount": null,
|
| 37 |
+
"channelSr": {
|
| 38 |
+
"None": null,
|
| 39 |
+
"Equi.": null,
|
| 40 |
+
"Inv.": null,
|
| 41 |
+
"Full": null
|
| 42 |
+
},
|
| 43 |
+
"channelLscr": {
|
| 44 |
+
"None": null,
|
| 45 |
+
"Equi.": null,
|
| 46 |
+
"Inv.": null,
|
| 47 |
+
"Full": null
|
| 48 |
+
},
|
| 49 |
+
"channelTaskCounts": {
|
| 50 |
+
"None": 0,
|
| 51 |
+
"Equi.": 0,
|
| 52 |
+
"Inv.": 0,
|
| 53 |
+
"Full": 0
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"per_task": {
|
| 57 |
+
"12": {
|
| 58 |
+
"channels": {
|
| 59 |
+
"None": {
|
| 60 |
+
"status": "not-reported",
|
| 61 |
+
"episodes": null,
|
| 62 |
+
"successes": null,
|
| 63 |
+
"lscr": null,
|
| 64 |
+
"source": null
|
| 65 |
+
},
|
| 66 |
+
"Equi.": {
|
| 67 |
+
"status": "not-reported",
|
| 68 |
+
"episodes": null,
|
| 69 |
+
"successes": null,
|
| 70 |
+
"lscr": null,
|
| 71 |
+
"source": null
|
| 72 |
+
},
|
| 73 |
+
"Inv.": {
|
| 74 |
+
"status": "not-reported",
|
| 75 |
+
"episodes": null,
|
| 76 |
+
"successes": null,
|
| 77 |
+
"lscr": null,
|
| 78 |
+
"source": null
|
| 79 |
+
},
|
| 80 |
+
"Full": {
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"sr": null,
|
| 951 |
+
"srScope": "four-channel-mean",
|
| 952 |
+
"srEpisodes": null,
|
| 953 |
+
"lscr": null,
|
| 954 |
+
"lscrScope": "four-channel-mean",
|
| 955 |
+
"lscrEpisodes": null,
|
| 956 |
+
"efficiency": null,
|
| 957 |
+
"efficiencyStatus": "not-reported"
|
| 958 |
+
}
|
| 959 |
+
},
|
| 960 |
+
"03": {
|
| 961 |
+
"channels": {
|
| 962 |
+
"None": {
|
| 963 |
+
"status": "not-reported",
|
| 964 |
+
"episodes": null,
|
| 965 |
+
"successes": null,
|
| 966 |
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"lscr": null,
|
| 967 |
+
"source": null
|
| 968 |
+
},
|
| 969 |
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"Equi.": {
|
| 970 |
+
"status": "not-reported",
|
| 971 |
+
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|
| 972 |
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|
| 973 |
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"lscr": null,
|
| 974 |
+
"source": null
|
| 975 |
+
},
|
| 976 |
+
"Inv.": {
|
| 977 |
+
"status": "not-reported",
|
| 978 |
+
"episodes": null,
|
| 979 |
+
"successes": null,
|
| 980 |
+
"lscr": null,
|
| 981 |
+
"source": null
|
| 982 |
+
},
|
| 983 |
+
"Full": {
|
| 984 |
+
"status": "not-reported",
|
| 985 |
+
"episodes": null,
|
| 986 |
+
"successes": null,
|
| 987 |
+
"lscr": null,
|
| 988 |
+
"source": null
|
| 989 |
+
}
|
| 990 |
+
},
|
| 991 |
+
"mean": {
|
| 992 |
+
"status": "not-reported",
|
| 993 |
+
"sr": null,
|
| 994 |
+
"srScope": "four-channel-mean",
|
| 995 |
+
"srEpisodes": null,
|
| 996 |
+
"lscr": null,
|
| 997 |
+
"lscrScope": "four-channel-mean",
|
| 998 |
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"lscrEpisodes": null,
|
| 999 |
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"efficiency": null,
|
| 1000 |
+
"efficiencyStatus": "not-reported"
|
| 1001 |
+
}
|
| 1002 |
+
},
|
| 1003 |
+
"06": {
|
| 1004 |
+
"channels": {
|
| 1005 |
+
"None": {
|
| 1006 |
+
"status": "not-reported",
|
| 1007 |
+
"episodes": null,
|
| 1008 |
+
"successes": null,
|
| 1009 |
+
"lscr": null,
|
| 1010 |
+
"source": null
|
| 1011 |
+
},
|
| 1012 |
+
"Equi.": {
|
| 1013 |
+
"status": "not-reported",
|
| 1014 |
+
"episodes": null,
|
| 1015 |
+
"successes": null,
|
| 1016 |
+
"lscr": null,
|
| 1017 |
+
"source": null
|
| 1018 |
+
},
|
| 1019 |
+
"Inv.": {
|
| 1020 |
+
"status": "not-reported",
|
| 1021 |
+
"episodes": null,
|
| 1022 |
+
"successes": null,
|
| 1023 |
+
"lscr": null,
|
| 1024 |
+
"source": null
|
| 1025 |
+
},
|
| 1026 |
+
"Full": {
|
| 1027 |
+
"status": "not-reported",
|
| 1028 |
+
"episodes": null,
|
| 1029 |
+
"successes": null,
|
| 1030 |
+
"lscr": null,
|
| 1031 |
+
"source": null
|
| 1032 |
+
}
|
| 1033 |
+
},
|
| 1034 |
+
"mean": {
|
| 1035 |
+
"status": "not-reported",
|
| 1036 |
+
"sr": null,
|
| 1037 |
+
"srScope": "four-channel-mean",
|
| 1038 |
+
"srEpisodes": null,
|
| 1039 |
+
"lscr": null,
|
| 1040 |
+
"lscrScope": "four-channel-mean",
|
| 1041 |
+
"lscrEpisodes": null,
|
| 1042 |
+
"efficiency": null,
|
| 1043 |
+
"efficiencyStatus": "not-reported"
|
| 1044 |
+
}
|
| 1045 |
+
},
|
| 1046 |
+
"07": {
|
| 1047 |
+
"channels": {
|
| 1048 |
+
"None": {
|
| 1049 |
+
"status": "not-reported",
|
| 1050 |
+
"episodes": null,
|
| 1051 |
+
"successes": null,
|
| 1052 |
+
"lscr": null,
|
| 1053 |
+
"source": null
|
| 1054 |
+
},
|
| 1055 |
+
"Equi.": {
|
| 1056 |
+
"status": "not-reported",
|
| 1057 |
+
"episodes": null,
|
| 1058 |
+
"successes": null,
|
| 1059 |
+
"lscr": null,
|
| 1060 |
+
"source": null
|
| 1061 |
+
},
|
| 1062 |
+
"Inv.": {
|
| 1063 |
+
"status": "not-reported",
|
| 1064 |
+
"episodes": null,
|
| 1065 |
+
"successes": null,
|
| 1066 |
+
"lscr": null,
|
| 1067 |
+
"source": null
|
| 1068 |
+
},
|
| 1069 |
+
"Full": {
|
| 1070 |
+
"status": "not-reported",
|
| 1071 |
+
"episodes": null,
|
| 1072 |
+
"successes": null,
|
| 1073 |
+
"lscr": null,
|
| 1074 |
+
"source": null
|
| 1075 |
+
}
|
| 1076 |
+
},
|
| 1077 |
+
"mean": {
|
| 1078 |
+
"status": "not-reported",
|
| 1079 |
+
"sr": null,
|
| 1080 |
+
"srScope": "four-channel-mean",
|
| 1081 |
+
"srEpisodes": null,
|
| 1082 |
+
"lscr": null,
|
| 1083 |
+
"lscrScope": "four-channel-mean",
|
| 1084 |
+
"lscrEpisodes": null,
|
| 1085 |
+
"efficiency": null,
|
| 1086 |
+
"efficiencyStatus": "not-reported"
|
| 1087 |
+
}
|
| 1088 |
+
},
|
| 1089 |
+
"08": {
|
| 1090 |
+
"channels": {
|
| 1091 |
+
"None": {
|
| 1092 |
+
"status": "not-reported",
|
| 1093 |
+
"episodes": null,
|
| 1094 |
+
"successes": null,
|
| 1095 |
+
"lscr": null,
|
| 1096 |
+
"source": null
|
| 1097 |
+
},
|
| 1098 |
+
"Equi.": {
|
| 1099 |
+
"status": "not-reported",
|
| 1100 |
+
"episodes": null,
|
| 1101 |
+
"successes": null,
|
| 1102 |
+
"lscr": null,
|
| 1103 |
+
"source": null
|
| 1104 |
+
},
|
| 1105 |
+
"Inv.": {
|
| 1106 |
+
"status": "not-reported",
|
| 1107 |
+
"episodes": null,
|
| 1108 |
+
"successes": null,
|
| 1109 |
+
"lscr": null,
|
| 1110 |
+
"source": null
|
| 1111 |
+
},
|
| 1112 |
+
"Full": {
|
| 1113 |
+
"status": "not-reported",
|
| 1114 |
+
"episodes": null,
|
| 1115 |
+
"successes": null,
|
| 1116 |
+
"lscr": null,
|
| 1117 |
+
"source": null
|
| 1118 |
+
}
|
| 1119 |
+
},
|
| 1120 |
+
"mean": {
|
| 1121 |
+
"status": "not-reported",
|
| 1122 |
+
"sr": null,
|
| 1123 |
+
"srScope": "four-channel-mean",
|
| 1124 |
+
"srEpisodes": null,
|
| 1125 |
+
"lscr": null,
|
| 1126 |
+
"lscrScope": "four-channel-mean",
|
| 1127 |
+
"lscrEpisodes": null,
|
| 1128 |
+
"efficiency": null,
|
| 1129 |
+
"efficiencyStatus": "not-reported"
|
| 1130 |
+
}
|
