Add GPT-6 Astra 10× + ICL native evaluation logs

gpt6_astra_10x_icl/README.md

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+# GPT-6 Astra — 10× + ICL
+
+This entry reports the **Full / unseen** Bench2Dex channel for GPT-6 Astra with
+frozen per-task in-context preparation. The policy uses RGB camera observations,
+proprioception, and a task description; the model runs with max reasoning effort.
+Task-related preparation is frozen before test episodes, and each test episode
+uses an isolated model session. The evaluation uses the upstream stable-success
+and latched-stage metrics at 60 Hz physics and 20 Hz control.
+
+[Technical report](https://www.sensenova.ai/has-gpt-6-astra-achieved-embodied-intelligence)
+· [SenseNova-RoboRSI project](https://github.com/OpenSenseNova/SenseNova-RoboRSI)
+
+## Result and coverage
+
+- **Stable success rate:** 48/78 = **61.54%**.
+- **Latched stage completion rate:** **72.46%**, averaged equally over 26 tasks.
+- **Coverage:** 26 tasks × 3 Full-channel episodes = 78 episodes. The reference
+  protocol uses 50 episodes per task and channel.
+- **Efficiency:** not reported because the retained aggregate evidence does not
+  establish the successful-step/expert-reference inputs for every selected episode.
+- **Other channels:** None, Equi., and Inv. were not evaluated in this cohort;
+  the four-channel mean is therefore not reported.
+
+## Evaluation protocol
+
+The fixed indices 5–7 form a 78-episode subset of the 1× cohort. Valid outcomes were carried forward; timeout failures were extended to a total allowance of 10× the original task budget. The action prefix was replayed in a reinitialized simulator with boundary checks. This is an approximate replay extension, not an exact simulator checkpoint restoration.
+
+The official 1× task budget is `ceil(1.5 × expert_time_step / 3)` policy steps,
+with three physics steps per action row. The JSON gives each task's actual 1×
+budget, the 10× total allowance, seeds, and episode indices.
+The two entries must be interpreted as separate evaluation settings.
+
+The 1× source cohort includes provenance-selected damage replacements; a full
+archive certification was not completed. Historical Task 22/26 extensions and
+the partly unresolved Task 51 preparation provenance are disclosed limitations.
+
+The linked Hugging Face dataset entry includes the selected native Bench2Dex
+evaluator rows, sanitized single-episode source logs and summaries under
+`source_runs/`, and a SHA-256 provenance manifest. The per-task summaries are
+recomputed with the upstream Bench2Dex summary writer from the selected rows.

gpt6_astra_10x_icl/leaderboard_gpt6_astra_10x_icl.json

@@ -0,0 +1,1666 @@
+{
+  "model": {
+    "id": "gpt6_astra_10x_icl",
+    "label": "GPT-6 Astra",
+    "variantLabel": "10× + ICL",
+    "family": "GPT-6 Astra",
+    "modelVersion": "gpt-6-astra",
+    "checkpoint": null,
+    "inputs": "RGB vision + proprioception + task description",
+    "protocolId": "standard",
+    "displayOrder": 101,
+    "trainingSetting": "Frozen per-task in-context preparation; no weight updates",
+    "resultVersion": "Fixed 78, 10× budget",
+    "updatedAt": null,
+    "evaluationSetting": "task_icl_v3_replay_extension_10x_v1",
+    "sourceLabel": "Has GPT-6-Astra Achieved Embodied Intelligence?",
+    "sourceUrl": "https://www.sensenova.ai/has-gpt-6-astra-achieved-embodied-intelligence",
+    "resultDetailsUrl": null,
+    "contributor": "SenseNova-RoboRSI",
+    "contributorUrl": "https://github.com/OpenSenseNova/SenseNova-RoboRSI",
+    "type": "Agent",
+    "modelUrl": "https://www.sensenova.ai/has-gpt-6-astra-achieved-embodied-intelligence",
+    "logoPath": "leaderboard/gpt6_astra_10x_icl/logo.png",
+    "logoAlt": "SenseNova logo",
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+        "perTaskPhysicsSteps": {
+          "03": 32460,
+          "06": 19200,
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+          "79": 20430,
+          "80": 17790
+        }
+      },
+      "expertReference": "Bench2Dex scene expert_time_step at benchmarkCommit",
+      "protocolChanges": [
+        "Full/unseen only; 3 episodes per task rather than the 50-episode reference.",
+        "Fixed indices 5–7 are nested within the 1× cohort; 23 valid original outcomes were carried forward and 55 timeout failures were extended.",
+        "Extensions replay the original action prefix in a reinitialized simulator; endpoint restoration is approximate, with documented boundary validation."
+      ]
+    },
+    "coverage": {
+      "evaluatedTaskCount": 26,
+      "evaluatedEpisodeCount": 78,
+      "completedTaskCount": {
+        "None": 0,
+        "Equi.": 0,
+        "Inv.": 0,
+        "Full": 26,
+        "mean": 0
+      },
+      "expectedFullEpisodeCount": 1300,
+      "expectedFourChannelEpisodeCount": 5200,
+      "missingTaskChannels": {
+        "03": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "06": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "07": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "08": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "09": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "12": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "21": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "22": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "24": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "26": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "27": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "32": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "34": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "42": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "43": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "44": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "51": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "60": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "61": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "62": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "64": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "67": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "73": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "76": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "79": [
+          "None",
+          "Equi.",
+          "Inv."
+        ],
+        "80": [
+          "None",
+          "Equi.",
+          "Inv."
+        ]
+      }
+    },
+    "aggregation": {
+      "units": {
+        "sr": "percent",
+        "lscr": "percent",
+        "efficiency": "ratio",
+        "steps": "physics_steps"
+      },
+      "sr": "100 * successes / episodes per task/channel; equal channel mean per task; equal task mean over all 26 settings.",
+      "lscr": "100 * mean episode latched_stage_completion_rate, including failures; equal channel mean per task; equal task mean over all 26 settings.",
+      "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.",
+      "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.",
+      "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."
+    },
+    "logs": {
+      "repository": "Bench2Dex/Leaderboard",
+      "policyPath": "gpt6_astra_10x_icl",
+      "revision": null,
+      "status": "not-archived"
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/03_wine_glass_plate_balance/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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"cam_wrist_left": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [0.0005601633474742983, -0.002723058352818095, 0.00376179094379601], "rpy_offset_deg": [-0.9204816103361773, -0.7949767532648304, 0.24691967643837742], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_007_tuna_fish_can", "uri": "dex2bench_dataset/Objects/007_tuna_fish_can/usd_decomposition_linux/textured.usd", "scale": [1.0894364197138193, 1.0894364197138193, 1.0894364197138193], "body_type": "dynamic", "category": "food", "asset_code": "007", "asset_id": "clutter_007_tuna_fish_can", "asset_split": "unseen", "spawn_position": [0.7464735148351185, 0.39043249409775904, 0.7626548944379844], "spawn_yaw_deg": 132.3092607262542, "obj_id": "distractor_00_clutter_007_tuna_fish_can"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_130_tray_1": {"position": [0.0, 0.0, 0.7591490917193845], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_030_fork_1": {"position": [0.15, 0.42, 0.760049087962635], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_1": {"position": [0.38, 0.4, 0.7625689878953027], "rpy_deg": [0.0, 0.0, 2.1133383857329697]}, "obj_030_fork_2": {"position": [-0.35, 0.42, 0.760049087962635], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_2": {"position": [-0.12, 0.4, 0.7625689878953027], "rpy_deg": [0.0, 0.0, 5.895841002024277]}, "obj_030_fork_3": {"position": [-0.85, 0.42, 0.760049087962635], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_029_plate_3": {"position": [-0.62, 0.4, 0.7625689878953027], "rpy_deg": [0.0, 0.0, -2.1848946818919597]}, "obj_194_wineglass_1": {"position": [0.12, 0.06, 0.789149087978095], "rpy_deg": [90.0, 0.0, 5.485923909319181]}, "obj_194_wineglass_2": {"position": [0.0, 0.06, 0.789149087978095], "rpy_deg": [90.0, 0.0, 7.906176848665886]}, "obj_194_wineglass_3": {"position": [-0.12, 0.06, 0.789149087978095], "rpy_deg": [90.0, 0.0, 0.6463470275456835]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "table_setting", "robot_key": "multi_xarm7_with_ability", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "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": 36.06666666666666, "expert_time_step": 2164, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.6666666666666666, "normalized_progress_score": 0.6666666666666666, "chain_depth_progress_score": 0.6666666666666666, "current_stage_completion_rate": 0.3333333333333333, "current_normalized_progress_score": 0.3333333333333333, "current_chain_depth_progress_score": 0.3333333333333333, "current_chain_depth": 1, "latched_stage_completion_rate": 0.6666666666666666, "latched_normalized_progress_score": 0.6666666666666666, "latched_chain_depth_progress_score": 0.6666666666666666, "latched_chain_depth": 2, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9990175696929189, "mean_kinematic_grasp_stability": 0.6771597527261638, "per_object_best_kinematic_grasp_stability": {"obj_194_wineglass_1": 0.9990175696929189, "obj_194_wineglass_2": 0.9894646558205354, "obj_194_wineglass_3": 0.997619059159052}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.44586986197804956, "mean_kinematic_stability_score": 0.2537436781369657, "mean_lift_score": 0.3747176011501335, "mean_hold_score": 0.29437256110084703, "mean_motion_stability_score": 0.2804763334365556, "mean_duration_score": 0.3519785034572471, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.4173047759871223, "joint_acceleration_rms": 7.361377031317559, "joint_jerk_rms": 746.529738194646, "joint_effort_rms": 90.48842951639176}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00030807147258164915, "safety_violation_rate_time": 0.00030807147258164915, "safety_violation_rate_event": 0.00030807147258163895, "safety_violation_step_rate": 0.00030807147258163895, "safety_violation_events_per_step": 0.00030807147258163895, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": false, "impact_metric_available": false, "chain_depth": 2, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"multi_pinky_q1": 1}, "joint_limit_max_excess_by_joint": {"index_q1": 0.0009328674059361219, "index_q2": 1.741534361165975e-09, "middle_q1": 0.00047969166189432144, "middle_q2": 0.0002833340549841523, "multi_index_q1": 0.0008865467389114201, "multi_index_q2": 2.294862300189493e-09, "multi_middle_q1": 0.0005115949898026884, "multi_middle_q2": 0.0003706602437887341, "multi_pinky_q1": 0.006716546602547169, "multi_pinky_q2": 0.000524223200045526, "multi_ring_q1": 0.00026895644259639084, "multi_ring_q2": 0.0008539097616448998, "multi_thumb_q1": 3.7725436413893476e-05, "multi_thumb_q2": 7.937999839668919e-07, "pinky_q1": 0.0005099141853861511, "pinky_q2": 0.0003177848120685667, "ring_q1": 0.00021340309467632324, "ring_q2": 0.0011844546534121037, "thumb_q2": 0.00019427575170993805}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 292, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_pinky_q1", "role": "finger", "qpos": -0.006716546602547169, "hard_excess_rad": 0.006716546602547169, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.7399998903274536, "operating_lower": 0.0, "operating_upper": 1.7399998903274536, "expanded_target": 0.08288456499576569, "shielded_target": 0.08288456499576569}], "command_context_available": true, "active_joint_names": ["xarm_l_joint1", "multi_xarm_r_joint1", "xarm_l_joint2", "multi_xarm_r_joint2", "xarm_l_joint3", "multi_xarm_r_joint3", "xarm_l_joint4", "multi_xarm_r_joint4", "xarm_l_joint5", "multi_xarm_r_joint5", "xarm_l_joint6", "multi_xarm_r_joint6", "xarm_l_joint7", "multi_xarm_r_joint7", "index_q1", "middle_q1", "pinky_q1", "ring_q1", "thumb_q1", "multi_index_q1", "multi_middle_q1", "multi_pinky_q1", "multi_ring_q1", "multi_thumb_q1", "thumb_q2", "multi_thumb_q2"], "raw_active_action": [-1.5700000524520874, 1.7109663486480713, -1.5700000524520874, -1.0291732549667358, 4.0930538958150464e-09, 0.005006827879697084, -1.5700000524520874, -2.3567986488342285, 1.5700000524520874, 1.057741403579712, 4.331757352815657e-08, 1.1239099502563477, -1.5700000524520874, -0.3802083134651184, 0.0, 0.0, 3.63710311868104e-10, 1.900675394850282e-09, -1.9753125357624413e-08, 0.32478129863739014, 0.25145506858825684, 0.08288456499576569, 0.10787300020456314, -0.7738929986953735, 2.596317605352283e-09, 0.33452939987182617], "full_joint_names": ["xarm_l_joint1", "multi_xarm_r_joint1", "xarm_l_joint2", "multi_xarm_r_joint2", "xarm_l_joint3", "multi_xarm_r_joint3", "xarm_l_joint4", "multi_xarm_r_joint4", "xarm_l_joint5", "multi_xarm_r_joint5", "xarm_l_joint6", "multi_xarm_r_joint6", "xarm_l_joint7", "multi_xarm_r_joint7", "index_q1", "middle_q1", "pinky_q1", "ring_q1", "thumb_q1", "multi_index_q1", "multi_middle_q1", "multi_pinky_q1", "multi_ring_q1", "multi_thumb_q1", "index_q2", "middle_q2", "pinky_q2", "ring_q2", "thumb_q2", "multi_index_q2", "multi_middle_q2", "multi_pinky_q2", "multi_ring_q2", "multi_thumb_q2"], "expanded_full_target": [-1.5700000524520874, 1.7109663486480713, -1.5700000524520874, -1.0291732549667358, 4.0930538958150464e-09, 0.005006827879697084, -1.5700000524520874, -2.3567986488342285, 1.5700000524520874, 1.057741403579712, 4.331757352815657e-08, 1.1239099502563477, -1.5700000524520874, -0.3802083134651184, 0.0, 0.0, 3.63710311868104e-10, 1.900675394850282e-09, -1.9753125357624413e-08, 0.32478129863739014, 0.25145506858825684, 0.08288456499576569, 0.10787300020456314, -0.7738929986953735, 0.0, 0.0, 3.849921770271436e-10, 2.0118899879406626e-09, 2.596317605352283e-09, 0.3437853157520294, 0.2661685347557068, 0.0877344086766243, 0.11418499797582626, 0.33452939987182617], "shielded_full_target": [-1.5700000524520874, 1.7109663486480713, -1.5700000524520874, -1.0291732549667358, 4.0930538958150464e-09, 0.005006827879697084, -1.5700000524520874, -2.3567986488342285, 1.5700000524520874, 1.057741403579712, 4.331757352815657e-08, 1.1239099502563477, -1.5700000524520874, -0.3802083134651184, 0.0, 0.0, 3.63710311868104e-10, 1.900675394850282e-09, -1.9753125357624413e-08, 0.32478129863739014, 0.25145506858825684, 0.08288456499576569, 0.10787300020456314, -0.7738929986953735, 0.0, 0.0, 3.849921770271436e-10, 2.0118899879406626e-09, 2.596317605352283e-09, 0.3437853157520294, 0.2661685347557068, 0.0877344086766243, 0.11418499797582626, 0.33452939987182617]}, "joint_limit_active_steps": 0, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.006716546602547169, "max_joint_limit_excess_joint": "multi_pinky_q1", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_xarm7_with_ability", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 0, "joint_limit_active_step_rate": 0.0, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.006716546602547169, "max_joint_limit_excess_joint": "multi_pinky_q1", "stage_completion": {"place_first_glass": true, "place_second_glass": true, "place_third_glass": false}, "current_stage_completion": {"place_first_glass": true, "place_second_glass": false, "place_third_glass": false}, "stage_first_completion_step": {"place_first_glass": 1077, "place_second_glass": 2512, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1}, "policy_query_count": 31, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 32460, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/03_wine_glass_plate_balance/Full/summary.json

@@ -0,0 +1,204 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 200300000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 0,
+    "error_count": 3,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 32460,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.0,
+      "success_rate_ci": {
+        "mean": 0.0,
+        "ci_low": 0.0,
+        "ci_high": 0.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.4444444444444444
+    },
+    "efficiency": {
+      "avg_time_to_success_s": null
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.3333333333333333,
+      "safety_violation_step_rate": 0.14777161634832614
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.0,
+      "at_end_success_rate": 0.0,
+      "task_family_success_rate": {
+        "table_setting": 0.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.1111111111111111,
+      "current_chain_depth_progress_score": 0.1111111111111111,
+      "latched_chain_depth_progress_score": 0.4444444444444444,
+      "avg_current_chain_depth": 0.3333333333333333,
+      "avg_latched_chain_depth": 1.3333333333333333
+    },
+    "efficiency": {
+      "task_efficiency": null,
+      "expert_time_s": 36.06666666666666,
+      "expert_time_step": 2164,
+      "avg_steps_to_success": null,
+      "avg_policy_steps_to_success": null,
+      "avg_policy_queries_to_success": null
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0005134524543027316,
+      "violation_counts": {
+        "drop_obj_194_wineglass_1": 1,
+        "drop_to_table_obj_194_wineglass_1": 3,
+        "high_speed_obj_194_wineglass_1": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.0,
+      "joint_limit_active_step_rate": 0.0008215239268843705,
+      "finger_joint_limit_saturation_step_rate": 0.0,
+      "max_joint_limit_excess_rad": 0.06860432028770447,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "multi_ring_q2": 8
+        },
+        "joint_limit_hard_counts": {
+          "multi_pinky_q1": 1,
+          "multi_ring_q2": 2
+        },
+        "joint_limit_hard_episode_events": 3,
+        "finger_joint_limit_saturation_counts": {},
+        "joint_limit_max_excess_by_joint": {
+          "index_q1": 0.0009328674059361219,
+          "index_q2": 2.568627310850502e-09,
+          "middle_q1": 0.00047969166189432144,
+          "middle_q2": 0.00042299178312532604,
+          "multi_index_q1": 0.0008865467389114201,
+          "multi_index_q2": 2.294862300189493e-09,
+          "multi_middle_q1": 0.0005115949898026884,
+          "multi_middle_q2": 0.0003706602437887341,
+          "multi_pinky_q1": 0.006716546602547169,
+          "multi_pinky_q2": 0.000524223200045526,
+          "multi_ring_q1": 0.0006677353521808982,
+          "multi_ring_q2": 0.06860432028770447,
+          "multi_thumb_q1": 0.00020426808623597026,
+          "multi_thumb_q2": 2.0990317352698185e-05,
+          "pinky_q1": 0.0005099141853861511,
+          "pinky_q2": 0.0006289785378612578,
+          "ring_q1": 0.0006062846514396369,
+          "ring_q2": 0.0011844546534121037,
+          "thumb_q1": 9.900757868308574e-05,
+          "thumb_q2": 0.00019427575170993805
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 11.326560532991124,
+      "joint_effort_rms": 87.50243937060257,
+      "joint_jerk_rms": 1181.9334428640093,
+      "joint_velocity_rms": 0.43068233779427195
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9991011993999056,
+      "mean_kinematic_grasp_stability": 0.6524470920569717,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_194_wineglass_1": 0.9886604887234813,
+        "obj_194_wineglass_2": 0.989815488425999,
+        "obj_194_wineglass_3": 0.9954273848641078
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.8496953515438039,
+        "mean_duration_score": 0.45551904338102733,
+        "mean_hold_score": 0.35023618812898155,
+        "mean_kinematic_stability_score": 0.22612791319303713,
+        "mean_legacy_gsi": 0.4674198490743623,
+        "mean_lift_score": 0.40774970904360924,
+        "mean_motion_stability_score": 0.3318826667573627
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 3246,
+      "error_count": 3
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/06_fruit_bowl_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 5, "seed": 200600004, "success": true, "steps": 8001, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200600004, "base_seed": 200600000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan1_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_rust_rust0153_jpg", "asset_uri": 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"safety_violation_events_per_step": 0.00024996875390576176, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 66, "left_little_1_joint": 219, "left_little_2_joint": 20, "left_middle_1_joint": 120, "left_middle_2_joint": 18, "left_ring_1_joint": 681, "left_ring_2_joint": 5, "left_thumb_2_joint": 136, "left_thumb_4_joint": 1, "right_index_1_joint": 101, "right_little_1_joint": 23, "right_middle_1_joint": 227, "right_ring_1_joint": 174, "right_thumb_2_joint": 228}, "joint_limit_hard_counts": {"left_index_1_joint": 4, "left_little_1_joint": 5, "left_little_2_joint": 2, "left_middle_1_joint": 7, "left_middle_2_joint": 10, "left_ring_1_joint": 10, "left_ring_2_joint": 9, "left_thumb_2_joint": 5, "left_thumb_4_joint": 3, "right_index_1_joint": 3, "right_little_1_joint": 2, "right_middle_1_joint": 6, "right_ring_1_joint": 4, "right_thumb_2_joint": 4}, "finger_joint_limit_saturation_counts": {"left_little_1_joint": 146, "left_middle_1_joint": 13, "left_ring_1_joint": 98, "left_thumb_2_joint": 85, "right_index_1_joint": 84, "right_little_1_joint": 10, "right_middle_1_joint": 178, "right_ring_1_joint": 78, "right_thumb_2_joint": 176}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.07696425914764404, "left_index_2_joint": 2.1083177159653133e-07, "left_little_1_joint": 0.5849071741104126, "left_little_2_joint": 0.058925561606884, "left_middle_1_joint": 0.1844509094953537, "left_middle_2_joint": 0.05912912264466286, "left_ring_1_joint": 0.3980845808982849, "left_ring_2_joint": 0.015150943771004677, "left_thumb_1_joint": 0.001404678332619369, "left_thumb_2_joint": 0.14964747428894043, "left_thumb_3_joint": 0.00020382336515467614, "left_thumb_4_joint": 0.0145646333694458, "right_index_1_joint": 0.6384013295173645, "right_index_2_joint": 2.9931072731415043e-06, "right_little_1_joint": 0.28819555044174194, "right_little_2_joint": 6.487965720225475e-07, "right_middle_1_joint": 0.7369455695152283, "right_middle_2_joint": 5.9340429288567975e-05, "right_ring_1_joint": 0.6694204807281494, "right_ring_2_joint": 1.4395128346222918e-05, "right_thumb_1_joint": 2.98671584459953e-05, "right_thumb_2_joint": 0.43032437562942505, "right_thumb_3_joint": 4.675993841374293e-05, "right_thumb_4_joint": 0.0018359124660491943}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 122, "hard_limit_source": "runtime.joint_pos_limits", 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0.276811420917511, 0.30783000588417053]}, "joint_limit_active_steps": 282, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 188, "max_joint_limit_excess_rad": 0.5923980474472046, "max_joint_limit_excess_joint": "right_thumb_2_joint", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_rh56dfx_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 282, "joint_limit_active_step_rate": 0.16262975778546712, "finger_joint_limit_saturation_steps": 188, "finger_joint_limit_saturation_step_rate": 0.10841983852364476, "max_joint_limit_excess_rad": 0.5923980474472046, "max_joint_limit_excess_joint": "right_thumb_2_joint", "stage_completion": {"move_bowl": true, "place_apple_3": true, "place_apple_4": true, "place_banana": false}, "current_stage_completion": {"move_bowl": true, "place_apple_3": true, "place_apple_4": true, "place_banana": false}, "stage_first_completion_step": {"move_bowl": 156, "place_apple_3": 1511, "place_apple_4": 1233, "place_banana": null}, "violation_counts": {}, "policy_query_count": 15, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1920, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/06_fruit_bowl_loading/Full/summary.json

@@ -0,0 +1,250 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 200600000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 1,
+    "error_count": 2,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      19200,
+      1920
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.3333333333333333,
+      "success_rate_ci": {
+        "mean": 0.3333333333333333,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.6666666666666666
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 133.34999999999826
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.6666666666666666,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00022727272727272727
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.3333333333333333,
+      "at_end_success_rate": 0.3333333333333333,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.3333333333333333
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.5833333333333334,
+      "current_chain_depth_progress_score": 0.5555555555555556,
+      "latched_chain_depth_progress_score": 0.6666666666666666,
+      "avg_current_chain_depth": 1.6666666666666667,
+      "avg_latched_chain_depth": 2
+    },
+    "efficiency": {
+      "task_efficiency": 0.1599800024996896,
+      "expert_time_s": 21.333333333333332,
+      "expert_time_step": 1280,
+      "avg_steps_to_success": 8001,
+      "avg_policy_steps_to_success": 2667,
+      "avg_policy_queries_to_success": 79
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00022727272727272727,
+      "violation_counts": {
+        "drop_to_table_obj_013_apple_3": 1,
+        "drop_to_table_obj_013_apple_4": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.25227272727272726,
+      "finger_joint_limit_saturation_step_rate": 0.17242424242424242,
+      "max_joint_limit_excess_rad": 1.1495881080627441,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_1_joint": 422,
+          "left_little_1_joint": 505,
+          "left_little_2_joint": 88,
+          "left_middle_1_joint": 484,
+          "left_middle_2_joint": 18,
+          "left_ring_1_joint": 966,
+          "left_ring_2_joint": 26,
+          "left_thumb_2_joint": 1181,
+          "left_thumb_3_joint": 40,
+          "left_thumb_4_joint": 3,
+          "right_index_1_joint": 290,
+          "right_little_1_joint": 23,
+          "right_middle_1_joint": 443,
+          "right_ring_1_joint": 174,
+          "right_thumb_2_joint": 827
+        },
+        "joint_limit_hard_counts": {
+          "left_index_1_joint": 11,
+          "left_little_1_joint": 16,
+          "left_little_2_joint": 3,
+          "left_middle_1_joint": 11,
+          "left_middle_2_joint": 10,
+          "left_ring_1_joint": 18,
+          "left_ring_2_joint": 10,
+          "left_thumb_2_joint": 18,
+          "left_thumb_3_joint": 9,
+          "left_thumb_4_joint": 4,
+          "right_index_1_joint": 7,
+          "right_little_1_joint": 2,
+          "right_middle_1_joint": 11,
+          "right_ring_1_joint": 4,
+          "right_thumb_2_joint": 9,
+          "right_thumb_3_joint": 1
+        },
+        "joint_limit_hard_episode_events": 44,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_1_joint": 278,
+          "left_little_1_joint": 341,
+          "left_little_2_joint": 65,
+          "left_middle_1_joint": 313,
+          "left_ring_1_joint": 329,
+          "left_thumb_2_joint": 935,
+          "right_index_1_joint": 198,
+          "right_little_1_joint": 10,
+          "right_middle_1_joint": 347,
+          "right_ring_1_joint": 78,
+          "right_thumb_2_joint": 653
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_1_joint": 0.7339382171630859,
+          "left_index_2_joint": 1.883042159533943e-06,
+          "left_little_1_joint": 0.6248908638954163,
+          "left_little_2_joint": 1.1495881080627441,
+          "left_middle_1_joint": 0.7445484399795532,
+          "left_middle_2_joint": 0.05912912264466286,
+          "left_ring_1_joint": 0.6627734899520874,
+          "left_ring_2_joint": 0.24595904350280762,
+          "left_thumb_1_joint": 0.001404678332619369,
+          "left_thumb_2_joint": 1.0834605693817139,
+          "left_thumb_3_joint": 0.2187376618385315,
+          "left_thumb_4_joint": 0.07702401280403137,
+          "right_index_1_joint": 0.6384013295173645,
+          "right_index_2_joint": 2.9931072731415043e-06,
+          "right_little_1_joint": 0.28819555044174194,
+          "right_little_2_joint": 6.487965720225475e-07,
+          "right_middle_1_joint": 0.7369455695152283,
+          "right_middle_2_joint": 5.9340429288567975e-05,
+          "right_ring_1_joint": 0.6694204807281494,
+          "right_ring_2_joint": 1.4395128346222918e-05,
+          "right_thumb_1_joint": 0.0001996755599975586,
+          "right_thumb_2_joint": 0.5923980474472046,
+          "right_thumb_3_joint": 0.006231304258108139,
+          "right_thumb_4_joint": 0.0018359124660491943
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 43.417113657174745,
+      "joint_effort_rms": 43.28766921656169,
+      "joint_jerk_rms": 4406.851895577374,
+      "joint_velocity_rms": 1.0207207738208077
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.6874333803210405,
+      "mean_kinematic_grasp_stability": 0.19480808276704542,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_011_banana_2": 0.32281699727720575,
+        "obj_013_apple_3": 0.6477283950771359,
+        "obj_013_apple_4": 0.29117567326408483
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.900355048211538,
+        "mean_duration_score": 0.12905237335527775,
+        "mean_hold_score": 0.08807729959797155,
+        "mean_kinematic_stability_score": 0.015434242429397605,
+        "mean_legacy_gsi": 0.25932244966129714,
+        "mean_lift_score": 0.13954774168834783,
+        "mean_motion_stability_score": 0.0802250655453695
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 4400,
+      "error_count": 2
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/07_citrus_plate_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 5, "seed": 200700004, "success": false, "steps": 1929, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200700004, "base_seed": 200700000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_wood_wood0571_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood0571.jpg", "asset_category": "wood", "asset_id": "wood/wood0571.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1264.407810741221, "color": [0.41267547473938565, 0.6253480285101527, 0.503705286016052], "pitch_deg": -11.825968318712398, "yaw_deg": -84.61004767552114, "angle_deg": 0.7812262408764072}, "dome": {"intensity": 180.97228937258268, "color": [0.8599017062221701, 0.9753609152879769, 0.633045866623631], "exposure": 0.17002155516756667}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.03205055840607311, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.0004163122639925486, -0.0026854479475154603, -0.004562131519886658], "target_offset_m": [-0.0009719760352854059, 0.0007308547393574229, 0.0020383248107919494], "distance_offset_m": 0.02128768589814626, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.586407818257225, 0.14443133793712915, 0.3472814869450964], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.003595134529434987, 0.0018856707731626675, 0.0032821435879139887], "target_offset_m": [-0.004932599543995756, -0.0027189789273444754, -0.003032382108000943], "distance_offset_m": 0.028402814386141152, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.9952933450442747, -0.18203244697980359, 0.5190160429858606], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.0011645105344987084, 0.0012366009782213208, 0.0017715150044029073], "target_offset_m": 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"stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "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": 20.05, "expert_time_step": 1203, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.25, "normalized_progress_score": 0.5, "chain_depth_progress_score": 0.5, "current_stage_completion_rate": 0.0, "current_normalized_progress_score": 0.0, "current_chain_depth_progress_score": 0.0, "current_chain_depth": 0, "latched_stage_completion_rate": 0.25, "latched_normalized_progress_score": 0.5, "latched_chain_depth_progress_score": 0.5, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9956801033181785, 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0.5752118644067912, "safety_violation_rate_event": 0.0017655367231638418, "safety_violation_step_rate": 0.5752118644067796, "safety_violation_events_per_step": 0.0017655367231638418, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": true, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 1, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_pip_joint": 8, "left_middle_dip_joint": 4, "left_middle_pip_joint": 50, "left_middle_pitch_joint": 17, "left_ring_dip_joint": 12, "left_ring_pip_joint": 18, "left_thumb_dip_joint": 5, "left_thumb_mcp_joint": 6, "right_index_pip_joint": 2, "right_middle_pip_joint": 7, "right_thumb_mcp_joint": 5}, "joint_limit_hard_counts": {"left_index_pip_joint": 7, "left_middle_dip_joint": 1, "left_middle_pip_joint": 9, "left_middle_pitch_joint": 1, "left_ring_dip_joint": 1, "left_ring_pip_joint": 2, "left_thumb_dip_joint": 1, "left_thumb_mcp_joint": 1, "right_index_pip_joint": 1, "right_middle_pip_joint": 1, "right_thumb_mcp_joint": 1}, "finger_joint_limit_saturation_counts": {"left_ring_dip_joint": 6, "left_ring_pip_joint": 9}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 2.2424444523494458e-08, "left_index_pip_joint": 0.0362265408039093, "left_middle_dip_joint": 0.06790804862976074, "left_middle_pip_joint": 0.2057327926158905, "left_middle_pitch_joint": 0.03984842076897621, "left_pinky_mcp_joint": 0.00017773211584426463, "left_ring_dip_joint": 0.4272799491882324, "left_ring_pip_joint": 0.44650617241859436, "left_thumb_dip_joint": 0.17375124990940094, "left_thumb_mcp_joint": 0.03600265830755234, "right_index_dip_joint": 2.0854691683780402e-05, "right_index_pip_joint": 0.052236296236515045, "right_middle_dip_joint": 0.00014971593918744475, "right_middle_pip_joint": 0.19331547617912292, "right_middle_pitch_joint": 1.7177237168652937e-05, 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"L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_index_pitch_joint", "right_middle_pitch_joint", "right_pinky_mcp_joint", "right_ring_mcp_joint", "right_thumb_yaw_joint", "right_index_mcp_joint", "right_middle_mcp_joint", "right_pinky_pip_joint", "right_ring_pip_joint", "right_thumb_mcp_joint", "left_index_pitch_joint", "left_middle_pitch_joint", "left_pinky_mcp_joint", "left_ring_mcp_joint", "left_thumb_yaw_joint", "right_index_pip_joint", "right_middle_pip_joint", "right_pinky_dip_joint", "right_ring_dip_joint", "right_thumb_pip_joint", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_index_dip_joint", "right_middle_dip_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_pinky_dip_joint", "left_ring_dip_joint", "left_thumb_pip_joint", "left_index_dip_joint", "left_middle_dip_joint", "left_thumb_dip_joint"], "expanded_full_target": [1.5700000524520874, -1.5700000524520874, -1.4533913135528564, 1.5700000524520874, 1.0044373273849487, 8.608811996602128e-10, -1.5257872343063354, 1.5700000524520874, 0.2553873658180237, -1.7961458986803791e-09, -1.2524436712265015, -0.17273002862930298, 4.3957082418444315e-10, 8.743486490381258e-10, 1.2426996098824361e-09, 1.5786803808648386e-10, 9.904385471493082e-12, 7.76598403640083e-13, -8.37396211400554e-12, 7.158973414078673e-10, 3.909987889016975e-10, 2.1472702782521225e-10, 0.5908429026603699, 0.7921900749206543, 0.29570823907852173, 0.7459992170333862, 0.6753495335578918, 2.983923177990455e-11, 5.672417535684815e-10, 8.040959009747439e-10, 4.3916983938352416e-10, 2.3304325136308535e-10, 0.013961698859930038, 0.16463930904865265, 0.7252748012542725, 0.006099715828895569, 0.5229217410087585, 3.3515426545172033e-11, 6.371259630988391e-10, 6.836714527835852e-11, 0.0, 0.0, 0.8146286606788635, 0.006851200945675373, 0.5675269365310669, 0.0, 0.0, 0.0], 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"place_lemon_3": false, "place_orange_4": false, "place_orange_5": false}, "stage_first_completion_step": {"place_lemon_2": 377, "place_lemon_3": null, "place_orange_4": null, "place_orange_5": null}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1, "drop_obj_017_orange_4": 1, "high_speed_obj_017_orange_4": 1, "drop_to_table_obj_014_lemon_2": 1, "drop_to_table_obj_017_orange_5": 1}, "policy_query_count": 28, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 18060, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/07_citrus_plate_loading/Full/summary.json

