diff --git a/gpt6_astra_10x_icl/README.md b/gpt6_astra_10x_icl/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2d4b71607558adcf2d2d54f3d5162717f454d06a --- /dev/null +++ b/gpt6_astra_10x_icl/README.md @@ -0,0 +1,40 @@ +# 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. diff --git a/gpt6_astra_10x_icl/leaderboard_gpt6_astra_10x_icl.json b/gpt6_astra_10x_icl/leaderboard_gpt6_astra_10x_icl.json new file mode 100644 index 0000000000000000000000000000000000000000..8e93e5f1963b13a840deb9cc123924352e653e14 --- /dev/null +++ b/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", + "weightsUrl": null, + "codeUrl": "https://github.com/OpenSenseNova/SenseNova-RoboRSI", + "externalReport": true, + "episodesPerChannel": 3, + "stepBudgetMultiplier": 10 + }, + "overall": { + "taskCount": 26, + "scope": "task-macro", + "status": "not-reported", + "sr": null, + "lscr": null, + "efficiency": null, + "efficiencyStatus": "not-reported", + "efficiencyTaskCount": null, + "channelSr": { + "None": null, + "Equi.": null, + "Inv.": null, + "Full": 61.53846153846154 + }, + "channelLscr": { + "None": null, + "Equi.": null, + "Inv.": null, + 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"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} diff --git a/gpt6_astra_10x_icl/per_task_eval/03_wine_glass_plate_balance/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/03_wine_glass_plate_balance/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..756987fc958907409da8c41608a45d15577f67bc --- /dev/null +++ b/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": 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0.03432248516521155, "mean_lift_score": 0.0786236063052672, "mean_hold_score": 0.043521722414455954, "mean_motion_stability_score": 0.039788582940787104, "mean_duration_score": 0.03431372549019608, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.8295179949126821, "joint_acceleration_rms": 30.301361044314497, "joint_jerk_rms": 3052.151247576298, "joint_effort_rms": 38.4518798301221}, "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": 2, 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0.3079642951488495, 0.4690714180469513, 0.2847857177257538, 0.3012857139110565, 0.6069285869598389, 0.0, 0.19396531581878662, 0.37390586733818054, 0.16807717084884644, 0.1865060180425644, 0.24228571355342865, 0.10000000149011612, 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} diff --git a/gpt6_astra_10x_icl/per_task_eval/06_fruit_bowl_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/06_fruit_bowl_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..22d347aaba6327bff393e10c78c8d82f71624637 --- /dev/null +++ b/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": {} + }, + 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"qpos": -0.0052126930095255375, "hard_excess_rad": 0.0052126930095255375, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 0.0, "shielded_target": 0.0}], "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_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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [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, 0.013961698859930038, 0.16463930904865265, 0.7252748012542725, 0.006099715828895569, 0.5229217410087585, 6.836714527835852e-11, 0.0, 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_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], "shielded_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]}, "joint_limit_active_steps": 89, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 13, "max_joint_limit_excess_rad": 0.44650617241859436, "max_joint_limit_excess_joint": "left_ring_pip_joint", "joint_role_manifest_available": true, "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": 89, "joint_limit_active_step_rate": 0.031426553672316386, "finger_joint_limit_saturation_steps": 13, "finger_joint_limit_saturation_step_rate": 0.004590395480225989, "max_joint_limit_excess_rad": 0.44650617241859436, "max_joint_limit_excess_joint": "left_ring_pip_joint", "stage_completion": {"place_lemon_2": true, "place_lemon_3": false, "place_orange_4": false, "place_orange_5": false}, "current_stage_completion": {"place_lemon_2": false, "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} diff --git a/gpt6_astra_10x_icl/per_task_eval/07_citrus_plate_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/07_citrus_plate_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e9df8669b03ed7db200445ceedaa5ae92c7aa331 --- /dev/null +++ b/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": 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at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/08_frypan_stand_pour/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/08_frypan_stand_pour/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b81de46ed23340eee3e2706b28b7a03c7c87173e --- /dev/null +++ b/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, 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"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} diff --git a/gpt6_astra_10x_icl/per_task_eval/08_frypan_stand_pour/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/08_frypan_stand_pour/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..66c6e0d7b1320c6f25bb84b076c3a1ac624bab8b --- /dev/null +++ b/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, + "high_speed_violation_rate": 0.3333333333333333, + "safety_violation_step_rate": 0.00011536686663590217 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "pour_tilt": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 38.13333333333333, + "expert_time_step": 2288, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 7.691124442393478e-05, + "violation_counts": { + "drop_to_table_obj_172_soy_sauce_1": 1, + "high_speed_obj_172_soy_sauce_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.10175357637286571, + "finger_joint_limit_saturation_step_rate": 0.0229964620827565, + "max_joint_limit_excess_rad": 2.122424602508545, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 160, + "left_hand_Index_Finger_Distal": 64, + "left_hand_Index_Finger_Proximal": 141, + "left_hand_Middle_Finger_Distal": 127, + "left_hand_Middle_Finger_Proximal": 127, + "left_hand_Pinky": 97, + "left_hand_Ring_Finger": 58, + "left_hand_Thumb_Flexion": 1780, + "left_hand_Thumb_Opposition": 20, + "left_hand_index_spread": 8, + "left_hand_j12": 68, + "left_hand_j13": 70, + "left_hand_j16": 4, + "left_hand_j17": 41, + "left_hand_j3": 182, + "left_hand_j4": 2, + "left_hand_j5": 118, + "left_hand_ring_spread": 247, + "right_hand_Index_Finger_Distal": 95, + "right_hand_Index_Finger_Proximal": 56, + "right_hand_Middle_Finger_Distal": 18, + "right_hand_Middle_Finger_Proximal": 301, + "right_hand_Pinky": 66, + "right_hand_Ring_Finger": 150, + "right_hand_Thumb_Flexion": 55, + "right_hand_j12": 12, + "right_hand_j13": 80, + "right_hand_j15": 75, + "right_hand_j3": 83 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 11, + "left_hand_Index_Finger_Distal": 4, + "left_hand_Index_Finger_Proximal": 10, + "left_hand_Middle_Finger_Distal": 4, + "left_hand_Middle_Finger_Proximal": 9, + "left_hand_Pinky": 5, + "left_hand_Ring_Finger": 8, + "left_hand_Thumb_Flexion": 25, + "left_hand_Thumb_Opposition": 4, + "left_hand_index_spread": 13, + "left_hand_j12": 6, + "left_hand_j13": 3, + "left_hand_j16": 1, + "left_hand_j17": 2, + "left_hand_j3": 7, + "left_hand_j4": 3, + "left_hand_j5": 8, + "left_hand_ring_spread": 5, + "right_hand_Index_Finger_Distal": 14, + "right_hand_Index_Finger_Proximal": 9, + "right_hand_Middle_Finger_Distal": 20, + "right_hand_Middle_Finger_Proximal": 45, + "right_hand_Pinky": 21, + "right_hand_Ring_Finger": 23, + "right_hand_Thumb_Flexion": 13, + "right_hand_j12": 15, + "right_hand_j13": 24, + "right_hand_j14": 1, + "right_hand_j15": 1, + "right_hand_j3": 13, + "right_hand_j5": 1 + }, + "joint_limit_hard_episode_events": 100, + "finger_joint_limit_saturation_counts": { + "left_hand_Finger_Spread": 114, + "left_hand_Index_Finger_Distal": 25, + "left_hand_Index_Finger_Proximal": 101, + "left_hand_Middle_Finger_Distal": 106, + "left_hand_Middle_Finger_Proximal": 56, + "left_hand_Pinky": 84, + "left_hand_Ring_Finger": 29, + "left_hand_Thumb_Flexion": 229, + "left_hand_j12": 32, + "left_hand_j13": 42, + "left_hand_j17": 22, + "left_hand_j3": 113, + "left_hand_j5": 41, + "left_hand_ring_spread": 197, + "right_hand_Index_Finger_Distal": 7, + "right_hand_Middle_Finger_Proximal": 56, + "right_hand_Ring_Finger": 41, + "right_hand_j15": 57 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.5825289487838745, + "left_hand_Index_Finger_Distal": 0.49665772914886475, + "left_hand_Index_Finger_Proximal": 0.7075263261795044, + "left_hand_Middle_Finger_Distal": 1.0814626216888428, + "left_hand_Middle_Finger_Proximal": 0.6026160717010498, + "left_hand_Pinky": 0.8448187708854675, + "left_hand_Ring_Finger": 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null, "robot_constraint_violation": true, "finger_joint_limit_saturation": true, "impact_metric_available": false, "chain_depth": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"leap_l_2": 23, "multi_leap_r_10": 293, "multi_leap_r_2": 102, "multi_leap_r_6": 40}, "joint_limit_hard_counts": {"leap_l_2": 8, "multi_leap_r_10": 8, "multi_leap_r_2": 10, "multi_leap_r_6": 3}, "finger_joint_limit_saturation_counts": {"multi_leap_r_10": 193, "multi_leap_r_2": 49, "multi_leap_r_6": 23}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.0004315972328186035, "leap_l_13": 0.005051136016845703, "leap_l_15": 0.0004183053970336914, "leap_l_2": 0.10326051712036133, "leap_l_3": 2.175569534301758e-06, "multi_leap_r_10": 0.3908652663230896, "multi_leap_r_2": 1.406436800956726, "multi_leap_r_3": 0.00029608607292175293, "multi_leap_r_6": 0.7499661445617676}, "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": 282, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_2", "role": "finger", "qpos": -0.518195629119873, "hard_excess_rad": 0.012195706367492676, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.3012441396713257, "shielded_target": -0.3012441396713257}], "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": [-1.6736313104629517, -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, -1.5546362400054932, 0.272372841835022, 0.4688495993614197, 0.09500972926616669, 0.11352218687534332, -0.3012441396713257, -0.0006363606662489474, -0.022831205278635025, -0.1923384815454483, 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} diff --git a/gpt6_astra_10x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/09_cleaner_moisturizer_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..11498880900a80e214b62e94efa27d20106e3c50 --- /dev/null +++ b/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 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4c4055723c100fb7aaf1584816e6faa3227a629 --- /dev/null +++ b/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": 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0.6888750842631997], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 2, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_019_pitcher_base", "uri": "dex2bench_dataset/Objects/019_pitcher_base/usd_decomposition_linux/textured.usd", "scale": [0.8849397914557987, 0.8849397914557987, 0.8849397914557987], "body_type": "dynamic", "category": "kitchen", "asset_code": "019", "asset_id": "clutter_019_pitcher_base", "asset_split": "unseen", "spawn_position": [-0.9312478578180712, 0.35032873351913907, 0.7594856129168205], "spawn_yaw_deg": 203.11522091325955, "obj_id": "distractor_00_clutter_019_pitcher_base"}, {"name": "clutter_035_power_drill", "uri": "dex2bench_dataset/Objects/035_power_drill/usd_decomposition_linux/textured.usd", "scale": [1.02585804917505, 1.02585804917505, 1.02585804917505], "body_type": "dynamic", "category": "tool", "asset_code": "035", "asset_id": "clutter_035_power_drill", "asset_split": "unseen", "placement_failed": true}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_043_phillips_screwdriver_1": {"position": [-0.44192715627603163, 0.10891385789518351, 0.7573473127632816], "rpy_deg": [0.0, 0.0, -9.882498740446962]}, "obj_044_flat_screwdriver_2": {"position": [0.23862080277792955, 0.023406500609761648, 0.7573953127795313], "rpy_deg": [0.0, 0.0, 0.046957393589192264]}, "obj_048_hammer_3": {"position": [-0.27, 0.11, 0.7892113138879132], "rpy_deg": [0.0, 180.0, -30.99562229681937]}, "obj_036_wood_block_4": {"position": [-0.1, 0.06, 0.8186053109312844], "rpy_deg": [90.0, 0.0, -7.972609737792363]}, "obj_154_wooden_box_1": {"position": [0.5054078249411132, 0.28760292650057756, 0.7569883127654385], "rpy_deg": [90.0, 0.0, 9.705454995832202]}}, "_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": 3089, "stable_success_step": 3255, "first_stable_success_step": 3255, "steps_to_stable_success": 3256, "policy_steps_to_stable_success": 1086, "policy_queries_to_stable_success": 19, "time_to_stable_success_s": 54.26666666666487, "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": 0.7054668304668538, "kinematic_grasp_stability_index": 0.9991125336765303, "mean_kinematic_grasp_stability": 0.24955908159822654, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.5943494226065272, "obj_044_flat_screwdriver_2": 0.9991125336765303, "obj_048_hammer_3": 0.4751306692206019}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.43287155933980803, "mean_kinematic_stability_score": 0.059145093560595254, "mean_lift_score": 0.48966011466011466, "mean_hold_score": 0.36042178542178743, "mean_motion_stability_score": 0.34931777909918815, "mean_duration_score": 0.39944717444717065, "mean_anti_slip_score": 0.6669737919737567}, "robot_motion_metrics": {"joint_velocity_rms": 1.1975804930153124, "joint_acceleration_rms": 62.18421184576, "joint_jerk_rms": 6420.254412327998, "joint_effort_rms": 45.8464747545057}, "tool_selection_accuracy": 0.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 4, "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": 49, "left_little_1_joint": 17, "left_middle_1_joint": 22, "left_ring_1_joint": 30, "left_thumb_2_joint": 33, "left_thumb_4_joint": 1, "right_index_1_joint": 81, "right_middle_1_joint": 97, "right_ring_1_joint": 10, "right_thumb_2_joint": 21, "right_thumb_3_joint": 10}, "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": 2, "left_thumb_4_joint": 1, "right_index_1_joint": 2, "right_middle_1_joint": 3, "right_ring_1_joint": 1, "right_thumb_2_joint": 1, "right_thumb_3_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 20, "left_middle_1_joint": 2, "right_middle_1_joint": 23}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.20043633878231049, "left_index_2_joint": 2.9589921268780017e-07, "left_little_1_joint": 0.045828185975551605, "left_little_2_joint": 1.4740588483164174e-07, "left_middle_1_joint": 0.11872077733278275, "left_middle_2_joint": 2.7114987588561235e-08, "left_ring_1_joint": 0.11360882967710495, "left_ring_2_joint": 4.983436951988551e-07, "left_thumb_1_joint": 1.699358290352393e-05, "left_thumb_2_joint": 0.15240846574306488, "left_thumb_3_joint": 0.002631599083542824, "left_thumb_4_joint": 0.027993671596050262, "right_index_1_joint": 0.09385170042514801, "right_index_2_joint": 7.986516834534996e-07, "right_little_2_joint": 2.182071739298408e-06, "right_middle_1_joint": 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"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} diff --git a/gpt6_astra_10x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/12_screwdriver_box_and_hammer/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f0aaf74902f4ad9683e8b22e0c0a07710964b822 --- /dev/null +++ b/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, + "left_middle_2_joint": 2.1824810119142057e-06, + "left_ring_1_joint": 0.11615025997161865, + "left_ring_2_joint": 1.7752026906237006e-05, + "left_thumb_1_joint": 1.732567216095049e-05, + "left_thumb_2_joint": 0.4083523750305176, + "left_thumb_3_joint": 0.002631599083542824, + "left_thumb_4_joint": 0.027993671596050262, + "right_index_1_joint": 0.9538151621818542, + "right_index_2_joint": 7.616848506586393e-06, + "right_little_2_joint": 1.6379917724407278e-05, + "right_middle_1_joint": 0.30515244603157043, + "right_middle_2_joint": 3.307018050691113e-05, + "right_ring_1_joint": 0.2909194231033325, + "right_ring_2_joint": 5.6689455959713086e-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 + }, + "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": 58.243881591687085, + "joint_effort_rms": 44.34306650440215, + "joint_jerk_rms": 6035.891127823114, + "joint_velocity_rms": 1.2037649194203093 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9990728227030317, + "mean_kinematic_grasp_stability": 0.3768323333230962, + "per_object_best_kinematic_grasp_stability": { + "obj_043_phillips_screwdriver_1": 0.6609791835914893, + "obj_044_flat_screwdriver_2": 0.99782218145017, + "obj_048_hammer_3": 0.5110378483696749 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7322280551388496, + "mean_duration_score": 0.40236938322610843, + "mean_hold_score": 0.35415723250236897, + "mean_kinematic_stability_score": 0.11329407390027064, + "mean_legacy_gsi": 0.4457442326257645, + "mean_lift_score": 0.49581945887100326, + "mean_motion_stability_score": 0.3462808031740708 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 16, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3298, + "error_count": 0 + } + } +} \ No newline at 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{"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} diff --git a/gpt6_astra_10x_icl/per_task_eval/21_condiment_box_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/21_condiment_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..05fba689dfc6a3de5f6eaefbd92cc22589553114 --- /dev/null +++ b/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": { + "mean": 0.6666666666666666, + "ci_low": 0.0, + "ci_high": 1.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.6666666666666666 + }, + "efficiency": { + "avg_time_to_success_s": 136.80833333337196 + }, + "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": 0.00014532067428792869 + }, + "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": 1.3333333333333333, + "avg_latched_chain_depth": 1.3333333333333333 + }, + "efficiency": { + "task_efficiency": 0.4056872401865405, + "expert_time_s": 27.566666666666666, + "expert_time_step": 1654, + "avg_steps_to_success": 8208.5, + "avg_policy_steps_to_success": 2736.5, + "avg_policy_queries_to_success": 51 + }, + "safety": { + "safety_violation_events_per_step": 0.00014532067428792869, + "violation_counts": { + "drop_to_table_obj_171_msg_4": 2, + "drop_to_table_obj_172_soy_sauce_2": 1 + }, + "robot_constraint_violation_rate": 0.6666666666666666, + "finger_joint_limit_saturation_rate": 0.6666666666666666, + "joint_limit_active_step_rate": 0.0637957760124007, + "finger_joint_limit_saturation_step_rate": 0.05459213330749855, + "max_joint_limit_excess_rad": 2.4376306533813477, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_finger1_joint1": 12, + "left_finger1_joint3": 1090, + "left_finger2_joint4": 47, + "left_finger3_joint2": 22, + "left_finger3_joint4": 55, + "left_finger4_joint1": 41, + "left_finger4_joint2": 34, + "left_finger4_joint4": 55, + "left_finger5_joint1": 4, + "left_finger5_joint4": 52, + "right_finger1_joint3": 27, + "right_finger2_joint1": 95, + "right_finger3_joint1": 53, + "right_finger4_joint1": 13, + "right_finger4_joint2": 12, + "right_finger5_joint2": 13 + }, + "joint_limit_hard_counts": { + "left_finger1_joint1": 1, + "left_finger1_joint2": 2, + "left_finger1_joint3": 4, + "left_finger2_joint2": 1, + "left_finger2_joint4": 1, + "left_finger3_joint2": 1, + "left_finger3_joint4": 1, + "left_finger4_joint1": 2, + "left_finger4_joint2": 3, + "left_finger4_joint4": 1, + "left_finger5_joint1": 1, + "left_finger5_joint4": 1, + "right_finger1_joint2": 10, + "right_finger1_joint3": 3, + "right_finger2_joint1": 5, + "right_finger3_joint1": 2, + "right_finger4_joint1": 3, + "right_finger4_joint2": 2, + "right_finger5_joint2": 1 + }, + "joint_limit_hard_episode_events": 27, + "finger_joint_limit_saturation_counts": { + "left_finger1_joint3": 1011, + "left_finger2_joint4": 45, + "left_finger3_joint4": 53, + "left_finger4_joint1": 6, + "left_finger4_joint2": 1, + "left_finger4_joint4": 53, + "left_finger5_joint4": 48, + "right_finger1_joint3": 6, + "right_finger2_joint1": 47, + "right_finger3_joint1": 12, + "right_finger5_joint2": 2 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint1": 0.12481319904327393, + "left_finger1_joint2": 0.005399435758590698, + "left_finger1_joint3": 0.8271760940551758, + "left_finger2_joint1": 0.0003159046173095703, + "left_finger2_joint2": 0.005183905363082886, + "left_finger2_joint4": 1.8637301921844482, + "left_finger3_joint2": 0.17948570847511292, + "left_finger3_joint4": 2.3013296127319336, + "left_finger4_joint1": 0.3246208429336548, + "left_finger4_joint2": 0.15450072288513184, + "left_finger4_joint4": 2.4376306533813477, + "left_finger5_joint1": 0.0242692232131958, + "left_finger5_joint2": 0.0035106539726257324, + "left_finger5_joint4": 2.2746286392211914, + "right_finger1_joint2": 0.008103609085083008, + "right_finger1_joint3": 0.36233431100845337, + "right_finger2_joint1": 0.3803626298904419, + "right_finger2_joint2": 0.0009592175483703613, + "right_finger3_joint1": 0.1703876256942749, + "right_finger4_joint1": 0.018409013748168945, + "right_finger4_joint2": 0.16661801934242249, + "right_finger5_joint2": 0.2627767026424408 + }, + "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": 13.92196512206369, + "joint_effort_rms": 25.926045258712914, + "joint_jerk_rms": 1418.8549220428847, + "joint_velocity_rms": 0.34640099974178606 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9508768330341145, + "mean_kinematic_grasp_stability": 0.47346122403490076, + 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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} diff --git a/gpt6_astra_10x_icl/per_task_eval/22_tool_box_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/22_tool_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0581f3b893353c9a8d4bc0597f9e4ab0e185f005 --- /dev/null +++ b/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, + "avg_current_chain_depth": 2, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": 0.5309138445087789, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 3336, + "avg_policy_steps_to_success": 1112.3333333333333, + "avg_policy_queries_to_success": 38 + }, + "safety": { + "safety_violation_events_per_step": 0.00019984012789768185, + "violation_counts": { + "drop_to_table_obj_044_flat_screwdriver_3": 1, + "drop_to_table_obj_147_drill_5": 1 + }, + "robot_constraint_violation_rate": 0.6666666666666666, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0009992006394884093, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.029221534729003906, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_thumb_mcp": 10 + }, + "joint_limit_hard_counts": { + "left_middle_mcp": 1, + "right_ring_mcp": 3, + "right_thumb_abd": 1, + "right_thumb_mcp": 4, + "right_wrist": 1 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_middle_mcp": 0.006831526756286621, + "left_thumb_abd": 0.004038599785417318, + "left_wrist": 0.0004559755325317383, + "multi_panda_joint1": 0.0003592967987060547, + "multi_panda_joint6": 0.00016498565673828125, + "right_middle_mcp": 0.003923773765563965, + "right_ring_mcp": 0.009684205055236816, + "right_thumb_abd": 0.005516769364476204, + "right_thumb_mcp": 0.029221534729003906, + "right_wrist": 0.005901217460632324 + }, + "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": 21.643370128902063, + "joint_effort_rms": 34.32392099943157, + "joint_jerk_rms": 2268.8390910489156, + "joint_velocity_rms": 0.3995772068965723 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9484638503944848, + "mean_kinematic_grasp_stability": 0.4454016140964813, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.4685001795520078, + "obj_043_phillips_screwdriver_2": 0.8854634142661708, + "obj_044_flat_screwdriver_3": 0.9036640979147609, + "obj_147_drill_5": 0.7456432238897717 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7288894425286923, + "mean_duration_score": 0.3902983466193263, + "mean_hold_score": 0.3364322547740232, + "mean_kinematic_stability_score": 0.08726648503682616, + "mean_legacy_gsi": 0.42159118102970067, + "mean_lift_score": 0.4128332893955535, + "mean_motion_stability_score": 0.30887004651467354 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3336, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/24_stationery_category_sorting/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/24_stationery_category_sorting/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98a419e27bedfb6e8f24bc332c21b4f2ac369b50 --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/24_stationery_category_sorting/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 5, "seed": 202400004, "success": true, "steps": 19328, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400004, "base_seed": 202400000, "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, 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81, "right_index_distal_joint": 29, "right_index_proximal_joint": 25, "right_middle_proximal_joint": 14, "right_pinky_proximal_joint": 5, "right_ring_distal_joint": 145, "right_ring_proximal_joint": 81, "right_thumb_distal_joint": 266, "right_thumb_metacarpal_joint": 122}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 2.083985418721568e-05, "left_index_proximal_joint": 0.7258667945861816, "left_middle_distal_joint": 0.2608271539211273, "left_middle_proximal_joint": 0.35842686891555786, "left_pinky_distal_joint": 0.23167267441749573, "left_pinky_proximal_joint": 0.5262387990951538, "left_ring_distal_joint": 0.2279513031244278, "left_ring_proximal_joint": 0.3932199478149414, "left_thumb_distal_joint": 1.5279366970062256, "left_thumb_metacarpal_joint": 0.07565286010503769, "left_thumb_proximal_joint": 0.013899445533752441, "right_index_distal_joint": 0.810383677482605, "right_index_proximal_joint": 0.9395720362663269, "right_middle_distal_joint": 0.015464887954294682, 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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} diff --git a/gpt6_astra_10x_icl/per_task_eval/24_stationery_category_sorting/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/24_stationery_category_sorting/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..58bc34ed864ceacece6d5eb1f07c77bdd318ec8d --- /dev/null +++ b/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 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47658b8242ccbc465aa0196b8b683b361f0044a2 --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": 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"selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_130_tray_1": {"position": [0.0, 0.2, 0.7209496038997263], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_002_master_chef_can_2": {"position": [-0.4118518437492824, 0.3632152906522601, 0.7211179013536898], "rpy_deg": [0.0, 0.0, -2.6302987323345413]}, "obj_171_msg_3": {"position": [-0.2610558481295067, 0.19352961908074678, 0.7209495971056369], "rpy_deg": [90.0, 0.0, 3.139260516219455]}, "obj_151_milk_box_4": {"position": [0.14, 0.38, 0.720949604367599], "rpy_deg": [90.0, 0.0, 9.993540951487084]}, "obj_010_potted_meat_can_5": {"position": [0.4020793727300605, 0.23085049460227547, 0.7241376014162674], "rpy_deg": [0.0, 0.0, 89.8373887418998]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "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": false, "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": 29.03333333333333, "expert_time_step": 1742, "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": 0.25, "current_normalized_progress_score": 0.5, "current_chain_depth_progress_score": 0.5, "current_chain_depth": 1, "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": 0.9989211163097732, "mean_kinematic_grasp_stability": 0.4763014984397326, "per_object_best_kinematic_grasp_stability": {"obj_002_master_chef_can_2": 0.9784572041174093, "obj_010_potted_meat_can_5": 0.9989211163097732, "obj_151_milk_box_4": 0.7766918626430701, "obj_171_msg_3": 0.9700815485667645}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6914956564173357, "mean_kinematic_stability_score": 0.2327461034377239, "mean_lift_score": 0.7322043628013777, "mean_hold_score": 0.7105238231917327, "mean_motion_stability_score": 0.6669413200404782, "mean_duration_score": 0.9398861461921163, "mean_anti_slip_score": 0.48931942849828375}, "robot_motion_metrics": {"joint_velocity_rms": 0.6230170206160115, "joint_acceleration_rms": 14.7046526066814, "joint_jerk_rms": 1507.276732432305, "joint_effort_rms": 29.186482722410577}, "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": {"left_index_MCP_FE": 23, "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": 9, "multi_right_middle_PIP": 13, "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_IP": 12}, "joint_limit_hard_counts": {"left_index_MCP_FE": 3, "left_index_PIP": 1, "left_pinky_CMC": 6, 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"grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4268227501337929, "mean_kinematic_stability_score": 0.041073406048965366, "mean_lift_score": 0.26774292979887493, "mean_hold_score": 0.2419521075749399, "mean_motion_stability_score": 0.21809866686381402, "mean_duration_score": 0.9011520382214687, "mean_anti_slip_score": 0.5535883999897253}, "robot_motion_metrics": {"joint_velocity_rms": 0.7733913925046563, "joint_acceleration_rms": 15.367789126291942, "joint_jerk_rms": 1582.234172025818, "joint_effort_rms": 34.204746492026764}, "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, 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"left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "raw_active_action": [-1.460064172744751, -0.527614176273346, 1.5700000524520874, -0.006023961119353771, -1.5700000524520874, -1.2242541313171387, 1.570143494389331e-11, 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"A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_pinky_CMC", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_pinky_CMC", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "left_thumb_MCP_AA", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_thumb_MCP_AA", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "expanded_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], "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} diff --git a/gpt6_astra_10x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/26_canned_food_tray_line_arrangement/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8567dd68347b738f1c87b87d5f746379889c7520 --- /dev/null +++ b/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": 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[{"joint": "right_finger1_joint2", "role": "finger", "qpos": -0.16263103485107422, "hard_excess_rad": 0.005031034350395203, "hard_tolerance_rad": 0.005, "hard_lower": -0.15760000050067902, "hard_upper": 0.9311999678611755, "operating_lower": -0.15759998559951782, "operating_upper": 0.9311999678611755, "expanded_target": -0.15760000050067902, "shielded_target": -0.15760000050067902}], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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"], "raw_active_action": [2.168149471282959, -1.535804033279419, -1.5700000524520874, 1.9278624057769775, 1.5700000524520874, 0.2263166606426239, -1.5700000524520874, 2.1872451305389404, 3.129691505954213e-10, 0.23338665068149567, -1.5700000524520874, 1.650644843032012e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.404413666061259e-10, 5.064491936934701e-09, 3.2622249346303533e-09, 1.262862481254956e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -1.5104871520232876e-10, 2.2600830928976023e-10, 2.3485982603155264e-10, 2.0907346687248918e-10, 1.6864031004981683e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 1.0197964001035231e-10, 7.524635914357702e-10, -1.278937095117172e-10, 4.677055409629816e-10, -5.34377264660435e-10, -7.069538010551213e-11, 7.681337510501152e-11, 3.352806227097105e-11, 2.8355692360121365e-12, -7.741264573812856e-11], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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": [2.168149471282959, -1.535804033279419, -1.5700000524520874, 1.9278624057769775, 1.5700000524520874, 0.2263166606426239, -1.5700000524520874, 2.1872451305389404, 3.129691505954213e-10, 0.23338665068149567, -1.5700000524520874, 1.650644843032012e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.404413666061259e-10, 5.064491936934701e-09, 3.2622249346303533e-09, 1.262862481254956e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -1.5104871520232876e-10, 2.2600830928976023e-10, 2.3485982603155264e-10, 2.0907346687248918e-10, 1.6864031004981683e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 1.0197964001035231e-10, 7.524635914357702e-10, -1.278937095117172e-10, 4.677055409629816e-10, -5.34377264660435e-10, -7.069538010551213e-11, 7.681337510501152e-11, 3.352806227097105e-11, 2.8355692360121365e-12, -7.741264573812856e-11], "shielded_full_target": [2.168149471282959, -1.535804033279419, -1.5700000524520874, 1.9278624057769775, 1.5700000524520874, 0.2263166606426239, -1.5700000524520874, 2.1872451305389404, 3.129691505954213e-10, 0.23338665068149567, -1.5700000524520874, 1.650644843032012e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.404413666061259e-10, 5.064491936934701e-09, 3.2622249346303533e-09, 1.262862481254956e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -1.5104871520232876e-10, 2.2600830928976023e-10, 2.3485982603155264e-10, 2.0907346687248918e-10, 1.6864031004981683e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 1.0197964001035231e-10, 7.524635914357702e-10, -1.278937095117172e-10, 4.677055409629816e-10, -5.34377264660435e-10, -7.069538010551213e-11, 7.681337510501152e-11, 3.352806227097105e-11, 2.8355692360121365e-12, -7.741264573812856e-11]}, "joint_limit_active_steps": 99, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 68, "max_joint_limit_excess_rad": 0.31119072437286377, "max_joint_limit_excess_joint": "right_finger1_joint3", "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": 99, "joint_limit_active_step_rate": 0.031843036346091994, "finger_joint_limit_saturation_steps": 68, "finger_joint_limit_saturation_step_rate": 0.021871984560952074, "max_joint_limit_excess_rad": 0.31119072437286377, "max_joint_limit_excess_joint": "right_finger1_joint3", "stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "current_stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "stage_first_completion_step": {"place_soccer": 2108, "place_tennis": 3028, "place_golf": 3028, "place_pingpong": 3028}, "violation_counts": {}, "policy_query_count": 25, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3570, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/per_task_eval/27_ball_box_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/27_ball_box_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..32bed6487dec4be2430485351358d68f5a2613f5 --- /dev/null +++ b/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 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a1892e8271bb19c6d4313fe43d080c4e30036fa --- /dev/null +++ b/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": 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"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": 1549, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_pinky_DIP", "role": "finger", "qpos": 1.4017890691757202, "hard_excess_rad": 0.005489230155944824, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3962998390197754, "operating_lower": 0.0, "operating_upper": 1.3962998390197754, "expanded_target": 1.350919485092163, "shielded_target": 1.350919485092163}], "command_context_available": true, "active_joint_names": ["A1", "A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "raw_active_action": [-2.215829372406006, 0.05820314586162567, 1.5700000524520874, 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3.683971183665591e-11, 2.0341735240680947e-11, 8.260812173199739e-12, 0.0], "full_joint_names": ["A1", "A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_pinky_CMC", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_pinky_CMC", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "left_thumb_MCP_AA", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_thumb_MCP_AA", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "expanded_full_target": [-2.215829372406006, 0.05820314586162567, 1.5700000524520874, 0.10580605268478394, -1.5700000524520874, -0.588641345500946, 7.858501176183363e-12, -1.1647833585739136, -1.5700000524520874, -0.6889328360557556, 4.74561015484376e-11, 0.6072989702224731, 5.064850205904747e-10, -3.4687017147483346e-10, 0.48548513650894165, 0.61845862865448, 0.0, 0.5260490775108337, 0.7012897729873657, -0.07947637885808945, -0.10694167017936707, 0.23788966238498688, -0.170901820063591, 0.10754363983869553, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.7313402891159058, 0.49995431303977966, -0.1541604846715927, 0.49269425868988037, 0.3050270080566406, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.41516435146331787, 0.23992836475372314, 0.7463022470474243, 0.24501122534275055, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.350919485092163, 0.5979021787643433, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0], "shielded_full_target": [-2.215829372406006, 0.05820314586162567, 1.5700000524520874, 0.10580605268478394, -1.5700000524520874, -0.588641345500946, 7.858501176183363e-12, -1.1647833585739136, -1.5700000524520874, -0.6889328360557556, 4.74561015484376e-11, 0.6072989702224731, 5.064850205904747e-10, -3.4687017147483346e-10, 0.48548513650894165, 0.61845862865448, 0.0, 0.5260490775108337, 0.7012897729873657, -0.07947637885808945, -0.10694167017936707, 0.23788966238498688, -0.170901820063591, 0.10754363983869553, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.7313402891159058, 0.49995431303977966, -0.1541604846715927, 0.49269425868988037, 0.3050270080566406, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.41516435146331787, 0.23992836475372314, 0.7463022470474243, 0.24501122534275055, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.350919485092163, 0.5979021787643433, 0.0, 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} diff --git a/gpt6_astra_10x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/32_baking_tray_prep_with_tools/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5d455e00570b5a2a570fc7dfc560fcbdb6ccdcd4 --- /dev/null +++ b/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, + 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"mean_anti_slip_score": 0.13751571702735868}, "robot_motion_metrics": {"joint_velocity_rms": 0.7111045996272732, "joint_acceleration_rms": 27.56329995329456, "joint_jerk_rms": 2885.0897608276573, "joint_effort_rms": 32.51177239085556}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 3.9706174310110246e-05, "safety_violation_rate_time": 3.9706174310110246e-05, "safety_violation_rate_event": 3.970617431010522e-05, "safety_violation_step_rate": 3.970617431010522e-05, "safety_violation_events_per_step": 3.970617431010522e-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": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_pip_joint": 262, "left_index_pitch_joint": 254, "left_middle_mcp_joint": 4, "left_middle_pip_joint": 255, "left_middle_pitch_joint": 140, "left_pinky_mcp_joint": 289, "left_pinky_pip_joint": 37, "left_ring_mcp_joint": 420, "left_ring_pip_joint": 121, "left_thumb_mcp_joint": 2308, "right_thumb_mcp_joint": 4187}, "joint_limit_hard_counts": {"left_index_pip_joint": 95, "left_index_pitch_joint": 7, "left_middle_mcp_joint": 3, "left_middle_pip_joint": 20, "left_middle_pitch_joint": 6, "left_pinky_mcp_joint": 30, "left_pinky_pip_joint": 11, "left_ring_mcp_joint": 17, "left_ring_pip_joint": 12, "left_thumb_mcp_joint": 10, "right_thumb_mcp_joint": 2}, "finger_joint_limit_saturation_counts": {"left_index_pip_joint": 220, "left_index_pitch_joint": 184, "left_middle_pip_joint": 139, "left_middle_pitch_joint": 92, "left_pinky_mcp_joint": 119, "left_pinky_pip_joint": 30, "left_ring_mcp_joint": 91, "left_ring_pip_joint": 77, "left_thumb_mcp_joint": 2150, "right_thumb_mcp_joint": 4128}, "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, "left_index_pitch_joint": 1.0933383703231812, "left_middle_dip_joint": 0.0020228771027177572, "left_middle_mcp_joint": 0.014538347721099854, "left_middle_pip_joint": 0.8507091999053955, "left_middle_pitch_joint": 1.314996600151062, "left_pinky_dip_joint": 2.627349203976337e-06, "left_pinky_mcp_joint": 0.9379228353500366, "left_pinky_pip_joint": 1.4258047342300415, "left_ring_dip_joint": 0.002708244835957885, "left_ring_mcp_joint": 1.3110204935073853, "left_ring_pip_joint": 1.1179713010787964, "left_thumb_dip_joint": 0.0008104494772851467, "left_thumb_mcp_joint": 1.0615265369415283, "left_thumb_pip_joint": 4.710666925977769e-11, "right_index_dip_joint": 4.643076408683555e-06, "right_index_pip_joint": 0.00017030673916451633, "right_index_pitch_joint": 3.0825518479105085e-05, "right_middle_dip_joint": 7.75345051806653e-06, "right_middle_pip_joint": 0.0002379939833190292, "right_middle_pitch_joint": 2.6471150704310276e-05, "right_pinky_dip_joint": 6.036315426172223e-06, "right_pinky_mcp_joint": 0.0006028413772583008, "right_pinky_pip_joint": 2.0510724425548688e-05, "right_ring_dip_joint": 1.0907289833994582e-05, "right_ring_mcp_joint": 2.688734639377799e-05, "right_ring_pip_joint": 0.00021639253827743232, "right_thumb_dip_joint": 3.1630221201339737e-05, "right_thumb_mcp_joint": 0.24566704034805298, "right_thumb_pip_joint": 1.9439228708506562e-05, "right_thumb_yaw_joint": 8.621552256837806e-12}, "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": 126, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_middle_pip_joint", "role": "finger", "qpos": -0.0054898569360375404, "hard_excess_rad": 0.0054898569360375404, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 0.0, "shielded_target": 0.0}], "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_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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [1.6578893661499023, -1.8544785976409912, -1.5705559253692627, 1.9404234886169434, 1.2738962173461914, -0.3617807626724243, -1.4429678916931152, 1.5074553489685059, 0.4435660243034363, 0.4448264241218567, -1.5713753700256348, -0.9927986860275269, 0.04853983595967293, 0.07704126834869385, 0.0, 0.0, 0.6315034627914429, -0.04049701616168022, 0.025525106117129326, 0.2025655061006546, 0.0, 0.3797050714492798, 0.4863780438899994, 0.6445602774620056, 0.2553819417953491, 0.6693189144134521, 0.7173148989677429, 0.0, 0.0, -0.16848134994506836, -0.08043382316827774, 0.5562182664871216, 0.0, 0.13534656167030334, 0.03793998062610626, 0.0, 0.0, 0.12854519486427307], "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_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": [1.6578893661499023, -1.8544785976409912, -1.5705559253692627, 1.9404234886169434, 1.2738962173461914, -0.3617807626724243, -1.4429678916931152, 1.5074553489685059, 0.4435660243034363, 0.4448264241218567, -1.5713753700256348, -0.9927986860275269, 0.04853983595967293, 0.07704126834869385, 0.0, 0.0, 0.6315034627914429, -0.04049701616168022, 0.025525106117129326, 0.2025655061006546, 0.0, 0.3797050714492798, 0.4863780438899994, 0.6445602774620056, 0.2553819417953491, 0.6693189144134521, 0.7173148989677429, 0.0, 0.0, 0.22752158343791962, 0.0, 0.4120939075946808, -0.16848134994506836, -0.08043382316827774, 0.5562182664871216, 0.0, 0.13534656167030334, 0.0, 0.0, 0.03793998062610626, 0.0, 0.0, 0.6247443556785583, 0.0, 0.14689162373542786, 0.0, 0.0, 0.12854519486427307], "shielded_full_target": [1.6578893661499023, -1.8544785976409912, -1.5705559253692627, 1.9404234886169434, 1.2738962173461914, -0.3617807626724243, -1.4429678916931152, 1.5074553489685059, 0.4435660243034363, 0.4448264241218567, -1.5713753700256348, -0.9927986860275269, 0.04853983595967293, 0.07704126834869385, 0.0, 0.0, 0.6315034627914429, -0.04049701616168022, 0.025525106117129326, 0.2025655061006546, 0.0, 0.3797050714492798, 0.4863780438899994, 0.6445602774620056, 0.2553819417953491, 0.6693189144134521, 0.7173148989677429, 0.0, 0.0, 0.22752158343791962, 0.0, 0.4120939075946808, -0.16848134994506836, -0.08043382316827774, 0.5562182664871216, 0.0, 0.13534656167030334, 0.0, 0.0, 0.03793998062610626, 0.0, 0.0, 0.6247443556785583, 0.0, 0.14689162373542786, 0.0, 0.0, 0.12854519486427307]}, "joint_limit_active_steps": 7610, "joint_limit_hard_episode_events": 66, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 6848, "max_joint_limit_excess_rad": 1.4258047342300415, "max_joint_limit_excess_joint": "left_pinky_pip_joint", "joint_role_manifest_available": true, "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": 7610, "joint_limit_active_step_rate": 0.3021639864999007, "finger_joint_limit_saturation_steps": 6848, "finger_joint_limit_saturation_step_rate": 0.27190788167560054, "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} diff --git a/gpt6_astra_10x_icl/per_task_eval/34_fridge_wine_interhand_pour/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/34_fridge_wine_interhand_pour/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..751c1a59f9705bef54ff1db3291b931175a4c3a9 --- /dev/null +++ b/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, + 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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} diff --git a/gpt6_astra_10x_icl/per_task_eval/42_trash_disposal/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/42_trash_disposal/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..25d087e43766025fa9e06025d497d1a6aa28cdf6 --- /dev/null +++ b/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, + "left_ring_1_joint": 699, + "left_thumb_2_joint": 294, + "right_index_1_joint": 333, + "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": 0.1255759745836258, + "left_index_2_joint": 7.056729828036623e-06, + "left_little_1_joint": 0.20021890103816986, + "left_little_2_joint": 0.003293063025921583, + "left_middle_1_joint": 0.458725243806839, + "left_middle_2_joint": 9.607405081624165e-05, + "left_ring_1_joint": 0.9748058319091797, + "left_ring_2_joint": 0.009600542485713959, + "left_thumb_1_joint": 0.0018527209758758545, + "left_thumb_2_joint": 0.6838836669921875, + "left_thumb_3_joint": 0.0024505085311830044, + "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": 0.0005320123163983226, + "right_thumb_2_joint": 0.12884944677352905, + "right_thumb_3_joint": 0.7988921999931335, + "right_thumb_4_joint": 0.031613826751708984 + }, + "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": 52.6237516707575, + "joint_effort_rms": 54.651816836732976, + "joint_jerk_rms": 5361.844294081479, + "joint_velocity_rms": 1.130616106176666 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9695454652157784, + "mean_kinematic_grasp_stability": 0.502114453935717, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.40714301682717247, + "obj_341_banana_peel_1": 0.4957422095444493, + "obj_349_paper_low_2": 0.9695454652157784 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8629524830962462, + "mean_duration_score": 0.32925040361795366, + "mean_hold_score": 0.32322824141112316, + "mean_kinematic_stability_score": 0.18215836653590628, + "mean_legacy_gsi": 0.43134517089673513, + "mean_lift_score": 0.44018861640045964, + "mean_motion_stability_score": 0.2956232270663629 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2463, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b2f63b133894515b488017a3d266caea6479ae3 --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 5, "seed": 204300004, "success": false, "steps": 14100, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 204300004, "base_seed": 204300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", 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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} diff --git a/gpt6_astra_10x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/43_fridge_fruit_shelf_sorting/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..71c9b94797772d4de119790dbc00ae21a2476966 --- /dev/null +++ b/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 + }, + "joint_limit_hard_episode_events": 197, + "finger_joint_limit_saturation_counts": { + "FFJ2": 13, + "FFJ3": 47, + "LFJ2": 17, + "LFJ4": 23, + "LFJ5": 109, + "MFJ2": 103, + "RFJ2": 138, + "RFJ3": 26, + "THJ1": 42, + "THJ3": 24, + "THJ4": 43, + "THJ5": 101, + "l_FFJ2": 166, + "l_FFJ3": 321, + "l_LFJ2": 100, + "l_LFJ3": 361, + "l_LFJ4": 53, + "l_LFJ5": 513, + "l_MFJ2": 269, + "l_MFJ3": 95, + "l_MFJ4": 25, + "l_RFJ2": 606, + "l_RFJ3": 38, + "l_THJ4": 5, + "l_THJ5": 366 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 0.004584662150591612, + "FFJ2": 0.5536534786224365, + "FFJ3": 0.20703601837158203, + "FFJ4": 1.195073127746582e-05, + "LFJ1": 0.006359064485877752, + "LFJ2": 0.6214476823806763, + "LFJ3": 0.07467839121818542, + "LFJ4": 0.4522991478443146, + "LFJ5": 0.7921704053878784, + "MFJ1": 0.24392759799957275, + "MFJ2": 0.7013113498687744, + "MFJ3": 0.06667321920394897, + "MFJ4": 0.11544457077980042, + "RFJ1": 0.13311851024627686, + "RFJ2": 0.9399458169937134, + "RFJ3": 0.5076636672019958, + "RFJ4": 0.09221887588500977, + "THJ1": 1.548326015472412, + "THJ3": 0.6530141234397888, + "THJ4": 0.7885133028030396, + "THJ5": 0.6099404096603394, + "WRJ2": 0.0016556382179260254, + "l_FFJ1": 0.0004558151704259217, + "l_FFJ2": 1.0069206953048706, + "l_FFJ3": 1.08669114112854, + "l_LFJ1": 1.0608473301199073e-11, + "l_LFJ2": 0.2594267725944519, + "l_LFJ3": 1.440045952796936, + "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": 0.0054225921630859375, + "l_THJ4": 0.48309290409088135, + "l_THJ5": 1.384023666381836, + "l_WRJ1": 0.06968575716018677, + "l_WRJ2": 0.4654872417449951 + }, + "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": 22.567882858799205, + "joint_effort_rms": 50.13173774433637, + "joint_jerk_rms": 2376.083985104602, + "joint_velocity_rms": 0.43593599855415177 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9968059677340593, + "mean_kinematic_grasp_stability": 0.5623010734435093, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.9133357961693587, + "obj_013_apple_1": 0.9874668340479819 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5182096541483826, + "mean_duration_score": 0.9096190775379266, + "mean_hold_score": 0.5187449244865917, + "mean_kinematic_stability_score": 0.21816568038210302, + "mean_legacy_gsi": 0.5909993953759931, + "mean_lift_score": 0.5947267425879329, + "mean_motion_stability_score": 0.4976804038247992 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 10122.333333333334, + "error_count": 1 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/44_microwave_bowl_loading/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/44_microwave_bowl_loading/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59cbb4da9fd1cf720706f9215f614c6fabcf9e31 --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/44_microwave_bowl_loading/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 5, "seed": 204400004, "success": true, "steps": 2746, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400004, "base_seed": 204400000, "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_flooring_flooring0112_jpg", "asset_uri": "dex2bench_dataset/textures/flooring/flooring0112.jpg", "asset_category": "flooring", "asset_id": "flooring/flooring0112.