| 1131 |
+
},
|
| 1132 |
+
"09": {
|
| 1133 |
+
"channels": {
|
| 1134 |
+
"None": {
|
| 1135 |
+
"status": "not-reported",
|
| 1136 |
+
"episodes": null,
|
| 1137 |
+
"successes": null,
|
| 1138 |
+
"lscr": null,
|
| 1139 |
+
"source": null
|
| 1140 |
+
},
|
| 1141 |
+
"Equi.": {
|
| 1142 |
+
"status": "not-reported",
|
| 1143 |
+
"episodes": null,
|
| 1144 |
+
"successes": null,
|
| 1145 |
+
"lscr": null,
|
| 1146 |
+
"source": null
|
| 1147 |
+
},
|
| 1148 |
+
"Inv.": {
|
| 1149 |
+
"status": "not-reported",
|
| 1150 |
+
"episodes": null,
|
| 1151 |
+
"successes": null,
|
| 1152 |
+
"lscr": null,
|
| 1153 |
+
"source": null
|
| 1154 |
+
},
|
| 1155 |
+
"Full": {
|
| 1156 |
+
"status": "not-reported",
|
| 1157 |
+
"episodes": null,
|
| 1158 |
+
"successes": null,
|
| 1159 |
+
"lscr": null,
|
| 1160 |
+
"source": null
|
| 1161 |
+
}
|
| 1162 |
+
},
|
| 1163 |
+
"mean": {
|
| 1164 |
+
"status": "not-reported",
|
| 1165 |
+
"sr": null,
|
| 1166 |
+
"srScope": "four-channel-mean",
|
| 1167 |
+
"srEpisodes": null,
|
| 1168 |
+
"lscr": null,
|
| 1169 |
+
"lscrScope": "four-channel-mean",
|
| 1170 |
+
"lscrEpisodes": null,
|
| 1171 |
+
"efficiency": null,
|
| 1172 |
+
"efficiencyStatus": "not-reported"
|
| 1173 |
+
}
|
| 1174 |
+
}
|
| 1175 |
+
},
|
| 1176 |
+
"evaluation": {
|
| 1177 |
+
"schemaVersion": "1.0",
|
| 1178 |
+
"isTemplate": true,
|
| 1179 |
+
"protocol": {
|
| 1180 |
+
"benchmarkCommit": null,
|
| 1181 |
+
"taskCount": 26,
|
| 1182 |
+
"channels": [
|
| 1183 |
+
"None",
|
| 1184 |
+
"Equi.",
|
| 1185 |
+
"Inv.",
|
| 1186 |
+
"Full"
|
| 1187 |
+
],
|
| 1188 |
+
"episodesPerChannel": 50,
|
| 1189 |
+
"seeds": null,
|
| 1190 |
+
"stepUnit": "physics_steps",
|
| 1191 |
+
"physicsHz": null,
|
| 1192 |
+
"controlHz": null,
|
| 1193 |
+
"executionStepBudget": null,
|
| 1194 |
+
"expertReference": null,
|
| 1195 |
+
"protocolChanges": null
|
| 1196 |
+
},
|
| 1197 |
+
"coverage": {
|
| 1198 |
+
"evaluatedTaskCount": 0,
|
| 1199 |
+
"evaluatedEpisodeCount": 0,
|
| 1200 |
+
"completedTaskCount": {
|
| 1201 |
+
"None": 0,
|
| 1202 |
+
"Equi.": 0,
|
| 1203 |
+
"Inv.": 0,
|
| 1204 |
+
"Full": 0,
|
| 1205 |
+
"mean": 0
|
| 1206 |
+
},
|
| 1207 |
+
"expectedFullEpisodeCount": 1300,
|
| 1208 |
+
"expectedFourChannelEpisodeCount": 5200,
|
| 1209 |
+
"missingTaskChannels": {
|
| 1210 |
+
"12": [
|
| 1211 |
+
"None",
|
| 1212 |
+
"Equi.",
|
| 1213 |
+
"Inv.",
|
| 1214 |
+
"Full"
|
| 1215 |
+
],
|
| 1216 |
+
"21": [
|
| 1217 |
+
"None",
|
| 1218 |
+
"Equi.",
|
| 1219 |
+
"Inv.",
|
| 1220 |
+
"Full"
|
| 1221 |
+
],
|
| 1222 |
+
"22": [
|
| 1223 |
+
"None",
|
| 1224 |
+
"Equi.",
|
| 1225 |
+
"Inv.",
|
| 1226 |
+
"Full"
|
| 1227 |
+
],
|
| 1228 |
+
"24": [
|
| 1229 |
+
"None",
|
| 1230 |
+
"Equi.",
|
| 1231 |
+
"Inv.",
|
| 1232 |
+
"Full"
|
| 1233 |
+
],
|
| 1234 |
+
"26": [
|
| 1235 |
+
"None",
|
| 1236 |
+
"Equi.",
|
| 1237 |
+
"Inv.",
|
| 1238 |
+
"Full"
|
| 1239 |
+
],
|
| 1240 |
+
"27": [
|
| 1241 |
+
"None",
|
| 1242 |
+
"Equi.",
|
| 1243 |
+
"Inv.",
|
| 1244 |
+
"Full"
|
| 1245 |
+
],
|
| 1246 |
+
"32": [
|
| 1247 |
+
"None",
|
| 1248 |
+
"Equi.",
|
| 1249 |
+
"Inv.",
|
| 1250 |
+
"Full"
|
| 1251 |
+
],
|
| 1252 |
+
"34": [
|
| 1253 |
+
"None",
|
| 1254 |
+
"Equi.",
|
| 1255 |
+
"Inv.",
|
| 1256 |
+
"Full"
|
| 1257 |
+
],
|
| 1258 |
+
"42": [
|
| 1259 |
+
"None",
|
| 1260 |
+
"Equi.",
|
| 1261 |
+
"Inv.",
|
| 1262 |
+
"Full"
|
| 1263 |
+
],
|
| 1264 |
+
"43": [
|
| 1265 |
+
"None",
|
| 1266 |
+
"Equi.",
|
| 1267 |
+
"Inv.",
|
| 1268 |
+
"Full"
|
| 1269 |
+
],
|
| 1270 |
+
"44": [
|
| 1271 |
+
"None",
|
| 1272 |
+
"Equi.",
|
| 1273 |
+
"Inv.",
|
| 1274 |
+
"Full"
|
| 1275 |
+
],
|
| 1276 |
+
"51": [
|
| 1277 |
+
"None",
|
| 1278 |
+
"Equi.",
|
| 1279 |
+
"Inv.",
|
| 1280 |
+
"Full"
|
| 1281 |
+
],
|
| 1282 |
+
"60": [
|
| 1283 |
+
"None",
|
| 1284 |
+
"Equi.",
|
| 1285 |
+
"Inv.",
|
| 1286 |
+
"Full"
|
| 1287 |
+
],
|
| 1288 |
+
"61": [
|
| 1289 |
+
"None",
|
| 1290 |
+
"Equi.",
|
| 1291 |
+
"Inv.",
|
| 1292 |
+
"Full"
|
| 1293 |
+
],
|
| 1294 |
+
"62": [
|
| 1295 |
+
"None",
|
| 1296 |
+
"Equi.",
|
| 1297 |
+
"Inv.",
|
| 1298 |
+
"Full"
|
| 1299 |
+
],
|
| 1300 |
+
"64": [
|
| 1301 |
+
"None",
|
| 1302 |
+
"Equi.",
|
| 1303 |
+
"Inv.",
|
| 1304 |
+
"Full"
|
| 1305 |
+
],
|
| 1306 |
+
"67": [
|
| 1307 |
+
"None",
|
| 1308 |
+
"Equi.",
|
| 1309 |
+
"Inv.",
|
| 1310 |
+
"Full"
|
| 1311 |
+
],
|
| 1312 |
+
"73": [
|
| 1313 |
+
"None",
|
| 1314 |
+
"Equi.",
|
| 1315 |
+
"Inv.",
|
| 1316 |
+
"Full"
|
| 1317 |
+
],
|
| 1318 |
+
"76": [
|
| 1319 |
+
"None",
|
| 1320 |
+
"Equi.",
|
| 1321 |
+
"Inv.",
|
| 1322 |
+
"Full"
|
| 1323 |
+
],
|
| 1324 |
+
"79": [
|
| 1325 |
+
"None",
|
| 1326 |
+
"Equi.",
|
| 1327 |
+
"Inv.",
|
| 1328 |
+
"Full"
|
| 1329 |
+
],
|
| 1330 |
+
"80": [
|
| 1331 |
+
"None",
|
| 1332 |
+
"Equi.",
|
| 1333 |
+
"Inv.",
|
| 1334 |
+
"Full"
|
| 1335 |
+
],
|
| 1336 |
+
"03": [
|
| 1337 |
+
"None",
|
| 1338 |
+
"Equi.",
|
| 1339 |
+
"Inv.",
|
| 1340 |
+
"Full"
|
| 1341 |
+
],
|
| 1342 |
+
"06": [
|
| 1343 |
+
"None",
|
| 1344 |
+
"Equi.",
|
| 1345 |
+
"Inv.",
|
| 1346 |
+
"Full"
|
| 1347 |
+
],
|
| 1348 |
+
"07": [
|
| 1349 |
+
"None",
|
| 1350 |
+
"Equi.",
|
| 1351 |
+
"Inv.",
|
| 1352 |
+
"Full"
|
| 1353 |
+
],
|
| 1354 |
+
"08": [
|
| 1355 |
+
"None",
|
| 1356 |
+
"Equi.",
|
| 1357 |
+
"Inv.",
|
| 1358 |
+
"Full"
|
| 1359 |
+
],
|
| 1360 |
+
"09": [
|
| 1361 |
+
"None",
|
| 1362 |
+
"Equi.",
|
| 1363 |
+
"Inv.",
|
| 1364 |
+
"Full"
|
| 1365 |
+
]
|
| 1366 |
+
}
|
| 1367 |
+
},
|
| 1368 |
+
"aggregation": {
|
| 1369 |
+
"units": {
|
| 1370 |
+
"sr": "percent",
|
| 1371 |
+
"lscr": "percent",
|
| 1372 |
+
"efficiency": "ratio",
|
| 1373 |
+
"steps": "physics_steps"
|
| 1374 |
+
},
|
| 1375 |
+
"sr": "100 * successes / episodes per task/channel; equal channel mean per task; equal task mean over all 26 settings.",
|
| 1376 |
+
"lscr": "100 * mean episode latched_stage_completion_rate, including failures; equal channel mean per task; equal task mean over all 26 settings.",
|
| 1377 |
+
"efficiency": "expert_time_step / mean successful steps_to_stable_success. Pool successful episodes across all four channels before calculating task mean efficiency. Overall values average task efficiencies over tasks with success; report valid-task counts.",
|
| 1378 |
+
"missing": "null means unreported (NR). Efficiency without successes is null with no-success status. Valid-task counts are null when unreported, and 0 for an evaluated scope without successes.",
|
| 1379 |
+
"scope": "Overall channel aggregates require all 26 settings. Four-channel means require all four channels. Never substitute Full-only scores for means or include duplicate reruns."