@@ -0,0 +1,256 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 200700000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 1,
+    "error_count": 2,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 18060,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.3333333333333333,
+      "success_rate_ci": {
+        "mean": 0.3333333333333333,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.5
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 30.549999999999546
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.6666666666666666,
+      "safety_violation_step_rate": 0.25144070367000304
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.3333333333333333,
+      "at_end_success_rate": 0.3333333333333333,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.3333333333333333
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.3333333333333333,
+      "current_chain_depth_progress_score": 0.3333333333333333,
+      "latched_chain_depth_progress_score": 0.6666666666666666,
+      "avg_current_chain_depth": 0.6666666666666666,
+      "avg_latched_chain_depth": 1.3333333333333333
+    },
+    "efficiency": {
+      "task_efficiency": 0.6563011456628576,
+      "expert_time_s": 20.05,
+      "expert_time_step": 1203,
+      "avg_steps_to_success": 1833,
+      "avg_policy_steps_to_success": 611,
+      "avg_policy_queries_to_success": 31
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0019714892326357296,
+      "violation_counts": {
+        "drop_obj_014_lemon_2": 1,
+        "drop_obj_017_orange_4": 2,
+        "drop_to_table_obj_014_lemon_2": 2,
+        "drop_to_table_obj_017_orange_4": 3,
+        "drop_to_table_obj_017_orange_5": 1,
+        "high_speed_obj_014_lemon_2": 1,
+        "high_speed_obj_017_orange_4": 2,
+        "high_speed_obj_029_plate_1": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.030633909614801336,
+      "finger_joint_limit_saturation_step_rate": 0.003942978465271459,
+      "max_joint_limit_excess_rad": 0.44650617241859436,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_pip_joint": 9,
+          "left_middle_dip_joint": 4,
+          "left_middle_pip_joint": 51,
+          "left_middle_pitch_joint": 17,
+          "left_pinky_mcp_joint": 60,
+          "left_pinky_pip_joint": 9,
+          "left_ring_dip_joint": 12,
+          "left_ring_mcp_joint": 15,
+          "left_ring_pip_joint": 23,
+          "left_thumb_dip_joint": 5,
+          "left_thumb_mcp_joint": 47,
+          "right_index_pip_joint": 2,
+          "right_middle_pip_joint": 7,
+          "right_ring_pip_joint": 3,
+          "right_thumb_mcp_joint": 5
+        },
+        "joint_limit_hard_counts": {
+          "left_index_pip_joint": 8,
+          "left_middle_dip_joint": 1,
+          "left_middle_pip_joint": 32,
+          "left_middle_pitch_joint": 1,
+          "left_pinky_dip_joint": 1,
+          "left_pinky_mcp_joint": 7,
+          "left_pinky_pip_joint": 2,
+          "left_ring_dip_joint": 1,
+          "left_ring_mcp_joint": 2,
+          "left_ring_pip_joint": 4,
+          "left_thumb_dip_joint": 1,
+          "left_thumb_mcp_joint": 7,
+          "right_index_pip_joint": 1,
+          "right_middle_pip_joint": 8,
+          "right_ring_pip_joint": 2,
+          "right_thumb_mcp_joint": 1
+        },
+        "joint_limit_hard_episode_events": 55,
+        "finger_joint_limit_saturation_counts": {
+          "left_pinky_mcp_joint": 3,
+          "left_ring_dip_joint": 6,
+          "left_ring_mcp_joint": 1,
+          "left_ring_pip_joint": 9,
+          "left_thumb_mcp_joint": 9
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_dip_joint": 2.2424444523494458e-08,
+          "left_index_pip_joint": 0.0362265408039093,
+          "left_index_pitch_joint": 0.00026807794347405434,
+          "left_middle_dip_joint": 0.06790804862976074,
+          "left_middle_pip_joint": 0.2057327926158905,
+          "left_middle_pitch_joint": 0.03984842076897621,
+          "left_pinky_dip_joint": 0.006871405057609081,
+          "left_pinky_mcp_joint": 0.28638166189193726,
+          "left_pinky_pip_joint": 0.17234179377555847,
+          "left_ring_dip_joint": 0.4272799491882324,
+          "left_ring_mcp_joint": 0.25089383125305176,
+          "left_ring_pip_joint": 0.44650617241859436,
+          "left_thumb_dip_joint": 0.17375124990940094,
+          "left_thumb_mcp_joint": 0.2709248661994934,
+          "left_thumb_pip_joint": 0.0008945197914727032,
+          "left_thumb_yaw_joint": 4.870443808613345e-05,
+          "right_index_dip_joint": 2.0854691683780402e-05,
+          "right_index_pip_joint": 0.052236296236515045,
+          "right_index_pitch_joint": 0.0001008747422019951,
+          "right_middle_dip_joint": 0.0003015365800820291,
+          "right_middle_pip_joint": 0.19331547617912292,
+          "right_middle_pitch_joint": 0.00010400899191154167,
+          "right_pinky_dip_joint": 0.00038979147211648524,
+          "right_pinky_mcp_joint": 0.0006187328253872693,
+          "right_pinky_pip_joint": 0.0008713925490155816,
+          "right_ring_dip_joint": 0.00021358171943575144,
+          "right_ring_mcp_joint": 0.0001463256630813703,
+          "right_ring_pip_joint": 0.03229715675115585,
+          "right_thumb_dip_joint": 1.5868901755311526e-05,
+          "right_thumb_mcp_joint": 0.04294154793024063,
+          "right_thumb_pip_joint": 7.690413440286648e-06,
+          "right_thumb_yaw_joint": 1.7515718042648842e-11
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 31.15741789012633,
+      "joint_effort_rms": 32.200936699683794,
+      "joint_jerk_rms": 3134.7183978844764,
+      "joint_velocity_rms": 0.6072033717384553
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.993152658073772,
+      "mean_kinematic_grasp_stability": 0.503801031550749,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_014_lemon_2": 0.9036753724876231,
+        "obj_014_lemon_3": 0.9389402932729342,
+        "obj_017_orange_4": 0.48177105686778743,
+        "obj_017_orange_5": 0.39902763351049064
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.7548035764584556,
+        "mean_duration_score": 0.4063886362791021,
+        "mean_hold_score": 0.2058129173094702,
+        "mean_kinematic_stability_score": 0.08160782250145791,
+        "mean_legacy_gsi": 0.36063943925520653,
+        "mean_lift_score": 0.29349131084182345,
+        "mean_motion_stability_score": 0.20278698319975588
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 2198,
+      "error_count": 2
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/08_frypan_stand_pour/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 5, "seed": 200800004, "success": false, "steps": 9753, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200800004, "base_seed": 200800000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_wood_wood0367_jpg", "asset_uri": "dex2bench_dataset/textures/wood/wood0367.jpg", "asset_category": "wood", "asset_id": "wood/wood0367.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1406.9322600925393, "color": [0.7337397324650101, 0.7712755433445108, 0.7779982706422627], "pitch_deg": -17.54642460014948, "yaw_deg": 3.010873300324832, "angle_deg": 0.5224755722903232}, "dome": {"intensity": 337.2145063360405, "color": [0.9580887705671368, 0.9212934088435868, 0.8021531223448695], "exposure": 0.16973222187092607}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.03200990143008951, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.0045948964152004385, -0.004414437395708609, -0.0014245462157824818], "target_offset_m": [-0.0035258033179022853, 0.0020758602964806375, 0.0028992882498737925], "distance_offset_m": 0.0023292030528506563, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.010097393695974066, -0.8038574608651874, 0.7773392512671107], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.001380039278393439, 0.00018850714158735044, -0.0023228430630074706], "target_offset_m": [-0.004493204125307284, -0.003892003078365058, -0.0013972932404880188], "distance_offset_m": 0.010293144739715487, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.052070665214970724, -0.6800268867181578, 0.49371456140088865], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.003995448435462534, 0.000218824623589204, -0.0007988665057164735], "target_offset_m": 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"cam_wrist_left": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [-0.0046026188716231575, -0.0046000867977474946, -0.0037183476384601323], "rpy_offset_deg": [-0.9796620373761755, -0.8832456593313238, 0.6068778833858599], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_035_power_drill", "uri": "dex2bench_dataset/Objects/035_power_drill/usd_decomposition_linux/textured.usd", "scale": [1.0008298022096225, 1.0008298022096225, 1.0008298022096225], "body_type": "dynamic", "category": "tool", "asset_code": "035", "asset_id": "clutter_035_power_drill", "asset_split": "unseen", "spawn_position": [0.5467730114972, 0.17375385445460279, 0.7851855343388567], "spawn_yaw_deg": 322.04166246787435, "obj_id": "distractor_00_clutter_035_power_drill"}, {"name": "clutter_019_pitcher_base", "uri": 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{"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_333_portable_stove_6": {"position": [0.0, 0.02, 0.8146688753623558], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_223_chefmate_frypan_1": {"position": [-0.4, 0.15, 0.9120099014300895], "rpy_deg": [-90.0, 0.0, -39.646951141118834]}, "obj_182_bread_2": {"position": [-0.2, 0.33, 0.9320099014300895], "rpy_deg": [90.0, 0.0, -4.168902011232973]}, "obj_172_soy_sauce_1": {"position": [0.3069662343100473, 0.16545928985185607, 0.7820099037050535], "rpy_deg": [90.0, 0.0, -4.567744829382012]}, "obj_146_olive_oil_1": {"position": [0.33928812790013974, 0.3262441992641324, 0.7820099064418095], "rpy_deg": [90.0, 0.0, -9.777548882021755]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "pour_tilt", "robot_key": "multi_ur5_schunk_hand_with_flange", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "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": 38.13333333333333, "expert_time_step": 2288, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 0.0, "current_normalized_progress_score": 0.0, "current_chain_depth_progress_score": 0.0, "current_chain_depth": 0, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9996246327951787, "mean_kinematic_grasp_stability": 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"obj_172_soy_sauce_1": {"position": [0.32829116620100623, 0.1773877024801066, 0.7757436462759233], "rpy_deg": [90.0, 0.0, -8.5585859303253]}, "obj_146_olive_oil_1": {"position": [0.32576908466234267, 0.3191522477343949, 0.7757436490126792], "rpy_deg": [90.0, 0.0, -6.685817719391476]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "pour_tilt", "robot_key": "multi_ur5_schunk_hand_with_flange", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "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": 38.13333333333333, "expert_time_step": 2288, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.5, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 0.0, "current_normalized_progress_score": 0.0, "current_chain_depth_progress_score": 0.0, "current_chain_depth": 0, "latched_stage_completion_rate": 0.5, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9971461676313431, "mean_kinematic_grasp_stability": 0.9714892711805121, "per_object_best_kinematic_grasp_stability": {"obj_146_olive_oil_1": 0.9971461676313431, "obj_172_soy_sauce_1": 0.9608799584133332}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6995497737116959, "mean_kinematic_stability_score": 0.33047079699988124, "mean_lift_score": 0.7580837673611112, "mean_hold_score": 0.7476155598958336, "mean_motion_stability_score": 0.7100780011830089, "mean_duration_score": 0.7552842881944444, "mean_anti_slip_score": 0.5788483796296284}, "robot_motion_metrics": {"joint_velocity_rms": 0.31599644162572227, "joint_acceleration_rms": 13.405604687844246, "joint_jerk_rms": 1339.6589455647154, "joint_effort_rms": 31.855810583151527}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 8, "tool_switch_successful": 0, "safety_violation_rate": 0.00021701388888886858, "safety_violation_rate_time": 0.00021701388888886858, "safety_violation_rate_event": 0.00010850694444444444, "safety_violation_step_rate": 0.00021701388888888888, "safety_violation_events_per_step": 0.00010850694444444444, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": false, "high_speed_violation": true, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 1, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_hand_Finger_Spread": 143, "left_hand_Index_Finger_Distal": 48, "left_hand_Middle_Finger_Distal": 127, "left_hand_Middle_Finger_Proximal": 5, "left_hand_Pinky": 97, "left_hand_Ring_Finger": 38, "left_hand_Thumb_Flexion": 1045, "left_hand_Thumb_Opposition": 12, "left_hand_index_spread": 5, "left_hand_j12": 43, "left_hand_j13": 70, "left_hand_j16": 4, "left_hand_j17": 41, "left_hand_j5": 83, "left_hand_ring_spread": 161, "right_hand_Index_Finger_Distal": 68, "right_hand_Index_Finger_Proximal": 8, "right_hand_Middle_Finger_Distal": 16, "right_hand_Middle_Finger_Proximal": 103, "right_hand_Pinky": 38, "right_hand_Ring_Finger": 59, "right_hand_Thumb_Flexion": 16, "right_hand_j12": 11, "right_hand_j13": 46, "right_hand_j3": 28}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 3, "left_hand_Index_Finger_Distal": 3, "left_hand_Index_Finger_Proximal": 5, "left_hand_Middle_Finger_Distal": 2, "left_hand_Middle_Finger_Proximal": 3, "left_hand_Pinky": 3, "left_hand_Ring_Finger": 1, "left_hand_Thumb_Flexion": 9, "left_hand_Thumb_Opposition": 2, "left_hand_index_spread": 6, "left_hand_j12": 2, "left_hand_j13": 3, "left_hand_j16": 1, "left_hand_j17": 2, "left_hand_j3": 1, "left_hand_j5": 3, "left_hand_ring_spread": 2, "right_hand_Index_Finger_Distal": 5, "right_hand_Index_Finger_Proximal": 1, "right_hand_Middle_Finger_Distal": 4, "right_hand_Middle_Finger_Proximal": 18, "right_hand_Pinky": 5, "right_hand_Ring_Finger": 4, "right_hand_Thumb_Flexion": 2, "right_hand_j12": 3, "right_hand_j13": 6, "right_hand_j3": 3}, "finger_joint_limit_saturation_counts": {"left_hand_Finger_Spread": 114, "left_hand_Index_Finger_Distal": 25, "left_hand_Middle_Finger_Distal": 106, "left_hand_Pinky": 84, "left_hand_Ring_Finger": 29, "left_hand_Thumb_Flexion": 43, "left_hand_j12": 32, "left_hand_j13": 42, "left_hand_j17": 22, "left_hand_j5": 41, "left_hand_ring_spread": 129, "right_hand_Index_Finger_Distal": 7, "right_hand_Middle_Finger_Proximal": 21, "right_hand_Ring_Finger": 18}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.5825289487838745, "left_hand_Index_Finger_Distal": 0.49665772914886475, "left_hand_Index_Finger_Proximal": 0.007047712802886963, "left_hand_Middle_Finger_Distal": 1.0814626216888428, "left_hand_Middle_Finger_Proximal": 0.12981359660625458, "left_hand_Pinky": 0.8448187708854675, "left_hand_Ring_Finger": 0.5920495986938477, "left_hand_Thumb_Flexion": 0.38906365633010864, "left_hand_Thumb_Opposition": 0.07187136262655258, "left_hand_index_spread": 0.016966719180345535, "left_hand_j12": 0.6142208576202393, "left_hand_j13": 0.5930596590042114, "left_hand_j14": 0.00020936470536980778, "left_hand_j15": 6.278531509451568e-05, "left_hand_j16": 0.013928890228271484, "left_hand_j17": 0.6165305376052856, "left_hand_j3": 0.006633586250245571, "left_hand_j4": 6.07797456808612e-09, "left_hand_j5": 0.4012607932090759, "left_hand_ring_spread": 0.9718478918075562, "right_hand_Finger_Spread": 0.0008038224768824875, "right_hand_Index_Finger_Distal": 0.08679136633872986, "right_hand_Index_Finger_Proximal": 0.06550488620996475, "right_hand_Middle_Finger_Distal": 0.05656447261571884, "right_hand_Middle_Finger_Proximal": 0.4700015187263489, "right_hand_Pinky": 0.11842221766710281, "right_hand_Ring_Finger": 0.4743174910545349, "right_hand_Thumb_Flexion": 0.14572088420391083, "right_hand_index_spread": 0.0005810344591736794, "right_hand_j12": 0.041416678577661514, "right_hand_j13": 0.14545877277851105, "right_hand_j14": 8.87451915332349e-06, "right_hand_j15": 0.00028653847402893007, "right_hand_j16": 0.00037610915023833513, "right_hand_j17": 0.00046913951518945396, "right_hand_j3": 0.202769473195076, "right_hand_j4": 2.5238510933944802e-11, "right_hand_j5": 0.00013835514255333692, "right_hand_ring_spread": 0.0024567407090216875}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 1696, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_hand_j5", "role": "finger_mimic", "qpos": 0.005133979022502899, "hard_excess_rad": 0.005133979022502899, "hard_tolerance_rad": 0.005, "hard_lower": -0.9878599643707275, "hard_upper": 0.0, "operating_lower": -0.9878599643707275, "operating_upper": 0.0, "expanded_target": 0.19432778656482697, "shielded_target": 0.19432778656482697, "mimic_source_joint": "left_hand_Thumb_Opposition"}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_hand_Thumb_Opposition", "right_hand_Thumb_Flexion", "right_hand_Index_Finger_Proximal", "right_hand_Finger_Spread", "right_hand_Middle_Finger_Proximal", "left_hand_Thumb_Opposition", "right_hand_Index_Finger_Distal", "right_hand_Pinky", "right_hand_Ring_Finger", "right_hand_Middle_Finger_Distal", "left_hand_Thumb_Flexion", "left_hand_Index_Finger_Proximal", "left_hand_Finger_Spread", "left_hand_Middle_Finger_Proximal", "left_hand_Index_Finger_Distal", "left_hand_Pinky", "left_hand_Ring_Finger", "left_hand_Middle_Finger_Distal"], "raw_active_action": [1.901312232017517, -1.6785869598388672, -1.391438603401184, 1.530661940574646, 1.7671855688095093, 0.1373409479856491, -2.407271385192871, 2.095238208770752, 0.578580915927887, 0.5356820821762085, -0.8631423711776733, 0.3298662602901459, 0.3615764081478119, 0.3543989658355713, 0.7984899282455444, 0.001486963126808405, 0.7964802384376526, 0.19432778656482697, 0.44669535756111145, 0.4078496992588043, 0.4397989809513092, 0.24136817455291748, -0.21418024599552155, 0.47489944100379944, 0.0, 0.18401896953582764, 0.27323582768440247, 0.31641238927841187, 0.23005376756191254, 0.44641783833503723], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_hand_Thumb_Opposition", "right_hand_index_spread", "right_hand_j5", "right_hand_Thumb_Flexion", "right_hand_Index_Finger_Proximal", "right_hand_Finger_Spread", "right_hand_ring_spread", "right_hand_Middle_Finger_Proximal", "left_hand_Thumb_Opposition", "left_hand_index_spread", "left_hand_j5", "right_hand_j3", "right_hand_Index_Finger_Distal", "right_hand_Pinky", "right_hand_Ring_Finger", "right_hand_Middle_Finger_Distal", "left_hand_Thumb_Flexion", "left_hand_Index_Finger_Proximal", "left_hand_Finger_Spread", "left_hand_ring_spread", "left_hand_Middle_Finger_Proximal", "right_hand_j4", "right_hand_j14", "right_hand_j13", "right_hand_j12", "right_hand_j15", "left_hand_j3", "left_hand_Index_Finger_Distal", "left_hand_Pinky", "left_hand_Ring_Finger", "left_hand_Middle_Finger_Distal", "right_hand_j17", "right_hand_j16", "left_hand_j4", "left_hand_j14", "left_hand_j13", "left_hand_j12", "left_hand_j15", "left_hand_j17", "left_hand_j16"], "expanded_full_target": [1.901312232017517, -1.6785869598388672, -1.391438603401184, 1.530661940574646, 1.7671855688095093, 0.1373409479856491, -2.407271385192871, 2.095238208770752, 0.578580915927887, 0.5356820821762085, -0.8631423711776733, 0.3298662602901459, 0.3615764081478119, 0.0007434815634042025, 0.3615764081478119, 0.3543989658355713, 0.7984899282455444, 0.001486963126808405, 0.0007434815634042025, 0.7964802384376526, 0.19432778656482697, 0.0, 0.19432778656482697, 0.35975393652915955, 0.44669535756111145, 0.4078496992588043, 0.4397989809513092, 0.24136817455291748, -0.21418024599552155, 0.47489944100379944, 0.0, 0.0, 0.18401896953582764, 0.5134851336479187, 0.4667966365814209, 0.5541861653327942, 0.5975988507270813, 0.25232627987861633, -0.21741650998592377, 0.27323582768440247, 0.31641238927841187, 0.23005376756191254, 0.44641783833503723, 0.580398678779602, 0.624923586845398, -0.3103236258029938, 0.2855314314365387, 0.4299411475658417, 0.3125970661640167, 0.4666852056980133, 0.4502769708633423, 0.3268902897834778], "shielded_full_target": [1.901312232017517, -1.6785869598388672, -1.391438603401184, 1.530661940574646, 1.7671855688095093, 0.1373409479856491, -2.407271385192871, 2.095238208770752, 0.578580915927887, 0.5356820821762085, -0.8631423711776733, 0.3298662602901459, 0.3615764081478119, 0.0007434815634042025, 0.3615764081478119, 0.3543989658355713, 0.7984899282455444, 0.001486963126808405, 0.0007434815634042025, 0.7964802384376526, 0.19432778656482697, 0.0, 0.19432778656482697, 0.35975393652915955, 0.44669535756111145, 0.4078496992588043, 0.4397989809513092, 0.24136817455291748, -0.21418024599552155, 0.47489944100379944, 0.0, 0.0, 0.18401896953582764, 0.5134851336479187, 0.4667966365814209, 0.5541861653327942, 0.5975988507270813, 0.25232627987861633, -0.21741650998592377, 0.27323582768440247, 0.31641238927841187, 0.23005376756191254, 0.44641783833503723, 0.580398678779602, 0.624923586845398, -0.3103236258029938, 0.2855314314365387, 0.4299411475658417, 0.3125970661640167, 0.4666852056980133, 0.4502769708633423, 0.3268902897834778]}, "joint_limit_active_steps": 1370, "joint_limit_hard_episode_events": 34, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 192, "max_joint_limit_excess_rad": 1.0814626216888428, "max_joint_limit_excess_joint": "left_hand_Middle_Finger_Distal", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_schunk_hand_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 1370, "joint_limit_active_step_rate": 0.1486545138888889, "finger_joint_limit_saturation_steps": 192, "finger_joint_limit_saturation_step_rate": 0.020833333333333332, "max_joint_limit_excess_rad": 1.0814626216888428, "max_joint_limit_excess_joint": "left_hand_Middle_Finger_Distal", "stage_completion": {"pour_soy_sauce": true, "pour_olive_oil": false}, "current_stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "stage_first_completion_step": {"pour_soy_sauce": 3067, "pour_olive_oil": null}, "violation_counts": {"high_speed_obj_172_soy_sauce_1": 1}, "policy_query_count": 44, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 34320, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/08_frypan_stand_pour/Full/summary.json

@@ -0,0 +1,298 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 200800000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 0,
+    "error_count": 3,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 34320,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.0,
+      "success_rate_ci": {
+        "mean": 0.0,
+        "ci_low": 0.0,
+        "ci_high": 0.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.6666666666666666
+    },
+    "efficiency": {
+      "avg_time_to_success_s": null
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.3333333333333333,
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+}

gpt6_astra_10x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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0.004564280621707439, -0.23290908336639404, -0.8527272939682007, -0.012731019407510757, -0.2032087743282318, -0.11173804849386215, 0.7831103205680847, 0.005177834536880255, -0.07383470982313156, -0.15323999524116516, -0.002555298386141658, 0.0013288123300299048, -0.07294584065675735], "full_joint_names": ["joint1", "joint2", "multi_joint1", "joint3", "multi_joint2", "joint4", "multi_joint3", "joint5", "multi_joint4", "joint6", "multi_joint5", "joint7", "multi_joint6", "multi_joint7", "leap_l_1", "leap_l_12", "leap_l_5", "leap_l_9", "leap_l_0", "leap_l_13", "leap_l_4", "leap_l_8", "multi_leap_r_1", "multi_leap_r_12", "multi_leap_r_5", "multi_leap_r_9", "leap_l_2", "leap_l_14", "leap_l_6", "leap_l_10", "multi_leap_r_0", "multi_leap_r_13", "multi_leap_r_4", "multi_leap_r_8", "leap_l_3", "leap_l_15", "leap_l_7", "leap_l_11", "multi_leap_r_2", "multi_leap_r_14", "multi_leap_r_6", "multi_leap_r_10", "multi_leap_r_3", "multi_leap_r_15", "multi_leap_r_7", "multi_leap_r_11"], "expanded_full_target": [-1.6736313104629517, -1.6208596229553223, 1.801598310470581, -0.028838686645030975, -1.4527603387832642, -2.532384157180786, 0.22876936197280884, 1.4927312135696411, -2.34757399559021, 0.8088299632072449, 1.9135562181472778, -2.1716771125793457, 0.9061830639839172, -1.1544618606567383, 0.3040340840816498, -1.0553977489471436, 0.04322117194533348, 0.1769365817308426, 0.0, -1.5546362400054932, 0.0, 0.0, 0.272372841835022, 0.4688495993614197, 0.09500972926616669, 0.11352218687534332, -0.3012441396713257, -0.0006363606662489474, -0.022831205278635025, -0.1923384815454483, 0.0, 0.004564280621707439, 0.0, 0.0, -0.23290908336639404, -0.8527272939682007, -0.012731019407510757, -0.2032087743282318, -0.11173804849386215, 0.7831103205680847, 0.005177834536880255, -0.07383470982313156, -0.15323999524116516, -0.002555298386141658, 0.0013288123300299048, -0.07294584065675735], "shielded_full_target": [-1.6736313104629517, -1.6208596229553223, 1.801598310470581, -0.028838686645030975, -1.4527603387832642, -2.532384157180786, 0.22876936197280884, 1.4927312135696411, -2.34757399559021, 0.8088299632072449, 1.9135562181472778, -2.1716771125793457, 0.9061830639839172, -1.1544618606567383, 0.3040340840816498, -1.0553977489471436, 0.04322117194533348, 0.1769365817308426, 0.0, -1.5546362400054932, 0.0, 0.0, 0.272372841835022, 0.4688495993614197, 0.09500972926616669, 0.11352218687534332, -0.3012441396713257, -0.0006363606662489474, -0.022831205278635025, -0.1923384815454483, 0.0, 0.004564280621707439, 0.0, 0.0, -0.23290908336639404, -0.8527272939682007, -0.012731019407510757, -0.2032087743282318, -0.11173804849386215, 0.7831103205680847, 0.005177834536880255, -0.07383470982313156, -0.15323999524116516, -0.002555298386141658, 0.0013288123300299048, -0.07294584065675735]}, "joint_limit_active_steps": 370, "joint_limit_hard_episode_events": 19, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 238, "max_joint_limit_excess_rad": 1.406436800956726, "max_joint_limit_excess_joint": "multi_leap_r_2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_xarm7_with_leap", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 370, "joint_limit_active_step_rate": 0.10187224669603524, "finger_joint_limit_saturation_steps": 238, "finger_joint_limit_saturation_step_rate": 0.06552863436123348, "max_joint_limit_excess_rad": 1.406436800956726, "max_joint_limit_excess_joint": "multi_leap_r_2", "stage_completion": {"place_cleaner": false, "place_soap": false}, "current_stage_completion": {"place_cleaner": false, "place_soap": false}, "stage_first_completion_step": {"place_cleaner": null, "place_soap": null}, "violation_counts": {"drop_to_table_obj_200_cleaner_2": 1}, "policy_query_count": 36, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 19260, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/summary.json