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1222.870977990566, "color": [0.5721335459199051, 0.9098835853916819, 0.5821831146561369], "pitch_deg": -23.877740791638644, "yaw_deg": -89.71443719444476, "angle_deg": 0.9440764749366699}, "dome": {"intensity": 337.02445090217657, "color": [0.8655679315997216, 0.8830698795105829, 0.7894194489856389], "exposure": -0.08961055254630823}, "profile_name": 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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} diff --git a/gpt6_astra_10x_icl/per_task_eval/44_microwave_bowl_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/44_microwave_bowl_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..977258f4b5e7da15f0fd77d50ce450d5e3926ac5 --- /dev/null +++ b/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, + "right_hand_Pinky": 3, + "right_hand_Ring_Finger": 5, + "right_hand_Thumb_Flexion": 21, + "right_hand_j12": 1, + "right_hand_j13": 3, + "right_hand_j3": 27 + }, + "joint_limit_hard_episode_events": 104, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Distal": 5, + "left_hand_Index_Finger_Proximal": 63, + "left_hand_Middle_Finger_Proximal": 159, + "left_hand_Pinky": 159, + "left_hand_Ring_Finger": 144, + "left_hand_Thumb_Flexion": 155, + "left_hand_j13": 72, + "left_hand_j3": 711, + "left_hand_j5": 228, + "right_hand_Middle_Finger_Proximal": 15, + "right_hand_Thumb_Flexion": 35, + "right_hand_j3": 19 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.00921088457107544, + "left_hand_Index_Finger_Distal": 0.3235565423965454, + "left_hand_Index_Finger_Proximal": 1.5071290731430054, + "left_hand_Middle_Finger_Distal": 0.19435572624206543, + "left_hand_Middle_Finger_Proximal": 1.09234619140625, + "left_hand_Pinky": 0.9788976311683655, + "left_hand_Ring_Finger": 0.39603883028030396, + "left_hand_Thumb_Flexion": 0.747669517993927, + "left_hand_Thumb_Opposition": 0.0003831949143204838, + "left_hand_index_spread": 0.006348968017846346, + "left_hand_j12": 0.006257834378629923, + "left_hand_j13": 0.5899029970169067, + "left_hand_j14": 6.4545488385192584e-06, + "left_hand_j15": 9.73641945165582e-05, + "left_hand_j16": 0.00024394788488280028, + "left_hand_j17": 4.2978484998457134e-05, + "left_hand_j3": 0.43114838004112244, + "left_hand_j4": 4.035417333625446e-09, + "left_hand_j5": 0.4431232810020447, + "left_hand_ring_spread": 0.00731812696903944, + "right_hand_Finger_Spread": 0.000892653304617852, + "right_hand_Index_Finger_Distal": 0.07560331374406815, + "right_hand_Index_Finger_Proximal": 0.017145931720733643, + "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": 0.2885274291038513, + "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": 0.0012932430254295468 + }, + "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": 12.789097477439434, + "joint_effort_rms": 24.794942190009042, + "joint_jerk_rms": 1289.1516661283206, + "joint_velocity_rms": 0.30225375556523426 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9915194398414151, + "mean_kinematic_grasp_stability": 0.730678489203351, + "per_object_best_kinematic_grasp_stability": { + "obj_024_bowl_3": 0.9915194398414151, + "obj_163_baguette_1": 0.5135827512716488 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5237855749778865, + "mean_duration_score": 0.7641629823473793, + "mean_hold_score": 0.33432156642459154, + "mean_kinematic_stability_score": 0.0956519214791801, + "mean_legacy_gsi": 0.4445531984627967, + "mean_lift_score": 0.3800103218501257, + "mean_motion_stability_score": 0.2943630141323759 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 8037, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73d52c43bd28877cf0523a5de5bb3425fd460f6d --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 5, "seed": 205100004, "success": true, "steps": 1677, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 205100004, "base_seed": 205100000, "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": 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0.7181475498115689}, "robot_motion_metrics": {"joint_velocity_rms": 0.7521070607903146, "joint_acceleration_rms": 21.05213504121802, "joint_jerk_rms": 2123.863693965087, "joint_effort_rms": 62.038379801181364}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 5, "tool_switch_successful": 0, "safety_violation_rate": 0.0006462035541195683, "safety_violation_rate_time": 0.0006462035541195683, "safety_violation_rate_event": 0.0006462035541195477, "safety_violation_step_rate": 0.0006462035541195477, "safety_violation_events_per_step": 0.0006462035541195477, "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": {"leap_l_10": 70, "leap_l_12": 26, "leap_l_2": 71, "multi_leap_r_1": 3, "multi_leap_r_10": 8, "multi_leap_r_2": 1, "multi_leap_r_9": 3}, "joint_limit_hard_counts": {"leap_l_10": 13, "leap_l_11": 6, "leap_l_12": 1, "leap_l_2": 16, "multi_leap_r_1": 3, "multi_leap_r_10": 1, "multi_leap_r_2": 4, "multi_leap_r_5": 1, "multi_leap_r_9": 3}, "finger_joint_limit_saturation_counts": {"leap_l_10": 47, "leap_l_12": 15}, "joint_limit_max_excess_by_joint": {"leap_l_10": 1.1876262426376343, "leap_l_11": 0.005234330892562866, "leap_l_12": 0.37565159797668457, "leap_l_13": 0.004552364349365234, "leap_l_15": 0.0010939836502075195, "leap_l_2": 0.2409340739250183, "leap_l_3": 0.00013691186904907227, "multi_leap_r_1": 0.015098214149475098, "multi_leap_r_10": 0.03237098455429077, "multi_leap_r_2": 0.011136114597320557, "multi_leap_r_3": 0.003427267074584961, "multi_leap_r_5": 0.0071946680545806885, "multi_leap_r_6": 0.00410616397857666, "multi_leap_r_9": 0.015725314617156982}, "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": 32, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_2", "role": "finger", "qpos": -0.544543981552124, "hard_excess_rad": 0.03854405879974365, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.42443355917930603, "shielded_target": -0.42443355917930603}], "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": [-1.6205569505691528, -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, -2.442999839782715, 0.5988444089889526, 1.265234112739563, 0.34897345304489136, 0.09420087188482285, -0.42443355917930603, -0.0010000000474974513, -0.14699211716651917, -0.36212557554244995, 0.029921576380729675, -0.35322824120521545, -1.340000033378601, -0.08837058395147324, -0.3517330586910248, -0.14158710837364197, 1.2920901775360107, 0.00795035157352686, -0.0646907314658165, -0.2642826735973358, -0.014973497949540615, -0.01744353398680687, -0.05347539857029915], "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": [-1.6205569505691528, -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], "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} diff --git a/gpt6_astra_10x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/51_toilet_lid_cleaner_pour/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b402374e8438d7d2bf2d9a159cfdece4d1c62bab --- /dev/null +++ b/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, + 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1.3960000276565552, "expanded_target": 3.909987958405914e-11, "shielded_target": 3.909987958405914e-11}], "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_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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [1.9203778505325317, -1.4891093969345093, -1.5700000524520874, 1.696826457977295, 1.5700000524520874, 0.3212730586528778, -1.5700000524520874, 1.996379017829895, -1.0511607140273327e-09, 0.31554847955703735, -1.5700000524520874, -6.433157478946683e-11, 0.23055259883403778, 0.34839677810668945, 0.035314079374074936, 0.31170183420181274, 0.18805846571922302, -0.0007544397376477718, -0.06655596196651459, 0.2936156094074249, 3.909987958405914e-11, 0.3840326964855194, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 2.983923221358542e-12, 5.672417396906937e-11, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.01646209880709648, 7.024884146611399e-11, 1.699382579101183e-10, 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_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": [1.9203778505325317, -1.4891093969345093, -1.5700000524520874, 1.696826457977295, 1.5700000524520874, 0.3212730586528778, -1.5700000524520874, 1.996379017829895, -1.0511607140273327e-09, 0.31554847955703735, -1.5700000524520874, -6.433157478946683e-11, 0.23055259883403778, 0.34839677810668945, 0.035314079374074936, 0.31170183420181274, 0.18805846571922302, -0.0007544397376477718, -0.06655596196651459, 0.2936156094074249, 3.909987958405914e-11, 0.3840326964855194, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 2.983923221358542e-12, 5.672417396906937e-11, 0.32978904247283936, 4.3916984632241807e-11, 0.4167906939983368, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 3.3515425677810295e-12, 6.371259075876878e-11, 0.01646209880709648, 7.024884146611399e-11, 1.699382579101183e-10, 8.89648424373668e-11, 9.808779483089225e-11, 7.877779539811058e-10, 7.890350178785255e-11, 1.908746494194702e-10, 0.0], "shielded_full_target": [1.9203778505325317, -1.4891093969345093, -1.5700000524520874, 1.696826457977295, 1.5700000524520874, 0.3212730586528778, -1.5700000524520874, 1.996379017829895, -1.0511607140273327e-09, 0.31554847955703735, -1.5700000524520874, -6.433157478946683e-11, 0.23055259883403778, 0.34839677810668945, 0.035314079374074936, 0.31170183420181274, 0.18805846571922302, -0.0007544397376477718, -0.06655596196651459, 0.2936156094074249, 3.909987958405914e-11, 0.3840326964855194, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 2.983923221358542e-12, 5.672417396906937e-11, 0.32978904247283936, 4.3916984632241807e-11, 0.4167906939983368, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 3.3515425677810295e-12, 6.371259075876878e-11, 0.01646209880709648, 7.024884146611399e-11, 1.699382579101183e-10, 8.89648424373668e-11, 9.808779483089225e-11, 7.877779539811058e-10, 7.890350178785255e-11, 1.908746494194702e-10, 0.0]}, "joint_limit_active_steps": 423, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 361, "max_joint_limit_excess_rad": 1.7652851343154907, "max_joint_limit_excess_joint": "right_thumb_pip_joint", "joint_role_manifest_available": true, "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} diff --git a/gpt6_astra_10x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/60_breadbasket_fast_food_loading/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..14b321abc57c69e79ec650c08b5510c42c0cd421 --- /dev/null +++ b/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": 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"spawn_position": [-0.9332354728768709, 0.3308499143299673, 0.753845970209908], "spawn_yaw_deg": 302.9250484056904, "obj_id": "distractor_02_clutter_019_pitcher_base"}]}}, "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": [-0.40939383109973837, 0.17205128683215573, 0.7514221238640917], "rpy_deg": [90.0, 0.0, -7.229714407409052]}, "obj_186_pillbottle_2": {"position": [0.33697067730105357, 0.2822776411451983, 0.7514221286579181], "rpy_deg": [90.0, 0.0, -5.0494974961328065]}, "obj_218_tooth_paste_3": {"position": [0.22255258161193597, 0.17748855308396616, 0.7514221305395099], "rpy_deg": [90.0, 0.0, 44.917707697455896]}, "obj_211_hydrating_oil_4": {"position": [-0.07654330119863142, 0.3686839865455039, 0.7514221305524487], "rpy_deg": [90.0, 0.0, 0.5052182291425353]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "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": 2945, "stable_success_step": 2974, "first_stable_success_step": 2974, "steps_to_stable_success": 2975, "policy_steps_to_stable_success": 992, "policy_queries_to_stable_success": 34, "time_to_stable_success_s": 49.5833333333318, "expert_time_s": 34.45, "expert_time_step": 2067, "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": 0.694789915966408, "kinematic_grasp_stability_index": 0.9990727902264918, "mean_kinematic_grasp_stability": 0.49737611484904903, "per_object_best_kinematic_grasp_stability": {"obj_186_pillbottle_2": 0.9989153186782188, "obj_211_hydrating_oil_4": 0.6918669211816528, "obj_218_tooth_paste_3": 0.9990727902264918}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3778783756739798, "mean_kinematic_stability_score": 0.15470208345332886, "mean_lift_score": 0.3168627450980392, "mean_hold_score": 0.2271148459383786, "mean_motion_stability_score": 0.2244992906814672, "mean_duration_score": 0.2588085901027077, "mean_anti_slip_score": 0.9226890756302529}, "robot_motion_metrics": {"joint_velocity_rms": 0.4321699153563645, "joint_acceleration_rms": 20.574068783879852, "joint_jerk_rms": 2180.7174262971757, "joint_effort_rms": 32.83236743537857}, "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": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"right_thumb_mcp": 39}, "joint_limit_hard_counts": {"left_index_mcp": 1, "right_index_mcp": 1, "right_thumb_mcp": 2}, "joint_limit_max_excess_by_joint": {"left_index_mcp": 0.006751418113708496, "left_middle_mcp": 0.0038971900939941406, "left_ring_mcp": 0.0029436349868774414, "left_thumb_abd": 0.0032069459557533264, "left_thumb_mcp": 0.004602372646331787, "left_wrist": 0.0008555054664611816, "panda_joint4": 3.7670135498046875e-05, "right_index_mcp": 0.008817553520202637, "right_middle_mcp": 0.0024698972702026367, "right_ring_mcp": 0.0024514198303222656, "right_thumb_abd": 0.001484726439230144, "right_thumb_mcp": 0.04530054330825806, "right_thumb_pip": 0.00465703010559082, "right_wrist": 0.0023905038833618164}, "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": 495, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_index_mcp", "role": "finger", "qpos": 1.6648112535476685, "hard_excess_rad": 0.006751418113708496, "hard_tolerance_rad": 0.005, "hard_lower": -0.3490699827671051, "hard_upper": 1.65805983543396, "operating_lower": -0.3490700125694275, "operating_upper": 1.65805983543396, "expanded_target": 1.6562939882278442, "shielded_target": 1.6562939882278442}], "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} diff --git a/gpt6_astra_10x_icl/per_task_eval/61_medicine_shoebox_pack/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/61_medicine_shoebox_pack/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..bd33c4bf1f6b73eab4709f1eeffc74f58fde7b99 --- /dev/null +++ b/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": 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{"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, 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"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} diff --git a/gpt6_astra_10x_icl/per_task_eval/62_shoebox_accessory_pack/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/62_shoebox_accessory_pack/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..626b38e0ca71a45b072a7721b0e1a984bcd257fe --- /dev/null +++ b/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, + "multi_leap_r_1": 0.0033883750438690186, + "multi_leap_r_10": 0.3137786388397217, + "multi_leap_r_14": 0.4370570182800293, + "multi_leap_r_2": 1.3980273008346558, + "multi_leap_r_3": 0.00019490718841552734, + "multi_leap_r_5": 0.005123049020767212, + "multi_leap_r_6": 0.17621320486068726, + "multi_leap_r_7": 2.6226043701171875e-05, + "multi_leap_r_9": 0.01827019453048706 + }, + "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": 11.7014871555538, + "joint_effort_rms": 46.24694785064934, + "joint_jerk_rms": 1154.472176782956, + "joint_velocity_rms": 0.4572973302583554 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8254727999198578, + "mean_kinematic_grasp_stability": 0.43743281471206324, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.0, + "obj_153_shoe_2": 0.15667575903873257, + "obj_203_seal_4": 0.8254727999198578 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8770076463782227, + "mean_duration_score": 0.2920649195217271, + "mean_hold_score": 0.02686276919087312, + "mean_kinematic_stability_score": 0.012483223110254814, + "mean_legacy_gsi": 0.2496275866017638, + "mean_lift_score": 0.043296753235235415, + "mean_motion_stability_score": 0.022410912338016998 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 6793, + "error_count": 3 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/64_sports_ball_cup_sort/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/64_sports_ball_cup_sort/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62ec4b5b1cf81a1c93125b16aa8dc80060fcfbd4 --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/64_sports_ball_cup_sort/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 5, "seed": 206400004, "success": true, "steps": 1946, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400004, "base_seed": 206400000, "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": 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"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": 189, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_joint_2_0", "role": "finger", "qpos": -0.18024194240570068, "hard_excess_rad": 0.006241947412490845, "hard_tolerance_rad": 0.005, "hard_lower": -0.17399999499320984, "hard_upper": 1.7089998722076416, "operating_lower": -0.17400002479553223, "operating_upper": 1.7089998722076416, "expanded_target": -0.09775735437870026, "shielded_target": -0.09775735437870026}], "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", 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"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": { + "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": 4, + "avg_latched_chain_depth": 4 + }, + "efficiency": { + "task_efficiency": 0.5587926336671646, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 2706.6666666666665, + "avg_policy_steps_to_success": 902.6666666666666, + "avg_policy_queries_to_success": 44.666666666666664 + }, + "safety": { + "safety_violation_events_per_step": 0.00036945812807881776, + "violation_counts": { + "drop_to_table_obj_055_baseball_4": 1, + "drop_to_table_obj_057_racquetball_5": 1, + "drop_to_table_obj_058_golf_ball_6": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.3333333333333333, + "joint_limit_active_step_rate": 0.01293103448275862, + "finger_joint_limit_saturation_step_rate": 0.00541871921182266, + "max_joint_limit_excess_rad": 0.22497618198394775, + "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": 24, + "multi_joint_9_0": 2 + }, + "joint_limit_hard_episode_events": 27, + "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, + "joint_2_0": 0.0004210472106933594, + "joint_5_0": 0.00017344951629638672, + "joint_6_0": 0.0002518892288208008, + "multi_joint_10_0": 0.001398324966430664, + "multi_joint_1_0": 0.0001323223114013672, + "multi_joint_2_0": 0.14861640334129333, + "multi_joint_5_0": 0.00012636184692382812, + "multi_joint_6_0": 4.4226646423339844e-05, + "multi_joint_9_0": 0.22497618198394775, + "multi_panda_joint5": 1.7404556274414062e-05 + }, + "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": 6.4996922949429035, + "joint_effort_rms": 25.137197208425867, + "joint_jerk_rms": 646.8103652621965, + "joint_velocity_rms": 0.22200409076517294 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9851419952964361, + "mean_kinematic_grasp_stability": 0.48052947904275833, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.7202630509241947, + "obj_055_baseball_4": 0.9740232657775625, + "obj_057_racquetball_5": 0.6823084423449989, + "obj_058_golf_ball_6": 0.6433140339015108 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.806625857358718, + "mean_duration_score": 0.46459393164158774, + "mean_hold_score": 0.36328568931755567, + "mean_kinematic_stability_score": 0.17408246409099154, + "mean_legacy_gsi": 0.467493590122319, + "mean_lift_score": 0.43819099205685286, + "mean_motion_stability_score": 0.3442878254436995 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2706.6666666666665, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/67_faucet_cup_water_fill/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/67_faucet_cup_water_fill/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..384362a1da059d242cce44324f9ae49a6298a6af --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/67_faucet_cup_water_fill/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 5, "seed": 206700004, "success": true, "steps": 19684, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700004, "base_seed": 206700000, "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": "FloorPlan203", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan203_physics/scene.usda", "scene_offset": [-2.44349, 0.4154, 0.0]}, "table_surface": {"enabled": true, 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0.0038545532152056694, 8.315380910062231e-06, 0.01565456949174404, 1.6082230658298613e-08, 0.00929207168519497], "full_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_index_distal_joint", "right_middle_distal_joint", "right_pinky_distal_joint", "right_ring_distal_joint", "right_thumb_proximal_joint", "left_index_distal_joint", "left_middle_distal_joint", "left_pinky_distal_joint", "left_ring_distal_joint", "left_thumb_proximal_joint", "right_thumb_distal_joint", "left_thumb_distal_joint"], "expanded_full_target": [1.5700000524520874, -1.5638585090637207, 1.5700000524520874, -1.5561391115188599, -1.5700000524520874, 1.5713175535202026, 5.605516051332415e-10, 0.02045927755534649, 1.5700000524520874, -1.5480848550796509, 2.5093929156838612e-09, -0.01652327924966812, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0007503294618800282, 0.0008644761983305216, 0.0038545532152056694, 8.315380910062231e-06, 0.01565456949174404, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0008666305220685899, 0.00099847000092268, 0.004452008754014969, 9.604264960216824e-06, 0.00929207168519497, 1.6082230658298613e-08, 0.00929207168519497], "shielded_full_target": [1.5700000524520874, -1.5638585090637207, 1.5700000524520874, -1.5561391115188599, -1.5700000524520874, 1.5713175535202026, 5.605516051332415e-10, 0.02045927755534649, 1.5700000524520874, -1.5480848550796509, 2.5093929156838612e-09, -0.01652327924966812, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0007503294618800282, 0.0008644761983305216, 0.0038545532152056694, 8.315380910062231e-06, 0.01565456949174404, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0008666305220685899, 0.00099847000092268, 0.004452008754014969, 9.604264960216824e-06, 0.00929207168519497, 1.6082230658298613e-08, 0.00929207168519497]}, "joint_limit_active_steps": 276, "joint_limit_hard_episode_events": 22, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 103, "max_joint_limit_excess_rad": 0.6398665904998779, "max_joint_limit_excess_joint": "l_joint4", "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": 276, "joint_limit_active_step_rate": 0.024583593123719605, "finger_joint_limit_saturation_steps": 103, "finger_joint_limit_saturation_step_rate": 0.009174311926605505, "max_joint_limit_excess_rad": 0.6398665904998779, "max_joint_limit_excess_joint": "l_joint4", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": true, "faucet_open_close": true, "mug_on_tray": true}, "current_stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": true, "mug_on_tray": true}, "stage_first_completion_step": {"spoon_in_mug": 861, "mug_under_faucet": 8295, "faucet_open_close": 9572, "mug_on_tray": 11047}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 74, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 28920, "dwell_time_s": 3.0} diff --git a/gpt6_astra_10x_icl/per_task_eval/67_faucet_cup_water_fill/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/67_faucet_cup_water_fill/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ae1930cb8b62e4439f71e4f8985dc3666c7f5bbc --- /dev/null +++ b/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 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da2f221dbc37e4cd6c8e286f1507b06b401f30fe --- /dev/null +++ b/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": 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"runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_right_index_DIP", "role": "finger", "qpos": -0.010930316522717476, "hard_excess_rad": 0.010930316522717476, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3962998390197754, "operating_lower": 0.0, "operating_upper": 1.3962998390197754, "expanded_target": 0.35441717505455017, "shielded_target": 0.35441717505455017}], "command_context_available": true, "active_joint_names": ["A1", "A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "raw_active_action": [-1.5700000524520874, -1.5700000524520874, 0.8196600079536438, 9.31874369336505e-13, 0.31313586235046387, -1.5700000524520874, -1.715226173400879, -5.977571909676627e-11, 1.5263829231262207, -1.4030236972217836e-09, -0.0048035006038844585, -4.272712739172846e-10, 0.8426704406738281, 1.5460273027420044, 2.4719001845419086e-10, 4.0406178403173953e-10, -5.290308191518989e-10, 1.5527841512597007e-10, 1.933086503369541e-12, -6.474144137458282e-13, -5.197141605961519e-10, -6.3017750739913225e-12, 5.870037789179605e-11, 0.644027054309845, 0.5251288414001465, 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, 0.683792769908905, 0.3197626769542694, -0.2102254033088684, 0.38753724098205566, 0.3195435404777527, 4.084306504115176e-11, 1.1278734196595863e-10, 0.35441717505455017, 0.13146500289440155, 0.6754617094993591, 0.20364078879356384, 1.367475152015686, 0.5213862657546997], "full_joint_names": ["A1", "A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_pinky_CMC", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_pinky_CMC", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "left_thumb_MCP_AA", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_thumb_MCP_AA", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "expanded_full_target": [-1.5700000524520874, -1.5700000524520874, 0.8196600079536438, 9.31874369336505e-13, 0.31313586235046387, -1.5700000524520874, -1.715226173400879, -5.977571909676627e-11, 1.5263829231262207, -1.4030236972217836e-09, -0.0048035006038844585, -4.272712739172846e-10, 0.8426704406738281, 1.5460273027420044, 2.4719001845419086e-10, 4.0406178403173953e-10, 0.0, -5.290308191518989e-10, 1.5527841512597007e-10, 1.933086503369541e-12, -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], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 0.8196600079536438, 9.31874369336505e-13, 0.31313586235046387, -1.5700000524520874, -1.715226173400879, -5.977571909676627e-11, 1.5263829231262207, -1.4030236972217836e-09, -0.0048035006038844585, -4.272712739172846e-10, 0.8426704406738281, 1.5460273027420044, 2.4719001845419086e-10, 4.0406178403173953e-10, 0.0, -5.290308191518989e-10, 1.5527841512597007e-10, 1.933086503369541e-12, -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} diff --git a/gpt6_astra_10x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/73_jigsaw_puzzle_assembly/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..662cd21b052a101207b9f6f6cdd133d1206346e8 --- /dev/null +++ b/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, + 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"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, + 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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, 2.1032958030700684, 1.8488436937332153, -1.1215659379959106, -2.065213918685913, 2.128267526626587, 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0.0026746310759335756], "shielded_full_target": [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, 0.0, 0.05543448030948639, 0.035971444100141525, 1.0471975803375244, 0.12780755758285522, 0.1576695591211319, 0.14024236798286438, 0.08670942485332489, -0.08238264173269272, 0.5209340453147888, 0.2045975923538208, 0.0, 0.1512245088815689, -0.12132235616445541, 0.8071064352989197, 0.0, -0.0935123860836029, 0.0016905497759580612, 0.00023988338944036514, 0.0, 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, 0.0, 0.00014481563994195312, -0.006624183617532253, 0.2364545315504074, 0.04726172238588333, 0.0033714892342686653, 0.00040554520091973245, 0.012514383532106876, 0.07441390305757523, 0.0026746310759335756]}, "joint_limit_active_steps": 879, "joint_limit_hard_episode_events": 66, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 596, "max_joint_limit_excess_rad": 1.642417311668396, "max_joint_limit_excess_joint": "l_FFJ2", "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": 879, "joint_limit_active_step_rate": 0.02971602434077079, "finger_joint_limit_saturation_steps": 596, "finger_joint_limit_saturation_step_rate": 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} diff --git a/gpt6_astra_10x_icl/per_task_eval/76_soup_serving/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/76_soup_serving/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..947f3eb3b887fa7e6b8a69cb11acbdf01b068ed4 --- /dev/null +++ b/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 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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": 0.001593098626472056, "max_joint_limit_excess_joint": "multi_middle_q2", "stage_completion": {"play_left_melody": true, "play_right_melody": true}, "current_stage_completion": {"play_left_melody": true, "play_right_melody": true}, "stage_first_completion_step": {"play_left_melody": 1826, "play_right_melody": 4678}, "violation_counts": {}, "policy_query_count": 42, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 20430, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/per_task_eval/79_bimanual_piano_melody/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/79_bimanual_piano_melody/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..fe4e58c0d08ef6e3f9c0dbf70c875b7c992ac04b --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/79_bimanual_piano_melody/Full/summary.json @@ -0,0 +1,185 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 207900000, + "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": [ + 2043, + 20430 + ], + "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": 46.238888888887544 + }, + "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": { + "piano_melody": 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": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": 0.5999629305611136, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 2774.3333333333335, + "avg_policy_steps_to_success": 925.3333333333334, + "avg_policy_queries_to_success": 28.333333333333332 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 0.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0018981315661221743, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": {}, + "joint_limit_hard_episode_events": 0, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0008162621525116265, + "index_q2": 1.3009840982292076e-09, + "middle_q1": 0.0007093391614034772, + "middle_q2": 0.001462997985072434, + "multi_index_q1": 0.0007665380835533142, + "multi_index_q2": 1.1643729314059215e-09, + "multi_middle_q1": 0.0006738172960467637, + "multi_middle_q2": 0.0018981315661221743, + "multi_pinky_q1": 0.00042462607962079346, + "multi_pinky_q2": 0.0014513167552649975, + "multi_ring_q1": 0.0003193222510162741, + "multi_ring_q2": 0.0016872764099389315, + "multi_thumb_q1": 0.00041921899537555873, + "multi_thumb_q2": 8.870397323335055e-06, + "pinky_q1": 0.00022398367582354695, + "pinky_q2": 0.0016626488650217652, + "ring_q1": 0.00030355987837538123, + "ring_q2": 0.0018022495787590742, + "thumb_q1": 0.00023622941807843745 + }, + "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": 4.4546143550654165, + "joint_effort_rms": 68.73618648888302, + "joint_jerk_rms": 451.5376035574818, + "joint_velocity_rms": 0.24090334023184642 + }, + "grasp": { + "kinematic_grasp_stability_index": null, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": {}, + "grasp_gsi_diagnostics": {} + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2774.3333333333335, + "error_count": 0 + } + } +} \ No newline at end of file diff --git a/gpt6_astra_10x_icl/per_task_eval/80_gaming_desk_setup/Full/per_episode.jsonl b/gpt6_astra_10x_icl/per_task_eval/80_gaming_desk_setup/Full/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33aedb095a343ef407583feef20dd0a7e8eaaafb --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/80_gaming_desk_setup/Full/per_episode.jsonl @@ -0,0 +1,3 @@ +{"scene": "scenes/80_gaming_desk_setup.yaml", "episode_index": 5, "seed": 208000004, "success": false, "steps": 17790, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 208000004, "base_seed": 208000000, "seed_policy": 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[0.0, 0.05, 0.7700326510697602], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_300_mouse_3": {"position": [0.3814026617326706, 0.17883095290024048, 0.7746299254147732], "rpy_deg": [0.0, 0.0, -86.24879786602474]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "desk_organize_interaction", "robot_key": "multi_jaka_zu7_dexhand021_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": false, "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": 19.75, "expert_time_step": 1185, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.0, "normalized_progress_score": 0.0, "chain_depth_progress_score": 0.0, 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"joint_6", "l_joint_6", "r_f_joint1_1", "r_f_joint2_1", "r_f_joint3_1", "r_f_joint4_1", "r_f_joint5_1", "l_f_joint1_1", "l_f_joint2_1", "l_f_joint3_1", "l_f_joint4_1", "l_f_joint5_1", "r_f_joint1_2", "r_f_joint2_2", "r_f_joint3_2", "r_f_joint4_2", "r_f_joint5_2", "l_f_joint1_2", "l_f_joint2_2", "l_f_joint3_2", "l_f_joint4_2", "l_f_joint5_2", "r_f_joint1_3", "r_f_joint2_3", "r_f_joint3_3", "r_f_joint4_3", "r_f_joint5_3", "l_f_joint1_3", "l_f_joint2_3", "l_f_joint3_3", "l_f_joint4_3", "l_f_joint5_3", "r_f_joint1_4", "r_f_joint2_4", "r_f_joint3_4", "r_f_joint4_4", "r_f_joint5_4", "l_f_joint1_4", "l_f_joint2_4", "l_f_joint3_4", "l_f_joint4_4", "l_f_joint5_4"], "expanded_full_target": [2.3183791637420654, -2.2480337619781494, 0.6961734294891357, -0.9767274856567383, -1.1359455585479736, 1.7568578720092773, 0.39845922589302063, -0.6341298818588257, 1.856978416442871, -1.728449821472168, 0.35853826999664307, -0.5772266387939453, 0.10319676995277405, 0.1680772453546524, 0.0009997946908697486, 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"max_joint_limit_excess_rad": 3.102194309234619, "max_joint_limit_excess_joint": "r_f_joint1_2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_jaka_zu7_dexhand021_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": 488, "joint_limit_active_step_rate": 0.028060491058593526, "finger_joint_limit_saturation_steps": 356, "finger_joint_limit_saturation_step_rate": 0.020470358231269047, "max_joint_limit_excess_rad": 3.102194309234619, "max_joint_limit_excess_joint": "r_f_joint1_2", "stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "current_stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "stage_first_completion_step": {"straighten_monitor": null, "press_escape_key": null, "click_left_mouse_button": null}, "violation_counts": {"high_speed_obj_090_display_1": 1}, "policy_query_count": 97, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 17790, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/per_task_eval/80_gaming_desk_setup/Full/summary.json b/gpt6_astra_10x_icl/per_task_eval/80_gaming_desk_setup/Full/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ad54fcd1362d2e9d31673297873537be2e7f26c4 --- /dev/null +++ b/gpt6_astra_10x_icl/per_task_eval/80_gaming_desk_setup/Full/summary.json @@ -0,0 +1,288 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 208000000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 3, + "successes": 0, + "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": 17790, + "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, + 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"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": 0.3333333333333333 + }, + "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": 0.00030807147258163895 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "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": 0.00030807147258163895, + "violation_counts": { + "drop_to_table_obj_194_wineglass_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0012322858903265558, + "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": 4 + }, + "joint_limit_hard_counts": { + "multi_ring_q2": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0008488883031532168, + "index_q2": 2.568627310850502e-09, + "middle_q1": 0.0003383134608156979, + "middle_q2": 0.00042299178312532604, + "multi_index_q1": 0.000618069723714143, + "multi_index_q2": 2.1270256667094145e-09, + "multi_middle_q1": 0.00021312988246791065, + "multi_middle_q2": 0.00013655224756803364, + "multi_pinky_q1": 0.00029322862974368036, + "multi_pinky_q2": 0.00030654051806777716, + "multi_ring_q1": 0.0006677353521808982, + "multi_ring_q2": 0.06860432028770447, + "multi_thumb_q1": 0.00020426808623597026, + "multi_thumb_q2": 2.0990317352698185e-05, + "pinky_q1": 0.00020358046458568424, + "pinky_q2": 0.0006289785378612578, + "ring_q1": 0.0006062846514396369, + "ring_q2": 0.001016843831166625, + "thumb_q1": 9.900757868308574e-05, + "thumb_q2": 0.00015839742263779044 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 21.47234603275552, + "joint_effort_rms": 82.68765547685538, + "joint_jerk_rms": 2298.5255978645446, + "joint_velocity_rms": 0.5079764567897485 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.999184250856082, + "mean_kinematic_grasp_stability": 0.535962119823862, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.9899484505250616, + "obj_194_wineglass_2": 0.9808800318067455, + "obj_194_wineglass_3": 0.999184250856082 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7523789963716379, + "mean_duration_score": 0.48360032860956986, + "mean_hold_score": 0.4205483672211982, + "mean_kinematic_stability_score": 0.1557031050504935, + "mean_legacy_gsi": 0.49211865256055093, + "mean_lift_score": 0.4715547340316287, + "mean_motion_stability_score": 0.39781187220799397 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_03_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_03_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22efb3cc05e3b18a55730301339c3fd1d34f9483 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_03_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 6, "seed": 200300005, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200300005, "base_seed": 200300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": false, 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"mean_motion_stability_score": 0.31735979462753866, "mean_duration_score": 0.5309782980762651, "mean_anti_slip_score": 0.7967070582597741}, "robot_motion_metrics": {"joint_velocity_rms": 0.36676578060594517, "joint_acceleration_rms": 5.14595853490029, "joint_jerk_rms": 500.7449925328372, "joint_effort_rms": 89.33123311856058}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.44269870609982837, "safety_violation_rate_time": 0.44269870609982837, "safety_violation_rate_event": 0.0009242144177449168, "safety_violation_step_rate": 0.44269870609981515, "safety_violation_events_per_step": 0.0009242144177449168, "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": false, "impact_metric_available": false, "chain_depth": 1, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"multi_ring_q2": 4}, "joint_limit_hard_counts": {"multi_ring_q2": 1}, "joint_limit_max_excess_by_joint": {"index_q1": 0.00015112286200746894, "index_q2": 1.2169829588515313e-09, "middle_q1": 8.384990360355005e-05, "middle_q2": 9.217690967489034e-05, "multi_index_q1": 5.981925278319977e-05, "multi_index_q2": 6.860040313583227e-10, "multi_middle_q1": 7.237055979203433e-05, "multi_middle_q2": 2.9950822863611393e-05, "multi_pinky_q1": 2.060480255750008e-05, "multi_pinky_q2": 5.878470983589068e-05, "multi_ring_q1": 0.00013082940131425858, "multi_ring_q2": 0.01671786420047283, "multi_thumb_q1": 2.7072015654994175e-05, "multi_thumb_q2": 4.270974841347197e-06, "pinky_q1": 6.0093159845564514e-05, "pinky_q2": 0.00016045162919908762, "ring_q1": 0.00024344556732103229, "ring_q2": 0.00029489246662706137, "thumb_q1": 4.460984928300604e-05, "thumb_q2": 0.0001091644007829018}, "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": 1708, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_ring_q2", "role": "finger_mimic", "qpos": -0.00624075485393405, "hard_excess_rad": 0.00624075485393405, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.8439998626708984, "operating_lower": 0.0, "operating_upper": 1.8439998626708984, "expanded_target": 0.11418499797582626, "shielded_target": 0.11418499797582626, "mimic_source_joint": "multi_ring_q1"}], "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, 1.4719843864440918, -1.5700000524520874, -1.0902601480484009, 7.769878962449184e-09, 0.5149842500686646, -1.5700000524520874, -2.2237584590911865, 1.5700000524520874, 1.3045909404754639, 7.570757531993877e-08, 0.8824669122695923, -1.5700000524520874, -0.5781322717666626, 0.0, 0.0, 1.2909471235056369e-11, 1.4018147753702692e-09, -3.4197643827837965e-08, 0.32478129863739014, 0.25145506858825684, 0.08288456499576569, 0.10787300020456314, -0.7738929986953735, 4.171344158976353e-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, 1.4719843864440918, -1.5700000524520874, -1.0902601480484009, 7.769878962449184e-09, 0.5149842500686646, -1.5700000524520874, -2.2237584590911865, 1.5700000524520874, 1.3045909404754639, 7.570757531993877e-08, 0.8824669122695923, -1.5700000524520874, -0.5781322717666626, 0.0, 0.0, 1.2909471235056369e-11, 1.4018147753702692e-09, -3.4197643827837965e-08, 0.32478129863739014, 0.25145506858825684, 0.08288456499576569, 0.10787300020456314, -0.7738929986953735, 0.0, 0.0, 1.3664846164329614e-11, 1.4838394957195078e-09, 4.171344158976353e-09, 0.3437853157520294, 0.2661685347557068, 0.0877344086766243, 0.11418499797582626, 0.33452939987182617], "shielded_full_target": [-1.5700000524520874, 1.4719843864440918, -1.5700000524520874, -1.0902601480484009, 7.769878962449184e-09, 0.5149842500686646, -1.5700000524520874, -2.2237584590911865, 1.5700000524520874, 1.3045909404754639, 7.570757531993877e-08, 0.8824669122695923, -1.5700000524520874, -0.5781322717666626, 0.0, 0.0, 1.2909471235056369e-11, 1.4018147753702692e-09, -3.4197643827837965e-08, 0.32478129863739014, 0.25145506858825684, 0.08288456499576569, 0.10787300020456314, -0.7738929986953735, 0.0, 0.0, 1.3664846164329614e-11, 1.4838394957195078e-09, 4.171344158976353e-09, 0.3437853157520294, 0.2661685347557068, 0.0877344086766243, 0.11418499797582626, 0.33452939987182617]}, "joint_limit_active_steps": 4, "joint_limit_hard_episode_events": 1, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.01671786420047283, "max_joint_limit_excess_joint": "multi_ring_q2", "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": 4, "joint_limit_active_step_rate": 0.0012322858903265558, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.01671786420047283, "max_joint_limit_excess_joint": "multi_ring_q2", "stage_completion": {"place_first_glass": true, "place_second_glass": false, "place_third_glass": false}, "current_stage_completion": {"place_first_glass": false, "place_second_glass": false, "place_third_glass": false}, "stage_first_completion_step": {"place_first_glass": 975, "place_second_glass": null, "place_third_glass": null}, "violation_counts": {"drop_to_table_obj_194_wineglass_1": 1, "drop_obj_194_wineglass_1": 1, "high_speed_obj_194_wineglass_1": 1}, "policy_query_count": 23, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 32460, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_03_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_03_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7e633094a2fc6b9adf49f675193e986a17d036c6 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_03_episode_06/summary.json @@ -0,0 +1,203 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.3333333333333333 + }, + "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": 1.0, + "safety_violation_step_rate": 0.44269870609981515 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "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": 0.0009242144177449168, + "violation_counts": { + "drop_obj_194_wineglass_1": 1, + "drop_to_table_obj_194_wineglass_1": 1, + "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": 0.0012322858903265558, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.01671786420047283, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_ring_q2": 4 + }, + "joint_limit_hard_counts": { + "multi_ring_q2": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.00015112286200746894, + "index_q2": 1.2169829588515313e-09, + "middle_q1": 8.384990360355005e-05, + "middle_q2": 9.217690967489034e-05, + "multi_index_q1": 5.981925278319977e-05, + "multi_index_q2": 6.860040313583227e-10, + "multi_middle_q1": 7.237055979203433e-05, + "multi_middle_q2": 2.9950822863611393e-05, + "multi_pinky_q1": 2.060480255750008e-05, + "multi_pinky_q2": 5.878470983589068e-05, + "multi_ring_q1": 0.00013082940131425858, + "multi_ring_q2": 0.01671786420047283, + "multi_thumb_q1": 2.7072015654994175e-05, + "multi_thumb_q2": 4.270974841347197e-06, + "pinky_q1": 6.0093159845564514e-05, + "pinky_q2": 0.00016045162919908762, + "ring_q1": 0.00024344556732103229, + "ring_q2": 0.00029489246662706137, + "thumb_q1": 4.460984928300604e-05, + "thumb_q2": 0.0001091644007829018 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 5.14595853490029, + "joint_effort_rms": 89.33123311856058, + "joint_jerk_rms": 500.7449925328372, + "joint_velocity_rms": 0.36676578060594517 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9991017776507161, + "mean_kinematic_grasp_stability": 0.7442194036208892, + "per_object_best_kinematic_grasp_stability": { + "obj_194_wineglass_1": 0.9770154459524634, + "obj_194_wineglass_2": 0.9991017776507161, + "obj_194_wineglass_3": 0.9894788445771892 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7967070582597741, + "mean_duration_score": 0.5309782980762651, + "mean_hold_score": 0.3357876360648994, + "mean_kinematic_stability_score": 0.2689369563916522, + "mean_legacy_gsi": 0.4642710326844864, + "mean_lift_score": 0.3769767919490655, + "mean_motion_stability_score": 0.31735979462753866 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3246, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_03_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_03_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eaa01610b1f727883f0f3d3ec322adbefbfe19bb --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_03_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/03_wine_glass_plate_balance.yaml", "episode_index": 7, "seed": 200300006, "success": false, "steps": 3246, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200300006, "base_seed": 200300000, "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_rust_rust0178_jpg", "asset_uri": "dex2bench_dataset/textures/rust/rust0178.jpg", "asset_category": "rust", "asset_id": "rust/rust0178.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1201.7413024293871, "color": [0.7688858310651923, 0.9513494434258389, 0.6621356953669092], "pitch_deg": -27.207448653814723, "yaw_deg": 72.84032148904242, "angle_deg": 0.5991245511654513}, "dome": {"intensity": 290.9076638758273, "color": [0.8877503851312221, 0.950368218005905, 0.6303474151059598], "exposure": 0.26295544948089544}, "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": 0.009149087978095015, "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": [-0.0006442837339402816, -0.0024453597582257693, -0.002911505586484263], "target_offset_m": [-1.9786330447517375e-05, -0.004723343480626377, -0.004858780759147092], "distance_offset_m": 0.020797331971267506, 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_03_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_03_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cf36226af302b1ac97ee95c383e176c845f3e4f6 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_03_episode_07/summary.json @@ -0,0 +1,198 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.6666666666666666 + }, + "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": 0.00030807147258163895 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + 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"finger_joint_limit_saturation_steps": 555, "max_joint_limit_excess_rad": 0.7369455695152283, "max_joint_limit_excess_joint": "right_middle_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": 1283, "joint_limit_active_step_rate": 0.1603549556305462, "finger_joint_limit_saturation_steps": 555, "finger_joint_limit_saturation_step_rate": 0.06936632920884889, "max_joint_limit_excess_rad": 0.7369455695152283, "max_joint_limit_excess_joint": "right_middle_1_joint", "stage_completion": {"move_bowl": true, "place_apple_3": true, "place_apple_4": true, "place_banana": true}, "current_stage_completion": {"move_bowl": true, "place_apple_3": true, "place_apple_4": true, "place_banana": true}, "stage_first_completion_step": {"move_bowl": 887, "place_apple_3": 1813, "place_apple_4": 1304, "place_banana": 7971}, "violation_counts": {"drop_to_table_obj_013_apple_3": 1, "drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 79, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 19200, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_06_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_06_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1ff551b785e4fdea2d449231418cee7b3b0aa285 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_06_episode_05/summary.json @@ -0,0 +1,242 @@ +{ + "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": 1, + "successes": 1, + "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": 19200, + "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": 133.34999999999826 + }, + "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": 0.00024996875390576176 + }, + "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": 0.1599800024996896, + "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": 0.00024996875390576176, + "violation_counts": { + "drop_to_table_obj_013_apple_3": 1, + "drop_to_table_obj_013_apple_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.1603549556305462, + "finger_joint_limit_saturation_step_rate": 0.06936632920884889, + "max_joint_limit_excess_rad": 0.7369455695152283, + "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 + }, + "joint_limit_hard_episode_events": 28, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 42.30331233840844, + "joint_effort_rms": 40.232933207010646, + "joint_jerk_rms": 4300.1013673866155, + "joint_velocity_rms": 0.9625151140797127 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9817931068344978, + "mean_kinematic_grasp_stability": 0.12799490516694598, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.9684509918316172, + "obj_013_apple_3": 0.9817931068344978, + "obj_013_apple_4": 0.5325802506876746 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7010651446346141, + "mean_duration_score": 0.3528433945756372, + "mean_hold_score": 0.21471691038619273, + "mean_kinematic_stability_score": 0.011203486887295484, + "mean_legacy_gsi": 0.33652273935010146, + "mean_lift_score": 0.3009623797025372, + "mean_motion_stability_score": 0.1959610629717027 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 8001, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_06_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_06_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef2e2c04d4c415e55fb6ada9f59421f32e8f6e05 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_06_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/06_fruit_bowl_loading.yaml", "episode_index": 6, "seed": 200600005, "success": false, "steps": 3465, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200600005, "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": "FloorPlan219", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan219_physics/scene.usda", "scene_offset": [-3.0, 2.5, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_wood_wood0636_jpg", 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"profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.001942548209433066, -0.0003186434264210716, 0.0016453622784345203], "target_offset_m": [-0.002292396586716641, -0.003075758811547871, -0.0018000999165694387], "distance_offset_m": -0.00812657754239015, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.18744670788118323, -0.6683475635595371, -0.8212770342053293], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.004903369724614292, 0.004280149687585665, -0.004510922797032945], "target_offset_m": [0.0007988618303895467, 0.0030706332486209456, 0.001885646637224958], "distance_offset_m": -0.0018375241518388367, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.9615021226033766, -0.9898735108232479, 0.5789854615669179], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0005859085240089469, 0.0024016082745837875, 0.0033409424546241738], "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": [-0.004781828374516905, -0.002617506752566283, -0.002253157630218724], "rpy_offset_deg": [-0.6237479728592885, 0.45009870050094447, 0.7876019317279346], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_028_skillet_lid", "uri": "dex2bench_dataset/Objects/028_skillet_lid/usd_decomposition_linux/textured.usd", "scale": [1.1498137882532096, 1.1498137882532096, 1.1498137882532096], "body_type": "dynamic", "category": "kitchen", "asset_code": "028", "asset_id": "clutter_028_skillet_lid", "asset_split": "unseen", "spawn_position": [0.8004455216449048, 0.23188736714296188, 0.7294207918769144], "spawn_yaw_deg": 306.7345939164469, "obj_id": "distractor_00_clutter_028_skillet_lid"}, {"name": "clutter_018_plum", "uri": 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"selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_024_bowl_1": {"position": [-0.5152563132827553, 0.29731808141684307, 0.7244920186537127], "rpy_deg": [0.0, 0.0, -4.992070580741457]}, "obj_011_banana_2": {"position": [-0.12047610483108179, 0.2848482688080606, 0.7241040186387762], "rpy_deg": [0.0, 0.0, -1.8494816041569084]}, "obj_013_apple_3": {"position": [0.26337635495850115, 0.29578823771337676, 0.7240900186194847], "rpy_deg": [0.0, 0.0, 9.591444362127447]}, "obj_013_apple_4": {"position": [0.22633811360405595, 0.09575539300821256, 0.795193021000763], "rpy_deg": [180.0, 0.0, -5.908290112883452]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_ur5_rh56dfx_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": 21.333333333333332, "expert_time_step": 1280, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.25, "normalized_progress_score": 0.3333333333333333, "chain_depth_progress_score": 0.3333333333333333, "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": 0.3333333333333333, "latched_chain_depth_progress_score": 0.3333333333333333, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.11911495573171409, "mean_kinematic_grasp_stability": 0.01988761249988585, "per_object_best_kinematic_grasp_stability": {"obj_011_banana_2": 0.0, "obj_013_apple_3": 0.0, "obj_013_apple_4": 0.11911495573171409}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.20682990150993888, "mean_kinematic_stability_score": 0.0007767552356857774, "mean_lift_score": 0.039057239057239054, "mean_hold_score": 0.005993265993265953, "mean_motion_stability_score": 0.0049255507236186805, "mean_duration_score": 0.0, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 1.2701292124700285, "joint_acceleration_rms": 57.64666758880129, "joint_jerk_rms": 5868.303071769211, "joint_effort_rms": 51.178194612552325}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0002886002886002986, "safety_violation_rate_time": 0.0002886002886002986, "safety_violation_rate_event": 0.0002886002886002886, "safety_violation_step_rate": 0.0002886002886002886, "safety_violation_events_per_step": 0.0002886002886002886, "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": 1, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_1_joint": 356, "left_little_1_joint": 265, "left_little_2_joint": 68, "left_middle_1_joint": 364, "left_ring_1_joint": 285, "left_ring_2_joint": 21, "left_thumb_2_joint": 1045, "left_thumb_3_joint": 40, "left_thumb_4_joint": 2, "right_index_1_joint": 47, "right_middle_1_joint": 52, "right_thumb_2_joint": 474}, "joint_limit_hard_counts": {"left_index_1_joint": 7, "left_little_1_joint": 10, "left_little_2_joint": 1, "left_middle_1_joint": 4, "left_ring_1_joint": 8, "left_ring_2_joint": 1, "left_thumb_2_joint": 13, "left_thumb_3_joint": 9, "left_thumb_4_joint": 1, "right_index_1_joint": 1, "right_middle_1_joint": 1, "right_thumb_2_joint": 3, "right_thumb_3_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 278, "left_little_1_joint": 195, "left_little_2_joint": 65, "left_middle_1_joint": 300, "left_ring_1_joint": 231, "left_thumb_2_joint": 850, "right_index_1_joint": 38, "right_middle_1_joint": 46, "right_thumb_2_joint": 412}, "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": 1.9291359421913512e-05, "left_ring_1_joint": 0.6627734899520874, "left_ring_2_joint": 0.24595904350280762, "left_thumb_1_joint": 0.0005478858947753906, "left_thumb_2_joint": 1.0834605693817139, "left_thumb_3_joint": 0.2187376618385315, "left_thumb_4_joint": 0.07702401280403137, "right_index_1_joint": 0.467041015625, "right_index_2_joint": 9.482084095679966e-08, "right_little_2_joint": 2.437505202124157e-07, "right_middle_1_joint": 0.7260599732398987, "right_middle_2_joint": 2.9146906399546424e-07, "right_ring_2_joint": 2.9181123295529687e-07, "right_thumb_1_joint": 0.0001996755599975586, "right_thumb_2_joint": 0.5711559653282166, "right_thumb_3_joint": 0.006231304258108139}, "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": 324, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_thumb_2_joint", "role": "finger", "qpos": -0.015854189172387123, "hard_excess_rad": 0.015854189172387123, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.5234770178794861, "operating_lower": 