|
| 1380 |
+
},
|
| 1381 |
+
"logs": {
|
| 1382 |
+
"repository": "Bench2Dex/Leaderboard",
|
| 1383 |
+
"policyPath": "policy_template",
|
| 1384 |
+
"revision": null,
|
| 1385 |
+
"status": "not-archived"
|
| 1386 |
+
}
|
| 1387 |
+
}
|
| 1388 |
+
}
|
policy_template/per_task_eval/03_wine_glass_plate_balance/Equi/per_episode.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"scene":"scenes/03_wine_glass_plate_balance.yaml","episode_index":null,"seed":null,"success":null,"steps":null,"metric_schema_version":"core-v1.8-policy-step-query-split","error":null,"episode_seed":null,"base_seed":null,"seed_policy":null,"scene_generalization_sample":{"robot_key":null,"appearance":{"background":{"enabled":null,"clean_background":null,"intensity":null,"yaw_deg":null,"base_yaw_deg":null,"flip_180_applied":null,"physics_enabled":null,"fill_light_intensity":null,"fill_light_jitter_ratio":null,"asset_kind":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null,"asset_uri":null,"scene_offset":[null,null,null]},"table_surface":{"enabled":null,"clean_surface":null,"asset_name":null,"asset_uri":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null},"usd_scene_light":{"enabled":null,"distant":{"intensity":null,"color":[null,null,null],"pitch_deg":null,"yaw_deg":null,"angle_deg":null},"dome":{"intensity":null,"color":[null,null,null],"exposure":null},"profile_name":null,"profile_split":null,"profile_pool_size":null}},"spatial":{"object_pose":{"enabled":null,"position_jitter_cm":null,"position_jitter_m":null,"yaw_jitter_deg":null},"table_height":{"enabled":null,"height_offset_m":null,"offset_m_range":[null,null]},"camera":{"enabled":null,"asset_split":null,"profile_name":null,"profile_split":null,"profile_pool_size":null,"cameras":{"cam_chest":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_overhead":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null}}}},"clutter":{"tabletop":{"enabled":null,"count":null,"asset_split":null,"asset_pool_size":null,"assets":[{"name":null,"uri":null,"scale":[null,null,null],"body_type":null,"category":null,"asset_code":null,"asset_id":null,"asset_split":null,"spawn_position":[null,null,null],"spawn_yaw_deg":null,"obj_id":null}]}},"embodiment":{"robot_asset":{"enabled":null,"selection_mode":null,"default_robot_key":null,"selected_robot_key":null,"allowed_robot_keys":[]}},"_replay_generalization_mode":null,"_generalization_split":null,"resolved_object_placements":{"obj_130_tray_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_3":{"position":[null,null,null],"rpy_deg":[null,null,null]}},"_generalization_profile":null,"_anchor_source_index":null},"task_family":null,"robot_key":null,"perturbation_axis":"cov","stable_success":null,"ever_instant_success":null,"at_end_success":null,"at_end_success_observed":null,"at_end_success_budget":null,"first_success_step":null,"stable_success_step":null,"first_stable_success_step":null,"steps_to_stable_success":null,"policy_steps_to_stable_success":null,"policy_queries_to_stable_success":null,"time_to_stable_success_s":null,"expert_time_s":null,"expert_time_step":null,"success_hold_s":null,"terminal_success_rate":null,"stage_completion_rate":null,"normalized_progress_score":null,"chain_depth_progress_score":null,"current_stage_completion_rate":null,"current_normalized_progress_score":null,"current_chain_depth_progress_score":null,"current_chain_depth":null,"latched_stage_completion_rate":null,"latched_normalized_progress_score":null,"latched_chain_depth_progress_score":nul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|
policy_template/per_task_eval/03_wine_glass_plate_balance/Equi/summary.json
ADDED
|
@@ -0,0 +1,213 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"metric_schema_version": "core-v1.8-policy-step-query-split",
|
| 3 |
+
"metadata": {
|
| 4 |
+
"policy_name": "MODEL_NAME",
|
| 5 |
+
"base_seed": null,
|
| 6 |
+
"seed_policy": null,
|
| 7 |
+
"randomization_recorded": null,
|
| 8 |
+
"n_episodes": null,
|
| 9 |
+
"successes": null,
|
| 10 |
+
"error_count": null,
|
| 11 |
+
"evaluation_protocol": null,
|
| 12 |
+
"early_stop": null,
|
| 13 |
+
"success_definition": null,
|
| 14 |
+
"measurement_window": null,
|
| 15 |
+
"max_episode_steps": null,
|
| 16 |
+
"dwell_time_s": null,
|
| 17 |
+
"field_semantics": {
|
| 18 |
+
"success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
|
| 19 |
+
"avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
|
| 20 |
+
"task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
|
| 21 |
+
"avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
|
| 22 |
+
"avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
|
| 23 |
+
"avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
|
| 24 |
+
"safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 25 |
+
"hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 26 |
+
"drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
|
| 27 |
+
"high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
|
| 28 |
+
"excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
|
| 29 |
+
"robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
|
| 30 |
+
"finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
|
| 31 |
+
"joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
|
| 32 |
+
"finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
|
| 33 |
+
"max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
|
| 34 |
+
"safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
|
| 35 |
+
"safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
|
| 36 |
+
"safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
|
| 37 |
+
"safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
|
| 38 |
+
"episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
|
| 39 |
+
"latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
|
| 40 |
+
"current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
|
| 41 |
+
"current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
|
| 42 |
+
"current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
|
| 43 |
+
"latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
|
| 44 |
+
"robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"core_metrics": {
|
| 48 |
+
"completion": {
|
| 49 |
+
"success_rate": null,
|
| 50 |
+
"success_rate_ci": {
|
| 51 |
+
"mean": null,
|
| 52 |
+
"ci_low": null,
|
| 53 |
+
"ci_high": null
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"progress": {
|
| 57 |
+
"latched_stage_completion_rate": null
|
| 58 |
+
},
|
| 59 |
+
"efficiency": {
|
| 60 |
+
"avg_time_to_success_s": null
|
| 61 |
+
},
|
| 62 |
+
"safety": {
|
| 63 |
+
"safe_success_rate": null,
|
| 64 |
+
"hard_violation_rate": null,
|
| 65 |
+
"drop_rate": null,
|
| 66 |
+
"high_speed_violation_rate": null,
|
| 67 |
+
"safety_violation_step_rate": null
|
| 68 |
+
},
|
| 69 |
+
"robustness": {}
|
| 70 |
+
},
|
| 71 |
+
"diagnostic_metrics": {
|
| 72 |
+
"completion": {
|
| 73 |
+
"ever_instant_success_rate": null,
|
| 74 |
+
"at_end_success_rate": null,
|
| 75 |
+
"task_family_success_rate": {
|
| 76 |
+
"table_setting": null
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"progress": {
|
| 80 |
+
"current_stage_completion_rate": null,
|
| 81 |
+
"current_chain_depth_progress_score": null,
|
| 82 |
+
"latched_chain_depth_progress_score": null,
|
| 83 |
+
"avg_current_chain_depth": null,
|
| 84 |
+
"avg_latched_chain_depth": null
|
| 85 |
+
},
|
| 86 |
+
"efficiency": {
|
| 87 |
+
"task_efficiency": null,
|
| 88 |
+
"expert_time_s": null,
|
| 89 |
+
"expert_time_step": null,
|
| 90 |
+
"avg_steps_to_success": null,
|
| 91 |
+
"avg_policy_steps_to_success": null,
|
| 92 |
+
"avg_policy_queries_to_success": null
|
| 93 |
+
},
|
| 94 |
+
"safety": {
|
| 95 |
+
"safety_violation_events_per_step": null,
|
| 96 |
+
"violation_counts": {
|
| 97 |
+
"drop_to_table_obj_194_wineglass_1": null,
|
| 98 |
+
"drop_to_table_obj_194_wineglass_2": null,
|
| 99 |
+
"drop_to_table_obj_194_wineglass_3": null
|
| 100 |
+
},
|
| 101 |
+
"robot_constraint_violation_rate": null,
|
| 102 |
+
"finger_joint_limit_saturation_rate": null,
|
| 103 |
+
"joint_limit_active_step_rate": null,
|
| 104 |
+
"finger_joint_limit_saturation_step_rate": null,
|
| 105 |
+
"max_joint_limit_excess_rad": null,
|
| 106 |
+
"robot_constraint_diagnostics": {
|
| 107 |
+
"joint_limit_soft_counts": {
|
| 108 |
+
"multi_pinky_q1": null,
|
| 109 |
+
"multi_ring_q2": null,
|
| 110 |
+
"pinky_q1": null,
|
| 111 |
+
"ring_q1": null,
|
| 112 |
+
"ring_q2": null
|
| 113 |
+
},
|
| 114 |
+
"joint_limit_hard_counts": {
|
| 115 |
+
"multi_pinky_q1": null,
|
| 116 |
+
"multi_ring_q2": null,
|
| 117 |
+
"pinky_q1": null,
|
| 118 |
+
"ring_q1": null,
|
| 119 |
+
"ring_q2": null
|
| 120 |
+
},
|
| 121 |
+
"joint_limit_hard_episode_events": null,