@@ -0,0 +1,214 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 200900000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 19260,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 107.3222222222386
+    },
+    "safety": {
+      "safe_success_rate": 0.3333333333333333,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.6666666666666666,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00010353038616834041
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "rigid_pick_place": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.0,
+      "current_chain_depth_progress_score": 0.0,
+      "latched_chain_depth_progress_score": 0.0,
+      "avg_current_chain_depth": 0,
+      "avg_latched_chain_depth": 0
+    },
+    "efficiency": {
+      "task_efficiency": 0.27398900213818345,
+      "expert_time_s": 21.383333333333333,
+      "expert_time_step": 1283,
+      "avg_steps_to_success": 6439.333333333333,
+      "avg_policy_steps_to_success": 2146.6666666666665,
+      "avg_policy_queries_to_success": 51
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00010353038616834041,
+      "violation_counts": {
+        "drop_to_table_obj_200_cleaner_2": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.1893570763018946,
+      "finger_joint_limit_saturation_step_rate": 0.10679159333264313,
+      "max_joint_limit_excess_rad": 1.7215934991836548,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "leap_l_10": 186,
+          "leap_l_13": 6,
+          "leap_l_2": 928,
+          "leap_l_6": 12,
+          "multi_leap_r_10": 1067,
+          "multi_leap_r_11": 19,
+          "multi_leap_r_2": 2451,
+          "multi_leap_r_6": 135
+        },
+        "joint_limit_hard_counts": {
+          "leap_l_10": 6,
+          "leap_l_13": 3,
+          "leap_l_2": 40,
+          "leap_l_6": 2,
+          "multi_leap_r_10": 20,
+          "multi_leap_r_11": 1,
+          "multi_leap_r_2": 32,
+          "multi_leap_r_6": 6
+        },
+        "joint_limit_hard_episode_events": 77,
+        "finger_joint_limit_saturation_counts": {
+          "leap_l_10": 120,
+          "leap_l_2": 176,
+          "multi_leap_r_10": 790,
+          "multi_leap_r_2": 1157,
+          "multi_leap_r_6": 23
+        },
+        "joint_limit_max_excess_by_joint": {
+          "leap_l_10": 1.7215934991836548,
+          "leap_l_11": 0.004773736000061035,
+          "leap_l_13": 0.016356706619262695,
+          "leap_l_15": 0.0018771886825561523,
+          "leap_l_2": 1.59174382686615,
+          "leap_l_3": 2.175569534301758e-06,
+          "leap_l_6": 0.20265686511993408,
+          "multi_leap_r_1": 0.0014326870441436768,
+          "multi_leap_r_10": 0.9412275552749634,
+          "multi_leap_r_11": 0.1929008960723877,
+          "multi_leap_r_2": 1.406436800956726,
+          "multi_leap_r_3": 0.00029608607292175293,
+          "multi_leap_r_5": 0.0017271935939788818,
+          "multi_leap_r_6": 0.7499661445617676
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 15.892982764627595,
+      "joint_effort_rms": 57.05460603992437,
+      "joint_jerk_rms": 1549.828881313826,
+      "joint_velocity_rms": 0.5732725256663435
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9530581171150115,
+      "mean_kinematic_grasp_stability": 0.6970061300749414,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_200_cleaner_2": 0.9180241566244823,
+        "obj_209_soap_3": 0.9315993589783961
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.5693388148784887,
+        "mean_duration_score": 0.5016285890239669,
+        "mean_hold_score": 0.41526605411227985,
+        "mean_kinematic_stability_score": 0.05330774824357358,
+        "mean_legacy_gsi": 0.4564865949619888,
+        "mean_lift_score": 0.45095467313056325,
+        "mean_motion_stability_score": 0.38569711202862944
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 6439.333333333333,
+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 5, "seed": 201200004, "success": true, "steps": 3256, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200004, "base_seed": 201200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_leather_leather0089_jpg", "asset_uri": "dex2bench_dataset/textures/leather/leather0089.jpg", "asset_category": "leather", "asset_id": "leather/leather0089.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1106.9881179879878, "color": [0.777423045749444, 0.9643486276943012, 0.8965447601558088], "pitch_deg": -10.190458618063385, "yaw_deg": 42.20541137595305, "angle_deg": 0.7017485975941975}, "dome": {"intensity": 166.00394079108702, "color": [0.8538836095247784, 0.8417672751517286, 0.7025295032129486], "exposure": 0.4852293364103125}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.006988312765438501, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", 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"default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_043_phillips_screwdriver_1": {"position": [-0.4394054240497412, 0.11532786411075827, 0.776247612810796], "rpy_deg": [0.0, 0.0, -6.957407987666155]}, "obj_044_flat_screwdriver_2": {"position": [0.23118678157235395, 0.042325143763666875, 0.7762956128270457], "rpy_deg": [0.0, 0.0, -8.962675195097859]}, "obj_048_hammer_3": {"position": [-0.27, 0.11, 0.8081116139354276], "rpy_deg": [0.0, 180.0, -35.49166196689313]}, "obj_036_wood_block_4": {"position": [-0.1, 0.06, 0.8375056109787988], "rpy_deg": [90.0, 0.0, -7.428490448641103]}, "obj_154_wooden_box_1": {"position": [0.4916618775676434, 0.28253304714496635, 0.775888612812953], "rpy_deg": [90.0, 0.0, -8.011865546297605]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "tool_precision_place", "robot_key": "multi_ur5_rh56dfx_with_flange", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 3046, "stable_success_step": 3078, "first_stable_success_step": 3078, "steps_to_stable_success": 3079, "policy_steps_to_stable_success": 1027, "policy_queries_to_stable_success": 20, "time_to_stable_success_s": 51.316666666665036, "expert_time_s": 38.28333333333333, "expert_time_step": 2297, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 4, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 4, "task_efficiency": 0.7460214355310403, "kinematic_grasp_stability_index": 0.9997286068105681, "mean_kinematic_grasp_stability": 0.48642067993828914, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.39021080054594387, "obj_044_flat_screwdriver_2": 0.9997286068105681, "obj_048_hammer_3": 0.5428710353642773}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4538086996933859, "mean_kinematic_stability_score": 0.16766952960089992, "mean_lift_score": 0.4690916964382375, "mean_hold_score": 0.3525603550936483, "mean_motion_stability_score": 0.3387467109997972, "mean_duration_score": 0.39194182815488476, "mean_anti_slip_score": 0.8035076323482263}, "robot_motion_metrics": {"joint_velocity_rms": 1.1770842481165196, "joint_acceleration_rms": 55.823631590548196, "joint_jerk_rms": 5753.460930366836, "joint_effort_rms": 44.772875677821915}, "tool_selection_accuracy": 0.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 6, "tool_switch_successful": 0, "safety_violation_rate": 0.0, "safety_violation_rate_time": 0.0, "safety_violation_rate_event": 0.0, "safety_violation_step_rate": 0.0, "safety_violation_events_per_step": 0.0, "episode_violation_rate": 0.0, "safety_hard_violation": false, "drop_violation": false, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 6, "left_little_1_joint": 32, "left_middle_1_joint": 27, "left_ring_1_joint": 23, "left_thumb_2_joint": 482, "right_index_1_joint": 77, "right_middle_1_joint": 113, "right_ring_1_joint": 69, "right_thumb_2_joint": 273, "right_thumb_3_joint": 19}, "joint_limit_hard_counts": {"left_index_1_joint": 1, "left_little_1_joint": 1, "left_middle_1_joint": 1, "left_ring_1_joint": 1, "left_thumb_2_joint": 1, "left_thumb_4_joint": 2, "right_index_1_joint": 4, "right_middle_1_joint": 2, "right_ring_1_joint": 2, "right_thumb_2_joint": 2, "right_thumb_3_joint": 1}, "finger_joint_limit_saturation_counts": {"left_little_1_joint": 6, "left_thumb_2_joint": 291, "right_index_1_joint": 40, "right_middle_1_joint": 79, "right_ring_1_joint": 23, "right_thumb_2_joint": 254}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.039517853409051895, "left_index_2_joint": 8.936711282103715e-08, "left_little_1_joint": 0.13607805967330933, "left_little_2_joint": 0.0004608979797922075, "left_middle_1_joint": 0.09417147934436798, "left_middle_2_joint": 6.726151013936033e-08, "left_ring_1_joint": 0.09049873799085617, "left_ring_2_joint": 1.7752026906237006e-05, "left_thumb_1_joint": 1.6255909940809943e-05, "left_thumb_2_joint": 0.4083523750305176, "left_thumb_3_joint": 0.0011008548317477107, "left_thumb_4_joint": 0.009052425622940063, "right_index_1_joint": 0.17147788405418396, "right_index_2_joint": 1.34430092657567e-06, "right_little_2_joint": 3.986513547715731e-06, "right_middle_1_joint": 0.30515244603157043, "right_middle_2_joint": 1.0809752893692348e-05, "right_ring_1_joint": 0.2909194231033325, "right_ring_2_joint": 1.1809496754722204e-05, "right_thumb_1_joint": 6.022195884725079e-05, "right_thumb_2_joint": 0.3879449963569641, "right_thumb_3_joint": 0.16770410537719727, "right_thumb_4_joint": 0.0015472471714019775}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 252, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_middle_1_joint", "role": "finger", "qpos": -0.01816951297223568, "hard_excess_rad": 0.01816951297223568, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.32567158341407776, "shielded_target": 0.32567158341407776}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_index_1_joint", "right_little_1_joint", "right_middle_1_joint", "right_ring_1_joint", "right_thumb_1_joint", "right_thumb_2_joint", "left_index_1_joint", "left_little_1_joint", "left_middle_1_joint", "left_ring_1_joint", "left_thumb_1_joint", "left_thumb_2_joint"], "raw_active_action": [1.9985383749008179, -1.4305733442306519, -1.5699794292449951, 2.1850829124450684, 1.562464952468872, -0.47811049222946167, -1.5838395357131958, 1.9935656785964966, -0.003596596885472536, 0.049832236021757126, -1.5699987411499023, 0.0028283274732530117, 0.25318819284439087, 0.4190038740634918, 0.32567158341407776, 0.26254916191101074, 0.4979952573776245, 0.173112154006958, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.0], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_index_1_joint", "right_little_1_joint", "right_middle_1_joint", "right_ring_1_joint", "right_thumb_1_joint", "right_index_2_joint", "right_little_2_joint", "right_middle_2_joint", "right_ring_2_joint", "right_thumb_2_joint", "left_index_1_joint", "left_little_1_joint", "left_middle_1_joint", "left_ring_1_joint", "left_thumb_1_joint", "right_thumb_3_joint", "left_index_2_joint", "left_little_2_joint", "left_middle_2_joint", "left_ring_2_joint", "left_thumb_2_joint", "right_thumb_4_joint", "left_thumb_3_joint", "left_thumb_4_joint"], "expanded_full_target": [1.9985383749008179, -1.4305733442306519, -1.5699794292449951, 2.1850829124450684, 1.562464952468872, -0.47811049222946167, -1.5838395357131958, 1.9935656785964966, -0.003596596885472536, 0.049832236021757126, -1.5699987411499023, 0.0028283274732530117, 0.25318819284439087, 0.4190038740634918, 0.32567158341407776, 0.26254916191101074, 0.4979952573776245, 0.1327858865261078, 0.3179854154586792, 0.21374259889125824, 0.14324115216732025, 0.173112154006958, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.19778063893318176, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.24849370121955872, 0.0, 0.10000000149011612], "shielded_full_target": [1.9985383749008179, -1.4305733442306519, -1.5699794292449951, 2.1850829124450684, 1.562464952468872, -0.47811049222946167, -1.5838395357131958, 1.9935656785964966, -0.003596596885472536, 0.049832236021757126, -1.5699987411499023, 0.0028283274732530117, 0.25318819284439087, 0.4190038740634918, 0.32567158341407776, 0.26254916191101074, 0.4979952573776245, 0.1327858865261078, 0.3179854154586792, 0.21374259889125824, 0.14324115216732025, 0.173112154006958, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.19778063893318176, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.24849370121955872, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 908, "joint_limit_hard_episode_events": 5, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 634, "max_joint_limit_excess_rad": 0.4083523750305176, "max_joint_limit_excess_joint": "left_thumb_2_joint", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_rh56dfx_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 908, "joint_limit_active_step_rate": 0.29490094186424165, "finger_joint_limit_saturation_steps": 634, "finger_joint_limit_saturation_step_rate": 0.20591101006820398, "max_joint_limit_excess_rad": 0.4083523750305176, "max_joint_limit_excess_joint": "left_thumb_2_joint", "stage_completion": {"place_flat_right": true, "place_phillips_left": true, "hammer_strike_wood": true, "place_hammer": true}, "current_stage_completion": {"place_flat_right": true, "place_phillips_left": true, "hammer_strike_wood": true, "place_hammer": true}, "stage_first_completion_step": {"place_flat_right": 652, "place_phillips_left": 2183, "hammer_strike_wood": 2856, "place_hammer": 3033}, "violation_counts": {}, "policy_query_count": 20, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/summary.json

@@ -0,0 +1,234 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 201200000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      3447,
+      34470
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 54.96666666666483
+    },
+    "safety": {
+      "safe_success_rate": 1.0,
+      "hard_violation_rate": 0.0,
+      "drop_rate": 0.0,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.0
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "tool_precision_place": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 1.0,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 4,
+      "avg_latched_chain_depth": 4
+    },
+    "efficiency": {
+      "task_efficiency": 0.6989647596409652,
+      "expert_time_s": 38.28333333333333,
+      "expert_time_step": 2297,
+      "avg_steps_to_success": 3298,
+      "avg_policy_steps_to_success": 1100,
+      "avg_policy_queries_to_success": 21.666666666666668
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0,
+      "violation_counts": {},
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.17394380432585405,
+      "finger_joint_limit_saturation_step_rate": 0.11198706286638367,
+      "max_joint_limit_excess_rad": 0.9538151621818542,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_1_joint": 100,
+          "left_little_1_joint": 61,
+          "left_middle_1_joint": 52,
+          "left_ring_1_joint": 79,
+          "left_thumb_2_joint": 539,
+          "left_thumb_4_joint": 1,
+          "right_index_1_joint": 556,
+          "right_middle_1_joint": 246,
+          "right_ring_1_joint": 146,
+          "right_thumb_2_joint": 367,
+          "right_thumb_3_joint": 29
+        },
+        "joint_limit_hard_counts": {
+          "left_index_1_joint": 8,
+          "left_little_1_joint": 3,
+          "left_middle_1_joint": 3,
+          "left_ring_1_joint": 3,
+          "left_thumb_2_joint": 4,
+          "left_thumb_4_joint": 3,
+          "right_index_1_joint": 9,
+          "right_middle_1_joint": 6,
+          "right_ring_1_joint": 4,
+          "right_thumb_2_joint": 4,
+          "right_thumb_3_joint": 2
+        },
+        "joint_limit_hard_episode_events": 27,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_1_joint": 29,
+          "left_little_1_joint": 6,
+          "left_middle_1_joint": 2,
+          "left_thumb_2_joint": 291,
+          "right_index_1_joint": 425,
+          "right_middle_1_joint": 102,
+          "right_ring_1_joint": 58,
+          "right_thumb_2_joint": 291
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_1_joint": 0.20043633878231049,
+          "left_index_2_joint": 1.4323489949674695e-06,
+          "left_little_1_joint": 0.13607805967330933,
+          "left_little_2_joint": 0.0004608979797922075,
+          "left_middle_1_joint": 0.11872077733278275,
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+        "unknown_runtime_joint_names": [],
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+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/21_condiment_box_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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"right_finger4_joint3", "right_finger5_joint3", "left_finger1_joint2", "left_finger2_joint2", "left_finger3_joint2", "left_finger4_joint2", "left_finger5_joint2", "right_finger1_joint4", "right_finger2_joint4", "right_finger3_joint4", "right_finger4_joint4", "right_finger5_joint4", "left_finger1_joint3", "left_finger2_joint3", "left_finger3_joint3", "left_finger4_joint3", "left_finger5_joint3", "left_finger1_joint4", "left_finger2_joint4", "left_finger3_joint4", "left_finger4_joint4", "left_finger5_joint4"], "expanded_full_target": [1.8682109117507935, -0.9862352013587952, -1.5700000524520874, 1.6278153657913208, 1.5700000524520874, -0.4193417727947235, -1.5700000524520874, 1.4521688222885132, -2.647447538972614e-10, 0.8961231112480164, -1.5700000524520874, 8.461909506429777e-10, 1.4700000286102295, 1.1658999919891357, 1.1361322402954102, 1.1239562034606934, 0.9551185369491577, -0.15760000050067902, 0.1481546014547348, 0.029821958392858505, 0.11560360342264175, 0.170923113822937, 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"finger_joint_limit_saturation_steps": 6, "max_joint_limit_excess_rad": 0.14431679248809814, "max_joint_limit_excess_joint": "right_finger2_joint1", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_wuji_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 34, "joint_limit_active_step_rate": 0.008043529690087533, "finger_joint_limit_saturation_steps": 6, "finger_joint_limit_saturation_step_rate": 0.0014194464158978, "max_joint_limit_excess_rad": 0.14431679248809814, "max_joint_limit_excess_joint": "right_finger2_joint1", "stage_completion": {"place_soy_sauce": false, "place_vinegar": false, "place_msg": false}, "current_stage_completion": {"place_soy_sauce": false, "place_vinegar": false, "place_msg": false}, "stage_first_completion_step": {"place_soy_sauce": null, "place_vinegar": null, "place_msg": null}, "violation_counts": {"drop_to_table_obj_171_msg_4": 1}, "policy_query_count": 27, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 24810, "dwell_time_s": 0.5}
+{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 7, "seed": 202100006, "success": true, "steps": 2385, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202100006, "base_seed": 202100000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan7", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan7_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_stone_stone2632_jpg", "asset_uri": "dex2bench_dataset/textures/stone/stone2632.jpg", "asset_category": "stone", "asset_id": "stone/stone2632.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1008.8542350379865, "color": [0.9075532026772107, 0.43348981067179576, 0.5577602736028142], "pitch_deg": -25.856490476650315, "yaw_deg": 61.64814695188906, "angle_deg": 0.8010332749964957}, "dome": {"intensity": 233.05874998462014, "color": [0.849843193632834, 0.8732726241691315, 0.6160475746045874], "exposure": 0.4576541983230602}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": -0.04448699559745511, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [-0.002752459833688633, 0.000788868997518526, 0.00038252275501031094], "target_offset_m": [-0.0009439540295882931, 0.004644023073929548, 0.0028891520584537417], "distance_offset_m": -0.0010968019393411202, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.3870191410841852, -0.9993887284720098, 0.7921019545847983], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0006397670080478986, -0.0018520673473310578, 0.0010029432628347922], "target_offset_m": [-0.004004322271014338, 1.7532557149375905e-05, 0.0032272922036178384], "distance_offset_m": -0.02722539047490026, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.28603042229890585, -0.8427116127803, 0.9019339467716405], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.0015431878972479028, 0.004107596645915565, -0.0006332837426664649], "target_offset_m": [0.0025435478878332437, -0.0030562337770282232, -0.003309056234935195], "distance_offset_m": -0.02716059329159232, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.14370074237320796, -0.6813965948773761, -0.16631170885927404], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.0015431878972479028, 0.004107596645915565, -0.0006332837426664649], "target_offset_m": [0.0025435478878332437, -0.0030562337770282232, -0.003309056234935195], "distance_offset_m": -0.02716059329159232, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.14370074237320796, -0.6813965948773761, -0.16631170885927404], "has_offset": true}, "cam_wrist_right": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [-0.004461300913187871, -0.0027498315042004473, 0.0020779199638882983], "rpy_offset_deg": [0.0762591634242169, -0.17587015423468477, -0.5985091410965064], "has_offset": true}, "cam_wrist_left": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [-0.0029379627098588944, 0.0031371506709624393, 0.0006695089602601319], "rpy_offset_deg": [0.3235499452950372, 0.8586257628526628, -0.39735750826981153], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_006_mustard_bottle", "uri": "dex2bench_dataset/Objects/006_mustard_bottle/usd_decomposition_linux/textured.usd", "scale": [0.9937971981574747, 0.9937971981574747, 0.9937971981574747], "body_type": "dynamic", "category": "bottle", "asset_code": "006", "asset_id": "clutter_006_mustard_bottle", "asset_split": "unseen", "spawn_position": [-0.6375641407804327, 0.1508300110914997, 0.7086464469951097], "spawn_yaw_deg": 326.0293856573052, "obj_id": "distractor_00_clutter_006_mustard_bottle"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_154_wooden_box_1": {"position": [0.5672032404851359, 0.14834179593077876, 0.7055130044025449], "rpy_deg": [90.0, 0.0, 5.521862035037785]}, "obj_172_soy_sauce_2": {"position": [-0.3971889683090548, 0.2028952974437912, 0.7055130066775089], "rpy_deg": [90.0, 0.0, 1.8014280260007247]}, "obj_173_vinegar_3": {"position": [-0.2665583864674552, 0.11854018642412276, 0.7055130043417207], "rpy_deg": [90.0, 0.0, 7.366457580141727]}, "obj_171_msg_4": {"position": [0.04955729802707653, 0.25480436820854135, 0.7055130001525324], "rpy_deg": [90.0, 0.0, 7.7863251128317685]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_ur5_wuji_with_flange", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 2338, "stable_success_step": 2384, "first_stable_success_step": 2384, "steps_to_stable_success": 2385, "policy_steps_to_stable_success": 795, "policy_queries_to_stable_success": 23, "time_to_stable_success_s": 39.74999999999903, "expert_time_s": 27.566666666666666, "expert_time_step": 1654, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 2, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 2, "task_efficiency": 0.6935010482180464, "kinematic_grasp_stability_index": 0.8535606095524646, "mean_kinematic_grasp_stability": 0.3231605341638485, "per_object_best_kinematic_grasp_stability": {"obj_171_msg_4": 0.7784462419416726, "obj_172_soy_sauce_2": 0.6214479657717868, "obj_173_vinegar_3": 0.8535606095524646}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.41561395737714085, "mean_kinematic_stability_score": 0.018021111548759686, "mean_lift_score": 0.4092243186582809, "mean_hold_score": 0.35745632424877816, "mean_motion_stability_score": 0.32633856850423215, "mean_duration_score": 0.40145352900069886, "mean_anti_slip_score": 0.6357325879338481}, "robot_motion_metrics": {"joint_velocity_rms": 0.3249112464740091, "joint_acceleration_rms": 16.027921678452937, "joint_jerk_rms": 1655.6105355253299, "joint_effort_rms": 17.921156251890917}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0, "safety_violation_rate_time": 0.0, "safety_violation_rate_event": 0.0, "safety_violation_step_rate": 0.0, "safety_violation_events_per_step": 0.0, "episode_violation_rate": 0.0, "safety_hard_violation": false, "drop_violation": false, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": false, "finger_joint_limit_saturation": false, "impact_metric_available": false, "chain_depth": 2, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"left_finger1_joint2": 0.0008689463138580322, "right_finger1_joint2": 0.004102200269699097}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "joint_limit_active_steps": 0, "joint_limit_hard_episode_events": 0, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.004102200269699097, "max_joint_limit_excess_joint": "right_finger1_joint2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_wuji_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 0, "joint_limit_active_step_rate": 0.0, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.004102200269699097, "max_joint_limit_excess_joint": "right_finger1_joint2", "stage_completion": {"place_soy_sauce": true, "place_vinegar": true, "place_msg": true}, "current_stage_completion": {"place_soy_sauce": true, "place_vinegar": true, "place_msg": true}, "stage_first_completion_step": {"place_soy_sauce": 1903, "place_vinegar": 2271, "place_msg": 2271}, "violation_counts": {}, "policy_query_count": 23, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2481, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/21_condiment_box_loading/Full/summary.json

@@ -0,0 +1,252 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 202100000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 2,
+    "error_count": 1,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      24810,
+      2481
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.6666666666666666,
+      "success_rate_ci": {
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+}

gpt6_astra_10x_icl/per_task_eval/22_tool_box_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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"profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [-0.0026514832091799256, -0.003345361485866665, -0.0003080484228465399], "target_offset_m": [0.004396893448004375, -0.004464138736557884, -0.0002482736329119852], "distance_offset_m": -0.008322375110190933, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.10534980586693243, -0.20102911488497632, 0.6656296249524762], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0027633161272915385, 0.004412416625888775, 0.0024783265771370702], "target_offset_m": [-0.004305846175053195, -0.0040672449247467525, 0.0030081204421643247], "distance_offset_m": 0.002541209895043882, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.3073339978955696, -0.78940283928352, 0.6856631545867755], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0022832650088846045, 0.001792752137131707, -0.000644929848810271], "target_offset_m": [-0.0035918455189590873, -0.002464870359828203, 0.0017707058143930044], "distance_offset_m": 0.02212030839522932, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.814816906925053, -0.35228497239430845, 0.16005519629271614], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.0022832650088846045, 0.001792752137131707, -0.000644929848810271], "target_offset_m": [-0.0035918455189590873, -0.002464870359828203, 0.0017707058143930044], "distance_offset_m": 0.02212030839522932, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.814816906925053, -0.35228497239430845, 0.16005519629271614], "has_offset": true}, "cam_wrist_right": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [0.0014073271398086177, 0.0029585117539211976, 0.0004653440959794617], "rpy_offset_deg": [-0.7832358969726869, 0.8889276289058168, 0.011913525054148444], "has_offset": true}, "cam_wrist_left": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [-0.002947844028622326, 0.0016403889522506867, 0.0009721070248624921], "rpy_offset_deg": [0.816272982174427, -0.8545953954258398, 0.22645957216378299], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_006_mustard_bottle", "uri": "dex2bench_dataset/Objects/006_mustard_bottle/usd_decomposition_linux/textured.usd", "scale": [0.9449369632237148, 0.9449369632237148, 0.9449369632237148], "body_type": "dynamic", "category": "bottle", "asset_code": "006", "asset_id": "clutter_006_mustard_bottle", "asset_split": "unseen", "spawn_position": [0.6255779043156434, 0.1566013426364991, 0.7814674240116753], "spawn_yaw_deg": 24.222708576091332, "obj_id": "distractor_00_clutter_006_mustard_bottle"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_154_wooden_box_1": {"position": [-0.04838589911106282, 0.23477257187626077, 0.7784880377411731], "rpy_deg": [90.0, 0.0, -0.7817738516574835]}, "obj_043_phillips_screwdriver_2": {"position": [-0.43410792601603326, 0.2980991507666893, 0.8285900369346031], "rpy_deg": [90.0, 0.0, 0.671582444460622]}, "obj_044_flat_screwdriver_3": {"position": [0.32532509196911874, 0.331096351107035, 0.7788950377552659], "rpy_deg": [0.0, 0.0, -6.959796730754844]}, "obj_042_adjustable_wrench_4": {"position": [-0.3681789935946761, 0.11362457570731675, 0.8813800342440494], "rpy_deg": [90.0, 0.0, -9.546786574944093]}, "obj_147_drill_5": {"position": [0.33719304713837006, 0.043916242333056715, 0.8079199661373981], "rpy_deg": [0.0, -90.0, 27.840689752854654]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_assembly", "robot_key": "multi_panda_with_orca", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 1919, "stable_success_step": 1948, "first_stable_success_step": 1948, "steps_to_stable_success": 1949, "policy_steps_to_stable_success": 650, "policy_queries_to_stable_success": 26, "time_to_stable_success_s": 32.48333333333277, "expert_time_s": 22.683333333333334, "expert_time_step": 1361, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 2, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 2, "task_efficiency": 0.698306824012326, "kinematic_grasp_stability_index": 0.99340391196377, "mean_kinematic_grasp_stability": 0.46189140994735645, "per_object_best_kinematic_grasp_stability": {"obj_042_adjustable_wrench_4": 0.037664759480217816, "obj_043_phillips_screwdriver_2": 0.9079825405023475, "obj_044_flat_screwdriver_3": 0.99340391196377, "obj_147_drill_5": 0.7233895757205981}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4048107072534779, "mean_kinematic_stability_score": 0.09201094915960037, "mean_lift_score": 0.38353001539250897, "mean_hold_score": 0.30996664956388276, "mean_motion_stability_score": 0.2884167734691294, "mean_duration_score": 0.30147083974687877, "mean_anti_slip_score": 0.7960920129981316}, "robot_motion_metrics": {"joint_velocity_rms": 0.5140752671740713, "joint_acceleration_rms": 34.296300735687836, "joint_jerk_rms": 3656.0343586681984, "joint_effort_rms": 39.75901724786736}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0, "safety_violation_rate_time": 0.0, "safety_violation_rate_event": 0.0, "safety_violation_step_rate": 0.0, "safety_violation_events_per_step": 0.0, "episode_violation_rate": 0.0, "safety_hard_violation": false, "drop_violation": false, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": false, "impact_metric_available": false, "chain_depth": 2, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"left_middle_mcp": 1}, "joint_limit_max_excess_by_joint": {"left_middle_mcp": 0.006831526756286621, "left_thumb_abd": 0.002642282983288169, "multi_panda_joint6": 6.389617919921875e-05, "right_middle_mcp": 0.001278996467590332, "right_ring_mcp": 0.0026780366897583008, "right_thumb_abd": 0.0026585005689412355}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 1328, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_middle_mcp", "role": "finger", "qpos": 1.5950815677642822, "hard_excess_rad": 0.006831526756286621, "hard_tolerance_rad": 0.005, "hard_lower": -0.3490699827671051, "hard_upper": 1.5882500410079956, "operating_lower": -0.3490699529647827, "operating_upper": 1.5882500410079956, "expanded_target": 1.5858309268951416, "shielded_target": 1.5858309268951416}], "command_context_available": true, "active_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "left_wrist", "right_wrist", "left_thumb_mcp", "right_thumb_mcp", "left_index_mcp", "left_middle_mcp", "left_pinky_mcp", "left_ring_mcp", "left_thumb_abd", "right_index_mcp", "right_middle_mcp", "right_pinky_mcp", "right_ring_mcp", "right_thumb_abd", "left_index_pip", "left_middle_pip", "left_pinky_pip", "left_ring_pip", "left_thumb_pip", "right_index_pip", "right_middle_pip", "right_pinky_pip", "right_ring_pip", "right_thumb_pip", "left_thumb_dip", "right_thumb_dip"], "raw_active_action": [-1.2196612358093262, 1.5700000524520874, -1.5286535024642944, -1.5700000524520874, 0.12900644540786743, 2.2655988196618182e-11, -2.5917000770568848, -1.5700000524520874, 1.586065649986267, 1.5700000524520874, 6.455008029937744, 6.25, -1.210178256034851, -1.5700000524520874, -0.72420734167099, 2.213073724277592e-09, 0.4469204843044281, -0.6755564212799072, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.6754416227340698, 0.5168964862823486, 0.422603964805603, 0.4391195774078369, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, -0.27382588386535645, -0.268909215927124, -0.30322396755218506, -0.2666294574737549, 0.8422808647155762, -0.10371232032775879, -0.1465177983045578], "full_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "left_wrist", "right_wrist", "left_index_abd", "left_middle_abd", "left_pinky_abd", "left_ring_abd", "left_thumb_mcp", "right_index_abd", "right_middle_abd", "right_pinky_abd", "right_ring_abd", "right_thumb_mcp", "left_index_mcp", "left_middle_mcp", "left_pinky_mcp", "left_ring_mcp", "left_thumb_abd", "right_index_mcp", "right_middle_mcp", "right_pinky_mcp", "right_ring_mcp", "right_thumb_abd", "left_index_pip", "left_middle_pip", "left_pinky_pip", "left_ring_pip", "left_thumb_pip", "right_index_pip", "right_middle_pip", "right_pinky_pip", "right_ring_pip", "right_thumb_pip", "left_thumb_dip", "right_thumb_dip"], "expanded_full_target": [-1.2196612358093262, 1.5700000524520874, -1.5286535024642944, -1.5700000524520874, 0.12900644540786743, 2.2655988196618182e-11, -2.5917000770568848, -1.5700000524520874, 1.586065649986267, 1.5700000524520874, 6.455008029937744, 6.25, -1.210178256034851, -1.5700000524520874, -0.72420734167099, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, 0.4469204843044281, 0.0, 0.0, 0.0, 0.0, -0.6755564212799072, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.6754416227340698, 0.5168964862823486, 0.422603964805603, 0.4391195774078369, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, -0.27382588386535645, -0.268909215927124, -0.30322396755218506, -0.2666294574737549, 0.8422808647155762, -0.10371232032775879, -0.1465177983045578], "shielded_full_target": [-1.2196612358093262, 1.5700000524520874, -1.5286535024642944, -1.5700000524520874, 0.12900644540786743, 2.2655988196618182e-11, -2.5917000770568848, -1.5700000524520874, 1.586065649986267, 1.5700000524520874, 6.455008029937744, 6.25, -1.210178256034851, -1.5700000524520874, -0.72420734167099, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, 0.4469204843044281, 0.0, 0.0, 0.0, 0.0, -0.6755564212799072, 1.4939403533935547, 1.5858309268951416, 1.2746238708496094, 1.5805412530899048, -0.05781155452132225, 0.6754416227340698, 0.5168964862823486, 0.422603964805603, 0.4391195774078369, 0.0, -0.26419684290885925, 0.027540013194084167, 0.08569125086069107, 0.49138346314430237, 0.8575819134712219, -0.27382588386535645, -0.268909215927124, -0.30322396755218506, -0.2666294574737549, 0.8422808647155762, -0.10371232032775879, -0.1465177983045578]}, "joint_limit_active_steps": 0, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.006831526756286621, "max_joint_limit_excess_joint": "left_middle_mcp", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_panda_with_orca", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 0, "joint_limit_active_step_rate": 0.0, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.006831526756286621, "max_joint_limit_excess_joint": "left_middle_mcp", "stage_completion": {"place_phillips": true, "place_flat": true, "place_wrench": true, "place_drill": true}, "current_stage_completion": {"place_phillips": true, "place_flat": true, "place_wrench": true, "place_drill": true}, "stage_first_completion_step": {"place_phillips": 1919, "place_flat": 1109, "place_wrench": 1919, "place_drill": 1919}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/22_tool_box_loading/Full/summary.json

@@ -0,0 +1,200 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 202200000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      20430,
+      2043
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 55.599999999998126
+    },
+    "safety": {
+      "safe_success_rate": 0.6666666666666666,
+      "hard_violation_rate": 0.3333333333333333,
+      "drop_rate": 0.3333333333333333,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00019984012789768185
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "rigid_assembly": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 1.0,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
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+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/24_stationery_category_sorting/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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0.42500630021095276, -1.5700000524520874, -1.4747111797332764, 1.5700000524520874, -0.2607957720756531, -4.784926899148445e-10, 0.5933727025985718, -1.5700000524520874, 0.4507438540458679, 6.45528075438051e-09, 0.3070475459098816, 0.0, 0.0, 0.0, 0.6223089098930359, 0.0, 1.2471899957233745e-08, 0.0, 0.0, 1.8469562546030716e-09, 0.3546399176120758, 0.0, 0.0, 0.0, 0.6934736371040344, 0.0, 1.44050442685284e-08, 0.0, 0.0, 2.2032220492462784e-09, 0.6934736371040344, 2.2032220492462784e-09]}, "joint_limit_active_steps": 1702, "joint_limit_hard_episode_events": 148, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 782, "max_joint_limit_excess_rad": 1.5279366970062256, "max_joint_limit_excess_joint": "left_thumb_distal_joint", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_rm_65_with_revo2", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 1702, "joint_limit_active_step_rate": 0.056511056511056514, "finger_joint_limit_saturation_steps": 782, "finger_joint_limit_saturation_step_rate": 0.02596453947805299, "max_joint_limit_excess_rad": 1.5279366970062256, "max_joint_limit_excess_joint": "left_thumb_distal_joint", "stage_completion": {"pen_in_cup": true, "marker_in_cup": true, "glue_in_box": true, "battery_in_box": true}, "current_stage_completion": {"pen_in_cup": true, "marker_in_cup": true, "glue_in_box": true, "battery_in_box": true}, "stage_first_completion_step": {"pen_in_cup": 4246, "marker_in_cup": 2477, "glue_in_box": 4594, "battery_in_box": 6513}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1, "drop_to_table_obj_221_pen_3": 1}, "policy_query_count": 118, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 46260, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/24_stationery_category_sorting/Full/summary.json