0.0, "operating_upper": 0.5234770178794861, "expanded_target": 0.2199999988079071, "shielded_target": 0.2199999988079071}], "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": [1.5699793100357056, -1.5624622106552124, -1.0925838947296143, 1.5838463306427002, 1.4387061595916748, 0.0036071443464607, -2.131162166595459, 1.569999098777771, 0.3787371814250946, -0.0028472088743001223, -1.4029227495193481, -0.04883260279893875, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, 0.0, 0.3233333230018616, 0.3700000047683716, 0.2933333218097687, 0.28333333134651184, 0.5866666436195374, 0.2199999988079071], "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": [1.5699793100357056, -1.5624622106552124, -1.0925838947296143, 1.5838463306427002, 1.4387061595916748, 0.0036071443464607, -2.131162166595459, 1.569999098777771, 0.3787371814250946, -0.0028472088743001223, -1.4029227495193481, -0.04883260279893875, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.3233333230018616, 0.3700000047683716, 0.2933333218097687, 0.28333333134651184, 0.5866666436195374, 0.0, 0.2111309915781021, 0.26325300335884094, 0.17762398719787598, 0.1664550006389618, 0.2199999988079071, 0.10000000149011612, 0.2513499855995178, 0.28871357440948486], "shielded_full_target": [1.5699793100357056, -1.5624622106552124, -1.0925838947296143, 1.5838463306427002, 1.4387061595916748, 0.0036071443464607, -2.131162166595459, 1.569999098777771, 0.3787371814250946, -0.0028472088743001223, -1.4029227495193481, -0.04883260279893875, 0.004691833630204201, 0.002664998173713684, 0.005464643239974976, 0.004216913599520922, 0.0, -0.14475968480110168, -0.14702346920967102, -0.14389653503894806, -0.14529013633728027, 0.0, 0.3233333230018616, 0.3700000047683716, 0.2933333218097687, 0.28333333134651184, 0.5866666436195374, 0.0, 0.2111309915781021, 0.26325300335884094, 0.17762398719787598, 0.1664550006389618, 0.2199999988079071, 0.10000000149011612, 0.2513499855995178, 0.28871357440948486]}, "joint_limit_active_steps": 1765, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1533, "max_joint_limit_excess_rad": 1.1495881080627441, "max_joint_limit_excess_joint": "left_little_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": 1765, "joint_limit_active_step_rate": 0.5093795093795094, "finger_joint_limit_saturation_steps": 1533, "finger_joint_limit_saturation_step_rate": 0.44242424242424244, "max_joint_limit_excess_rad": 1.1495881080627441, "max_joint_limit_excess_joint": "left_little_2_joint", "stage_completion": {"move_bowl": true, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "current_stage_completion": {"move_bowl": false, "place_apple_3": false, "place_apple_4": false, "place_banana": false}, "stage_first_completion_step": {"move_bowl": 616, "place_apple_3": null, "place_apple_4": null, "place_banana": null}, "violation_counts": {"drop_to_table_obj_013_apple_4": 1}, "policy_query_count": 39, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 19200, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_06_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_06_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3603f57700b3d6b07d47f05d9ae91f93406aede5 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_06_episode_06/summary.json @@ -0,0 +1,235 @@ +{ + "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": 1, + "successes": 0, + "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": 19200, + "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": 0.25 + }, + "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": 0.0002886002886002886 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 21.333333333333332, + "expert_time_step": 1280, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0002886002886002886, + "violation_counts": { + "drop_to_table_obj_013_apple_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.5093795093795094, + "finger_joint_limit_saturation_step_rate": 0.44242424242424244, + "max_joint_limit_excess_rad": 1.1495881080627441, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 356, + "left_little_1_joint": 265, + "left_little_2_joint": 68, + "left_middle_1_joint": 364, + "left_ring_1_joint": 285, + "left_ring_2_joint": 21, + "left_thumb_2_joint": 1045, + "left_thumb_3_joint": 40, + "left_thumb_4_joint": 2, + "right_index_1_joint": 47, + "right_middle_1_joint": 52, + "right_thumb_2_joint": 474 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 7, + "left_little_1_joint": 10, + "left_little_2_joint": 1, + "left_middle_1_joint": 4, + "left_ring_1_joint": 8, + "left_ring_2_joint": 1, + "left_thumb_2_joint": 13, + "left_thumb_3_joint": 9, + "left_thumb_4_joint": 1, + "right_index_1_joint": 1, + "right_middle_1_joint": 1, + "right_thumb_2_joint": 3, + 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_06_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_06_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..dbbb9f785c9a19b2001e20dd909e8ac4fd7014e7 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_06_episode_07/summary.json @@ -0,0 +1,205 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.75 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "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": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.75, + "current_chain_depth_progress_score": 0.6666666666666666, + "latched_chain_depth_progress_score": 0.6666666666666666, + "avg_current_chain_depth": 2, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 21.333333333333332, + "expert_time_step": 1280, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "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": 0.16262975778546712, + "finger_joint_limit_saturation_step_rate": 0.10841983852364476, + "max_joint_limit_excess_rad": 0.5923980474472046, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_little_1_joint": 21, + "right_index_1_joint": 142, + "right_middle_1_joint": 164, + "right_thumb_2_joint": 125 + }, + "joint_limit_hard_counts": { + "left_little_1_joint": 1, + "right_index_1_joint": 3, + "right_middle_1_joint": 4, + "right_thumb_2_joint": 2 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": { + "right_index_1_joint": 76, + "right_middle_1_joint": 123, + "right_thumb_2_joint": 65 + }, + "joint_limit_max_excess_by_joint": { + "left_index_2_joint": 8.82832011939172e-08, + "left_little_1_joint": 0.08338698744773865, + "left_little_2_joint": 2.7743425334847416e-07, + "left_middle_2_joint": 1.746672637636948e-07, + "left_ring_2_joint": 6.373173846441205e-07, + "left_thumb_1_joint": 1.714747486403212e-05, + "left_thumb_3_joint": 2.010090793191921e-05, + "right_index_1_joint": 0.35173749923706055, + "right_index_2_joint": 9.009188062236717e-08, + "right_little_2_joint": 9.723390803628718e-08, + "right_middle_1_joint": 0.5831916928291321, + "right_middle_2_joint": 1.4986875385147869e-07, + "right_ring_2_joint": 4.4334402105050685e-07, + "right_thumb_1_joint": 2.3208061975310557e-05, + "right_thumb_2_joint": 0.5923980474472046, + "right_thumb_3_joint": 3.439723514020443e-05 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 30.301361044314497, + "joint_effort_rms": 38.4518798301221, + "joint_jerk_rms": 3052.151247576298, + "joint_velocity_rms": 0.8295179949126821 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9613920783969097, + "mean_kinematic_grasp_stability": 0.4365417306343044, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.0, + "obj_013_apple_3": 0.9613920783969097, + "obj_013_apple_4": 0.2218318133728658 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.03431372549019608, + "mean_hold_score": 0.043521722414455954, + "mean_kinematic_stability_score": 0.03432248516521155, + "mean_legacy_gsi": 0.2346147081238511, + "mean_lift_score": 0.0786236063052672, + "mean_motion_stability_score": 0.039788582940787104 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1734, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_07_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_07_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5148e303b8751962a6283038c381741a711322db --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_07_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"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", 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{"position": [0.2244537967456299, 0.04782990571639467, 0.7823357584022153], "rpy_deg": [0.0, 0.0, -5.938391853895844]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_ur5_rh5dg2_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": 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, 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"joint_limit_hard_counts": {"left_index_pip_joint": 1, "left_middle_pip_joint": 21, "left_pinky_dip_joint": 1, "left_pinky_mcp_joint": 5, "left_pinky_pip_joint": 2, "left_ring_mcp_joint": 1, "left_ring_pip_joint": 2, "left_thumb_mcp_joint": 3, "right_middle_pip_joint": 7}, "finger_joint_limit_saturation_counts": {"left_pinky_mcp_joint": 3}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 7.508611510331775e-09, "left_index_pip_joint": 0.01761546917259693, "left_index_pitch_joint": 0.00026807794347405434, "left_middle_dip_joint": 0.0012207257095724344, "left_middle_pip_joint": 0.012183607555925846, "left_middle_pitch_joint": 0.0002755262248683721, "left_pinky_dip_joint": 0.006871405057609081, "left_pinky_mcp_joint": 0.28638166189193726, "left_pinky_pip_joint": 0.17234179377555847, "left_ring_dip_joint": 0.0011157316621392965, "left_ring_mcp_joint": 0.13179545104503632, "left_ring_pip_joint": 0.05639161914587021, "left_thumb_dip_joint": 0.000244964990997687, "left_thumb_mcp_joint": 0.03797420859336853, "left_thumb_pip_joint": 0.0008945197914727032, "left_thumb_yaw_joint": 4.870443808613345e-05, "right_index_dip_joint": 3.978832864959259e-06, "right_index_pip_joint": 0.003299610922113061, "right_index_pitch_joint": 0.0001008747422019951, "right_middle_dip_joint": 0.0003015365800820291, "right_middle_pip_joint": 0.005879816599190235, "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": 0.00047786004142835736, "right_thumb_dip_joint": 1.0058848602056969e-05, "right_thumb_mcp_joint": 6.422837032005191e-05, "right_thumb_pip_joint": 7.690413440286648e-06, "right_thumb_yaw_joint": 1.5348448206831122e-11}, "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": 805, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_pinky_mcp_joint", "role": "finger", "qpos": -0.005295200273394585, "hard_excess_rad": 0.005295200273394585, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4573498964309692, "operating_lower": 0.0, "operating_upper": 1.4573498964309692, "expanded_target": 0.027625417336821556, "shielded_target": 0.027625417336821556}], "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_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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [1.5463811159133911, -1.70975923538208, -2.346712589263916, 1.810845136642456, 0.6940716505050659, 0.19699180126190186, -0.8990821242332458, 1.357999324798584, -0.17048661410808563, 0.8217235803604126, -2.1240386962890625, -0.5406380891799927, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, 0.0, 0.0, 0.051139168441295624, 0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.043493375182151794, 0.0, 0.0, 0.043493375182151794], "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_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": [1.5463811159133911, -1.70975923538208, -2.346712589263916, 1.810845136642456, 0.6940716505050659, 0.19699180126190186, -0.8990821242332458, 1.357999324798584, -0.17048661410808563, 0.8217235803604126, -2.1240386962890625, -0.5406380891799927, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.051139168441295624, 0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.0, 0.0, 0.043493375182151794, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.0, 0.0, 0.043493375182151794], "shielded_full_target": [1.5463811159133911, -1.70975923538208, -2.346712589263916, 1.810845136642456, 0.6940716505050659, 0.19699180126190186, -0.8990821242332458, 1.357999324798584, -0.17048661410808563, 0.8217235803604126, -2.1240386962890625, -0.5406380891799927, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, -0.051139168441295624, -0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.04859346151351929, 0.0029135316144675016, 0.027625417336821556, 0.007189338095486164, 0.22835925221443176, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.051139168441295624, 0.004084933549165726, 0.12596985697746277, 0.0, 0.34745311737060547, 0.0, 0.0, 0.043493375182151794, 0.0, 0.0, 0.14148934185504913, 0.0, 0.3770908713340759, 0.0, 0.0, 0.043493375182151794]}, "joint_limit_active_steps": 63, "joint_limit_hard_episode_events": 34, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 3, "max_joint_limit_excess_rad": 0.28638166189193726, "max_joint_limit_excess_joint": "left_pinky_mcp_joint", "joint_role_manifest_available": true, "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": 63, "joint_limit_active_step_rate": 0.03265940902021773, "finger_joint_limit_saturation_steps": 3, "finger_joint_limit_saturation_step_rate": 0.0015552099533437014, "max_joint_limit_excess_rad": 0.28638166189193726, "max_joint_limit_excess_joint": "left_pinky_mcp_joint", "stage_completion": {"place_lemon_2": true, "place_lemon_3": false, "place_orange_4": false, "place_orange_5": false}, "current_stage_completion": {"place_lemon_2": false, "place_lemon_3": false, "place_orange_4": false, "place_orange_5": false}, "stage_first_completion_step": {"place_lemon_2": 367, "place_lemon_3": null, "place_orange_4": null, "place_orange_5": null}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1, "drop_to_table_obj_014_lemon_2": 1, "drop_obj_014_lemon_2": 1, "drop_obj_017_orange_4": 1, "high_speed_obj_014_lemon_2": 1, "high_speed_obj_017_orange_4": 1, "high_speed_obj_029_plate_1": 1}, "policy_query_count": 36, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 18060, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_07_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_07_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..af9275614a227be8e66237d0b3149738d384875f --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_07_episode_05/summary.json @@ -0,0 +1,236 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.25 + }, + "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": 1.0, + "safety_violation_step_rate": 0.014515292897874546 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 20.05, + "expert_time_step": 1203, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0036288232244686366, + "violation_counts": { + "drop_obj_014_lemon_2": 1, + "drop_obj_017_orange_4": 1, + "drop_to_table_obj_014_lemon_2": 1, + "drop_to_table_obj_017_orange_4": 1, + "high_speed_obj_014_lemon_2": 1, + "high_speed_obj_017_orange_4": 1, + "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": 0.03265940902021773, + "finger_joint_limit_saturation_step_rate": 0.0015552099533437014, + "max_joint_limit_excess_rad": 0.28638166189193726, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 1, + "left_middle_pip_joint": 1, + "left_pinky_mcp_joint": 49, + "left_pinky_pip_joint": 9, + "left_ring_mcp_joint": 7, + "left_ring_pip_joint": 5, + "left_thumb_mcp_joint": 5 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 1, + "left_middle_pip_joint": 21, + "left_pinky_dip_joint": 1, + "left_pinky_mcp_joint": 5, + "left_pinky_pip_joint": 2, + "left_ring_mcp_joint": 1, + "left_ring_pip_joint": 2, + "left_thumb_mcp_joint": 3, + "right_middle_pip_joint": 7 + }, + "joint_limit_hard_episode_events": 34, + "finger_joint_limit_saturation_counts": { + "left_pinky_mcp_joint": 3 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 7.508611510331775e-09, + "left_index_pip_joint": 0.01761546917259693, + "left_index_pitch_joint": 0.00026807794347405434, + "left_middle_dip_joint": 0.0012207257095724344, + "left_middle_pip_joint": 0.012183607555925846, + "left_middle_pitch_joint": 0.0002755262248683721, + "left_pinky_dip_joint": 0.006871405057609081, + "left_pinky_mcp_joint": 0.28638166189193726, + "left_pinky_pip_joint": 0.17234179377555847, + "left_ring_dip_joint": 0.0011157316621392965, + "left_ring_mcp_joint": 0.13179545104503632, + "left_ring_pip_joint": 0.05639161914587021, + "left_thumb_dip_joint": 0.000244964990997687, + "left_thumb_mcp_joint": 0.03797420859336853, + "left_thumb_pip_joint": 0.0008945197914727032, + "left_thumb_yaw_joint": 4.870443808613345e-05, + "right_index_dip_joint": 3.978832864959259e-06, + "right_index_pip_joint": 0.003299610922113061, + "right_index_pitch_joint": 0.0001008747422019951, + "right_middle_dip_joint": 0.0003015365800820291, + "right_middle_pip_joint": 0.005879816599190235, + "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": 0.00047786004142835736, + "right_thumb_dip_joint": 1.0058848602056969e-05, + "right_thumb_mcp_joint": 6.422837032005191e-05, + "right_thumb_pip_joint": 7.690413440286648e-06, + "right_thumb_yaw_joint": 1.5348448206831122e-11 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 24.424024940055197, + "joint_effort_rms": 35.977298112352344, + "joint_jerk_rms": 2406.1745915125384, + "joint_velocity_rms": 0.5843860361133554 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9849590765102322, + "mean_kinematic_grasp_stability": 0.3675880851754465, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.9849590765102322, + "obj_014_lemon_3": 0.870156749024013, + "obj_017_orange_4": 0.629599323584101, + "obj_017_orange_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7684033177812264, + "mean_duration_score": 0.3222740625540007, + "mean_hold_score": 0.2036353032659416, 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"joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 10, "max_joint_limit_excess_rad": 0.2709248661994934, "max_joint_limit_excess_joint": "left_thumb_mcp_joint", "joint_role_manifest_available": true, "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": 50, "joint_limit_active_step_rate": 0.027277686852154936, "finger_joint_limit_saturation_steps": 10, "finger_joint_limit_saturation_step_rate": 0.005455537370430988, "max_joint_limit_excess_rad": 0.2709248661994934, "max_joint_limit_excess_joint": "left_thumb_mcp_joint", "stage_completion": {"place_lemon_2": true, "place_lemon_3": true, "place_orange_4": true, "place_orange_5": true}, "current_stage_completion": {"place_lemon_2": true, "place_lemon_3": true, "place_orange_4": true, "place_orange_5": true}, "stage_first_completion_step": {"place_lemon_2": 513, "place_lemon_3": 1409, "place_orange_4": 1409, "place_orange_5": 1792}, "violation_counts": {"drop_to_table_obj_017_orange_4": 1}, "policy_query_count": 31, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 18060, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_07_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_07_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f8de8616433a345cfac917f3f0b5ce3e952d55fa --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_07_episode_06/summary.json @@ -0,0 +1,210 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 30.549999999999546 + }, + "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": 0.0005455537370430987 + }, + "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": 0.6563011456628576, + "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": 0.0005455537370430987, + "violation_counts": { + "drop_to_table_obj_017_orange_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.027277686852154936, + "finger_joint_limit_saturation_step_rate": 0.005455537370430988, + "max_joint_limit_excess_rad": 0.2709248661994934, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_mcp_joint": 11, + "left_ring_mcp_joint": 8, + "left_thumb_mcp_joint": 36, + "right_ring_pip_joint": 3 + }, + "joint_limit_hard_counts": { + "left_middle_pip_joint": 2, + "left_pinky_mcp_joint": 2, + "left_ring_mcp_joint": 1, + "left_thumb_mcp_joint": 3, + "right_ring_pip_joint": 2 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "left_ring_mcp_joint": 1, + "left_thumb_mcp_joint": 9 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.06960618140306e-08, + "left_index_pip_joint": 0.0016590270679444075, + "left_middle_dip_joint": 0.00025782958255149424, + "left_middle_pip_joint": 0.005983720999211073, + "left_pinky_mcp_joint": 0.026848047971725464, + "left_ring_dip_joint": 0.00012322475959081203, + "left_ring_mcp_joint": 0.25089383125305176, + "left_ring_pip_joint": 0.002383772749453783, + "left_thumb_dip_joint": 0.00026089922175742686, + "left_thumb_mcp_joint": 0.2709248661994934, + "right_index_dip_joint": 1.7065211068256758e-05, + "right_index_pip_joint": 0.0034410173539072275, + "right_middle_dip_joint": 0.00025636807549744844, + "right_middle_pip_joint": 0.0011958726681768894, + "right_ring_dip_joint": 1.79821508936584e-05, + "right_ring_pip_joint": 0.03229715675115585, + "right_thumb_dip_joint": 1.5868901755311526e-05, + "right_thumb_yaw_joint": 1.5348448206831122e-11 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 44.799764218388255, + "joint_effort_rms": 33.46507131562283, + "joint_jerk_rms": 4660.074292625784, + "joint_velocity_rms": 0.6904011709599757 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9988187943929052, + "mean_kinematic_grasp_stability": 0.5150850261320838, + "per_object_best_kinematic_grasp_stability": { + "obj_014_lemon_2": 0.9988187943929052, + "obj_014_lemon_3": 0.957915695037168, + "obj_017_orange_4": 0.35554043817927633, + "obj_017_orange_5": 0.20140279721329352 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8104200763775221, + "mean_duration_score": 0.34724495362792995, + "mean_hold_score": 0.18277414075286447, + "mean_kinematic_stability_score": 0.06687956149450952, + "mean_legacy_gsi": 0.34758119109590674, + "mean_lift_score": 0.2703218767048554, + "mean_motion_stability_score": 0.18047683272845919 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1833, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_07_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_07_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7ef72b302d5157a4851a0bd91cb9e755811b419 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_07_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/07_citrus_plate_loading.yaml", "episode_index": 7, "seed": 200700006, "success": false, "steps": 2832, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200700006, "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": 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, 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"asset_split": "unseen", "profile_name": "eval_default_camera", "profile_split": "unseen", "profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [0.0036576071029012754, -0.004135905584510194, -0.0003953129732341184], "target_offset_m": [0.004621663365557004, -0.003232578635669633, 0.00023247752509778733], "distance_offset_m": 0.01584945146368215, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.48828289938312075, -0.843294148221766, -0.4246685598792499], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.001336112627194215, -0.003723142591289378, -0.0003564788479271542], "target_offset_m": [-0.0019313528103950196, 0.003428603529081015, 0.00499579372021862], "distance_offset_m": 0.014521505368419695, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.6683974925566802, -0.36216464763441225, -0.8741101301577734], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": 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"distractor_02_clutter_072b_toy_airplane"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_029_plate_1": {"position": [0.006505475039648864, 0.29753280013545474, 0.7540010006776083], "rpy_deg": [0.0, 0.0, 5.602981893967918]}, "obj_014_lemon_2": {"position": [-0.3179525302330306, 0.2980953765026322, 0.7505757007673037], "rpy_deg": [0.0, 0.0, -7.985641344212969]}, "obj_014_lemon_3": {"position": [-0.18756594057784792, 0.014813571400370106, 0.7505757007673037], "rpy_deg": [0.0, 0.0, -0.9718099512697229]}, "obj_017_orange_4": {"position": [0.26, 0.3, 0.7505554007640695], "rpy_deg": [0.0, 0.0, 5.827088998497789]}, "obj_017_orange_5": {"position": [0.1982900712778542, 0.062199955239005816, 0.7505554007640695], "rpy_deg": [0.0, 0.0, -4.035546125302966]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_ur5_rh5dg2_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": 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, "mean_kinematic_grasp_stability": 0.6287299833447164, "per_object_best_kinematic_grasp_stability": {"obj_014_lemon_2": 0.727248246559732, "obj_014_lemon_3": 0.9887484357576215, "obj_017_orange_4": 0.460173408839985, "obj_017_orange_5": 0.9956801033181785}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.39165217766433724, "mean_kinematic_stability_score": 0.11844189481440898, "mean_lift_score": 0.3004060734463277, "mean_hold_score": 0.23102930790960455, "mean_motion_stability_score": 0.23315089638315029, "mean_duration_score": 0.5496468926553756, "mean_anti_slip_score": 0.6855873352166183}, "robot_motion_metrics": {"joint_velocity_rms": 0.5468229081420349, "joint_acceleration_rms": 24.248464511935538, "joint_jerk_rms": 2337.906309515107, "joint_effort_rms": 27.16044067107622}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.5752118644067912, "safety_violation_rate_time": 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, "right_ring_dip_joint": 1.653628351050429e-05, "right_ring_pip_joint": 0.0002918265527114272, "right_thumb_mcp_joint": 0.04294154793024063, "right_thumb_yaw_joint": 1.7515718042648842e-11}, "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": 249, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_middle_pip_joint", "role": "finger", "qpos": -0.0052126930095255375, "hard_excess_rad": 0.0052126930095255375, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 0.0, "shielded_target": 0.0}], "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_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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [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, 0.013961698859930038, 0.16463930904865265, 0.7252748012542725, 0.006099715828895569, 0.5229217410087585, 6.836714527835852e-11, 0.0, 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_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], "shielded_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]}, "joint_limit_active_steps": 89, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 13, "max_joint_limit_excess_rad": 0.44650617241859436, "max_joint_limit_excess_joint": "left_ring_pip_joint", "joint_role_manifest_available": true, "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": 89, "joint_limit_active_step_rate": 0.031426553672316386, "finger_joint_limit_saturation_steps": 13, "finger_joint_limit_saturation_step_rate": 0.004590395480225989, "max_joint_limit_excess_rad": 0.44650617241859436, "max_joint_limit_excess_joint": "left_ring_pip_joint", "stage_completion": {"place_lemon_2": true, "place_lemon_3": false, "place_orange_4": false, "place_orange_5": false}, "current_stage_completion": {"place_lemon_2": false, "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} diff --git a/gpt6_astra_10x_icl/source_runs/task_07_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_07_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4b5219e6c9a6ed13a824f9c52da537f56c97e4ea --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_07_episode_07/summary.json @@ -0,0 +1,228 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.25 + }, + "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": 1.0, + "safety_violation_step_rate": 0.5752118644067796 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 20.05, + "expert_time_step": 1203, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0017655367231638418, + "violation_counts": { + "drop_obj_017_orange_4": 1, + "drop_to_table_obj_014_lemon_2": 1, + "drop_to_table_obj_017_orange_4": 1, + "drop_to_table_obj_017_orange_5": 1, + "high_speed_obj_017_orange_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.031426553672316386, + "finger_joint_limit_saturation_step_rate": 0.004590395480225989, + "max_joint_limit_excess_rad": 0.44650617241859436, + "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 + }, + "joint_limit_hard_episode_events": 12, + "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, + "right_ring_dip_joint": 1.653628351050429e-05, + "right_ring_pip_joint": 0.0002918265527114272, + "right_thumb_mcp_joint": 0.04294154793024063, + "right_thumb_yaw_joint": 1.7515718042648842e-11 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 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-1.5700000524520874, -1.7571946382522583, 1.5700000524520874, 1.2456642389297485, -1.297113438880615e-08, -1.926181435585022, 1.5700000524520874, 0.3415325880050659, 1.5805412534319885e-09, -2.0902011394500732, 0.03220408037304878, 2.0951404500202386e-10, 6.631670212975393e-10, 2.0951404500202386e-10, 0.0, 0.0, 1.3263340425950787e-09, 6.631670212975393e-10, 9.497830966154197e-09, 0.1943301558494568, 0.0, 0.1943301558494568, 0.0, 0.0, 0.0, 0.0, 7.899168541491974e-10, -0.21417845785617828, 0.4749193787574768, 0.0, 0.0, 0.1840321123600006, 0.0, 0.0, 0.0, 0.0, 8.257790562460343e-10, -0.21741469204425812, 0.27323275804519653, 0.31641885638237, 0.23006518185138702, 0.446420818567276, 0.0, 0.0, -0.31032103300094604, 0.2855282425880432, 0.42994993925094604, 0.3126125633716583, 0.466688334941864, 0.4502861797809601, 0.3269065320491791]}, "joint_limit_active_steps": 767, "joint_limit_hard_episode_events": 38, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 230, "max_joint_limit_excess_rad": 2.122424602508545, "max_joint_limit_excess_joint": "left_hand_Thumb_Flexion", "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": 767, "joint_limit_active_step_rate": 0.07864246898390238, "finger_joint_limit_saturation_steps": 230, "finger_joint_limit_saturation_step_rate": 0.023582487439762125, "max_joint_limit_excess_rad": 2.122424602508545, "max_joint_limit_excess_joint": "left_hand_Thumb_Flexion", "stage_completion": {"pour_soy_sauce": true, "pour_olive_oil": true}, "current_stage_completion": {"pour_soy_sauce": false, "pour_olive_oil": false}, "stage_first_completion_step": {"pour_soy_sauce": 7464, "pour_olive_oil": 9283}, "violation_counts": {"drop_to_table_obj_172_soy_sauce_1": 1}, "policy_query_count": 54, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 34320, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_08_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_08_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e704b4852dbb67f58aad85bed4731f63933265 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_08_episode_05/summary.json @@ -0,0 +1,261 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 1.0 + }, + "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": 0.00010253255408592229 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "pour_tilt": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 38.13333333333333, + "expert_time_step": 2288, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00010253255408592229, + "violation_counts": { + "drop_to_table_obj_172_soy_sauce_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.07864246898390238, + "finger_joint_limit_saturation_step_rate": 0.023582487439762125, + "max_joint_limit_excess_rad": 2.122424602508545, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Index_Finger_Proximal": 66, + "left_hand_Middle_Finger_Proximal": 37, + "left_hand_Ring_Finger": 13, + "left_hand_Thumb_Flexion": 591, + "left_hand_Thumb_Opposition": 8, + "left_hand_index_spread": 3, + "left_hand_j3": 56, + "left_hand_j4": 2, + "left_hand_j5": 21, + "right_hand_Middle_Finger_Proximal": 113, + "right_hand_Pinky": 2, + "right_hand_Ring_Finger": 11, + "right_hand_Thumb_Flexion": 3, + "right_hand_j13": 3, + "right_hand_j15": 75, + "right_hand_j3": 4 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 6, + "left_hand_Index_Finger_Proximal": 3, + "left_hand_Middle_Finger_Proximal": 2, + "left_hand_Pinky": 2, + "left_hand_Ring_Finger": 4, + "left_hand_Thumb_Flexion": 13, + "left_hand_Thumb_Opposition": 2, + "left_hand_index_spread": 7, + "left_hand_j3": 2, + "left_hand_j4": 3, + "left_hand_j5": 3, + "right_hand_Middle_Finger_Distal": 6, + "right_hand_Middle_Finger_Proximal": 16, + "right_hand_Pinky": 5, + "right_hand_Ring_Finger": 10, + "right_hand_Thumb_Flexion": 2, + "right_hand_j12": 3, + "right_hand_j13": 6, + "right_hand_j14": 1, + "right_hand_j15": 1, + "right_hand_j3": 1 + }, + "joint_limit_hard_episode_events": 38, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Proximal": 46, + "left_hand_Middle_Finger_Proximal": 9, + "left_hand_Thumb_Flexion": 166, + "left_hand_j3": 45, + "right_hand_Middle_Finger_Proximal": 14, + "right_hand_j15": 57 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.00579034723341465, + "left_hand_Index_Finger_Distal": 0.0049715773202478886, + "left_hand_Index_Finger_Proximal": 0.5466752052307129, + "left_hand_Middle_Finger_Distal": 0.00031131229479797184, + "left_hand_Middle_Finger_Proximal": 0.2234821766614914, + "left_hand_Pinky": 0.005730705801397562, + "left_hand_Ring_Finger": 0.04009472578763962, + "left_hand_Thumb_Flexion": 2.122424602508545, + "left_hand_Thumb_Opposition": 0.1958708018064499, + "left_hand_index_spread": 0.019326340407133102, + "left_hand_j12": 0.00028067544917576015, + "left_hand_j13": 0.0004485152312554419, + "left_hand_j14": 2.0589908672263846e-05, + "left_hand_j15": 3.280376040493138e-05, + "left_hand_j16": 6.938113801879808e-05, + "left_hand_j17": 0.00011644836922641844, + "left_hand_j3": 1.1221392154693604, + "left_hand_j4": 0.03332408145070076, + "left_hand_j5": 0.07029440253973007, + "left_hand_ring_spread": 0.004786595702171326, + "right_hand_Finger_Spread": 0.0006407962064258754, + "right_hand_Index_Finger_Distal": 0.004148524254560471, + "right_hand_Index_Finger_Proximal": 0.003628671634942293, + "right_hand_Middle_Finger_Distal": 0.0074748387560248375, + "right_hand_Middle_Finger_Proximal": 0.19310273230075836, + "right_hand_Pinky": 0.010947252623736858, + "right_hand_Ring_Finger": 0.041815780103206635, + "right_hand_Thumb_Flexion": 0.014812164939939976, + "right_hand_index_spread": 0.0009800487896427512, + "right_hand_j12": 0.006559183355420828, + "right_hand_j13": 0.01745983026921749, + "right_hand_j14": 0.009076248854398727, + "right_hand_j15": 0.42762744426727295, + "right_hand_j16": 0.00011145227472297847, + "right_hand_j17": 4.871253258897923e-05, + "right_hand_j3": 0.03769867494702339, + "right_hand_j4": 2.8944379878992343e-11, + "right_hand_j5": 0.0006645940011367202, + "right_hand_ring_spread": 0.0009707982535474002 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 11.505983409630467, + "joint_effort_rms": 24.093152418943628, + "joint_jerk_rms": 1141.6752306820308, + "joint_velocity_rms": 0.2902976681955755 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9996246327951787, + "mean_kinematic_grasp_stability": 0.7907224809500113, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.9972841874612354, + "obj_172_soy_sauce_1": 0.9996246327951787 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6448784989234082, + "mean_duration_score": 0.48277453091356504, + "mean_hold_score": 0.23609658566594843, + "mean_kinematic_stability_score": 0.10231639197774164, + "mean_legacy_gsi": 0.35686048809012905, + "mean_lift_score": 0.25412693530195835, + "mean_motion_stability_score": 0.20207323913844782 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 10, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 9753, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_08_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_08_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7f9fb956a2e0d2dbaabd0cdd43a0096e78b5106 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_08_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 6, "seed": 200800005, "success": false, "steps": 7035, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200800005, "base_seed": 200800000, 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"latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.371556048538286, "mean_kinematic_grasp_stability": 0.21771581004117982, "per_object_best_kinematic_grasp_stability": {"obj_146_olive_oil_1": 0.32136424556537146, "obj_172_soy_sauce_1": 0.371556048538286}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5232090956607564, "mean_kinematic_stability_score": 0.00018568512583469495, "mean_lift_score": 0.5722103766879886, "mean_hold_score": 0.5493248045486853, "mean_motion_stability_score": 0.5341031920554604, "mean_duration_score": 0.5682444918265815, "mean_anti_slip_score": 0.4284529732290926}, "robot_motion_metrics": {"joint_velocity_rms": 0.2879824097444278, "joint_acceleration_rms": 10.108406983940565, "joint_jerk_rms": 987.8127837199589, "joint_effort_rms": 24.508847225365432}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 3, "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": {"left_hand_Finger_Spread": 17, "left_hand_Index_Finger_Distal": 16, "left_hand_Index_Finger_Proximal": 75, "left_hand_Middle_Finger_Proximal": 85, "left_hand_Ring_Finger": 7, "left_hand_Thumb_Flexion": 144, "left_hand_j12": 25, "left_hand_j3": 126, "left_hand_j5": 14, "left_hand_ring_spread": 86, "right_hand_Index_Finger_Distal": 27, "right_hand_Index_Finger_Proximal": 48, "right_hand_Middle_Finger_Distal": 2, "right_hand_Middle_Finger_Proximal": 85, "right_hand_Pinky": 26, "right_hand_Ring_Finger": 80, "right_hand_Thumb_Flexion": 36, "right_hand_j12": 1, "right_hand_j13": 31, "right_hand_j3": 51}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 2, "left_hand_Index_Finger_Distal": 1, "left_hand_Index_Finger_Proximal": 2, "left_hand_Middle_Finger_Distal": 2, "left_hand_Middle_Finger_Proximal": 4, "left_hand_Ring_Finger": 3, "left_hand_Thumb_Flexion": 3, "left_hand_j12": 4, "left_hand_j3": 4, "left_hand_j5": 2, "left_hand_ring_spread": 3, "right_hand_Index_Finger_Distal": 9, "right_hand_Index_Finger_Proximal": 8, "right_hand_Middle_Finger_Distal": 10, "right_hand_Middle_Finger_Proximal": 11, "right_hand_Pinky": 11, "right_hand_Ring_Finger": 9, "right_hand_Thumb_Flexion": 9, "right_hand_j12": 9, "right_hand_j13": 12, "right_hand_j3": 9, "right_hand_j5": 1}, "finger_joint_limit_saturation_counts": {"left_hand_Index_Finger_Proximal": 55, "left_hand_Middle_Finger_Proximal": 47, "left_hand_Thumb_Flexion": 20, "left_hand_j3": 68, "left_hand_ring_spread": 68, "right_hand_Middle_Finger_Proximal": 21, "right_hand_Ring_Finger": 23}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.22430451214313507, "left_hand_Index_Finger_Distal": 0.05350499972701073, "left_hand_Index_Finger_Proximal": 0.7075263261795044, "left_hand_Middle_Finger_Distal": 0.007423922885209322, "left_hand_Middle_Finger_Proximal": 0.6026160717010498, "left_hand_Pinky": 0.004827092867344618, "left_hand_Ring_Finger": 0.08648443967103958, "left_hand_Thumb_Flexion": 0.1265709400177002, "left_hand_Thumb_Opposition": 0.0036388009320944548, "left_hand_index_spread": 0.002495890250429511, "left_hand_j12": 0.14039528369903564, "left_hand_j13": 0.004580875393003225, "left_hand_j14": 0.000366876891348511, "left_hand_j15": 0.0001609388564247638, "left_hand_j16": 8.920228538045194e-06, "left_hand_j17": 4.241156602802221e-06, "left_hand_j3": 0.5840762853622437, "left_hand_j4": 5.826998883406986e-09, "left_hand_j5": 0.2194683700799942, "left_hand_ring_spread": 1.350319266319275, "right_hand_Finger_Spread": 0.000524464703630656, "right_hand_Index_Finger_Distal": 0.03962036222219467, "right_hand_Index_Finger_Proximal": 0.10431328415870667, "right_hand_Middle_Finger_Distal": 0.010918614454567432, "right_hand_Middle_Finger_Proximal": 0.4349278211593628, "right_hand_Pinky": 0.04906129837036133, "right_hand_Ring_Finger": 0.4568023979663849, "right_hand_Thumb_Flexion": 0.055877458304166794, "right_hand_Thumb_Opposition": 0.000317111931508407, "right_hand_index_spread": 0.0005063640419393778, "right_hand_j12": 0.011996830813586712, "right_hand_j13": 0.044575635343790054, "right_hand_j14": 0.0013823660556226969, "right_hand_j15": 0.0004284770111553371, "right_hand_j16": 0.0003219912468921393, "right_hand_j17": 0.0011840634979307652, "right_hand_j3": 0.12952131032943726, "right_hand_j4": 3.488648508209735e-05, "right_hand_j5": 0.006437512114644051, "right_hand_ring_spread": 0.0009776517981663346}, "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": 1583, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_hand_ring_spread", "role": "finger_mimic", "qpos": 0.005742130801081657, "hard_excess_rad": 0.005742130801081657, "hard_tolerance_rad": 0.005, "hard_lower": -0.28832995891571045, "hard_upper": 0.0, "operating_lower": -0.28832995891571045, "operating_upper": 0.0, "expanded_target": -1.49286378814395e-07, "shielded_target": -1.49286378814395e-07, "mimic_source_joint": "left_hand_Finger_Spread"}], "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": [1.5700000524520874, -1.5700000524520874, -1.9089429378509521, 1.5700000524520874, 0.7429089546203613, -8.710567556136084e-08, -1.0815688371658325, 1.5700000524520874, -1.5140732526779175, 1.041518959965515e-08, -1.9870260953903198, -3.053344488143921, 9.478507978499806e-10, 0.0, 0.0, 1.734234977845972e-08, 4.9153946690694283e-08, 0.06315729767084122, 0.0, 0.0, 0.0, 6.440512567706946e-10, -0.5016090869903564, 0.693324863910675, -2.9857275762879e-07, 0.567111074924469, 0.763799786567688, 0.5415854454040527, 0.5607697367668152, 0.752585768699646], "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": [1.5700000524520874, -1.5700000524520874, -1.9089429378509521, 1.5700000524520874, 0.7429089546203613, -8.710567556136084e-08, -1.0815688371658325, 1.5700000524520874, -1.5140732526779175, 1.041518959965515e-08, -1.9870260953903198, -3.053344488143921, 9.478507978499806e-10, 8.67117488922986e-09, 9.478507978499806e-10, 0.0, 0.0, 1.734234977845972e-08, 8.67117488922986e-09, 4.9153946690694283e-08, 0.06315729767084122, -1.49286378814395e-07, 0.06315729767084122, 0.0, 0.0, 0.0, 0.0, 6.440512567706946e-10, -0.5016090869903564, 0.693324863910675, -2.9857275762879e-07, -1.49286378814395e-07, 0.567111074924469, 0.0, 0.0, 0.0, 0.0, 6.732912005702474e-10, -0.5091884136199951, 0.763799786567688, 0.5415854454040527, 0.5607697367668152, 0.752585768699646, 0.0, 0.0, -0.7267763614654541, 0.798170804977417, 0.7359063029289246, 0.7619739174842834, 0.7867531776428223, 0.7707139849662781, 0.7968145608901978], "shielded_full_target": [1.5700000524520874, -1.5700000524520874, -1.9089429378509521, 1.5700000524520874, 0.7429089546203613, -8.710567556136084e-08, -1.0815688371658325, 1.5700000524520874, -1.5140732526779175, 1.041518959965515e-08, -1.9870260953903198, -3.053344488143921, 9.478507978499806e-10, 8.67117488922986e-09, 9.478507978499806e-10, 0.0, 0.0, 1.734234977845972e-08, 8.67117488922986e-09, 4.9153946690694283e-08, 0.06315729767084122, -1.49286378814395e-07, 0.06315729767084122, 0.0, 0.0, 0.0, 0.0, 6.440512567706946e-10, -0.5016090869903564, 0.693324863910675, -2.9857275762879e-07, -1.49286378814395e-07, 0.567111074924469, 0.0, 0.0, 0.0, 0.0, 6.732912005702474e-10, -0.5091884136199951, 0.763799786567688, 0.5415854454040527, 0.5607697367668152, 0.752585768699646, 0.0, 0.0, -0.7267763614654541, 0.798170804977417, 0.7359063029289246, 0.7619739174842834, 0.7867531776428223, 0.7707139849662781, 0.7968145608901978]}, "joint_limit_active_steps": 509, "joint_limit_hard_episode_events": 28, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 176, "max_joint_limit_excess_rad": 1.350319266319275, "max_joint_limit_excess_joint": "left_hand_ring_spread", "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": 509, "joint_limit_active_step_rate": 0.07235252309879175, "finger_joint_limit_saturation_steps": 176, "finger_joint_limit_saturation_step_rate": 0.025017768301350392, "max_joint_limit_excess_rad": 1.350319266319275, "max_joint_limit_excess_joint": "left_hand_ring_spread", "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": 2966, "pour_olive_oil": null}, "violation_counts": {}, "policy_query_count": 46, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 34320, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_08_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_08_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..10af63c628f1d0dba42159d5f411e6068953c157 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_08_episode_06/summary.json @@ -0,0 +1,266 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.5 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "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": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "pour_tilt": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 38.13333333333333, + "expert_time_step": 2288, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "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": 0.07235252309879175, + "finger_joint_limit_saturation_step_rate": 0.025017768301350392, + "max_joint_limit_excess_rad": 1.350319266319275, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Finger_Spread": 17, + "left_hand_Index_Finger_Distal": 16, + "left_hand_Index_Finger_Proximal": 75, + "left_hand_Middle_Finger_Proximal": 85, + "left_hand_Ring_Finger": 7, + "left_hand_Thumb_Flexion": 144, + "left_hand_j12": 25, + "left_hand_j3": 126, + "left_hand_j5": 14, + "left_hand_ring_spread": 86, + "right_hand_Index_Finger_Distal": 27, + "right_hand_Index_Finger_Proximal": 48, + "right_hand_Middle_Finger_Distal": 2, + "right_hand_Middle_Finger_Proximal": 85, + "right_hand_Pinky": 26, + "right_hand_Ring_Finger": 80, + "right_hand_Thumb_Flexion": 36, + "right_hand_j12": 1, + "right_hand_j13": 31, + "right_hand_j3": 51 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 2, + "left_hand_Index_Finger_Distal": 1, + "left_hand_Index_Finger_Proximal": 2, + "left_hand_Middle_Finger_Distal": 2, + "left_hand_Middle_Finger_Proximal": 4, + "left_hand_Ring_Finger": 3, + "left_hand_Thumb_Flexion": 3, + "left_hand_j12": 4, + "left_hand_j3": 4, + "left_hand_j5": 2, + "left_hand_ring_spread": 3, + "right_hand_Index_Finger_Distal": 9, + "right_hand_Index_Finger_Proximal": 8, + "right_hand_Middle_Finger_Distal": 10, + "right_hand_Middle_Finger_Proximal": 11, + "right_hand_Pinky": 11, + "right_hand_Ring_Finger": 9, + "right_hand_Thumb_Flexion": 9, + "right_hand_j12": 9, + "right_hand_j13": 12, + "right_hand_j3": 9, + "right_hand_j5": 1 + }, + "joint_limit_hard_episode_events": 28, + "finger_joint_limit_saturation_counts": { + "left_hand_Index_Finger_Proximal": 55, + "left_hand_Middle_Finger_Proximal": 47, + "left_hand_Thumb_Flexion": 20, + "left_hand_j3": 68, + "left_hand_ring_spread": 68, + "right_hand_Middle_Finger_Proximal": 21, + "right_hand_Ring_Finger": 23 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.22430451214313507, + "left_hand_Index_Finger_Distal": 0.05350499972701073, + "left_hand_Index_Finger_Proximal": 0.7075263261795044, + "left_hand_Middle_Finger_Distal": 0.007423922885209322, + "left_hand_Middle_Finger_Proximal": 0.6026160717010498, + "left_hand_Pinky": 0.004827092867344618, + "left_hand_Ring_Finger": 0.08648443967103958, + "left_hand_Thumb_Flexion": 0.1265709400177002, + "left_hand_Thumb_Opposition": 0.0036388009320944548, + "left_hand_index_spread": 0.002495890250429511, + "left_hand_j12": 0.14039528369903564, + "left_hand_j13": 0.004580875393003225, + "left_hand_j14": 0.000366876891348511, + "left_hand_j15": 0.0001609388564247638, + "left_hand_j16": 8.920228538045194e-06, + "left_hand_j17": 4.241156602802221e-06, + "left_hand_j3": 0.5840762853622437, + "left_hand_j4": 5.826998883406986e-09, + "left_hand_j5": 0.2194683700799942, + "left_hand_ring_spread": 1.350319266319275, + "right_hand_Finger_Spread": 0.000524464703630656, + "right_hand_Index_Finger_Distal": 0.03962036222219467, + "right_hand_Index_Finger_Proximal": 0.10431328415870667, + "right_hand_Middle_Finger_Distal": 0.010918614454567432, + "right_hand_Middle_Finger_Proximal": 0.4349278211593628, + "right_hand_Pinky": 0.04906129837036133, + "right_hand_Ring_Finger": 0.4568023979663849, + "right_hand_Thumb_Flexion": 0.055877458304166794, + "right_hand_Thumb_Opposition": 0.000317111931508407, + "right_hand_index_spread": 0.0005063640419393778, + "right_hand_j12": 0.011996830813586712, + "right_hand_j13": 0.044575635343790054, + "right_hand_j14": 0.0013823660556226969, + "right_hand_j15": 0.0004284770111553371, + "right_hand_j16": 0.0003219912468921393, + "right_hand_j17": 0.0011840634979307652, + "right_hand_j3": 0.12952131032943726, + "right_hand_j4": 3.488648508209735e-05, + "right_hand_j5": 0.006437512114644051, + "right_hand_ring_spread": 0.0009776517981663346 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 10.108406983940565, + "joint_effort_rms": 24.508847225365432, + "joint_jerk_rms": 987.8127837199589, + "joint_velocity_rms": 0.2879824097444278 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.371556048538286, + "mean_kinematic_grasp_stability": 0.21771581004117982, + "per_object_best_kinematic_grasp_stability": { + "obj_146_olive_oil_1": 0.32136424556537146, + "obj_172_soy_sauce_1": 0.371556048538286 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.4284529732290926, + "mean_duration_score": 0.5682444918265815, + "mean_hold_score": 0.5493248045486853, + "mean_kinematic_stability_score": 0.00018568512583469495, + "mean_legacy_gsi": 0.5232090956607564, + "mean_lift_score": 0.5722103766879886, + "mean_motion_stability_score": 0.5341031920554604 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 3, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 7035, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_08_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_08_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4f70d7988ef1960a1702312d10bf49be1d41984 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_08_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/08_frypan_stand_pour.yaml", "episode_index": 7, "seed": 200800006, "success": false, "steps": 9216, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 200800006, "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": 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_rust_rust0038_jpg", "asset_uri": "dex2bench_dataset/textures/rust/rust0038.jpg", "asset_category": "rust", "asset_id": "rust/rust0038.