|
| 122 |
+
"finger_joint_limit_saturation_counts": {
|
| 123 |
+
"pinky_q1": null
|
| 124 |
+
},
|
| 125 |
+
"joint_limit_max_excess_by_joint": {
|
| 126 |
+
"index_q1": null,
|
| 127 |
+
"index_q2": null,
|
| 128 |
+
"middle_q1": null,
|
| 129 |
+
"middle_q2": null,
|
| 130 |
+
"multi_index_q1": null,
|
| 131 |
+
"multi_index_q2": null,
|
| 132 |
+
"multi_middle_q1": null,
|
| 133 |
+
"multi_middle_q2": null,
|
| 134 |
+
"multi_pinky_q1": null,
|
| 135 |
+
"multi_pinky_q2": null,
|
| 136 |
+
"multi_ring_q1": null,
|
| 137 |
+
"multi_ring_q2": null,
|
| 138 |
+
"multi_thumb_q1": null,
|
| 139 |
+
"multi_thumb_q2": null,
|
| 140 |
+
"pinky_q1": null,
|
| 141 |
+
"pinky_q2": null,
|
| 142 |
+
"ring_q1": null,
|
| 143 |
+
"ring_q2": null,
|
| 144 |
+
"thumb_q1": null,
|
| 145 |
+
"thumb_q2": null
|
| 146 |
+
},
|
| 147 |
+
"coverage": {
|
| 148 |
+
"hard_limit_source": {
|
| 149 |
+
"available": null,
|
| 150 |
+
"unavailable": null,
|
| 151 |
+
"unknown": null
|
| 152 |
+
},
|
| 153 |
+
"joint_role_manifest": {
|
| 154 |
+
"available": null,
|
| 155 |
+
"unavailable": null,
|
| 156 |
+
"unknown": null
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"hard_limit_sources": {
|
| 160 |
+
"runtime.joint_pos_limits": null
|
| 161 |
+
},
|
| 162 |
+
"soft_limit_sources": {
|
| 163 |
+
"runtime.soft_joint_pos_limits": null
|
| 164 |
+
},
|
| 165 |
+
"unknown_runtime_joint_names": [],
|
| 166 |
+
"baseline_checks": {
|
| 167 |
+
"post_home": {
|
| 168 |
+
"checked": null,
|
| 169 |
+
"hard_violation_episodes": null
|
| 170 |
+
},
|
| 171 |
+
"post_reset": {
|
| 172 |
+
"checked": null,
|
| 173 |
+
"hard_violation_episodes": null
|
| 174 |
+
}
|
| 175 |
+
}
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"robot_motion": {
|
| 179 |
+
"joint_acceleration_rms": null,
|
| 180 |
+
"joint_effort_rms": null,
|
| 181 |
+
"joint_jerk_rms": null,
|
| 182 |
+
"joint_velocity_rms": null
|
| 183 |
+
},
|
| 184 |
+
"grasp": {
|
| 185 |
+
"kinematic_grasp_stability_index": null,
|
| 186 |
+
"mean_kinematic_grasp_stability": null,
|
| 187 |
+
"per_object_best_kinematic_grasp_stability": {
|
| 188 |
+
"obj_194_wineglass_1": null,
|
| 189 |
+
"obj_194_wineglass_2": null,
|
| 190 |
+
"obj_194_wineglass_3": null
|
| 191 |
+
},
|
| 192 |
+
"grasp_gsi_diagnostics": {
|
| 193 |
+
"mean_anti_slip_score": null,
|
| 194 |
+
"mean_duration_score": null,
|
| 195 |
+
"mean_hold_score": null,
|
| 196 |
+
"mean_kinematic_stability_score": null,
|
| 197 |
+
"mean_legacy_gsi": null,
|
| 198 |
+
"mean_lift_score": null,
|
| 199 |
+
"mean_motion_stability_score": null
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"tool": {
|
| 203 |
+
"tool_selection_accuracy": null,
|
| 204 |
+
"tool_switch_success_rate": null,
|
| 205 |
+
"tool_switch_total": null,
|
| 206 |
+
"tool_switch_successful": null
|
| 207 |
+
},
|
| 208 |
+
"runtime": {
|
| 209 |
+
"avg_steps": null,
|
| 210 |
+
"error_count": null
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
}
|
policy_template/per_task_eval/03_wine_glass_plate_balance/Full/per_episode.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"scene":"scenes/03_wine_glass_plate_balance.yaml","episode_index":null,"seed":null,"success":null,"steps":null,"metric_schema_version":"core-v1.8-policy-step-query-split","error":null,"episode_seed":null,"base_seed":null,"seed_policy":null,"scene_generalization_sample":{"robot_key":null,"appearance":{"background":{"enabled":null,"clean_background":null,"intensity":null,"yaw_deg":null,"base_yaw_deg":null,"flip_180_applied":null,"physics_enabled":null,"fill_light_intensity":null,"fill_light_jitter_ratio":null,"asset_kind":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null,"asset_uri":null,"scene_offset":[null,null,null]},"table_surface":{"enabled":null,"clean_surface":null,"asset_name":null,"asset_uri":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null},"usd_scene_light":{"enabled":null,"distant":{"intensity":null,"color":[null,null,null],"pitch_deg":null,"yaw_deg":null,"angle_deg":null},"dome":{"intensity":null,"color":[null,null,null],"exposure":null},"profile_name":null,"profile_split":null,"profile_pool_size":null}},"spatial":{"object_pose":{"enabled":null,"position_jitter_cm":null,"position_jitter_m":null,"yaw_jitter_deg":null},"table_height":{"enabled":null,"height_offset_m":null,"offset_m_range":[null,null]},"camera":{"enabled":null,"asset_split":null,"profile_name":null,"profile_split":null,"profile_pool_size":null,"cameras":{"cam_chest":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_overhead":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null}}}},"clutter":{"tabletop":{"enabled":null,"count":null,"asset_split":null,"asset_pool_size":null,"assets":[{"name":null,"uri":null,"scale":[null,null,null],"body_type":null,"category":null,"asset_code":null,"asset_id":null,"asset_split":null,"spawn_position":[null,null,null],"spawn_yaw_deg":null,"obj_id":null}]}},"embodiment":{"robot_asset":{"enabled":null,"selection_mode":null,"default_robot_key":null,"selected_robot_key":null,"allowed_robot_keys":[]}},"_replay_generalization_mode":null,"_generalization_split":null,"resolved_object_placements":{"obj_130_tray_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_3":{"position":[null,null,null],"rpy_deg":[null,null,null]}},"_generalization_profile":null,"_anchor_source_index":null},"task_family":null,"robot_key":null,"perturbation_axis":"inv+cov","stable_success":null,"ever_instant_success":null,"at_end_success":null,"at_end_success_observed":null,"at_end_success_budget":null,"first_success_step":null,"stable_success_step":null,"first_stable_success_step":null,"steps_to_stable_success":null,"policy_steps_to_stable_success":null,"policy_queries_to_stable_success":null,"time_to_stable_success_s":null,"expert_time_s":null,"expert_time_step":null,"success_hold_s":null,"terminal_success_rate":null,"stage_completion_rate":null,"normalized_progress_score":null,"chain_depth_progress_score":null,"current_stage_completion_rate":null,"current_normalized_progress_score":null,"current_chain_depth_progress_score":null,"current_chain_depth":null,"latched_stage_completion_rate":null,"latched_normalized_progress_score":null,"latched_chain_depth_progress_score":null,"latched_chain_depth":null,"task_efficiency":null,"kinematic_grasp_stability_index":null,"mean_kinematic_grasp_stability":null,"per_object_best_kinematic_grasp_stability":{"obj_194_wineglass_1":null,"obj_194_wineglass_2":null,"obj_194_wineglass_3":null},"grasp_gsi_diagnostics":{"mean_legacy_gsi":null,"mean_kinematic_stability_score":null,"mean_lift_score":null,"mean_hold_score":null,"mean_motion_stability_score":null,"mean_duration_score":null,"mean_anti_slip_score":null},"robot_motion_metrics":{"joint_velocity_rms":null,"joint_acceleration_rms":null,"joint_jerk_rms":null,"joint_effort_rms":null},"tool_selection_accuracy":null,"tool_switch_success_rate":null,"tool_switch_total":null,"tool_switch_successful":null,"safety_violation_rate":null,"safety_violation_rate_time":null,"safety_violation_rate_event":null,"safety_violation_step_rate":null,"safety_violation_events_per_step":null,"episode_violation_rate":null,"safety_hard_violation":null,"drop_violation":null,"high_speed_violation":null,"excessive_impact_violation":null,"robot_constraint_violation":null,"finger_joint_limit_saturation":null,"impact_metric_available":null,"chain_depth":null,"robot_constraint_diagnostics":{"joint_limit_max_excess_by_joint":{"multi_pinky_q1":null,"multi_pinky_q2":null,"multi_thumb_q1":null,"thumb_q2":null},"joint_limit_baseline_checks":[{"phase":null,"checked":null,"hard_violation":null,"hard_limit_source":null,"violating_joints":[]},{"phase":null,"checked":null,"hard_violation":null,"hard_limit_source":null,"violating_joints":[]}],"joint_limit_active_steps":null,"joint_limit_hard_episode_events":null,"joint_limit_in_core_safety":null,"finger_joint_limit_saturation_steps":null,"max_joint_limit_excess_rad":null,"max_joint_limit_excess_joint":null,"joint_role_manifest_available":null,"joint_role_manifest_robot_key":null,"joint_limit_hard_source_available":null,"joint_limit_soft_source":null,"joint_limit_hard_source":null},"joint_limit_active_steps":null,"joint_limit_active_step_rate":null,"finger_joint_limit_saturation_steps":null,"finger_joint_limit_saturation_step_rate":null,"max_joint_limit_excess_rad":null,"max_joint_limit_excess_joint":null,"stage_completion":{"place_first_glass":null,"place_second_glass":null},"current_stage_completion":{"place_first_glass":null,"place_second_glass":null},"stage_first_completion_step":{"place_first_glass":null,"place_second_glass":null},"violation_counts":{"drop_to_table_obj_194_wineglass_1":null,"drop_to_table_obj_194_wineglass_2":null},"policy_query_count":null,"terminated_reason":null,"timeseries":null,"evaluation_protocol":null,"early_stop":null,"max_episode_steps":null,"dwell_time_s":null}