@@ -0,0 +1,269 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 202400000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 2,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 46260,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.6666666666666666,
+      "success_rate_ci": {
+        "mean": 0.6666666666666666,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.75
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 412.0499999999539
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.3333333333333333,
+      "safety_violation_step_rate": 9.40379913485048e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.6666666666666666,
+      "at_end_success_rate": 0.6666666666666666,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.6666666666666666
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.6666666666666666,
+      "current_chain_depth_progress_score": 0.6666666666666666,
+      "latched_chain_depth_progress_score": 0.8333333333333334,
+      "avg_current_chain_depth": 1.3333333333333333,
+      "avg_latched_chain_depth": 1.6666666666666667
+    },
+    "efficiency": {
+      "task_efficiency": 0.13093677733201264,
+      "expert_time_s": 51.38333333333333,
+      "expert_time_step": 3083,
+      "avg_steps_to_success": 24723,
+      "avg_policy_steps_to_success": 8241.5,
+      "avg_policy_queries_to_success": 114
+    },
+    "safety": {
+      "safety_violation_events_per_step": 8.358932564311538e-05,
+      "violation_counts": {
+        "drop_to_table_obj_166_markpen_4": 3,
+        "drop_to_table_obj_199_glue_5": 1,
+        "drop_to_table_obj_221_pen_3": 2,
+        "high_speed_obj_166_markpen_4": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.032777464317806614,
+      "finger_joint_limit_saturation_step_rate": 0.017292541742419492,
+      "max_joint_limit_excess_rad": 1.5279366970062256,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "l_joint6": 128,
+          "left_index_proximal_joint": 439,
+          "left_middle_distal_joint": 118,
+          "left_middle_proximal_joint": 364,
+          "left_pinky_distal_joint": 117,
+          "left_pinky_proximal_joint": 264,
+          "left_ring_distal_joint": 215,
+          "left_ring_proximal_joint": 275,
+          "left_thumb_distal_joint": 225,
+          "left_thumb_metacarpal_joint": 11,
+          "left_thumb_proximal_joint": 2,
+          "right_index_distal_joint": 139,
+          "right_index_proximal_joint": 181,
+          "right_middle_distal_joint": 74,
+          "right_middle_proximal_joint": 221,
+          "right_pinky_distal_joint": 283,
+          "right_pinky_proximal_joint": 180,
+          "right_ring_distal_joint": 532,
+          "right_ring_proximal_joint": 583,
+          "right_thumb_distal_joint": 489,
+          "right_thumb_metacarpal_joint": 149,
+          "right_thumb_proximal_joint": 65
+        },
+        "joint_limit_hard_counts": {
+          "l_joint6": 1,
+          "left_index_proximal_joint": 16,
+          "left_middle_distal_joint": 13,
+          "left_middle_proximal_joint": 16,
+          "left_pinky_distal_joint": 10,
+          "left_pinky_proximal_joint": 25,
+          "left_ring_distal_joint": 12,
+          "left_ring_proximal_joint": 15,
+          "left_thumb_distal_joint": 7,
+          "left_thumb_metacarpal_joint": 10,
+          "left_thumb_proximal_joint": 15,
+          "right_index_distal_joint": 5,
+          "right_index_proximal_joint": 10,
+          "right_middle_distal_joint": 5,
+          "right_middle_proximal_joint": 33,
+          "right_pinky_distal_joint": 22,
+          "right_pinky_proximal_joint": 24,
+          "right_ring_distal_joint": 41,
+          "right_ring_proximal_joint": 61,
+          "right_thumb_distal_joint": 12,
+          "right_thumb_metacarpal_joint": 15,
+          "right_thumb_proximal_joint": 29
+        },
+        "joint_limit_hard_episode_events": 225,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_proximal_joint": 223,
+          "left_middle_distal_joint": 75,
+          "left_middle_proximal_joint": 199,
+          "left_pinky_distal_joint": 58,
+          "left_pinky_proximal_joint": 145,
+          "left_ring_distal_joint": 63,
+          "left_ring_proximal_joint": 165,
+          "left_thumb_distal_joint": 189,
+          "right_index_distal_joint": 104,
+          "right_index_proximal_joint": 85,
+          "right_middle_distal_joint": 44,
+          "right_middle_proximal_joint": 93,
+          "right_pinky_distal_joint": 205,
+          "right_pinky_proximal_joint": 65,
+          "right_ring_distal_joint": 374,
+          "right_ring_proximal_joint": 196,
+          "right_thumb_distal_joint": 324,
+          "right_thumb_metacarpal_joint": 122
+        },
+        "joint_limit_max_excess_by_joint": {
+          "l_joint6": 0.5556840896606445,
+          "left_index_distal_joint": 2.083985418721568e-05,
+          "left_index_proximal_joint": 0.7258667945861816,
+          "left_middle_distal_joint": 1.0429519414901733,
+          "left_middle_proximal_joint": 0.5335723757743835,
+          "left_pinky_distal_joint": 0.318048357963562,
+          "left_pinky_proximal_joint": 1.3299998044967651,
+          "left_ring_distal_joint": 0.2279513031244278,
+          "left_ring_proximal_joint": 0.5571785569190979,
+          "left_thumb_distal_joint": 1.5279366970062256,
+          "left_thumb_metacarpal_joint": 0.07565286010503769,
+          "left_thumb_proximal_joint": 0.013899445533752441,
+          "right_index_distal_joint": 0.8749610781669617,
+          "right_index_proximal_joint": 0.9395720362663269,
+          "right_middle_distal_joint": 0.26327335834503174,
+          "right_middle_proximal_joint": 0.7508804798126221,
+          "right_pinky_distal_joint": 0.3384464681148529,
+          "right_pinky_proximal_joint": 1.114126205444336,
+          "right_ring_distal_joint": 0.7506979703903198,
+          "right_ring_proximal_joint": 0.8011376857757568,
+          "right_thumb_distal_joint": 0.6107501983642578,
+          "right_thumb_metacarpal_joint": 1.239536166191101,
+          "right_thumb_proximal_joint": 0.14293384552001953
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 13.857619043094822,
+      "joint_effort_rms": 27.36160536501463,
+      "joint_jerk_rms": 1420.7342829124404,
+      "joint_velocity_rms": 0.30504748123754805
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9995370273581261,
+      "mean_kinematic_grasp_stability": 0.6120045943244946,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_166_markpen_4": 0.9773659992827343,
+        "obj_168_battery_6": 0.8703560979095823,
+        "obj_199_glue_5": 0.9989596097562062,
+        "obj_221_pen_3": 0.6706394675413307
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.342756979352375,
+        "mean_duration_score": 0.8889512723622032,
+        "mean_hold_score": 0.6999654071735116,
+        "mean_kinematic_stability_score": 0.18228656060255738,
+        "mean_legacy_gsi": 0.6386151182789495,
+        "mean_lift_score": 0.7562694611720502,
+        "mean_motion_stability_score": 0.6388515087792301
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 31902,
+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", "episode_index": 5, "seed": 202600004, "success": false, "steps": 26130, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202600004, "base_seed": 202600000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan1", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan1_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_wood_wood0708_jpg", "asset_uri": 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-0.12726236879825592, 2.0937414024757572e-09, 4.824369792544303e-10, 0.0, 1.0426568497479138e-09, 1.0340186346047275e-10, 6.148206921352539e-06, 0.13766580820083618, 0.04800096154212952, 0.22466181218624115, 0.4130042791366577, 1.707935767640556e-12, 3.328710571071092e-12, -1.872072941111469e-09, -3.9479794433638915e-11, 7.490156828104944e-10, 1.2804471254348755, 0.9812929034233093, 0.8155726790428162, 0.9937892556190491, 0.0, 5.008752856916487e-10, 2.1945270600731703e-10, -1.677952499168356e-10, 9.441401133125638e-11, 5.879020603671847e-10, 1.3948496580123901, 0.6416099071502686, 0.0, 1.7435368426799158e-10, 0.0, 5.056755361665388e-12, 0.0, 0.0, 0.0], "shielded_full_target": [-1.460064172744751, -0.527614176273346, 1.5700000524520874, -0.006023961119353771, -1.5700000524520874, -1.2242541313171387, 1.570143494389331e-11, -0.44352272152900696, -1.5700000524520874, -0.26177874207496643, 9.515068594145859e-11, 0.29496219754219055, 1.012296357849607e-09, -6.934586793683195e-10, -0.17423899471759796, -0.1576918661594391, 0.0, -0.16339553892612457, 0.4762568473815918, 0.13532637059688568, 0.13972261548042297, -0.17433522641658783, 0.0895516648888588, -0.12726236879825592, 2.0937414024757572e-09, 4.824369792544303e-10, 0.0, 1.0426568497479138e-09, 1.0340186346047275e-10, 6.148206921352539e-06, 0.13766580820083618, 0.04800096154212952, 0.22466181218624115, 0.4130042791366577, 1.707935767640556e-12, 3.328710571071092e-12, -1.872072941111469e-09, -3.9479794433638915e-11, 7.490156828104944e-10, 1.2804471254348755, 0.9812929034233093, 0.8155726790428162, 0.9937892556190491, 0.0, 5.008752856916487e-10, 2.1945270600731703e-10, -1.677952499168356e-10, 9.441401133125638e-11, 5.879020603671847e-10, 1.3948496580123901, 0.6416099071502686, 0.0, 1.7435368426799158e-10, 0.0, 5.056755361665388e-12, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 3294, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1415, "max_joint_limit_excess_rad": 0.37505674362182617, "max_joint_limit_excess_joint": "multi_right_middle_MCP_FE", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_iiwa7_with_sharpa", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 3294, "joint_limit_active_step_rate": 0.2538337057871619, "finger_joint_limit_saturation_steps": 1415, "finger_joint_limit_saturation_step_rate": 0.10903906912229329, "max_joint_limit_excess_rad": 0.37505674362182617, "max_joint_limit_excess_joint": "multi_right_middle_MCP_FE", "stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": true, "place_can_4": true}, "current_stage_completion": {"place_can_1": true, "place_can_2": true, "place_can_3": true, "place_can_4": true}, "stage_first_completion_step": {"place_can_1": 596, "place_can_2": 1170, "place_can_3": 1781, "place_can_4": 6966}, "violation_counts": {}, "policy_query_count": 86, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 26130, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/summary.json

@@ -0,0 +1,266 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 202600000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 1,
+    "error_count": 1,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 26130,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.3333333333333333,
+      "success_rate_ci": {
+        "mean": 0.3333333333333333,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.75
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 216.2833333333976
+    },
+    "safety": {
+      "safe_success_rate": 0.3333333333333333,
+      "hard_violation_rate": 0.0,
+      "drop_rate": 0.0,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.0
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.3333333333333333,
+      "at_end_success_rate": 0.3333333333333333,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.3333333333333333
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.6666666666666666,
+      "current_chain_depth_progress_score": 0.8333333333333334,
+      "latched_chain_depth_progress_score": 0.8333333333333334,
+      "avg_current_chain_depth": 1.6666666666666667,
+      "avg_latched_chain_depth": 1.6666666666666667
+    },
+    "efficiency": {
+      "task_efficiency": 0.13423749711023214,
+      "expert_time_s": 29.03333333333333,
+      "expert_time_step": 1742,
+      "avg_steps_to_success": 12977,
+      "avg_policy_steps_to_success": 4326,
+      "avg_policy_queries_to_success": 86
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0,
+      "violation_counts": {},
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.07885171235876325,
+      "finger_joint_limit_saturation_step_rate": 0.03553910834720154,
+      "max_joint_limit_excess_rad": 0.6046924591064453,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_MCP_FE": 24,
+          "left_pinky_CMC": 40,
+          "multi_right_index_DIP": 3,
+          "multi_right_index_MCP_AA": 17,
+          "multi_right_index_MCP_FE": 11,
+          "multi_right_index_PIP": 15,
+          "multi_right_middle_MCP_AA": 23,
+          "multi_right_middle_MCP_FE": 36,
+          "multi_right_middle_PIP": 13,
+          "multi_right_pinky_CMC": 218,
+          "multi_right_pinky_DIP": 19,
+          "multi_right_pinky_MCP_AA": 8,
+          "multi_right_pinky_MCP_FE": 4,
+          "multi_right_ring_MCP_AA": 23,
+          "multi_right_ring_MCP_FE": 9,
+          "multi_right_ring_PIP": 13,
+          "multi_right_thumb_CMC_AA": 3265,
+          "multi_right_thumb_IP": 12
+        },
+        "joint_limit_hard_counts": {
+          "left_index_MCP_FE": 4,
+          "left_index_PIP": 1,
+          "left_pinky_CMC": 6,
+          "left_pinky_MCP_AA": 1,
+          "multi_right_index_DIP": 1,
+          "multi_right_index_MCP_AA": 1,
+          "multi_right_index_MCP_FE": 1,
+          "multi_right_index_PIP": 1,
+          "multi_right_middle_MCP_AA": 1,
+          "multi_right_middle_MCP_FE": 2,
+          "multi_right_middle_PIP": 1,
+          "multi_right_pinky_CMC": 3,
+          "multi_right_pinky_DIP": 1,
+          "multi_right_pinky_MCP_AA": 2,
+          "multi_right_pinky_MCP_FE": 1,
+          "multi_right_ring_MCP_AA": 1,
+          "multi_right_ring_MCP_FE": 1,
+          "multi_right_ring_PIP": 1,
+          "multi_right_thumb_CMC_AA": 4,
+          "multi_right_thumb_IP": 1,
+          "multi_right_thumb_MCP_FE": 1
+        },
+        "joint_limit_hard_episode_events": 21,
+        "finger_joint_limit_saturation_counts": {
+          "multi_right_index_MCP_AA": 11,
+          "multi_right_index_PIP": 10,
+          "multi_right_middle_MCP_AA": 19,
+          "multi_right_middle_MCP_FE": 16,
+          "multi_right_middle_PIP": 6,
+          "multi_right_pinky_CMC": 188,
+          "multi_right_pinky_DIP": 15,
+          "multi_right_ring_MCP_AA": 18,
+          "multi_right_thumb_CMC_AA": 1399,
+          "multi_right_thumb_IP": 7
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_DIP": 4.649162292480469e-06,
+          "left_index_MCP_AA": 0.0002135932445526123,
+          "left_index_MCP_FE": 0.037418439984321594,
+          "left_index_PIP": 0.006053082179278135,
+          "left_middle_DIP": 4.410743713378906e-06,
+          "left_middle_MCP_AA": 0.000541001558303833,
+          "left_middle_MCP_FE": 0.00079326331615448,
+          "left_middle_PIP": 0.0017973851645365357,
+          "left_pinky_CMC": 0.03731971234083176,
+          "left_pinky_DIP": 2.6226043701171875e-06,
+          "left_pinky_MCP_AA": 0.005364805459976196,
+          "left_pinky_MCP_FE": 0.00010360777378082275,
+          "left_pinky_PIP": 1.430511474609375e-06,
+          "left_ring_DIP": 9.746928597564875e-09,
+          "left_ring_MCP_FE": 4.887580871582031e-06,
+          "left_ring_PIP": 1.6450881958007812e-05,
+          "left_thumb_IP": 8.470356638312637e-10,
+          "multi_A5": 8.821487426757812e-06,
+          "multi_right_index_DIP": 0.10198068618774414,
+          "multi_right_index_MCP_AA": 0.5683627128601074,
+          "multi_right_index_MCP_FE": 0.12429443001747131,
+          "multi_right_index_PIP": 0.5688197612762451,
+          "multi_right_middle_DIP": 1.964886678251787e-06,
+          "multi_right_middle_MCP_AA": 0.5996490716934204,
+          "multi_right_middle_MCP_FE": 0.37505674362182617,
+          "multi_right_middle_PIP": 0.39574775099754333,
+          "multi_right_pinky_CMC": 0.5594608783721924,
+          "multi_right_pinky_DIP": 0.6046924591064453,
+          "multi_right_pinky_MCP_AA": 0.16932150721549988,
+          "multi_right_pinky_MCP_FE": 0.03357513248920441,
+          "multi_right_pinky_PIP": 2.86102294921875e-05,
+          "multi_right_ring_DIP": 3.123283386230469e-05,
+          "multi_right_ring_MCP_AA": 0.46329352259635925,
+          "multi_right_ring_MCP_FE": 0.15559950470924377,
+          "multi_right_ring_PIP": 0.2037496715784073,
+          "multi_right_thumb_CMC_AA": 0.17260339856147766,
+          "multi_right_thumb_IP": 0.5456024408340454,
+          "multi_right_thumb_MCP_FE": 0.00816577672958374
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 15.158241315431642,
+      "joint_effort_rms": 31.16884098857422,
+      "joint_jerk_rms": 1555.275897523952,
+      "joint_velocity_rms": 0.6860315175652416
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9994499979063818,
+      "mean_kinematic_grasp_stability": 0.6478377633165946,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_002_master_chef_can_2": 0.9115473669606982,
+        "obj_010_potted_meat_can_5": 0.8880407840649825,
+        "obj_151_milk_box_4": 0.925070581244038,
+        "obj_171_msg_3": 0.9815763990544402
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.6513921453052981,
+        "mean_duration_score": 0.8896895727923011,
+        "mean_hold_score": 0.4710000803617394,
+        "mean_kinematic_stability_score": 0.2165608109736196,
+        "mean_legacy_gsi": 0.5772120525185586,
+        "mean_lift_score": 0.49795022032973923,
+        "mean_motion_stability_score": 0.4400188845171197
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 15222.666666666666,
+      "error_count": 1
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/27_ball_box_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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gpt6_astra_10x_icl/per_task_eval/27_ball_box_loading/Full/summary.json

@@ -0,0 +1,199 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 202700000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 3570,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 47.561111111109696
+    },
+    "safety": {
+      "safe_success_rate": 0.3333333333333333,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.0,
+      "high_speed_violation_rate": 0.6666666666666666,
+      "safety_violation_step_rate": 0.0002336175680411167
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "rigid_pick_place": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 1.0,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 2,
+      "avg_latched_chain_depth": 2
+    },
+    "efficiency": {
+      "task_efficiency": 0.8376634737766215,
+      "expert_time_s": 39.666666666666664,
+      "expert_time_step": 2380,
+      "avg_steps_to_success": 2853.6666666666665,
+      "avg_policy_steps_to_success": 951.6666666666666,
+      "avg_policy_queries_to_success": 21.333333333333332
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0002336175680411167,
+      "violation_counts": {
+        "high_speed_obj_144_table_tennis_5": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.6666666666666666,
+      "joint_limit_active_step_rate": 0.01892302301133045,
+      "finger_joint_limit_saturation_step_rate": 0.013549818946384767,
+      "max_joint_limit_excess_rad": 0.5655606985092163,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "right_finger1_joint3": 99,
+          "right_finger3_joint1": 63,
+          "right_finger4_joint1": 62
+        },
+        "joint_limit_hard_counts": {
+          "right_finger1_joint2": 5,
+          "right_finger1_joint3": 1,
+          "right_finger3_joint1": 1,
+          "right_finger4_joint1": 1
+        },
+        "joint_limit_hard_episode_events": 7,
+        "finger_joint_limit_saturation_counts": {
+          "right_finger1_joint3": 68,
+          "right_finger3_joint1": 48,
+          "right_finger4_joint1": 45
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_finger1_joint2": 0.004154786467552185,
+          "left_finger2_joint1": 0.00031253695487976074,
+          "left_finger2_joint2": 0.0003935396671295166,
+          "right_finger1_joint2": 0.005447685718536377,
+          "right_finger1_joint3": 0.31119072437286377,
+          "right_finger2_joint1": 0.0014065653085708618,
+          "right_finger3_joint1": 0.5655606985092163,
+          "right_finger4_joint1": 0.5568047761917114
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 7.323408136350947,
+      "joint_effort_rms": 19.703027237981484,
+      "joint_jerk_rms": 738.7738719431563,
+      "joint_velocity_rms": 0.2878858059563239
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9462952639740082,
+      "mean_kinematic_grasp_stability": 0.33369544723594435,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_053_mini_soccer_ball_2": 0.7852209456412498,
+        "obj_056_tennis_ball_3": 0.6006404706832992,
+        "obj_058_golf_ball_4": 0.6160533960031214,
+        "obj_144_table_tennis_5": 0.5208567772221092
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.6354747748354378,
+        "mean_duration_score": 0.45144380717567345,
+        "mean_hold_score": 0.31808136811366006,
+        "mean_kinematic_stability_score": 0.04597498815298374,
+        "mean_legacy_gsi": 0.40753208688817266,
+        "mean_lift_score": 0.3779368170713465,
+        "mean_motion_stability_score": 0.3084491206796798
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 2853.6666666666665,
+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 5, "seed": 203200004, "success": true, "steps": 25557, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200004, "base_seed": 203200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan20", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan20_physics/scene.usda", "scene_offset": [0.08, 1.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet0362_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet0362.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet0362.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1262.5611457431953, "color": [0.8354912994356158, 0.6152223720740354, 0.46705212175830196], "pitch_deg": -10.013624441433144, "yaw_deg": 10.535557340871193, "angle_deg": 0.5461173838033628}, "dome": {"intensity": 186.70720563707403, "color": [0.8441057812764168, 0.8765946100369718, 0.9688969559483145], "exposure": -0.32141280660985616}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": -0.0004488042276955678, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.00388859951487044, -0.001185894645611626, 0.0035477334971197655], "target_offset_m": [-0.0005008771265420219, 0.004737083141833939, -0.001658125506980539], "distance_offset_m": 0.008220472790151652, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.508626791224746, 0.045993691867146635, -0.08996202535960207], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.003643476154203206, -8.470929298353379e-05, 0.004619814750218688], "target_offset_m": [-0.0017265663498146158, 0.002937266695802506, 0.004427078904009121], "distance_offset_m": -0.020284121351577457, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.581417647187916, 0.2556961063279326, 0.9872965996647534], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0006583098894076293, -0.0001748072931773148, 0.0021603667728382634], "target_offset_m": [-0.004717196054484542, -0.001513275393450648, -0.002762392033000389], "distance_offset_m": -0.0046153143051958605, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.22707956938101237, 0.834302789543208, -0.09822147598011699], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.0006583098894076293, -0.0001748072931773148, 0.0021603667728382634], "target_offset_m": [-0.004717196054484542, -0.001513275393450648, -0.002762392033000389], "distance_offset_m": -0.0046153143051958605, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.22707956938101237, 0.834302789543208, -0.09822147598011699], "has_offset": true}, "cam_wrist_right": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [0.0010305106125213922, 0.0008842837745420403, -0.004612938481257807], "rpy_offset_deg": [0.021418866920203117, 0.36306181916043, 0.6682571701512607], "has_offset": true}, "cam_wrist_left": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [-9.28890243794998e-05, -0.001793233083478216, 0.003206180228747837], "rpy_offset_deg": [0.3178902499453118, -0.44744072141887803, -0.28261006925222], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 2, "asset_split": "unseen", "asset_pool_size": 15, "assets": [{"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [0.883083025394031, 0.883083025394031, 0.883083025394031], "body_type": "dynamic", "category": "toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [-0.42468205488213884, 0.06534772112981921, 0.7498991304864431], "spawn_yaw_deg": 208.13631710075097, "obj_id": "distractor_00_clutter_072b_toy_airplane"}, {"name": "clutter_054_softball", "uri": "dex2bench_dataset/Objects/054_softball/usd_decomposition_linux/textured.usd", "scale": [0.9077296609375481, 0.9077296609375481, 0.9077296609375481], "body_type": "dynamic", "category": "ball", "asset_code": "054", "asset_id": "clutter_054_softball", "asset_split": "unseen", "spawn_position": [-0.9248288786056649, 0.1686447008657172, 0.7498434847296122], "spawn_yaw_deg": 212.32097965946642, "obj_id": "distractor_01_clutter_054_softball"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_130_tray_1": {"position": [0.01598682706344089, 0.3159231823997663, 0.749551198765336], "rpy_deg": [90.0, 0.0, 3.279162333524468]}, "obj_008_pudding_box_2": {"position": [-0.3483597047678062, 0.3338039909617373, 0.7500481957732097], "rpy_deg": [0.0, 0.0, 9.036916068695731]}, "obj_009_gelatin_box_3": {"position": [-0.25, 0.24, 0.7500961957894594], "rpy_deg": [0.0, 0.0, 1.4061682928929464]}, "obj_033_spatula_4": {"position": [0.04, 0.0, 0.7502391957723864], "rpy_deg": [0.0, 0.0, 211.90197848129202]}, "obj_189_brush_5": {"position": [0.3, 0.2, 0.7580416756588363], "rpy_deg": [0.0, 270.0, 2.5497007932131943]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_iiwa7_with_sharpa", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 25518, "stable_success_step": 25556, "first_stable_success_step": 25556, "steps_to_stable_success": 25557, "policy_steps_to_stable_success": 8519, "policy_queries_to_stable_success": 117, "time_to_stable_success_s": 425.94999999994127, "expert_time_s": 28.383333333333333, "expert_time_step": 1703, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 2, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 2, "task_efficiency": 0.06663536408812594, "kinematic_grasp_stability_index": 0.9963892486298785, "mean_kinematic_grasp_stability": 0.7120285347714299, "per_object_best_kinematic_grasp_stability": {"obj_008_pudding_box_2": 0.9301584343806054, "obj_009_gelatin_box_3": 0.978602142134914, "obj_033_spatula_4": 0.4876218684904175, "obj_189_brush_5": 0.9963892486298785}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5639251744225442, "mean_kinematic_stability_score": 0.21902462441231743, "mean_lift_score": 0.5736001878154713, "mean_hold_score": 0.550077767343595, "mean_motion_stability_score": 0.5205578017970779, "mean_duration_score": 0.5914527657132406, "mean_anti_slip_score": 0.649587197245468}, "robot_motion_metrics": {"joint_velocity_rms": 0.6266191691938355, "joint_acceleration_rms": 27.730243131976536, "joint_jerk_rms": 2890.074458715671, "joint_effort_rms": 33.79931874046445}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 3.912822318739045e-05, "safety_violation_rate_time": 3.912822318739045e-05, "safety_violation_rate_event": 3.912822318738506e-05, "safety_violation_step_rate": 3.912822318738506e-05, "safety_violation_events_per_step": 3.912822318738506e-05, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 2, "robot_constraint_diagnostics": 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7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0]}, "joint_limit_active_steps": 677, "joint_limit_hard_episode_events": 20, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 367, "max_joint_limit_excess_rad": 0.9627631902694702, "max_joint_limit_excess_joint": "left_middle_DIP", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_iiwa7_with_sharpa", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 677, "joint_limit_active_step_rate": 0.03635094501718213, "finger_joint_limit_saturation_steps": 367, "finger_joint_limit_saturation_step_rate": 0.019705756013745704, "max_joint_limit_excess_rad": 0.9627631902694702, "max_joint_limit_excess_joint": "left_middle_DIP", "stage_completion": {"place_pudding": true, "place_gelatin": true, "place_spatula": true, "place_brush": true}, "current_stage_completion": {"place_pudding": true, "place_gelatin": true, "place_spatula": true, "place_brush": true}, "stage_first_completion_step": {"place_pudding": 15521, "place_gelatin": 9672, "place_spatula": 18594, "place_brush": 17315}, "violation_counts": {"drop_to_table_obj_033_spatula_4": 1}, "policy_query_count": 129, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 25560, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/summary.json

@@ -0,0 +1,313 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 203200000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 25560,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 318.9055555555739
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 8.710346149155967e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "rigid_pick_place": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 1.0,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 2,
+      "avg_latched_chain_depth": 2
+    },
+    "efficiency": {
+      "task_efficiency": 0.09562566644419018,
+      "expert_time_s": 28.383333333333333,
+      "expert_time_step": 1703,
+      "avg_steps_to_success": 19134.333333333332,
+      "avg_policy_steps_to_success": 6378.333333333333,
+      "avg_policy_queries_to_success": 105
+    },
+    "safety": {
+      "safety_violation_events_per_step": 8.710346149155967e-05,
+      "violation_counts": {
+        "drop_to_table_obj_008_pudding_box_2": 1,
+        "drop_to_table_obj_033_spatula_4": 2,
+        "drop_to_table_obj_189_brush_5": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.050851000818772536,
+      "finger_joint_limit_saturation_step_rate": 0.03374388098183022,
+      "max_joint_limit_excess_rad": 2.900862455368042,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_DIP": 122,
+          "left_index_MCP_FE": 75,
+          "left_index_PIP": 122,
+          "left_middle_DIP": 219,
+          "left_middle_PIP": 27,
+          "left_pinky_CMC": 218,
+          "left_pinky_DIP": 108,
+          "left_ring_DIP": 152,
+          "left_ring_PIP": 13,
+          "left_thumb_CMC_AA": 97,
+          "left_thumb_CMC_FE": 179,
+          "multi_right_index_DIP": 308,
+          "multi_right_index_MCP_FE": 612,
+          "multi_right_index_PIP": 372,
+          "multi_right_middle_DIP": 412,
+          "multi_right_middle_MCP_FE": 172,
+          "multi_right_middle_PIP": 475,
+          "multi_right_pinky_CMC": 101,
+          "multi_right_pinky_DIP": 159,
+          "multi_right_pinky_MCP_AA": 62,
+          "multi_right_pinky_MCP_FE": 108,
+          "multi_right_pinky_PIP": 386,
+          "multi_right_ring_DIP": 434,
+          "multi_right_ring_MCP_AA": 64,
+          "multi_right_ring_MCP_FE": 99,
+          "multi_right_ring_PIP": 487,
+          "multi_right_thumb_CMC_AA": 426,
+          "multi_right_thumb_CMC_FE": 333,
+          "multi_right_thumb_IP": 32,
+          "multi_right_thumb_MCP_FE": 69
+        },
+        "joint_limit_hard_counts": {
+          "left_index_DIP": 1,
+          "left_index_MCP_FE": 42,
+          "left_index_PIP": 20,
+          "left_middle_DIP": 10,
+          "left_middle_PIP": 1,
+          "left_pinky_CMC": 4,
+          "left_pinky_DIP": 6,
+          "left_pinky_PIP": 3,
+          "left_ring_DIP": 4,
+          "left_ring_PIP": 5,
+          "left_thumb_CMC_AA": 9,
+          "left_thumb_CMC_FE": 2,
+          "multi_right_index_DIP": 5,
+          "multi_right_index_MCP_FE": 275,
+          "multi_right_index_PIP": 5,
+          "multi_right_middle_DIP": 7,
+          "multi_right_middle_MCP_FE": 11,
+          "multi_right_middle_PIP": 6,
+          "multi_right_pinky_CMC": 23,
+          "multi_right_pinky_DIP": 3,
+          "multi_right_pinky_MCP_AA": 5,
+          "multi_right_pinky_MCP_FE": 8,
+          "multi_right_pinky_PIP": 9,
+          "multi_right_ring_DIP": 6,
+          "multi_right_ring_MCP_AA": 3,
+          "multi_right_ring_MCP_FE": 6,
+          "multi_right_ring_PIP": 6,
+          "multi_right_thumb_CMC_AA": 26,
+          "multi_right_thumb_CMC_FE": 3,
+          "multi_right_thumb_IP": 1,
+          "multi_right_thumb_MCP_FE": 3
+        },
+        "joint_limit_hard_episode_events": 379,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_DIP": 109,
+          "left_index_MCP_FE": 35,
+          "left_index_PIP": 98,
+          "left_middle_DIP": 197,
+          "left_middle_PIP": 2,
+          "left_pinky_CMC": 180,
+          "left_pinky_DIP": 29,
+          "left_ring_DIP": 133,
+          "left_thumb_CMC_AA": 52,
+          "multi_right_index_DIP": 276,
+          "multi_right_index_MCP_FE": 275,
+          "multi_right_index_PIP": 294,
+          "multi_right_middle_DIP": 377,
+          "multi_right_middle_MCP_FE": 10,
+          "multi_right_middle_PIP": 412,
+          "multi_right_pinky_CMC": 58,
+          "multi_right_pinky_DIP": 145,
+          "multi_right_pinky_MCP_AA": 21,
+          "multi_right_pinky_MCP_FE": 36,
+          "multi_right_pinky_PIP": 303,
+          "multi_right_ring_DIP": 406,
+          "multi_right_ring_MCP_AA": 51,
+          "multi_right_ring_PIP": 409,
+          "multi_right_thumb_CMC_AA": 358,
+          "multi_right_thumb_CMC_FE": 287,
+          "multi_right_thumb_MCP_FE": 50
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_DIP": 0.7631981372833252,
+          "left_index_MCP_AA": 2.2649765014648438e-05,
+          "left_index_MCP_FE": 0.22626057267189026,
+          "left_index_PIP": 0.7826560735702515,
+          "left_middle_DIP": 0.9627631902694702,
+          "left_middle_MCP_AA": 0.0005090236663818359,
+          "left_middle_MCP_FE": 3.49879264831543e-05,
+          "left_middle_PIP": 0.1999097317457199,
+          "left_pinky_CMC": 2.900862455368042,
+          "left_pinky_DIP": 0.33963608741760254,
+          "left_pinky_MCP_AA": 0.002166271209716797,
+          "left_pinky_MCP_FE": 0.0007688850164413452,
+          "left_pinky_PIP": 0.009001978673040867,
+          "left_ring_DIP": 0.45708954334259033,
+          "left_ring_MCP_AA": 0.002366095781326294,
+          "left_ring_MCP_FE": 2.3692846298217773e-05,
+          "left_ring_PIP": 0.057178858667612076,
+          "left_thumb_CMC_AA": 0.14795070886611938,
+          "left_thumb_CMC_FE": 0.12374347448348999,
+          "left_thumb_IP": 0.00015700132644269615,
+          "multi_A5": 1.9550323486328125e-05,
+          "multi_A6": 3.0994415283203125e-06,
+          "multi_right_index_DIP": 1.5347728729248047,
+          "multi_right_index_MCP_AA": 0.0007090568542480469,
+          "multi_right_index_MCP_FE": 0.2952406704425812,
+          "multi_right_index_PIP": 0.953405499458313,
+          "multi_right_middle_DIP": 1.5245301723480225,
+          "multi_right_middle_MCP_AA": 0.002426743507385254,
+          "multi_right_middle_MCP_FE": 0.09755873680114746,
+          "multi_right_middle_PIP": 1.6768627166748047,
+          "multi_right_pinky_CMC": 0.6035921573638916,
+          "multi_right_pinky_DIP": 0.7067175507545471,
+          "multi_right_pinky_MCP_AA": 0.1658201515674591,
+          "multi_right_pinky_MCP_FE": 0.18130618333816528,
+          "multi_right_pinky_PIP": 1.0234969854354858,
+          "multi_right_ring_DIP": 1.638648509979248,
+          "multi_right_ring_MCP_AA": 0.6991322040557861,
+          "multi_right_ring_MCP_FE": 0.059545889496803284,
+          "multi_right_ring_PIP": 1.5016059875488281,
+          "multi_right_thumb_CMC_AA": 0.9160000085830688,
+          "multi_right_thumb_CMC_FE": 0.9682929515838623,
+          "multi_right_thumb_IP": 0.08568894118070602,
+          "multi_right_thumb_MCP_FE": 0.5875681638717651
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 22.424316318858803,
+      "joint_effort_rms": 33.097368177078245,
+      "joint_jerk_rms": 2254.806014259316,
+      "joint_velocity_rms": 0.5782503620319468
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9964746053345441,
+      "mean_kinematic_grasp_stability": 0.7151631966509546,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_008_pudding_box_2": 0.9724519494837591,
+        "obj_009_gelatin_box_3": 0.7801108124242341,
+        "obj_033_spatula_4": 0.822310039024948,
+        "obj_189_brush_5": 0.9899809547292759
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.7065915415396906,
+        "mean_duration_score": 0.5753283779401352,
+        "mean_hold_score": 0.41190931077595083,
+        "mean_kinematic_stability_score": 0.18982632462044519,
+        "mean_legacy_gsi": 0.49075667470930356,
+        "mean_lift_score": 0.4332347895543495,
+        "mean_motion_stability_score": 0.38469187683289363
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 19134.333333333332,
+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/34_fridge_wine_interhand_pour/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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"max_joint_limit_excess_rad": 1.4258047342300415, "max_joint_limit_excess_joint": "left_pinky_pip_joint", "stage_completion": {"open_fridge": true, "take_bottle": true, "pour_wine": true, "return_bottle": false, "close_fridge": false}, "current_stage_completion": {"open_fridge": true, "take_bottle": true, "pour_wine": true, "return_bottle": false, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 311, "take_bottle": 2450, "pour_wine": 21351, "return_bottle": null, "close_fridge": null}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 130, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 32400, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/34_fridge_wine_interhand_pour/Full/summary.json