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1110.999988010704, "color": [0.4391049636164266, 0.4749337980206867, 0.805316306827152], "pitch_deg": -29.94146554705824, "yaw_deg": 60.468018633591896, "angle_deg": 0.6407421693498259}, "dome": {"intensity": 178.70502292922967, "color": [0.9001098861406243, 0.9745857668952234, 0.9883200627631736], "exposure": 0.15954328607501456}, "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": 0.025743644000959243, "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": [-0.0030146999552203404, -0.0031974554859728376, 0.0031847571340266586], "target_offset_m": [0.002617199181600278, -0.0017566433002747452, 0.00419632173721548], "distance_offset_m": -0.002326108596747898, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.7085483714494158, -0.7498914729173305, -0.6986187853228825], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.002660955594096003, -0.003869109589404911, 0.0001522047986866346], "target_offset_m": [0.0026383154282124954, -0.0024721361927949824, -0.0021322815353968694], "distance_offset_m": -0.008604320919376292, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.33311788698465805, -0.8582369561743333, -0.4862101262476808], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0010927279423062278, 0.002204390216165859, 0.003907523631306048], "target_offset_m": [-0.000988643433738565, 0.004201166843117782, 0.0005657157153295296], "distance_offset_m": 0.0016334151918135295, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.9703138301642016, 0.20783202167147086, -0.11736497319753325], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.0010927279423062278, 0.002204390216165859, 0.003907523631306048], "target_offset_m": [-0.000988643433738565, 0.004201166843117782, 0.0005657157153295296], "distance_offset_m": 0.0016334151918135295, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.9703138301642016, 0.20783202167147086, -0.11736497319753325], "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": [-0.003366733068200989, 0.0013919285634986078, 0.004096274328873737], "rpy_offset_deg": [-0.4413236549351982, 0.908305847995446, 0.4362604942186197], "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": [0.0048216889302829585, -0.0008278215431789578, 0.0017198495432596324], "rpy_offset_deg": [-0.6042260235897305, -0.21592818946978887, 0.5557526721923796], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 2, "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": [0.9358123420310445, 0.9358123420310445, 0.9358123420310445], "body_type": "dynamic", "category": "tool", "asset_code": "040", "asset_id": "clutter_040_large_marker", "asset_split": "unseen", "spawn_position": [0.6791094600775536, 0.177887930319706, 0.7759991207819236], "spawn_yaw_deg": 97.68337744364132, "obj_id": "distractor_00_clutter_040_large_marker"}, {"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [0.9731554946137801, 0.9731554946137801, 0.9731554946137801], "body_type": "dynamic", "category": "toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [0.8436287540717196, 0.34675389930262557, 0.7761270672681881], "spawn_yaw_deg": 138.50901191705387, "obj_id": "distractor_01_clutter_072b_toy_airplane"}]}}, "embodiment": {"robot_asset": {"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, 0.8084026179332255], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_223_chefmate_frypan_1": {"position": [-0.4, 0.15, 0.9057436440009593], "rpy_deg": [-90.0, 0.0, -37.18722293066334]}, "obj_182_bread_2": {"position": [-0.2, 0.33, 0.9257436440009593], "rpy_deg": [90.0, 0.0, 2.1318994451132216]}, "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} diff --git a/gpt6_astra_10x_icl/source_runs/task_08_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_08_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3f9d179f5b0697f25ec9d87c16748845ca2bbcb2 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_08_episode_07/summary.json @@ -0,0 +1,284 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.5 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 1.0, + "drop_rate": 0.0, + "high_speed_violation_rate": 1.0, + "safety_violation_step_rate": 0.00021701388888888888 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "pour_tilt": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 38.13333333333333, + "expert_time_step": 2288, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.00010850694444444444, + "violation_counts": { + "high_speed_obj_172_soy_sauce_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.1486545138888889, + "finger_joint_limit_saturation_step_rate": 0.020833333333333332, + "max_joint_limit_excess_rad": 1.0814626216888428, + "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, + 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"runtime.joint_pos_limits"}, "joint_limit_active_steps": 832, "joint_limit_active_step_rate": 0.23549391452023777, "finger_joint_limit_saturation_steps": 555, "finger_joint_limit_saturation_step_rate": 0.15709029153693746, "max_joint_limit_excess_rad": 0.6586682796478271, "max_joint_limit_excess_joint": "multi_leap_r_10", "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": {}, "policy_query_count": 42, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 19260, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_09_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_09_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..62a5b7f8ac094bc0faee4131ff355209f55558b7 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_09_episode_05/summary.json @@ -0,0 +1,196 @@ +{ + "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": 1, + "successes": 1, + "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": 58.88333333333127 + }, + "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": { + "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": 0.3631474667421582, + "expert_time_s": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": 3533, + "avg_policy_steps_to_success": 1178, + "avg_policy_queries_to_success": 42 + }, + "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": 0.23549391452023777, + "finger_joint_limit_saturation_step_rate": 0.15709029153693746, + "max_joint_limit_excess_rad": 0.6586682796478271, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 31, + "leap_l_2": 14, + "multi_leap_r_10": 49, + "multi_leap_r_2": 764 + }, + "joint_limit_hard_counts": { + "leap_l_10": 2, + "leap_l_2": 3, + "leap_l_6": 1, + "multi_leap_r_10": 4, + "multi_leap_r_2": 18 + }, + "joint_limit_hard_episode_events": 21, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_10": 24, + "multi_leap_r_2": 531 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.20378804206848145, + "leap_l_13": 0.002680540084838867, + "leap_l_15": 0.0001443624496459961, + "leap_l_2": 0.1052403450012207, + "leap_l_6": 0.008055686950683594, + "multi_leap_r_10": 0.6586682796478271, + "multi_leap_r_2": 0.22737061977386475, + "multi_leap_r_3": 7.542967796325684e-05 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 16.000223304967125, + "joint_effort_rms": 53.95581194073564, + "joint_jerk_rms": 1557.6846296017193, + "joint_velocity_rms": 0.5751349044289849 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9311121923083419, + "mean_kinematic_grasp_stability": 0.7080286919948371, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9311121923083419, + "obj_209_soap_3": 0.8667359178984957 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5786866685536372, + "mean_duration_score": 0.4939145202377584, + "mean_hold_score": 0.45802434191904845, + "mean_kinematic_stability_score": 0.057616260670397865, + "mean_legacy_gsi": 0.48442443238213595, + "mean_lift_score": 0.5018397962071893, + "mean_motion_stability_score": 0.43021404948479924 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3533, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_09_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_09_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a511a1f17001e4bb94cf198abfbc1c08ff182dd --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_09_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 6, "seed": 200900005, "success": true, "steps": 12153, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900005, "base_seed": 200900000, "seed_policy": "episode_seed = base_seed + episode_index - 1", 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0.4803133771817185, "joint_acceleration_rms": 13.256882902767291, "joint_jerk_rms": 1315.8022089193275, "joint_effort_rms": 53.06597459697657}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 8.228420966014455e-05, "safety_violation_rate_time": 8.228420966014455e-05, "safety_violation_rate_event": 8.228420966016621e-05, "safety_violation_step_rate": 8.228420966016621e-05, "safety_violation_events_per_step": 8.228420966016621e-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": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"leap_l_10": 155, "leap_l_13": 6, "leap_l_2": 891, "leap_l_6": 12, "multi_leap_r_10": 725, "multi_leap_r_11": 19, "multi_leap_r_2": 1585, "multi_leap_r_6": 95}, "joint_limit_hard_counts": {"leap_l_10": 4, "leap_l_13": 3, "leap_l_2": 29, "leap_l_6": 1, "multi_leap_r_10": 8, "multi_leap_r_11": 1, "multi_leap_r_2": 4, "multi_leap_r_6": 3}, "finger_joint_limit_saturation_counts": {"leap_l_10": 120, "leap_l_2": 176, "multi_leap_r_10": 573, "multi_leap_r_2": 577}, "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": 1.430511474609375e-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": 0.274556040763855, "multi_leap_r_3": 9.763240814208984e-05, "multi_leap_r_5": 0.0017271935939788818, "multi_leap_r_6": 0.040817320346832275}, "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": 267, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_leap_r_10", "role": "finger", "qpos": -0.5127537846565247, "hard_excess_rad": 0.006753861904144287, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.11602602154016495, "shielded_target": -0.11602602154016495}], "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": [-1.6952019929885864, -0.9712688326835632, 1.9027180671691895, -0.15398406982421875, -0.9602161645889282, -2.6655192375183105, 0.40181517601013184, 1.3966134786605835, -2.3324880599975586, 1.72477126121521, 2.029289960861206, -3.1239168643951416, 1.3092080354690552, -0.4993487596511841, 0.47776782512664795, -1.6584821939468384, 0.06791897863149643, 0.2780432105064392, -2.442999839782715, 0.42801448702812195, 0.7367636561393738, 0.1493009775876999, 0.1783919632434845, -0.47338366508483887, -0.0010000000474974513, -0.035877592861652374, -0.3022461533546448, 0.007172440644353628, -0.3659999966621399, -1.340000033378601, -0.020005887374281883, -0.31932806968688965, -0.17558833956718445, 1.2306019067764282, 0.008136576972901821, -0.11602602154016495, -0.2408057153224945, -0.004015468992292881, 0.0020881337113678455, -0.11462917923927307], "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": [-1.6952019929885864, -0.9712688326835632, 1.9027180671691895, -0.15398406982421875, -0.9602161645889282, -2.6655192375183105, 0.40181517601013184, 1.3966134786605835, -2.3324880599975586, 1.72477126121521, 2.029289960861206, -3.1239168643951416, 1.3092080354690552, -0.4993487596511841, 0.47776782512664795, -1.6584821939468384, 0.06791897863149643, 0.2780432105064392, 0.0, -2.442999839782715, 0.0, 0.0, 0.42801448702812195, 0.7367636561393738, 0.1493009775876999, 0.1783919632434845, -0.47338366508483887, -0.0010000000474974513, -0.035877592861652374, -0.3022461533546448, 0.0, 0.007172440644353628, 0.0, 0.0, -0.3659999966621399, -1.340000033378601, -0.020005887374281883, -0.31932806968688965, -0.17558833956718445, 1.2306019067764282, 0.008136576972901821, -0.11602602154016495, -0.2408057153224945, -0.004015468992292881, 0.0020881337113678455, -0.11462917923927307], "shielded_full_target": [-1.6952019929885864, -0.9712688326835632, 1.9027180671691895, -0.15398406982421875, -0.9602161645889282, -2.6655192375183105, 0.40181517601013184, 1.3966134786605835, -2.3324880599975586, 1.72477126121521, 2.029289960861206, -3.1239168643951416, 1.3092080354690552, -0.4993487596511841, 0.47776782512664795, -1.6584821939468384, 0.06791897863149643, 0.2780432105064392, 0.0, -2.442999839782715, 0.0, 0.0, 0.42801448702812195, 0.7367636561393738, 0.1493009775876999, 0.1783919632434845, -0.47338366508483887, -0.0010000000474974513, -0.035877592861652374, -0.3022461533546448, 0.0, 0.007172440644353628, 0.0, 0.0, -0.3659999966621399, -1.340000033378601, -0.020005887374281883, -0.31932806968688965, -0.17558833956718445, 1.2306019067764282, 0.008136576972901821, -0.11602602154016495, -0.2408057153224945, -0.004015468992292881, 0.0020881337113678455, -0.11462917923927307]}, "joint_limit_active_steps": 2456, "joint_limit_hard_episode_events": 37, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1270, "max_joint_limit_excess_rad": 1.7215934991836548, "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": 2456, "joint_limit_active_step_rate": 0.2020900189253682, "finger_joint_limit_saturation_steps": 1270, "finger_joint_limit_saturation_step_rate": 0.1045009462684111, "max_joint_limit_excess_rad": 1.7215934991836548, "max_joint_limit_excess_joint": "leap_l_10", "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": 75, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 19260, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_09_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_09_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b627cc1f6302b5222c481b716d2576c2a9bf92 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_09_episode_06/summary.json @@ -0,0 +1,213 @@ +{ + "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": 1, + "successes": 1, + "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": 202.55000000005333 + }, + "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": 8.228420966016621e-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": 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": 0.10557064099396546, + "expert_time_s": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": 12153, + "avg_policy_steps_to_success": 4051, + "avg_policy_queries_to_success": 75 + }, + "safety": { + "safety_violation_events_per_step": 8.228420966016621e-05, + "violation_counts": { + "drop_to_table_obj_200_cleaner_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.2020900189253682, + "finger_joint_limit_saturation_step_rate": 0.1045009462684111, + "max_joint_limit_excess_rad": 1.7215934991836548, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 155, + "leap_l_13": 6, + "leap_l_2": 891, + "leap_l_6": 12, + "multi_leap_r_10": 725, + "multi_leap_r_11": 19, + "multi_leap_r_2": 1585, + "multi_leap_r_6": 95 + }, + "joint_limit_hard_counts": { + "leap_l_10": 4, + "leap_l_13": 3, + "leap_l_2": 29, + "leap_l_6": 1, + "multi_leap_r_10": 8, + "multi_leap_r_11": 1, + "multi_leap_r_2": 4, + "multi_leap_r_6": 3 + }, + "joint_limit_hard_episode_events": 37, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 120, + "leap_l_2": 176, + "multi_leap_r_10": 573, + "multi_leap_r_2": 577 + }, + "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": 1.430511474609375e-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": 0.274556040763855, + "multi_leap_r_3": 9.763240814208984e-05, + "multi_leap_r_5": 0.0017271935939788818, + "multi_leap_r_6": 0.040817320346832275 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 13.256882902767291, + "joint_effort_rms": 53.06597459697657, + "joint_jerk_rms": 1315.8022089193275, + "joint_velocity_rms": 0.4803133771817185 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.982295941571104, + "mean_kinematic_grasp_stability": 0.6292487014222201, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9122669042408711, + "obj_209_soap_3": 0.982295941571104 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5233275734386571, + "mean_duration_score": 0.5397432732658602, + "mean_hold_score": 0.4038118160125054, + "mean_kinematic_stability_score": 0.04056746133171311, + "mean_legacy_gsi": 0.4433814631442271, + "mean_lift_score": 0.4230231218629145, + "mean_motion_stability_score": 0.3683443432204205 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 12153, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_09_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_09_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5603170558aee41df51b45b7dd6bbcf5d39cf055 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_09_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/09_cleaner_moisturizer_box_loading.yaml", "episode_index": 7, "seed": 200900006, "success": true, "steps": 3632, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 200900006, "base_seed": 200900000, "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, 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"safety_violation_rate": 0.0002753303964757807, "safety_violation_rate_time": 0.0002753303964757807, "safety_violation_rate_event": 0.00027533039647577095, "safety_violation_step_rate": 0.00027533039647577095, "safety_violation_events_per_step": 0.00027533039647577095, "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": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"leap_l_2": 23, "multi_leap_r_10": 293, "multi_leap_r_2": 102, "multi_leap_r_6": 40}, "joint_limit_hard_counts": {"leap_l_2": 8, "multi_leap_r_10": 8, "multi_leap_r_2": 10, "multi_leap_r_6": 3}, "finger_joint_limit_saturation_counts": {"multi_leap_r_10": 193, "multi_leap_r_2": 49, "multi_leap_r_6": 23}, "joint_limit_max_excess_by_joint": {"leap_l_10": 0.0004315972328186035, "leap_l_13": 0.005051136016845703, "leap_l_15": 0.0004183053970336914, "leap_l_2": 0.10326051712036133, "leap_l_3": 2.175569534301758e-06, "multi_leap_r_10": 0.3908652663230896, "multi_leap_r_2": 1.406436800956726, "multi_leap_r_3": 0.00029608607292175293, "multi_leap_r_6": 0.7499661445617676}, "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": 282, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_2", "role": "finger", "qpos": -0.518195629119873, "hard_excess_rad": 0.012195706367492676, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.3012441396713257, "shielded_target": -0.3012441396713257}], "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": [-1.6736313104629517, -1.6208596229553223, 1.801598310470581, -0.028838686645030975, -1.4527603387832642, -2.532384157180786, 0.22876936197280884, 1.4927312135696411, 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_09_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_09_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2173639061d75bca2c4f48f862d0e67148fde166 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_09_episode_07/summary.json @@ -0,0 +1,199 @@ +{ + "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": 1, + "successes": 1, + "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": 60.53333333333118 + }, + "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": 0.00027533039647577095 + }, + "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": 0.3532488986784267, + "expert_time_s": 21.383333333333333, + "expert_time_step": 1283, + "avg_steps_to_success": 3632, + "avg_policy_steps_to_success": 1211, + "avg_policy_queries_to_success": 36 + }, + "safety": { + "safety_violation_events_per_step": 0.00027533039647577095, + "violation_counts": { + "drop_to_table_obj_200_cleaner_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.10187224669603524, + "finger_joint_limit_saturation_step_rate": 0.06552863436123348, + "max_joint_limit_excess_rad": 1.406436800956726, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_2": 23, + "multi_leap_r_10": 293, + "multi_leap_r_2": 102, + "multi_leap_r_6": 40 + }, + "joint_limit_hard_counts": { + "leap_l_2": 8, + "multi_leap_r_10": 8, + "multi_leap_r_2": 10, + "multi_leap_r_6": 3 + }, + "joint_limit_hard_episode_events": 19, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_10": 193, + "multi_leap_r_2": 49, + "multi_leap_r_6": 23 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_10": 0.0004315972328186035, + "leap_l_13": 0.005051136016845703, + "leap_l_15": 0.0004183053970336914, + "leap_l_2": 0.10326051712036133, + "leap_l_3": 2.175569534301758e-06, + "multi_leap_r_10": 0.3908652663230896, + "multi_leap_r_2": 1.406436800956726, + "multi_leap_r_3": 0.00029608607292175293, + "multi_leap_r_6": 0.7499661445617676 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 18.421842086148366, + "joint_effort_rms": 64.14203158206091, + "joint_jerk_rms": 1775.9998054204314, + "joint_velocity_rms": 0.664369295388327 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9457662174655886, + "mean_kinematic_grasp_stability": 0.7537409968077671, + "per_object_best_kinematic_grasp_stability": { + "obj_200_cleaner_2": 0.9106933733242342, + "obj_209_soap_3": 0.9457662174655886 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6060022026431718, + "mean_duration_score": 0.47122797356828194, + "mean_hold_score": 0.3839620044052857, + "mean_kinematic_stability_score": 0.061739522728609775, + "mean_legacy_gsi": 0.4416538893596033, + "mean_lift_score": 0.4280011013215859, + "mean_motion_stability_score": 0.3585329433806686 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3632, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_12_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_12_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83d4df4f29f47e7f332d5b329db24b400a81da4c --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_12_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"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, 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"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": 49, "left_little_1_joint": 17, "left_middle_1_joint": 22, "left_ring_1_joint": 30, "left_thumb_2_joint": 33, "left_thumb_4_joint": 1, "right_index_1_joint": 81, "right_middle_1_joint": 97, "right_ring_1_joint": 10, "right_thumb_2_joint": 21, "right_thumb_3_joint": 10}, "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": 2, "left_thumb_4_joint": 1, "right_index_1_joint": 2, "right_middle_1_joint": 3, "right_ring_1_joint": 1, "right_thumb_2_joint": 1, "right_thumb_3_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 20, "left_middle_1_joint": 2, "right_middle_1_joint": 23}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.20043633878231049, "left_index_2_joint": 2.9589921268780017e-07, "left_little_1_joint": 0.045828185975551605, "left_little_2_joint": 1.4740588483164174e-07, "left_middle_1_joint": 0.11872077733278275, "left_middle_2_joint": 2.7114987588561235e-08, "left_ring_1_joint": 0.11360882967710495, "left_ring_2_joint": 4.983436951988551e-07, "left_thumb_1_joint": 1.699358290352393e-05, "left_thumb_2_joint": 0.15240846574306488, "left_thumb_3_joint": 0.002631599083542824, "left_thumb_4_joint": 0.027993671596050262, "right_index_1_joint": 0.09385170042514801, "right_index_2_joint": 7.986516834534996e-07, "right_little_2_joint": 2.182071739298408e-06, "right_middle_1_joint": 0.21561627089977264, "right_middle_2_joint": 5.054831490269862e-06, "right_ring_1_joint": 0.06873703002929688, "right_ring_2_joint": 3.311814680273528e-07, "right_thumb_1_joint": 1.849561340350192e-05, "right_thumb_2_joint": 0.06114644929766655, "right_thumb_3_joint": 0.10726219415664673, "right_thumb_4_joint": 0.0010160207748413086}, "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": 203, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_thumb_3_joint", "role": "finger_mimic", "qpos": 0.6436286568641663, "hard_excess_rad": 0.03678464889526367, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.6068440079689026, "operating_lower": 0.0, "operating_upper": 0.6068440079689026, "expanded_target": 0.19778063893318176, "shielded_target": 0.19778063893318176, "mimic_source_joint": "right_thumb_2_joint"}], "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": [2.010594606399536, -1.4497575759887695, -1.5699794292449951, 2.2766191959381104, 1.562464952468872, -0.5694521069526672, -1.5838395357131958, 1.986983060836792, -0.003596596885472536, -0.031552642583847046, -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": [2.010594606399536, -1.4497575759887695, -1.5699794292449951, 2.2766191959381104, 1.562464952468872, -0.5694521069526672, -1.5838395357131958, 1.986983060836792, -0.003596596885472536, -0.031552642583847046, -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": [2.010594606399536, -1.4497575759887695, -1.5699794292449951, 2.2766191959381104, 1.562464952468872, -0.5694521069526672, -1.5838395357131958, 1.986983060836792, -0.003596596885472536, -0.031552642583847046, -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": 270, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 43, "max_joint_limit_excess_rad": 0.21561627089977264, "max_joint_limit_excess_joint": "right_middle_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": 270, "joint_limit_active_step_rate": 0.08292383292383293, "finger_joint_limit_saturation_steps": 43, "finger_joint_limit_saturation_step_rate": 0.013206388206388206, "max_joint_limit_excess_rad": 0.21561627089977264, "max_joint_limit_excess_joint": "right_middle_1_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": 837, "place_phillips_left": 2023, "hammer_strike_wood": 2882, "place_hammer": 3032}, "violation_counts": {}, "policy_query_count": 19, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3447, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_12_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_12_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0814159e4211e96f956ad41c673312adca1290b4 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_12_episode_05/summary.json @@ -0,0 +1,226 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 54.26666666666487 + }, + "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": 0.7054668304668538, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": 3256, + "avg_policy_steps_to_success": 1086, + "avg_policy_queries_to_success": 19 + }, + "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": 0.08292383292383293, + "finger_joint_limit_saturation_step_rate": 0.013206388206388206, + "max_joint_limit_excess_rad": 0.21561627089977264, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 49, + "left_little_1_joint": 17, + "left_middle_1_joint": 22, + "left_ring_1_joint": 30, + "left_thumb_2_joint": 33, + "left_thumb_4_joint": 1, + "right_index_1_joint": 81, + "right_middle_1_joint": 97, + "right_ring_1_joint": 10, + "right_thumb_2_joint": 21, + "right_thumb_3_joint": 10 + }, + "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": 2, + "left_thumb_4_joint": 1, + "right_index_1_joint": 2, + "right_middle_1_joint": 3, + "right_ring_1_joint": 1, + "right_thumb_2_joint": 1, + "right_thumb_3_joint": 1 + }, + "joint_limit_hard_episode_events": 11, + "finger_joint_limit_saturation_counts": { + "left_index_1_joint": 20, + "left_middle_1_joint": 2, + "right_middle_1_joint": 23 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.20043633878231049, + "left_index_2_joint": 2.9589921268780017e-07, + "left_little_1_joint": 0.045828185975551605, + "left_little_2_joint": 1.4740588483164174e-07, + "left_middle_1_joint": 0.11872077733278275, + "left_middle_2_joint": 2.7114987588561235e-08, + "left_ring_1_joint": 0.11360882967710495, + "left_ring_2_joint": 4.983436951988551e-07, + "left_thumb_1_joint": 1.699358290352393e-05, + "left_thumb_2_joint": 0.15240846574306488, + "left_thumb_3_joint": 0.002631599083542824, + "left_thumb_4_joint": 0.027993671596050262, + "right_index_1_joint": 0.09385170042514801, + "right_index_2_joint": 7.986516834534996e-07, + "right_little_2_joint": 2.182071739298408e-06, + "right_middle_1_joint": 0.21561627089977264, + "right_middle_2_joint": 5.054831490269862e-06, + "right_ring_1_joint": 0.06873703002929688, + "right_ring_2_joint": 3.311814680273528e-07, + "right_thumb_1_joint": 1.849561340350192e-05, + "right_thumb_2_joint": 0.06114644929766655, + "right_thumb_3_joint": 0.10726219415664673, + "right_thumb_4_joint": 0.0010160207748413086 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 62.18421184576, + "joint_effort_rms": 45.8464747545057, + "joint_jerk_rms": 6420.254412327998, + "joint_velocity_rms": 1.1975804930153124 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9991125336765303, + "mean_kinematic_grasp_stability": 0.24955908159822654, + "per_object_best_kinematic_grasp_stability": { + "obj_043_phillips_screwdriver_1": 0.5943494226065272, + "obj_044_flat_screwdriver_2": 0.9991125336765303, + "obj_048_hammer_3": 0.4751306692206019 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6669737919737567, + "mean_duration_score": 0.39944717444717065, + "mean_hold_score": 0.36042178542178743, + "mean_kinematic_stability_score": 0.059145093560595254, + "mean_legacy_gsi": 0.43287155933980803, + "mean_lift_score": 0.48966011466011466, + "mean_motion_stability_score": 0.34931777909918815 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 4, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3256, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_12_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_12_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2edc20a3307909e149ba4348550453dffbaf5dae --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_12_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/12_screwdriver_box_and_hammer.yaml", "episode_index": 6, "seed": 201200005, "success": true, "steps": 3559, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 201200005, "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": 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": "FloorPlan203", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": 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"asset_split": "unseen", "placement_failed": true}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_043_phillips_screwdriver_1": {"position": [-0.4506080651666426, 0.1221947360467685, 0.7301011724811363], "rpy_deg": [0.0, 0.0, 9.608040430961097]}, "obj_044_flat_screwdriver_2": {"position": [0.24282356914958883, 0.025986097009708144, 0.730149172497386], "rpy_deg": [0.0, 0.0, -9.774701697921946]}, "obj_048_hammer_3": {"position": [-0.27, 0.11, 0.7619651736057679], "rpy_deg": [0.0, 180.0, -26.756064542724687]}, "obj_036_wood_block_4": {"position": [-0.1, 0.06, 0.7913591706491391], "rpy_deg": [90.0, 0.0, -0.003750944248789523]}, "obj_154_wooden_box_1": {"position": [0.507742789434312, 0.264348680271251, 0.7297421724832932], "rpy_deg": [90.0, 0.0, -0.4903976575024078]}}, "_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": 3376, "stable_success_step": 3558, "first_stable_success_step": 3558, "steps_to_stable_success": 3559, "policy_steps_to_stable_success": 1187, "policy_queries_to_stable_success": 26, "time_to_stable_success_s": 59.31666666666458, "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": 0.6454060129250015, "kinematic_grasp_stability_index": 0.9983773276219967, "mean_kinematic_grasp_stability": 0.3945172384327729, "per_object_best_kinematic_grasp_stability": {"obj_043_phillips_screwdriver_1": 0.9983773276219967, "obj_044_flat_screwdriver_2": 0.9946254038634115, "obj_048_hammer_3": 0.5151118405241456}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.45055243884409957, "mean_kinematic_stability_score": 0.11306759853931676, "mean_lift_score": 0.5287065655146577, "mean_hold_score": 0.3494895569916711, "mean_motion_stability_score": 0.35077791942322706, "mean_duration_score": 0.41571914707626983, "mean_anti_slip_score": 0.7262027410945656}, "robot_motion_metrics": {"joint_velocity_rms": 1.2366300171290956, "joint_acceleration_rms": 56.723801338753056, "joint_jerk_rms": 5933.958040774509, "joint_effort_rms": 42.409849080878836}, "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": 45, "left_little_1_joint": 12, "left_middle_1_joint": 3, "left_ring_1_joint": 26, "left_thumb_2_joint": 24, "right_index_1_joint": 398, "right_middle_1_joint": 36, "right_ring_1_joint": 67, "right_thumb_2_joint": 73}, "joint_limit_hard_counts": {"left_index_1_joint": 6, "left_little_1_joint": 1, "left_middle_1_joint": 1, "left_ring_1_joint": 1, "left_thumb_2_joint": 1, "right_index_1_joint": 3, "right_middle_1_joint": 1, "right_ring_1_joint": 1, "right_thumb_2_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_1_joint": 9, "right_index_1_joint": 385, "right_ring_1_joint": 35, "right_thumb_2_joint": 37}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.1579175889492035, "left_index_2_joint": 1.4323489949674695e-06, "left_little_1_joint": 0.04250878095626831, "left_little_2_joint": 1.041815266944468e-05, "left_middle_1_joint": 0.02692592702805996, "left_middle_2_joint": 2.1824810119142057e-06, "left_ring_1_joint": 0.11615025997161865, "left_ring_2_joint": 7.645587174920365e-06, "left_thumb_1_joint": 1.732567216095049e-05, "left_thumb_2_joint": 0.14562305808067322, "left_thumb_3_joint": 2.656949254742358e-05, "left_thumb_4_joint": 0.0013130009174346924, "right_index_1_joint": 0.9538151621818542, "right_index_2_joint": 7.616848506586393e-06, "right_little_2_joint": 1.6379917724407278e-05, "right_middle_1_joint": 0.06878054141998291, "right_middle_2_joint": 3.307018050691113e-05, "right_ring_1_joint": 0.22508442401885986, "right_ring_2_joint": 5.6689455959713086e-05, "right_thumb_1_joint": 1.8284683392266743e-05, "right_thumb_2_joint": 0.14021772146224976, "right_thumb_3_joint": 0.0006099498132243752, "right_thumb_4_joint": 0.0010838806629180908}, "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": 1101, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_thumb_2_joint", "role": "finger", "qpos": 0.5330180525779724, "hard_excess_rad": 0.009541034698486328, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.5234770178794861, "operating_lower": 0.0, "operating_upper": 0.5234770178794861, "expanded_target": 0.44675424695014954, "shielded_target": 0.44675424695014954}], "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": [1.5136549472808838, -1.5306795835494995, -1.5699794292449951, 2.0361428260803223, 1.562464952468872, -0.23018494248390198, -1.5838395357131958, 1.6353520154953003, -0.003596596885472536, 0.0522143729031086, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.8213697075843811, 0.9212855100631714, 0.8884371519088745, 1.0844453573226929, 0.44675424695014954, 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": [1.5136549472808838, -1.5306795835494995, -1.5699794292449951, 2.0361428260803223, 1.562464952468872, -0.23018494248390198, -1.5838395357131958, 1.6353520154953003, -0.003596596885472536, 0.0522143729031086, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.8213697075843811, 0.9212855100631714, 0.8884371519088745, 1.0844453573226929, -0.15000000596046448, 0.7673878073692322, 0.8789837956428528, 0.8422954678535461, 0.44675424695014954, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.5104167461395264, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.4832209050655365, 0.0, 0.10000000149011612], "shielded_full_target": [1.5136549472808838, -1.5306795835494995, -1.5699794292449951, 2.0361428260803223, 1.562464952468872, -0.23018494248390198, -1.5838395357131958, 1.6353520154953003, -0.003596596885472536, 0.0522143729031086, -1.5699987411499023, 0.0028283274732530117, 0.0, 0.8213697075843811, 0.9212855100631714, 0.8884371519088745, 1.0844453573226929, -0.15000000596046448, 0.7673878073692322, 0.8789837956428528, 0.8422954678535461, 0.44675424695014954, 0.004607485141605139, 0.0026043641846626997, 0.00537152448669076, 0.00413545360788703, 0.0, 0.5104167461395264, -0.14485390484333038, -0.14709118008613586, -0.14400054514408112, -0.1453811079263687, 0.0, 0.4832209050655365, 0.0, 0.10000000149011612]}, "joint_limit_active_steps": 543, "joint_limit_hard_episode_events": 11, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 431, "max_joint_limit_excess_rad": 0.9538151621818542, "max_joint_limit_excess_joint": "right_index_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": 543, "joint_limit_active_step_rate": 0.1525709468951953, "finger_joint_limit_saturation_steps": 431, "finger_joint_limit_saturation_step_rate": 0.12110143298679404, "max_joint_limit_excess_rad": 0.9538151621818542, "max_joint_limit_excess_joint": "right_index_1_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": 500, "place_phillips_left": 2372, "hammer_strike_wood": 3096, "place_hammer": 3321}, "violation_counts": {}, "policy_query_count": 26, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 34470, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_12_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_12_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9a5ce5051adb23dc74f80b763571f9d0cae10244 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_12_episode_06/summary.json @@ -0,0 +1,223 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 59.31666666666458 + }, + "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": 0.6454060129250015, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": 3559, + "avg_policy_steps_to_success": 1187, + "avg_policy_queries_to_success": 26 + }, + "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": 0.1525709468951953, + 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_12_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_12_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..97c9015a2aab77e880a19eab56fa032b276d54b7 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_12_episode_07/summary.json @@ -0,0 +1,228 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 51.316666666665036 + }, + "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": 0.7460214355310403, + "expert_time_s": 38.28333333333333, + "expert_time_step": 2297, + "avg_steps_to_success": 3079, + "avg_policy_steps_to_success": 1027, + "avg_policy_queries_to_success": 20 + }, + "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": 0.29490094186424165, + "finger_joint_limit_saturation_step_rate": 0.20591101006820398, + "max_joint_limit_excess_rad": 0.4083523750305176, + "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 + }, + "joint_limit_hard_episode_events": 5, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 55.823631590548196, + "joint_effort_rms": 44.772875677821915, + "joint_jerk_rms": 5753.460930366836, + "joint_velocity_rms": 1.1770842481165196 + }, + "grasp": { + "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_anti_slip_score": 0.8035076323482263, + "mean_duration_score": 0.39194182815488476, + "mean_hold_score": 0.3525603550936483, + "mean_kinematic_stability_score": 0.16766952960089992, + "mean_legacy_gsi": 0.4538086996933859, + "mean_lift_score": 0.4690916964382375, + "mean_motion_stability_score": 0.3387467109997972 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 6, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3079, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_21_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_21_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..757d9ca1b1f1b0c9f6d27bd3dc8515b16547ab56 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_21_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/21_condiment_box_loading.yaml", "episode_index": 5, "seed": 202100004, "success": true, "steps": 14032, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202100004, "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": 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", 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"rpy_deg": [90.0, 0.0, -7.261695500726313]}}, "_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": 14002, "stable_success_step": 14031, "first_stable_success_step": 14031, "steps_to_stable_success": 14032, "policy_steps_to_stable_success": 4678, "policy_queries_to_stable_success": 79, "time_to_stable_success_s": 233.86666666674492, "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": 0.11787343215503468, "kinematic_grasp_stability_index": 0.9996501984155148, "mean_kinematic_grasp_stability": 0.5336934535306899, "per_object_best_kinematic_grasp_stability": {"obj_171_msg_4": 0.8017677595451561, "obj_172_soy_sauce_2": 0.5787384341812049, "obj_173_vinegar_3": 0.9996501984155148}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.7055800831564906, "mean_kinematic_stability_score": 0.14540408158835716, "mean_lift_score": 0.8640963511972634, "mean_hold_score": 0.8269348631699007, "mean_motion_stability_score": 0.7682005364544799, "mean_duration_score": 0.8758638983909786, "mean_anti_slip_score": 0.29230013936406635}, "robot_motion_metrics": {"joint_velocity_rms": 0.39330368576470737, "joint_acceleration_rms": 13.684046330160403, "joint_jerk_rms": 1388.6192276501383, "joint_effort_rms": 27.399534615401546}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00014253135689846997, "safety_violation_rate_time": 0.00014253135689846997, "safety_violation_rate_event": 0.00014253135689851768, "safety_violation_step_rate": 0.00014253135689851768, "safety_violation_events_per_step": 0.00014253135689851768, "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": {"joint_limit_soft_counts": {"left_finger1_joint1": 12, "left_finger1_joint3": 1090, "left_finger2_joint4": 47, "left_finger3_joint2": 22, "left_finger3_joint4": 55, "left_finger4_joint1": 41, "left_finger4_joint2": 34, "left_finger4_joint4": 55, "left_finger5_joint1": 4, "left_finger5_joint4": 52, "right_finger1_joint3": 27, "right_finger2_joint1": 61, "right_finger3_joint1": 38, "right_finger4_joint1": 13, "right_finger4_joint2": 12, "right_finger5_joint2": 13}, "joint_limit_hard_counts": {"left_finger1_joint1": 1, "left_finger1_joint2": 2, "left_finger1_joint3": 4, "left_finger2_joint2": 1, "left_finger2_joint4": 1, "left_finger3_joint2": 1, "left_finger3_joint4": 1, "left_finger4_joint1": 2, "left_finger4_joint2": 3, "left_finger4_joint4": 1, "left_finger5_joint1": 1, "left_finger5_joint4": 1, "right_finger1_joint2": 7, "right_finger1_joint3": 3, "right_finger2_joint1": 2, "right_finger3_joint1": 1, "right_finger4_joint1": 3, "right_finger4_joint2": 2, "right_finger5_joint2": 1}, "finger_joint_limit_saturation_counts": {"left_finger1_joint3": 1011, "left_finger2_joint4": 45, "left_finger3_joint4": 53, "left_finger4_joint1": 6, "left_finger4_joint2": 1, "left_finger4_joint4": 53, "left_finger5_joint4": 48, "right_finger1_joint3": 6, "right_finger2_joint1": 41, "right_finger3_joint1": 12, "right_finger5_joint2": 2}, "joint_limit_max_excess_by_joint": {"left_finger1_joint1": 0.12481319904327393, "left_finger1_joint2": 0.005399435758590698, "left_finger1_joint3": 0.8271760940551758, "left_finger2_joint1": 0.0003159046173095703, "left_finger2_joint2": 0.005183905363082886, "left_finger2_joint4": 1.8637301921844482, "left_finger3_joint2": 0.17948570847511292, "left_finger3_joint4": 2.3013296127319336, "left_finger4_joint1": 0.3246208429336548, "left_finger4_joint2": 0.15450072288513184, "left_finger4_joint4": 2.4376306533813477, "left_finger5_joint1": 0.0242692232131958, "left_finger5_joint2": 0.0035106539726257324, "left_finger5_joint4": 2.2746286392211914, "right_finger1_joint2": 0.008103609085083008, "right_finger1_joint3": 0.36233431100845337, "right_finger2_joint1": 0.3803626298904419, "right_finger2_joint2": 0.000625908374786377, "right_finger3_joint1": 0.1703876256942749, "right_finger4_joint1": 0.018409013748168945, "right_finger4_joint2": 0.16661801934242249, "right_finger5_joint2": 0.2627767026424408}, "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": 878, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_finger1_joint3", "role": "finger", "qpos": -0.47238120436668396, "hard_excess_rad": 0.008581221103668213, "hard_tolerance_rad": 0.005, "hard_lower": -0.46379998326301575, "hard_upper": 1.5607000589370728, "operating_lower": -0.46380001306533813, "operating_upper": 1.5607001781463623, "expanded_target": -0.07977902144193649, "shielded_target": -0.07977902144193649}], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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"], "raw_active_action": [2.1336588859558105, -1.0796117782592773, -1.5700000524520874, 1.5260299444198608, 1.5700000524520874, 0.11085871607065201, -1.5700000524520874, 2.2925894260406494, -2.647447538972614e-10, -0.35451799631118774, -1.5700000524520874, 8.461909506429777e-10, 1.053149938583374, 0.5812727212905884, 0.5219799876213074, 0.4527117908000946, 0.40811267495155334, -0.15760000050067902, -0.057577818632125854, -0.03598904237151146, 0.07700321823358536, 0.21144017577171326, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, -0.07977902144193649, -0.058865342289209366, -0.0592690072953701, -0.05914148688316345, -0.048278000205755234, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.029100263491272926, 0.0372224897146225, 0.03794991597533226, 0.03777514398097992, 0.02495831623673439, 3.9913843064010024e-11, 4.079784565735878e-10, -3.777043261488089e-11, 2.6438737310563454e-10, -2.4874885484749143e-10, -1.5308178336059797e-11, 4.222889399274621e-11, 1.4417167112923401e-11, 4.4287848128404805e-13, -4.534130362832123e-11], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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": [2.1336588859558105, -1.0796117782592773, -1.5700000524520874, 1.5260299444198608, 1.5700000524520874, 0.11085871607065201, -1.5700000524520874, 2.2925894260406494, -2.647447538972614e-10, -0.35451799631118774, -1.5700000524520874, 8.461909506429777e-10, 1.053149938583374, 0.5812727212905884, 0.5219799876213074, 0.4527117908000946, 0.40811267495155334, -0.15760000050067902, -0.057577818632125854, -0.03598904237151146, 0.07700321823358536, 0.21144017577171326, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, -0.07977902144193649, -0.058865342289209366, -0.0592690072953701, -0.05914148688316345, -0.048278000205755234, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.029100263491272926, 0.0372224897146225, 0.03794991597533226, 0.03777514398097992, 0.02495831623673439, 3.9913843064010024e-11, 4.079784565735878e-10, -3.777043261488089e-11, 2.6438737310563454e-10, -2.4874885484749143e-10, -1.5308178336059797e-11, 4.222889399274621e-11, 1.4417167112923401e-11, 4.4287848128404805e-13, -4.534130362832123e-11], "shielded_full_target": [2.1336588859558105, -1.0796117782592773, -1.5700000524520874, 1.5260299444198608, 1.5700000524520874, 0.11085871607065201, -1.5700000524520874, 2.2925894260406494, -2.647447538972614e-10, -0.35451799631118774, -1.5700000524520874, 8.461909506429777e-10, 1.053149938583374, 0.5812727212905884, 0.5219799876213074, 0.4527117908000946, 0.40811267495155334, -0.15760000050067902, -0.057577818632125854, -0.03598904237151146, 0.07700321823358536, 0.21144017577171326, 0.10000000149011612, 3.806997772581866e-10, 2.5852295859607466e-09, 1.7226865489661236e-09, 7.707670057754967e-10, -0.07977902144193649, -0.058865342289209366, -0.0592690072953701, -0.05914148688316345, -0.048278000205755234, -4.976387704691554e-11, 1.2265900795060958e-10, 1.2884973643600972e-10, 1.1473654665250521e-10, 8.112243515823181e-11, 0.029100263491272926, 0.0372224897146225, 0.03794991597533226, 0.03777514398097992, 0.02495831623673439, 3.9913843064010024e-11, 4.079784565735878e-10, -3.777043261488089e-11, 2.6438737310563454e-10, -2.4874885484749143e-10, -1.5308178336059797e-11, 4.222889399274621e-11, 1.4417167112923401e-11, 4.4287848128404805e-13, -4.534130362832123e-11]}, "joint_limit_active_steps": 1283, "joint_limit_hard_episode_events": 21, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1121, "max_joint_limit_excess_rad": 2.4376306533813477, "max_joint_limit_excess_joint": "left_finger4_joint4", "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": 1283, "joint_limit_active_step_rate": 0.09143386545039908, "finger_joint_limit_saturation_steps": 1121, "finger_joint_limit_saturation_step_rate": 0.07988882554161916, "max_joint_limit_excess_rad": 2.4376306533813477, "max_joint_limit_excess_joint": "left_finger4_joint4", "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": 6353, "place_vinegar": 14002, "place_msg": 14002}, "violation_counts": {"drop_to_table_obj_171_msg_4": 1, "drop_to_table_obj_172_soy_sauce_2": 1}, "policy_query_count": 79, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 24810, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_21_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_21_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e188d9f6aff2ec27fa20ca71be642ecd62064117 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_21_episode_05/summary.json @@ -0,0 +1,249 @@ +{ + "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": 1, + "successes": 1, + "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": 24810, + "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": 233.86666666674492 + }, + "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": 0.00014253135689851768 + }, + "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, + 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3.9913843064010024e-11, 4.079784565735878e-10, -3.777043261488089e-11, 2.6438737310563454e-10, -2.4874885484749143e-10, -1.5308178336059797e-11, 4.222889399274621e-11, 1.4417167112923401e-11, 4.4287848128404805e-13, -4.534130362832123e-11]}, "joint_limit_active_steps": 34, "joint_limit_hard_episode_events": 6, "joint_limit_in_core_safety": false, "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} diff --git a/gpt6_astra_10x_icl/source_runs/task_21_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_21_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..085003709c22e4ef18fefe1bff93ffabf00f80d1 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_21_episode_06/summary.json @@ -0,0 +1,192 @@ +{ + "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": 1, + "successes": 0, + "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, + "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": 0.0 + }, + "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": 0.0002365744026496333 + }, + "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": 0.0, + "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": null, + "expert_time_s": 27.566666666666666, + "expert_time_step": 1654, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0002365744026496333, + "violation_counts": { + "drop_to_table_obj_171_msg_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.008043529690087533, + "finger_joint_limit_saturation_step_rate": 0.0014194464158978, + "max_joint_limit_excess_rad": 0.14431679248809814, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_finger2_joint1": 34, + "right_finger3_joint1": 15 + }, + "joint_limit_hard_counts": { + "right_finger1_joint2": 3, + "right_finger2_joint1": 3, + "right_finger3_joint1": 1 + }, + "joint_limit_hard_episode_events": 6, + "finger_joint_limit_saturation_counts": { + "right_finger2_joint1": 6 + }, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.00035490840673446655, + "right_finger1_joint2": 0.00653722882270813, + "right_finger2_joint1": 0.14431679248809814, + "right_finger2_joint2": 0.0009592175483703613, + "right_finger3_joint1": 0.028411149978637695, + "right_finger5_joint2": 0.0008869171142578125 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 12.053927357577734, + "joint_effort_rms": 32.457444908846284, + "joint_jerk_rms": 1212.3350029531862, + "joint_velocity_rms": 0.3209880669866417 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.999419691134364, + "mean_kinematic_grasp_stability": 0.5635296844101639, + "per_object_best_kinematic_grasp_stability": { + "obj_171_msg_4": 0.999419691134364, + "obj_172_soy_sauce_2": 0.9189239100621577, + "obj_173_vinegar_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7521225981126678, + "mean_duration_score": 0.31191283547564597, + "mean_hold_score": 0.221299582051889, + "mean_kinematic_stability_score": 0.03697316437420206, + "mean_legacy_gsi": 0.3422306143130994, + "mean_lift_score": 0.2700891096916647, + "mean_motion_stability_score": 0.207119655491497 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4227, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_21_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_21_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..329d43c203d2da067b14f7042c5c102de60b9c64 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_21_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"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, 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_21_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_21_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8dfbcffabfdee520c40800c129b8cadb18c6a0b5 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_21_episode_07/summary.json @@ -0,0 +1,177 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 39.74999999999903 + }, + "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": { + "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": 0.6935010482180464, + "expert_time_s": 27.566666666666666, + "expert_time_step": 1654, + "avg_steps_to_success": 2385, + "avg_policy_steps_to_success": 795, + "avg_policy_queries_to_success": 23 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 0.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.004102200269699097, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": {}, + "joint_limit_hard_episode_events": 0, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.0008689463138580322, + "right_finger1_joint2": 0.004102200269699097 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 16.027921678452937, + "joint_effort_rms": 17.921156251890917, + "joint_jerk_rms": 1655.6105355253299, + "joint_velocity_rms": 0.3249112464740091 + }, + "grasp": { + "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_anti_slip_score": 0.6357325879338481, + "mean_duration_score": 0.40145352900069886, + "mean_hold_score": 0.35745632424877816, + "mean_kinematic_stability_score": 0.018021111548759686, + "mean_legacy_gsi": 0.41561395737714085, + "mean_lift_score": 0.4092243186582809, + "mean_motion_stability_score": 0.32633856850423215 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2385, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_22_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_22_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84f76ebe616effea90fcb72f6ffe62533dc009fa --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_22_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 5, "seed": 202200004, "success": true, "steps": 6023, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202200004, "base_seed": 202200000, "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": "FloorPlan203", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan203_physics/scene.usda", "scene_offset": [-2.44349, 0.4154, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_metal_metal0401_jpg", "asset_uri": "dex2bench_dataset/textures/metal/metal0401.jpg", "asset_category": "metal", "asset_id": "metal/metal0401.