|
policy_template/per_task_eval/03_wine_glass_plate_balance/Full/summary.json
ADDED
|
@@ -0,0 +1,213 @@
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|
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|
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|
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|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"metric_schema_version": "core-v1.8-policy-step-query-split",
|
| 3 |
+
"metadata": {
|
| 4 |
+
"policy_name": "MODEL_NAME",
|
| 5 |
+
"base_seed": null,
|
| 6 |
+
"seed_policy": null,
|
| 7 |
+
"randomization_recorded": null,
|
| 8 |
+
"n_episodes": null,
|
| 9 |
+
"successes": null,
|
| 10 |
+
"error_count": null,
|
| 11 |
+
"evaluation_protocol": null,
|
| 12 |
+
"early_stop": null,
|
| 13 |
+
"success_definition": null,
|
| 14 |
+
"measurement_window": null,
|
| 15 |
+
"max_episode_steps": null,
|
| 16 |
+
"dwell_time_s": null,
|
| 17 |
+
"field_semantics": {
|
| 18 |
+
"success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
|
| 19 |
+
"avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
|
| 20 |
+
"task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
|
| 21 |
+
"avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
|
| 22 |
+
"avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
|
| 23 |
+
"avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
|
| 24 |
+
"safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 25 |
+
"hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 26 |
+
"drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
|
| 27 |
+
"high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
|
| 28 |
+
"excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
|
| 29 |
+
"robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
|
| 30 |
+
"finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
|
| 31 |
+
"joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
|
| 32 |
+
"finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
|
| 33 |
+
"max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
|
| 34 |
+
"safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
|
| 35 |
+
"safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
|
| 36 |
+
"safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
|
| 37 |
+
"safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
|
| 38 |
+
"episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
|
| 39 |
+
"latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
|
| 40 |
+
"current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
|
| 41 |
+
"current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
|
| 42 |
+
"current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
|
| 43 |
+
"latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
|
| 44 |
+
"robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"core_metrics": {
|
| 48 |
+
"completion": {
|
| 49 |
+
"success_rate": null,
|
| 50 |
+
"success_rate_ci": {
|
| 51 |
+
"mean": null,
|
| 52 |
+
"ci_low": null,
|
| 53 |
+
"ci_high": null
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"progress": {
|
| 57 |
+
"latched_stage_completion_rate": null
|
| 58 |
+
},
|
| 59 |
+
"efficiency": {
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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"ring_q1": null,
|
| 112 |
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"ring_q2": null
|
| 113 |
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},
|
| 114 |
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"joint_limit_hard_counts": {
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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},
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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"unknown": null
|
| 152 |
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},
|
| 153 |
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|
| 154 |
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"available": null,
|
| 155 |
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|
| 156 |
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"unknown": null
|
| 157 |
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|
| 158 |
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|
| 159 |
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"hard_limit_sources": {
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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},
|
| 165 |
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"unknown_runtime_joint_names": [],
|
| 166 |
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"baseline_checks": {
|
| 167 |
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"post_home": {
|
| 168 |
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"checked": null,
|
| 169 |
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"hard_violation_episodes": null
|
| 170 |
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},
|
| 171 |
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"post_reset": {
|
| 172 |
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"checked": null,
|
| 173 |
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"hard_violation_episodes": null
|
| 174 |
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}
|
| 175 |
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}
|
| 176 |
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}
|
| 177 |
+
},
|
| 178 |
+
"robot_motion": {
|
| 179 |
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"joint_acceleration_rms": null,
|
| 180 |
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"joint_effort_rms": null,
|
| 181 |
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"joint_jerk_rms": null,
|
| 182 |
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"joint_velocity_rms": null
|
| 183 |
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},
|
| 184 |
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"grasp": {
|
| 185 |
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"kinematic_grasp_stability_index": null,
|
| 186 |
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"mean_kinematic_grasp_stability": null,
|
| 187 |
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"per_object_best_kinematic_grasp_stability": {
|
| 188 |
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"obj_194_wineglass_1": null,
|
| 189 |
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"obj_194_wineglass_2": null,
|
| 190 |
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"obj_194_wineglass_3": null
|
| 191 |
+
},
|
| 192 |
+
"grasp_gsi_diagnostics": {
|
| 193 |
+
"mean_anti_slip_score": null,
|
| 194 |
+
"mean_duration_score": null,
|
| 195 |
+
"mean_hold_score": null,
|
| 196 |
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"mean_kinematic_stability_score": null,
|
| 197 |
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"mean_legacy_gsi": null,
|
| 198 |
+
"mean_lift_score": null,
|
| 199 |
+
"mean_motion_stability_score": null
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"tool": {
|
| 203 |
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"tool_selection_accuracy": null,
|
| 204 |
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"tool_switch_success_rate": null,
|
| 205 |
+
"tool_switch_total": null,
|
| 206 |
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"tool_switch_successful": null
|
| 207 |
+
},
|
| 208 |
+
"runtime": {
|
| 209 |
+
"avg_steps": null,
|
| 210 |
+
"error_count": null
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
}
|