@@ -0,0 +1,301 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 203400000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 2,
+    "error_count": 1,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 32400,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.6666666666666666,
+      "success_rate_ci": {
+        "mean": 0.6666666666666666,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.8666666666666667
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 297.30833333327735
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.3333333333333333,
+      "safety_violation_step_rate": 8.215306759554401e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.6666666666666666,
+      "at_end_success_rate": 0.6666666666666666,
+      "task_family_success_rate": {
+        "articulation_pour": 0.6666666666666666
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.7333333333333334,
+      "current_chain_depth_progress_score": 0.8666666666666667,
+      "latched_chain_depth_progress_score": 0.8666666666666667,
+      "avg_current_chain_depth": 4.333333333333333,
+      "avg_latched_chain_depth": 4.333333333333333
+    },
+    "efficiency": {
+      "task_efficiency": 0.19290682772586687,
+      "expert_time_s": 36.0,
+      "expert_time_step": 2160,
+      "avg_steps_to_success": 17838.5,
+      "avg_policy_steps_to_success": 5946.5,
+      "avg_policy_queries_to_success": 117
+    },
+    "safety": {
+      "safety_violation_events_per_step": 6.572245407643522e-05,
+      "violation_counts": {
+        "drop_to_table_obj_224_wine_bottle_1": 3,
+        "high_speed_obj_224_wine_bottle_1": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.5336006046465775,
+      "finger_joint_limit_saturation_step_rate": 0.5128651703854622,
+      "max_joint_limit_excess_rad": 2.037945032119751,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_pip_joint": 404,
+          "left_index_pitch_joint": 445,
+          "left_middle_mcp_joint": 4,
+          "left_middle_pip_joint": 575,
+          "left_middle_pitch_joint": 334,
+          "left_pinky_mcp_joint": 670,
+          "left_pinky_pip_joint": 50,
+          "left_ring_mcp_joint": 784,
+          "left_ring_pip_joint": 219,
+          "left_thumb_mcp_joint": 14773,
+          "left_thumb_pip_joint": 125,
+          "right_index_dip_joint": 187,
+          "right_index_mcp_joint": 166,
+          "right_index_pip_joint": 361,
+          "right_index_pitch_joint": 93,
+          "right_middle_dip_joint": 168,
+          "right_middle_mcp_joint": 164,
+          "right_middle_pip_joint": 378,
+          "right_middle_pitch_joint": 94,
+          "right_pinky_dip_joint": 6,
+          "right_pinky_mcp_joint": 140,
+          "right_pinky_pip_joint": 85,
+          "right_ring_dip_joint": 134,
+          "right_ring_mcp_joint": 86,
+          "right_ring_pip_joint": 376,
+          "right_thumb_dip_joint": 89,
+          "right_thumb_mcp_joint": 16730,
+          "right_thumb_pip_joint": 94,
+          "right_thumb_yaw_joint": 70
+        },
+        "joint_limit_hard_counts": {
+          "left_index_pip_joint": 113,
+          "left_index_pitch_joint": 14,
+          "left_middle_mcp_joint": 3,
+          "left_middle_pip_joint": 34,
+          "left_middle_pitch_joint": 11,
+          "left_pinky_mcp_joint": 42,
+          "left_pinky_pip_joint": 14,
+          "left_ring_mcp_joint": 26,
+          "left_ring_pip_joint": 17,
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+          "left_thumb_pip_joint": 3,
+          "left_thumb_yaw_joint": 1,
+          "right_index_dip_joint": 9,
+          "right_index_mcp_joint": 1,
+          "right_index_pip_joint": 4,
+          "right_index_pitch_joint": 4,
+          "right_middle_dip_joint": 22,
+          "right_middle_mcp_joint": 1,
+          "right_middle_pip_joint": 3,
+          "right_middle_pitch_joint": 4,
+          "right_pinky_dip_joint": 1,
+          "right_pinky_mcp_joint": 6,
+          "right_pinky_pip_joint": 2,
+          "right_ring_dip_joint": 12,
+          "right_ring_mcp_joint": 7,
+          "right_ring_pip_joint": 2,
+          "right_thumb_dip_joint": 7,
+          "right_thumb_mcp_joint": 104,
+          "right_thumb_pip_joint": 2,
+          "right_thumb_yaw_joint": 1
+        },
+        "joint_limit_hard_episode_events": 109,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_pip_joint": 278,
+          "left_index_pitch_joint": 332,
+          "left_middle_pip_joint": 328,
+          "left_middle_pitch_joint": 213,
+          "left_pinky_mcp_joint": 419,
+          "left_pinky_pip_joint": 32,
+          "left_ring_mcp_joint": 410,
+          "left_ring_pip_joint": 101,
+          "left_thumb_mcp_joint": 14151,
+          "left_thumb_pip_joint": 115,
+          "right_index_dip_joint": 68,
+          "right_index_mcp_joint": 147,
+          "right_index_pip_joint": 309,
+          "right_index_pitch_joint": 83,
+          "right_middle_dip_joint": 44,
+          "right_middle_mcp_joint": 155,
+          "right_middle_pip_joint": 333,
+          "right_middle_pitch_joint": 63,
+          "right_pinky_mcp_joint": 86,
+          "right_pinky_pip_joint": 48,
+          "right_ring_dip_joint": 64,
+          "right_ring_mcp_joint": 48,
+          "right_ring_pip_joint": 364,
+          "right_thumb_dip_joint": 60,
+          "right_thumb_mcp_joint": 16410,
+          "right_thumb_pip_joint": 74,
+          "right_thumb_yaw_joint": 53
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_dip_joint": 5.554757720460657e-08,
+          "left_index_mcp_joint": 0.00010448694229125977,
+          "left_index_pip_joint": 1.2517415285110474,
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+          "left_ring_mcp_joint": 1.3110204935073853,
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+          "right_middle_dip_joint": 0.338029146194458,
+          "right_middle_mcp_joint": 0.5970035791397095,
+          "right_middle_pip_joint": 1.8758935928344727,
+          "right_middle_pitch_joint": 0.22759053111076355,
+          "right_pinky_dip_joint": 0.22969281673431396,
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+          "right_ring_pip_joint": 2.037945032119751,
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+          "right_thumb_pip_joint": 0.2756539583206177,
+          "right_thumb_yaw_joint": 0.6658437252044678
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 29.072835639072355,
+      "joint_effort_rms": 34.55264017271768,
+      "joint_jerk_rms": 2992.5916284392188,
+      "joint_velocity_rms": 0.7172670538445963
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9048858832400984,
+      "mean_kinematic_grasp_stability": 0.35775300644132646,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_224_wine_bottle_1": 0.9048858832400984
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.1608880372829066,
+        "mean_duration_score": 0.9502697036666086,
+        "mean_hold_score": 0.6525256047927244,
+        "mean_kinematic_stability_score": 0.03401584677547896,
+        "mean_legacy_gsi": 0.5828170892109674,
+        "mean_lift_score": 0.7236528495238828,
+        "mean_motion_stability_score": 0.5731678532673272
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 20287.333333333332,
+      "error_count": 1
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/42_trash_disposal/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 5, "seed": 204200004, "success": true, "steps": 1422, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200004, "base_seed": 204200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan329", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan329_physics/scene.usda", "scene_offset": [0.65, 1.85, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet2841_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet2841.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet2841.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1100.5804893509355, "color": [0.6398941301050951, 0.6498664519761066, 0.7770392830609786], "pitch_deg": -10.04092337411549, "yaw_deg": 8.744582176406766, "angle_deg": 0.6452320423880675}, "dome": {"intensity": 332.2945209173236, "color": [0.9736281971769247, 0.9394971562956465, 0.9835178243042282], "exposure": 0.31701564462551635}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": -0.022517134286358778, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", 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[-0.22865866665199613, 0.11234267650513502, 0.6640156928140162], "rpy_deg": [0.0, 0.0, 4.561083817482265]}, "obj_122_trashcan_6": {"position": [0.0, 0.17, 0.8918705123267213], "rpy_deg": [0.0, 0.0, 86.07116119315316]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "trash_sorting_disposal", "robot_key": "multi_ur5_rh56dfx_with_flange", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 3253, "stable_success_step": 4466, "first_stable_success_step": 4466, "steps_to_stable_success": 4467, "policy_steps_to_stable_success": 1489, "policy_queries_to_stable_success": 44, "time_to_stable_success_s": 74.44999999999706, "expert_time_s": 22.266666666666666, "expert_time_step": 1336, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 3, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 3, "task_efficiency": 0.29908215804791866, "kinematic_grasp_stability_index": 0.9652928548050652, "mean_kinematic_grasp_stability": 0.5322335809401743, "per_object_best_kinematic_grasp_stability": {"obj_080_bottle_3": 0.6654615662383586, "obj_341_banana_peel_1": 0.7059437729830261, "obj_349_paper_low_2": 0.9652928548050652}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5101085669485306, "mean_kinematic_stability_score": 0.29258747785883615, "mean_lift_score": 0.5497350943959406, "mean_hold_score": 0.4077941944630929, "mean_motion_stability_score": 0.3925294626683962, "mean_duration_score": 0.38807054199935187, "mean_anti_slip_score": 0.9104295699326085}, "robot_motion_metrics": {"joint_velocity_rms": 1.2948386519884898, "joint_acceleration_rms": 52.801771158072675, "joint_jerk_rms": 5360.812032654777, "joint_effort_rms": 58.042906921631484}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0006715916722632905, "safety_violation_rate_time": 0.0006715916722632905, "safety_violation_rate_event": 0.00044772778150884264, "safety_violation_step_rate": 0.000671591672263264, "safety_violation_events_per_step": 0.00044772778150884264, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": true, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 19, "left_little_1_joint": 28, "left_middle_1_joint": 104, "left_ring_1_joint": 997, "left_thumb_2_joint": 93, "right_index_1_joint": 347, "right_little_1_joint": 101, "right_little_2_joint": 41, "right_middle_1_joint": 372, "right_middle_2_joint": 10, "right_ring_1_joint": 302, "right_thumb_2_joint": 34, "right_thumb_3_joint": 52, "right_thumb_4_joint": 11}, "joint_limit_hard_counts": {"left_index_1_joint": 7, "left_little_1_joint": 2, "left_middle_1_joint": 3, "left_ring_1_joint": 13, "left_thumb_2_joint": 1, "right_index_1_joint": 11, "right_little_1_joint": 2, "right_little_2_joint": 1, "right_middle_1_joint": 13, "right_middle_2_joint": 4, "right_ring_1_joint": 13, "right_thumb_2_joint": 3, "right_thumb_3_joint": 2, "right_thumb_4_joint": 7}, "finger_joint_limit_saturation_counts": {"left_middle_1_joint": 57, "left_ring_1_joint": 699, "left_thumb_2_joint": 83, "right_index_1_joint": 227, "right_little_1_joint": 71, "right_little_2_joint": 29, "right_middle_1_joint": 226, "right_ring_1_joint": 179, "right_thumb_3_joint": 46}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.10996802151203156, "left_index_2_joint": 7.056729828036623e-06, "left_little_1_joint": 0.09265206754207611, "left_little_2_joint": 1.9262470232206397e-05, "left_middle_1_joint": 0.458725243806839, "left_middle_2_joint": 9.607405081624165e-05, "left_ring_1_joint": 0.9748058319091797, "left_ring_2_joint": 6.401237624231726e-05, "left_thumb_1_joint": 0.0018527209758758545, "left_thumb_2_joint": 0.6838836669921875, "left_thumb_3_joint": 0.0024430155754089355, "left_thumb_4_joint": 0.0017379224300384521, "right_index_1_joint": 0.8125948905944824, "right_index_2_joint": 6.519936141557992e-05, "right_little_1_joint": 1.2053589820861816, "right_little_2_joint": 0.2901369333267212, "right_middle_1_joint": 0.6206005811691284, "right_middle_2_joint": 0.017551619559526443, "right_ring_1_joint": 0.5892412662506104, "right_ring_2_joint": 0.0002627694047987461, "right_thumb_1_joint": 2.45905412157299e-05, "right_thumb_2_joint": 0.06590250879526138, "right_thumb_3_joint": 0.7988921999931335, "right_thumb_4_joint": 0.031613826751708984}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 98, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_middle_1_joint", "role": "finger", "qpos": -0.016787158325314522, "hard_excess_rad": 0.016787158325314522, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.0001337522262474522, "shielded_target": 0.0001337522262474522}, {"joint": "right_ring_1_joint", "role": "finger", "qpos": -0.01904648169875145, "hard_excess_rad": 0.01904648169875145, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.00023495567438658327, "shielded_target": 0.00023495567438658327}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_index_1_joint", "right_little_1_joint", "right_middle_1_joint", "right_ring_1_joint", "right_thumb_1_joint", "right_thumb_2_joint", "left_index_1_joint", "left_little_1_joint", "left_middle_1_joint", "left_ring_1_joint", "left_thumb_1_joint", "left_thumb_2_joint"], "raw_active_action": [2.294081926345825, -1.4674937725067139, -1.5699794292449951, 1.6632909774780273, 1.562464952468872, -0.09541825950145721, -1.5838395357131958, 1.7864376306533813, -0.0035965973511338234, 0.10819220542907715, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14711520075798035, 0.0001337522262474522, 0.00023495567438658327, 0.34261542558670044, 0.3168717324733734, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.0], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_index_1_joint", "right_little_1_joint", "right_middle_1_joint", "right_ring_1_joint", "right_thumb_1_joint", "right_index_2_joint", "right_little_2_joint", "right_middle_2_joint", "right_ring_2_joint", "right_thumb_2_joint", "left_index_1_joint", "left_little_1_joint", "left_middle_1_joint", "left_ring_1_joint", "left_thumb_1_joint", "right_thumb_3_joint", "left_index_2_joint", "left_little_2_joint", "left_middle_2_joint", "left_ring_2_joint", "left_thumb_2_joint", "right_thumb_4_joint", "left_thumb_3_joint", "left_thumb_4_joint"], "expanded_full_target": [2.294081926345825, -1.4674937725067139, -1.5699794292449951, 1.6632909774780273, 1.562464952468872, -0.09541825950145721, -1.5838395357131958, 1.7864376306533813, -0.0035965973511338234, 0.10819220542907715, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14711520075798035, 0.0001337522262474522, 0.00023495567438658327, 0.34261542558670044, -0.15000000596046448, 0.014312967658042908, -0.14985060691833496, -0.14973758161067963, 0.3168717324733734, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.3620259463787079, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.37180909514427185, 0.0, 0.10000000149011612], "shielded_full_target": [2.294081926345825, -1.4674937725067139, -1.5699794292449951, 1.6632909774780273, 1.562464952468872, -0.09541825950145721, -1.5838395357131958, 1.7864376306533813, -0.0035965973511338234, 0.10819220542907715, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.14711520075798035, 0.0001337522262474522, 0.00023495567438658327, 0.34261542558670044, -0.15000000596046448, 0.014312967658042908, -0.14985060691833496, -0.14973758161067963, 0.3168717324733734, 0.004607484210282564, 0.002604363951832056, 0.005371524952352047, 0.004135452676564455, 0.0, 0.3620259463787079, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.37180909514427185, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 1634, "joint_limit_hard_episode_events": 36, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1114, "max_joint_limit_excess_rad": 1.2053589820861816, "max_joint_limit_excess_joint": "right_little_1_joint", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_rh56dfx_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 1634, "joint_limit_active_step_rate": 0.36579359749272444, "finger_joint_limit_saturation_steps": 1114, "finger_joint_limit_saturation_step_rate": 0.24938437430042534, "max_joint_limit_excess_rad": 1.2053589820861816, "max_joint_limit_excess_joint": "right_little_1_joint", "stage_completion": {"place_banana_peel": true, "place_paper": true, "place_bottle": true}, "current_stage_completion": {"place_banana_peel": true, "place_paper": true, "place_bottle": true}, "stage_first_completion_step": {"place_banana_peel": 3253, "place_paper": 3253, "place_bottle": 3253}, "violation_counts": {"high_speed_obj_349_paper_low_2": 1, "drop_to_table_obj_341_banana_peel_1": 1}, "policy_query_count": 44, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 20040, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/42_trash_disposal/Full/summary.json

@@ -0,0 +1,249 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 204200000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      2004,
+      20040
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 41.04999999999895
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 1.0,
+      "safety_violation_step_rate": 0.13249424820679387
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "trash_sorting_disposal": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 1.0,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 3,
+      "avg_latched_chain_depth": 3
+    },
+    "efficiency": {
+      "task_efficiency": 0.7097568749986289,
+      "expert_time_s": 22.266666666666666,
+      "expert_time_step": 1336,
+      "avg_steps_to_success": 2463,
+      "avg_policy_steps_to_success": 821,
+      "avg_policy_queries_to_success": 25
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0013533631073216945,
+      "violation_counts": {
+        "drop_obj_080_bottle_3": 1,
+        "drop_to_table_obj_341_banana_peel_1": 3,
+        "drop_to_table_obj_349_paper_low_2": 1,
+        "high_speed_obj_341_banana_peel_1": 1,
+        "high_speed_obj_349_paper_low_2": 4
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.3298145892542969,
+      "finger_joint_limit_saturation_step_rate": 0.19366626065773446,
+      "max_joint_limit_excess_rad": 1.2053589820861816,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_1_joint": 28,
+          "left_little_1_joint": 51,
+          "left_middle_1_joint": 104,
+          "left_ring_1_joint": 997,
+          "left_thumb_2_joint": 469,
+          "right_index_1_joint": 502,
+          "right_little_1_joint": 101,
+          "right_little_2_joint": 41,
+          "right_middle_1_joint": 433,
+          "right_middle_2_joint": 10,
+          "right_ring_1_joint": 315,
+          "right_thumb_2_joint": 224,
+          "right_thumb_3_joint": 52,
+          "right_thumb_4_joint": 11
+        },
+        "joint_limit_hard_counts": {
+          "left_index_1_joint": 12,
+          "left_little_1_joint": 4,
+          "left_middle_1_joint": 3,
+          "left_ring_1_joint": 13,
+          "left_ring_2_joint": 1,
+          "left_thumb_2_joint": 4,
+          "right_index_1_joint": 15,
+          "right_little_1_joint": 4,
+          "right_little_2_joint": 1,
+          "right_middle_1_joint": 20,
+          "right_middle_2_joint": 4,
+          "right_ring_1_joint": 15,
+          "right_thumb_2_joint": 5,
+          "right_thumb_3_joint": 2,
+          "right_thumb_4_joint": 7
+        },
+        "joint_limit_hard_episode_events": 60,
+        "finger_joint_limit_saturation_counts": {
+          "left_middle_1_joint": 57,
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+}

gpt6_astra_10x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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"l_RFJ2": 269, "l_RFJ3": 34, "l_THJ4": 5, "l_THJ5": 279}, "joint_limit_max_excess_by_joint": {"FFJ1": 2.429483356536366e-05, "FFJ2": 0.0066063678823411465, "FFJ4": 1.195073127746582e-05, "LFJ1": 6.280478555709124e-05, "LFJ2": 0.003818183671683073, "LFJ4": 0.4522991478443146, "LFJ5": 0.0867343321442604, "MFJ1": 0.00032352260313928127, "MFJ2": 0.2385619878768921, "MFJ4": 0.002636343240737915, "RFJ1": 0.003802299965173006, "RFJ2": 0.006569752003997564, "RFJ3": 0.5076636672019958, "RFJ4": 0.05097007751464844, "THJ4": 0.0015579198952764273, "THJ5": 0.2012319564819336, "WRJ2": 0.0005826503038406372, "l_FFJ1": 0.0004558151704259217, "l_FFJ2": 0.5593507885932922, "l_FFJ3": 1.08669114112854, "l_LFJ1": 1.0608473301199073e-11, "l_LFJ2": 0.1648106426000595, "l_LFJ3": 0.6328006982803345, "l_LFJ4": 0.8293830156326294, "l_LFJ5": 0.8733857274055481, "l_MFJ1": 0.0017774862935766578, "l_MFJ2": 1.9151273965835571, "l_MFJ3": 0.3988659381866455, "l_MFJ4": 0.7785158157348633, "l_RFJ1": 0.0020644264295697212, "l_RFJ2": 1.4461613893508911, "l_RFJ3": 0.6890462040901184, "l_RFJ4": 0.0005923211574554443, "l_THJ4": 0.48309290409088135, "l_THJ5": 1.384023666381836, "l_WRJ1": 0.054169803857803345, "l_WRJ2": 0.4654872417449951}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 3, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "l_THJ4", "role": "finger", "qpos": -0.015564179047942162, "hard_excess_rad": 0.015564179047942162, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.221730351448059, "operating_lower": 0.0, "operating_upper": 1.221730351448059, "expanded_target": 0.00989668257534504, "shielded_target": 0.00989668257534504}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "WRJ2", "WRJ1", "l_WRJ2", "FFJ4", "MFJ4", "RFJ4", "THJ5", "l_WRJ1", "FFJ3", "LFJ4", "MFJ3", "RFJ3", "THJ4", "l_FFJ4", "l_MFJ4", "l_RFJ4", "l_THJ5", "FFJ2", "LFJ3", "MFJ2", "RFJ2", "l_FFJ3", "l_LFJ4", "l_MFJ3", "l_RFJ3", "l_THJ4", "FFJ1", "LFJ2", "MFJ1", "RFJ1", "THJ2", "l_FFJ2", "l_LFJ3", "l_MFJ2", "l_RFJ2", "LFJ1", "THJ1", "l_FFJ1", "l_LFJ2", "l_MFJ1", "l_RFJ1", "l_THJ2", "l_LFJ1", "l_THJ1"], "raw_active_action": [1.9635411500930786, -1.782212495803833, -2.4136738777160645, 2.244244337081909, 1.5302287340164185, -0.8396329879760742, -2.13385009765625, 1.5900328159332275, 0.8499378561973572, 0.0911286324262619, -1.9489895105361938, 0.31339144706726074, -0.14755403995513916, 0.14592494070529938, -0.3907719850540161, -0.08985880762338638, -0.0021354006603360176, 0.03197638690471649, -0.32649505138397217, 0.0543893501162529, -0.030807863920927048, 0.09321107715368271, 0.04059223458170891, -0.03367762640118599, 0.004821628797799349, 0.17781634628772736, 0.2495061606168747, -0.2542210817337036, -0.8296290636062622, 0.007536537945270538, -0.0943799838423729, 0.009906729683279991, 0.006673384457826614, 4.026928945677355e-05, -0.3098621368408203, -0.06876077502965927, -0.12867788970470428, 0.00989668257534504, 0.0016802778700366616, 0.035896431654691696, 0.0019680215045809746, 0.0015959657030180097, 0.5889025926589966, 0.01215643621981144, -0.09324977546930313, 0.0056038727052509785, 0.0043967897072434425, 0.009113989770412445, 0.036148279905319214, 0.00040473995613865554, 0.12575888633728027, 0.0006580963381566107, 0.00024192359705921263, 0.502539336681366, 0.07465947419404984, 0.027925075963139534], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "WRJ2", "WRJ1", "l_WRJ2", "FFJ4", "LFJ5", "MFJ4", "RFJ4", "THJ5", "l_WRJ1", "FFJ3", "LFJ4", "MFJ3", "RFJ3", "THJ4", "l_FFJ4", "l_LFJ5", "l_MFJ4", "l_RFJ4", "l_THJ5", "FFJ2", "LFJ3", "MFJ2", "RFJ2", "THJ3", "l_FFJ3", "l_LFJ4", "l_MFJ3", "l_RFJ3", "l_THJ4", "FFJ1", "LFJ2", "MFJ1", "RFJ1", "THJ2", "l_FFJ2", "l_LFJ3", "l_MFJ2", "l_RFJ2", "l_THJ3", "LFJ1", "THJ1", "l_FFJ1", "l_LFJ2", "l_MFJ1", "l_RFJ1", "l_THJ2", "l_LFJ1", "l_THJ1"], "expanded_full_target": [1.9635411500930786, -1.782212495803833, -2.4136738777160645, 2.244244337081909, 1.5302287340164185, -0.8396329879760742, -2.13385009765625, 1.5900328159332275, 0.8499378561973572, 0.0911286324262619, -1.9489895105361938, 0.31339144706726074, -0.14755403995513916, 0.14592494070529938, -0.3907719850540161, -0.08985880762338638, 0.0, -0.0021354006603360176, 0.03197638690471649, -0.32649505138397217, 0.0543893501162529, -0.030807863920927048, 0.09321107715368271, 0.04059223458170891, -0.03367762640118599, 0.004821628797799349, 0.17781634628772736, 0.0, 0.2495061606168747, -0.2542210817337036, -0.8296290636062622, 0.007536537945270538, -0.0943799838423729, 0.009906729683279991, 0.006673384457826614, 0.0, 4.026928945677355e-05, -0.3098621368408203, -0.06876077502965927, -0.12867788970470428, 0.00989668257534504, 0.0016802778700366616, 0.035896431654691696, 0.0019680215045809746, 0.0015959657030180097, 0.5889025926589966, 0.01215643621981144, -0.09324977546930313, 0.0056038727052509785, 0.0043967897072434425, 0.0, 0.009113989770412445, 0.036148279905319214, 0.00040473995613865554, 0.12575888633728027, 0.0006580963381566107, 0.00024192359705921263, 0.502539336681366, 0.07465947419404984, 0.027925075963139534], "shielded_full_target": [1.9635411500930786, -1.782212495803833, -2.4136738777160645, 2.244244337081909, 1.5302287340164185, -0.8396329879760742, -2.13385009765625, 1.5900328159332275, 0.8499378561973572, 0.0911286324262619, -1.9489895105361938, 0.31339144706726074, -0.14755403995513916, 0.14592494070529938, -0.3907719850540161, -0.08985880762338638, 0.0, -0.0021354006603360176, 0.03197638690471649, -0.32649505138397217, 0.0543893501162529, -0.030807863920927048, 0.09321107715368271, 0.04059223458170891, -0.03367762640118599, 0.004821628797799349, 0.17781634628772736, 0.0, 0.2495061606168747, -0.2542210817337036, -0.8296290636062622, 0.007536537945270538, -0.0943799838423729, 0.009906729683279991, 0.006673384457826614, 0.0, 4.026928945677355e-05, -0.3098621368408203, -0.06876077502965927, -0.12867788970470428, 0.00989668257534504, 0.0016802778700366616, 0.035896431654691696, 0.0019680215045809746, 0.0015959657030180097, 0.5889025926589966, 0.01215643621981144, -0.09324977546930313, 0.0056038727052509785, 0.0043967897072434425, 0.0, 0.009113989770412445, 0.036148279905319214, 0.00040473995613865554, 0.12575888633728027, 0.0006580963381566107, 0.00024192359705921263, 0.502539336681366, 0.07465947419404984, 0.027925075963139534]}, "joint_limit_active_steps": 1537, "joint_limit_hard_episode_events": 100, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1111, "max_joint_limit_excess_rad": 1.9151273965835571, "max_joint_limit_excess_joint": "l_MFJ2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_shadow_hand_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 1537, "joint_limit_active_step_rate": 0.12009689013908423, "finger_joint_limit_saturation_steps": 1111, "finger_joint_limit_saturation_step_rate": 0.08681043913111423, "max_joint_limit_excess_rad": 1.9151273965835571, "max_joint_limit_excess_joint": "l_MFJ2", "stage_completion": {"open_fridge": true, "place_banana": true, "place_apple": true, "close_fridge": true}, "current_stage_completion": {"open_fridge": false, "place_banana": true, "place_apple": true, "close_fridge": true}, "stage_first_completion_step": {"open_fridge": 1726, "place_banana": 10061, "place_apple": 6062, "close_fridge": 12768}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1, "high_speed_obj_013_apple_1": 1, "drop_to_table_obj_013_apple_1": 1}, "policy_query_count": 88, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 41250, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/summary.json