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1181.5278770210261, "color": [0.8025023716560915, 0.9241724771074868, 0.7061628756803902], "pitch_deg": -5.561309816881934, "yaw_deg": -7.924942451505672, "angle_deg": 0.5777672398138342}, "dome": {"intensity": 205.1280700935895, "color": [0.9959216772147467, 0.946563641247035, 0.8150364094979234], "exposure": 0.11046313525986629}, "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": 0.022405729684434467, "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": [0.002754138516372822, 0.00073570186839948, -0.0005380844050225982], "target_offset_m": [-0.001148589242671352, -0.002392372024508237, -0.004039909048749335], "distance_offset_m": -0.0064510435514209125, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.49574165889312294, 0.8533294721322988, 0.5107738580574852], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.0016859230382941263, 0.002087690295630452, 0.003937463046812919], "target_offset_m": [-0.003352443840054192, -0.00353233219285684, -0.001339778050077971], "distance_offset_m": -0.01636858346240308, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.986300654642728, 0.9507088650017674, -0.2016666703083867], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0015646181605391066, 0.0030920782149413866, -0.0018361813993881424], "target_offset_m": [0.0033405584790235027, 0.0046645179481045315, 0.0012668984191179442], "distance_offset_m": -0.0122414504146681, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": 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{"position": [-0.0278180946486203, 0.20221394157759512, 0.7724057296844344], "rpy_deg": [90.0, 0.0, 2.3159104495840914]}, "obj_043_phillips_screwdriver_2": {"position": [-0.43421840054517835, 0.2906637329352043, 0.8225077288778644], "rpy_deg": [90.0, 0.0, -2.22801045476428]}, "obj_044_flat_screwdriver_3": {"position": [0.340984672255082, 0.3285979688884608, 0.7728127296985272], "rpy_deg": [0.0, 0.0, -7.928752204934881]}, "obj_042_adjustable_wrench_4": {"position": [-0.33130453211512206, 0.11740197401319395, 0.8752977261873107], "rpy_deg": [90.0, 0.0, -7.674905397408802]}, "obj_147_drill_5": {"position": [0.3352289731082822, 0.03878910270695245, 0.8018376580806594], "rpy_deg": [0.0, -90.0, 26.351046635819845]}}, "_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": 5966, "stable_success_step": 6022, "first_stable_success_step": 6022, "steps_to_stable_success": 6023, "policy_steps_to_stable_success": 2008, "policy_queries_to_stable_success": 59, "time_to_stable_success_s": 100.38333333332892, "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": 0.22596712601694502, "kinematic_grasp_stability_index": 0.8972081198571432, "mean_kinematic_grasp_stability": 0.37936668326666795, "per_object_best_kinematic_grasp_stability": {"obj_042_adjustable_wrench_4": 0.8972081198571432, "obj_043_phillips_screwdriver_2": 0.8285598876094156, "obj_044_flat_screwdriver_3": 0.7628088624179715, "obj_147_drill_5": 0.6946441508010164}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4399450910047171, "mean_kinematic_stability_score": 0.07182016612897528, "mean_lift_score": 0.4430101278432675, "mean_hold_score": 0.3628922463888332, "mean_motion_stability_score": 0.3382645758630489, "mean_duration_score": 0.47325114837567117, "mean_anti_slip_score": 0.6624328961203588}, "robot_motion_metrics": {"joint_velocity_rms": 0.3476583129367934, "joint_acceleration_rms": 16.273557828500074, "joint_jerk_rms": 1699.0005399438712, "joint_effort_rms": 30.589339882299782}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0003320604349991844, "safety_violation_rate_time": 0.0003320604349991844, "safety_violation_rate_event": 0.00033206043499916984, "safety_violation_step_rate": 0.00033206043499916984, "safety_violation_events_per_step": 0.00033206043499916984, "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_soft_counts": {"right_thumb_mcp": 10}, "joint_limit_hard_counts": {"right_ring_mcp": 3, "right_thumb_abd": 1, "right_thumb_mcp": 4, "right_wrist": 1}, "joint_limit_max_excess_by_joint": {"left_middle_mcp": 0.0014317035675048828, "left_thumb_abd": 0.0014616535045206547, "left_wrist": 0.0004538893699645996, "multi_panda_joint1": 0.0003592967987060547, "multi_panda_joint6": 1.6689300537109375e-05, "right_middle_mcp": 0.0039027929306030273, "right_ring_mcp": 0.009684205055236816, "right_thumb_abd": 0.005516769364476204, "right_thumb_mcp": 0.029221534729003906, "right_wrist": 0.005901217460632324}, "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": 957, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_thumb_abd", "role": "finger", "qpos": 0.005516769364476204, "hard_excess_rad": 0.005516769364476204, "hard_tolerance_rad": 0.005, "hard_lower": -1.0821099281311035, "hard_upper": 0.0, "operating_lower": -1.0821099281311035, "operating_upper": 0.0, "expanded_target": 0.0, "shielded_target": 0.0}], "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": [-1.5700000524520874, 1.6896501779556274, -1.5700000524520874, -0.8169138431549072, -7.498806263439572e-12, 0.14158543944358826, -1.5700000524520874, -1.1286876201629639, 1.5700000524520874, 0.7292514443397522, 6.25, 4.875133514404297, -1.5700000524520874, -1.816728115081787, 1.3438127055565019e-08, 0.5023937821388245, 3.3176107194776705e-08, -0.7510300874710083, 5.9941140939656634e-09, 7.438266447223896e-09, 4.80299355842817e-09, -2.5871164766044785e-08, 0.0, 0.5713300704956055, 0.4458388388156891, 0.3302299976348877, 0.37706291675567627, 0.0, 1.4199645625989632e-10, 5.210036846392541e-09, 1.5831913557917687e-08, 1.8700594850429297e-08, 1.7849599132091498e-08, -0.2882404327392578, -0.2742353081703186, -0.295876681804657, -0.2644820213317871, 0.8945465087890625, 1.2117892245200323e-09, -0.14631423354148865], "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": [-1.5700000524520874, 1.6896501779556274, -1.5700000524520874, -0.8169138431549072, -7.498806263439572e-12, 0.14158543944358826, -1.5700000524520874, -1.1286876201629639, 1.5700000524520874, 0.7292514443397522, 6.25, 4.875133514404297, -1.5700000524520874, -1.816728115081787, 1.3438127055565019e-08, 0.5023937821388245, 0.0, 0.0, 0.0, 0.0, 3.3176107194776705e-08, 0.0, 0.0, 0.0, 0.0, -0.7510300874710083, 5.9941140939656634e-09, 7.438266447223896e-09, 4.80299355842817e-09, -2.5871164766044785e-08, 0.0, 0.5713300704956055, 0.4458388388156891, 0.3302299976348877, 0.37706291675567627, 0.0, 1.4199645625989632e-10, 5.210036846392541e-09, 1.5831913557917687e-08, 1.8700594850429297e-08, 1.7849599132091498e-08, -0.2882404327392578, -0.2742353081703186, -0.295876681804657, -0.2644820213317871, 0.8945465087890625, 1.2117892245200323e-09, -0.14631423354148865], "shielded_full_target": [-1.5700000524520874, 1.6896501779556274, -1.5700000524520874, -0.8169138431549072, -7.498806263439572e-12, 0.14158543944358826, -1.5700000524520874, -1.1286876201629639, 1.5700000524520874, 0.7292514443397522, 6.25, 4.875133514404297, -1.5700000524520874, -1.816728115081787, 1.3438127055565019e-08, 0.5023937821388245, 0.0, 0.0, 0.0, 0.0, 3.3176107194776705e-08, 0.0, 0.0, 0.0, 0.0, -0.7510300874710083, 5.9941140939656634e-09, 7.438266447223896e-09, 4.80299355842817e-09, -2.5871164766044785e-08, 0.0, 0.5713300704956055, 0.4458388388156891, 0.3302299976348877, 0.37706291675567627, 0.0, 1.4199645625989632e-10, 5.210036846392541e-09, 1.5831913557917687e-08, 1.8700594850429297e-08, 1.7849599132091498e-08, -0.2882404327392578, -0.2742353081703186, -0.295876681804657, -0.2644820213317871, 0.8945465087890625, 1.2117892245200323e-09, -0.14631423354148865]}, "joint_limit_active_steps": 10, "joint_limit_hard_episode_events": 9, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.029221534729003906, "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": 10, "joint_limit_active_step_rate": 0.0016603021749958492, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.029221534729003906, "max_joint_limit_excess_joint": "right_thumb_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": 5966, "place_flat": 3510, "place_wrench": 5966, "place_drill": 5966}, "violation_counts": {"drop_to_table_obj_147_drill_5": 1, "drop_to_table_obj_044_flat_screwdriver_3": 1}, "policy_query_count": 59, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 20430, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_22_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_22_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..55009b392faa09c828cb3c6198cec7e7fac99d2a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_22_episode_05/summary.json @@ -0,0 +1,196 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 100.38333333332892 + }, + "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": 0.00033206043499916984 + }, + "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, + "avg_current_chain_depth": 2, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": 0.22596712601694502, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 6023, + "avg_policy_steps_to_success": 2008, + "avg_policy_queries_to_success": 59 + }, + "safety": { + "safety_violation_events_per_step": 0.00033206043499916984, + "violation_counts": { + "drop_to_table_obj_044_flat_screwdriver_3": 1, + "drop_to_table_obj_147_drill_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0016603021749958492, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.029221534729003906, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_thumb_mcp": 10 + }, + "joint_limit_hard_counts": { + "right_ring_mcp": 3, + "right_thumb_abd": 1, + "right_thumb_mcp": 4, + "right_wrist": 1 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_middle_mcp": 0.0014317035675048828, + "left_thumb_abd": 0.0014616535045206547, + "left_wrist": 0.0004538893699645996, + "multi_panda_joint1": 0.0003592967987060547, + "multi_panda_joint6": 1.6689300537109375e-05, + "right_middle_mcp": 0.0039027929306030273, + "right_ring_mcp": 0.009684205055236816, + "right_thumb_abd": 0.005516769364476204, + "right_thumb_mcp": 0.029221534729003906, + "right_wrist": 0.005901217460632324 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 16.273557828500074, + "joint_effort_rms": 30.589339882299782, + "joint_jerk_rms": 1699.0005399438712, + "joint_velocity_rms": 0.3476583129367934 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8972081198571432, + "mean_kinematic_grasp_stability": 0.37936668326666795, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.8972081198571432, + "obj_043_phillips_screwdriver_2": 0.8285598876094156, + "obj_044_flat_screwdriver_3": 0.7628088624179715, + "obj_147_drill_5": 0.6946441508010164 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.6624328961203588, + "mean_duration_score": 0.47325114837567117, + "mean_hold_score": 0.3628922463888332, + "mean_kinematic_stability_score": 0.07182016612897528, + "mean_legacy_gsi": 0.4399450910047171, + "mean_lift_score": 0.4430101278432675, + "mean_motion_stability_score": 0.3382645758630489 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 6023, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_22_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_22_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..240e7137fd81047dd356a134266486b863e57f86 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_22_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 6, "seed": 202200005, "success": true, "steps": 2036, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, 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{"position": [-0.031328841770399005, 0.208855628446791, 0.7111432446109764], "rpy_deg": [90.0, 0.0, 0.8821035518038922]}, "obj_043_phillips_screwdriver_2": {"position": [-0.42236768477062847, 0.3023339374908593, 0.7612452438044064], "rpy_deg": [90.0, 0.0, -4.754418244026162]}, "obj_044_flat_screwdriver_3": {"position": [0.34844057970724374, 0.33618777365069846, 0.7115502446250692], "rpy_deg": [0.0, 0.0, -1.263718185819684]}, "obj_042_adjustable_wrench_4": {"position": [-0.3580545091365388, 0.10587969568670066, 0.8140352411138527], "rpy_deg": [90.0, 0.0, -2.847422728789204]}, "obj_147_drill_5": {"position": [0.3699143282284215, 0.034543872428928035, 0.7405751730072014], "rpy_deg": [0.0, -90.0, 25.119115109307756]}}, "_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": 2006, "stable_success_step": 2035, "first_stable_success_step": 2035, "steps_to_stable_success": 2036, "policy_steps_to_stable_success": 679, "policy_queries_to_stable_success": 29, "time_to_stable_success_s": 33.93333333333269, "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": 0.6684675834970657, "kinematic_grasp_stability_index": 0.9547795193625411, "mean_kinematic_grasp_stability": 0.49494674907541963, "per_object_best_kinematic_grasp_stability": {"obj_042_adjustable_wrench_4": 0.4706276593186624, "obj_043_phillips_screwdriver_2": 0.9198478146867495, "obj_044_flat_screwdriver_3": 0.9547795193625411, "obj_147_drill_5": 0.8188959451477004}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4200177448309069, "mean_kinematic_stability_score": 0.09796833982190281, "mean_lift_score": 0.41195972495088407, "mean_hold_score": 0.3364378683693537, "mean_motion_stability_score": 0.2999287902118423, "mean_duration_score": 0.39617305173542894, "mean_anti_slip_score": 0.7281434184675863}, "robot_motion_metrics": {"joint_velocity_rms": 0.33699804057885213, "joint_acceleration_rms": 14.360251822518281, "joint_jerk_rms": 1451.4823745346773, "joint_effort_rms": 32.62340586812756}, "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_middle_mcp": 0.003805994987487793, "left_thumb_abd": 0.004038599785417318, "left_wrist": 0.0004559755325317383, "multi_panda_joint6": 0.00016498565673828125, "right_middle_mcp": 0.003923773765563965, "right_ring_mcp": 0.004122138023376465, "right_thumb_abd": 0.002136229770258069, "right_wrist": 0.0003102421760559082}, "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": 0.004122138023376465, "max_joint_limit_excess_joint": "right_ring_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": 0.004122138023376465, "max_joint_limit_excess_joint": "right_ring_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": 1976, "place_flat": 1077, "place_wrench": 1976, "place_drill": 1976}, "violation_counts": {}, "policy_query_count": 29, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_22_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_22_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0286c85eec9c309f087bcfbe30abc9f5766d91c6 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_22_episode_06/summary.json @@ -0,0 +1,184 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 33.93333333333269 + }, + "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": { + "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, + "avg_current_chain_depth": 2, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": 0.6684675834970657, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 2036, + "avg_policy_steps_to_success": 679, + "avg_policy_queries_to_success": 29 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 0.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.004122138023376465, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": {}, + "joint_limit_hard_episode_events": 0, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_middle_mcp": 0.003805994987487793, + "left_thumb_abd": 0.004038599785417318, + "left_wrist": 0.0004559755325317383, + "multi_panda_joint6": 0.00016498565673828125, + "right_middle_mcp": 0.003923773765563965, + "right_ring_mcp": 0.004122138023376465, + "right_thumb_abd": 0.002136229770258069, + "right_wrist": 0.0003102421760559082 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 14.360251822518281, + "joint_effort_rms": 32.62340586812756, + "joint_jerk_rms": 1451.4823745346773, + "joint_velocity_rms": 0.33699804057885213 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9547795193625411, + "mean_kinematic_grasp_stability": 0.49494674907541963, + "per_object_best_kinematic_grasp_stability": { + "obj_042_adjustable_wrench_4": 0.4706276593186624, + "obj_043_phillips_screwdriver_2": 0.9198478146867495, + "obj_044_flat_screwdriver_3": 0.9547795193625411, + "obj_147_drill_5": 0.8188959451477004 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7281434184675863, + "mean_duration_score": 0.39617305173542894, + "mean_hold_score": 0.3364378683693537, + "mean_kinematic_stability_score": 0.09796833982190281, + "mean_legacy_gsi": 0.4200177448309069, + "mean_lift_score": 0.41195972495088407, + "mean_motion_stability_score": 0.2999287902118423 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2036, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_22_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_22_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a58bafcd5c577c3f01a01b11cd52db1cbe2f96a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_22_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/22_tool_box_loading.yaml", "episode_index": 7, "seed": 202200006, "success": true, "steps": 1949, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202200006, "base_seed": 202200000, "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, 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_22_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_22_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..55d9c23582084f17655b6bb1139a30737a97a9ae --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_22_episode_07/summary.json @@ -0,0 +1,184 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 32.48333333333277 + }, + "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": { + "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, + "avg_current_chain_depth": 2, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": 0.698306824012326, + "expert_time_s": 22.683333333333334, + "expert_time_step": 1361, + "avg_steps_to_success": 1949, + "avg_policy_steps_to_success": 650, + "avg_policy_queries_to_success": 26 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.006831526756286621, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "left_middle_mcp": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 34.296300735687836, + "joint_effort_rms": 39.75901724786736, + "joint_jerk_rms": 3656.0343586681984, + "joint_velocity_rms": 0.5140752671740713 + }, + "grasp": { + "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_anti_slip_score": 0.7960920129981316, + "mean_duration_score": 0.30147083974687877, + "mean_hold_score": 0.30996664956388276, + "mean_kinematic_stability_score": 0.09201094915960037, + "mean_legacy_gsi": 0.4048107072534779, + "mean_lift_score": 0.38353001539250897, + "mean_motion_stability_score": 0.2884167734691294 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1949, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_24_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_24_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f3ce014142239c6844688d3a80cff42e7083234 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_24_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 5, "seed": 202400004, "success": true, "steps": 19328, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400004, "base_seed": 202400000, "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": 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"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": {"joint_limit_soft_counts": {"left_index_proximal_joint": 23, "left_pinky_proximal_joint": 58, "right_index_distal_joint": 97, "right_index_proximal_joint": 152, "right_middle_distal_joint": 36, "right_middle_proximal_joint": 65, "right_pinky_distal_joint": 239, "right_ring_distal_joint": 261, "right_ring_proximal_joint": 116, "right_thumb_distal_joint": 146, "right_thumb_proximal_joint": 65}, "joint_limit_hard_counts": {"left_index_proximal_joint": 2, "left_middle_proximal_joint": 1, "left_pinky_distal_joint": 1, "left_pinky_proximal_joint": 2, "left_ring_distal_joint": 1, "left_ring_proximal_joint": 1, "right_index_distal_joint": 3, "right_index_proximal_joint": 6, "right_middle_distal_joint": 1, "right_middle_proximal_joint": 11, "right_pinky_distal_joint": 4, "right_pinky_proximal_joint": 3, "right_ring_distal_joint": 10, "right_ring_proximal_joint": 22, "right_thumb_distal_joint": 3, "right_thumb_metacarpal_joint": 6, "right_thumb_proximal_joint": 3}, "finger_joint_limit_saturation_counts": {"left_pinky_proximal_joint": 37, "right_index_distal_joint": 75, "right_index_proximal_joint": 60, "right_middle_distal_joint": 11, "right_middle_proximal_joint": 28, "right_pinky_distal_joint": 180, "right_ring_distal_joint": 229, "right_ring_proximal_joint": 70, "right_thumb_distal_joint": 38}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 4.259948394036428e-09, "left_index_proximal_joint": 0.020096030086278915, "left_middle_distal_joint": 0.003052104962989688, "left_middle_proximal_joint": 0.008376098237931728, "left_pinky_distal_joint": 0.006000404711812735, "left_pinky_proximal_joint": 0.1895831823348999, "left_ring_distal_joint": 0.008956287056207657, "left_ring_proximal_joint": 0.005993453785777092, "right_index_distal_joint": 0.8749610781669617, "right_index_proximal_joint": 0.7186212539672852, "right_middle_distal_joint": 0.17260313034057617, "right_middle_proximal_joint": 0.24707411229610443, "right_pinky_distal_joint": 0.3384464681148529, "right_pinky_proximal_joint": 0.009934746660292149, "right_ring_distal_joint": 0.7506979703903198, "right_ring_proximal_joint": 0.6931436061859131, "right_thumb_distal_joint": 0.523934006690979, "right_thumb_metacarpal_joint": 0.008363901637494564, "right_thumb_proximal_joint": 0.14293384552001953}, "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": 1080, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_index_proximal_joint", "role": "finger", "qpos": -0.008171522058546543, "hard_excess_rad": 0.008171522058546543, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0009311989415436983, "shielded_target": 0.0009311989415436983}, {"joint": "right_middle_proximal_joint", "role": "finger", "qpos": -0.005442766007035971, "hard_excess_rad": 0.005442766007035971, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0006189767736941576, "shielded_target": 0.0006189767736941576}], "command_context_available": true, "active_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_thumb_proximal_joint", "left_thumb_proximal_joint"], "raw_active_action": [1.2924609184265137, -1.5700000524520874, 1.1552233695983887, -1.5700000524520874, -1.985706090927124, 1.5700000524520874, -1.0398612022399902, -5.60427371176786e-10, 0.9676629304885864, -1.5700000524520874, 1.2918583154678345, 7.419843406353266e-09, 0.0009311989415436983, 0.0006189767736941576, 0.00036290157004259527, 0.0002886394795496017, 0.7255827784538269, 0.0, 9.901552289193205e-08, 0.0, 0.0, 1.5040193090953835e-08, 0.6259845495223999, 1.786511560908366e-08], "full_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_index_distal_joint", "right_middle_distal_joint", "right_pinky_distal_joint", "right_ring_distal_joint", "right_thumb_proximal_joint", "left_index_distal_joint", "left_middle_distal_joint", "left_pinky_distal_joint", "left_ring_distal_joint", "left_thumb_proximal_joint", "right_thumb_distal_joint", "left_thumb_distal_joint"], "expanded_full_target": [1.2924609184265137, -1.5700000524520874, 1.1552233695983887, -1.5700000524520874, -1.985706090927124, 1.5700000524520874, -1.0398612022399902, -5.60427371176786e-10, 0.9676629304885864, -1.5700000524520874, 1.2918583154678345, 7.419843406353266e-09, 0.0009311989415436983, 0.0006189767736941576, 0.00036290157004259527, 0.0002886394795496017, 0.7255827784538269, 0.0, 9.901552289193205e-08, 0.0, 0.0, 1.5040193090953835e-08, 0.001075534732080996, 0.0007149181910790503, 0.00041915129986591637, 0.0003333785862196237, 0.6259845495223999, 0.0, 1.1436292624011912e-07, 0.0, 0.0, 1.786511560908366e-08, 0.6259845495223999, 1.786511560908366e-08], "shielded_full_target": [1.2924609184265137, -1.5700000524520874, 1.1552233695983887, -1.5700000524520874, -1.985706090927124, 1.5700000524520874, -1.0398612022399902, -5.60427371176786e-10, 0.9676629304885864, -1.5700000524520874, 1.2918583154678345, 7.419843406353266e-09, 0.0009311989415436983, 0.0006189767736941576, 0.00036290157004259527, 0.0002886394795496017, 0.7255827784538269, 0.0, 9.901552289193205e-08, 0.0, 0.0, 1.5040193090953835e-08, 0.001075534732080996, 0.0007149181910790503, 0.00041915129986591637, 0.0003333785862196237, 0.6259845495223999, 0.0, 1.1436292624011912e-07, 0.0, 0.0, 1.786511560908366e-08, 0.6259845495223999, 1.786511560908366e-08]}, "joint_limit_active_steps": 673, "joint_limit_hard_episode_events": 52, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 440, "max_joint_limit_excess_rad": 0.8749610781669617, "max_joint_limit_excess_joint": "right_index_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": 673, "joint_limit_active_step_rate": 0.03481995033112583, "finger_joint_limit_saturation_steps": 440, "finger_joint_limit_saturation_step_rate": 0.022764900662251654, "max_joint_limit_excess_rad": 0.8749610781669617, "max_joint_limit_excess_joint": "right_index_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": 3026, "marker_in_cup": 743, "glue_in_box": 3757, "battery_in_box": 3026}, "violation_counts": {"drop_to_table_obj_166_markpen_4": 1}, "policy_query_count": 110, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 46260, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_24_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_24_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..992aaaf96e6586d158a360c60e225593fc04b7e5 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_24_episode_05/summary.json @@ -0,0 +1,237 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 322.133333333369 + }, + "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": 5.173841059602649e-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": 0.159509519867532, + "expert_time_s": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": 19328, + "avg_policy_steps_to_success": 6443, + "avg_policy_queries_to_success": 110 + }, + "safety": { + "safety_violation_events_per_step": 5.173841059602649e-05, + "violation_counts": { + "drop_to_table_obj_166_markpen_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.03481995033112583, + "finger_joint_limit_saturation_step_rate": 0.022764900662251654, + "max_joint_limit_excess_rad": 0.8749610781669617, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 23, + "left_pinky_proximal_joint": 58, + "right_index_distal_joint": 97, + "right_index_proximal_joint": 152, + "right_middle_distal_joint": 36, + "right_middle_proximal_joint": 65, + "right_pinky_distal_joint": 239, + "right_ring_distal_joint": 261, + "right_ring_proximal_joint": 116, + "right_thumb_distal_joint": 146, + "right_thumb_proximal_joint": 65 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 2, + "left_middle_proximal_joint": 1, + "left_pinky_distal_joint": 1, + "left_pinky_proximal_joint": 2, + "left_ring_distal_joint": 1, + "left_ring_proximal_joint": 1, + "right_index_distal_joint": 3, + "right_index_proximal_joint": 6, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 11, + "right_pinky_distal_joint": 4, + "right_pinky_proximal_joint": 3, + "right_ring_distal_joint": 10, + "right_ring_proximal_joint": 22, + "right_thumb_distal_joint": 3, + "right_thumb_metacarpal_joint": 6, + "right_thumb_proximal_joint": 3 + }, + "joint_limit_hard_episode_events": 52, + "finger_joint_limit_saturation_counts": { + "left_pinky_proximal_joint": 37, + "right_index_distal_joint": 75, + "right_index_proximal_joint": 60, + "right_middle_distal_joint": 11, + "right_middle_proximal_joint": 28, + "right_pinky_distal_joint": 180, + "right_ring_distal_joint": 229, + "right_ring_proximal_joint": 70, + "right_thumb_distal_joint": 38 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 4.259948394036428e-09, + "left_index_proximal_joint": 0.020096030086278915, + "left_middle_distal_joint": 0.003052104962989688, + "left_middle_proximal_joint": 0.008376098237931728, + "left_pinky_distal_joint": 0.006000404711812735, + "left_pinky_proximal_joint": 0.1895831823348999, + "left_ring_distal_joint": 0.008956287056207657, + "left_ring_proximal_joint": 0.005993453785777092, + "right_index_distal_joint": 0.8749610781669617, + "right_index_proximal_joint": 0.7186212539672852, + "right_middle_distal_joint": 0.17260313034057617, + "right_middle_proximal_joint": 0.24707411229610443, + "right_pinky_distal_joint": 0.3384464681148529, + "right_pinky_proximal_joint": 0.009934746660292149, + "right_ring_distal_joint": 0.7506979703903198, + "right_ring_proximal_joint": 0.6931436061859131, + "right_thumb_distal_joint": 0.523934006690979, + "right_thumb_metacarpal_joint": 0.008363901637494564, + "right_thumb_proximal_joint": 0.14293384552001953 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 15.574477441476068, + "joint_effort_rms": 27.220347589875647, + "joint_jerk_rms": 1606.717537722105, + "joint_velocity_rms": 0.34695770143516697 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9998906210927254, + "mean_kinematic_grasp_stability": 0.7508007017541224, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.9334140586865063, + "obj_168_battery_6": 0.9998906210927254, + "obj_199_glue_5": 0.9986930798041418, + "obj_221_pen_3": 0.7887283304571495 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.44205729166666075, + "mean_duration_score": 0.8873064121136865, + "mean_hold_score": 0.8068986703228813, + "mean_kinematic_stability_score": 0.29777786007200246, + "mean_legacy_gsi": 0.720506481774371, + "mean_lift_score": 0.8570467715231788, + "mean_motion_stability_score": 0.7441597803601352 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 19328, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_24_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_24_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b1b9fc6dd184cb0c99632aaad2ff4d8d9c2afdd --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_24_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/24_stationery_category_sorting.yaml", "episode_index": 6, "seed": 202400005, "success": false, "steps": 46260, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202400005, "base_seed": 202400000, "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": 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"obj_168_battery_6": {"position": [0.28, 0.05, 0.7294871813526593], "rpy_deg": [90.0, 0.0, -8.85580428162604]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_rm_65_with_revo2", "perturbation_axis": "inv+cov", "stable_success": false, "ever_instant_success": false, "at_end_success": false, "at_end_success_observed": false, "at_end_success_budget": false, "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": 51.38333333333333, "expert_time_step": 3083, "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": 0.9988124395642584, "mean_kinematic_grasp_stability": 0.42260287973776783, "per_object_best_kinematic_grasp_stability": {"obj_166_markpen_4": 0.9987759177443022, "obj_168_battery_6": 0.9489259321421288, "obj_199_glue_5": 0.9988124395642584, "obj_221_pen_3": 0.5938523532951547}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.5315852913700992, "mean_kinematic_stability_score": 0.13812244358398573, "mean_lift_score": 0.5497189796800692, "mean_hold_score": 0.5035892239515558, "mean_motion_stability_score": 0.4615591777747024, "mean_duration_score": 0.8987413532209252, "mean_anti_slip_score": 0.335104121632236}, "robot_motion_metrics": {"joint_velocity_rms": 0.25998871809579344, "joint_acceleration_rms": 11.890730017130904, "joint_jerk_rms": 1229.0947952822544, "joint_effort_rms": 25.170228637149126}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00012970168612198225, "safety_violation_rate_time": 0.00012970168612198225, "safety_violation_rate_event": 0.00010808473843493298, "safety_violation_step_rate": 0.00012970168612191958, "safety_violation_events_per_step": 0.00010808473843493298, "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": {"l_joint6": 128, "left_index_proximal_joint": 260, "left_middle_distal_joint": 87, "left_middle_proximal_joint": 161, "left_pinky_distal_joint": 60, "left_pinky_proximal_joint": 77, "left_ring_distal_joint": 90, "left_ring_proximal_joint": 107, "left_thumb_distal_joint": 133, "left_thumb_metacarpal_joint": 3, "right_middle_distal_joint": 37, "right_middle_proximal_joint": 70, "right_pinky_distal_joint": 31, "right_pinky_proximal_joint": 89, "right_ring_proximal_joint": 72, "right_thumb_distal_joint": 32}, "joint_limit_hard_counts": {"l_joint6": 1, "left_index_proximal_joint": 8, "left_middle_distal_joint": 6, "left_middle_proximal_joint": 5, "left_pinky_distal_joint": 4, "left_pinky_proximal_joint": 2, "left_ring_distal_joint": 5, "left_ring_proximal_joint": 3, "left_thumb_distal_joint": 2, "left_thumb_metacarpal_joint": 8, "left_thumb_proximal_joint": 6, "right_middle_distal_joint": 1, "right_middle_proximal_joint": 5, "right_pinky_distal_joint": 2, "right_pinky_proximal_joint": 3, "right_ring_proximal_joint": 3, "right_thumb_distal_joint": 1, "right_thumb_metacarpal_joint": 4, "right_thumb_proximal_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_proximal_joint": 178, "left_middle_distal_joint": 58, "left_middle_proximal_joint": 104, "left_pinky_distal_joint": 39, "left_pinky_proximal_joint": 67, "left_ring_distal_joint": 26, "left_ring_proximal_joint": 66, "left_thumb_distal_joint": 108, "right_middle_distal_joint": 33, "right_middle_proximal_joint": 51, "right_pinky_distal_joint": 25, "right_pinky_proximal_joint": 60, "right_ring_proximal_joint": 45, "right_thumb_distal_joint": 20}, "joint_limit_max_excess_by_joint": {"l_joint6": 0.5556840896606445, "left_index_distal_joint": 5.432818639405923e-09, "left_index_proximal_joint": 0.5364785194396973, "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": 0.1701180636882782, "left_ring_proximal_joint": 0.5571785569190979, "left_thumb_distal_joint": 1.354227066040039, "left_thumb_metacarpal_joint": 0.03211556747555733, "left_thumb_proximal_joint": 0.006135702133178711, "right_index_distal_joint": 2.06084171949783e-09, "right_index_proximal_joint": 0.004908236674964428, "right_middle_distal_joint": 0.26327335834503174, "right_middle_proximal_joint": 0.7508804798126221, "right_pinky_distal_joint": 0.2622501850128174, "right_pinky_proximal_joint": 1.114126205444336, "right_ring_distal_joint": 0.004942893981933594, "right_ring_proximal_joint": 0.8011376857757568, "right_thumb_distal_joint": 0.3074685335159302, "right_thumb_metacarpal_joint": 0.007484850473701954, "right_thumb_proximal_joint": 0.008828997611999512}, "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": 369, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_ring_proximal_joint", "role": "finger", "qpos": -0.01498368475586176, "hard_excess_rad": 0.01498368475586176, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 5.186263933865121e-06, "shielded_target": 5.186263933865121e-06}], "command_context_available": true, "active_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_thumb_proximal_joint", "left_thumb_proximal_joint"], "raw_active_action": [1.75313401222229, -1.5700000524520874, 0.11364665627479553, -1.5700000524520874, -0.8634766936302185, 1.5700000524520874, 1.3336374759674072, -1.3970452572564795e-10, 0.8171831369400024, -1.5700000524520874, -0.8598906397819519, 1.7794397066950296e-09, 0.10000620037317276, 7.846740118111484e-06, 7.580421424790984e-06, 5.186263933865121e-06, 0.7936801314353943, 0.0, 2.48834091109984e-08, 0.0, 0.0, 3.7348262260650245e-09, 0.6900010704994202, 4.4486601069593235e-09], "full_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_index_distal_joint", "right_middle_distal_joint", "right_pinky_distal_joint", "right_ring_distal_joint", "right_thumb_proximal_joint", "left_index_distal_joint", "left_middle_distal_joint", "left_pinky_distal_joint", "left_ring_distal_joint", "left_thumb_proximal_joint", "right_thumb_distal_joint", "left_thumb_distal_joint"], "expanded_full_target": [1.75313401222229, -1.5700000524520874, 0.11364665627479553, -1.5700000524520874, -0.8634766936302185, 1.5700000524520874, 1.3336374759674072, -1.3970452572564795e-10, 0.8171831369400024, -1.5700000524520874, -0.8598906397819519, 1.7794397066950296e-09, 0.10000620037317276, 7.846740118111484e-06, 7.580421424790984e-06, 5.186263933865121e-06, 0.7936801314353943, 0.0, 2.48834091109984e-08, 0.0, 0.0, 3.7348262260650245e-09, 0.11550716310739517, 9.062984645424876e-06, 8.75538717082236e-06, 5.990134923195001e-06, 0.6900010704994202, 0.0, 2.874033810940091e-08, 0.0, 0.0, 4.4486601069593235e-09, 0.6900010704994202, 4.4486601069593235e-09], "shielded_full_target": [1.75313401222229, -1.5700000524520874, 0.11364665627479553, -1.5700000524520874, -0.8634766936302185, 1.5700000524520874, 1.3336374759674072, -1.3970452572564795e-10, 0.8171831369400024, -1.5700000524520874, -0.8598906397819519, 1.7794397066950296e-09, 0.10000620037317276, 7.846740118111484e-06, 7.580421424790984e-06, 5.186263933865121e-06, 0.7936801314353943, 0.0, 2.48834091109984e-08, 0.0, 0.0, 3.7348262260650245e-09, 0.11550716310739517, 9.062984645424876e-06, 8.75538717082236e-06, 5.990134923195001e-06, 0.6900010704994202, 0.0, 2.874033810940091e-08, 0.0, 0.0, 4.4486601069593235e-09, 0.6900010704994202, 4.4486601069593235e-09]}, "joint_limit_active_steps": 762, "joint_limit_hard_episode_events": 25, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 433, "max_joint_limit_excess_rad": 1.354227066040039, "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": 762, "joint_limit_active_step_rate": 0.016472114137483788, "finger_joint_limit_saturation_steps": 433, "finger_joint_limit_saturation_step_rate": 0.009360138348465196, "max_joint_limit_excess_rad": 1.354227066040039, "max_joint_limit_excess_joint": "left_thumb_distal_joint", "stage_completion": {"pen_in_cup": false, "marker_in_cup": true, "glue_in_box": false, "battery_in_box": false}, "current_stage_completion": {"pen_in_cup": false, "marker_in_cup": false, "glue_in_box": false, "battery_in_box": false}, "stage_first_completion_step": {"pen_in_cup": null, "marker_in_cup": 6886, "glue_in_box": null, "battery_in_box": null}, "violation_counts": {"drop_to_table_obj_221_pen_3": 1, "drop_to_table_obj_166_markpen_4": 1, "high_speed_obj_166_markpen_4": 2, "drop_to_table_obj_199_glue_5": 1}, "policy_query_count": 195, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 46260, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_24_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_24_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..01f77173569c11a29e4c5b18f05dad5164e6efa6 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_24_episode_06/summary.json @@ -0,0 +1,256 @@ +{ + "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": 1, + "successes": 0, + "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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.25 + }, + "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": 1.0, + "safety_violation_step_rate": 0.00012970168612191958 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + 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"right_thumb_distal_joint", "left_thumb_distal_joint"], "expanded_full_target": [1.3120440244674683, -1.5700000524520874, 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], "shielded_full_target": [1.3120440244674683, -1.5700000524520874, 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} diff --git a/gpt6_astra_10x_icl/source_runs/task_24_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_24_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a7f43f317e0ae3b9da8193ea975c7c8db0ed0e98 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_24_episode_07/summary.json @@ -0,0 +1,261 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 501.9666666665388 + }, + "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": 6.640547181087722e-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": 0.10236403479649331, + "expert_time_s": 51.38333333333333, + "expert_time_step": 3083, + "avg_steps_to_success": 30118, + "avg_policy_steps_to_success": 10040, + "avg_policy_queries_to_success": 118 + }, + "safety": { + "safety_violation_events_per_step": 6.640547181087722e-05, + "violation_counts": { + "drop_to_table_obj_166_markpen_4": 1, + "drop_to_table_obj_221_pen_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.056511056511056514, + "finger_joint_limit_saturation_step_rate": 0.02596453947805299, + "max_joint_limit_excess_rad": 1.5279366970062256, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 156, + "left_middle_distal_joint": 31, + "left_middle_proximal_joint": 203, + "left_pinky_distal_joint": 57, + "left_pinky_proximal_joint": 129, + "left_ring_distal_joint": 125, + "left_ring_proximal_joint": 168, + "left_thumb_distal_joint": 92, + "left_thumb_metacarpal_joint": 8, + "left_thumb_proximal_joint": 2, + "right_index_distal_joint": 42, + "right_index_proximal_joint": 29, + "right_middle_distal_joint": 1, + "right_middle_proximal_joint": 86, + "right_pinky_distal_joint": 13, + "right_pinky_proximal_joint": 91, + "right_ring_distal_joint": 271, + "right_ring_proximal_joint": 395, + "right_thumb_distal_joint": 311, + "right_thumb_metacarpal_joint": 149 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 6, + "left_middle_distal_joint": 7, + "left_middle_proximal_joint": 10, + "left_pinky_distal_joint": 5, + "left_pinky_proximal_joint": 21, + "left_ring_distal_joint": 6, + "left_ring_proximal_joint": 11, + "left_thumb_distal_joint": 5, + "left_thumb_metacarpal_joint": 2, + "left_thumb_proximal_joint": 9, + "right_index_distal_joint": 2, + "right_index_proximal_joint": 4, + "right_middle_distal_joint": 3, + "right_middle_proximal_joint": 17, + "right_pinky_distal_joint": 16, + "right_pinky_proximal_joint": 18, + "right_ring_distal_joint": 31, + "right_ring_proximal_joint": 36, + "right_thumb_distal_joint": 8, + "right_thumb_metacarpal_joint": 5, + "right_thumb_proximal_joint": 25 + }, + "joint_limit_hard_episode_events": 148, + "finger_joint_limit_saturation_counts": { + "left_index_proximal_joint": 45, + "left_middle_distal_joint": 17, + "left_middle_proximal_joint": 95, + "left_pinky_distal_joint": 19, + "left_pinky_proximal_joint": 41, + "left_ring_distal_joint": 37, + "left_ring_proximal_joint": 99, + "left_thumb_distal_joint": 81, + "right_index_distal_joint": 29, + "right_index_proximal_joint": 25, + "right_middle_proximal_joint": 14, + "right_pinky_proximal_joint": 5, + "right_ring_distal_joint": 145, + "right_ring_proximal_joint": 81, + "right_thumb_distal_joint": 266, + "right_thumb_metacarpal_joint": 122 + }, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 2.083985418721568e-05, + "left_index_proximal_joint": 0.7258667945861816, + "left_middle_distal_joint": 0.2608271539211273, + "left_middle_proximal_joint": 0.35842686891555786, + "left_pinky_distal_joint": 0.23167267441749573, + "left_pinky_proximal_joint": 0.5262387990951538, + "left_ring_distal_joint": 0.2279513031244278, + "left_ring_proximal_joint": 0.3932199478149414, + "left_thumb_distal_joint": 1.5279366970062256, + "left_thumb_metacarpal_joint": 0.07565286010503769, + "left_thumb_proximal_joint": 0.013899445533752441, + "right_index_distal_joint": 0.810383677482605, + "right_index_proximal_joint": 0.9395720362663269, + "right_middle_distal_joint": 0.015464887954294682, + "right_middle_proximal_joint": 0.31852519512176514, + "right_pinky_distal_joint": 0.04398566484451294, + "right_pinky_proximal_joint": 0.16657519340515137, + "right_ring_distal_joint": 0.2733549177646637, + "right_ring_proximal_joint": 0.15687435865402222, + "right_thumb_distal_joint": 0.6107501983642578, + "right_thumb_metacarpal_joint": 1.239536166191101, + "right_thumb_proximal_joint": 0.008473753929138184 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 14.107649670677493, + "joint_effort_rms": 29.694239868019114, + "joint_jerk_rms": 1426.3905157329623, + "joint_velocity_rms": 0.30819602418168374 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9999080214173944, + "mean_kinematic_grasp_stability": 0.6626102014815936, + "per_object_best_kinematic_grasp_stability": { + "obj_166_markpen_4": 0.9999080214173944, + "obj_168_battery_6": 0.6622517404938927, + "obj_199_glue_5": 0.9993733099002187, + "obj_221_pen_3": 0.629337718871688 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.2511095247582281, + "mean_duration_score": 0.8808060517519977, + "mean_hold_score": 0.7894083272460979, + "mean_kinematic_stability_score": 0.11095937815168395, + "mean_legacy_gsi": 0.6637535816923781, + "mean_lift_score": 0.8620426323129026, + "mean_motion_stability_score": 0.710835568202853 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 30118, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_26_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_26_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef5b61d54a23e3e5c3434a3dab79037a2f1cf2b2 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_26_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"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", 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"yaw_jitter_deg": 10.0}, "table_height": {"enabled": true, "height_offset_m": -0.029050398644350564, "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": [0.0009352556168237824, -0.0019171169405467559, 0.003268772864117771], "target_offset_m": [-0.003261878513869566, 0.004885499855891216, 0.0023333275337884566], "distance_offset_m": 0.02106137202940226, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.7492958226600954, 0.5779437887239358, -0.5589614688029212], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.001214171209362226, -0.0018471982315470103, -0.0019154434341935433], "target_offset_m": [-0.0005939505319943724, 0.002219710324122718, -0.0010184190159285593], "distance_offset_m": -0.005838561823108764, "offset_xyz_offset_m": [0.0, 0.0, 0.0], 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"max_joint_limit_excess_joint": "multi_right_pinky_DIP", "stage_completion": {"place_can_1": true, "place_can_2": false, "place_can_3": false, "place_can_4": false}, "current_stage_completion": {"place_can_1": true, "place_can_2": false, "place_can_3": false, "place_can_4": false}, "stage_first_completion_step": {"place_can_1": 827, "place_can_2": null, "place_can_3": null, "place_can_4": null}, "violation_counts": {}, "policy_query_count": 136, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 26130, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_26_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_26_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0a2e56de7f34c5e8769e2774f5fc7c6e932d34e6 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_26_episode_05/summary.json @@ -0,0 +1,256 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.25 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "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": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.25, + "current_chain_depth_progress_score": 0.5, + "latched_chain_depth_progress_score": 0.5, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 29.03333333333333, + "expert_time_step": 1742, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "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": 0.003444316877152698, + "finger_joint_limit_saturation_step_rate": 0.0007654037504783774, + "max_joint_limit_excess_rad": 0.6046924591064453, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_MCP_FE": 23, + "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": 9, + "multi_right_middle_PIP": 13, + "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_IP": 12 + }, + "joint_limit_hard_counts": { + "left_index_MCP_FE": 3, + "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": 1, + "multi_right_middle_PIP": 1, + "multi_right_pinky_DIP": 1, + "multi_right_pinky_MCP_AA": 1, + "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_IP": 1 + }, + "joint_limit_hard_episode_events": 11, + "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_PIP": 6, + "multi_right_pinky_DIP": 15, + "multi_right_ring_MCP_AA": 18, + "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": 0.0002715885639190674, + "left_middle_MCP_FE": 0.00079326331615448, + "left_middle_PIP": 2.110004425048828e-05, + "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_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": 0.16924524307250977, + "multi_right_middle_PIP": 0.39574775099754333, + "multi_right_pinky_CMC": 0.001497699529863894, + "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": 3.8176774978637695e-05, + "multi_right_thumb_IP": 0.5456024408340454 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 14.7046526066814, + "joint_effort_rms": 29.186482722410577, + "joint_jerk_rms": 1507.276732432305, + "joint_velocity_rms": 0.6230170206160115 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9989211163097732, + "mean_kinematic_grasp_stability": 0.4763014984397326, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.9784572041174093, + "obj_010_potted_meat_can_5": 0.9989211163097732, + "obj_151_milk_box_4": 0.7766918626430701, + "obj_171_msg_3": 0.9700815485667645 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.48931942849828375, + "mean_duration_score": 0.9398861461921163, + "mean_hold_score": 0.7105238231917327, + "mean_kinematic_stability_score": 0.2327461034377239, + "mean_legacy_gsi": 0.6914956564173357, + "mean_lift_score": 0.7322043628013777, + "mean_motion_stability_score": 0.6669413200404782 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 26130, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_26_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_26_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..599ca676d3dcaeedf405906ab51014d6acb32948 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_26_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/26_canned_food_tray_line_arrangement.yaml", 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"profile_pool_size": 1, "cameras": {"cam_chest": {"enabled": true, "position_offset_m": [-0.003989094679248769, 0.004697406492333626, -0.0029953889458390836], "target_offset_m": [-0.0017750723045822057, -0.0041801527478910385, -0.00214546400034939], "distance_offset_m": -0.022063887267190014, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.8974979549822688, -0.08993955280159338, 0.6095477565023302], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.0027236383306108647, -0.001959741844879064, 0.0025276690681237278], "target_offset_m": [0.0008077796508175281, -0.004817122049758441, 0.001062287889904332], "distance_offset_m": 0.013520730599817316, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.9462345933356509, 0.31764677851753587, -0.19867378538032332], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.0036680682935467113, 0.0032003985251986304, 0.0010580321180415006], "target_offset_m": 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"obj_151_milk_box_4": {"position": [0.14, 0.38, 0.7290252438913821], "rpy_deg": [90.0, 0.0, -8.057455128168918]}, "obj_010_potted_meat_can_5": {"position": [0.3914600692392872, 0.22066558290776767, 0.7322132409400505], "rpy_deg": [0.0, 0.0, 95.9298044621107]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "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": 29.03333333333333, "expert_time_step": 1742, "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": 0.75, "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": null, "kinematic_grasp_stability_index": 0.9999111405564959, "mean_kinematic_grasp_stability": 0.7610049809139287, "per_object_best_kinematic_grasp_stability": {"obj_002_master_chef_can_2": 0.9944386868174689, "obj_010_potted_meat_can_5": 0.665683499032298, "obj_151_milk_box_4": 0.9999111405564959, "obj_171_msg_3": 0.9994733151623248}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6133177510045472, "mean_kinematic_stability_score": 0.3758629234341695, "mean_lift_score": 0.4939033683889651, "mean_hold_score": 0.4605243103185456, "mean_motion_stability_score": 0.43501666664706684, "mean_duration_score": 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"multi_right_thumb_MCP_FE": 1}, "finger_joint_limit_saturation_counts": {"multi_right_pinky_CMC": 188}, "joint_limit_max_excess_by_joint": {"left_index_MCP_AA": 0.00013571977615356445, "left_index_MCP_FE": 0.00030265748500823975, "left_index_PIP": 3.052763713640161e-05, "left_middle_MCP_AA": 0.000541001558303833, "left_middle_PIP": 0.0017973851645365357, "left_pinky_CMC": 0.0012060446897521615, "left_pinky_DIP": 2.0265579223632812e-06, "left_pinky_MCP_AA": 0.0008288025856018066, "left_pinky_MCP_FE": 4.264712333679199e-05, "multi_right_index_DIP": 1.0969534308680196e-10, "multi_right_index_MCP_AA": 0.00011810660362243652, "multi_right_index_PIP": 3.4902266634162515e-05, "multi_right_middle_DIP": 4.767403485872457e-11, "multi_right_middle_MCP_AA": 0.00011852383613586426, "multi_right_middle_PIP": 4.5807857532054186e-05, "multi_right_pinky_CMC": 0.5594608783721924, "multi_right_pinky_DIP": 3.5762786865234375e-07, "multi_right_pinky_MCP_AA": 0.00114518404006958, "multi_right_pinky_PIP": 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"hard_upper": 0.26179996132850647, "operating_lower": 0.0, "operating_upper": 0.26179996132850647, "expanded_target": 0.0, "shielded_target": 0.0}], "command_context_available": true, "active_joint_names": ["A1", "A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "raw_active_action": [-1.5708385705947876, -1.5684998035430908, 1.3800095319747925, -6.456453775172122e-06, -0.5846561193466187, -1.5703868865966797, 0.6946334838867188, -1.5573486962239258e-05, -1.8508542776107788, -1.2190968845970929e-05, 0.08845987915992737, -8.96635974640958e-05, -0.5982625484466553, -0.697608232498169, 0.013363764621317387, 0.31059297919273376, 1.2017325162887573, 0.5096966028213501, -0.19523419439792633, -0.22489212453365326, 1.2001903057098389, -0.29920509457588196, -0.2181568443775177, 0.36061200499534607, 0.4475168287754059, 1.2000000476837158, 1.187883973121643, 2.0702350411738735e-06, 1.4849875773492727e-09, -0.3419804573059082, 1.4983230829238892, 0.4898916482925415, 0.3490999639034271, 0.3490999639034271, 1.2000000476837158, -0.3490999639034271, -0.1964758336544037, 1.1060144901275635, 0.581382155418396, 1.5018055438995361, 1.2000172138214111, 2.7473543013911694e-05, 0.0, -0.3490999639034271, 1.5, 0.6162781119346619, 1.1999391317367554, 0.7017480134963989, 0.00129785411991179, 0.18868203461170197, 1.5, 1.2000000476837158, 1.2000000476837158, 0.6926043033599854], "full_joint_names": ["A1", "A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_pinky_CMC", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_pinky_CMC", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "left_thumb_MCP_AA", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_thumb_MCP_AA", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "expanded_full_target": [-1.5708385705947876, -1.5684998035430908, 1.3800095319747925, -6.456453775172122e-06, -0.5846561193466187, -1.5703868865966797, 0.6946334838867188, -1.5573486962239258e-05, -1.8508542776107788, -1.2190968845970929e-05, 0.08845987915992737, -8.96635974640958e-05, -0.5982625484466553, -0.697608232498169, 0.013363764621317387, 0.31059297919273376, 0.0, 1.2017325162887573, 0.5096966028213501, -0.19523419439792633, -0.22489212453365326, 1.2001903057098389, -0.29920509457588196, -0.2181568443775177, 0.36061200499534607, 0.4475168287754059, 0.0, 1.2000000476837158, 1.187883973121643, 2.0702350411738735e-06, 1.4849875773492727e-09, -0.3419804573059082, 1.4983230829238892, 0.4898916482925415, 0.3490999639034271, 0.3490999639034271, 1.2000000476837158, -0.3490999639034271, -0.1964758336544037, 1.1060144901275635, 0.581382155418396, 1.5018055438995361, 1.2000172138214111, 0.0, 2.7473543013911694e-05, 0.0, -0.3490999639034271, 1.5, 0.6162781119346619, 1.1999391317367554, 0.7017480134963989, 0.00129785411991179, 0.18868203461170197, 1.5, 1.2000000476837158, 0.0, 1.2000000476837158, 0.6926043033599854], "shielded_full_target": [-1.5708385705947876, -1.5684998035430908, 1.3800095319747925, -6.456453775172122e-06, -0.5846561193466187, -1.5703868865966797, 0.6946334838867188, -1.5573486962239258e-05, -1.8508542776107788, -1.2190968845970929e-05, 0.08845987915992737, -8.96635974640958e-05, 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"max_joint_limit_excess_rad": 0.5594608783721924, "max_joint_limit_excess_joint": "multi_right_pinky_CMC", "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": 217, "joint_limit_active_step_rate": 0.03307422648986435, "finger_joint_limit_saturation_steps": 188, "finger_joint_limit_saturation_step_rate": 0.028654168571864046, "max_joint_limit_excess_rad": 0.5594608783721924, "max_joint_limit_excess_joint": "multi_right_pinky_CMC", "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": false, "place_can_4": true}, "stage_first_completion_step": {"place_can_1": 564, "place_can_2": 1031, "place_can_3": 1501, "place_can_4": 2057}, "violation_counts": {}, "policy_query_count": 69, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 26130, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_26_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_26_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ffdf2433847bfff86ef95bba9c3cb724dc8f05d3 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_26_episode_06/summary.json @@ -0,0 +1,208 @@ +{ + "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": 1, + "successes": 0, + "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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 1.0 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "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": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "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": 2, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 29.03333333333333, + "expert_time_step": 1742, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "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": 0.03307422648986435, + "finger_joint_limit_saturation_step_rate": 0.028654168571864046, + "max_joint_limit_excess_rad": 0.5594608783721924, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_right_pinky_CMC": 217 + }, + "joint_limit_hard_counts": { + "multi_right_pinky_CMC": 2, + "multi_right_thumb_MCP_FE": 1 + }, + "joint_limit_hard_episode_events": 3, + "finger_joint_limit_saturation_counts": { + "multi_right_pinky_CMC": 188 + }, + "joint_limit_max_excess_by_joint": { + "left_index_MCP_AA": 0.00013571977615356445, + "left_index_MCP_FE": 0.00030265748500823975, + "left_index_PIP": 3.052763713640161e-05, + "left_middle_MCP_AA": 0.000541001558303833, + "left_middle_PIP": 0.0017973851645365357, + "left_pinky_CMC": 0.0012060446897521615, + "left_pinky_DIP": 2.0265579223632812e-06, + "left_pinky_MCP_AA": 0.0008288025856018066, + "left_pinky_MCP_FE": 4.264712333679199e-05, + "multi_right_index_DIP": 1.0969534308680196e-10, + "multi_right_index_MCP_AA": 0.00011810660362243652, + "multi_right_index_PIP": 3.4902266634162515e-05, + "multi_right_middle_DIP": 4.767403485872457e-11, + "multi_right_middle_MCP_AA": 0.00011852383613586426, + "multi_right_middle_PIP": 4.5807857532054186e-05, + "multi_right_pinky_CMC": 