policy_template/per_task_eval/03_wine_glass_plate_balance/Inv/per_episode.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"scene":"scenes/03_wine_glass_plate_balance.yaml","episode_index":null,"seed":null,"success":null,"steps":null,"metric_schema_version":"core-v1.8-policy-step-query-split","error":null,"episode_seed":null,"base_seed":null,"seed_policy":null,"scene_generalization_sample":{"robot_key":null,"appearance":{"background":{"enabled":null,"clean_background":null,"intensity":null,"yaw_deg":null,"base_yaw_deg":null,"flip_180_applied":null,"physics_enabled":null,"fill_light_intensity":null,"fill_light_jitter_ratio":null,"asset_kind":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null,"asset_uri":null,"scene_offset":[null,null,null]},"table_surface":{"enabled":null,"clean_surface":null,"asset_name":null,"asset_uri":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null},"usd_scene_light":{"enabled":null,"distant":{"intensity":null,"color":[null,null,null],"pitch_deg":null,"yaw_deg":null,"angle_deg":null},"dome":{"intensity":null,"color":[null,null,null],"exposure":null},"profile_name":null,"profile_split":null,"profile_pool_size":null}},"spatial":{"object_pose":{"enabled":null,"position_jitter_cm":null,"position_jitter_m":null,"yaw_jitter_deg":null},"table_height":{"enabled":null,"height_offset_m":null,"offset_m_range":[null,null]},"camera":{"enabled":null,"asset_split":null,"profile_name":null,"profile_split":null,"profile_pool_size":null,"cameras":{"cam_chest":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_overhead":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null}}}},"clutter":{"tabletop":{"enabled":null,"count":null,"asset_split":null,"asset_pool_size":null,"assets":[{"name":null,"uri":null,"scale":[null,null,null],"body_type":null,"category":null,"asset_code":null,"asset_id":null,"asset_split":null,"spawn_position":[null,null,null],"spawn_yaw_deg":null,"obj_id":null}]}},"embodiment":{"robot_asset":{"enabled":null,"selection_mode":null,"default_robot_key":null,"selected_robot_key":null,"allowed_robot_keys":[]}},"_replay_generalization_mode":null,"_generalization_split":null,"resolved_object_placements":{"obj_130_tray_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_3":{"position":[null,null,null],"rpy_deg":[null,null,null]}},"_generalization_profile":null,"_anchor_source_index":null},"task_family":null,"robot_key":null,"perturbation_axis":"inv","stable_success":null,"ever_instant_success":null,"at_end_success":null,"at_end_success_observed":null,"at_end_success_budget":null,"first_success_step":null,"stable_success_step":null,"first_stable_success_step":null,"steps_to_stable_success":null,"policy_steps_to_stable_success":null,"policy_queries_to_stable_success":null,"time_to_stable_success_s":null,"expert_time_s":null,"expert_time_step":null,"success_hold_s":null,"terminal_success_rate":null,"stage_completion_rate":null,"normalized_progress_score":null,"chain_depth_progress_score":null,"current_stage_completion_rate":null,"current_normalized_progress_score":null,"current_chain_depth_progress_score":null,"current_chain_depth":null,"latched_stage_completion_rate":null,"latched_normalized_progress_score":null,"latched_chain_depth_progress_score":nul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|
policy_template/per_task_eval/03_wine_glass_plate_balance/Inv/summary.json
ADDED
|
@@ -0,0 +1,213 @@
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|
| 1 |
+
{
|
| 2 |
+
"metric_schema_version": "core-v1.8-policy-step-query-split",
|
| 3 |
+
"metadata": {
|
| 4 |
+
"policy_name": "MODEL_NAME",
|
| 5 |
+
"base_seed": null,
|
| 6 |
+
"seed_policy": null,
|
| 7 |
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"randomization_recorded": null,
|
| 8 |
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"n_episodes": null,
|
| 9 |
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|
| 10 |
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"error_count": null,
|
| 11 |
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"evaluation_protocol": null,
|
| 12 |
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"early_stop": null,
|
| 13 |
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"success_definition": null,
|
| 14 |
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"measurement_window": null,
|
| 15 |
+
"max_episode_steps": null,
|
| 16 |
+
"dwell_time_s": null,
|
| 17 |
+
"field_semantics": {
|
| 18 |
+
"success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
|
| 19 |
+
"avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
|
| 20 |
+
"task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
|
| 21 |
+
"avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
|
| 22 |
+
"avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
|
| 23 |
+
"avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
|
| 24 |
+
"safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 25 |
+
"hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 26 |
+
"drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
|
| 27 |
+
"high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
|
| 28 |
+
"excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
|
| 29 |
+
"robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
|
| 30 |
+
"finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
|
| 31 |
+
"joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
|
| 32 |
+
"finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
|
| 33 |
+
"max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
|
| 34 |
+
"safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
|
| 35 |
+
"safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
|
| 36 |
+
"safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
|
| 37 |
+
"safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
|
| 38 |
+
"episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
|
| 39 |
+
"latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
|
| 40 |
+
"current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
|
| 41 |
+
"current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
|
| 42 |
+
"current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
|
| 43 |
+
"latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
|
| 44 |
+
"robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"core_metrics": {
|
| 48 |
+
"completion": {
|
| 49 |
+
"success_rate": null,
|
| 50 |
+
"success_rate_ci": {
|
| 51 |
+
"mean": null,
|
| 52 |
+
"ci_low": null,
|
| 53 |
+
"ci_high": null
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"progress": {
|
| 57 |
+
"latched_stage_completion_rate": null
|
| 58 |
+
},
|
| 59 |
+
"efficiency": {
|
| 60 |
+
"avg_time_to_success_s": null
|
| 61 |
+
},
|
| 62 |
+
"safety": {
|
| 63 |
+
"safe_success_rate": null,
|
| 64 |
+
"hard_violation_rate": null,
|
| 65 |
+
"drop_rate": null,
|
| 66 |
+
"high_speed_violation_rate": null,
|
| 67 |
+
"safety_violation_step_rate": null
|
| 68 |
+
},
|
| 69 |
+
"robustness": {}
|
| 70 |
+
},
|
| 71 |
+
"diagnostic_metrics": {
|
| 72 |
+
"completion": {
|
| 73 |
+
"ever_instant_success_rate": null,
|
| 74 |
+
"at_end_success_rate": null,
|
| 75 |
+
"task_family_success_rate": {
|
| 76 |
+
"table_setting": null
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"progress": {
|
| 80 |
+
"current_stage_completion_rate": null,
|
| 81 |
+
"current_chain_depth_progress_score": null,
|
| 82 |
+
"latched_chain_depth_progress_score": null,
|
| 83 |
+
"avg_current_chain_depth": null,
|
| 84 |
+
"avg_latched_chain_depth": null
|
| 85 |
+
},
|
| 86 |
+
"efficiency": {
|
| 87 |
+
"task_efficiency": null,
|
| 88 |
+
"expert_time_s": null,
|
| 89 |
+
"expert_time_step": null,
|
| 90 |
+
"avg_steps_to_success": null,
|
| 91 |
+
"avg_policy_steps_to_success": null,
|
| 92 |
+
"avg_policy_queries_to_success": null
|
| 93 |
+
},
|
| 94 |
+
"safety": {
|
| 95 |
+
"safety_violation_events_per_step": null,
|
| 96 |
+
"violation_counts": {
|
| 97 |
+
"drop_to_table_obj_194_wineglass_1": null,
|
| 98 |
+
"drop_to_table_obj_194_wineglass_2": null,
|
| 99 |
+
"drop_to_table_obj_194_wineglass_3": null
|
| 100 |
+
},
|
| 101 |
+
"robot_constraint_violation_rate": null,
|
| 102 |
+
"finger_joint_limit_saturation_rate": null,
|
| 103 |
+
"joint_limit_active_step_rate": null,
|
| 104 |
+
"finger_joint_limit_saturation_step_rate": null,
|
| 105 |
+
"max_joint_limit_excess_rad": null,
|
| 106 |
+
"robot_constraint_diagnostics": {
|
| 107 |
+
"joint_limit_soft_counts": {
|
| 108 |
+
"multi_pinky_q1": null,
|
| 109 |
+
"multi_ring_q2": null,
|
| 110 |
+
"pinky_q1": null,
|
| 111 |
+
"ring_q1": null,
|
| 112 |
+
"ring_q2": null
|
| 113 |
+
},
|
| 114 |
+
"joint_limit_hard_counts": {
|
| 115 |
+
"multi_pinky_q1": null,
|
| 116 |
+
"multi_ring_q2": null,
|
| 117 |
+
"pinky_q1": null,
|
| 118 |
+
"ring_q1": null,
|
| 119 |
+
"ring_q2": null
|
| 120 |
+
},
|
| 121 |
+
"joint_limit_hard_episode_events": null,
|
| 122 |
+
"finger_joint_limit_saturation_counts": {
|
| 123 |
+
"pinky_q1": null
|
| 124 |
+
},
|
| 125 |
+
"joint_limit_max_excess_by_joint": {
|
| 126 |
+
"index_q1": null,
|
| 127 |
+
"index_q2": null,
|
| 128 |
+
"middle_q1": null,
|
| 129 |
+
"middle_q2": null,
|
| 130 |
+
"multi_index_q1": null,
|
| 131 |
+
"multi_index_q2": null,
|
| 132 |
+
"multi_middle_q1": null,
|
| 133 |
+
"multi_middle_q2": null,
|
| 134 |
+
"multi_pinky_q1": null,
|
| 135 |
+
"multi_pinky_q2": null,
|
| 136 |
+
"multi_ring_q1": null,
|
| 137 |
+
"multi_ring_q2": null,
|
| 138 |
+
"multi_thumb_q1": null,
|
| 139 |
+
"multi_thumb_q2": null,
|
| 140 |
+
"pinky_q1": null,
|
| 141 |
+
"pinky_q2": null,
|
| 142 |
+
"ring_q1": null,
|
| 143 |
+
"ring_q2": null,
|
| 144 |
+
"thumb_q1": null,
|
| 145 |
+
"thumb_q2": null
|
| 146 |
+
},
|
| 147 |
+
"coverage": {
|
| 148 |
+
"hard_limit_source": {
|
| 149 |
+
"available": null,
|
| 150 |