@@ -0,0 +1,319 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 204300000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 2,
+    "error_count": 1,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      41250,
+      4125
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.6666666666666666,
+      "success_rate_ci": {
+        "mean": 0.6666666666666666,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.8333333333333334
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 135.55833333336327
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.6666666666666666,
+      "safety_violation_step_rate": 0.0005268877399809003
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.6666666666666666,
+      "at_end_success_rate": 0.6666666666666666,
+      "task_family_success_rate": {
+        "articulation_multi": 0.6666666666666666
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.6666666666666666,
+      "current_chain_depth_progress_score": 0.8888888888888888,
+      "latched_chain_depth_progress_score": 0.8888888888888888,
+      "avg_current_chain_depth": 2.6666666666666665,
+      "avg_latched_chain_depth": 2.6666666666666665
+    },
+    "efficiency": {
+      "task_efficiency": 0.5038064916365983,
+      "expert_time_s": 45.833333333333336,
+      "expert_time_step": 2750,
+      "avg_steps_to_success": 8133.5,
+      "avg_policy_steps_to_success": 2711.5,
+      "avg_policy_queries_to_success": 56
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00029637435373925644,
+      "violation_counts": {
+        "drop_to_table_obj_011_banana_2": 3,
+        "drop_to_table_obj_013_apple_1": 2,
+        "high_speed_obj_013_apple_1": 4
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.11505911021832911,
+      "finger_joint_limit_saturation_step_rate": 0.0756742516547568,
+      "max_joint_limit_excess_rad": 1.9151273965835571,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "FFJ2": 55,
+          "FFJ3": 88,
+          "LFJ2": 26,
+          "LFJ3": 18,
+          "LFJ4": 73,
+          "LFJ5": 180,
+          "MFJ1": 16,
+          "MFJ2": 198,
+          "MFJ3": 43,
+          "MFJ4": 5,
+          "RFJ1": 15,
+          "RFJ2": 194,
+          "RFJ3": 52,
+          "RFJ4": 15,
+          "THJ1": 44,
+          "THJ3": 28,
+          "THJ4": 65,
+          "THJ5": 187,
+          "l_FFJ2": 278,
+          "l_FFJ3": 719,
+          "l_LFJ2": 247,
+          "l_LFJ3": 462,
+          "l_LFJ4": 80,
+          "l_LFJ5": 1057,
+          "l_MFJ2": 711,
+          "l_MFJ3": 361,
+          "l_MFJ4": 35,
+          "l_RFJ2": 936,
+          "l_RFJ3": 152,
+          "l_THJ4": 61,
+          "l_THJ5": 494,
+          "l_WRJ1": 54,
+          "l_WRJ2": 169
+        },
+        "joint_limit_hard_counts": {
+          "FFJ2": 9,
+          "FFJ3": 2,
+          "LFJ1": 1,
+          "LFJ2": 2,
+          "LFJ3": 7,
+          "LFJ4": 7,
+          "LFJ5": 33,
+          "MFJ1": 2,
+          "MFJ2": 14,
+          "MFJ3": 3,
+          "MFJ4": 2,
+          "RFJ1": 3,
+          "RFJ2": 9,
+          "RFJ3": 5,
+          "RFJ4": 6,
+          "THJ1": 1,
+          "THJ3": 1,
+          "THJ4": 2,
+          "THJ5": 19,
+          "l_FFJ2": 125,
+          "l_FFJ3": 22,
+          "l_LFJ2": 12,
+          "l_LFJ3": 11,
+          "l_LFJ4": 5,
+          "l_LFJ5": 134,
+          "l_MFJ2": 103,
+          "l_MFJ3": 28,
+          "l_MFJ4": 3,
+          "l_RFJ2": 115,
+          "l_RFJ3": 26,
+          "l_RFJ4": 1,
+          "l_THJ4": 47,
+          "l_THJ5": 29,
+          "l_WRJ1": 4,
+          "l_WRJ2": 47
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+        "joint_limit_hard_episode_events": 197,
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+}

gpt6_astra_10x_icl/per_task_eval/44_microwave_bowl_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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"safety_violation_events_per_step": 0.00016413623307345098, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_hand_Index_Finger_Proximal": 61, "left_hand_Middle_Finger_Proximal": 129, "left_hand_Pinky": 154, "left_hand_Ring_Finger": 114, "left_hand_Thumb_Flexion": 88, "left_hand_j13": 94, "left_hand_j3": 642, "left_hand_j5": 339, "right_hand_Index_Finger_Proximal": 5, "right_hand_Middle_Finger_Proximal": 27, "right_hand_Pinky": 1, "right_hand_Ring_Finger": 2, "right_hand_Thumb_Flexion": 15, "right_hand_j13": 2, "right_hand_j3": 34}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 13, "left_hand_Index_Finger_Proximal": 3, "left_hand_Middle_Finger_Proximal": 5, "left_hand_Pinky": 2, "left_hand_Ring_Finger": 3, "left_hand_Thumb_Flexion": 10, "left_hand_j13": 2, "left_hand_j3": 1, "left_hand_j5": 15, "left_hand_ring_spread": 11, "right_hand_Index_Finger_Distal": 5, "right_hand_Index_Finger_Proximal": 6, "right_hand_Middle_Finger_Distal": 7, "right_hand_Middle_Finger_Proximal": 4, "right_hand_Pinky": 1, "right_hand_Ring_Finger": 1, "right_hand_Thumb_Flexion": 10, "right_hand_j12": 1, "right_hand_j13": 1, "right_hand_j3": 14}, "finger_joint_limit_saturation_counts": {"left_hand_Middle_Finger_Proximal": 64, "left_hand_Pinky": 142, "left_hand_Ring_Finger": 67, "left_hand_Thumb_Flexion": 1, "left_hand_j13": 72, "left_hand_j3": 611, "left_hand_j5": 214, "right_hand_Middle_Finger_Proximal": 15, "right_hand_j3": 19}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.00921088457107544, "left_hand_Index_Finger_Proximal": 0.14296413958072662, "left_hand_Middle_Finger_Proximal": 0.30194491147994995, "left_hand_Pinky": 0.9788976311683655, "left_hand_Ring_Finger": 0.3068400025367737, "left_hand_Thumb_Flexion": 0.11840388178825378, "left_hand_Thumb_Opposition": 0.0003831949143204838, "left_hand_index_spread": 0.002485969103872776, "left_hand_j13": 0.5899029970169067, "left_hand_j14": 3.901387025939673e-12, "left_hand_j15": 1.140336089444638e-12, "left_hand_j16": 8.541977888909535e-12, "left_hand_j17": 7.827029822882192e-12, "left_hand_j3": 0.43114838004112244, "left_hand_j4": 4.035417333625446e-09, "left_hand_j5": 0.4431232810020447, "left_hand_ring_spread": 0.007041598204523325, "right_hand_Finger_Spread": 0.000892653304617852, "right_hand_Index_Finger_Distal": 0.006541088223457336, "right_hand_Index_Finger_Proximal": 0.014413416385650635, "right_hand_Middle_Finger_Distal": 0.006591207347810268, "right_hand_Middle_Finger_Proximal": 0.5611324310302734, "right_hand_Pinky": 0.010315727442502975, "right_hand_Ring_Finger": 0.015359331853687763, "right_hand_Thumb_Flexion": 0.15688978135585785, "right_hand_index_spread": 0.00021322566317394376, "right_hand_j12": 0.007069821935147047, "right_hand_j13": 0.01638295128941536, "right_hand_j14": 0.0032558327075093985, "right_hand_j15": 0.00020888297876808792, "right_hand_j16": 8.439960536010815e-11, "right_hand_j17": 3.214399579842819e-11, "right_hand_j3": 0.3681562542915344, "right_hand_j4": 2.361965698582935e-06, "right_hand_j5": 0.0014980703126639128, "right_hand_ring_spread": 0.0005612110835500062}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 3, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_hand_Pinky", "role": "finger", "qpos": -0.0067388820461928844, "hard_excess_rad": 0.0067388820461928844, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.045029498636722565, "shielded_target": 0.045029498636722565}, {"joint": "right_hand_Ring_Finger", "role": "finger", "qpos": -0.005804895889014006, "hard_excess_rad": 0.005804895889014006, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.039177305996418, "shielded_target": 0.039177305996418}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_hand_Thumb_Opposition", "right_hand_Thumb_Flexion", "right_hand_Index_Finger_Proximal", "right_hand_Finger_Spread", "right_hand_Middle_Finger_Proximal", "left_hand_Thumb_Opposition", "right_hand_Index_Finger_Distal", "right_hand_Pinky", "right_hand_Ring_Finger", "right_hand_Middle_Finger_Distal", "left_hand_Thumb_Flexion", "left_hand_Index_Finger_Proximal", "left_hand_Finger_Spread", "left_hand_Middle_Finger_Proximal", "left_hand_Index_Finger_Distal", "left_hand_Pinky", "left_hand_Ring_Finger", "left_hand_Middle_Finger_Distal"], "raw_active_action": [1.602288007736206, -1.5966390371322632, -1.6175545454025269, 1.634803295135498, 1.5815914869308472, -0.040994446724653244, -1.5671019554138184, 1.6120434999465942, -0.01626965031027794, 0.006676980294287205, -1.5773969888687134, -0.003514232812449336, 0.01274972502142191, 0.01104455441236496, 0.08897728472948074, 0.0, 0.0738702267408371, 0.0, 0.006002191454172134, 0.045029498636722565, 0.039177305996418, 0.00923159159719944, -0.045848049223423004, 0.035456232726573944, 0.0, 0.0301118902862072, 0.05425191670656204, 0.056303005665540695, 0.041113998740911484, 0.06772653013467789], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "right_hand_Thumb_Opposition", "right_hand_index_spread", "right_hand_j5", "right_hand_Thumb_Flexion", "right_hand_Index_Finger_Proximal", "right_hand_Finger_Spread", "right_hand_ring_spread", "right_hand_Middle_Finger_Proximal", "left_hand_Thumb_Opposition", "left_hand_index_spread", "left_hand_j5", "right_hand_j3", "right_hand_Index_Finger_Distal", "right_hand_Pinky", "right_hand_Ring_Finger", "right_hand_Middle_Finger_Distal", "left_hand_Thumb_Flexion", "left_hand_Index_Finger_Proximal", "left_hand_Finger_Spread", "left_hand_ring_spread", "left_hand_Middle_Finger_Proximal", "right_hand_j4", "right_hand_j14", "right_hand_j13", "right_hand_j12", "right_hand_j15", "left_hand_j3", "left_hand_Index_Finger_Distal", "left_hand_Pinky", "left_hand_Ring_Finger", "left_hand_Middle_Finger_Distal", "right_hand_j17", "right_hand_j16", "left_hand_j4", "left_hand_j14", "left_hand_j13", "left_hand_j12", "left_hand_j15", "left_hand_j17", "left_hand_j16"], "expanded_full_target": [1.602288007736206, -1.5966390371322632, -1.6175545454025269, 1.634803295135498, 1.5815914869308472, -0.040994446724653244, -1.5671019554138184, 1.6120434999465942, -0.01626965031027794, 0.006676980294287205, -1.5773969888687134, -0.003514232812449336, 0.01274972502142191, 0.0, 0.01274972502142191, 0.01104455441236496, 0.08897728472948074, 0.0, 0.0, 0.0738702267408371, 0.0, 0.0, 0.0, 0.011211437173187733, 0.006002191454172134, 0.045029498636722565, 0.039177305996418, 0.00923159159719944, -0.045848049223423004, 0.035456232726573944, 0.0, 0.0, 0.0301118902862072, 0.016002343967556953, 0.006272289901971817, 0.061186082661151886, 0.053234122693538666, 0.009650706313550472, -0.04654081165790558, 0.05425191670656204, 0.056303005665540695, 0.041113998740911484, 0.06772653013467789, 0.0640801265835762, 0.05566820874810219, -0.0664287805557251, 0.05669325217604637, 0.07650452107191086, 0.05586570128798485, 0.07080131769180298, 0.08012311905622482, 0.05842011421918869], "shielded_full_target": [1.602288007736206, -1.5966390371322632, -1.6175545454025269, 1.634803295135498, 1.5815914869308472, -0.040994446724653244, -1.5671019554138184, 1.6120434999465942, -0.01626965031027794, 0.006676980294287205, -1.5773969888687134, -0.003514232812449336, 0.01274972502142191, 0.0, 0.01274972502142191, 0.01104455441236496, 0.08897728472948074, 0.0, 0.0, 0.0738702267408371, 0.0, 0.0, 0.0, 0.011211437173187733, 0.006002191454172134, 0.045029498636722565, 0.039177305996418, 0.00923159159719944, -0.045848049223423004, 0.035456232726573944, 0.0, 0.0, 0.0301118902862072, 0.016002343967556953, 0.006272289901971817, 0.061186082661151886, 0.053234122693538666, 0.009650706313550472, -0.04654081165790558, 0.05425191670656204, 0.056303005665540695, 0.041113998740911484, 0.06772653013467789, 0.0640801265835762, 0.05566820874810219, -0.0664287805557251, 0.05669325217604637, 0.07650452107191086, 0.05586570128798485, 0.07080131769180298, 0.08012311905622482, 0.05842011421918869]}, "joint_limit_active_steps": 1418, "joint_limit_hard_episode_events": 51, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1129, "max_joint_limit_excess_rad": 0.9788976311683655, "max_joint_limit_excess_joint": "left_hand_Pinky", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_ur5_schunk_hand_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 1418, "joint_limit_active_step_rate": 0.11637258924907673, "finger_joint_limit_saturation_steps": 1129, "finger_joint_limit_saturation_step_rate": 0.09265490356996307, "max_joint_limit_excess_rad": 0.9788976311683655, "max_joint_limit_excess_joint": "left_hand_Pinky", "stage_completion": {"open_door": true, "baguette_in_bowl": true, "loaded_bowl_in_mw": true, "close_door": true}, "current_stage_completion": {"open_door": false, "baguette_in_bowl": true, "loaded_bowl_in_mw": true, "close_door": true}, "stage_first_completion_step": {"open_door": 292, "baguette_in_bowl": 2399, "loaded_bowl_in_mw": 10902, "close_door": 12155}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1, "drop_to_table_obj_024_bowl_3": 1}, "policy_query_count": 57, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 31830, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/44_microwave_bowl_loading/Full/summary.json

@@ -0,0 +1,276 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 204400000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      3183,
+      31830
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 133.9500000000221
+    },
+    "safety": {
+      "safe_success_rate": 0.3333333333333333,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.6666666666666666,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00016589938202480196
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "articulation_door_place": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.75,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 4,
+      "avg_latched_chain_depth": 4
+    },
+    "efficiency": {
+      "task_efficiency": 0.3926878687064831,
+      "expert_time_s": 35.36666666666667,
+      "expert_time_step": 2122,
+      "avg_steps_to_success": 8037,
+      "avg_policy_steps_to_success": 2679.3333333333335,
+      "avg_policy_queries_to_success": 52
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00016589938202480196,
+      "violation_counts": {
+        "drop_to_table_obj_024_bowl_3": 2,
+        "drop_to_table_obj_163_baguette_1": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.12089917465057443,
+      "finger_joint_limit_saturation_step_rate": 0.06499108290821616,
+      "max_joint_limit_excess_rad": 1.5071290731430054,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_hand_Index_Finger_Distal": 10,
+          "left_hand_Index_Finger_Proximal": 303,
+          "left_hand_Middle_Finger_Distal": 5,
+          "left_hand_Middle_Finger_Proximal": 323,
+          "left_hand_Pinky": 221,
+          "left_hand_Ring_Finger": 320,
+          "left_hand_Thumb_Flexion": 350,
+          "left_hand_j13": 133,
+          "left_hand_j3": 860,
+          "left_hand_j5": 419,
+          "right_hand_Index_Finger_Distal": 559,
+          "right_hand_Index_Finger_Proximal": 6,
+          "right_hand_Middle_Finger_Proximal": 28,
+          "right_hand_Pinky": 1,
+          "right_hand_Ring_Finger": 2,
+          "right_hand_Thumb_Flexion": 93,
+          "right_hand_j13": 2,
+          "right_hand_j3": 67
+        },
+        "joint_limit_hard_counts": {
+          "left_hand_Finger_Spread": 30,
+          "left_hand_Index_Finger_Distal": 1,
+          "left_hand_Index_Finger_Proximal": 7,
+          "left_hand_Middle_Finger_Distal": 1,
+          "left_hand_Middle_Finger_Proximal": 13,
+          "left_hand_Pinky": 6,
+          "left_hand_Ring_Finger": 12,
+          "left_hand_Thumb_Flexion": 15,
+          "left_hand_index_spread": 1,
+          "left_hand_j12": 1,
+          "left_hand_j13": 7,
+          "left_hand_j3": 6,
+          "left_hand_j5": 47,
+          "left_hand_ring_spread": 20,
+          "right_hand_Index_Finger_Distal": 8,
+          "right_hand_Index_Finger_Proximal": 9,
+          "right_hand_Middle_Finger_Distal": 9,
+          "right_hand_Middle_Finger_Proximal": 12,
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+  }
+}

gpt6_astra_10x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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0.4075672924518585, -1.3799725770950317, -0.12948286533355713, 0.3071521520614624, 0.0, -2.442999839782715, 0.0, 0.0, 0.5988444089889526, 1.265234112739563, 0.34897345304489136, 0.09420087188482285, -0.42443355917930603, -0.0010000000474974513, -0.14699211716651917, -0.36212557554244995, 0.0, 0.029921576380729675, 0.0, 0.0, -0.35322824120521545, -1.340000033378601, -0.08837058395147324, -0.3517330586910248, -0.14158710837364197, 1.2920901775360107, 0.00795035157352686, -0.0646907314658165, -0.2642826735973358, -0.014973497949540615, -0.01744353398680687, -0.05347539857029915], "shielded_full_target": [-1.6205569505691528, -1.4500936269760132, 1.5227601528167725, -0.056221168488264084, -1.4333863258361816, -2.0814170837402344, -0.030621366575360298, 1.2352473735809326, -2.1579442024230957, 0.6685262322425842, 1.791901707649231, -1.1694926023483276, 0.8670746684074402, -1.4243323802947998, 0.4075672924518585, -1.3799725770950317, -0.12948286533355713, 0.3071521520614624, 0.0, -2.442999839782715, 0.0, 0.0, 0.5988444089889526, 1.265234112739563, 0.34897345304489136, 0.09420087188482285, -0.42443355917930603, -0.0010000000474974513, -0.14699211716651917, -0.36212557554244995, 0.0, 0.029921576380729675, 0.0, 0.0, -0.35322824120521545, -1.340000033378601, -0.08837058395147324, -0.3517330586910248, -0.14158710837364197, 1.2920901775360107, 0.00795035157352686, -0.0646907314658165, -0.2642826735973358, -0.014973497949540615, -0.01744353398680687, -0.05347539857029915]}, "joint_limit_active_steps": 173, "joint_limit_hard_episode_events": 40, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 62, "max_joint_limit_excess_rad": 1.1876262426376343, "max_joint_limit_excess_joint": "leap_l_10", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_xarm7_with_leap", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 173, "joint_limit_active_step_rate": 0.055896607431340874, "finger_joint_limit_saturation_steps": 62, "finger_joint_limit_saturation_step_rate": 0.020032310177705976, "max_joint_limit_excess_rad": 1.1876262426376343, "max_joint_limit_excess_joint": "leap_l_10", "stage_completion": {"open_lid": true, "pour_cleaner": true, "close_lid": true}, "current_stage_completion": {"open_lid": false, "pour_cleaner": true, "close_lid": true}, "stage_first_completion_step": {"open_lid": 326, "pour_cleaner": 1047, "close_lid": 3065}, "violation_counts": {"high_speed_obj_021_bleach_cleanser_2": 1, "drop_to_table_obj_021_bleach_cleanser_2": 1}, "policy_query_count": 40, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 30690, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/summary.json

@@ -0,0 +1,229 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 205100000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 2,
+    "error_count": 1,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      3069,
+      30690
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.6666666666666666,
+      "success_rate_ci": {
+        "mean": 0.6666666666666666,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.7777777777777778
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 39.76666666666569
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.6666666666666666,
+      "high_speed_violation_rate": 0.3333333333333333,
+      "safety_violation_step_rate": 0.0005429864253393666
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.6666666666666666,
+      "at_end_success_rate": 0.6666666666666666,
+      "task_family_success_rate": {
+        "articulation_multi": 0.6666666666666666
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.4444444444444444,
+      "current_chain_depth_progress_score": 0.6666666666666666,
+      "latched_chain_depth_progress_score": 0.7777777777777778,
+      "avg_current_chain_depth": 2,
+      "avg_latched_chain_depth": 2.3333333333333335
+    },
+    "efficiency": {
+      "task_efficiency": 0.9405510070198224,
+      "expert_time_s": 34.1,
+      "expert_time_step": 2046,
+      "avg_steps_to_success": 2386,
+      "avg_policy_steps_to_success": 795.5,
+      "avg_policy_queries_to_success": 30
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0005429864253393666,
+      "violation_counts": {
+        "drop_to_table_obj_021_bleach_cleanser_2": 2,
+        "high_speed_obj_021_bleach_cleanser_2": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.12018099547511313,
+      "finger_joint_limit_saturation_step_rate": 0.05719457013574661,
+      "max_joint_limit_excess_rad": 1.451590657234192,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "leap_l_1": 23,
+          "leap_l_10": 286,
+          "leap_l_11": 13,
+          "leap_l_12": 132,
+          "leap_l_13": 56,
+          "leap_l_2": 224,
+          "leap_l_6": 80,
+          "multi_leap_r_1": 3,
+          "multi_leap_r_10": 24,
+          "multi_leap_r_2": 1,
+          "multi_leap_r_6": 10,
+          "multi_leap_r_9": 87
+        },
+        "joint_limit_hard_counts": {
+          "leap_l_1": 2,
+          "leap_l_10": 47,
+          "leap_l_11": 13,
+          "leap_l_12": 15,
+          "leap_l_13": 2,
+          "leap_l_2": 54,
+          "leap_l_6": 2,
+          "multi_leap_r_1": 3,
+          "multi_leap_r_10": 4,
+          "multi_leap_r_2": 4,
+          "multi_leap_r_5": 1,
+          "multi_leap_r_6": 1,
+          "multi_leap_r_9": 6
+        },
+        "joint_limit_hard_episode_events": 92,
+        "finger_joint_limit_saturation_counts": {
+          "leap_l_10": 149,
+          "leap_l_12": 94,
+          "leap_l_13": 20,
+          "leap_l_2": 46,
+          "leap_l_6": 45,
+          "multi_leap_r_9": 42
+        },
+        "joint_limit_max_excess_by_joint": {
+          "leap_l_1": 0.17895600199699402,
+          "leap_l_10": 1.451590657234192,
+          "leap_l_11": 0.21100544929504395,
+          "leap_l_12": 0.7317605018615723,
+          "leap_l_13": 0.5815486907958984,
+          "leap_l_15": 0.0019606351852416992,
+          "leap_l_2": 1.0991473197937012,
+          "leap_l_3": 0.0019458532333374023,
+          "leap_l_6": 0.37968534231185913,
+          "multi_leap_r_1": 0.015098214149475098,
+          "multi_leap_r_10": 0.2028316855430603,
+          "multi_leap_r_2": 0.011136114597320557,
+          "multi_leap_r_3": 0.003427267074584961,
+          "multi_leap_r_5": 0.0071946680545806885,
+          "multi_leap_r_6": 0.11723065376281738,
+          "multi_leap_r_9": 0.8334408402442932
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 28.789713411315535,
+      "joint_effort_rms": 76.98027714609894,
+      "joint_jerk_rms": 2862.981753444645,
+      "joint_velocity_rms": 0.9222833086037919
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.6471903039047936,
+      "mean_kinematic_grasp_stability": 0.3759286010816436,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_021_bleach_cleanser_2": 0.6471903039047936
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.8402570942226203,
+        "mean_duration_score": 0.3129952720702993,
+        "mean_hold_score": 0.23396795120655864,
+        "mean_kinematic_stability_score": 0.12628355770794183,
+        "mean_legacy_gsi": 0.37671173355341403,
+        "mean_lift_score": 0.31029279212019567,
+        "mean_motion_stability_score": 0.23527079798930503
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": 0.6666666666666666,
+      "tool_switch_success_rate": 0.0,
+      "tool_switch_total": 8,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 1841.6666666666667,
+      "error_count": 1
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 5, "seed": 206000004, "success": true, "steps": 12717, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206000004, "base_seed": 206000000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan315", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan315_physics/scene.usda", "scene_offset": [1.7814, -0.84301, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_flooring_flooring0166_jpg", "asset_uri": "dex2bench_dataset/textures/flooring/flooring0166.jpg", "asset_category": "flooring", "asset_id": "flooring/flooring0166.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1175.69862909946, "color": [0.9633580375401197, 0.4863087965386028, 0.4032396368375116], "pitch_deg": -20.999774995903064, "yaw_deg": -56.32537950865319, "angle_deg": 0.9308194093895303}, "dome": {"intensity": 280.39772370257253, "color": [0.972309345687582, 0.8995397215188407, 0.8793485277117772], "exposure": -0.2302997934160813}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.02022875339433508, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", 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"joint_role_manifest_robot_key": "multi_ur5_rh5dg2_with_flange", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 423, "joint_limit_active_step_rate": 0.11199364575059571, "finger_joint_limit_saturation_steps": 361, "finger_joint_limit_saturation_step_rate": 0.09557850145618216, "max_joint_limit_excess_rad": 1.7652851343154907, "max_joint_limit_excess_joint": "right_thumb_pip_joint", "stage_completion": {"place_1": false, "place_2": false, "place_3": false, "place_4": false}, "current_stage_completion": {"place_1": false, "place_2": false, "place_3": false, "place_4": false}, "stage_first_completion_step": {"place_1": null, "place_2": null, "place_3": null, "place_4": null}, "violation_counts": {"drop_to_table_obj_182_bread_4": 1, "drop_to_table_obj_163_baguette_5": 1, "drop_obj_182_bread_4": 1, "drop_obj_163_baguette_5": 1, "high_speed_obj_182_bread_4": 1, "high_speed_obj_163_baguette_5": 1, "high_speed_obj_183_breadbasket_1": 1}, "policy_query_count": 33, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 29850, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/summary.json

@@ -0,0 +1,305 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 206000000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 2,
+    "error_count": 1,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 29850,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.6666666666666666,
+      "success_rate_ci": {
+        "mean": 0.6666666666666666,
+        "ci_low": 0.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.6666666666666666
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 277.5166666667054
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.3333333333333333,
+      "safety_violation_step_rate": 0.005825399822001672
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.6666666666666666,
+      "at_end_success_rate": 0.6666666666666666,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.6666666666666666
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.6666666666666666,
+      "current_chain_depth_progress_score": 0.6666666666666666,
+      "latched_chain_depth_progress_score": 0.6666666666666666,
+      "avg_current_chain_depth": 2.6666666666666665,
+      "avg_latched_chain_depth": 2.6666666666666665
+    },
+    "efficiency": {
+      "task_efficiency": 0.12651428380862184,
+      "expert_time_s": 33.15,
+      "expert_time_step": 1989,
+      "avg_steps_to_success": 16651,
+      "avg_policy_steps_to_success": 5550.5,
+      "avg_policy_queries_to_success": 90.5
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.0003506027670649154,
+      "violation_counts": {
+        "drop_obj_163_baguette_5": 1,
+        "drop_obj_182_bread_4": 1,
+        "drop_to_table_obj_128_hamburg_3": 2,
+        "drop_to_table_obj_163_baguette_5": 3,
+        "drop_to_table_obj_182_bread_4": 3,
+        "high_speed_obj_163_baguette_5": 1,
+        "high_speed_obj_182_bread_4": 1,
+        "high_speed_obj_183_breadbasket_1": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.2682920251355215,
+      "finger_joint_limit_saturation_step_rate": 0.2433452897866717,
+      "max_joint_limit_excess_rad": 1.7652851343154907,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_dip_joint": 135,
+          "left_index_pip_joint": 89,
+          "left_index_pitch_joint": 256,
+          "left_middle_dip_joint": 206,
+          "left_middle_pip_joint": 192,
+          "left_middle_pitch_joint": 331,
+          "left_pinky_mcp_joint": 27,
+          "left_ring_dip_joint": 131,
+          "left_ring_mcp_joint": 288,
+          "left_ring_pip_joint": 113,
+          "left_thumb_mcp_joint": 6478,
+          "right_index_dip_joint": 13,
+          "right_index_mcp_joint": 20,
+          "right_index_pip_joint": 155,
+          "right_index_pitch_joint": 727,
+          "right_middle_dip_joint": 18,
+          "right_middle_mcp_joint": 4,
+          "right_middle_pip_joint": 371,
+          "right_middle_pitch_joint": 852,
+          "right_pinky_dip_joint": 4,
+          "right_pinky_mcp_joint": 1240,
+          "right_pinky_pip_joint": 111,
+          "right_ring_dip_joint": 27,
+          "right_ring_mcp_joint": 793,
+          "right_ring_pip_joint": 599,
+          "right_thumb_dip_joint": 96,
+          "right_thumb_mcp_joint": 1174,
+          "right_thumb_pip_joint": 69
+        },
+        "joint_limit_hard_counts": {
+          "left_index_dip_joint": 1,
+          "left_index_pip_joint": 8,
+          "left_index_pitch_joint": 2,
+          "left_middle_dip_joint": 1,
+          "left_middle_pip_joint": 6,
+          "left_middle_pitch_joint": 6,
+          "left_pinky_mcp_joint": 4,
+          "left_ring_dip_joint": 1,
+          "left_ring_mcp_joint": 4,
+          "left_ring_pip_joint": 4,
+          "left_thumb_mcp_joint": 9,
+          "right_index_dip_joint": 1,
+          "right_index_mcp_joint": 2,
+          "right_index_pip_joint": 94,
+          "right_index_pitch_joint": 16,
+          "right_middle_dip_joint": 1,
+          "right_middle_mcp_joint": 1,
+          "right_middle_pip_joint": 34,
+          "right_middle_pitch_joint": 14,
+          "right_pinky_dip_joint": 1,
+          "right_pinky_mcp_joint": 22,
+          "right_pinky_pip_joint": 11,
+          "right_ring_dip_joint": 1,
+          "right_ring_mcp_joint": 14,
+          "right_ring_pip_joint": 60,
+          "right_thumb_dip_joint": 4,
+          "right_thumb_mcp_joint": 16,
+          "right_thumb_pip_joint": 2,
+          "right_thumb_yaw_joint": 1
+        },
+        "joint_limit_hard_episode_events": 82,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_dip_joint": 126,
+          "left_index_pip_joint": 80,
+          "left_index_pitch_joint": 250,
+          "left_middle_dip_joint": 189,
+          "left_middle_pip_joint": 132,
+          "left_middle_pitch_joint": 307,
+          "left_pinky_mcp_joint": 22,
+          "left_ring_dip_joint": 121,
+          "left_ring_mcp_joint": 250,
+          "left_ring_pip_joint": 83,
+          "left_thumb_mcp_joint": 6257,
+          "right_index_dip_joint": 7,
+          "right_index_pip_joint": 15,
+          "right_index_pitch_joint": 529,
+          "right_middle_dip_joint": 15,
+          "right_middle_pip_joint": 125,
+          "right_middle_pitch_joint": 547,
+          "right_pinky_mcp_joint": 872,
+          "right_pinky_pip_joint": 24,
+          "right_ring_dip_joint": 24,
+          "right_ring_mcp_joint": 559,
+          "right_ring_pip_joint": 263,
+          "right_thumb_dip_joint": 73,
+          "right_thumb_mcp_joint": 965,
+          "right_thumb_pip_joint": 60
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_dip_joint": 0.5153017044067383,
+          "left_index_pip_joint": 1.1625536680221558,
+          "left_index_pitch_joint": 1.0960358381271362,
+          "left_middle_dip_joint": 0.43383097648620605,
+          "left_middle_mcp_joint": 2.771615982055664e-06,
+          "left_middle_pip_joint": 0.8336297273635864,
+          "left_middle_pitch_joint": 1.1143581867218018,
+          "left_pinky_dip_joint": 1.1730775440810248e-05,
+          "left_pinky_mcp_joint": 0.43559882044792175,
+          "left_pinky_pip_joint": 0.00016555075126234442,
+          "left_ring_dip_joint": 0.5058364868164062,
+          "left_ring_mcp_joint": 1.0781208276748657,
+          "left_ring_pip_joint": 1.1462198495864868,
+          "left_thumb_dip_joint": 0.00011301581253064796,
+          "left_thumb_mcp_joint": 0.4104498028755188,
+          "left_thumb_pip_joint": 0.00047119325608946383,
+          "left_thumb_yaw_joint": 0.00297143729403615,
+          "right_index_dip_joint": 0.5543527603149414,
+          "right_index_mcp_joint": 0.22716423869132996,
+          "right_index_pip_joint": 0.684090256690979,
+          "right_index_pitch_joint": 1.2199877500534058,
+          "right_middle_dip_joint": 0.8403565883636475,
+          "right_middle_mcp_joint": 0.0468006432056427,
+          "right_middle_pip_joint": 0.4543078541755676,
+          "right_middle_pitch_joint": 1.1670854091644287,
+          "right_pinky_dip_joint": 0.025497933849692345,
+          "right_pinky_mcp_joint": 1.4329684972763062,
+          "right_pinky_pip_joint": 0.43049195408821106,
+          "right_ring_dip_joint": 1.1631813049316406,
+          "right_ring_mcp_joint": 1.2317793369293213,
+          "right_ring_pip_joint": 1.312461018562317,
+          "right_thumb_dip_joint": 1.1205986738204956,
+          "right_thumb_mcp_joint": 1.225667953491211,
+          "right_thumb_pip_joint": 1.7652851343154907,
+          "right_thumb_yaw_joint": 0.0067640733905136585
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 23.356538279004457,
+      "joint_effort_rms": 32.29203187129539,
+      "joint_jerk_rms": 2362.5527408121447,
+      "joint_velocity_rms": 0.6921106379386309
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9375978338000852,
+      "mean_kinematic_grasp_stability": 0.5590701107907702,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_127_french_fries_2": 0.6133771574576599,
+        "obj_128_hamburg_3": 0.614544761733214,
+        "obj_163_baguette_5": 0.7650633502796388,
+        "obj_182_bread_4": 0.8442521007491091
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.6128495621698111,
+        "mean_duration_score": 0.5464074183061652,
+        "mean_hold_score": 0.4164350413560181,
+        "mean_kinematic_stability_score": 0.09791261798707757,
+        "mean_legacy_gsi": 0.46905245087733194,
+        "mean_lift_score": 0.46152577545599555,
+        "mean_motion_stability_score": 0.38370544872922874
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 12359.666666666666,
+      "error_count": 1
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/61_medicine_shoebox_pack/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 5, "seed": 206100004, "success": true, "steps": 6997, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100004, "base_seed": 206100000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 90.0, "base_yaw_deg": 90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan10", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan10_physics/scene.usda", "scene_offset": [-0.73022, 0.88397, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_rust_rust0038_jpg", "asset_uri": 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"command_context_available": true, "active_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "left_wrist", "right_wrist", "left_thumb_mcp", "right_thumb_mcp", "left_index_mcp", "left_middle_mcp", "left_pinky_mcp", "left_ring_mcp", "left_thumb_abd", "right_index_mcp", "right_middle_mcp", "right_pinky_mcp", "right_ring_mcp", "right_thumb_abd", "left_index_pip", "left_middle_pip", "left_pinky_pip", "left_ring_pip", "left_thumb_pip", "right_index_pip", "right_middle_pip", "right_pinky_pip", "right_ring_pip", "right_thumb_pip", "left_thumb_dip", "right_thumb_dip"], "raw_active_action": [-2.4343907833099365, 1.5700000524520874, -1.8076807260513306, -1.5700000524520874, 1.7489172220230103, 2.2655981257724278e-11, -2.947106122970581, -1.5700000524520874, 1.0843979120254517, 1.5700000524520874, 6.877277851104736, 6.25, -0.008038153871893883, -1.5700000524520874, -0.699999988079071, 2.213073724277592e-09, -0.4636516869068146, 4.02903710394753e-09, 1.6562939882278442, 1.5877412557601929, 1.6470803022384644, 1.5877357721328735, 0.0, -1.63480462500587e-09, 8.888768832093774e-09, 3.8195988039113615e-10, -1.6506856992393182e-09, -3.3405771482364344e-09, 0.0295048039406538, 0.9113579392433167, -0.07493627816438675, 0.8920206427574158, 1.2300000190734863, -2.7410340663891475e-10, -1.7214670799958753e-09, 2.0379429255257264e-09, -2.268611964950651e-10, -2.9153653713365202e-08, 0.48020169138908386, -8.803794360190409e-10], "full_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "left_wrist", "right_wrist", "left_index_abd", "left_middle_abd", "left_pinky_abd", "left_ring_abd", "left_thumb_mcp", "right_index_abd", "right_middle_abd", "right_pinky_abd", "right_ring_abd", "right_thumb_mcp", "left_index_mcp", "left_middle_mcp", "left_pinky_mcp", "left_ring_mcp", "left_thumb_abd", "right_index_mcp", "right_middle_mcp", "right_pinky_mcp", "right_ring_mcp", "right_thumb_abd", "left_index_pip", "left_middle_pip", "left_pinky_pip", "left_ring_pip", "left_thumb_pip", "right_index_pip", "right_middle_pip", "right_pinky_pip", "right_ring_pip", "right_thumb_pip", "left_thumb_dip", "right_thumb_dip"], "expanded_full_target": [-2.4343907833099365, 1.5700000524520874, -1.8076807260513306, -1.5700000524520874, 1.7489172220230103, 2.2655981257724278e-11, -2.947106122970581, -1.5700000524520874, 1.0843979120254517, 1.5700000524520874, 6.877277851104736, 6.25, -0.008038153871893883, -1.5700000524520874, -0.699999988079071, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, -0.4636516869068146, 0.0, 0.0, 0.0, 0.0, 4.02903710394753e-09, 1.6562939882278442, 1.5877412557601929, 1.6470803022384644, 1.5877357721328735, 0.0, -1.63480462500587e-09, 8.888768832093774e-09, 3.8195988039113615e-10, -1.6506856992393182e-09, -3.3405771482364344e-09, 0.0295048039406538, 0.9113579392433167, -0.07493627816438675, 0.8920206427574158, 1.2300000190734863, -2.7410340663891475e-10, -1.7214670799958753e-09, 2.0379429255257264e-09, -2.268611964950651e-10, -2.9153653713365202e-08, 0.48020169138908386, -8.803794360190409e-10], "shielded_full_target": [-2.4343907833099365, 1.5700000524520874, -1.8076807260513306, -1.5700000524520874, 1.7489172220230103, 2.2655981257724278e-11, -2.947106122970581, -1.5700000524520874, 1.0843979120254517, 1.5700000524520874, 6.877277851104736, 6.25, -0.008038153871893883, -1.5700000524520874, -0.699999988079071, 2.213073724277592e-09, 0.0, 0.0, 0.0, 0.0, -0.4636516869068146, 0.0, 0.0, 0.0, 0.0, 4.02903710394753e-09, 1.6562939882278442, 1.5877412557601929, 1.6470803022384644, 1.5877357721328735, 0.0, -1.63480462500587e-09, 8.888768832093774e-09, 3.8195988039113615e-10, -1.6506856992393182e-09, -3.3405771482364344e-09, 0.0295048039406538, 0.9113579392433167, -0.07493627816438675, 0.8920206427574158, 1.2300000190734863, -2.7410340663891475e-10, -1.7214670799958753e-09, 2.0379429255257264e-09, -2.268611964950651e-10, -2.9153653713365202e-08, 0.48020169138908386, -8.803794360190409e-10]}, "joint_limit_active_steps": 39, "joint_limit_hard_episode_events": 4, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.04530054330825806, "max_joint_limit_excess_joint": "right_thumb_mcp", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_panda_with_orca", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 39, "joint_limit_active_step_rate": 0.01310924369747899, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.04530054330825806, "max_joint_limit_excess_joint": "right_thumb_mcp", "stage_completion": {"place_1": true, "place_2": true, "place_3": true}, "current_stage_completion": {"place_1": true, "place_2": true, "place_3": true}, "stage_first_completion_step": {"place_1": 1614, "place_2": 2561, "place_3": 2935}, "violation_counts": {}, "policy_query_count": 34, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3102, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/61_medicine_shoebox_pack/Full/summary.json