0.5594608783721924, + "multi_right_pinky_DIP": 3.5762786865234375e-07, + "multi_right_pinky_MCP_AA": 0.00114518404006958, + "multi_right_pinky_PIP": 9.578172976976163e-11, + "multi_right_ring_DIP": 4.772113607054429e-11, + "multi_right_ring_MCP_AA": 0.0012014210224151611, + "multi_right_ring_PIP": 2.2342707545197626e-11, + "multi_right_thumb_CMC_AA": 1.3768672943115234e-05, + "multi_right_thumb_IP": 7.460465667463723e-07, + "multi_right_thumb_MCP_FE": 0.00816577672958374 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + 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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} diff --git a/gpt6_astra_10x_icl/source_runs/task_26_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_26_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..951b49749331b58ef642f130f66e12233d266065 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_26_episode_07/summary.json @@ -0,0 +1,216 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 216.2833333333976 + }, + "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": { + "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": 0.13423749711023214, + "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": 0.2538337057871619, + "finger_joint_limit_saturation_step_rate": 0.10903906912229329, + "max_joint_limit_excess_rad": 0.37505674362182617, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_MCP_FE": 1, + "multi_right_middle_MCP_FE": 27, + "multi_right_pinky_CMC": 1, + "multi_right_thumb_CMC_AA": 3265 + }, + "joint_limit_hard_counts": { + "left_index_MCP_FE": 1, + "multi_right_middle_MCP_FE": 1, + "multi_right_pinky_CMC": 1, + "multi_right_pinky_MCP_AA": 1, + "multi_right_thumb_CMC_AA": 4 + }, + "joint_limit_hard_episode_events": 7, + "finger_joint_limit_saturation_counts": { + "multi_right_middle_MCP_FE": 16, + "multi_right_thumb_CMC_AA": 1399 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 1.345207278902194e-10, + "left_index_MCP_FE": 0.010401219129562378, + "left_index_PIP": 7.132008704502368e-06, + "left_middle_DIP": 1.367148477759983e-10, + "left_middle_PIP": 4.529286112830988e-10, + "left_pinky_CMC": 0.001377795939333737, + "left_pinky_DIP": 1.0728836059570312e-06, + "left_pinky_MCP_FE": 2.2545456886291504e-05, + "left_pinky_PIP": 1.9336145185011588e-10, + "left_ring_DIP": 5.812006431682448e-11, + "left_ring_PIP": 3.97474358981853e-10, + "left_thumb_IP": 1.3041259738777455e-10, + "multi_A5": 8.821487426757812e-06, + "multi_right_index_DIP": 1.0969502389768238e-10, + "multi_right_middle_DIP": 7.87203219276833e-11, + "multi_right_middle_MCP_FE": 0.37505674362182617, + "multi_right_middle_PIP": 2.9881205843018677e-10, + "multi_right_pinky_CMC": 0.03404912352561951, + "multi_right_pinky_DIP": 5.960464477539062e-07, + "multi_right_pinky_MCP_AA": 0.005115628242492676, + "multi_right_pinky_PIP": 9.579707166418316e-11, + "multi_right_ring_DIP": 4.7706633782285124e-11, + "multi_right_ring_MCP_AA": 0.002193927764892578, + "multi_right_ring_PIP": 4.797434485226404e-06, + "multi_right_thumb_CMC_AA": 0.17260339856147766, + "multi_right_thumb_IP": 1.2065108634384814e-10 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 15.367789126291942, + "joint_effort_rms": 34.204746492026764, + "joint_jerk_rms": 1582.234172025818, + "joint_velocity_rms": 0.7733913925046563 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9995177368528764, + "mean_kinematic_grasp_stability": 0.7062068105961226, + "per_object_best_kinematic_grasp_stability": { + "obj_002_master_chef_can_2": 0.7617462099472161, + "obj_010_potted_meat_can_5": 0.9995177368528764, + "obj_151_milk_box_4": 0.9986087405325479, + "obj_171_msg_3": 0.9751743334342311 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5535883999897253, + "mean_duration_score": 0.9011520382214687, + "mean_hold_score": 0.2419521075749399, + "mean_kinematic_stability_score": 0.041073406048965366, + "mean_legacy_gsi": 0.4268227501337929, + "mean_lift_score": 0.26774292979887493, + "mean_motion_stability_score": 0.21809866686381402 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 12977, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_27_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_27_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d40aa011015f410b214e10a15c02d17ae86a7612 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_27_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/27_ball_box_loading.yaml", "episode_index": 5, "seed": 202700004, "success": true, "steps": 2801, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 202700004, "base_seed": 202700000, "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", 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"obj_053_mini_soccer_ball_2": {"position": [-0.0963754723885652, 0.19216740528296605, 0.7302786605262888], "rpy_deg": [0.0, 0.0, 8.521132046997838]}, "obj_056_tennis_ball_3": {"position": [-0.35439987042027776, 0.29860759393658065, 0.729748060493636], "rpy_deg": [0.0, 0.0, 9.804342195091188]}, "obj_058_golf_ball_4": {"position": [0.06711245347493353, 0.29753936191034536, 0.7298950604924691], "rpy_deg": [0.0, 0.0, -3.1647426046945863]}, "obj_144_table_tennis_5": {"position": [0.25, -0.05, 0.776756098663224], "rpy_deg": [0.0, 0.0, 1.6216687372279974]}}, "_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": 2705, "stable_success_step": 2800, "first_stable_success_step": 2800, "steps_to_stable_success": 2801, "policy_steps_to_stable_success": 934, "policy_queries_to_stable_success": 20, "time_to_stable_success_s": 46.683333333331966, "expert_time_s": 39.666666666666664, "expert_time_step": 2380, "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": 0.8496965369511137, "kinematic_grasp_stability_index": 0.9979585092380495, "mean_kinematic_grasp_stability": 0.5419910191792662, "per_object_best_kinematic_grasp_stability": {"obj_053_mini_soccer_ball_2": 0.9979585092380495, "obj_056_tennis_ball_3": 0.721587027736237, "obj_058_golf_ball_4": 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"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": 2, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"right_finger3_joint1": 63, "right_finger4_joint1": 62}, "joint_limit_hard_counts": {"right_finger1_joint2": 2, "right_finger3_joint1": 1, "right_finger4_joint1": 1}, "finger_joint_limit_saturation_counts": {"right_finger3_joint1": 48, "right_finger4_joint1": 45}, "joint_limit_max_excess_by_joint": {"left_finger1_joint2": 0.00257004052400589, "left_finger2_joint1": 0.00016108155250549316, "left_finger2_joint2": 0.00034931302070617676, "right_finger1_joint2": 0.005447685718536377, "right_finger2_joint1": 0.0014065653085708618, "right_finger3_joint1": 0.5655606985092163, "right_finger4_joint1": 0.5568047761917114}, "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": 259, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_finger3_joint1", "role": "finger", "qpos": -0.18291650712490082, "hard_excess_rad": 0.011016517877578735, "hard_tolerance_rad": 0.005, "hard_lower": -0.17189998924732208, "hard_upper": 1.5496000051498413, "operating_lower": -0.17190003395080566, "operating_upper": 1.5496000051498413, "expanded_target": 0.3217059373855591, "shielded_target": 0.3217059373855591}], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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"], "raw_active_action": [2.2027409076690674, -1.4624980688095093, -1.5700000524520874, 1.9105348587036133, 1.5700000524520874, 0.2439315766096115, -1.5700000524520874, 2.206878900527954, -5.212911768914807e-10, 0.31330543756484985, -1.5700000524520874, 1.6732051300039075e-09, 1.1696525812149048, 0.30185434222221375, 0.3217059373855591, 0.5016998052597046, 0.884315550327301, -0.15760000050067902, 0.04397329315543175, 0.08468104153871536, 0.1336059272289276, 0.10711692273616791, 0.10000000149011612, 7.446966376889463e-10, 5.167154704110999e-09, 3.4016935934744197e-09, 1.5024360644488866e-09, 0.010986688546836376, -0.05389082804322243, -0.052137743681669235, -0.046195127069950104, -0.03956500440835953, -1.5554221799440882e-10, 2.354122174974549e-10, 2.5612123533136355e-10, 2.2537262334143549e-10, 1.4900072842216616e-10, 0.031106246635317802, 0.04007253423333168, 0.04009566083550453, 0.03819655254483223, 0.03616170212626457, -3.278557633712431e-11, 8.03016708683657e-10, -6.970031496411622e-11, 5.092283261731723e-10, -5.095701638424543e-10, -4.3334374283388044e-11, 8.314081367810644e-11, 3.913214891015926e-11, -1.3786368747992217e-11, -8.715082128185614e-11], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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": [2.2027409076690674, -1.4624980688095093, -1.5700000524520874, 1.9105348587036133, 1.5700000524520874, 0.2439315766096115, -1.5700000524520874, 2.206878900527954, -5.212911768914807e-10, 0.31330543756484985, -1.5700000524520874, 1.6732051300039075e-09, 1.1696525812149048, 0.30185434222221375, 0.3217059373855591, 0.5016998052597046, 0.884315550327301, -0.15760000050067902, 0.04397329315543175, 0.08468104153871536, 0.1336059272289276, 0.10711692273616791, 0.10000000149011612, 7.446966376889463e-10, 5.167154704110999e-09, 3.4016935934744197e-09, 1.5024360644488866e-09, 0.010986688546836376, -0.05389082804322243, -0.052137743681669235, -0.046195127069950104, -0.03956500440835953, -1.5554221799440882e-10, 2.354122174974549e-10, 2.5612123533136355e-10, 2.2537262334143549e-10, 1.4900072842216616e-10, 0.031106246635317802, 0.04007253423333168, 0.04009566083550453, 0.03819655254483223, 0.03616170212626457, -3.278557633712431e-11, 8.03016708683657e-10, -6.970031496411622e-11, 5.092283261731723e-10, -5.095701638424543e-10, -4.3334374283388044e-11, 8.314081367810644e-11, 3.913214891015926e-11, -1.3786368747992217e-11, -8.715082128185614e-11], "shielded_full_target": [2.2027409076690674, -1.4624980688095093, -1.5700000524520874, 1.9105348587036133, 1.5700000524520874, 0.2439315766096115, -1.5700000524520874, 2.206878900527954, -5.212911768914807e-10, 0.31330543756484985, -1.5700000524520874, 1.6732051300039075e-09, 1.1696525812149048, 0.30185434222221375, 0.3217059373855591, 0.5016998052597046, 0.884315550327301, -0.15760000050067902, 0.04397329315543175, 0.08468104153871536, 0.1336059272289276, 0.10711692273616791, 0.10000000149011612, 7.446966376889463e-10, 5.167154704110999e-09, 3.4016935934744197e-09, 1.5024360644488866e-09, 0.010986688546836376, -0.05389082804322243, -0.052137743681669235, -0.046195127069950104, -0.03956500440835953, -1.5554221799440882e-10, 2.354122174974549e-10, 2.5612123533136355e-10, 2.2537262334143549e-10, 1.4900072842216616e-10, 0.031106246635317802, 0.04007253423333168, 0.04009566083550453, 0.03819655254483223, 0.03616170212626457, -3.278557633712431e-11, 8.03016708683657e-10, -6.970031496411622e-11, 5.092283261731723e-10, -5.095701638424543e-10, -4.3334374283388044e-11, 8.314081367810644e-11, 3.913214891015926e-11, -1.3786368747992217e-11, -8.715082128185614e-11]}, "joint_limit_active_steps": 63, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 48, "max_joint_limit_excess_rad": 0.5655606985092163, "max_joint_limit_excess_joint": "right_finger3_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": 63, "joint_limit_active_step_rate": 0.022491967154587646, "finger_joint_limit_saturation_steps": 48, "finger_joint_limit_saturation_step_rate": 0.017136736879685827, "max_joint_limit_excess_rad": 0.5655606985092163, "max_joint_limit_excess_joint": "right_finger3_joint1", "stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "current_stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "stage_first_completion_step": {"place_soccer": 1967, "place_tennis": 2705, "place_golf": 2705, "place_pingpong": 2705}, "violation_counts": {"high_speed_obj_144_table_tennis_5": 1}, "policy_query_count": 20, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3570, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_27_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_27_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..809c8dad36ccdff8e334a32fe12d5df61ed5f06c --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_27_episode_05/summary.json @@ -0,0 +1,195 @@ +{ + "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": 1, + "successes": 1, + "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": 46.683333333331966 + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 1.0, + "drop_rate": 0.0, + "high_speed_violation_rate": 1.0, + "safety_violation_step_rate": 0.0003570153516601214 + }, + "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": 0.8496965369511137, + 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"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": 0.00538712739944458, "max_joint_limit_excess_joint": "right_finger1_joint2", "stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "current_stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "stage_first_completion_step": {"place_soccer": 1715, "place_tennis": 2535, "place_golf": 2535, "place_pingpong": 2535}, "violation_counts": {"high_speed_obj_144_table_tennis_5": 1}, "policy_query_count": 19, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3570, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_27_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_27_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..64208646fc32fe1f5c2bb8f648129b7a06b1e468 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_27_episode_06/summary.json @@ -0,0 +1,186 @@ +{ + "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": 1, + "successes": 1, + "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": 44.18333333333211 + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 1.0, + "drop_rate": 0.0, + "high_speed_violation_rate": 1.0, + "safety_violation_step_rate": 0.0003772161448509996 + }, + "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": 0.8977744247454039, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 2651, + "avg_policy_steps_to_success": 884, + "avg_policy_queries_to_success": 19 + }, + "safety": { + "safety_violation_events_per_step": 0.0003772161448509996, + "violation_counts": { + "high_speed_obj_144_table_tennis_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.00538712739944458, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "right_finger1_joint2": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_finger1_joint2": 0.0038367286324501038, + "left_finger2_joint1": 0.00031253695487976074, + "left_finger2_joint2": 0.0002493560314178467, + "right_finger1_joint2": 0.00538712739944458, + "right_finger2_joint1": 0.0012378692626953125, + "right_finger3_joint1": 0.00010402500629425049 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 8.023608743896908, + "joint_effort_rms": 17.970348076498727, + "joint_jerk_rms": 815.1585692571117, + "joint_velocity_rms": 0.31952812936276037 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.8613270877414834, + "mean_kinematic_grasp_stability": 0.17388847248576117, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.6918918677478492, + "obj_056_tennis_ball_3": 0.8613270877414834, + "obj_058_golf_ball_4": 0.3803703091252477, + "obj_144_table_tennis_5": 0.4393016215975808 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5275682132528604, + "mean_duration_score": 0.4778448384257514, + "mean_hold_score": 0.32025650697850144, + "mean_kinematic_stability_score": 0.008789534256164465, + "mean_legacy_gsi": 0.39006249332500054, + "mean_lift_score": 0.3716522067144474, + "mean_motion_stability_score": 0.30361773477803006 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2651, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_27_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_27_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9495066d9e702cf73632605dfebf1c6cbac9b2ad --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_27_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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"expert_time_step": 2380, "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": 0.7655194596333471, "kinematic_grasp_stability_index": 0.9796001949424917, "mean_kinematic_grasp_stability": 0.2852068500428057, "per_object_best_kinematic_grasp_stability": {"obj_053_mini_soccer_ball_2": 0.6658124599378505, "obj_056_tennis_ball_3": 0.21900729657217707, "obj_058_golf_ball_4": 0.9796001949424917, "obj_144_table_tennis_5": 0.5012737980815773}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.4402613962001659, "mean_kinematic_stability_score": 0.05091341324340855, "mean_lift_score": 0.39835960115792857, "mean_hold_score": 0.32776214216790406, "mean_motion_stability_score": 0.3224064783610661, "mean_duration_score": 0.4843974482684679, "mean_anti_slip_score": 0.7302187198456224}, "robot_motion_metrics": {"joint_velocity_rms": 0.26844117126501643, "joint_acceleration_rms": 5.93491808083714, "joint_jerk_rms": 597.5145955915409, "joint_effort_rms": 17.340072694791132}, "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": 2, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"right_finger1_joint3": 99}, "joint_limit_hard_counts": {"right_finger1_joint2": 2, "right_finger1_joint3": 1}, "finger_joint_limit_saturation_counts": {"right_finger1_joint3": 68}, "joint_limit_max_excess_by_joint": {"left_finger1_joint2": 0.004154786467552185, "left_finger2_joint1": 0.00012315809726715088, "left_finger2_joint2": 0.0003935396671295166, "right_finger1_joint2": 0.005416169762611389, "right_finger1_joint3": 0.31119072437286377, "right_finger2_joint1": 0.0008405297994613647, "right_finger3_joint1": 1.4677643775939941e-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": 310, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_finger1_joint2", "role": "finger", "qpos": -0.16263103485107422, "hard_excess_rad": 0.005031034350395203, "hard_tolerance_rad": 0.005, "hard_lower": -0.15760000050067902, "hard_upper": 0.9311999678611755, "operating_lower": -0.15759998559951782, "operating_upper": 0.9311999678611755, "expanded_target": -0.15760000050067902, "shielded_target": -0.15760000050067902}], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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"], "raw_active_action": [2.168149471282959, -1.535804033279419, -1.5700000524520874, 1.9278624057769775, 1.5700000524520874, 0.2263166606426239, -1.5700000524520874, 2.1872451305389404, 3.129691505954213e-10, 0.23338665068149567, -1.5700000524520874, 1.650644843032012e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.404413666061259e-10, 5.064491936934701e-09, 3.2622249346303533e-09, 1.262862481254956e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -1.5104871520232876e-10, 2.2600830928976023e-10, 2.3485982603155264e-10, 2.0907346687248918e-10, 1.6864031004981683e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 1.0197964001035231e-10, 7.524635914357702e-10, -1.278937095117172e-10, 4.677055409629816e-10, -5.34377264660435e-10, -7.069538010551213e-11, 7.681337510501152e-11, 3.352806227097105e-11, 2.8355692360121365e-12, -7.741264573812856e-11], "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_finger1_joint1", "right_finger2_joint1", "right_finger3_joint1", "right_finger4_joint1", "right_finger5_joint1", "right_finger1_joint2", "right_finger2_joint2", "right_finger3_joint2", "right_finger4_joint2", "right_finger5_joint2", "left_finger1_joint1", "left_finger2_joint1", "left_finger3_joint1", "left_finger4_joint1", "left_finger5_joint1", "right_finger1_joint3", "right_finger2_joint3", "right_finger3_joint3", "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": [2.168149471282959, -1.535804033279419, -1.5700000524520874, 1.9278624057769775, 1.5700000524520874, 0.2263166606426239, -1.5700000524520874, 2.1872451305389404, 3.129691505954213e-10, 0.23338665068149567, -1.5700000524520874, 1.650644843032012e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.404413666061259e-10, 5.064491936934701e-09, 3.2622249346303533e-09, 1.262862481254956e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -1.5104871520232876e-10, 2.2600830928976023e-10, 2.3485982603155264e-10, 2.0907346687248918e-10, 1.6864031004981683e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 1.0197964001035231e-10, 7.524635914357702e-10, -1.278937095117172e-10, 4.677055409629816e-10, -5.34377264660435e-10, -7.069538010551213e-11, 7.681337510501152e-11, 3.352806227097105e-11, 2.8355692360121365e-12, -7.741264573812856e-11], "shielded_full_target": [2.168149471282959, -1.535804033279419, -1.5700000524520874, 1.9278624057769775, 1.5700000524520874, 0.2263166606426239, -1.5700000524520874, 2.1872451305389404, 3.129691505954213e-10, 0.23338665068149567, -1.5700000524520874, 1.650644843032012e-09, 1.2676444053649902, 0.889388382434845, 0.9473034143447876, 1.146188735961914, 1.2165454626083374, -0.15760000050067902, 0.22238804399967194, 0.13679899275302887, 0.22120271623134613, 0.2054145485162735, 0.10000000149011612, 6.404413666061259e-10, 5.064491936934701e-09, 3.2622249346303533e-09, 1.262862481254956e-09, 0.026126915588974953, -0.03192320466041565, -0.03513199836015701, -0.03695542365312576, -0.040751054883003235, -1.5104871520232876e-10, 2.2600830928976023e-10, 2.3485982603155264e-10, 2.0907346687248918e-10, 1.6864031004981683e-10, 0.041492387652397156, 0.028113029897212982, 0.0283440463244915, 0.028694892302155495, 0.03337593376636505, 1.0197964001035231e-10, 7.524635914357702e-10, -1.278937095117172e-10, 4.677055409629816e-10, -5.34377264660435e-10, -7.069538010551213e-11, 7.681337510501152e-11, 3.352806227097105e-11, 2.8355692360121365e-12, -7.741264573812856e-11]}, "joint_limit_active_steps": 99, "joint_limit_hard_episode_events": 3, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 68, "max_joint_limit_excess_rad": 0.31119072437286377, "max_joint_limit_excess_joint": "right_finger1_joint3", "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": 99, "joint_limit_active_step_rate": 0.031843036346091994, "finger_joint_limit_saturation_steps": 68, "finger_joint_limit_saturation_step_rate": 0.021871984560952074, "max_joint_limit_excess_rad": 0.31119072437286377, "max_joint_limit_excess_joint": "right_finger1_joint3", "stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "current_stage_completion": {"place_soccer": true, "place_tennis": true, "place_golf": true, "place_pingpong": true}, "stage_first_completion_step": {"place_soccer": 2108, "place_tennis": 3028, "place_golf": 3028, "place_pingpong": 3028}, "violation_counts": {}, "policy_query_count": 25, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3570, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_27_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_27_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ab0ae6825d93f0b95f752423495af84f6bc1061e --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_27_episode_07/summary.json @@ -0,0 +1,190 @@ +{ + "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": 1, + "successes": 1, + "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": 51.81666666666501 + }, + "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": { + "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": 0.7655194596333471, + "expert_time_s": 39.666666666666664, + "expert_time_step": 2380, + "avg_steps_to_success": 3109, + "avg_policy_steps_to_success": 1037, + "avg_policy_queries_to_success": 25 + }, + "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": 0.031843036346091994, + "finger_joint_limit_saturation_step_rate": 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"runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 5.93491808083714, + "joint_effort_rms": 17.340072694791132, + "joint_jerk_rms": 597.5145955915409, + "joint_velocity_rms": 0.26844117126501643 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9796001949424917, + "mean_kinematic_grasp_stability": 0.2852068500428057, + "per_object_best_kinematic_grasp_stability": { + "obj_053_mini_soccer_ball_2": 0.6658124599378505, + "obj_056_tennis_ball_3": 0.21900729657217707, + "obj_058_golf_ball_4": 0.9796001949424917, + "obj_144_table_tennis_5": 0.5012737980815773 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7302187198456224, + "mean_duration_score": 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"left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "left_thumb_MCP_AA", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_thumb_MCP_AA", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "expanded_full_target": [-1.5030136108398438, 0.14711090922355652, 1.5700000524520874, -1.540300965309143, -1.5700000524520874, -0.8797151446342468, 7.858501176183363e-12, -1.2505301237106323, -1.5700000524520874, -1.0871281623840332, 4.74561015484376e-11, 0.7455785274505615, 5.064850205904747e-10, -3.4687017147483346e-10, 0.46777257323265076, 1.0021321773529053, 0.0, 1.026496171951294, 1.068404197692871, 0.09013354778289795, 0.04654062166810036, 0.9732350707054138, -0.003078530076891184, 0.1609705686569214, 8.874194157293402e-10, 3.7658381968341814e-10, 0.0, 5.768007182993529e-10, 5.037971428922816e-11, 0.751599133014679, 1.1947362422943115, -0.02639579586684704, 1.1957852840423584, 0.27303990721702576, 8.201106894284438e-13, 1.6657903355310477e-12, -7.777101185268975e-10, -1.9468496259555934e-11, 3.744146381823299e-10, 0.42753490805625916, 0.8864787220954895, 1.2065809965133667, 0.8828669786453247, 0.0, 2.92808471913375e-10, 0.0, -4.4761763740019944e-11, 8.299786552479205e-11, 2.993507941528861e-10, 1.1849285364151, 0.25316864252090454, 0.0, 7.654427092163019e-11, 3.683971183665591e-11, 2.0341735240680947e-11, 0.0, 8.260812173199739e-12, 0.0], "shielded_full_target": [-1.5030136108398438, 0.14711090922355652, 1.5700000524520874, -1.540300965309143, -1.5700000524520874, -0.8797151446342468, 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8.260812173199739e-12, 0.0]}, "joint_limit_active_steps": 1741, "joint_limit_hard_episode_events": 331, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 1167, "max_joint_limit_excess_rad": 2.900862455368042, "max_joint_limit_excess_joint": "left_pinky_CMC", "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": 1741, "joint_limit_active_step_rate": 0.0681222365692374, "finger_joint_limit_saturation_steps": 1167, "finger_joint_limit_saturation_step_rate": 0.045662636459678364, "max_joint_limit_excess_rad": 2.900862455368042, "max_joint_limit_excess_joint": "left_pinky_CMC", "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": 25517, "place_gelatin": 8817, "place_spatula": 25517, "place_brush": 25518}, "violation_counts": {"drop_to_table_obj_189_brush_5": 1}, "policy_query_count": 117, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 25560, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_32_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_32_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..86ae0d69cc92571fd7afd25a9c36eadc25e3fb4a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_32_episode_05/summary.json @@ -0,0 +1,284 @@ +{ + "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": 1, + "successes": 1, + "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": 425.94999999994127 + }, + "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": 3.912822318738506e-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": 0.06663536408812594, + "expert_time_s": 28.383333333333333, + "expert_time_step": 1703, + "avg_steps_to_success": 25557, + "avg_policy_steps_to_success": 8519, + "avg_policy_queries_to_success": 117 + }, + "safety": { + "safety_violation_events_per_step": 3.912822318738506e-05, + "violation_counts": { + "drop_to_table_obj_189_brush_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.0681222365692374, + "finger_joint_limit_saturation_step_rate": 0.045662636459678364, + "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": 149, + "left_middle_PIP": 27, + "left_pinky_CMC": 155, + "left_pinky_DIP": 75, + "left_ring_DIP": 152, + "left_ring_PIP": 8, + "multi_right_index_DIP": 264, + "multi_right_index_MCP_FE": 599, + "multi_right_index_PIP": 357, + "multi_right_middle_DIP": 327, + "multi_right_middle_MCP_FE": 166, + "multi_right_middle_PIP": 398, + "multi_right_pinky_CMC": 58, + "multi_right_pinky_MCP_AA": 11, + "multi_right_pinky_MCP_FE": 80, + "multi_right_pinky_PIP": 323, + "multi_right_ring_DIP": 375, + "multi_right_ring_MCP_AA": 64, + "multi_right_ring_MCP_FE": 79, + "multi_right_ring_PIP": 371 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 1, + "left_index_MCP_FE": 42, + "left_index_PIP": 20, + "left_middle_DIP": 8, + "left_middle_PIP": 1, + "left_pinky_CMC": 2, + "left_pinky_DIP": 5, + "left_pinky_PIP": 3, + "left_ring_DIP": 4, + "left_ring_PIP": 4, + "multi_right_index_DIP": 4, + "multi_right_index_MCP_FE": 273, + "multi_right_index_PIP": 3, + "multi_right_middle_DIP": 3, + "multi_right_middle_MCP_FE": 8, + "multi_right_middle_PIP": 3, + "multi_right_pinky_CMC": 19, + "multi_right_pinky_MCP_AA": 4, + "multi_right_pinky_MCP_FE": 6, + "multi_right_pinky_PIP": 3, + "multi_right_ring_DIP": 3, + "multi_right_ring_MCP_AA": 3, + "multi_right_ring_MCP_FE": 4, + "multi_right_ring_PIP": 3 + }, + "joint_limit_hard_episode_events": 331, + "finger_joint_limit_saturation_counts": { + "left_index_DIP": 109, + "left_index_MCP_FE": 35, + "left_index_PIP": 98, + "left_middle_DIP": 135, + "left_middle_PIP": 2, + "left_pinky_CMC": 146, + "left_pinky_DIP": 12, + "left_ring_DIP": 133, + "multi_right_index_DIP": 235, + "multi_right_index_MCP_FE": 275, + "multi_right_index_PIP": 294, + "multi_right_middle_DIP": 305, + "multi_right_middle_MCP_FE": 10, + "multi_right_middle_PIP": 366, + "multi_right_pinky_CMC": 40, + "multi_right_pinky_MCP_FE": 36, + "multi_right_pinky_PIP": 295, + "multi_right_ring_DIP": 360, + "multi_right_ring_MCP_AA": 51, + "multi_right_ring_PIP": 342 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 0.7631981372833252, + "left_index_MCP_FE": 0.22626057267189026, + "left_index_PIP": 0.7826560735702515, + "left_middle_DIP": 0.5304731130599976, + "left_middle_MCP_FE": 3.49879264831543e-05, + "left_middle_PIP": 0.1999097317457199, + "left_pinky_CMC": 2.900862455368042, + "left_pinky_DIP": 0.23722362518310547, + "left_pinky_MCP_AA": 0.002166271209716797, + "left_pinky_MCP_FE": 5.708634853363037e-05, + "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": 0.029760213568806648, + "left_thumb_CMC_AA": 4.8220157623291016e-05, + "left_thumb_IP": 1.315116378464154e-06, + "multi_A5": 1.9550323486328125e-05, + "multi_right_index_DIP": 1.115813970565796, + "multi_right_index_MCP_FE": 0.2952406704425812, + "multi_right_index_PIP": 0.953405499458313, + "multi_right_middle_DIP": 1.2647740840911865, + "multi_right_middle_MCP_AA": 0.0006587207317352295, + "multi_right_middle_MCP_FE": 0.09755873680114746, + "multi_right_middle_PIP": 1.6768627166748047, + "multi_right_pinky_CMC": 0.41746288537979126, + "multi_right_pinky_DIP": 0.00011267977970419452, + "multi_right_pinky_MCP_AA": 0.025261729955673218, + "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": 0.004522889852523804, + "multi_right_thumb_IP": 2.467112244630698e-05 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 27.730243131976536, + "joint_effort_rms": 33.79931874046445, + "joint_jerk_rms": 2890.074458715671, + "joint_velocity_rms": 0.6266191691938355 + }, + "grasp": { + "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_anti_slip_score": 0.649587197245468, + "mean_duration_score": 0.5914527657132406, + "mean_hold_score": 0.550077767343595, + "mean_kinematic_stability_score": 0.21902462441231743, + "mean_legacy_gsi": 0.5639251744225442, + "mean_lift_score": 0.5736001878154713, + "mean_motion_stability_score": 0.5205578017970779 + } + }, + "tool": { + "tool_selection_accuracy": 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0.3499999940395355, 0.6345314383506775, 2.8518606995930895e-05, 1.399999976158142, -0.330884724855423, 1.399999976158142, 0.31780168414115906, -0.1446283608675003, 1.6657903355310477e-12, 0.3499999940395355, -1.9468496259555934e-11, -0.23435387015342712, 1.3222143650054932, 1.0, 1.399999976158142, 1.0, 0.0, 0.5774036645889282, 1.399999976158142, -4.4761763740019944e-11, 1.399999976158142, 0.5142133831977844, 1.0, 0.3817225694656372, 1.3962994813919067, 1.0, 1.399999976158142, 1.0, 0.0, 1.0, 0.5917590856552124]}, "joint_limit_active_steps": 501, "joint_limit_hard_episode_events": 28, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 403, "max_joint_limit_excess_rad": 1.5347728729248047, "max_joint_limit_excess_joint": "multi_right_index_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": 501, "joint_limit_active_step_rate": 0.03789139313265769, "finger_joint_limit_saturation_steps": 403, "finger_joint_limit_saturation_step_rate": 0.030479503857207685, "max_joint_limit_excess_rad": 1.5347728729248047, "max_joint_limit_excess_joint": "multi_right_index_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": 11819, "place_gelatin": 1987, "place_spatula": 12560, "place_brush": 11819}, "violation_counts": {"drop_to_table_obj_033_spatula_4": 1, "drop_to_table_obj_008_pudding_box_2": 1, "drop_to_table_obj_189_brush_5": 1}, "policy_query_count": 69, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 25560, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_32_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_32_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..cedd427db144d6469242a03ce997d0851da20f1b --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_32_episode_06/summary.json @@ -0,0 +1,262 @@ +{ + "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": 1, + "successes": 1, + "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": 220.36666666673418 + }, + "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": 0.00022689456965663287 + }, + "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": 0.12880048404170913, + "expert_time_s": 28.383333333333333, + "expert_time_step": 1703, + "avg_steps_to_success": 13222, + "avg_policy_steps_to_success": 4408, + "avg_policy_queries_to_success": 69 + }, + "safety": { + "safety_violation_events_per_step": 0.00022689456965663287, + "violation_counts": { + "drop_to_table_obj_008_pudding_box_2": 1, + "drop_to_table_obj_033_spatula_4": 1, + "drop_to_table_obj_189_brush_5": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.03789139313265769, + "finger_joint_limit_saturation_step_rate": 0.030479503857207685, + "max_joint_limit_excess_rad": 1.5347728729248047, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_right_index_DIP": 44, + "multi_right_index_MCP_FE": 13, + "multi_right_index_PIP": 5, + "multi_right_middle_DIP": 43, + "multi_right_middle_PIP": 37, + "multi_right_pinky_CMC": 38, + "multi_right_pinky_DIP": 1, + "multi_right_pinky_MCP_FE": 12, + "multi_right_pinky_PIP": 41, + "multi_right_ring_DIP": 18, + "multi_right_ring_MCP_FE": 1, + "multi_right_ring_PIP": 71, + "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_thumb_CMC_AA": 1, + "multi_right_index_DIP": 1, + "multi_right_index_MCP_FE": 1, + "multi_right_index_PIP": 1, + "multi_right_middle_DIP": 1, + "multi_right_middle_PIP": 2, + "multi_right_pinky_CMC": 3, + "multi_right_pinky_DIP": 2, + "multi_right_pinky_MCP_FE": 1, + "multi_right_pinky_PIP": 3, + "multi_right_ring_DIP": 2, + "multi_right_ring_MCP_FE": 1, + "multi_right_ring_PIP": 2, + "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": 28, + "finger_joint_limit_saturation_counts": { + "multi_right_index_DIP": 41, + "multi_right_middle_DIP": 40, + "multi_right_middle_PIP": 24, + "multi_right_pinky_CMC": 18, + "multi_right_pinky_PIP": 8, + "multi_right_ring_DIP": 9, + "multi_right_ring_PIP": 41, + "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": 1.1086463928222656e-05, + "left_index_MCP_AA": 2.2649765014648438e-05, + "left_index_PIP": 0.0031022420153021812, + "left_middle_DIP": 3.320602991152555e-05, + "left_middle_MCP_AA": 0.0005090236663818359, + "left_middle_PIP": 0.0022255706135183573, + "left_pinky_CMC": 0.0008618745487183332, + "left_pinky_DIP": 2.468714228598401e-05, + "left_pinky_MCP_AA": 0.001829385757446289, + "left_pinky_PIP": 0.00013552459131460637, + "left_ring_DIP": 5.431042882264592e-05, + "left_ring_MCP_AA": 0.0018920600414276123, + "left_ring_PIP": 0.0015946585917845368, + "left_thumb_CMC_AA": 0.006441384553909302, + "left_thumb_IP": 7.454804290318862e-05, + "multi_A6": 3.0994415283203125e-06, + "multi_right_index_DIP": 1.5347728729248047, + "multi_right_index_MCP_AA": 0.0007090568542480469, + "multi_right_index_MCP_FE": 0.18246331810951233, + "multi_right_index_PIP": 0.0776652842760086, + "multi_right_middle_DIP": 1.5245301723480225, + "multi_right_middle_MCP_AA": 0.002426743507385254, + "multi_right_middle_MCP_FE": 2.7701258659362793e-05, + "multi_right_middle_PIP": 0.5477626323699951, + "multi_right_pinky_CMC": 0.6035921573638916, + "multi_right_pinky_DIP": 0.010975774377584457, + "multi_right_pinky_MCP_FE": 0.09661874175071716, + "multi_right_pinky_PIP": 0.32572630047798157, + "multi_right_ring_DIP": 0.3362298011779785, + "multi_right_ring_MCP_AA": 0.001638174057006836, + "multi_right_ring_MCP_FE": 0.047163233160972595, + "multi_right_ring_PIP": 0.5413898825645447, + "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": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 16.836177423799775, + "joint_effort_rms": 32.80626905723905, + "joint_jerk_rms": 1679.2593019533085, + "joint_velocity_rms": 0.5618730383461997 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.99485025576429, + "mean_kinematic_grasp_stability": 0.5860424127307299, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.9890131024612082, + "obj_009_gelatin_box_3": 0.36371710469817337, + "obj_033_spatula_4": 0.99485025576429, + "obj_189_brush_5": 0.9940023277987158 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5349291584734038, + "mean_duration_score": 0.7158347199112601, + "mean_hold_score": 0.4897188398124375, + "mean_kinematic_stability_score": 0.1728053892477638, + "mean_legacy_gsi": 0.5239983013880558, + "mean_lift_score": 0.5164687641809106, + "mean_motion_stability_score": 0.44750671331530867 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 13222, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_32_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_32_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..043ab41cdb0cfe0abdd1212925db23d283e6a343 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_32_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/32_baking_tray_prep_with_tools.yaml", "episode_index": 7, "seed": 203200006, "success": true, "steps": 18624, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203200006, "base_seed": 203200000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": 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"timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 25560, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_32_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_32_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e6f1037f5229fbeac0f411cfe54d59e0baa9337c --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_32_episode_07/summary.json @@ -0,0 +1,261 @@ +{ + "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": 1, + "successes": 1, + "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": 310.40000000004636 + }, + "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": 5.3694158075601374e-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": 0.09144115120273548, + "expert_time_s": 28.383333333333333, + "expert_time_step": 1703, + "avg_steps_to_success": 18624, + "avg_policy_steps_to_success": 6208, + "avg_policy_queries_to_success": 129 + }, + "safety": { + "safety_violation_events_per_step": 5.3694158075601374e-05, + "violation_counts": { + "drop_to_table_obj_033_spatula_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.03635094501718213, + "finger_joint_limit_saturation_step_rate": 0.019705756013745704, + "max_joint_limit_excess_rad": 0.9627631902694702, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_DIP": 70, + "left_pinky_CMC": 63, + "left_pinky_DIP": 33, + "left_ring_PIP": 5, + "left_thumb_CMC_AA": 97, + "left_thumb_CMC_FE": 179, + "multi_right_index_PIP": 10, + "multi_right_middle_DIP": 42, + "multi_right_middle_MCP_FE": 6, + "multi_right_middle_PIP": 40, + "multi_right_pinky_CMC": 5, + "multi_right_pinky_DIP": 158, + "multi_right_pinky_MCP_AA": 51, + "multi_right_pinky_MCP_FE": 16, + "multi_right_pinky_PIP": 22, + "multi_right_ring_DIP": 41, + "multi_right_ring_MCP_FE": 19, + "multi_right_ring_PIP": 45 + }, + "joint_limit_hard_counts": { + "left_middle_DIP": 2, + "left_pinky_CMC": 2, + "left_pinky_DIP": 1, + "left_ring_PIP": 1, + "left_thumb_CMC_AA": 8, + "left_thumb_CMC_FE": 2, + "multi_right_index_MCP_FE": 1, + "multi_right_index_PIP": 1, + "multi_right_middle_DIP": 3, + "multi_right_middle_MCP_FE": 3, + "multi_right_middle_PIP": 1, + "multi_right_pinky_CMC": 1, + "multi_right_pinky_DIP": 1, + "multi_right_pinky_MCP_AA": 1, + "multi_right_pinky_MCP_FE": 1, + "multi_right_pinky_PIP": 3, + "multi_right_ring_DIP": 1, + "multi_right_ring_MCP_FE": 1, + "multi_right_ring_PIP": 1 + }, + "joint_limit_hard_episode_events": 20, + "finger_joint_limit_saturation_counts": { + "left_middle_DIP": 62, + "left_pinky_CMC": 34, + "left_pinky_DIP": 17, + "left_thumb_CMC_AA": 52, + "multi_right_middle_DIP": 32, + "multi_right_middle_PIP": 22, + "multi_right_pinky_DIP": 145, + "multi_right_pinky_MCP_AA": 21, + "multi_right_ring_DIP": 37, + "multi_right_ring_PIP": 26 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 3.224799229428754e-06, + "left_index_PIP": 0.0021076472476124763, + "left_middle_DIP": 0.9627631902694702, + "left_middle_PIP": 0.0019727819599211216, + "left_pinky_CMC": 0.24227352440357208, + "left_pinky_DIP": 0.33963608741760254, + "left_pinky_MCP_FE": 0.0007688850164413452, + "left_pinky_PIP": 0.0019508898258209229, + "left_ring_DIP": 8.718970639165491e-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": 2.6226043701171875e-06, + "multi_right_index_DIP": 0.0012224912643432617, + "multi_right_index_MCP_AA": 5.6296586990356445e-05, + "multi_right_index_MCP_FE": 0.0052841901779174805, + "multi_right_index_PIP": 0.03608237951993942, + "multi_right_middle_DIP": 0.45495104789733887, + "multi_right_middle_MCP_AA": 3.2782554626464844e-06, + "multi_right_middle_MCP_FE": 0.0313032865524292, + "multi_right_middle_PIP": 0.5178707242012024, + "multi_right_pinky_CMC": 0.039058540016412735, + "multi_right_pinky_DIP": 0.7067175507545471, + "multi_right_pinky_MCP_AA": 0.1658201515674591, + "multi_right_pinky_MCP_FE": 0.14120236039161682, + "multi_right_pinky_PIP": 0.03200965002179146, + "multi_right_ring_DIP": 0.5525888204574585, + "multi_right_ring_MCP_AA": 0.0003412961959838867, + "multi_right_ring_MCP_FE": 0.05322718620300293, + "multi_right_ring_PIP": 0.535082995891571, + "multi_right_thumb_IP": 1.0383337212260813e-05, + "multi_right_thumb_MCP_FE": 0.00037997961044311523 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 22.706528400800103, + "joint_effort_rms": 32.68651673353123, + "joint_jerk_rms": 2195.0842821089673, + "joint_velocity_rms": 0.546258878555805 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9981843116094637, + "mean_kinematic_grasp_stability": 0.847418642450704, + "per_object_best_kinematic_grasp_stability": { + "obj_008_pudding_box_2": 0.9981843116094637, + "obj_009_gelatin_box_3": 0.9980131904396149, + "obj_033_spatula_4": 0.9844579928201366, + "obj_189_brush_5": 0.9795512877592334 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9352582689001999, + "mean_duration_score": 0.418697648195905, + "mean_hold_score": 0.19593132517181994, + "mean_kinematic_stability_score": 0.17764896020125434, + "mean_legacy_gsi": 0.38434654831731074, + "mean_lift_score": 0.20963541666666666, + "mean_motion_stability_score": 0.1860111153862943 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 18624, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_34_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_34_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b782fb2acb65b30f8bc5296f7398c67915a57f8 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_34_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/34_fridge_wine_interhand_pour.yaml", "episode_index": 5, "seed": 203400004, "success": true, "steps": 28723, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 203400004, "base_seed": 203400000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": {"enabled": true, "clean_background": 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{"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_030_fork_2": {"position": [0.048573272654194345, 0.4009998770225163, 0.7854988813363604], "rpy_deg": [0.0, 0.0, 87.08749552746936]}, "obj_029_plate_2": {"position": [0.28, 0.4, 0.7883296812615014], "rpy_deg": [0.0, 0.0, -0.22743940594396328]}, "obj_194_wineglass_2": {"position": [0.48, 0.38, 0.7845988826477115], "rpy_deg": [90.0, 0.0, 4.275940708177766]}, "obj_224_wine_bottle_1": {"position": [-0.21876125677729075, 0.4195132743049436, 0.8345988813518204], "rpy_deg": [0.0, 0.0, 4.619284065578915]}, "obj_111_refrigerator_1": {"position": [-0.2, 0.5, 1.1614144964857567], "rpy_deg": [0.0, 0.0, 94.31877519254168]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_pour", "robot_key": "multi_ur5_rh5dg2_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": 28693, "stable_success_step": 28722, "first_stable_success_step": 28722, "steps_to_stable_success": 28723, "policy_steps_to_stable_success": 9575, "policy_queries_to_stable_success": 180, "time_to_stable_success_s": 478.71666666655995, "expert_time_s": 36.0, "expert_time_step": 2160, "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": 0.8, "current_normalized_progress_score": 1.0, "current_chain_depth_progress_score": 1.0, "current_chain_depth": 5, "latched_stage_completion_rate": 1.0, "latched_normalized_progress_score": 1.0, "latched_chain_depth_progress_score": 1.0, "latched_chain_depth": 5, "task_efficiency": 0.07520105838528293, "kinematic_grasp_stability_index": 0.7820512237803103, "mean_kinematic_grasp_stability": 0.2511104712245589, "per_object_best_kinematic_grasp_stability": {"obj_224_wine_bottle_1": 0.7820512237803103}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.6502074782068938, "mean_kinematic_stability_score": 0.01223948263462669, "mean_lift_score": 0.8486230546948439, "mean_hold_score": 0.8227587647529909, "mean_motion_stability_score": 0.704505860263602, "mean_duration_score": 0.9797200849493437, "mean_anti_slip_score": 0.05073750420684668}, "robot_motion_metrics": {"joint_velocity_rms": 0.8105264948395122, "joint_acceleration_rms": 34.21448732371244, "joint_jerk_rms": 3470.7373441226127, "joint_effort_rms": 38.83907204563226}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.00010444591442400407, "safety_violation_rate_time": 0.00010444591442400407, "safety_violation_rate_event": 6.963060961598719e-05, "safety_violation_step_rate": 0.00010444591442398078, "safety_violation_events_per_step": 6.963060961598719e-05, "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": 5, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_index_pip_joint": 88, "left_index_pitch_joint": 106, "left_middle_pip_joint": 237, "left_middle_pitch_joint": 130, "left_pinky_mcp_joint": 365, "left_ring_mcp_joint": 331, "left_ring_pip_joint": 52, "left_thumb_mcp_joint": 10222, "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": 11677, "right_thumb_pip_joint": 94, "right_thumb_yaw_joint": 70}, "joint_limit_hard_counts": {"left_index_pip_joint": 6, "left_index_pitch_joint": 5, "left_middle_pip_joint": 6, "left_middle_pitch_joint": 2, "left_pinky_mcp_joint": 8, "left_ring_mcp_joint": 2, "left_ring_pip_joint": 2, "left_thumb_mcp_joint": 8, "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": 101, "right_thumb_pip_joint": 2, "right_thumb_yaw_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_pip_joint": 56, "left_index_pitch_joint": 99, "left_middle_pip_joint": 164, "left_middle_pitch_joint": 95, "left_pinky_mcp_joint": 300, "left_ring_mcp_joint": 298, "left_ring_pip_joint": 2, "left_thumb_mcp_joint": 9901, "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": 11448, "right_thumb_pip_joint": 74, "right_thumb_yaw_joint": 53}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 1.5467669811641827e-08, "left_index_pip_joint": 1.1429694890975952, "left_index_pitch_joint": 0.8712509870529175, "left_middle_dip_joint": 0.00079895812086761, "left_middle_pip_joint": 1.6317344903945923, "left_middle_pitch_joint": 1.2223855257034302, "left_pinky_dip_joint": 1.2980290193809196e-05, "left_pinky_mcp_joint": 1.1394211053848267, "left_pinky_pip_joint": 3.654863758129068e-05, "left_ring_dip_joint": 0.0005476330406963825, "left_ring_mcp_joint": 1.127501368522644, "left_ring_pip_joint": 0.17693205177783966, "left_thumb_dip_joint": 0.0017555856611579657, "left_thumb_mcp_joint": 0.9544565677642822, "left_thumb_pip_joint": 0.0001350600941805169, "left_thumb_yaw_joint": 2.5210603780578822e-05, "right_index_dip_joint": 0.221941739320755, "right_index_mcp_joint": 0.565585732460022, "right_index_pip_joint": 1.4217863082885742, "right_index_pitch_joint": 0.7631471753120422, "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, "right_pinky_mcp_joint": 0.892218828201294, "right_pinky_pip_joint": 0.42060375213623047, "right_ring_dip_joint": 0.2596736252307892, "right_ring_mcp_joint": 0.3335988521575928, "right_ring_pip_joint": 2.037945032119751, "right_thumb_dip_joint": 1.4873428344726562, "right_thumb_mcp_joint": 0.5545603036880493, "right_thumb_pip_joint": 0.2756539583206177, "right_thumb_yaw_joint": 0.6658437252044678}, "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": 132, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_middle_pip_joint", "role": "finger", "qpos": -0.005049330648034811, "hard_excess_rad": 0.005049330648034811, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 0.0, "shielded_target": 0.0}], "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_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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [1.6554198265075684, -1.8563281297683716, -1.5834718942642212, 1.9416437149047852, 1.306046724319458, -0.3602491617202759, -1.4930527210235596, 1.5033308267593384, 0.5025032758712769, 0.4516938328742981, -1.6011762619018555, -0.9754437208175659, 0.047891177237033844, 0.07501210272312164, 0.0, 0.0, 0.6279112100601196, -0.04007529094815254, 0.02638021484017372, 0.20554009079933167, 0.0, 0.38192930817604065, 0.742154598236084, 0.9344341158866882, 0.5044847726821899, 0.9509872794151306, 0.8137732744216919, 0.0, 0.0, -0.1509546935558319, -0.021477775648236275, 0.4481218755245209, 0.0, 0.18991509079933167, 0.03755009174346924, 0.0, 0.0, 0.11023439466953278], "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_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": [1.6554198265075684, -1.8563281297683716, -1.5834718942642212, 1.9416437149047852, 1.306046724319458, -0.3602491617202759, -1.4930527210235596, 1.5033308267593384, 0.5025032758712769, 0.4516938328742981, -1.6011762619018555, -0.9754437208175659, 0.047891177237033844, 0.07501210272312164, 0.0, 0.0, 0.6279112100601196, -0.04007529094815254, 0.02638021484017372, 0.20554009079933167, 0.0, 0.38192930817604065, 0.742154598236084, 0.9344341158866882, 0.5044847726821899, 0.9509872794151306, 0.8137732744216919, 0.0, 0.0, 0.23086263239383698, 0.0, 0.4145078659057617, -0.1509546935558319, -0.021477775648236275, 0.4481218755245209, 0.0, 0.18991509079933167, 0.0, 0.0, 0.03755009174346924, 0.0, 0.0, 0.5033304691314697, 0.0, 0.20611484348773956, 0.0, 0.0, 0.11023439466953278], "shielded_full_target": [1.6554198265075684, -1.8563281297683716, -1.5834718942642212, 1.9416437149047852, 1.306046724319458, -0.3602491617202759, -1.4930527210235596, 1.5033308267593384, 0.5025032758712769, 0.4516938328742981, -1.6011762619018555, -0.9754437208175659, 0.047891177237033844, 0.07501210272312164, 0.0, 0.0, 0.6279112100601196, -0.04007529094815254, 0.02638021484017372, 0.20554009079933167, 0.0, 0.38192930817604065, 0.742154598236084, 0.9344341158866882, 0.5044847726821899, 0.9509872794151306, 0.8137732744216919, 0.0, 0.0, 0.23086263239383698, 0.0, 0.4145078659057617, -0.1509546935558319, -0.021477775648236275, 0.4481218755245209, 0.0, 0.18991509079933167, 0.0, 0.0, 0.03755009174346924, 0.0, 0.0, 0.5033304691314697, 0.0, 0.20611484348773956, 0.0, 0.0, 0.11023439466953278]}, "joint_limit_active_steps": 21500, "joint_limit_hard_episode_events": 15, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 21289, "max_joint_limit_excess_rad": 2.037945032119751, "max_joint_limit_excess_joint": "right_ring_pip_joint", "joint_role_manifest_available": true, "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": 21500, "joint_limit_active_step_rate": 0.7485290533718623, "finger_joint_limit_saturation_steps": 21289, "finger_joint_limit_saturation_step_rate": 0.7411830240573756, "max_joint_limit_excess_rad": 2.037945032119751, "max_joint_limit_excess_joint": "right_ring_pip_joint", "stage_completion": {"open_fridge": true, "take_bottle": true, "pour_wine": true, "return_bottle": true, "close_fridge": true}, "current_stage_completion": {"open_fridge": false, "take_bottle": true, "pour_wine": true, "return_bottle": true, "close_fridge": true}, "stage_first_completion_step": {"open_fridge": 289, "take_bottle": 475, "pour_wine": 1262, "return_bottle": 28692, "close_fridge": 28692}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1, "high_speed_obj_224_wine_bottle_1": 1}, "policy_query_count": 180, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 32400, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_34_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_34_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5b2618b944a4df283333bee5ba275fb9ef1803 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_34_episode_05/summary.json @@ -0,0 +1,290 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 1.0, + "success_rate_ci": { + "mean": 1.0, + "ci_low": 1.0, + 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"left_thumb_yaw_joint", "right_index_pip_joint", "right_middle_pip_joint", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [1.6561764478683472, -1.8553565740585327, -1.5795000791549683, 1.941139817237854, 1.2959591150283813, -0.3602360486984253, -1.477014422416687, 1.505608320236206, 0.48403146862983704, 0.45001021027565, -1.5932987928390503, -0.9778494238853455, 0.047959841787815094, 0.0753304734826088, 0.0, 0.0, 0.6288467645645142, -0.04021253436803818, 0.02629157528281212, 0.2048170417547226, 0.0, 0.38136908411979675, 0.6887450814247131, 0.873919665813446, 0.4519300162792206, 0.8921912312507629, 0.7935858964920044, 0.0, 0.0, -0.1546584516763687, -0.033848490566015244, 0.4712185263633728, 0.0, 0.17848286032676697, 0.03766516223549843, 0.0, 0.0, 0.11429570615291595], "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_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": [1.6561764478683472, -1.8553565740585327, -1.5795000791549683, 1.941139817237854, 1.2959591150283813, -0.3602360486984253, -1.477014422416687, 1.505608320236206, 0.48403146862983704, 0.45001021027565, -1.5932987928390503, -0.9778494238853455, 0.047959841787815094, 0.0753304734826088, 0.0, 0.0, 0.6288467645645142, -0.04021253436803818, 0.02629157528281212, 0.2048170417547226, 0.0, 0.38136908411979675, 0.6887450814247131, 0.873919665813446, 0.4519300162792206, 0.8921912312507629, 0.7935858964920044, 0.0, 0.0, 0.23005050420761108, 0.0, 0.41389986872673035, -0.1546584516763687, -0.033848490566015244, 0.4712185263633728, 0.0, 0.17848286032676697, 0.0, 0.0, 0.03766516223549843, 0.0, 0.0, 0.5292726755142212, 0.0, 0.1937074512243271, 0.0, 0.0, 0.11429570615291595], "shielded_full_target": [1.6561764478683472, -1.8553565740585327, -1.5795000791549683, 1.941139817237854, 1.2959591150283813, -0.3602360486984253, -1.477014422416687, 1.505608320236206, 0.48403146862983704, 0.45001021027565, -1.5932987928390503, -0.9778494238853455, 0.047959841787815094, 0.0753304734826088, 0.0, 0.0, 0.6288467645645142, -0.04021253436803818, 0.02629157528281212, 0.2048170417547226, 0.0, 0.38136908411979675, 0.6887450814247131, 0.873919665813446, 0.4519300162792206, 0.8921912312507629, 0.7935858964920044, 0.0, 0.0, 0.23005050420761108, 0.0, 0.41389986872673035, -0.1546584516763687, -0.033848490566015244, 0.4712185263633728, 0.0, 0.17848286032676697, 0.0, 0.0, 0.03766516223549843, 0.0, 0.0, 0.5292726755142212, 0.0, 0.1937074512243271, 0.0, 0.0, 0.11429570615291595]}, "joint_limit_active_steps": 3366, "joint_limit_hard_episode_events": 28, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 3077, "max_joint_limit_excess_rad": 1.5431932210922241, "max_joint_limit_excess_joint": "left_thumb_mcp_joint", "joint_role_manifest_available": true, "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": 3366, "joint_limit_active_step_rate": 0.4840379637618637, "finger_joint_limit_saturation_steps": 3077, "finger_joint_limit_saturation_step_rate": 0.44247914869140065, "max_joint_limit_excess_rad": 1.5431932210922241, "max_joint_limit_excess_joint": "left_thumb_mcp_joint", "stage_completion": {"open_fridge": true, "take_bottle": true, "pour_wine": true, "return_bottle": true, "close_fridge": true}, "current_stage_completion": {"open_fridge": false, "take_bottle": true, "pour_wine": true, "return_bottle": true, "close_fridge": true}, "stage_first_completion_step": {"open_fridge": 289, "take_bottle": 289, "pour_wine": 2238, "return_bottle": 4846, "close_fridge": 6924}, "violation_counts": {"drop_to_table_obj_224_wine_bottle_1": 1}, "policy_query_count": 54, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 32400, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_34_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_34_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..72f65c6d448719a41cae4dee95ba780bf6a1e219 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_34_episode_06/summary.json @@ -0,0 +1,241 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 115.8999999999947 + }, + "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": 0.0001438021282714984 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 1.0, + "at_end_success_rate": 1.0, + "task_family_success_rate": { + "articulation_pour": 1.