+
"unavailable": null,
|
| 151 |
+
"unknown": null
|
| 152 |
+
},
|
| 153 |
+
"joint_role_manifest": {
|
| 154 |
+
"available": null,
|
| 155 |
+
"unavailable": null,
|
| 156 |
+
"unknown": null
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"hard_limit_sources": {
|
| 160 |
+
"runtime.joint_pos_limits": null
|
| 161 |
+
},
|
| 162 |
+
"soft_limit_sources": {
|
| 163 |
+
"runtime.soft_joint_pos_limits": null
|
| 164 |
+
},
|
| 165 |
+
"unknown_runtime_joint_names": [],
|
| 166 |
+
"baseline_checks": {
|
| 167 |
+
"post_home": {
|
| 168 |
+
"checked": null,
|
| 169 |
+
"hard_violation_episodes": null
|
| 170 |
+
},
|
| 171 |
+
"post_reset": {
|
| 172 |
+
"checked": null,
|
| 173 |
+
"hard_violation_episodes": null
|
| 174 |
+
}
|
| 175 |
+
}
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"robot_motion": {
|
| 179 |
+
"joint_acceleration_rms": null,
|
| 180 |
+
"joint_effort_rms": null,
|
| 181 |
+
"joint_jerk_rms": null,
|
| 182 |
+
"joint_velocity_rms": null
|
| 183 |
+
},
|
| 184 |
+
"grasp": {
|
| 185 |
+
"kinematic_grasp_stability_index": null,
|
| 186 |
+
"mean_kinematic_grasp_stability": null,
|
| 187 |
+
"per_object_best_kinematic_grasp_stability": {
|
| 188 |
+
"obj_194_wineglass_1": null,
|
| 189 |
+
"obj_194_wineglass_2": null,
|
| 190 |
+
"obj_194_wineglass_3": null
|
| 191 |
+
},
|
| 192 |
+
"grasp_gsi_diagnostics": {
|
| 193 |
+
"mean_anti_slip_score": null,
|
| 194 |
+
"mean_duration_score": null,
|
| 195 |
+
"mean_hold_score": null,
|
| 196 |
+
"mean_kinematic_stability_score": null,
|
| 197 |
+
"mean_legacy_gsi": null,
|
| 198 |
+
"mean_lift_score": null,
|
| 199 |
+
"mean_motion_stability_score": null
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"tool": {
|
| 203 |
+
"tool_selection_accuracy": null,
|
| 204 |
+
"tool_switch_success_rate": null,
|
| 205 |
+
"tool_switch_total": null,
|
| 206 |
+
"tool_switch_successful": null
|
| 207 |
+
},
|
| 208 |
+
"runtime": {
|
| 209 |
+
"avg_steps": null,
|
| 210 |
+
"error_count": null
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
}
|
policy_template/per_task_eval/03_wine_glass_plate_balance/None/per_episode.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"scene":"scenes/03_wine_glass_plate_balance.yaml","episode_index":null,"seed":null,"success":null,"steps":null,"metric_schema_version":"core-v1.8-policy-step-query-split","error":null,"episode_seed":null,"base_seed":null,"seed_policy":null,"scene_generalization_sample":{"robot_key":null,"appearance":{"background":{"enabled":null,"clean_background":null,"intensity":null,"yaw_deg":null,"base_yaw_deg":null,"flip_180_applied":null,"physics_enabled":null,"fill_light_intensity":null,"fill_light_jitter_ratio":null,"asset_kind":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null,"asset_uri":null,"scene_offset":[null,null,null]},"table_surface":{"enabled":null,"clean_surface":null,"asset_name":null,"asset_uri":null,"asset_category":null,"asset_id":null,"asset_split":null,"asset_pool_size":null},"usd_scene_light":{"enabled":null,"distant":{"intensity":null,"color":[null,null,null],"pitch_deg":null,"yaw_deg":null,"angle_deg":null},"dome":{"intensity":null,"color":[null,null,null],"exposure":null},"profile_name":null,"profile_split":null,"profile_pool_size":null}},"spatial":{"object_pose":{"enabled":null,"position_jitter_cm":null,"position_jitter_m":null,"yaw_jitter_deg":null},"table_height":{"enabled":null,"height_offset_m":null,"offset_m_range":[null,null]},"camera":{"enabled":null,"asset_split":null,"profile_name":null,"profile_split":null,"profile_pool_size":null,"cameras":{"cam_chest":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_overhead":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_stereo_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_right":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null},"cam_wrist_left":{"enabled":null,"position_offset_m":[null,null,null],"target_offset_m":[null,null,null],"distance_offset_m":null,"offset_xyz_offset_m":[null,null,null],"rpy_offset_deg":[null,null,null],"has_offset":null}}}},"clutter":{"tabletop":{"enabled":null,"count":null,"asset_split":null,"asset_pool_size":null,"assets":[{"name":null,"uri":null,"scale":[null,null,null],"body_type":null,"category":null,"asset_code":null,"asset_id":null,"asset_split":null,"spawn_position":[null,null,null],"spawn_yaw_deg":null,"obj_id":null}]}},"embodiment":{"robot_asset":{"enabled":null,"selection_mode":null,"default_robot_key":null,"selected_robot_key":null,"allowed_robot_keys":[]}},"_replay_generalization_mode":null,"_generalization_split":null,"resolved_object_placements":{"obj_130_tray_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_030_fork_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_029_plate_3":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_1":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_2":{"position":[null,null,null],"rpy_deg":[null,null,null]},"obj_194_wineglass_3":{"position":[null,null,null],"rpy_deg":[null,null,null]}},"_generalization_profile":null,"_anchor_source_index":null},"task_family":null,"robot_key":null,"perturbation_axis":"none","stable_success":null,"ever_instant_success":null,"at_end_success":null,"at_end_success_observed":null,"at_end_success_budget":null,"first_success_step":null,"stable_success_step":null,"first_stable_success_step":null,"steps_to_stable_success":null,"policy_steps_to_stable_success":null,"policy_queries_to_stable_success":null,"time_to_stable_success_s":null,"expert_time_s":null,"expert_time_step":null,"success_hold_s":null,"terminal_success_rate":null,"stage_completion_rate":null,"normalized_progress_score":null,"chain_depth_progress_score":null,"current_stage_completion_rate":null,"current_normalized_progress_score":null,"current_chain_depth_progress_score":null,"current_chain_depth":null,"latched_stage_completion_rate":null,"latched_normalized_progress_score":null,"latched_chain_depth_progress_score":null,"latched_chain_depth":null,"task_efficiency":null,"kinematic_grasp_stability_index":null,"mean_kinematic_grasp_stability":null,"per_object_best_kinematic_grasp_stability":{"obj_194_wineglass_1":null,"obj_194_wineglass_2":null,"obj_194_wineglass_3":null},"grasp_gsi_diagnostics":{"mean_legacy_gsi":null,"mean_kinematic_stability_score":null,"mean_lift_score":null,"mean_hold_score":null,"mean_motion_stability_score":null,"mean_duration_score":null,"mean_anti_slip_score":null},"robot_motion_metrics":{"joint_velocity_rms":null,"joint_acceleration_rms":null,"joint_jerk_rms":null,"joint_effort_rms":null},"tool_selection_accuracy":null,"tool_switch_success_rate":null,"tool_switch_total":null,"tool_switch_successful":null,"safety_violation_rate":null,"safety_violation_rate_time":null,"safety_violation_rate_event":null,"safety_violation_step_rate":null,"safety_violation_events_per_step":null,"episode_violation_rate":null,"safety_hard_violation":null,"drop_violation":null,"high_speed_violation":null,"excessive_impact_violation":null,"robot_constraint_violation":null,"finger_joint_limit_saturation":null,"impact_metric_available":null,"chain_depth":null,"robot_constraint_diagnostics":{"joint_limit_max_excess_by_joint":{"multi_pinky_q1":null,"multi_pinky_q2":null,"multi_thumb_q1":null,"thumb_q2":null},"joint_limit_baseline_checks":[{"phase":null,"checked":null,"hard_violation":null,"hard_limit_source":null,"violating_joints":[]},{"phase":null,"checked":null,"hard_violation":null,"hard_limit_source":null,"violating_joints":[]}],"joint_limit_active_steps":null,"joint_limit_hard_episode_events":null,"joint_limit_in_core_safety":null,"finger_joint_limit_saturation_steps":null,"max_joint_limit_excess_rad":null,"max_joint_limit_excess_joint":null,"joint_role_manifest_available":null,"joint_role_manifest_robot_key":null,"joint_limit_hard_source_available":null,"joint_limit_soft_source":null,"joint_limit_hard_source":null},"joint_limit_active_steps":null,"joint_limit_active_step_rate":null,"finger_joint_limit_saturation_steps":null,"finger_joint_limit_saturation_step_rate":null,"max_joint_limit_excess_rad":null,"max_joint_limit_excess_joint":null,"stage_completion":{"place_first_glass":null,"place_second_glass":null},"current_stage_completion":{"place_first_glass":null,"place_second_glass":null},"stage_first_completion_step":{"place_first_glass":null,"place_second_glass":null},"violation_counts":{"drop_to_table_obj_194_wineglass_1":null,"drop_to_table_obj_194_wineglass_2":null},"policy_query_count":null,"terminated_reason":null,"timeseries":null,"evaluation_protocol":null,"early_stop":null,"max_episode_steps":null,"dwell_time_s":null}
|
policy_template/per_task_eval/03_wine_glass_plate_balance/None/summary.json
ADDED
|
@@ -0,0 +1,213 @@
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|