@@ -0,0 +1,217 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 206100000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      31020,
+      3102
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 71.18888888888613
+    },
+    "safety": {
+      "safe_success_rate": 0.6666666666666666,
+      "hard_violation_rate": 0.3333333333333333,
+      "drop_rate": 0.3333333333333333,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 7.803964413922273e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "rigid_pick_place": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 1.0,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 3,
+      "avg_latched_chain_depth": 3
+    },
+    "efficiency": {
+      "task_efficiency": 0.5725023168404718,
+      "expert_time_s": 34.45,
+      "expert_time_step": 2067,
+      "avg_steps_to_success": 4271.333333333333,
+      "avg_policy_steps_to_success": 1424.3333333333333,
+      "avg_policy_queries_to_success": 37.666666666666664
+    },
+    "safety": {
+      "safety_violation_events_per_step": 7.803964413922273e-05,
+      "violation_counts": {
+        "drop_to_table_obj_186_pillbottle_2": 1
+      },
+      "robot_constraint_violation_rate": 0.6666666666666666,
+      "finger_joint_limit_saturation_rate": 0.3333333333333333,
+      "joint_limit_active_step_rate": 0.05119400655533011,
+      "finger_joint_limit_saturation_step_rate": 0.040268456375838924,
+      "max_joint_limit_excess_rad": 0.24097365140914917,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_mcp": 1,
+          "left_thumb_mcp": 580,
+          "left_thumb_pip": 2,
+          "right_index_mcp": 9,
+          "right_thumb_mcp": 39,
+          "right_thumb_pip": 26
+        },
+        "joint_limit_hard_counts": {
+          "left_index_mcp": 4,
+          "left_thumb_mcp": 4,
+          "left_thumb_pip": 2,
+          "right_index_mcp": 2,
+          "right_thumb_abd": 1,
+          "right_thumb_mcp": 2,
+          "right_thumb_pip": 5
+        },
+        "joint_limit_hard_episode_events": 17,
+        "finger_joint_limit_saturation_counts": {
+          "left_thumb_mcp": 516
+        },
+        "joint_limit_max_excess_by_joint": {
+          "left_index_mcp": 0.013265013694763184,
+          "left_middle_mcp": 0.0038971900939941406,
+          "left_ring_mcp": 0.003072023391723633,
+          "left_thumb_abd": 0.003846317995339632,
+          "left_thumb_mcp": 0.24097365140914917,
+          "left_thumb_pip": 0.03088366985321045,
+          "left_wrist": 0.0008555054664611816,
+          "multi_panda_joint2": 8.082389831542969e-05,
+          "multi_panda_joint6": 0.0005898475646972656,
+          "multi_panda_joint7": 0.0001220703125,
+          "panda_joint1": 0.0005514621734619141,
+          "panda_joint4": 3.7670135498046875e-05,
+          "panda_joint6": 0.00022268295288085938,
+          "right_index_mcp": 0.044898033142089844,
+          "right_middle_mcp": 0.0024698972702026367,
+          "right_ring_mcp": 0.0024514198303222656,
+          "right_thumb_abd": 0.008111393079161644,
+          "right_thumb_mcp": 0.04530054330825806,
+          "right_thumb_pip": 0.031922101974487305,
+          "right_wrist": 0.0023905038833618164
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 14.52332298849222,
+      "joint_effort_rms": 31.648257930288757,
+      "joint_jerk_rms": 1495.2248263791844,
+      "joint_velocity_rms": 0.3695333454263113
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.995816015801123,
+      "mean_kinematic_grasp_stability": 0.4622863685039965,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_186_pillbottle_2": 0.9957626625084528,
+        "obj_211_hydrating_oil_4": 0.7552244332438391,
+        "obj_218_tooth_paste_3": 0.7403667379375156
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.8195344046982223,
+        "mean_duration_score": 0.32564706334397364,
+        "mean_hold_score": 0.28817066664263624,
+        "mean_kinematic_stability_score": 0.12704502224545225,
+        "mean_legacy_gsi": 0.40463304970486114,
+        "mean_lift_score": 0.3829771567462709,
+        "mean_motion_stability_score": 0.2774662173173251
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 4271.333333333333,
+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/62_shoebox_accessory_pack/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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"cam_wrist_left": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [0.002174601150620091, -0.0023109872801085384, 0.0006966892939006871], "rpy_offset_deg": [-0.24417316863510408, 0.12144928647235753, 0.7758756023158464], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_055_baseball", "uri": "dex2bench_dataset/Objects/055_baseball/usd_decomposition_linux/textured.usd", "scale": [0.9850890442588448, 0.9850890442588448, 0.9850890442588448], "body_type": "dynamic", "category": "ball", "asset_code": "055", "asset_id": "clutter_055_baseball", "asset_split": "unseen", "spawn_position": [-0.3546715937256323, 0.3792855399320931, 0.7681817725586172], "spawn_yaw_deg": 350.05920575047037, "obj_id": "distractor_00_clutter_055_baseball"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_129_shoe_box_1": {"position": [0.36253167238759215, 0.2153307377650259, 0.7679798226321003], "rpy_deg": [90.0, 0.0, -6.380159941771533]}, "obj_153_shoe_2": {"position": [-0.24691522671024263, 0.20876162466974124, 0.7679798293006863], "rpy_deg": [90.0, 0.0, 25.202592395025178]}, "obj_143_pet_collar_3": {"position": [-0.1, 0.1, 0.7679798201612746], "rpy_deg": [90.0, 0.0, 5.21383409025583]}, "obj_203_seal_4": {"position": [0.09183747330210656, 0.20578305650354353, 0.8120673078191724], "rpy_deg": [0.0, 0.0, -28.818416480510113]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_xarm7_with_leap", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "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": 35.9, "expert_time_step": 2154, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.3333333333333333, "normalized_progress_score": 0.3333333333333333, "chain_depth_progress_score": 0.3333333333333333, "current_stage_completion_rate": 0.3333333333333333, "current_normalized_progress_score": 0.3333333333333333, "current_chain_depth_progress_score": 0.3333333333333333, "current_chain_depth": 1, "latched_stage_completion_rate": 0.3333333333333333, "latched_normalized_progress_score": 0.3333333333333333, "latched_chain_depth_progress_score": 0.3333333333333333, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.7492580160098384, "mean_kinematic_grasp_stability": 0.6223663939647377, "per_object_best_kinematic_grasp_stability": {"obj_143_pet_collar_3": 0.0, "obj_153_shoe_2": 0.0, "obj_203_seal_4": 0.7492580160098384}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2324038736167802, "mean_kinematic_stability_score": 0.019328148880892473, "mean_lift_score": 0.07430411778237865, "mean_hold_score": 0.04691741430871875, "mean_motion_stability_score": 0.03772225901403829, "mean_duration_score": 0.2361398665746492, "mean_anti_slip_score": 0.7908902691511387}, "robot_motion_metrics": {"joint_velocity_rms": 0.42757021503392456, "joint_acceleration_rms": 11.362626009499632, "joint_jerk_rms": 1116.7845729867447, "joint_effort_rms": 48.368109871591024}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0, "safety_violation_rate_time": 0.0, "safety_violation_rate_event": 0.0, "safety_violation_step_rate": 0.0, "safety_violation_events_per_step": 0.0, "episode_violation_rate": 0.0, "safety_hard_violation": false, "drop_violation": false, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 1, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"multi_leap_r_2": 73}, "joint_limit_hard_counts": {"multi_leap_r_2": 20, "multi_leap_r_5": 1}, "finger_joint_limit_saturation_counts": {"multi_leap_r_2": 28}, "joint_limit_max_excess_by_joint": {"multi_leap_r_2": 0.530536413192749, "multi_leap_r_3": 0.000194549560546875, "multi_leap_r_5": 0.005104511976242065, "multi_leap_r_9": 0.004597693681716919}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 293, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_leap_r_2", "role": "finger", "qpos": -0.5402312278747559, "hard_excess_rad": 0.03423130512237549, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.4213918447494507, "shielded_target": -0.4213918447494507}], "command_context_available": true, "active_joint_names": ["joint1", "joint2", "multi_joint1", "joint3", "multi_joint2", "joint4", "multi_joint3", "joint5", "multi_joint4", "joint6", "multi_joint5", "joint7", "multi_joint6", "multi_joint7", "leap_l_1", "leap_l_12", "leap_l_5", "leap_l_9", "leap_l_13", "multi_leap_r_1", "multi_leap_r_12", "multi_leap_r_5", "multi_leap_r_9", "leap_l_2", "leap_l_14", "leap_l_6", "leap_l_10", "multi_leap_r_13", "leap_l_3", "leap_l_15", "leap_l_7", "leap_l_11", "multi_leap_r_2", "multi_leap_r_14", "multi_leap_r_6", "multi_leap_r_10", "multi_leap_r_3", "multi_leap_r_15", "multi_leap_r_7", "multi_leap_r_11"], "raw_active_action": [-1.5700000524520874, -1.5700000524520874, 2.37732195854187, 1.3567105772160915e-10, -0.85330730676651, -1.5700000524520874, -0.5573763251304626, 1.5700000524520874, -1.710117220878601, -6.398155338871447e-10, 2.44156813621521, -1.5700000524520874, 0.4532740116119385, -1.62252938747406, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 5.533952740499615e-10, 1.1761970520019531, 1.6426575183868408, 0.05924719199538231, 0.5789681673049927, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, -0.0046697454527020454, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.4213918447494507, 1.0979113578796387, -0.008726408705115318, 0.4193335175514221, -0.3088018298149109, -0.0029161639977246523, 0.004693113267421722, 0.26564815640449524], "full_joint_names": ["joint1", "joint2", "multi_joint1", "joint3", "multi_joint2", "joint4", "multi_joint3", "joint5", "multi_joint4", "joint6", "multi_joint5", "joint7", "multi_joint6", "multi_joint7", "leap_l_1", "leap_l_12", "leap_l_5", "leap_l_9", "leap_l_0", "leap_l_13", "leap_l_4", "leap_l_8", "multi_leap_r_1", "multi_leap_r_12", "multi_leap_r_5", "multi_leap_r_9", "leap_l_2", "leap_l_14", "leap_l_6", "leap_l_10", "multi_leap_r_0", "multi_leap_r_13", "multi_leap_r_4", "multi_leap_r_8", "leap_l_3", "leap_l_15", "leap_l_7", "leap_l_11", "multi_leap_r_2", "multi_leap_r_14", "multi_leap_r_6", "multi_leap_r_10", "multi_leap_r_3", "multi_leap_r_15", "multi_leap_r_7", "multi_leap_r_11"], "expanded_full_target": [-1.5700000524520874, -1.5700000524520874, 2.37732195854187, 1.3567105772160915e-10, -0.85330730676651, -1.5700000524520874, -0.5573763251304626, 1.5700000524520874, -1.710117220878601, -6.398155338871447e-10, 2.44156813621521, -1.5700000524520874, 0.4532740116119385, -1.62252938747406, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.1761970520019531, 1.6426575183868408, 0.05924719199538231, 0.5789681673049927, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0046697454527020454, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.4213918447494507, 1.0979113578796387, -0.008726408705115318, 0.4193335175514221, -0.3088018298149109, -0.0029161639977246523, 0.004693113267421722, 0.26564815640449524], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 2.37732195854187, 1.3567105772160915e-10, -0.85330730676651, -1.5700000524520874, -0.5573763251304626, 1.5700000524520874, -1.710117220878601, -6.398155338871447e-10, 2.44156813621521, -1.5700000524520874, 0.4532740116119385, -1.62252938747406, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.1761970520019531, 1.6426575183868408, 0.05924719199538231, 0.5789681673049927, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0046697454527020454, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.4213918447494507, 1.0979113578796387, -0.008726408705115318, 0.4193335175514221, -0.3088018298149109, -0.0029161639977246523, 0.004693113267421722, 0.26564815640449524]}, "joint_limit_active_steps": 73, "joint_limit_hard_episode_events": 21, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 28, "max_joint_limit_excess_rad": 0.530536413192749, "max_joint_limit_excess_joint": "multi_leap_r_2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_xarm7_with_leap", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 73, "joint_limit_active_step_rate": 0.05037957211870255, "finger_joint_limit_saturation_steps": 28, "finger_joint_limit_saturation_step_rate": 0.01932367149758454, "max_joint_limit_excess_rad": 0.530536413192749, "max_joint_limit_excess_joint": "multi_leap_r_2", "stage_completion": {"place_1": true, "place_2": false, "place_3": false}, "current_stage_completion": {"place_1": true, "place_2": false, "place_3": false}, "stage_first_completion_step": {"place_1": 651, "place_2": null, "place_3": null}, "violation_counts": {}, "policy_query_count": 10, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3231, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/62_shoebox_accessory_pack/Full/summary.json

@@ -0,0 +1,209 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 206200000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 0,
+    "error_count": 3,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      32310,
+      3231
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.0,
+      "success_rate_ci": {
+        "mean": 0.0,
+        "ci_low": 0.0,
+        "ci_high": 0.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.3333333333333333
+    },
+    "efficiency": {
+      "avg_time_to_success_s": null
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.6666666666666666,
+      "high_speed_violation_rate": 0.6666666666666666,
+      "safety_violation_step_rate": 0.0010795426664703862
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.0,
+      "at_end_success_rate": 0.0,
+      "task_family_success_rate": {
+        "rigid_pick_place": 0.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.2222222222222222,
+      "current_chain_depth_progress_score": 0.2222222222222222,
+      "latched_chain_depth_progress_score": 0.3333333333333333,
+      "avg_current_chain_depth": 0.6666666666666666,
+      "avg_latched_chain_depth": 1
+    },
+    "efficiency": {
+      "task_efficiency": null,
+      "expert_time_s": 35.9,
+      "expert_time_step": 2154,
+      "avg_steps_to_success": null,
+      "avg_policy_steps_to_success": null,
+      "avg_policy_queries_to_success": null
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00019628048481279748,
+      "violation_counts": {
+        "drop_to_table_obj_203_seal_4": 2,
+        "high_speed_obj_129_shoe_box_1": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.04072820059865548,
+      "finger_joint_limit_saturation_step_rate": 0.022425045389862112,
+      "max_joint_limit_excess_rad": 1.3980273008346558,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "multi_leap_r_10": 17,
+          "multi_leap_r_14": 38,
+          "multi_leap_r_2": 736,
+          "multi_leap_r_6": 38,
+          "multi_leap_r_9": 2
+        },
+        "joint_limit_hard_counts": {
+          "multi_leap_r_10": 1,
+          "multi_leap_r_14": 2,
+          "multi_leap_r_2": 160,
+          "multi_leap_r_5": 2,
+          "multi_leap_r_6": 8,
+          "multi_leap_r_9": 6
+        },
+        "joint_limit_hard_episode_events": 171,
+        "finger_joint_limit_saturation_counts": {
+          "multi_leap_r_10": 6,
+          "multi_leap_r_14": 24,
+          "multi_leap_r_2": 423,
+          "multi_leap_r_6": 4
+        },
+        "joint_limit_max_excess_by_joint": {
+          "multi_joint5": 0.001739501953125,
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+          "multi_leap_r_10": 0.3137786388397217,
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+  }
+}

gpt6_astra_10x_icl/per_task_eval/64_sports_ball_cup_sort/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_065_d_cups_1": {"position": [0.06840824923481353, 0.3164984036714106, 0.7232583012603109], "rpy_deg": [0.0, 0.0, 4.863536902048404]}, "obj_065_e_cups_2": {"position": [0.05314181126462818, 0.1321046156520213, 0.7231476012788599], "rpy_deg": [0.0, 0.0, -6.936275617301895]}, "obj_054_softball_3": {"position": [-0.4189754218025836, 0.2081986927858138, 0.7223873012986851], "rpy_deg": [0.0, 0.0, -2.596347548698093]}, "obj_055_baseball_4": {"position": [0.405876850088387, 0.1410894537355634, 0.7223347012968853], "rpy_deg": [0.0, 0.0, -6.398218368676072]}, "obj_057_racquetball_5": {"position": [-0.15796969184783258, 0.32235317046131495, 0.7223589012919811], "rpy_deg": [0.0, 0.0, -3.770675455437747]}, "obj_058_golf_ball_6": {"position": [0.1889719348828066, 0.104909532565891, 0.7224957012859059], "rpy_deg": [0.0, 0.0, -9.668695745813451]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_panda_with_allegro", "perturbation_axis": "inv+cov", "stable_success": true, "ever_instant_success": true, "at_end_success": true, "at_end_success_observed": true, "at_end_success_budget": null, "first_success_step": 4129, "stable_success_step": 4213, "first_stable_success_step": 4213, "steps_to_stable_success": 4214, "policy_steps_to_stable_success": 1405, "policy_queries_to_stable_success": 70, "time_to_stable_success_s": 70.23333333333063, "expert_time_s": 22.15, "expert_time_step": 1329, "success_hold_s": 0.49999999999999994, "terminal_success_rate": 1.0, "stage_completion_rate": 1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 1.0, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 4, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 4, "task_efficiency": 0.31537731371619626, "kinematic_grasp_stability_index": 0.9890766340904578, "mean_kinematic_grasp_stability": 0.5804455979876538, "per_object_best_kinematic_grasp_stability": {"obj_054_softball_3": 0.9890766340904578, "obj_055_baseball_4": 0.955720445533837, "obj_057_racquetball_5": 0.6629090800737529, "obj_058_golf_ball_6": 0.788022026846377}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5259020632103562, "mean_kinematic_stability_score": 0.25406547353778536, "mean_lift_score": 0.44369957285239675, "mean_hold_score": 0.3833353108685329, "mean_motion_stability_score": 0.37291770751608594, "mean_duration_score": 0.6464542793861735, "mean_anti_slip_score": 0.8477693402942607}, "robot_motion_metrics": {"joint_velocity_rms": 0.287882127845826, "joint_acceleration_rms": 8.916522021789415, "joint_jerk_rms": 867.495619069727, "joint_effort_rms": 27.27472913473995}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0007119126720455898, "safety_violation_rate_time": 0.0007119126720455898, "safety_violation_rate_event": 0.0007119126720455624, "safety_violation_step_rate": 0.0007119126720455624, "safety_violation_events_per_step": 0.0007119126720455624, "episode_violation_rate": 1.0, "safety_hard_violation": true, "drop_violation": true, "high_speed_violation": false, "excessive_impact_violation": null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"joint_10_0": 3, "multi_joint_2_0": 25, "multi_joint_9_0": 77}, "joint_limit_hard_counts": {"joint_10_0": 1, "multi_joint_2_0": 4, "multi_joint_9_0": 2}, "finger_joint_limit_saturation_counts": {"multi_joint_9_0": 44}, "joint_limit_max_excess_by_joint": {"joint_10_0": 0.02780809998512268, "joint_1_0": 0.00019681453704833984, "multi_joint_1_0": 0.0001323223114013672, "multi_joint_2_0": 0.14861640334129333, "multi_joint_6_0": 2.5987625122070312e-05, "multi_joint_9_0": 0.22497618198394775, "multi_panda_joint5": 1.7404556274414062e-05}, "joint_limit_baseline_checks": [{"phase": "post_reset", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}, {"phase": "post_home", "checked": true, "hard_violation": false, "hard_limit_source": "runtime.joint_pos_limits", "violating_joints": []}], "first_joint_limit_hard_event": {"sim_step": 330, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_joint_9_0", "role": "finger", "qpos": 1.6158102750778198, "hard_excess_rad": 0.005810379981994629, "hard_tolerance_rad": 0.005, "hard_lower": -0.19599997997283936, "hard_upper": 1.6099998950958252, "operating_lower": -0.19599997997283936, "operating_upper": 1.6099998950958252, "expanded_target": 1.5684164762496948, "shielded_target": 1.5684164762496948}], "command_context_available": true, "active_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "joint_12_0", "multi_joint_12_0", "joint_1_0", "joint_13_0", "joint_5_0", "joint_9_0", "multi_joint_1_0", "multi_joint_13_0", "multi_joint_5_0", "multi_joint_9_0", "joint_2_0", "joint_14_0", "joint_6_0", "joint_10_0", "multi_joint_2_0", "multi_joint_14_0", "multi_joint_6_0", "multi_joint_10_0"], "raw_active_action": [-1.5700000524520874, 1.4064936637878418, -1.5700000524520874, -0.9139822125434875, 1.583168665608703e-11, -0.19973823428153992, -1.5700000524520874, -2.180182456970215, 1.5700000524520874, 2.658561944961548, 6.25, 5.080968856811523, -1.5700000524520874, -2.430457353591919, 0.30000001192092896, 0.8705631494522095, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 0.8255394101142883, 0.11729181557893753, 1.3493947982788086, 1.5684164762496948, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.17399999499320984, 0.6823180317878723, 1.7088983058929443, 1.307454228401184], "full_joint_names": ["panda_joint1", "multi_panda_joint1", "panda_joint2", "multi_panda_joint2", "panda_joint3", "multi_panda_joint3", "panda_joint4", "multi_panda_joint4", "panda_joint5", "multi_panda_joint5", "panda_joint6", "multi_panda_joint6", "panda_joint7", "multi_panda_joint7", "joint_0_0", "joint_12_0", "joint_4_0", "joint_8_0", "multi_joint_0_0", "multi_joint_12_0", "multi_joint_4_0", "multi_joint_8_0", "joint_1_0", "joint_13_0", "joint_5_0", "joint_9_0", "multi_joint_1_0", "multi_joint_13_0", "multi_joint_5_0", "multi_joint_9_0", "joint_2_0", "joint_14_0", "joint_6_0", "joint_10_0", "multi_joint_2_0", "multi_joint_14_0", "multi_joint_6_0", "multi_joint_10_0", "joint_3_0", "joint_15_0", "joint_7_0", "joint_11_0", "multi_joint_3_0", "multi_joint_15_0", "multi_joint_7_0", "multi_joint_11_0"], "expanded_full_target": [-1.5700000524520874, 1.4064936637878418, -1.5700000524520874, -0.9139822125434875, 1.583168665608703e-11, -0.19973823428153992, -1.5700000524520874, -2.180182456970215, 1.5700000524520874, 2.658561944961548, 6.25, 5.080968856811523, -1.5700000524520874, -2.430457353591919, 0.0, 0.30000001192092896, 0.0, 0.0, 0.0, 0.8705631494522095, 0.0, 0.0, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 0.8255394101142883, 0.11729181557893753, 1.3493947982788086, 1.5684164762496948, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.17399999499320984, 0.6823180317878723, 1.7088983058929443, 1.307454228401184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "shielded_full_target": [-1.5700000524520874, 1.4064936637878418, -1.5700000524520874, -0.9139822125434875, 1.583168665608703e-11, -0.19973823428153992, -1.5700000524520874, -2.180182456970215, 1.5700000524520874, 2.658561944961548, 6.25, 5.080968856811523, -1.5700000524520874, -2.430457353591919, 0.0, 0.30000001192092896, 0.0, 0.0, 0.0, 0.8705631494522095, 0.0, 0.0, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 0.8255394101142883, 0.11729181557893753, 1.3493947982788086, 1.5684164762496948, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.17399999499320984, 0.6823180317878723, 1.7088983058929443, 1.307454228401184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 105, "joint_limit_hard_episode_events": 7, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 44, "max_joint_limit_excess_rad": 0.22497618198394775, "max_joint_limit_excess_joint": "multi_joint_9_0", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_panda_with_allegro", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 105, "joint_limit_active_step_rate": 0.024916943521594685, "finger_joint_limit_saturation_steps": 44, "finger_joint_limit_saturation_step_rate": 0.01044138585666825, "max_joint_limit_excess_rad": 0.22497618198394775, "max_joint_limit_excess_joint": "multi_joint_9_0", "stage_completion": {"place_1": true, "place_2": true, "place_3": true, "place_4": true}, "current_stage_completion": {"place_1": true, "place_2": true, "place_3": true, "place_4": true}, "stage_first_completion_step": {"place_1": 1917, "place_2": 2001, "place_3": 3943, "place_4": 4075}, "violation_counts": {"drop_to_table_obj_057_racquetball_5": 1, "drop_to_table_obj_058_golf_ball_6": 1, "drop_to_table_obj_055_baseball_4": 1}, "policy_query_count": 70, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 19950, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/64_sports_ball_cup_sort/Full/summary.json

@@ -0,0 +1,205 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 206400000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      1995,
+      19950
+    ],
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 45.111111111109835
+    },
+    "safety": {
+      "safe_success_rate": 0.6666666666666666,
+      "hard_violation_rate": 0.3333333333333333,
+      "drop_rate": 0.3333333333333333,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 0.00036945812807881776
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
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+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/67_faucet_cup_water_fill/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
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gpt6_astra_10x_icl/per_task_eval/67_faucet_cup_water_fill/Full/summary.json