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.8, + "current_chain_depth_progress_score": 1.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 5, + "avg_latched_chain_depth": 5 + }, + "efficiency": { + "task_efficiency": 0.3106125970664508, + "expert_time_s": 36.0, + "expert_time_step": 2160, + "avg_steps_to_success": 6954, + "avg_policy_steps_to_success": 2318, + "avg_policy_queries_to_success": 54 + }, + "safety": { + "safety_violation_events_per_step": 0.0001438021282714984, + "violation_counts": { + "drop_to_table_obj_224_wine_bottle_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.4840379637618637, + "finger_joint_limit_saturation_step_rate": 0.44247914869140065, + "max_joint_limit_excess_rad": 1.5431932210922241, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 54, + "left_index_pitch_joint": 85, + "left_middle_pip_joint": 83, + "left_middle_pitch_joint": 64, + "left_pinky_mcp_joint": 16, + "left_pinky_pip_joint": 13, + "left_ring_mcp_joint": 33, + "left_ring_pip_joint": 46, + "left_thumb_mcp_joint": 2243, + "left_thumb_pip_joint": 125, + "right_thumb_mcp_joint": 866 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 12, + "left_index_pitch_joint": 2, + "left_middle_pip_joint": 8, + "left_middle_pitch_joint": 3, + "left_pinky_mcp_joint": 4, + "left_pinky_pip_joint": 3, + "left_ring_mcp_joint": 7, + "left_ring_pip_joint": 3, + "left_thumb_mcp_joint": 12, + "left_thumb_pip_joint": 3, + "left_thumb_yaw_joint": 1, + "right_thumb_mcp_joint": 1 + }, + "joint_limit_hard_episode_events": 28, + "finger_joint_limit_saturation_counts": { + "left_index_pip_joint": 2, + "left_index_pitch_joint": 49, + "left_middle_pip_joint": 25, + "left_middle_pitch_joint": 26, + "left_pinky_pip_joint": 2, + "left_ring_mcp_joint": 21, + "left_ring_pip_joint": 22, + "left_thumb_mcp_joint": 2100, + "left_thumb_pip_joint": 115, + "right_thumb_mcp_joint": 834 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 1.577497776850123e-08, + "left_index_pip_joint": 0.1478857398033142, + "left_index_pitch_joint": 0.7682743668556213, + "left_middle_dip_joint": 0.0006244601681828499, + "left_middle_pip_joint": 0.36321768164634705, + "left_middle_pitch_joint": 0.5757932066917419, + "left_pinky_dip_joint": 0.0007799672312103212, + "left_pinky_mcp_joint": 0.21793930232524872, + "left_pinky_pip_joint": 0.27146944403648376, + "left_ring_dip_joint": 0.0006580387707799673, + "left_ring_mcp_joint": 0.5890801548957825, + "left_ring_pip_joint": 0.3785877525806427, + "left_thumb_dip_joint": 0.0009763446869328618, + "left_thumb_mcp_joint": 1.5431932210922241, + "left_thumb_pip_joint": 0.9053640961647034, + "left_thumb_yaw_joint": 0.009559014812111855, + "right_index_dip_joint": 4.678271943703294e-05, + "right_index_pip_joint": 0.00017030673916451633, + "right_index_pitch_joint": 2.425163438601885e-05, + "right_middle_dip_joint": 0.00023306305229198188, + "right_middle_mcp_joint": 0.0009085237979888916, + "right_middle_pip_joint": 0.0003316486836411059, + "right_pinky_dip_joint": 2.2623071818661522e-11, + "right_pinky_mcp_joint": 0.0005996227264404297, + "right_pinky_pip_joint": 0.0003940644965041429, + "right_ring_dip_joint": 0.00025093581643886864, + "right_ring_mcp_joint": 0.0006719827651977539, + "right_ring_pip_joint": 0.0003975467989221215, + "right_thumb_mcp_joint": 0.27950841188430786, + "right_thumb_yaw_joint": 8.621552256837806e-12 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 25.44071964021007, + "joint_effort_rms": 32.30707608166522, + "joint_jerk_rms": 2621.947780367386, + "joint_velocity_rms": 0.6301700670670034 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9442073295850417, + "mean_kinematic_grasp_stability": 0.6077717222943065, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.9442073295850417 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.2944108906145144, + "mean_duration_score": 0.9022385197967596, + "mean_hold_score": 0.3750503307448947, + "mean_kinematic_stability_score": 0.03548394007067709, + "mean_legacy_gsi": 0.4419825319510771, + "mean_lift_score": 0.41314351452401493, + "mean_motion_stability_score": 0.3061189476168702 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 6954, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_34_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_34_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1199c7178d436b6f7701a8659caf4c6169f98ae --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_34_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/34_fridge_wine_interhand_pour.yaml", "episode_index": 7, "seed": 203400006, "success": false, "steps": 25185, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 203400006, "base_seed": 203400000, "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": 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"finger_joint_limit_saturation_steps": 6848, "finger_joint_limit_saturation_step_rate": 0.27190788167560054, "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} diff --git a/gpt6_astra_10x_icl/source_runs/task_34_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_34_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..242b0dc309382297b5e41d14d7c55e48ec033502 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_34_episode_07/summary.json @@ -0,0 +1,243 @@ +{ + "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": 1, + "successes": 0, + "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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.6 + }, + "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": 3.970617431010522e-05 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_pour": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.6, + "current_chain_depth_progress_score": 0.6, + "latched_chain_depth_progress_score": 0.6, + "avg_current_chain_depth": 3, + "avg_latched_chain_depth": 3 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 36.0, + "expert_time_step": 2160, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 3.970617431010522e-05, + "violation_counts": { + "drop_to_table_obj_224_wine_bottle_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.3021639864999007, + "finger_joint_limit_saturation_step_rate": 0.27190788167560054, + "max_joint_limit_excess_rad": 1.4258047342300415, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_pip_joint": 262, + "left_index_pitch_joint": 254, + "left_middle_mcp_joint": 4, + "left_middle_pip_joint": 255, + "left_middle_pitch_joint": 140, + "left_pinky_mcp_joint": 289, + "left_pinky_pip_joint": 37, + "left_ring_mcp_joint": 420, + "left_ring_pip_joint": 121, + "left_thumb_mcp_joint": 2308, + "right_thumb_mcp_joint": 4187 + }, + "joint_limit_hard_counts": { + "left_index_pip_joint": 95, + "left_index_pitch_joint": 7, + "left_middle_mcp_joint": 3, + "left_middle_pip_joint": 20, + "left_middle_pitch_joint": 6, + "left_pinky_mcp_joint": 30, + "left_pinky_pip_joint": 11, + "left_ring_mcp_joint": 17, + "left_ring_pip_joint": 12, + "left_thumb_mcp_joint": 10, + "right_thumb_mcp_joint": 2 + }, + "joint_limit_hard_episode_events": 66, + "finger_joint_limit_saturation_counts": { + "left_index_pip_joint": 220, + "left_index_pitch_joint": 184, + "left_middle_pip_joint": 139, + "left_middle_pitch_joint": 92, + "left_pinky_mcp_joint": 119, + "left_pinky_pip_joint": 30, + "left_ring_mcp_joint": 91, + "left_ring_pip_joint": 77, + "left_thumb_mcp_joint": 2150, + "right_thumb_mcp_joint": 4128 + }, + "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, + "left_index_pitch_joint": 1.0933383703231812, + "left_middle_dip_joint": 0.0020228771027177572, + "left_middle_mcp_joint": 0.014538347721099854, + "left_middle_pip_joint": 0.8507091999053955, + "left_middle_pitch_joint": 1.314996600151062, + "left_pinky_dip_joint": 2.627349203976337e-06, + "left_pinky_mcp_joint": 0.9379228353500366, + "left_pinky_pip_joint": 1.4258047342300415, + "left_ring_dip_joint": 0.002708244835957885, + "left_ring_mcp_joint": 1.3110204935073853, + "left_ring_pip_joint": 1.1179713010787964, + "left_thumb_dip_joint": 0.0008104494772851467, + "left_thumb_mcp_joint": 1.0615265369415283, + "left_thumb_pip_joint": 4.710666925977769e-11, + "right_index_dip_joint": 4.643076408683555e-06, + "right_index_pip_joint": 0.00017030673916451633, + "right_index_pitch_joint": 3.0825518479105085e-05, + "right_middle_dip_joint": 7.75345051806653e-06, + "right_middle_pip_joint": 0.0002379939833190292, + "right_middle_pitch_joint": 2.6471150704310276e-05, + "right_pinky_dip_joint": 6.036315426172223e-06, + "right_pinky_mcp_joint": 0.0006028413772583008, + "right_pinky_pip_joint": 2.0510724425548688e-05, + "right_ring_dip_joint": 1.0907289833994582e-05, + "right_ring_mcp_joint": 2.688734639377799e-05, + "right_ring_pip_joint": 0.00021639253827743232, + "right_thumb_dip_joint": 3.1630221201339737e-05, + "right_thumb_mcp_joint": 0.24566704034805298, + "right_thumb_pip_joint": 1.9439228708506562e-05, + "right_thumb_yaw_joint": 8.621552256837806e-12 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 27.56329995329456, + "joint_effort_rms": 32.51177239085556, + "joint_jerk_rms": 2885.0897608276573, + "joint_velocity_rms": 0.7111045996272732 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9883990963549432, + "mean_kinematic_grasp_stability": 0.214376825805114, + "per_object_best_kinematic_grasp_stability": { + "obj_224_wine_bottle_1": 0.9883990963549432 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.13751571702735868, + "mean_duration_score": 0.9688505062537225, + "mean_hold_score": 0.7597677188802875, + "mean_kinematic_stability_score": 0.054324117621133115, + "mean_legacy_gsi": 0.6562612574749315, + "mean_lift_score": 0.9091919793527894, + "mean_motion_stability_score": 0.7088787519215095 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 25185, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_42_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_42_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77257c397b9b9a5550999f444644eb5dd7a74780 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_42_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 5, "seed": 204200004, "success": true, "steps": 1422, "metric_schema_version": 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"tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.002109704641350217, "safety_violation_rate_time": 0.002109704641350217, "safety_violation_rate_event": 0.002109704641350211, "safety_violation_step_rate": 0.002109704641350211, "safety_violation_events_per_step": 0.002109704641350211, "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": 1, "left_little_1_joint": 7, "left_thumb_2_joint": 201, "right_index_1_joint": 144, "right_middle_1_joint": 17}, "joint_limit_hard_counts": {"left_index_1_joint": 3, "left_little_1_joint": 1, "left_thumb_2_joint": 2, "right_index_1_joint": 3, "right_little_1_joint": 1, "right_middle_1_joint": 3}, "finger_joint_limit_saturation_counts": {"left_thumb_2_joint": 67, "right_index_1_joint": 106}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.010396995581686497, "left_index_2_joint": 4.949688445776701e-07, "left_little_1_joint": 0.041290778666734695, "left_little_2_joint": 0.003293063025921583, "left_middle_1_joint": 0.00010623186244629323, "left_middle_2_joint": 7.199473202490481e-06, "left_ring_1_joint": 7.52052292227745e-05, "left_ring_2_joint": 3.6560616081260378e-06, "left_thumb_2_joint": 0.22716519236564636, "left_thumb_3_joint": 0.0024505085311830044, "left_thumb_4_joint": 0.0011313557624816895, "right_index_1_joint": 0.4901236295700073, "right_index_2_joint": 8.244208515861828e-07, "right_little_1_joint": 0.007305662147700787, "right_little_2_joint": 2.700195409488515e-06, "right_middle_1_joint": 0.11637940257787704, "right_middle_2_joint": 8.023147529456764e-06, "right_ring_1_joint": 0.0015476217959076166, "right_ring_2_joint": 3.0134372082102345e-06, "right_thumb_4_joint": 0.0006086528301239014}, "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": 105, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_index_1_joint", "role": "finger", "qpos": -0.005371475126594305, "hard_excess_rad": 0.005371475126594305, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3442769050598145, "operating_lower": 0.0, "operating_upper": 1.3442769050598145, "expanded_target": 0.0, "shielded_target": 0.0}], "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": [2.246481418609619, -1.490628957748413, -2.066396713256836, 1.7642836570739746, 1.879658579826355, -0.13163112103939056, -2.0684173107147217, 1.7590241432189941, 0.5776182413101196, 0.1291418969631195, -2.063950777053833, -0.02005665935575962, 0.0, 0.13997292518615723, 0.0, 0.0, 0.3387250304222107, 0.325615793466568, 0.0, 0.0, 0.0, 0.0, 0.03580709546804428, 0.12387973815202713], "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": [2.246481418609619, -1.490628957748413, -2.066396713256836, 1.7642836570739746, 1.879658579826355, -0.13163112103939056, -2.0684173107147217, 1.7590241432189941, 0.5776182413101196, 0.1291418969631195, -2.063950777053833, -0.02005665935575962, 0.0, 0.13997292518615723, 0.0, 0.0, 0.3387250304222107, -0.15000000596046448, 0.006335760001093149, -0.15000000596046448, -0.15000000596046448, 0.325615793466568, 0.0, 0.0, 0.0, 0.0, 0.03580709546804428, 0.372016042470932, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.12387973815202713, 0.37930965423583984, 0.14153259992599487, 0.20626267790794373], "shielded_full_target": [2.246481418609619, -1.490628957748413, -2.066396713256836, 1.7642836570739746, 1.879658579826355, -0.13163112103939056, -2.0684173107147217, 1.7590241432189941, 0.5776182413101196, 0.1291418969631195, -2.063950777053833, -0.02005665935575962, 0.0, 0.13997292518615723, 0.0, 0.0, 0.3387250304222107, -0.15000000596046448, 0.006335760001093149, -0.15000000596046448, -0.15000000596046448, 0.325615793466568, 0.0, 0.0, 0.0, 0.0, 0.03580709546804428, 0.372016042470932, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, -0.15000000596046448, 0.12387973815202713, 0.37930965423583984, 0.14153259992599487, 0.20626267790794373]}, "joint_limit_active_steps": 355, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 173, "max_joint_limit_excess_rad": 0.4901236295700073, "max_joint_limit_excess_joint": "right_index_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": 355, "joint_limit_active_step_rate": 0.24964838255977498, "finger_joint_limit_saturation_steps": 173, "finger_joint_limit_saturation_step_rate": 0.12165963431786217, "max_joint_limit_excess_rad": 0.4901236295700073, "max_joint_limit_excess_joint": "right_index_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": 1266, "place_paper": 1266, "place_bottle": 1266}, "violation_counts": {"high_speed_obj_349_paper_low_2": 2, "drop_to_table_obj_341_banana_peel_1": 1}, "policy_query_count": 14, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2004, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_42_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_42_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8c5f9af8a79a93be1f8521b0b8a2ad817c0dea09 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_42_episode_05/summary.json @@ -0,0 +1,214 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 23.699999999999935 + }, + "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": 0.002109704641350211 + }, + "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": 0.9395218002812965, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": 1422, + "avg_policy_steps_to_success": 474, + "avg_policy_queries_to_success": 14 + }, + "safety": { + "safety_violation_events_per_step": 0.002109704641350211, + "violation_counts": { + "drop_to_table_obj_341_banana_peel_1": 1, + "high_speed_obj_349_paper_low_2": 2 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.24964838255977498, + "finger_joint_limit_saturation_step_rate": 0.12165963431786217, + "max_joint_limit_excess_rad": 0.4901236295700073, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 1, + "left_little_1_joint": 7, + "left_thumb_2_joint": 201, + "right_index_1_joint": 144, + "right_middle_1_joint": 17 + }, + "joint_limit_hard_counts": { + "left_index_1_joint": 3, + "left_little_1_joint": 1, + "left_thumb_2_joint": 2, + "right_index_1_joint": 3, + "right_little_1_joint": 1, + "right_middle_1_joint": 3 + }, + "joint_limit_hard_episode_events": 12, + "finger_joint_limit_saturation_counts": { + "left_thumb_2_joint": 67, + "right_index_1_joint": 106 + }, + "joint_limit_max_excess_by_joint": { + "left_index_1_joint": 0.010396995581686497, + "left_index_2_joint": 4.949688445776701e-07, + "left_little_1_joint": 0.041290778666734695, + "left_little_2_joint": 0.003293063025921583, + "left_middle_1_joint": 0.00010623186244629323, + "left_middle_2_joint": 7.199473202490481e-06, + "left_ring_1_joint": 7.52052292227745e-05, + "left_ring_2_joint": 3.6560616081260378e-06, + "left_thumb_2_joint": 0.22716519236564636, + "left_thumb_3_joint": 0.0024505085311830044, + "left_thumb_4_joint": 0.0011313557624816895, + "right_index_1_joint": 0.4901236295700073, + "right_index_2_joint": 8.244208515861828e-07, + "right_little_1_joint": 0.007305662147700787, + "right_little_2_joint": 2.700195409488515e-06, + "right_middle_1_joint": 0.11637940257787704, + "right_middle_2_joint": 8.023147529456764e-06, + "right_ring_1_joint": 0.0015476217959076166, + "right_ring_2_joint": 3.0134372082102345e-06, + "right_thumb_4_joint": 0.0006086528301239014 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 58.03058153948807, + "joint_effort_rms": 53.14052391174751, + "joint_jerk_rms": 5920.321903118448, + "joint_velocity_rms": 1.0828404120527646 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9457372641767591, + "mean_kinematic_grasp_stability": 0.46406933173605736, + "per_object_best_kinematic_grasp_stability": { + "obj_080_bottle_3": 0.3054438339716979, + "obj_341_banana_peel_1": 0.6923010024019037, + "obj_349_paper_low_2": 0.9457372641767591 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7902797312079901, + "mean_duration_score": 0.3740584466322866, + "mean_hold_score": 0.3410571964369443, + "mean_kinematic_stability_score": 0.13249799485572383, + "mean_legacy_gsi": 0.4250643369283048, + "mean_lift_score": 0.43905297702766055, + "mean_motion_stability_score": 0.2931968917672835 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1422, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_42_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_42_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a62047495f425281e6ce7c79e57c3a4981096467 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_42_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/42_trash_disposal.yaml", "episode_index": 6, "seed": 204200005, "success": true, "steps": 1500, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204200005, "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": 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": 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"toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [0.4239952142792127, 0.08372961115873762, 0.7680650975277235], "spawn_yaw_deg": 235.4099444701792, "obj_id": "distractor_00_clutter_072b_toy_airplane"}, {"name": "clutter_053_mini_soccer_ball", "uri": "dex2bench_dataset/Objects/053_mini_soccer_ball/usd_decomposition_linux/textured.usd", "scale": [0.9714750203666142, 0.9714750203666142, 0.9714750203666142], "body_type": "dynamic", "category": "ball", "asset_code": "053", "asset_id": "clutter_053_mini_soccer_ball", "asset_split": "unseen", "spawn_position": [0.8680887448263437, 0.3269368831784627, 0.7681548828700101], "spawn_yaw_deg": 186.51944360305356, "obj_id": "distractor_01_clutter_053_mini_soccer_ball"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_341_banana_peel_1": {"position": [-0.5100328617223392, 0.14657288631682094, 0.8859968015314906], "rpy_deg": [90.0, 0.0, -6.704784786330091]}, "obj_349_paper_low_2": {"position": [0.2505034980533062, -0.01651956964987412, 0.8023477017270296], "rpy_deg": [0.0, 0.0, 30.8805752470463]}, "obj_080_bottle_3": {"position": [-0.250328549996775, 0.10970400346477714, 0.6816904484616487], "rpy_deg": [0.0, 0.0, 3.065442957102526]}, "obj_122_trashcan_6": {"position": [0.0, 0.17, 0.9095452679743539], "rpy_deg": [0.0, 0.0, 86.33111890747807]}}, "_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": 1470, "stable_success_step": 1499, "first_stable_success_step": 1499, "steps_to_stable_success": 1500, "policy_steps_to_stable_success": 500, "policy_queries_to_stable_success": 17, "time_to_stable_success_s": 24.99999999999986, "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": 0.8906666666666716, "kinematic_grasp_stability_index": 0.997606276665511, "mean_kinematic_grasp_stability": 0.5100404491309194, "per_object_best_kinematic_grasp_stability": {"obj_080_bottle_3": 0.25052365027146084, "obj_341_banana_peel_1": 0.08898185324841812, "obj_349_paper_low_2": 0.997606276665511}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.35886260881336995, "mean_kinematic_stability_score": 0.12138962689315883, "mean_lift_score": 0.3317777777777778, "mean_hold_score": 0.2208333333333323, "mean_motion_stability_score": 0.201143326763409, "mean_duration_score": 0.22562222222222258, "mean_anti_slip_score": 0.88814814814814}, "robot_motion_metrics": {"joint_velocity_rms": 1.0141692544887435, "joint_acceleration_rms": 47.03890231471175, "joint_jerk_rms": 4804.398946471214, "joint_effort_rms": 52.77201967681994}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.6486666666666847, "safety_violation_rate_time": 0.6486666666666847, "safety_violation_rate_event": 0.0033333333333333335, "safety_violation_step_rate": 0.6486666666666666, "safety_violation_events_per_step": 0.0033333333333333335, "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": 8, "left_little_1_joint": 16, "left_thumb_2_joint": 175, "right_index_1_joint": 11, "right_middle_1_joint": 44, "right_ring_1_joint": 13, "right_thumb_2_joint": 190}, "joint_limit_hard_counts": {"left_index_1_joint": 2, "left_little_1_joint": 1, "left_ring_2_joint": 1, "left_thumb_2_joint": 1, "right_index_1_joint": 1, "right_little_1_joint": 1, "right_middle_1_joint": 4, "right_ring_1_joint": 2, "right_thumb_2_joint": 2}, "finger_joint_limit_saturation_counts": {"left_thumb_2_joint": 144}, "joint_limit_max_excess_by_joint": {"left_index_1_joint": 0.1255759745836258, "left_index_2_joint": 6.730539325872087e-07, "left_little_1_joint": 0.20021890103816986, "left_little_2_joint": 1.0155867130379193e-05, "left_middle_2_joint": 8.319641892740037e-06, "left_ring_2_joint": 0.009600542485713959, "left_thumb_1_joint": 1.6255935406661592e-05, "left_thumb_2_joint": 0.2982456088066101, "left_thumb_3_joint": 0.0006422391161322594, "left_thumb_4_joint": 0.0012375414371490479, "right_index_1_joint": 0.08964068442583084, "right_index_2_joint": 1.3393340623224503e-06, "right_little_1_joint": 0.007083991076797247, "right_little_2_joint": 5.216306362854084e-06, "right_middle_1_joint": 0.16513466835021973, "right_middle_2_joint": 2.2106583855929784e-05, "right_ring_1_joint": 0.04941222444176674, "right_ring_2_joint": 7.124508101696847e-06, "right_thumb_1_joint": 0.0005320123163983226, "right_thumb_2_joint": 0.12884944677352905, "right_thumb_3_joint": 2.6208859708276577e-05, "right_thumb_4_joint": 0.0010703802108764648}, "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": 100, "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": -0.028267428278923035, "hard_excess_rad": 0.028267428278923035, "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}], "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, -1.4599226713180542, -1.5699794292449951, 1.6939661502838135, 1.562464952468872, -0.1336645781993866, -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, -1.4599226713180542, -1.5699794292449951, 1.6939661502838135, 1.562464952468872, -0.1336645781993866, -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, -1.4599226713180542, -1.5699794292449951, 1.6939661502838135, 1.562464952468872, -0.1336645781993866, -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": 448, "joint_limit_hard_episode_events": 12, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 144, "max_joint_limit_excess_rad": 0.2982456088066101, "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": 448, "joint_limit_active_step_rate": 0.2986666666666667, "finger_joint_limit_saturation_steps": 144, "finger_joint_limit_saturation_step_rate": 0.096, "max_joint_limit_excess_rad": 0.2982456088066101, "max_joint_limit_excess_joint": "left_thumb_2_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": 1470, "place_paper": 1470, "place_bottle": 1470}, "violation_counts": {"drop_obj_080_bottle_3": 1, "drop_to_table_obj_349_paper_low_2": 1, "high_speed_obj_349_paper_low_2": 1, "drop_to_table_obj_341_banana_peel_1": 1, "high_speed_obj_341_banana_peel_1": 1}, "policy_query_count": 17, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2004, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_42_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_42_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..19d988cb6c26805737b93889f543de208523e57f --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_42_episode_06/summary.json @@ -0,0 +1,223 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 24.99999999999986 + }, + "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": 0.6486666666666666 + }, + "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": 0.8906666666666716, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": 1500, + "avg_policy_steps_to_success": 500, + "avg_policy_queries_to_success": 17 + }, + "safety": { + "safety_violation_events_per_step": 0.0033333333333333335, + "violation_counts": { + "drop_obj_080_bottle_3": 1, + "drop_to_table_obj_341_banana_peel_1": 1, + "drop_to_table_obj_349_paper_low_2": 1, + "high_speed_obj_341_banana_peel_1": 1, + "high_speed_obj_349_paper_low_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.2986666666666667, + "finger_joint_limit_saturation_step_rate": 0.096, + "max_joint_limit_excess_rad": 0.2982456088066101, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_1_joint": 8, + 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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} diff --git a/gpt6_astra_10x_icl/source_runs/task_42_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_42_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2a21b5ff61be14351cf167518c9d94be9f5f90c1 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_42_episode_07/summary.json @@ -0,0 +1,242 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 74.44999999999706 + }, + "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": 0.000671591672263264 + }, + "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": 0.29908215804791866, + "expert_time_s": 22.266666666666666, + "expert_time_step": 1336, + "avg_steps_to_success": 4467, + "avg_policy_steps_to_success": 1489, + "avg_policy_queries_to_success": 44 + }, + "safety": { + "safety_violation_events_per_step": 0.00044772778150884264, + "violation_counts": { + "drop_to_table_obj_341_banana_peel_1": 1, + "high_speed_obj_349_paper_low_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.36579359749272444, + "finger_joint_limit_saturation_step_rate": 0.24938437430042534, + "max_joint_limit_excess_rad": 1.2053589820861816, + "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 + }, + "joint_limit_hard_episode_events": 36, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 52.801771158072675, + "joint_effort_rms": 58.042906921631484, + "joint_jerk_rms": 5360.812032654777, + "joint_velocity_rms": 1.2948386519884898 + }, + "grasp": { + "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_anti_slip_score": 0.9104295699326085, + "mean_duration_score": 0.38807054199935187, + "mean_hold_score": 0.4077941944630929, + "mean_kinematic_stability_score": 0.29258747785883615, + "mean_legacy_gsi": 0.5101085669485306, + "mean_lift_score": 0.5497350943959406, + "mean_motion_stability_score": 0.3925294626683962 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4467, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_43_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_43_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dabc35e2096ded5e7f23e92f43fbceb12afb9ecb --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_43_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 5, "seed": 204300004, "success": false, "steps": 14100, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 204300004, "base_seed": 204300000, "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, 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0.06968575716018677, "l_WRJ2": 0.10957270860671997}, "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": [1.9678728580474854, -1.7822532653808594, -2.4136738777160645, 2.2442781925201416, 1.5302287340164185, -0.8396599292755127, -2.13385009765625, 1.5940593481063843, 0.8499378561973572, 0.08953113853931427, -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": [1.9678728580474854, -1.7822532653808594, -2.4136738777160645, 2.2442781925201416, 1.5302287340164185, -0.8396599292755127, -2.13385009765625, 1.5940593481063843, 0.8499378561973572, 0.08953113853931427, -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": [1.9678728580474854, -1.7822532653808594, -2.4136738777160645, 2.2442781925201416, 1.5302287340164185, -0.8396599292755127, 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0.0006580963381566107, 0.00024192359705921263, 0.502539336681366, 0.07465947419404984, 0.027925075963139534]}, "joint_limit_active_steps": 1478, "joint_limit_hard_episode_events": 65, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 943, "max_joint_limit_excess_rad": 1.548326015472412, "max_joint_limit_excess_joint": "THJ1", "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": 1478, "joint_limit_active_step_rate": 0.10482269503546099, "finger_joint_limit_saturation_steps": 943, "finger_joint_limit_saturation_step_rate": 0.06687943262411347, "max_joint_limit_excess_rad": 1.548326015472412, "max_joint_limit_excess_joint": "THJ1", "stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": true, "close_fridge": false}, "current_stage_completion": {"open_fridge": true, "place_banana": false, "place_apple": true, "close_fridge": false}, "stage_first_completion_step": {"open_fridge": 1483, "place_banana": null, "place_apple": 12569, "close_fridge": null}, "violation_counts": {"high_speed_obj_013_apple_1": 3, "drop_to_table_obj_013_apple_1": 1, "drop_to_table_obj_011_banana_2": 1}, "policy_query_count": 88, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 41250, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_43_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_43_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..26a6e6c6ca269f52151aaf39b4f5ea8c96fc9813 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_43_episode_05/summary.json @@ -0,0 +1,308 @@ +{ + "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": 1, + "successes": 0, + "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, + "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": 0.5 + }, + "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": 1.0, + "safety_violation_step_rate": 0.0009219858156028368 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_multi": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.5, + "current_chain_depth_progress_score": 0.6666666666666666, + "latched_chain_depth_progress_score": 0.6666666666666666, + "avg_current_chain_depth": 2, + "avg_latched_chain_depth": 2 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 45.833333333333336, + "expert_time_step": 2750, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0003546099290780142, + "violation_counts": { + "drop_to_table_obj_011_banana_2": 1, + "drop_to_table_obj_013_apple_1": 1, + "high_speed_obj_013_apple_1": 3 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.10482269503546099, + "finger_joint_limit_saturation_step_rate": 0.06687943262411347, + "max_joint_limit_excess_rad": 1.548326015472412, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 55, + "FFJ3": 88, + "LFJ2": 26, + "LFJ3": 18, + "LFJ4": 17, + "LFJ5": 145, + "MFJ1": 16, + "MFJ2": 120, + "MFJ3": 43, + "MFJ4": 5, + "RFJ1": 15, + "RFJ2": 140, + "RFJ3": 4, + "RFJ4": 5, + "THJ1": 44, + "THJ3": 28, + "THJ4": 65, + "THJ5": 145, + "l_FFJ2": 99, + "l_FFJ3": 226, + "l_LFJ2": 203, + "l_LFJ3": 378, + "l_LFJ4": 2, + "l_LFJ5": 314, + "l_MFJ2": 323, + "l_MFJ3": 183, + "l_RFJ2": 438, + "l_RFJ3": 75, + "l_THJ4": 28, + "l_THJ5": 118, + "l_WRJ1": 37, + "l_WRJ2": 24 + }, + "joint_limit_hard_counts": { + "FFJ2": 5, + "FFJ3": 2, + "LFJ1": 1, + "LFJ2": 2, + "LFJ3": 7, + "LFJ4": 4, + "LFJ5": 11, + "MFJ1": 2, + "MFJ2": 4, + "MFJ3": 3, + "MFJ4": 2, + "RFJ1": 2, + "RFJ2": 3, + "RFJ3": 3, + "RFJ4": 4, + "THJ1": 1, + "THJ3": 1, + "THJ4": 2, + "THJ5": 7, + "l_FFJ2": 21, + "l_FFJ3": 7, + "l_LFJ2": 7, + "l_LFJ3": 7, + "l_LFJ4": 3, + "l_LFJ5": 34, + "l_MFJ2": 19, + "l_MFJ3": 16, + "l_RFJ2": 22, + "l_RFJ3": 11, + "l_THJ4": 17, + "l_THJ5": 16, + "l_WRJ1": 3, + "l_WRJ2": 2 + }, + "joint_limit_hard_episode_events": 65, + "finger_joint_limit_saturation_counts": { + "FFJ2": 13, + "FFJ3": 47, + "LFJ2": 17, + "LFJ4": 4, + "LFJ5": 109, + "MFJ2": 81, + "RFJ2": 104, + "THJ1": 42, + "THJ3": 24, + "THJ4": 43, + "THJ5": 99, + "l_FFJ2": 75, + "l_FFJ3": 64, + "l_LFJ2": 100, + "l_LFJ3": 318, + "l_LFJ5": 95, + "l_MFJ2": 97, + "l_MFJ3": 47, + "l_RFJ2": 272, + "l_RFJ3": 4, + "l_THJ5": 55 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 0.004584662150591612, + "FFJ2": 0.5536534786224365, + "FFJ3": 0.20703601837158203, + "FFJ4": 2.1457672119140625e-06, + "LFJ1": 0.006359064485877752, + "LFJ2": 0.6214476823806763, + "LFJ3": 0.07467839121818542, + "LFJ4": 0.37557533383369446, + "LFJ5": 0.7921704053878784, + "MFJ1": 0.24392759799957275, + "MFJ2": 0.7013113498687744, + "MFJ3": 0.06667321920394897, + "MFJ4": 0.11544457077980042, + "RFJ1": 0.13311851024627686, + "RFJ2": 0.9399458169937134, + "RFJ3": 0.04502558708190918, + "RFJ4": 0.09221887588500977, + "THJ1": 1.548326015472412, + "THJ3": 0.6530141234397888, + "THJ4": 0.7885133028030396, + "THJ5": 0.6099404096603394, + "WRJ2": 0.0016556382179260254, + "l_FFJ1": 0.00011256139987381175, + "l_FFJ2": 1.0069206953048706, + "l_FFJ3": 0.2702123522758484, + "l_LFJ1": 1.0608473301199073e-11, + "l_LFJ2": 0.2594267725944519, + "l_LFJ3": 1.440045952796936, + "l_LFJ4": 0.06890097260475159, + "l_LFJ5": 0.5835880637168884, + "l_MFJ1": 0.0016980995424091816, + "l_MFJ2": 0.47676005959510803, + "l_MFJ3": 0.34877896308898926, + "l_RFJ1": 0.0019985437393188477, + "l_RFJ2": 0.51722252368927, + "l_RFJ3": 0.30190593004226685, + "l_RFJ4": 0.002611488103866577, + "l_THJ4": 0.04055382311344147, + "l_THJ5": 0.543561577796936, + "l_WRJ1": 0.06968575716018677, + "l_WRJ2": 0.10957270860671997 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 15.053478065182846, + "joint_effort_rms": 50.04983816012912, + "joint_jerk_rms": 1463.8367121992906, + "joint_velocity_rms": 0.36429062727010075 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9944159032322476, + "mean_kinematic_grasp_stability": 0.6387691542441359, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.876944927475285, + "obj_013_apple_1": 0.9944159032322476 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.20352245862884996, + "mean_duration_score": 0.9087588652482269, + "mean_hold_score": 0.43445212765956465, + "mean_kinematic_stability_score": 0.09558885925213666, + "mean_legacy_gsi": 0.47315479669561483, + "mean_lift_score": 0.48946808510638296, + "mean_motion_stability_score": 0.4071495309645171 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 14100, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_43_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_43_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bccd42bfbc3c87d6276d5f1bdfc6aec77c0616f0 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_43_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/43_fridge_fruit_shelf_sorting.yaml", "episode_index": 6, "seed": 204300005, "success": true, "steps": 3469, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204300005, "base_seed": 204300000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", 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"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": 0.7927356586912929, "kinematic_grasp_stability_index": 0.9976644130013246, "mean_kinematic_grasp_stability": 0.719811171561977, "per_object_best_kinematic_grasp_stability": {"obj_011_banana_2": 0.8647248740641854, "obj_013_apple_1": 0.9976644130013246}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.728210532723747, "mean_kinematic_stability_score": 0.4906294364826448, "mean_lift_score": 0.6816085327183626, "mean_hold_score": 0.5998846929951025, "mean_motion_stability_score": 0.5787919083848421, "mean_duration_score": 0.9321562409916402, "mean_anti_slip_score": 0.9299990391082618}, "robot_motion_metrics": {"joint_velocity_rms": 0.3834145874606491, "joint_acceleration_rms": 14.09623356022982, "joint_jerk_rms": 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0.0015579198952764273, "THJ5": 0.06857490539550781, "l_FFJ1": 6.959321035537869e-05, "l_FFJ2": 0.02189464494585991, "l_FFJ3": 0.19606667757034302, "l_LFJ1": 1.0608473301199073e-11, "l_LFJ2": 0.17895635962486267, "l_LFJ3": 0.4772513508796692, "l_LFJ4": 0.001982957124710083, "l_LFJ5": 0.1817154884338379, "l_MFJ1": 0.0008319257176481187, "l_MFJ2": 0.24119646847248077, "l_MFJ3": 0.2881215214729309, "l_MFJ4": 0.005340695381164551, "l_RFJ1": 0.0007560783997178078, "l_RFJ2": 0.4359849989414215, "l_RFJ3": 0.18040913343429565, "l_RFJ4": 0.0054225921630859375, "l_THJ4": 0.040483176708221436, "l_THJ5": 0.49754536151885986, "l_WRJ2": 0.018955975770950317}, "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": 479, "joint_limit_hard_episode_events": 32, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 244, "max_joint_limit_excess_rad": 0.49754536151885986, "max_joint_limit_excess_joint": "l_THJ5", "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": 479, "joint_limit_active_step_rate": 0.13808013836840588, "finger_joint_limit_saturation_steps": 244, "finger_joint_limit_saturation_step_rate": 0.07033727298933411, "max_joint_limit_excess_rad": 0.49754536151885986, "max_joint_limit_excess_joint": "l_THJ5", "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": 1270, "place_banana": 2702, "place_apple": 1976, "close_fridge": 3439}, "violation_counts": {"drop_to_table_obj_011_banana_2": 1}, "policy_query_count": 24, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 4125, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_43_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_43_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5f475fe3c27a6a44bfb81c57baea200b0555a6 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_43_episode_06/summary.json @@ -0,0 +1,265 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 57.816666666664666 + }, + "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": 0.0002882675122513693 + }, + "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": 3, + "avg_latched_chain_depth": 3 + }, + "efficiency": { + "task_efficiency": 0.7927356586912929, + "expert_time_s": 45.833333333333336, + "expert_time_step": 2750, + "avg_steps_to_success": 3469, + "avg_policy_steps_to_success": 1157, + "avg_policy_queries_to_success": 24 + }, + "safety": { + "safety_violation_events_per_step": 0.0002882675122513693, + "violation_counts": { + "drop_to_table_obj_011_banana_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.13808013836840588, + "finger_joint_limit_saturation_step_rate": 0.07033727298933411, + "max_joint_limit_excess_rad": 0.49754536151885986, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "LFJ4": 29, + "LFJ5": 8, + "MFJ2": 41, + "RFJ2": 54, + "RFJ3": 19, + "RFJ4": 4, + "THJ5": 18, + "l_FFJ2": 7, + "l_FFJ3": 91, + "l_LFJ2": 30, + "l_LFJ3": 25, + "l_LFJ5": 159, + "l_MFJ2": 98, + "l_MFJ3": 83, + "l_RFJ2": 105, + "l_RFJ3": 10, + "l_THJ4": 13, + "l_THJ5": 41, + "l_WRJ2": 10 + }, + "joint_limit_hard_counts": { + "LFJ4": 2, + "LFJ5": 8, + "MFJ2": 5, + "RFJ1": 1, + "RFJ2": 1, + "RFJ3": 1, + "RFJ4": 1, + "THJ5": 8, + "l_FFJ2": 12, + "l_FFJ3": 3, + "l_LFJ2": 3, + "l_LFJ3": 1, + "l_LFJ5": 9, + "l_MFJ2": 3, + "l_MFJ3": 3, + "l_MFJ4": 1, + "l_RFJ2": 3, + "l_RFJ3": 1, + "l_RFJ4": 1, + "l_THJ4": 4, + "l_THJ5": 1, + "l_WRJ2": 1 + }, + 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_43_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_43_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..04bb018c427de61302b2dfc72d51277989a420c1 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_43_episode_07/summary.json @@ -0,0 +1,278 @@ +{ + "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": 1, + "successes": 1, + "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": 41250, + "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": 213.30000000006189 + }, + "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": 0.0001562744178777934 + }, + "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": 3, + "avg_latched_chain_depth": 3 + }, + "efficiency": { + "task_efficiency": 0.2148773245819036, + "expert_time_s": 45.833333333333336, + "expert_time_step": 2750, + "avg_steps_to_success": 12798, + "avg_policy_steps_to_success": 4266, + "avg_policy_queries_to_success": 88 + }, + "safety": { + "safety_violation_events_per_step": 0.00023441162681669012, + "violation_counts": { + "drop_to_table_obj_011_banana_2": 1, + "drop_to_table_obj_013_apple_1": 1, + "high_speed_obj_013_apple_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.12009689013908423, + "finger_joint_limit_saturation_step_rate": 0.08681043913111423, + "max_joint_limit_excess_rad": 1.9151273965835571, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "LFJ4": 27, + "LFJ5": 27, + "MFJ2": 37, + "RFJ3": 29, + "RFJ4": 6, + "THJ5": 24, + "l_FFJ2": 172, + "l_FFJ3": 402, + "l_LFJ2": 14, + "l_LFJ3": 59, + "l_LFJ4": 78, + "l_LFJ5": 584, + "l_MFJ2": 290, + "l_MFJ3": 95, + "l_MFJ4": 35, + "l_RFJ2": 393, + "l_RFJ3": 67, + "l_THJ4": 20, + "l_THJ5": 335, + "l_WRJ1": 17, + "l_WRJ2": 135 + }, + "joint_limit_hard_counts": { + "FFJ2": 4, + "LFJ4": 1, + "LFJ5": 14, + "MFJ2": 5, + "RFJ2": 5, + "RFJ3": 1, + "RFJ4": 1, + "THJ5": 4, + "l_FFJ2": 92, + "l_FFJ3": 12, + "l_LFJ2": 2, + "l_LFJ3": 3, + "l_LFJ4": 2, + "l_LFJ5": 91, + "l_MFJ2": 81, + "l_MFJ3": 9, + "l_MFJ4": 2, + "l_RFJ2": 90, + "l_RFJ3": 14, + "l_THJ4": 26, + "l_THJ5": 12, + "l_WRJ1": 1, + "l_WRJ2": 44 + }, + "joint_limit_hard_episode_events": 100, + "finger_joint_limit_saturation_counts": { + "LFJ4": 19, + "MFJ2": 8, + "RFJ3": 22, + "THJ5": 2, + "l_FFJ2": 91, + "l_FFJ3": 235, + "l_LFJ3": 30, + "l_LFJ4": 53, + "l_LFJ5": 333, + "l_MFJ2": 141, + "l_MFJ3": 30, + "l_MFJ4": 25, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 38.55393695098495, + "joint_effort_rms": 51.51355318308891, + "joint_jerk_rms": 4272.6571437875855, + "joint_velocity_rms": 0.5601027809317054 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9983375869686055, + "mean_kinematic_grasp_stability": 0.32832289452441493, + "per_object_best_kinematic_grasp_stability": { + "obj_011_banana_2": 0.9983375869686055, + "obj_013_apple_1": 0.9703201859103735 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.421107464708036, + "mean_duration_score": 0.8879421263739127, + "mean_hold_score": 0.521897952805108, + "mean_kinematic_stability_score": 0.0682787454115276, + "mean_legacy_gsi": 0.5716328567086173, + "mean_lift_score": 0.613103609939053, + "mean_motion_stability_score": 0.5070997721250385 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 12798, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_44_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_44_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5657421549f8e4d9251aee201174feadd364be7e --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_44_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 5, "seed": 204400004, "success": true, "steps": 2746, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400004, "base_seed": 204400000, 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0.747669517993927, "max_joint_limit_excess_joint": "left_hand_Thumb_Flexion", "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": 230, "baguette_in_bowl": 1817, "loaded_bowl_in_mw": 2407, "close_door": 2693}, "violation_counts": {}, "policy_query_count": 25, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3183, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_44_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_44_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..479d1ca408fceaa89097fd086d90cc5d4c6b5964 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_44_episode_05/summary.json @@ -0,0 +1,247 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 45.76666666666535 + }, + "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": { + "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": 0.7727603787327243, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": 2746, + "avg_policy_steps_to_success": 916, + "avg_policy_queries_to_success": 25 + }, + "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": 0.3273852876911872, + "finger_joint_limit_saturation_step_rate": 0.07501820830298617, + "max_joint_limit_excess_rad": 0.747669517993927, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_hand_Index_Finger_Proximal": 3, + "left_hand_Middle_Finger_Proximal": 72, + "left_hand_Pinky": 16, + "left_hand_Ring_Finger": 92, + "left_hand_Thumb_Flexion": 166, + "left_hand_j13": 30, + "left_hand_j3": 108, + "left_hand_j5": 28, + "right_hand_Index_Finger_Distal": 559, + "right_hand_Thumb_Flexion": 66 + }, + "joint_limit_hard_counts": { + "left_hand_Finger_Spread": 8, + "left_hand_Index_Finger_Proximal": 1, + "left_hand_Middle_Finger_Proximal": 3, + "left_hand_Pinky": 1, + "left_hand_Ring_Finger": 4, + "left_hand_Thumb_Flexion": 1, + "left_hand_j13": 2, + "left_hand_j3": 4, + "left_hand_j5": 12, + "left_hand_ring_spread": 2, + "right_hand_Index_Finger_Distal": 3, + "right_hand_Index_Finger_Proximal": 1, + "right_hand_Middle_Finger_Distal": 1, + "right_hand_Middle_Finger_Proximal": 2, + "right_hand_Pinky": 1, + "right_hand_Ring_Finger": 2, + "right_hand_Thumb_Flexion": 4, + "right_hand_j13": 1, + "right_hand_j3": 3 + }, + "joint_limit_hard_episode_events": 19, + "finger_joint_limit_saturation_counts": { + "left_hand_Middle_Finger_Proximal": 14, + "left_hand_Ring_Finger": 26, + "left_hand_Thumb_Flexion": 140, + "left_hand_j3": 15, + "right_hand_Thumb_Flexion": 35 + }, + "joint_limit_max_excess_by_joint": { + "left_hand_Finger_Spread": 0.00806845910847187, + "left_hand_Index_Finger_Proximal": 0.020034125074744225, + "left_hand_Middle_Finger_Proximal": 0.3911053240299225, + "left_hand_Pinky": 0.05564270168542862, + "left_hand_Ring_Finger": 0.39603883028030396, + "left_hand_Thumb_Flexion": 0.747669517993927, + "left_hand_Thumb_Opposition": 0.00033908337354660034, + "left_hand_index_spread": 0.004080840852111578, + "left_hand_j13": 0.08513246476650238, + "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": 0.30164048075675964, + "left_hand_j4": 1.0819940863410205e-12, + "left_hand_j5": 0.04807618260383606, + "left_hand_ring_spread": 0.005850218236446381, + "right_hand_Finger_Spread": 0.0002748920232988894, + "right_hand_Index_Finger_Distal": 0.07560331374406815, + "right_hand_Index_Finger_Proximal": 0.005389273166656494, + "right_hand_Middle_Finger_Distal": 0.0051239426247775555, + "right_hand_Middle_Finger_Proximal": 0.0077882069163024426, + "right_hand_Pinky": 0.006288422271609306, + "right_hand_Ring_Finger": 0.006666438188403845, + "right_hand_Thumb_Flexion": 0.2885274291038513, + "right_hand_index_spread": 6.247554119909182e-05, + "right_hand_j12": 0.004645314067602158, + "right_hand_j13": 0.006974471267312765, + "right_hand_j14": 0.0032455420587211847, + "right_hand_j15": 1.3479572771757375e-05, + "right_hand_j16": 8.439960536010815e-11, + "right_hand_j17": 3.214399579842819e-11, + "right_hand_j3": 0.008423573337495327, + "right_hand_j4": 8.654936323182483e-07, + "right_hand_j5": 0.0009411170030944049, + "right_hand_ring_spread": 0.0011221481254324317 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 16.855159735404566, + "joint_effort_rms": 26.823633691763423, + "joint_jerk_rms": 1716.7400676879424, + "joint_velocity_rms": 0.38275927142147936 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9989994459821786, + "mean_kinematic_grasp_stability": 0.6791280365707717, + "per_object_best_kinematic_grasp_stability": { + "obj_024_bowl_3": 0.9989994459821786, + "obj_163_baguette_1": 0.2857899136743237 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8055353241077932, + "mean_duration_score": 0.5781743141539218, + "mean_hold_score": 0.35292243262927986, + "mean_kinematic_stability_score": 0.15642697856191298, + "mean_legacy_gsi": 0.47086865510417303, + "mean_lift_score": 0.4246176256372906, + "mean_motion_stability_score": 0.30362805862097364 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2746, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_44_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_44_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bece1d42371782aa314415e73c4cb24588d3f74 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_44_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/44_microwave_bowl_loading.yaml", "episode_index": 6, "seed": 204400005, "success": true, "steps": 9180, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 204400005, 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1.0, "normalized_progress_score": 1.0, "chain_depth_progress_score": 1.0, "current_stage_completion_rate": 0.75, "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": 0.23115468409583959, "kinematic_grasp_stability_index": 0.9818120029629427, "mean_kinematic_grasp_stability": 0.7648576346024447, "per_object_best_kinematic_grasp_stability": {"obj_024_bowl_3": 0.9818120029629427, "obj_163_baguette_1": 0.8327159139126921}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3936835468285962, "mean_kinematic_stability_score": 0.028036448152910964, "mean_lift_score": 0.36100217864923745, "mean_hold_score": 0.33002995642701527, "mean_motion_stability_score": 0.2964932602340212, "mean_duration_score": 0.8616884531590414, "mean_anti_slip_score": 0.17211328976034848}, "robot_motion_metrics": {"joint_velocity_rms": 0.2622328844098412, "joint_acceleration_rms": 11.022009759499278, "joint_jerk_rms": 1100.7392021218154, "joint_effort_rms": 24.490921502504385}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0002178649237472569, "safety_violation_rate_time": 0.0002178649237472569, "safety_violation_rate_event": 0.00021786492374727668, "safety_violation_step_rate": 0.00021786492374727668, "safety_violation_events_per_step": 0.00021786492374727668, "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_Distal": 10, "left_hand_Index_Finger_Proximal": 239, "left_hand_Middle_Finger_Distal": 5, "left_hand_Middle_Finger_Proximal": 122, "left_hand_Pinky": 51, "left_hand_Ring_Finger": 114, "left_hand_Thumb_Flexion": 96, "left_hand_j13": 9, "left_hand_j3": 110, "left_hand_j5": 52, "right_hand_Index_Finger_Proximal": 1, "right_hand_Middle_Finger_Proximal": 1, "right_hand_Thumb_Flexion": 12, "right_hand_j3": 33}, "joint_limit_hard_counts": {"left_hand_Finger_Spread": 9, "left_hand_Index_Finger_Distal": 1, "left_hand_Index_Finger_Proximal": 3, "left_hand_Middle_Finger_Distal": 1, "left_hand_Middle_Finger_Proximal": 