| 1 |
+
{
|
| 2 |
+
"metric_schema_version": "core-v1.8-policy-step-query-split",
|
| 3 |
+
"metadata": {
|
| 4 |
+
"policy_name": "MODEL_NAME",
|
| 5 |
+
"base_seed": null,
|
| 6 |
+
"seed_policy": null,
|
| 7 |
+
"randomization_recorded": null,
|
| 8 |
+
"n_episodes": null,
|
| 9 |
+
"successes": null,
|
| 10 |
+
"error_count": null,
|
| 11 |
+
"evaluation_protocol": null,
|
| 12 |
+
"early_stop": null,
|
| 13 |
+
"success_definition": null,
|
| 14 |
+
"measurement_window": null,
|
| 15 |
+
"max_episode_steps": null,
|
| 16 |
+
"dwell_time_s": null,
|
| 17 |
+
"field_semantics": {
|
| 18 |
+
"success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
|
| 19 |
+
"avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
|
| 20 |
+
"task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
|
| 21 |
+
"avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
|
| 22 |
+
"avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
|
| 23 |
+
"avg_policy_queries_to_success": "diagnostic mean actual model inference queries through stable success over reached-success episodes; None when the first-success query count was not observed",
|
| 24 |
+
"safe_success_rate": "episode success rate with no task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 25 |
+
"hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
|
| 26 |
+
"drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
|
| 27 |
+
"high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
|
| 28 |
+
"excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
|
| 29 |
+
"robot_constraint_violation_rate": "diagnostic episode rate with any asset hard-joint-limit observation; excluded from safe_success_rate unless include_in_core_safety is explicitly enabled",
|
| 30 |
+
"finger_joint_limit_saturation_rate": "episode rate with dexterous finger joints saturated beyond finger joint-limit thresholds; diagnostic by default and not included in safe_success_rate",
|
| 31 |
+
"joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
|
| 32 |
+
"finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
|
| 33 |
+
"max_joint_limit_excess_rad": "diagnostic maximum operating/soft-limit excess observed in radians; hard-limit source and role validation are in robot_constraint_diagnostics",
|
| 34 |
+
"safety_violation_rate_time": "compatibility diagnostic; with fixed physics_dt this is equivalent to safety_violation_step_rate and is omitted from grouped summary output",
|
| 35 |
+
"safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
|
| 36 |
+
"safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
|
| 37 |
+
"safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
|
| 38 |
+
"episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
|
| 39 |
+
"latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
|
| 40 |
+
"current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
|
| 41 |
+
"current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
|
| 42 |
+
"current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
|
| 43 |
+
"latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
|
| 44 |
+
"robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"core_metrics": {
|
| 48 |
+
"completion": {
|
| 49 |
+
"success_rate": null,
|
| 50 |
+
"success_rate_ci": {
|
| 51 |
+
"mean": null,
|
| 52 |
+
"ci_low": null,
|
| 53 |
+
"ci_high": null
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"progress": {
|
| 57 |
+
"latched_stage_completion_rate": null
|
| 58 |
+
},
|
| 59 |
+
"efficiency": {
|
| 60 |
+
"avg_time_to_success_s": null
|
| 61 |
+
},
|
| 62 |
+
"safety": {
|
| 63 |
+
"safe_success_rate": null,
|
| 64 |
+
"hard_violation_rate": null,
|
| 65 |
+
"drop_rate": null,
|
| 66 |
+
"high_speed_violation_rate": null,
|
| 67 |
+
"safety_violation_step_rate": null
|
| 68 |
+
},
|
| 69 |
+
"robustness": {}
|
| 70 |
+
},
|
| 71 |
+
"diagnostic_metrics": {
|
| 72 |
+
"completion": {
|
| 73 |
+
"ever_instant_success_rate": null,
|
| 74 |
+
"at_end_success_rate": null,
|
| 75 |
+
"task_family_success_rate": {
|
| 76 |
+
"table_setting": null
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"progress": {
|
| 80 |
+
"current_stage_completion_rate": null,
|
| 81 |
+
"current_chain_depth_progress_score": null,
|
| 82 |
+
"latched_chain_depth_progress_score": null,
|
| 83 |
+
"avg_current_chain_depth": null,
|
| 84 |
+
"avg_latched_chain_depth": null
|
| 85 |
+
},
|
| 86 |
+
"efficiency": {
|
| 87 |
+
"task_efficiency": null,
|
| 88 |
+
"expert_time_s": null,
|
| 89 |
+
"expert_time_step": null,
|
| 90 |
+
"avg_steps_to_success": null,
|
| 91 |
+
"avg_policy_steps_to_success": null,
|
| 92 |
+
"avg_policy_queries_to_success": null
|
| 93 |
+
},
|
| 94 |
+
"safety": {
|
| 95 |
+
"safety_violation_events_per_step": null,
|
| 96 |
+
"violation_counts": {
|
| 97 |
+
"drop_to_table_obj_194_wineglass_1": null,
|
| 98 |
+
"drop_to_table_obj_194_wineglass_2": null,
|
| 99 |
+
"drop_to_table_obj_194_wineglass_3": null
|
| 100 |
+
},
|
| 101 |
+
"robot_constraint_violation_rate": null,
|
| 102 |
+
"finger_joint_limit_saturation_rate": null,
|
| 103 |
+
"joint_limit_active_step_rate": null,
|
| 104 |
+
"finger_joint_limit_saturation_step_rate": null,
|
| 105 |
+
"max_joint_limit_excess_rad": null,
|
| 106 |
+
"robot_constraint_diagnostics": {
|
| 107 |
+
"joint_limit_soft_counts": {
|
| 108 |
+
"multi_pinky_q1": null,
|
| 109 |
+
"multi_ring_q2": null,
|
| 110 |
+
"pinky_q1": null,
|
| 111 |
+
"ring_q1": null,
|
| 112 |
+
"ring_q2": null
|
| 113 |
+
},
|
| 114 |
+
"joint_limit_hard_counts": {
|
| 115 |
+
"multi_pinky_q1": null,
|
| 116 |
+
"multi_ring_q2": null,
|
| 117 |
+
"pinky_q1": null,
|
| 118 |
+
"ring_q1": null,
|
| 119 |
+
"ring_q2": null
|
| 120 |
+
},
|
| 121 |
+
"joint_limit_hard_episode_events": null,
|
| 122 |
+
"finger_joint_limit_saturation_counts": {
|
| 123 |
+
"pinky_q1": null
|
| 124 |
+
},
|
| 125 |
+
"joint_limit_max_excess_by_joint": {
|
| 126 |
+
"index_q1": null,
|
| 127 |
+
"index_q2": null,
|
| 128 |
+
"middle_q1": null,
|
| 129 |
+
"middle_q2": null,
|
| 130 |
+
"multi_index_q1": null,
|
| 131 |
+
"multi_index_q2": null,
|
| 132 |
+
"multi_middle_q1": null,
|
| 133 |
+
"multi_middle_q2": null,
|
| 134 |
+
"multi_pinky_q1": null,
|
| 135 |
+
"multi_pinky_q2": null,
|
| 136 |
+
"multi_ring_q1": null,
|
| 137 |
+
"multi_ring_q2": null,
|
| 138 |
+
"multi_thumb_q1": null,
|
| 139 |
+
"multi_thumb_q2": null,
|
| 140 |
+
"pinky_q1": null,
|
| 141 |
+
"pinky_q2": null,
|
| 142 |
+
"ring_q1": null,
|
| 143 |
+
"ring_q2": null,
|
| 144 |
+
"thumb_q1": null,
|
| 145 |
+
"thumb_q2": null
|
| 146 |
+
},
|
| 147 |
+
"coverage": {
|
| 148 |
+
"hard_limit_source": {
|
| 149 |
+
"available": null,
|
| 150 |
+
"unavailable": null,
|
| 151 |
+
"unknown": null
|
| 152 |
+
},
|
| 153 |
+
"joint_role_manifest": {
|
| 154 |
+
"available": null,
|
| 155 |
+
"unavailable": null,
|
| 156 |
+
"unknown": null
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"hard_limit_sources": {
|
| 160 |
+
"runtime.joint_pos_limits": null
|
| 161 |
+
},
|
| 162 |
+
"soft_limit_sources": {
|
| 163 |
+
"runtime.soft_joint_pos_limits": null
|
| 164 |
+
},
|
| 165 |
+
"unknown_runtime_joint_names": [],
|
| 166 |
+
"baseline_checks": {
|
| 167 |
+
"post_home": {
|
| 168 |
+
"checked": null,
|
| 169 |
+
"hard_violation_episodes": null
|
| 170 |
+
},
|
| 171 |
+
"post_reset": {
|
| 172 |
+
"checked": null,
|
| 173 |
+
"hard_violation_episodes": null
|
| 174 |
+
}
|
| 175 |
+
}
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"robot_motion": {
|
| 179 |
+
"joint_acceleration_rms": null,
|
| 180 |
+
"joint_effort_rms": null,
|
| 181 |
+
"joint_jerk_rms": null,
|
| 182 |
+
"joint_velocity_rms": null
|
| 183 |
+
},
|
| 184 |
+
"grasp": {
|
| 185 |
+
"kinematic_grasp_stability_index": null,
|
| 186 |
+
"mean_kinematic_grasp_stability": null,
|
| 187 |
+
"per_object_best_kinematic_grasp_stability": {
|
| 188 |
+
"obj_194_wineglass_1": null,
|
| 189 |
+
"obj_194_wineglass_2": null,
|
| 190 |
+
"obj_194_wineglass_3": null
|
| 191 |
+
},
|
| 192 |
+
"grasp_gsi_diagnostics": {
|
| 193 |
+
"mean_anti_slip_score": null,
|
| 194 |
+
"mean_duration_score": null,
|
| 195 |
+
"mean_hold_score": null,
|
| 196 |
+
"mean_kinematic_stability_score": null,
|
| 197 |
+
"mean_legacy_gsi": null,
|
| 198 |
+
"mean_lift_score": null,
|
| 199 |
+
"mean_motion_stability_score": null
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"tool": {
|
| 203 |
+
"tool_selection_accuracy": null,
|
| 204 |
+
"tool_switch_success_rate": null,
|
| 205 |
+
"tool_switch_total": null,
|
| 206 |
+
"tool_switch_successful": null
|
| 207 |
+
},
|
| 208 |
+
"runtime": {
|
| 209 |
+
"avg_steps": null,
|
| 210 |
+
"error_count": null
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
}
|