@@ -0,0 +1,236 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 206700000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 3,
+    "error_count": 0,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": [
+      28920,
+      2892
+    ],
+    "dwell_time_s": 3.0,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 1.0,
+      "success_rate_ci": {
+        "mean": 1.0,
+        "ci_low": 1.0,
+        "ci_high": 1.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 1.0
+    },
+    "efficiency": {
+      "avg_time_to_success_s": 185.88333333335675
+    },
+    "safety": {
+      "safe_success_rate": 0.3333333333333333,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.6666666666666666,
+      "high_speed_violation_rate": 0.3333333333333333,
+      "safety_violation_step_rate": 8.966197435667533e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 1.0,
+      "at_end_success_rate": 1.0,
+      "task_family_success_rate": {
+        "articulation_multi": 1.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.75,
+      "current_chain_depth_progress_score": 1.0,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 4,
+      "avg_latched_chain_depth": 4
+    },
+    "efficiency": {
+      "task_efficiency": 0.3421161130228401,
+      "expert_time_s": 32.13333333333333,
+      "expert_time_step": 1928,
+      "avg_steps_to_success": 11153,
+      "avg_policy_steps_to_success": 3718.3333333333335,
+      "avg_policy_queries_to_success": 67
+    },
+    "safety": {
+      "safety_violation_events_per_step": 8.966197435667533e-05,
+      "violation_counts": {
+        "drop_to_table_obj_031_spoon_1": 2,
+        "high_speed_obj_031_spoon_1": 1
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 0.6666666666666666,
+      "joint_limit_active_step_rate": 0.011147972145013299,
+      "finger_joint_limit_saturation_step_rate": 0.003347380375982546,
+      "max_joint_limit_excess_rad": 0.6398665904998779,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "l_joint4": 69,
+          "left_index_proximal_joint": 145,
+          "left_middle_distal_joint": 3,
+          "left_middle_proximal_joint": 38,
+          "left_pinky_distal_joint": 16,
+          "left_pinky_proximal_joint": 4,
+          "left_ring_distal_joint": 17,
+          "left_ring_proximal_joint": 23,
+          "left_thumb_distal_joint": 57,
+          "left_thumb_metacarpal_joint": 66,
+          "left_thumb_proximal_joint": 33,
+          "right_pinky_proximal_joint": 1
+        },
+        "joint_limit_hard_counts": {
+          "l_joint4": 1,
+          "left_index_proximal_joint": 9,
+          "left_middle_distal_joint": 1,
+          "left_middle_proximal_joint": 10,
+          "left_pinky_distal_joint": 2,
+          "left_pinky_proximal_joint": 8,
+          "left_ring_distal_joint": 7,
+          "left_ring_proximal_joint": 12,
+          "left_thumb_distal_joint": 4,
+          "left_thumb_metacarpal_joint": 5,
+          "left_thumb_proximal_joint": 10,
+          "right_index_proximal_joint": 2,
+          "right_middle_proximal_joint": 2,
+          "right_pinky_proximal_joint": 7,
+          "right_ring_proximal_joint": 2
+        },
+        "joint_limit_hard_episode_events": 49,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_proximal_joint": 46,
+          "left_thumb_distal_joint": 43,
+          "left_thumb_metacarpal_joint": 26,
+          "left_thumb_proximal_joint": 11
+        },
+        "joint_limit_max_excess_by_joint": {
+          "joint3": 0.0003457069396972656,
+          "l_joint4": 0.6398665904998779,
+          "left_index_distal_joint": 7.247085598294234e-09,
+          "left_index_proximal_joint": 0.45414891839027405,
+          "left_middle_distal_joint": 0.026591023430228233,
+          "left_middle_proximal_joint": 0.058590054512023926,
+          "left_pinky_distal_joint": 0.05928519740700722,
+          "left_pinky_proximal_joint": 0.015639672055840492,
+          "left_ring_distal_joint": 0.12289157509803772,
+          "left_ring_proximal_joint": 0.04438851401209831,
+          "left_thumb_distal_joint": 0.5415257215499878,
+          "left_thumb_metacarpal_joint": 0.49407291412353516,
+          "left_thumb_proximal_joint": 0.19011513888835907,
+          "right_index_distal_joint": 3.4225869360859917e-10,
+          "right_index_proximal_joint": 0.0071283490397036076,
+          "right_middle_distal_joint": 0.0012092269025743008,
+          "right_middle_proximal_joint": 0.005437254440039396,
+          "right_pinky_distal_joint": 0.001166412839666009,
+          "right_pinky_proximal_joint": 0.011684385128319263,
+          "right_ring_distal_joint": 0.0031883488409221172,
+          "right_ring_proximal_joint": 0.009153480641543865,
+          "right_thumb_proximal_joint": 0.0003823299484793097
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 14.11043457043655,
+      "joint_effort_rms": 25.132536215387436,
+      "joint_jerk_rms": 1454.5573057249526,
+      "joint_velocity_rms": 0.315414370675864
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9725297528553654,
+      "mean_kinematic_grasp_stability": 0.5692190671781153,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_025_mug_1": 0.9592421376361855,
+        "obj_031_spoon_1": 0.855156757749898
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.7217810350923382,
+        "mean_duration_score": 0.5839609426612364,
+        "mean_hold_score": 0.407710863862962,
+        "mean_kinematic_stability_score": 0.21341260145278,
+        "mean_legacy_gsi": 0.4940317716015989,
+        "mean_lift_score": 0.5425471486674474,
+        "mean_motion_stability_score": 0.36353366706113
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 11153,
+      "error_count": 0
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 5, "seed": 207300004, "success": false, "steps": 17622, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 207300004, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 0.0, "base_yaw_deg": 0.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan207", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan207_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_stone_stone3673_jpg", "asset_uri": "dex2bench_dataset/textures/stone/stone3673.jpg", "asset_category": "stone", "asset_id": "stone/stone3673.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1315.050837410748, "color": [0.6552934025044318, 0.43277041014496076, 0.6740081189631364], "pitch_deg": -5.008271538653588, "yaw_deg": 72.18427670575167, "angle_deg": 0.9519692355650629}, "dome": {"intensity": 178.59231664357523, "color": [0.9304170476169601, 0.8847425556677916, 0.895049976977926], "exposure": 0.12137589345687683}, "profile_name": "", "profile_split": "", "profile_pool_size": 0}}, "spatial": {"object_pose": {"enabled": true, "position_jitter_cm": 2.0, "position_jitter_m": 0.02, "yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": 0.0018168898735165667, "offset_m_range": [-0.05, 0.05]}, "camera": {"enabled": true, "asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.0037656056803672044, 0.0001413897986885064, 0.0043561425205183085], "target_offset_m": [0.004127383901176612, -0.0020470314768187324, 0.0031301205801248866], "distance_offset_m": -0.017004944680763412, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.7509302666470381, 0.10096985075413212, -0.23721055949042436], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0008893009691499747, 0.0024798332741761244, -0.00018461527944952597], "target_offset_m": [-0.0030029881744207077, -0.0012753725899670564, -0.0006413301852170959], "distance_offset_m": -0.011654387833479447, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.5600423173731515, -0.14024968986613073, -0.41659689300095737], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.002972137283180348, -0.0014655814820499391, 0.0020627154862841975], "target_offset_m": [-0.0014893046636631348, -0.0039702720906012404, -0.0001438292219333578], "distance_offset_m": 0.005125281244265867, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.00811635304791758, 0.24674308863338235, -0.5601189146330436], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.002972137283180348, -0.0014655814820499391, 0.0020627154862841975], "target_offset_m": [-0.0014893046636631348, -0.0039702720906012404, -0.0001438292219333578], "distance_offset_m": 0.005125281244265867, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.00811635304791758, 0.24674308863338235, -0.5601189146330436], "has_offset": true}, "cam_wrist_right": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [0.00016380474723623473, -0.00361584640925707, -0.0020033004948324363], "rpy_offset_deg": [-0.20711857060621974, -0.8605012165997452, -0.5956347914692182], "has_offset": true}, "cam_wrist_left": {"enabled": true, "position_offset_m": [0.0, 0.0, 0.0], "target_offset_m": [0.0, 0.0, 0.0], "distance_offset_m": 0.0, "offset_xyz_offset_m": [-0.0005470060933095797, 0.0027289900498092233, -0.0025755055244506887], "rpy_offset_deg": [-0.7898771144372616, -0.11063069380655643, 0.12769049943044286], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_040_large_marker", "uri": "dex2bench_dataset/Objects/040_large_marker/usd_decomposition_linux/textured.usd", "scale": [0.8024325092335669, 0.8024325092335669, 0.8024325092335669], "body_type": "dynamic", "category": "tool", "asset_code": "040", "asset_id": "clutter_040_large_marker", "asset_split": "unseen", "spawn_position": [-0.9320071303650505, 0.3932865721545925, 0.7520359539584752], "spawn_yaw_deg": 352.5149205338125, "obj_id": "distractor_00_clutter_040_large_marker"}, {"name": "clutter_073b_lego_duplo", "uri": "dex2bench_dataset/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/textured.usd", "scale": [0.8532193557077148, 0.8532193557077148, 0.8532193557077148], "body_type": "dynamic", "category": "toy", "asset_code": "073", "asset_id": "clutter_073b_lego_duplo", "asset_split": "unseen", "spawn_position": [-0.6670063211794331, 0.3776156341745177, 0.7521615904857563], "spawn_yaw_deg": 78.6633783823134, "obj_id": "distractor_01_clutter_073b_lego_duplo"}, {"name": "clutter_006_mustard_bottle", "uri": "dex2bench_dataset/Objects/006_mustard_bottle/usd_decomposition_linux/textured.usd", "scale": [0.8665432050315961, 0.8665432050315961, 0.8665432050315961], "body_type": "dynamic", "category": "bottle", "asset_code": "006", "asset_id": "clutter_006_mustard_bottle", "asset_split": "unseen", "spawn_position": [-0.8504760687184609, 0.16923941645314974, 0.754549100622327], "spawn_yaw_deg": 259.37931340578103, "obj_id": "distractor_02_clutter_006_mustard_bottle"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_326_piece_0": {"position": [-0.15, 0.355, 0.7603778901014447], "rpy_deg": [0.0, 0.0, -90.0]}, "obj_326_piece_1": {"position": [-0.067, 0.3825, 0.7603778901014447], "rpy_deg": [0.0, 0.0, 0.0]}, "obj_326_piece_2": {"position": [0.2441640089391936, 0.33112093246916574, 0.7603778901014447], "rpy_deg": [0.0, 0.0, 4.563440522347575]}, "obj_326_piece_3": {"position": [-0.2002445869727359, 0.19598945934879072, 0.7603778901014447], "rpy_deg": [0.0, 0.0, -86.73562084407467]}, "obj_326_piece_4": {"position": [-0.3734824023820128, 0.15712462255344473, 0.7603778901014447], "rpy_deg": [0.0, 0.0, -89.37605008953331]}, "obj_326_piece_5": {"position": [0.16288631683212515, 0.1648992275598017, 0.7603778901014447], "rpy_deg": [0.0, 0.0, 8.526785744953052]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "tetris_block_manipulation", "robot_key": "multi_iiwa7_with_sharpa", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "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": 40.43333333333333, "expert_time_step": 2426, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.25, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 0.0, "current_normalized_progress_score": 0.0, "current_chain_depth_progress_score": 0.0, "current_chain_depth": 0, "latched_stage_completion_rate": 0.25, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 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-6.474144137458282e-13, -5.197141605961519e-10, -6.3017750739913225e-12, 5.870037789179605e-11, 0.644027054309845, 0.5251288414001465, 0.0, 0.29329195618629456, 0.8630187511444092, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, -0.07423526793718338, -0.10942921042442322, 0.01903712749481201, -0.17857646942138672, 0.030153583735227585, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.683792769908905, 0.3197626769542694, -0.2102254033088684, 0.38753724098205566, 0.3195435404777527, 4.084306504115176e-11, 1.1278734196595863e-10, 0.35441717505455017, 0.13146500289440155, 0.6754617094993591, 0.20364078879356384, 0.0, 1.367475152015686, 0.5213862657546997]}, "joint_limit_active_steps": 293, "joint_limit_hard_episode_events": 15, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 102, "max_joint_limit_excess_rad": 0.3564506471157074, "max_joint_limit_excess_joint": "multi_right_ring_PIP", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_iiwa7_with_sharpa", "joint_limit_hard_source_available": true, "joint_limit_soft_source": "runtime.soft_joint_pos_limits", "joint_limit_hard_source": "runtime.joint_pos_limits"}, "joint_limit_active_steps": 293, "joint_limit_active_step_rate": 0.01939755047997352, "finger_joint_limit_saturation_steps": 102, "finger_joint_limit_saturation_step_rate": 0.006752730883813307, "max_joint_limit_excess_rad": 0.3564506471157074, "max_joint_limit_excess_joint": "multi_right_ring_PIP", "stage_completion": {"assemble_piece_2": true, "assemble_piece_3": true, "assemble_piece_4": true, "assemble_piece_5": false}, "current_stage_completion": {"assemble_piece_2": false, "assemble_piece_3": false, "assemble_piece_4": false, "assemble_piece_5": false}, "stage_first_completion_step": {"assemble_piece_2": 9986, "assemble_piece_3": 3155, "assemble_piece_4": 13679, "assemble_piece_5": null}, "violation_counts": {"drop_to_table_obj_326_piece_2": 1}, "policy_query_count": 61, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 36390, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/summary.json

@@ -0,0 +1,318 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 207300000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 0,
+    "error_count": 2,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 36390,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.0,
+      "success_rate_ci": {
+        "mean": 0.0,
+        "ci_low": 0.0,
+        "ci_high": 0.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.5833333333333334
+    },
+    "efficiency": {
+      "avg_time_to_success_s": null
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 1.0,
+      "drop_rate": 1.0,
+      "high_speed_violation_rate": 0.0,
+      "safety_violation_step_rate": 7.234110276777059e-05
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.0,
+      "at_end_success_rate": 0.0,
+      "task_family_success_rate": {
+        "tetris_block_manipulation": 0.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.08333333333333333,
+      "current_chain_depth_progress_score": 0.3333333333333333,
+      "latched_chain_depth_progress_score": 1.0,
+      "avg_current_chain_depth": 0.3333333333333333,
+      "avg_latched_chain_depth": 1
+    },
+    "efficiency": {
+      "task_efficiency": null,
+      "expert_time_s": 40.43333333333333,
+      "expert_time_step": 2426,
+      "avg_steps_to_success": null,
+      "avg_policy_steps_to_success": null,
+      "avg_policy_queries_to_success": null
+    },
+    "safety": {
+      "safety_violation_events_per_step": 7.234110276777059e-05,
+      "violation_counts": {
+        "drop_to_table_obj_326_piece_2": 2,
+        "drop_to_table_obj_326_piece_3": 1,
+        "drop_to_table_obj_326_piece_4": 2
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.025825773688094102,
+      "finger_joint_limit_saturation_step_rate": 0.011516703560629078,
+      "max_joint_limit_excess_rad": 1.7219103574752808,
+      "robot_constraint_diagnostics": {
+        "joint_limit_soft_counts": {
+          "left_index_DIP": 83,
+          "left_index_MCP_AA": 2,
+          "left_index_MCP_FE": 122,
+          "left_index_PIP": 90,
+          "left_middle_DIP": 9,
+          "left_middle_MCP_FE": 121,
+          "left_middle_PIP": 33,
+          "left_pinky_CMC": 3,
+          "left_pinky_MCP_FE": 24,
+          "left_pinky_PIP": 21,
+          "left_ring_DIP": 2,
+          "left_ring_MCP_FE": 55,
+          "left_ring_PIP": 37,
+          "left_thumb_CMC_AA": 90,
+          "left_thumb_IP": 6,
+          "left_thumb_MCP_AA": 2,
+          "left_thumb_MCP_FE": 81,
+          "multi_right_index_DIP": 69,
+          "multi_right_index_MCP_AA": 80,
+          "multi_right_index_MCP_FE": 499,
+          "multi_right_index_PIP": 94,
+          "multi_right_middle_DIP": 51,
+          "multi_right_middle_MCP_FE": 62,
+          "multi_right_middle_PIP": 135,
+          "multi_right_pinky_CMC": 305,
+          "multi_right_pinky_DIP": 21,
+          "multi_right_pinky_MCP_FE": 224,
+          "multi_right_pinky_PIP": 94,
+          "multi_right_ring_DIP": 45,
+          "multi_right_ring_MCP_FE": 155,
+          "multi_right_ring_PIP": 123,
+          "multi_right_thumb_CMC_AA": 25,
+          "multi_right_thumb_IP": 196,
+          "multi_right_thumb_MCP_FE": 73
+        },
+        "joint_limit_hard_counts": {
+          "left_index_DIP": 5,
+          "left_index_MCP_AA": 1,
+          "left_index_MCP_FE": 9,
+          "left_index_PIP": 4,
+          "left_middle_DIP": 2,
+          "left_middle_MCP_FE": 2,
+          "left_middle_PIP": 2,
+          "left_pinky_CMC": 1,
+          "left_pinky_DIP": 1,
+          "left_pinky_MCP_FE": 2,
+          "left_pinky_PIP": 2,
+          "left_ring_DIP": 2,
+          "left_ring_MCP_FE": 6,
+          "left_ring_PIP": 1,
+          "left_thumb_CMC_AA": 3,
+          "left_thumb_IP": 1,
+          "left_thumb_MCP_AA": 1,
+          "left_thumb_MCP_FE": 2,
+          "multi_right_index_DIP": 20,
+          "multi_right_index_MCP_AA": 4,
+          "multi_right_index_MCP_FE": 20,
+          "multi_right_index_PIP": 15,
+          "multi_right_middle_DIP": 12,
+          "multi_right_middle_MCP_FE": 12,
+          "multi_right_middle_PIP": 7,
+          "multi_right_pinky_CMC": 13,
+          "multi_right_pinky_DIP": 17,
+          "multi_right_pinky_MCP_FE": 4,
+          "multi_right_pinky_PIP": 12,
+          "multi_right_ring_DIP": 8,
+          "multi_right_ring_MCP_FE": 6,
+          "multi_right_ring_PIP": 7,
+          "multi_right_thumb_CMC_AA": 174,
+          "multi_right_thumb_IP": 3,
+          "multi_right_thumb_MCP_FE": 3
+        },
+        "joint_limit_hard_episode_events": 241,
+        "finger_joint_limit_saturation_counts": {
+          "left_index_DIP": 32,
+          "left_index_MCP_FE": 51,
+          "left_index_PIP": 45,
+          "left_middle_MCP_FE": 23,
+          "left_middle_PIP": 10,
+          "left_pinky_MCP_FE": 19,
+          "left_pinky_PIP": 1,
+          "left_ring_MCP_FE": 22,
+          "left_ring_PIP": 10,
+          "left_thumb_CMC_AA": 7,
+          "multi_right_index_DIP": 19,
+          "multi_right_index_MCP_AA": 30,
+          "multi_right_index_MCP_FE": 151,
+          "multi_right_index_PIP": 12,
+          "multi_right_middle_DIP": 19,
+          "multi_right_middle_MCP_FE": 26,
+          "multi_right_middle_PIP": 95,
+          "multi_right_pinky_CMC": 188,
+          "multi_right_pinky_MCP_FE": 53,
+          "multi_right_pinky_PIP": 15,
+          "multi_right_ring_DIP": 20,
+          "multi_right_ring_MCP_FE": 19,
+          "multi_right_ring_PIP": 81,
+          "multi_right_thumb_CMC_AA": 10,
+          "multi_right_thumb_IP": 140,
+          "multi_right_thumb_MCP_FE": 22
+        },
+        "joint_limit_max_excess_by_joint": {
+          "A6": 1.049041748046875e-05,
+          "left_index_DIP": 0.8007507920265198,
+          "left_index_MCP_AA": 0.015349209308624268,
+          "left_index_MCP_FE": 0.6076315641403198,
+          "left_index_PIP": 0.4499196708202362,
+          "left_middle_DIP": 0.2170879989862442,
+          "left_middle_MCP_FE": 0.577806293964386,
+          "left_middle_PIP": 0.47992998361587524,
+          "left_pinky_CMC": 0.015496596693992615,
+          "left_pinky_DIP": 0.007884594611823559,
+          "left_pinky_MCP_FE": 0.5017547011375427,
+          "left_pinky_PIP": 0.2654762268066406,
+          "left_ring_DIP": 0.047665711492300034,
+          "left_ring_MCP_FE": 0.4588993787765503,
+          "left_ring_PIP": 0.3429033160209656,
+          "left_thumb_CMC_AA": 0.12082850933074951,
+          "left_thumb_CMC_FE": 9.782612323760986e-05,
+          "left_thumb_IP": 0.04045915976166725,
+          "left_thumb_MCP_AA": 0.03789395093917847,
+          "left_thumb_MCP_FE": 0.056470632553100586,
+          "multi_right_index_DIP": 0.5522264242172241,
+          "multi_right_index_MCP_AA": 0.4186832010746002,
+          "multi_right_index_MCP_FE": 0.4024389982223511,
+          "multi_right_index_PIP": 0.2241603136062622,
+          "multi_right_middle_DIP": 0.6279706954956055,
+          "multi_right_middle_MCP_FE": 0.4270089268684387,
+          "multi_right_middle_PIP": 1.7219103574752808,
+          "multi_right_pinky_CMC": 1.1104271411895752,
+          "multi_right_pinky_DIP": 0.0646938756108284,
+          "multi_right_pinky_MCP_FE": 0.2818913459777832,
+          "multi_right_pinky_PIP": 0.275006502866745,
+          "multi_right_ring_DIP": 0.2511492967605591,
+          "multi_right_ring_MCP_AA": 0.004061490297317505,
+          "multi_right_ring_MCP_FE": 0.1621760129928589,
+          "multi_right_ring_PIP": 0.9760531187057495,
+          "multi_right_thumb_CMC_AA": 0.269027441740036,
+          "multi_right_thumb_CMC_FE": 0.002692699432373047,
+          "multi_right_thumb_IP": 0.41644221544265747,
+          "multi_right_thumb_MCP_FE": 0.18210947513580322
+        },
+        "coverage": {
+          "hard_limit_source": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          },
+          "joint_role_manifest": {
+            "available": 3,
+            "unavailable": 0,
+            "unknown": 0
+          }
+        },
+        "hard_limit_sources": {
+          "runtime.joint_pos_limits": 3
+        },
+        "soft_limit_sources": {
+          "runtime.soft_joint_pos_limits": 3
+        },
+        "unknown_runtime_joint_names": [],
+        "baseline_checks": {
+          "post_home": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          },
+          "post_reset": {
+            "checked": 3,
+            "hard_violation_episodes": 0
+          }
+        }
+      }
+    },
+    "robot_motion": {
+      "joint_acceleration_rms": 28.323371499331813,
+      "joint_effort_rms": 27.166964265911712,
+      "joint_jerk_rms": 2829.099336152082,
+      "joint_velocity_rms": 0.5819986469631249
+    },
+    "grasp": {
+      "kinematic_grasp_stability_index": 0.9645704048840361,
+      "mean_kinematic_grasp_stability": 0.5396634833770557,
+      "per_object_best_kinematic_grasp_stability": {
+        "obj_326_piece_1": 0.0,
+        "obj_326_piece_2": 0.945344406854476,
+        "obj_326_piece_3": 0.945206419550277,
+        "obj_326_piece_4": 0.9094035284271568,
+        "obj_326_piece_5": 0.41324741017931377
+      },
+      "grasp_gsi_diagnostics": {
+        "mean_anti_slip_score": 0.9254834528851708,
+        "mean_duration_score": 0.3476783570568463,
+        "mean_hold_score": 0.06394450712618521,
+        "mean_kinematic_stability_score": 0.03591035902518623,
+        "mean_legacy_gsi": 0.2891036658443313,
+        "mean_lift_score": 0.07674588551283959,
+        "mean_motion_stability_score": 0.05565652753880951
+      }
+    },
+    "tool": {
+      "tool_selection_accuracy": null,
+      "tool_switch_success_rate": null,
+      "tool_switch_total": 0,
+      "tool_switch_successful": 0
+    },
+    "runtime": {
+      "avg_steps": 23039,
+      "error_count": 2
+    }
+  }
+}

gpt6_astra_10x_icl/per_task_eval/76_soup_serving/Full/per_episode.jsonl

@@ -0,0 +1,3 @@
+{"scene": "scenes/76_soup_serving.yaml", "episode_index": 5, "seed": 207600004, "success": false, "steps": 28959, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 207600004, "base_seed": 207600000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, "intensity": 1500.0, "yaw_deg": 180.0, "base_yaw_deg": 180.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 0.0, "asset_kind": "usd_scene", "asset_category": "iTHOR", "asset_id": "FloorPlan7", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan7_physics/scene.usda", "scene_offset": [0.0, 0.0, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_carpet_carpet0812_jpg", "asset_uri": 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-0.005192445125430822, "hard_excess_rad": 0.005192445125430822, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.5707963705062866, "operating_lower": 0.0, "operating_upper": 1.5707963705062866, "expanded_target": 0.00040554520091973245, "shielded_target": 0.00040554520091973245}], "command_context_available": true, "active_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "WRJ2", "WRJ1", "l_WRJ2", "FFJ4", "MFJ4", "RFJ4", "THJ5", "l_WRJ1", "FFJ3", "LFJ4", "MFJ3", "RFJ3", "THJ4", "l_FFJ4", "l_MFJ4", "l_RFJ4", "l_THJ5", "FFJ2", "LFJ3", "MFJ2", "RFJ2", "l_FFJ3", "l_LFJ4", "l_MFJ3", "l_RFJ3", "l_THJ4", "FFJ1", "LFJ2", "MFJ1", "RFJ1", "THJ2", "l_FFJ2", "l_LFJ3", "l_MFJ2", "l_RFJ2", "LFJ1", "THJ1", "l_FFJ1", "l_LFJ2", "l_MFJ1", "l_RFJ1", "l_THJ2", "l_LFJ1", "l_THJ1"], "raw_active_action": [2.3306915760040283, -1.4016311168670654, -1.8727449178695679, 2.1032958030700684, 1.8488436937332153, -1.1215659379959106, -2.065213918685913, 2.128267526626587, -0.1847333163022995, 0.7096953988075256, -1.8625855445861816, -0.8257848620414734, -0.007011658977717161, 0.15726090967655182, -0.4735407829284668, -0.01693388819694519, 0.05543448030948639, 0.035971444100141525, 1.0471975803375244, 0.12780755758285522, 0.1576695591211319, 0.14024236798286438, 0.08670942485332489, -0.08238264173269272, 0.5209340453147888, 0.2045975923538208, 0.1512245088815689, -0.12132235616445541, 0.8071064352989197, 0.0, -0.0935123860836029, 0.0016905497759580612, 0.00023988338944036514, 0.12617260217666626, -0.30288684368133545, 0.11123819649219513, 0.005864106584340334, 0.5116261839866638, 0.0, 0.00033103569876402617, 0.00032162340357899666, 0.0, 0.12424490600824356, 0.3052389323711395, -0.2510930299758911, 0.010807250626385212, 0.005879002157598734, 0.00014481563994195312, -0.006624183617532253, 0.2364545315504074, 0.04726172238588333, 0.0033714892342686653, 0.00040554520091973245, 0.012514383532106876, 0.07441390305757523, 0.0026746310759335756], "full_joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "L_arm_shoulder_pan_joint", "elbow_joint", "L_arm_shoulder_lift_joint", "wrist_1_joint", "L_arm_elbow_joint", "wrist_2_joint", "L_arm_wrist_1_joint", "wrist_3_joint", "L_arm_wrist_2_joint", "L_arm_wrist_3_joint", "WRJ2", "WRJ1", "l_WRJ2", "FFJ4", "LFJ5", "MFJ4", "RFJ4", "THJ5", "l_WRJ1", "FFJ3", "LFJ4", "MFJ3", "RFJ3", "THJ4", "l_FFJ4", "l_LFJ5", "l_MFJ4", "l_RFJ4", "l_THJ5", "FFJ2", "LFJ3", "MFJ2", "RFJ2", "THJ3", "l_FFJ3", "l_LFJ4", "l_MFJ3", "l_RFJ3", "l_THJ4", "FFJ1", "LFJ2", "MFJ1", "RFJ1", "THJ2", "l_FFJ2", "l_LFJ3", "l_MFJ2", "l_RFJ2", "l_THJ3", "LFJ1", "THJ1", "l_FFJ1", "l_LFJ2", "l_MFJ1", "l_RFJ1", "l_THJ2", "l_LFJ1", "l_THJ1"], "expanded_full_target": [2.3306915760040283, -1.4016311168670654, -1.8727449178695679, 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0.020148749154834347, "max_joint_limit_excess_rad": 1.642417311668396, "max_joint_limit_excess_joint": "l_FFJ2", "stage_completion": {"scoop_1": true, "scoop_2": true, "ladle_returned": true, "bowl_placed": false}, "current_stage_completion": {"scoop_1": true, "scoop_2": true, "ladle_returned": true, "bowl_placed": false}, "stage_first_completion_step": {"scoop_1": 2390, "scoop_2": 2678, "ladle_returned": 2760, "bowl_placed": null}, "violation_counts": {"drop_to_table_obj_330_ladle_3": 1, "drop_to_table_obj_330_bowl_2": 1}, "policy_query_count": 154, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 29580, "dwell_time_s": 0.5}

gpt6_astra_10x_icl/per_task_eval/76_soup_serving/Full/summary.json

@@ -0,0 +1,348 @@
+{
+  "metric_schema_version": "core-v1.8-policy-step-query-split",
+  "metadata": {
+    "policy_name": "gpt-6-astra",
+    "base_seed": 207600000,
+    "seed_policy": "episode_seed = base_seed + episode_index - 1",
+    "randomization_recorded": true,
+    "n_episodes": 3,
+    "successes": 0,
+    "error_count": 2,
+    "evaluation_protocol": "reach_and_stop",
+    "early_stop": true,
+    "success_definition": "terminal.raw_condition holds for dwell_time_s",
+    "measurement_window": "episode_start_to_stable_success_or_failure_budget",
+    "max_episode_steps": 29580,
+    "dwell_time_s": 0.5,
+    "field_semantics": {
+      "success_rate": "primary protocol success rate: stable_success for reach_and_stop; terminal at_end_success_budget for fixed_horizon",
+      "avg_time_to_success_s": "main efficiency metric: mean time_to_stable_success_s over reached-success episodes",
+      "task_efficiency": "benchmark-specific expert-normalized speed ratio: expert_time_s / time_to_stable_success_s over reached-success episodes",
+      "avg_steps_to_success": "diagnostic mean steps_to_stable_success over reached-success episodes, or None if no episode succeeds",
+      "avg_policy_steps_to_success": "diagnostic mean policy-rate control/action steps through stable success over reached-success episodes",
+      "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",
+      "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)",
+      "hard_violation_rate": "episode rate with any task-level hard safety violation (drop or tracked-object high speed; joint limits are diagnostic by default)",
+      "drop_rate": "episode rate with drop_off_table or drop_to_table_after_lift violation",
+      "high_speed_violation_rate": "episode rate with any tracked object exceeding the configured speed threshold",
+      "excessive_impact_rate": "deprecated contact-force impact metric; no longer populated by core safety",
+      "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",
+      "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",
+      "joint_limit_active_step_rate": "diagnostic mean fraction of steps with any joint exceeding the soft diagnostic margin",
+      "finger_joint_limit_saturation_step_rate": "diagnostic mean fraction of steps with finger joint-limit saturation",
+      "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",
+      "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",
+      "safety_violation_step_rate": "core safety metric: fraction of executed steps with task-level safety violations; joint-limit observations are excluded by default",
+      "safety_violation_rate_event": "deprecated compatibility alias of safety_violation_events_per_step; omitted from grouped summary output",
+      "safety_violation_events_per_step": "diagnostic event density; may exceed 1 when multiple violations happen in one step",
+      "episode_violation_rate": "compatibility alias of hard_violation_rate; omitted from grouped core output",
+      "latched_stage_completion_rate": "main progress metric; ever-reached stage completion rate at episode end",
+      "current_stage_completion_rate": "diagnostic terminal-state stage completion rate at episode end",
+      "current_normalized_progress_score": "chain-depth diagnostic; normalized progress score at episode end",
+      "current_chain_depth_progress_score": "alias of current_normalized_progress_score for ordered dependency-depth diagnostics",
+      "latched_chain_depth_progress_score": "alias of latched_normalized_progress_score for ever-reached dependency-depth diagnostics",
+      "robustness": "success rates grouped by benchmark protocol category: cov, inv, and inv+cov"
+    }
+  },
+  "core_metrics": {
+    "completion": {
+      "success_rate": 0.0,
+      "success_rate_ci": {
+        "mean": 0.0,
+        "ci_low": 0.0,
+        "ci_high": 0.0
+      }
+    },
+    "progress": {
+      "latched_stage_completion_rate": 0.3333333333333333
+    },
+    "efficiency": {
+      "avg_time_to_success_s": null
+    },
+    "safety": {
+      "safe_success_rate": 0.0,
+      "hard_violation_rate": 0.6666666666666666,
+      "drop_rate": 0.6666666666666666,
+      "high_speed_violation_rate": 0.3333333333333333,
+      "safety_violation_step_rate": 0.018109462355196802
+    },
+    "robustness": {}
+  },
+  "diagnostic_metrics": {
+    "completion": {
+      "ever_instant_success_rate": 0.0,
+      "at_end_success_rate": 0.0,
+      "task_family_success_rate": {
+        "bimanual_soup_scoop_serve": 0.0
+      }
+    },
+    "progress": {
+      "current_stage_completion_rate": 0.3333333333333333,
+      "current_chain_depth_progress_score": 0.4444444444444444,
+      "latched_chain_depth_progress_score": 0.4444444444444444,
+      "avg_current_chain_depth": 1.3333333333333333,
+      "avg_latched_chain_depth": 1.3333333333333333
+    },
+    "efficiency": {
+      "task_efficiency": null,
+      "expert_time_s": 32.86666666666667,
+      "expert_time_step": 1972,
+      "avg_steps_to_success": null,
+      "avg_policy_steps_to_success": null,
+      "avg_policy_queries_to_success": null
+    },
+    "safety": {
+      "safety_violation_events_per_step": 0.00012889297049962137,
+      "violation_counts": {
+        "drop_obj_330_ladle_3": 1,
+        "drop_to_table_obj_330_bowl_2": 2,
+        "drop_to_table_obj_330_ladle_3": 2,
+        "high_speed_obj_330_ladle_3": 3
+      },
+      "robot_constraint_violation_rate": 1.0,
+      "finger_joint_limit_saturation_rate": 1.0,
+      "joint_limit_active_step_rate": 0.06378590877600013,
+      "finger_joint_limit_saturation_step_rate": 0.05012325390304026,
+      "max_joint_limit_excess_rad": 1.9810479879379272,
+      "robot_constraint_diagnostics": {
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+          "l_WRJ1": 12,
+          "l_WRJ2": 17
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+          "l_LFJ4": 1,
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+        "joint_limit_hard_episode_events": 125,
+        "finger_joint_limit_saturation_counts": {
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+        "joint_limit_max_excess_by_joint": {
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+}