5, "left_hand_Pinky": 3, "left_hand_Ring_Finger": 5, "left_hand_Thumb_Flexion": 4, "left_hand_index_spread": 1, "left_hand_j12": 1, "left_hand_j13": 3, "left_hand_j3": 1, "left_hand_j5": 20, "left_hand_ring_spread": 7, "right_hand_Index_Finger_Proximal": 2, "right_hand_Middle_Finger_Distal": 1, "right_hand_Middle_Finger_Proximal": 6, "right_hand_Pinky": 1, "right_hand_Ring_Finger": 2, "right_hand_Thumb_Flexion": 7, "right_hand_j13": 1, "right_hand_j3": 10}, "finger_joint_limit_saturation_counts": {"left_hand_Index_Finger_Distal": 5, "left_hand_Index_Finger_Proximal": 63, "left_hand_Middle_Finger_Proximal": 81, "left_hand_Pinky": 17, "left_hand_Ring_Finger": 51, "left_hand_Thumb_Flexion": 14, "left_hand_j3": 85, "left_hand_j5": 14}, "joint_limit_max_excess_by_joint": {"left_hand_Finger_Spread": 0.008861001580953598, "left_hand_Index_Finger_Distal": 0.3235565423965454, "left_hand_Index_Finger_Proximal": 1.5071290731430054, "left_hand_Middle_Finger_Distal": 0.19435572624206543, "left_hand_Middle_Finger_Proximal": 1.09234619140625, "left_hand_Pinky": 0.3397405743598938, "left_hand_Ring_Finger": 0.2626013457775116, "left_hand_Thumb_Flexion": 0.25843101739883423, "left_hand_Thumb_Opposition": 7.354263652814552e-05, "left_hand_index_spread": 0.006348968017846346, "left_hand_j12": 0.006257834378629923, "left_hand_j13": 0.04706740379333496, "left_hand_j14": 6.4545488385192584e-06, "left_hand_j15": 9.73641945165582e-05, "left_hand_j16": 0.00024394788488280028, "left_hand_j17": 4.2978484998457134e-05, "left_hand_j3": 0.3234946131706238, "left_hand_j5": 0.40694475173950195, "left_hand_ring_spread": 0.00731812696903944, "right_hand_Finger_Spread": 0.00040801058639772236, "right_hand_Index_Finger_Distal": 0.00428237346932292, "right_hand_Index_Finger_Proximal": 0.017145931720733643, "right_hand_Middle_Finger_Distal": 0.005123946815729141, "right_hand_Middle_Finger_Proximal": 0.012547194957733154, "right_hand_Pinky": 0.006288421805948019, "right_hand_Ring_Finger": 0.006666450295597315, "right_hand_Thumb_Flexion": 0.07390489429235458, "right_hand_index_spread": 6.29616915830411e-05, "right_hand_j12": 0.004645318258553743, "right_hand_j13": 0.006974472664296627, "right_hand_j14": 0.00012357940431684256, "right_hand_j15": 1.3477932043315377e-05, "right_hand_j3": 0.1325986236333847, "right_hand_j4": 1.7954007489606738e-06, "right_hand_j5": 0.0009411167120561004, "right_hand_ring_spread": 0.0012932430254295468}, "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": 1, "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": -0.006288421805948019, "hard_excess_rad": 0.006288421805948019, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.02424664981663227, "shielded_target": 0.02424664981663227}, {"joint": "right_hand_Ring_Finger", "role": "finger", "qpos": -0.006313399411737919, "hard_excess_rad": 0.006313399411737919, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 0.981749951839447, "operating_lower": 0.0, "operating_upper": 0.981749951839447, "expanded_target": 0.021095464006066322, "shielded_target": 0.021095464006066322}, {"joint": "right_hand_j13", "role": "finger_mimic", "qpos": -0.006974472664296627, "hard_excess_rad": 0.006974472664296627, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3339998722076416, "operating_lower": 0.0, "operating_upper": 1.3339998722076416, "expanded_target": 0.03294634819030762, "shielded_target": 0.03294634819030762, "mimic_source_joint": "right_hand_Pinky"}], "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": [1.587385892868042, -1.5843441486358643, -1.5956063270568848, 1.6048940420150757, 1.5762416124343872, -0.022073939442634583, -1.5684394836425781, 1.5926388502120972, -0.008760579861700535, 0.003595297923311591, -1.5739829540252686, -0.0018922791350632906, 0.006865236908197403, 0.005947067402303219, 0.047910843044519424, 1.2243083213903105e-09, 0.039776284247636795, 2.1958932068522063e-12, 0.003231946611776948, 0.02424664981663227, 0.021095464006066322, 0.004970857873558998, -0.02468741126358509, 0.01909181848168373, -7.810708330113769e-11, 0.016214095056056976, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154], "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": [1.587385892868042, -1.5843441486358643, -1.5956063270568848, 1.6048940420150757, 1.5762416124343872, -0.022073939442634583, -1.5684394836425781, 1.5926388502120972, -0.008760579861700535, 0.003595297923311591, -1.5739829540252686, -0.0018922791350632906, 0.006865236908197403, 6.121541606951553e-10, 0.006865236908197403, 0.005947067402303219, 0.047910843044519424, 1.2243083213903105e-09, 6.121541606951553e-10, 0.039776284247636795, 2.1958932068522063e-12, -3.9053541650568846e-11, 2.1958932068522063e-12, 0.006036927457898855, 0.003231946611776948, 0.02424664981663227, 0.021095464006066322, 0.004970857873558998, -0.02468741126358509, 0.01909181848168373, -7.810708330113769e-11, -3.9053541650568846e-11, 0.016214095056056976, 0.008616646751761436, 0.0033773842733353376, 0.03294634819030762, 0.028664516285061836, 0.005196535028517246, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.03450467810034752, 0.029975177720189095, -0.03576934337615967, 0.030527137219905853, 0.041194744408130646, 0.030081531032919884, 0.03812378644943237, 0.043143220245838165, 0.03145698457956314], "shielded_full_target": [1.587385892868042, -1.5843441486358643, -1.5956063270568848, 1.6048940420150757, 1.5762416124343872, -0.022073939442634583, -1.5684394836425781, 1.5926388502120972, -0.008760579861700535, 0.003595297923311591, -1.5739829540252686, -0.0018922791350632906, 0.006865236908197403, 6.121541606951553e-10, 0.006865236908197403, 0.005947067402303219, 0.047910843044519424, 1.2243083213903105e-09, 6.121541606951553e-10, 0.039776284247636795, 2.1958932068522063e-12, -3.9053541650568846e-11, 2.1958932068522063e-12, 0.006036927457898855, 0.003231946611776948, 0.02424664981663227, 0.021095464006066322, 0.004970857873558998, -0.02468741126358509, 0.01909181848168373, -7.810708330113769e-11, -3.9053541650568846e-11, 0.016214095056056976, 0.008616646751761436, 0.0033773842733353376, 0.03294634819030762, 0.028664516285061836, 0.005196535028517246, -0.025060437619686127, 0.029212571680545807, 0.030317004770040512, 0.022138306871056557, 0.036468133330345154, 0.03450467810034752, 0.029975177720189095, -0.03576934337615967, 0.030527137219905853, 0.041194744408130646, 0.030081531032919884, 0.03812378644943237, 0.043143220245838165, 0.03145698457956314]}, "joint_limit_active_steps": 598, "joint_limit_hard_episode_events": 34, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 232, "max_joint_limit_excess_rad": 1.5071290731430054, "max_joint_limit_excess_joint": "left_hand_Index_Finger_Proximal", "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": 598, "joint_limit_active_step_rate": 0.06514161220043573, "finger_joint_limit_saturation_steps": 232, "finger_joint_limit_saturation_step_rate": 0.025272331154684097, "max_joint_limit_excess_rad": 1.5071290731430054, "max_joint_limit_excess_joint": "left_hand_Index_Finger_Proximal", "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": 266, "baguette_in_bowl": 7292, "loaded_bowl_in_mw": 8483, "close_door": 9150}, "violation_counts": {"drop_to_table_obj_163_baguette_1": 1, "drop_to_table_obj_024_bowl_3": 1}, "policy_query_count": 74, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 31830, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_44_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_44_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..be0fe4f606ab96afdab3dc3a2091c56e50e64e8d --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_44_episode_06/summary.json @@ -0,0 +1,260 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 153.0000000000139 + }, + "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": 0.00021786492374727668 + }, + "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": 0.23115468409583959, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": 9180, + "avg_policy_steps_to_success": 3060, + "avg_policy_queries_to_success": 74 + }, + "safety": { + "safety_violation_events_per_step": 0.00021786492374727668, + "violation_counts": { + "drop_to_table_obj_024_bowl_3": 1, + "drop_to_table_obj_163_baguette_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.06514161220043573, + "finger_joint_limit_saturation_step_rate": 0.025272331154684097, + "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": 239, + "left_hand_Middle_Finger_Distal": 5, + "left_hand_Middle_Finger_Proximal": 122, + "left_hand_Pinky": 51, + "left_hand_Ring_Finger": 114, + "left_hand_Thumb_Flexion": 96, + "left_hand_j13": 9, + "left_hand_j3": 110, + 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_44_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_44_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0e53a02a87ab027b93eef42e8bf23680c6828a87 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_44_episode_07/summary.json @@ -0,0 +1,260 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 203.0833333333871 + }, + "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": 0.00016413623307345098 + }, + "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": 0.1741485432908854, + "expert_time_s": 35.36666666666667, + "expert_time_step": 2122, + "avg_steps_to_success": 12185, + "avg_policy_steps_to_success": 4062, + "avg_policy_queries_to_success": 57 + }, + "safety": { + "safety_violation_events_per_step": 0.00016413623307345098, + "violation_counts": { + "drop_to_table_obj_024_bowl_3": 1, + "drop_to_table_obj_163_baguette_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.11637258924907673, + "finger_joint_limit_saturation_step_rate": 0.09265490356996307, + "max_joint_limit_excess_rad": 0.9788976311683655, + "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 + }, + "joint_limit_hard_episode_events": 51, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 10.490122937414455, + "joint_effort_rms": 23.070271375759315, + "joint_jerk_rms": 1049.9757285752037, + "joint_velocity_rms": 0.2617691108643822 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9937468705791239, + "mean_kinematic_grasp_stability": 0.7480497964368366, + "per_object_best_kinematic_grasp_stability": { + "obj_024_bowl_3": 0.9937468705791239, + "obj_163_baguette_1": 0.4222424262279304 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5937081110655178, + "mean_duration_score": 0.8526261797291749, + "mean_hold_score": 0.32001231021747956, + "mean_kinematic_stability_score": 0.10249233772271635, + "mean_legacy_gsi": 0.46910739345562086, + "mean_lift_score": 0.354411161263849, + "mean_motion_stability_score": 0.28296772354213284 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 12185, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_51_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_51_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1caec173aca54d3dfa3ceab611c30d22250292e0 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_51_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 5, "seed": 205100004, "success": true, "steps": 1677, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 205100004, "base_seed": 205100000, "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": 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1.0, "current_stage_completion_rate": 0.6666666666666666, "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": 1.2200357781753264, "kinematic_grasp_stability_index": 0.9438202480205987, "mean_kinematic_grasp_stability": 0.30327659992128114, "per_object_best_kinematic_grasp_stability": {"obj_021_bleach_cleanser_2": 0.9438202480205987}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2991981361942795, "mean_kinematic_stability_score": 0.06854014989276419, "mean_lift_score": 0.2391174716756112, "mean_hold_score": 0.11141920095408481, "mean_motion_stability_score": 0.11228916148301295, "mean_duration_score": 0.30812959650168953, "mean_anti_slip_score": 0.802623732856292}, "robot_motion_metrics": {"joint_velocity_rms": 0.9036872402946522, "joint_acceleration_rms": 26.204503488553346, "joint_jerk_rms": 2574.104563459143, "joint_effort_rms": 75.35712047503246}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 3, "tool_switch_successful": 0, "safety_violation_rate": 0.0005963029218843237, "safety_violation_rate_time": 0.0005963029218843237, "safety_violation_rate_event": 0.0005963029218843172, "safety_violation_step_rate": 0.0005963029218843172, "safety_violation_events_per_step": 0.0005963029218843172, "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": {"leap_l_1": 6, "leap_l_10": 36, "leap_l_11": 13, "leap_l_12": 41, "leap_l_13": 1, "leap_l_2": 34, "multi_leap_r_10": 15, "multi_leap_r_6": 10}, "joint_limit_hard_counts": {"leap_l_1": 1, "leap_l_10": 19, "leap_l_11": 5, "leap_l_12": 8, "leap_l_13": 1, "leap_l_2": 18, "multi_leap_r_10": 1, "multi_leap_r_6": 1, "multi_leap_r_9": 1}, "finger_joint_limit_saturation_counts": {"leap_l_12": 28}, "joint_limit_max_excess_by_joint": {"leap_l_1": 0.03635430335998535, "leap_l_10": 0.17957204580307007, "leap_l_11": 0.21100544929504395, "leap_l_12": 0.6737439632415771, "leap_l_13": 0.02496814727783203, "leap_l_15": 0.00032210350036621094, "leap_l_2": 0.08274602890014648, "leap_l_3": 0.0003555715084075928, "multi_leap_r_10": 0.2028316855430603, "multi_leap_r_6": 0.11723065376281738, "multi_leap_r_9": 0.005373060703277588}, "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": 29, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_2", "role": "finger", "qpos": -0.5354576706886292, "hard_excess_rad": 0.02945774793624878, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.403954416513443, "shielded_target": -0.403954416513443}], "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": [-1.618073582649231, -1.4492018222808838, 1.5256863832473755, -0.053565628826618195, -1.4345589876174927, -2.080390453338623, -0.028798209503293037, 1.226488709449768, -2.16288423538208, 0.6617392897605896, 1.7924543619155884, -1.166680932044983, 0.8321427702903748, -1.431047797203064, 0.40951234102249146, -1.384244680404663, -0.12041323632001877, 0.31199076771736145, -2.442999839782715, 0.6008424162864685, 1.251473069190979, 0.34650763869285583, 0.08794271945953369, -0.403954416513443, -0.0010000000474974513, -0.14946606755256653, -0.35947197675704956, 0.03503769263625145, -0.34978529810905457, -1.340000033378601, -0.09188451617956161, -0.34812042117118835, -0.144669771194458, 1.295063853263855, 0.007731566205620766, -0.061921700835227966, -0.26848599314689636, -0.01861201599240303, -0.01745474338531494, -0.05047162249684334], "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": [-1.618073582649231, -1.4492018222808838, 1.5256863832473755, -0.053565628826618195, -1.4345589876174927, -2.080390453338623, -0.028798209503293037, 1.226488709449768, -2.16288423538208, 0.6617392897605896, 1.7924543619155884, -1.166680932044983, 0.8321427702903748, -1.431047797203064, 0.40951234102249146, -1.384244680404663, -0.12041323632001877, 0.31199076771736145, 0.0, -2.442999839782715, 0.0, 0.0, 0.6008424162864685, 1.251473069190979, 0.34650763869285583, 0.08794271945953369, -0.403954416513443, -0.0010000000474974513, -0.14946606755256653, -0.35947197675704956, 0.0, 0.03503769263625145, 0.0, 0.0, -0.34978529810905457, -1.340000033378601, -0.09188451617956161, -0.34812042117118835, -0.144669771194458, 1.295063853263855, 0.007731566205620766, -0.061921700835227966, -0.26848599314689636, -0.01861201599240303, -0.01745474338531494, -0.05047162249684334], "shielded_full_target": [-1.618073582649231, -1.4492018222808838, 1.5256863832473755, -0.053565628826618195, -1.4345589876174927, -2.080390453338623, -0.028798209503293037, 1.226488709449768, -2.16288423538208, 0.6617392897605896, 1.7924543619155884, -1.166680932044983, 0.8321427702903748, -1.431047797203064, 0.40951234102249146, -1.384244680404663, -0.12041323632001877, 0.31199076771736145, 0.0, -2.442999839782715, 0.0, 0.0, 0.6008424162864685, 1.251473069190979, 0.34650763869285583, 0.08794271945953369, -0.403954416513443, -0.0010000000474974513, -0.14946606755256653, -0.35947197675704956, 0.0, 0.03503769263625145, 0.0, 0.0, -0.34978529810905457, -1.340000033378601, -0.09188451617956161, -0.34812042117118835, -0.144669771194458, 1.295063853263855, 0.007731566205620766, -0.061921700835227966, -0.26848599314689636, -0.01861201599240303, -0.01745474338531494, -0.05047162249684334]}, "joint_limit_active_steps": 125, "joint_limit_hard_episode_events": 35, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 28, "max_joint_limit_excess_rad": 0.6737439632415771, "max_joint_limit_excess_joint": "leap_l_12", "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": 125, "joint_limit_active_step_rate": 0.07453786523553965, "finger_joint_limit_saturation_steps": 28, "finger_joint_limit_saturation_step_rate": 0.016696481812760882, "max_joint_limit_excess_rad": 0.6737439632415771, "max_joint_limit_excess_joint": "leap_l_12", "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": 323, "pour_cleaner": 1075, "close_lid": 1647}, "violation_counts": {"drop_to_table_obj_021_bleach_cleanser_2": 1}, "policy_query_count": 20, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3069, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_51_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_51_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..15b19fe966fecc7c4292dce88b79020ceffa5984 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_51_episode_05/summary.json @@ -0,0 +1,207 @@ +{ + "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": 1, + "successes": 1, + "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": 3069, + "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": 27.949999999999694 + }, + "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": 0.0005963029218843172 + }, + "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": 0.6666666666666666, + "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": 1.2200357781753264, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 1677, + "avg_policy_steps_to_success": 559, + "avg_policy_queries_to_success": 20 + }, + "safety": { + "safety_violation_events_per_step": 0.0005963029218843172, + "violation_counts": { + "drop_to_table_obj_021_bleach_cleanser_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.07453786523553965, + "finger_joint_limit_saturation_step_rate": 0.016696481812760882, + "max_joint_limit_excess_rad": 0.6737439632415771, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_1": 6, + "leap_l_10": 36, + "leap_l_11": 13, + "leap_l_12": 41, + "leap_l_13": 1, + "leap_l_2": 34, + "multi_leap_r_10": 15, + "multi_leap_r_6": 10 + }, + "joint_limit_hard_counts": { + "leap_l_1": 1, + "leap_l_10": 19, + "leap_l_11": 5, + "leap_l_12": 8, + "leap_l_13": 1, + "leap_l_2": 18, + "multi_leap_r_10": 1, + "multi_leap_r_6": 1, + "multi_leap_r_9": 1 + }, + "joint_limit_hard_episode_events": 35, + "finger_joint_limit_saturation_counts": { + "leap_l_12": 28 + }, + "joint_limit_max_excess_by_joint": { + "leap_l_1": 0.03635430335998535, + "leap_l_10": 0.17957204580307007, + "leap_l_11": 0.21100544929504395, + "leap_l_12": 0.6737439632415771, + "leap_l_13": 0.02496814727783203, + "leap_l_15": 0.00032210350036621094, + "leap_l_2": 0.08274602890014648, + "leap_l_3": 0.0003555715084075928, + "multi_leap_r_10": 0.2028316855430603, + "multi_leap_r_6": 0.11723065376281738, + "multi_leap_r_9": 0.005373060703277588 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 26.204503488553346, + "joint_effort_rms": 75.35712047503246, + "joint_jerk_rms": 2574.104563459143, + "joint_velocity_rms": 0.9036872402946522 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9438202480205987, + "mean_kinematic_grasp_stability": 0.30327659992128114, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.9438202480205987 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.802623732856292, + "mean_duration_score": 0.30812959650168953, + "mean_hold_score": 0.11141920095408481, + "mean_kinematic_stability_score": 0.06854014989276419, + "mean_legacy_gsi": 0.2991981361942795, + "mean_lift_score": 0.2391174716756112, + "mean_motion_stability_score": 0.11228916148301295 + } + }, + "tool": { + "tool_selection_accuracy": 1.0, + "tool_switch_success_rate": 0.0, + "tool_switch_total": 3, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1677, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_51_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_51_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab9decfc6c421521b2eb87a846cbf9cbcc93c52c --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_51_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 6, "seed": 205100005, "success": false, "steps": 753, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 205100005, "base_seed": 205100000, "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": 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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": 0.0, "mean_kinematic_grasp_stability": null, "per_object_best_kinematic_grasp_stability": {"obj_021_bleach_cleanser_2": 0.0}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.19999999999999998, "mean_kinematic_stability_score": 0.0, "mean_lift_score": 0.0, "mean_hold_score": 0.0, "mean_motion_stability_score": 0.0, "mean_duration_score": 0.0, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 1.111055624726409, "joint_acceleration_rms": 39.11250170417524, "joint_jerk_rms": 3890.977002909706, "joint_effort_rms": 93.54533116208299}, "tool_selection_accuracy": 0.0, "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": {"leap_l_1": 17, "leap_l_10": 180, "leap_l_12": 65, "leap_l_13": 55, "leap_l_2": 119, "leap_l_6": 80, "multi_leap_r_10": 1, "multi_leap_r_9": 84}, "joint_limit_hard_counts": {"leap_l_1": 1, "leap_l_10": 15, "leap_l_11": 2, "leap_l_12": 6, "leap_l_13": 1, "leap_l_2": 20, "leap_l_6": 2, "multi_leap_r_10": 2, "multi_leap_r_9": 2}, "finger_joint_limit_saturation_counts": {"leap_l_10": 102, "leap_l_12": 51, "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": 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"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": [-1.84673273563385, -1.9046450853347778, 1.5700000524520874, 0.06015017256140709, -1.5700000524520874, -2.295945405960083, 1.0337180417208103e-10, 1.3158643245697021, -1.5700000524520874, 0.3522844612598419, 1.5700000524520874, -1.388564944267273, -3.378299584522182e-10, -1.5700000524520874, 0.8220458030700684, -1.362896203994751, 0.153966024518013, 1.0615947246551514, 0.0, -1.6053998470306396, 0.0, 0.0, -1.3070141413606962e-08, 1.6590508966629613e-09, 4.444943968451298e-08, 7.120088696410676e-08, 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-0.3060118854045868, 0.0, 3.709943741103672e-10, 0.0, 0.0, -0.2401350736618042, -0.8805714249610901, 0.497524619102478, -0.23966510593891144, -2.9792726508048872e-08, -1.3938196152807336e-09, 3.5788826124871775e-08, 8.848283528095635e-08, -9.724623190043857e-11, 3.4901670442621935e-10, -9.28516378367883e-12, 1.2323198017583081e-11]}, "joint_limit_active_steps": 366, "joint_limit_hard_episode_events": 17, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 226, "max_joint_limit_excess_rad": 1.451590657234192, "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": 366, "joint_limit_active_step_rate": 0.4860557768924303, "finger_joint_limit_saturation_steps": 226, "finger_joint_limit_saturation_step_rate": 0.300132802124834, "max_joint_limit_excess_rad": 1.451590657234192, "max_joint_limit_excess_joint": "leap_l_10", "stage_completion": {"open_lid": true, "pour_cleaner": false, "close_lid": false}, "current_stage_completion": {"open_lid": false, "pour_cleaner": false, "close_lid": false}, "stage_first_completion_step": {"open_lid": 287, "pour_cleaner": null, "close_lid": null}, "violation_counts": {}, "policy_query_count": 8, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3069, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_51_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_51_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ed848080e70f4a99e99975ec1e858ce07821d7b5 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_51_episode_06/summary.json @@ -0,0 +1,210 @@ +{ + "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": 1, + "successes": 0, + "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, + "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": 0.0, + "drop_rate": 0.0, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.0 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "articulation_multi": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 0, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": null, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "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": 0.4860557768924303, + "finger_joint_limit_saturation_step_rate": 0.300132802124834, + "max_joint_limit_excess_rad": 1.451590657234192, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_1": 17, + "leap_l_10": 180, + "leap_l_12": 65, + "leap_l_13": 55, + "leap_l_2": 119, + "leap_l_6": 80, + "multi_leap_r_10": 1, + "multi_leap_r_9": 84 + }, + "joint_limit_hard_counts": { + "leap_l_1": 1, + "leap_l_10": 15, + "leap_l_11": 2, + "leap_l_12": 6, + "leap_l_13": 1, + "leap_l_2": 20, + "leap_l_6": 2, + "multi_leap_r_10": 2, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_episode_events": 17, + "finger_joint_limit_saturation_counts": { + "leap_l_10": 102, + "leap_l_12": 51, + "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": 0.005533874034881592, + "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_10": 0.010754644870758057, + "multi_leap_r_9": 0.8334408402442932 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 39.11250170417524, + "joint_effort_rms": 93.54533116208299, + "joint_jerk_rms": 3890.977002909706, + "joint_velocity_rms": 1.111055624726409 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_021_bleach_cleanser_2": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.0, + "mean_kinematic_stability_score": 0.0, + "mean_legacy_gsi": 0.19999999999999998, + "mean_lift_score": 0.0, + "mean_motion_stability_score": 0.0 + } + }, + "tool": { + "tool_selection_accuracy": 0.0, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 753, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_51_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_51_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ceb87ce4c58d10fd6019467782df259401bf8a5 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_51_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/51_toilet_lid_cleaner_pour.yaml", "episode_index": 7, "seed": 205100006, "success": true, "steps": 3095, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 205100006, "base_seed": 205100000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": 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"mean_kinematic_stability_score": 0.31031052323106134, "mean_lift_score": 0.6917609046849758, "mean_hold_score": 0.5904846526655911, "mean_motion_stability_score": 0.5935232324849021, "mean_duration_score": 0.6308562197092084, "mean_anti_slip_score": 0.7181475498115689}, "robot_motion_metrics": {"joint_velocity_rms": 0.7521070607903146, "joint_acceleration_rms": 21.05213504121802, "joint_jerk_rms": 2123.863693965087, "joint_effort_rms": 62.038379801181364}, "tool_selection_accuracy": 1.0, "tool_switch_success_rate": 0.0, "tool_switch_total": 5, "tool_switch_successful": 0, "safety_violation_rate": 0.0006462035541195683, "safety_violation_rate_time": 0.0006462035541195683, "safety_violation_rate_event": 0.0006462035541195477, "safety_violation_step_rate": 0.0006462035541195477, "safety_violation_events_per_step": 0.0006462035541195477, "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": {"leap_l_10": 70, "leap_l_12": 26, "leap_l_2": 71, "multi_leap_r_1": 3, "multi_leap_r_10": 8, "multi_leap_r_2": 1, "multi_leap_r_9": 3}, "joint_limit_hard_counts": {"leap_l_10": 13, "leap_l_11": 6, "leap_l_12": 1, "leap_l_2": 16, "multi_leap_r_1": 3, "multi_leap_r_10": 1, "multi_leap_r_2": 4, "multi_leap_r_5": 1, "multi_leap_r_9": 3}, "finger_joint_limit_saturation_counts": {"leap_l_10": 47, "leap_l_12": 15}, "joint_limit_max_excess_by_joint": {"leap_l_10": 1.1876262426376343, "leap_l_11": 0.005234330892562866, "leap_l_12": 0.37565159797668457, "leap_l_13": 0.004552364349365234, "leap_l_15": 0.0010939836502075195, "leap_l_2": 0.2409340739250183, "leap_l_3": 0.00013691186904907227, "multi_leap_r_1": 0.015098214149475098, "multi_leap_r_10": 0.03237098455429077, "multi_leap_r_2": 0.011136114597320557, "multi_leap_r_3": 0.003427267074584961, "multi_leap_r_5": 0.0071946680545806885, "multi_leap_r_6": 0.00410616397857666, "multi_leap_r_9": 0.015725314617156982}, "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": 32, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "leap_l_2", "role": "finger", "qpos": -0.544543981552124, "hard_excess_rad": 0.03854405879974365, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.42443355917930603, "shielded_target": -0.42443355917930603}], "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": [-1.6205569505691528, -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, -2.442999839782715, 0.5988444089889526, 1.265234112739563, 0.34897345304489136, 0.09420087188482285, -0.42443355917930603, -0.0010000000474974513, -0.14699211716651917, -0.36212557554244995, 0.029921576380729675, -0.35322824120521545, -1.340000033378601, -0.08837058395147324, -0.3517330586910248, -0.14158710837364197, 1.2920901775360107, 0.00795035157352686, -0.0646907314658165, -0.2642826735973358, -0.014973497949540615, -0.01744353398680687, -0.05347539857029915], "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": [-1.6205569505691528, -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], "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} diff --git a/gpt6_astra_10x_icl/source_runs/task_51_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_51_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..597a3923e0c89e5cd54e6cb86520edbcc230f85c --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_51_episode_07/summary.json @@ -0,0 +1,211 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 51.58333333333169 + }, + "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": 0.0006462035541195477 + }, + "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": 0.6666666666666666, + "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": 0.6610662358643183, + "expert_time_s": 34.1, + "expert_time_step": 2046, + "avg_steps_to_success": 3095, + "avg_policy_steps_to_success": 1032, + "avg_policy_queries_to_success": 40 + }, + "safety": { + "safety_violation_events_per_step": 0.0006462035541195477, + "violation_counts": { + "drop_to_table_obj_021_bleach_cleanser_2": 1, + "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": 0.055896607431340874, + "finger_joint_limit_saturation_step_rate": 0.020032310177705976, + "max_joint_limit_excess_rad": 1.1876262426376343, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "leap_l_10": 70, + "leap_l_12": 26, + "leap_l_2": 71, + "multi_leap_r_1": 3, + "multi_leap_r_10": 8, + "multi_leap_r_2": 1, + "multi_leap_r_9": 3 + }, + "joint_limit_hard_counts": { + "leap_l_10": 13, + "leap_l_11": 6, + "leap_l_12": 1, + 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7.992681516633127e-11, 1.5900515626388056e-10, 0.0, 0.0, 0.000999276409856975, 0.0, 0.49967625737190247, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.0, 0.0, 0.00580621650442481, 7.024884146611399e-11, 1.699382579101183e-10, 8.89648424373668e-11, 9.808779483089225e-11, 7.877779539811058e-10, 7.890350178785255e-11, 1.908746494194702e-10, 0.0], "shielded_full_target": [2.046189069747925, -1.2965642213821411, -1.5700000524520874, 1.8235918283462524, 1.5700000524520874, 0.02353416383266449, -1.5700000524520874, 2.087273597717285, -1.0511607140273327e-09, 0.4176928997039795, -1.5700000524520874, -6.433157478946683e-11, 0.0, 0.0011066993465647101, 0.04172443225979805, 0.0, 0.5551512837409973, 0.019608361646533012, 0.006317001301795244, 0.0008896691724658012, 0.0, 0.46040380001068115, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 0.0, 0.0, 0.000999276409856975, 0.0, 0.49967625737190247, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.0, 0.0, 0.00580621650442481, 7.024884146611399e-11, 1.699382579101183e-10, 8.89648424373668e-11, 9.808779483089225e-11, 7.877779539811058e-10, 7.890350178785255e-11, 1.908746494194702e-10, 0.0]}, "joint_limit_active_steps": 6149, "joint_limit_hard_episode_events": 30, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 5873, "max_joint_limit_excess_rad": 1.1625536680221558, "max_joint_limit_excess_joint": "left_index_pip_joint", "joint_role_manifest_available": true, "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": 6149, "joint_limit_active_step_rate": 0.48352598883384446, "finger_joint_limit_saturation_steps": 5873, "finger_joint_limit_saturation_step_rate": 0.4618227569395298, "max_joint_limit_excess_rad": 1.1625536680221558, "max_joint_limit_excess_joint": "left_index_pip_joint", "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": 12687, "place_2": 12687, "place_3": 12687, "place_4": 12687}, "violation_counts": {"drop_to_table_obj_182_bread_4": 1, "drop_to_table_obj_163_baguette_5": 1, "drop_to_table_obj_128_hamburg_3": 1}, "policy_query_count": 58, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 29850, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_60_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_60_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..640c11f9f9c0cefa119c61b35dfaa663267fb3ef --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_60_episode_05/summary.json @@ -0,0 +1,272 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 211.9500000000608 + }, + "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": 0.00023590469450342062 + }, + "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": 4, + "avg_latched_chain_depth": 4 + }, + "efficiency": { + "task_efficiency": 0.156404812455723, + "expert_time_s": 33.15, + "expert_time_step": 1989, + "avg_steps_to_success": 12717, + "avg_policy_steps_to_success": 4239, + "avg_policy_queries_to_success": 58 + }, + "safety": { + "safety_violation_events_per_step": 0.00023590469450342062, + "violation_counts": { + "drop_to_table_obj_128_hamburg_3": 1, + "drop_to_table_obj_163_baguette_5": 1, + "drop_to_table_obj_182_bread_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.48352598883384446, + "finger_joint_limit_saturation_step_rate": 0.4618227569395298, + "max_joint_limit_excess_rad": 1.1625536680221558, + "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": 95, + "left_middle_pitch_joint": 312, + "left_ring_dip_joint": 131, + "left_ring_mcp_joint": 258, + "left_ring_pip_joint": 97, + "left_thumb_mcp_joint": 4688, + "right_index_pip_joint": 36, + "right_index_pitch_joint": 168, + "right_middle_pip_joint": 62, + "right_middle_pitch_joint": 293, + "right_pinky_mcp_joint": 376, + "right_pinky_pip_joint": 5, + "right_ring_mcp_joint": 192, + "right_ring_pip_joint": 78, + "right_thumb_mcp_joint": 560 + }, + "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": 4, + "left_middle_pitch_joint": 2, + "left_ring_dip_joint": 1, + "left_ring_mcp_joint": 2, + "left_ring_pip_joint": 2, + "left_thumb_mcp_joint": 4, + "right_index_pip_joint": 66, + "right_index_pitch_joint": 4, + "right_middle_pip_joint": 13, + "right_middle_pitch_joint": 3, + "right_pinky_mcp_joint": 9, + "right_pinky_pip_joint": 3, + "right_ring_mcp_joint": 2, + "right_ring_pip_joint": 23, + "right_thumb_mcp_joint": 3 + }, + "joint_limit_hard_episode_events": 30, + "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": 76, + "left_middle_pitch_joint": 307, + "left_ring_dip_joint": 121, + "left_ring_mcp_joint": 250, + "left_ring_pip_joint": 83, + "left_thumb_mcp_joint": 4627, + "right_index_pitch_joint": 72, + "right_middle_pip_joint": 13, + "right_middle_pitch_joint": 131, + "right_pinky_mcp_joint": 211, + "right_ring_mcp_joint": 129, + "right_ring_pip_joint": 52, + "right_thumb_mcp_joint": 516 + }, + "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": 3.4362581118330127e-06, + "left_pinky_mcp_joint": 0.0001311414671363309, + "left_pinky_pip_joint": 4.463662480702624e-05, + "left_ring_dip_joint": 0.5058364868164062, + "left_ring_mcp_joint": 1.0781208276748657, + "left_ring_pip_joint": 1.1462198495864868, + "left_thumb_dip_joint": 3.4681368560995907e-05, + "left_thumb_mcp_joint": 0.3170328438282013, + "left_thumb_pip_joint": 3.539202953106724e-05, + "left_thumb_yaw_joint": 3.6549226933857426e-05, + "right_index_dip_joint": 8.454680937575176e-05, + "right_index_pip_joint": 0.07263338565826416, + "right_index_pitch_joint": 0.8209004998207092, + "right_middle_dip_joint": 0.0015134912682697177, + "right_middle_mcp_joint": 0.0007105469703674316, + "right_middle_pip_joint": 0.4000040888786316, + "right_middle_pitch_joint": 0.44092386960983276, + "right_pinky_dip_joint": 0.00015059665020089597, + "right_pinky_mcp_joint": 0.6813534498214722, + "right_pinky_pip_joint": 0.022725814953446388, + "right_ring_dip_joint": 0.0024717790074646473, + "right_ring_mcp_joint": 0.6196993589401245, + "right_ring_pip_joint": 0.6300420165061951, + "right_thumb_dip_joint": 0.00023363779473584145, + "right_thumb_mcp_joint": 0.2255968302488327, + "right_thumb_pip_joint": 5.423774928203784e-05, + "right_thumb_yaw_joint": 0.00016628899902570993 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 19.901355118384505, + "joint_effort_rms": 38.22008906088197, + "joint_jerk_rms": 2012.2588635620195, + "joint_velocity_rms": 0.8523188351596137 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9690001464874535, + "mean_kinematic_grasp_stability": 0.46619884815828416, + "per_object_best_kinematic_grasp_stability": { + "obj_127_french_fries_2": 0.9690001464874535, + "obj_128_hamburg_3": 0.6480979457600266, + "obj_163_baguette_5": 0.6876925955208559, + "obj_182_bread_4": 0.6927233678177582 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.4716128017614708, + "mean_duration_score": 0.5952923907630093, + "mean_hold_score": 0.46468310136038976, + "mean_kinematic_stability_score": 0.06869990103394075, + "mean_legacy_gsi": 0.472257867636375, + "mean_lift_score": 0.5099669733427695, + "mean_motion_stability_score": 0.41705441841285906 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 12717, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_60_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_60_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed6c12021e71afd69af203422c3aa603dc3082b2 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_60_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 6, "seed": 206000005, "success": true, "steps": 20585, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206000005, "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": 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_carpet0978_jpg", "asset_uri": "dex2bench_dataset/textures/carpet/carpet0978.jpg", "asset_category": "carpet", "asset_id": "carpet/carpet0978.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 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"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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [2.0370185375213623, -1.358219861984253, -1.5700000524520874, 1.750492811203003, 1.5700000524520874, 0.26861780881881714, -1.5700000524520874, 2.170975685119629, -1.0511607140273327e-09, 0.49782896041870117, -1.5700000524520874, -6.433157478946683e-11, 0.25616955757141113, 0.3871075212955475, 0.039237864315509796, 0.34633538126945496, 0.208953857421875, -0.0008382663945667446, -0.07395106554031372, 0.32623955607414246, 0.0, 0.42670300602912903, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 0.0, 0.0, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.01829122006893158, 7.024884146611399e-11, 1.699382579101183e-10, 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_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": [2.0370185375213623, -1.358219861984253, -1.5700000524520874, 1.750492811203003, 1.5700000524520874, 0.26861780881881714, -1.5700000524520874, 2.170975685119629, -1.0511607140273327e-09, 0.49782896041870117, -1.5700000524520874, -6.433157478946683e-11, 0.25616955757141113, 0.3871075212955475, 0.039237864315509796, 0.34633538126945496, 0.208953857421875, -0.0008382663945667446, -0.07395106554031372, 0.32623955607414246, 0.0, 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1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 0.0, 0.0, 0.3664322793483734, 0.0, 0.46310076117515564, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.0, 0.0, 0.01829122006893158, 7.024884146611399e-11, 1.699382579101183e-10, 8.89648424373668e-11, 9.808779483089225e-11, 7.877779539811058e-10, 7.890350178785255e-11, 1.908746494194702e-10, 0.0]}, "joint_limit_active_steps": 3376, "joint_limit_hard_episode_events": 42, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 2789, "max_joint_limit_excess_rad": 1.4329684972763062, "max_joint_limit_excess_joint": "right_pinky_mcp_joint", "joint_role_manifest_available": true, "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": 3376, "joint_limit_active_step_rate": 0.16400291474374545, "finger_joint_limit_saturation_steps": 2789, "finger_joint_limit_saturation_step_rate": 0.13548700510080156, "max_joint_limit_excess_rad": 1.4329684972763062, "max_joint_limit_excess_joint": "right_pinky_mcp_joint", "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": 20537, "place_2": 20537, "place_3": 20537, "place_4": 20537}, "violation_counts": {"drop_to_table_obj_163_baguette_5": 1, "drop_to_table_obj_128_hamburg_3": 1, "drop_to_table_obj_182_bread_4": 1}, "policy_query_count": 123, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 29850, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_60_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_60_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8b69d3abe6eb3c80a74d8ae774476a433275fa --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_60_episode_06/summary.json @@ -0,0 +1,258 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 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": 343.08333333334997 + }, + "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": 0.00014573718727228565 + }, + "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": 4, + "avg_latched_chain_depth": 4 + }, + "efficiency": { + "task_efficiency": 0.09662375516152069, + "expert_time_s": 33.15, + "expert_time_step": 1989, + "avg_steps_to_success": 20585, + "avg_policy_steps_to_success": 6862, + "avg_policy_queries_to_success": 123 + }, + "safety": { + "safety_violation_events_per_step": 0.00014573718727228565, + "violation_counts": { + "drop_to_table_obj_128_hamburg_3": 1, + "drop_to_table_obj_163_baguette_5": 1, + "drop_to_table_obj_182_bread_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.16400291474374545, + "finger_joint_limit_saturation_step_rate": 0.13548700510080156, + "max_joint_limit_excess_rad": 1.4329684972763062, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_middle_pip_joint": 97, + "left_middle_pitch_joint": 19, + "left_ring_mcp_joint": 30, + "left_thumb_mcp_joint": 1789, + "right_index_pip_joint": 103, + "right_index_pitch_joint": 554, + "right_middle_pip_joint": 302, + "right_middle_pitch_joint": 558, + "right_pinky_mcp_joint": 649, + "right_pinky_pip_joint": 81, + "right_ring_mcp_joint": 601, + "right_ring_pip_joint": 501, + "right_thumb_dip_joint": 79, + "right_thumb_mcp_joint": 465 + }, + "joint_limit_hard_counts": { + "left_middle_pip_joint": 2, + "left_middle_pitch_joint": 4, + "left_pinky_mcp_joint": 3, + "left_ring_mcp_joint": 2, + "left_thumb_mcp_joint": 4, + "right_index_pip_joint": 27, + "right_index_pitch_joint": 11, + "right_middle_pip_joint": 17, + "right_middle_pitch_joint": 10, + "right_pinky_mcp_joint": 12, + "right_pinky_pip_joint": 6, + "right_ring_mcp_joint": 12, + "right_ring_pip_joint": 34, + "right_thumb_dip_joint": 1, + "right_thumb_mcp_joint": 10, + "right_thumb_yaw_joint": 1 + }, + "joint_limit_hard_episode_events": 42, + "finger_joint_limit_saturation_counts": { + "left_middle_pip_joint": 56, + "left_thumb_mcp_joint": 1630, + "right_index_pip_joint": 2, + "right_index_pitch_joint": 457, + "right_middle_pip_joint": 112, + "right_middle_pitch_joint": 416, + "right_pinky_mcp_joint": 461, + "right_pinky_pip_joint": 15, + "right_ring_mcp_joint": 430, + "right_ring_pip_joint": 211, + "right_thumb_dip_joint": 71, + "right_thumb_mcp_joint": 338 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 7.2888632907108786e-09, + "left_index_pip_joint": 0.0002453869383316487, + "left_index_pitch_joint": 0.00044886310934089124, + "left_middle_dip_joint": 8.05458603281295e-06, + "left_middle_pip_joint": 0.17883895337581635, + "left_middle_pitch_joint": 0.02168084867298603, + "left_pinky_dip_joint": 2.498086587365833e-06, + "left_pinky_mcp_joint": 0.0063518499955534935, + "left_pinky_pip_joint": 3.521729740896262e-05, + "left_ring_dip_joint": 1.679127490206156e-05, + "left_ring_mcp_joint": 0.03851184993982315, + "left_ring_pip_joint": 0.00031853641849011183, + "left_thumb_dip_joint": 0.00011301581253064796, + "left_thumb_mcp_joint": 0.4104498028755188, + "left_thumb_pip_joint": 0.00047119325608946383, + "left_thumb_yaw_joint": 2.587761809991207e-05, + "right_index_dip_joint": 4.910949064651504e-05, + "right_index_pip_joint": 0.14001178741455078, + "right_index_pitch_joint": 1.2199877500534058, + "right_middle_dip_joint": 0.0003153870929963887, + "right_middle_mcp_joint": 0.0004591047763824463, + "right_middle_pip_joint": 0.4543078541755676, + "right_middle_pitch_joint": 1.1670854091644287, + "right_pinky_dip_joint": 0.00040672760223969817, + "right_pinky_mcp_joint": 1.4329684972763062, + "right_pinky_pip_joint": 0.22256718575954437, + "right_ring_dip_joint": 0.0011146172182634473, + "right_ring_mcp_joint": 1.2317793369293213, + "right_ring_pip_joint": 1.312461018562317, + "right_thumb_dip_joint": 1.1205986738204956, + "right_thumb_mcp_joint": 0.29342782497406006, + "right_thumb_pip_joint": 0.0011570596834644675, + "right_thumb_yaw_joint": 0.0067640733905136585 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 21.522474683821457, + "joint_effort_rms": 27.111554874501284, + "joint_jerk_rms": 2240.1925957811927, + "joint_velocity_rms": 0.5583030103778187 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9977233483735728, + "mean_kinematic_grasp_stability": 0.8259976017250862, + "per_object_best_kinematic_grasp_stability": { + "obj_127_french_fries_2": 0.8711313258855262, + "obj_128_hamburg_3": 0.9977233483735728, + "obj_163_baguette_5": 0.8642052400637857, + "obj_182_bread_4": 0.9939629278903395 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7473524410978075, + "mean_duration_score": 0.6141575580924735, + "mean_hold_score": 0.4490150595093576, + "mean_kinematic_stability_score": 0.1912715116843845, + "mean_legacy_gsi": 0.5282804099039525, + "mean_lift_score": 0.4699902841875152, + "mean_motion_stability_score": 0.41691925887480874 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 20585, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_60_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_60_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..220981210ca76f784bed7a7fcbbdfaefc80d73bf --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_60_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/60_breadbasket_fast_food_loading.yaml", "episode_index": 7, "seed": 206000006, "success": false, "steps": 3777, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 206000006, "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": 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": "FloorPlan213", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan213_physics/scene.usda", "scene_offset": [-11.06503, -0.91725, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_flooring_flooring0040_jpg", "asset_uri": "dex2bench_dataset/textures/flooring/flooring0040.jpg", "asset_category": "flooring", "asset_id": "flooring/flooring0040.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1397.310297587682, "color": [0.7828625957513446, 0.8612220902120171, 0.9667924328436353], "pitch_deg": -25.323377881270417, "yaw_deg": -3.6211773758889336, "angle_deg": 0.7600857685241798}, "dome": {"intensity": 333.6896977007254, "color": [0.9968101597579018, 0.8317866281671388, 0.9778881953767937], "exposure": 0.19234493187063617}, "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": 0.043915585945999466, "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": [-0.0013223131197315219, 0.0044910430598159206, -0.004417864086510528], "target_offset_m": [-0.004600139548279536, 0.00482234021306483, -0.003917772637112463], "distance_offset_m": -0.016093230223078146, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.6770336619332735, 0.3423013064805063, -0.22126023482985313], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.00015886263901834525, 0.003510350611674858, 0.004647055558090074], "target_offset_m": [0.0029741023855454725, -0.0019318401622169111, 0.0036976194039580893], "distance_offset_m": -0.01711414069758066, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.6038992125689546, 0.10640660820840542, 0.3218330070969455], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0002774105941917484, 0.0029683642066344667, 0.004217709804368944], "target_offset_m": [-0.0029988862982189123, 0.003592246268335683, -0.002497023612957283], "distance_offset_m": 0.026850699478569336, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.3373089462496395, -0.2321102493774725, 0.9265520164968466], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.0002774105941917484, 0.0029683642066344667, 0.004217709804368944], "target_offset_m": [-0.0029988862982189123, 0.003592246268335683, -0.002497023612957283], "distance_offset_m": 0.026850699478569336, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.3373089462496395, -0.2321102493774725, 0.9265520164968466], "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": [-0.001006576971692829, 0.00416859270984792, -0.0002381981541102647], "rpy_offset_deg": [-0.9671660759666016, 0.14294395290155815, -0.6016859322468218], "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": [-0.0013009428698517122, 0.0024197450266848306, 0.002532957986932101], "rpy_offset_deg": [-0.4069291227450569, 0.23304080535215577, 0.1049512234943415], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 1, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_033_spatula", "uri": "dex2bench_dataset/Objects/033_spatula/usd_decomposition_linux/textured.usd", "scale": [1.1499220857881562, 1.1499220857881562, 1.1499220857881562], "body_type": "dynamic", "category": "kitchen", "asset_code": "033", "asset_id": "clutter_033_spatula", "asset_split": "unseen", "spawn_position": [-0.7828632566608309, 0.21918072240143158, 0.7947067323411159], "spawn_yaw_deg": 284.9868244451026, "obj_id": "distractor_00_clutter_033_spatula"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_183_breadbasket_1": {"position": [0.4617653732515545, 0.2377924260623224, 0.7939155914551353], "rpy_deg": [90.0, 0.0, 5.693900528141693]}, "obj_127_french_fries_2": {"position": [-0.41082179613053155, 0.28497234645096, 0.8239528020431159], "rpy_deg": [0.0, 0.0, -9.833806041717363]}, "obj_128_hamburg_3": {"position": [-0.32, 0.18, 0.7939155826354549], "rpy_deg": [90.0, 0.0, 7.840068958499003]}, "obj_182_bread_4": {"position": [0.026698044367555164, 0.199626693806302, 0.8472987300862429], "rpy_deg": [0.0, 0.0, 19.11821378864539]}, "obj_163_baguette_5": {"position": [0.24, 0.1, 0.7939155899925523], "rpy_deg": [90.0, 0.0, 75.13101103936545]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "robot_key": "multi_ur5_rh5dg2_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": 33.15, "expert_time_step": 1989, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.0, "normalized_progress_score": 0.0, "chain_depth_progress_score": 0.0, "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": 0.0, "latched_normalized_progress_score": 0.0, "latched_chain_depth_progress_score": 0.0, "latched_chain_depth": 0, "task_efficiency": null, "kinematic_grasp_stability_index": 0.8460700065392295, "mean_kinematic_grasp_stability": 0.38501388248894014, "per_object_best_kinematic_grasp_stability": {"obj_127_french_fries_2": 0.0, "obj_128_hamburg_3": 0.1978129910660429, "obj_163_baguette_5": 0.7432922152542746, "obj_182_bread_4": 0.8460700065392295}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.40661907509166834, "mean_kinematic_stability_score": 0.033766441242907445, "mean_lift_score": 0.4046200688377019, "mean_hold_score": 0.3356069631983069, "mean_motion_stability_score": 0.31714266890001835, "mean_duration_score": 0.429772306063013, "mean_anti_slip_score": 0.6195834436501549}, "robot_motion_metrics": {"joint_velocity_rms": 0.6657100682784604, "joint_acceleration_rms": 28.64578503480741, "joint_jerk_rms": 2835.2067630932224, "joint_effort_rms": 31.544451678502927}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.05559968228753169, "safety_violation_rate_time": 0.05559968228753169, "safety_violation_rate_event": 0.0018533227429176596, "safety_violation_step_rate": 0.05559968228752978, "safety_violation_events_per_step": 0.0018533227429176596, "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": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"left_pinky_mcp_joint": 27, "left_ring_pip_joint": 16, "left_thumb_mcp_joint": 1, "right_index_dip_joint": 13, "right_index_mcp_joint": 20, "right_index_pip_joint": 16, "right_index_pitch_joint": 5, "right_middle_dip_joint": 18, "right_middle_mcp_joint": 4, "right_middle_pip_joint": 7, "right_middle_pitch_joint": 1, "right_pinky_dip_joint": 4, "right_pinky_mcp_joint": 215, "right_pinky_pip_joint": 25, "right_ring_dip_joint": 27, "right_ring_pip_joint": 20, "right_thumb_dip_joint": 17, "right_thumb_mcp_joint": 149, "right_thumb_pip_joint": 69}, "joint_limit_hard_counts": {"left_pinky_mcp_joint": 1, "left_ring_pip_joint": 2, "left_thumb_mcp_joint": 1, "right_index_dip_joint": 1, "right_index_mcp_joint": 2, "right_index_pip_joint": 1, "right_index_pitch_joint": 1, "right_middle_dip_joint": 1, "right_middle_mcp_joint": 1, "right_middle_pip_joint": 4, "right_middle_pitch_joint": 1, "right_pinky_dip_joint": 1, "right_pinky_mcp_joint": 1, "right_pinky_pip_joint": 2, "right_ring_dip_joint": 1, "right_ring_pip_joint": 3, "right_thumb_dip_joint": 3, "right_thumb_mcp_joint": 3, "right_thumb_pip_joint": 2}, "finger_joint_limit_saturation_counts": {"left_pinky_mcp_joint": 22, "right_index_dip_joint": 7, "right_index_pip_joint": 13, "right_middle_dip_joint": 15, "right_pinky_mcp_joint": 200, "right_pinky_pip_joint": 9, "right_ring_dip_joint": 24, "right_thumb_dip_joint": 2, "right_thumb_mcp_joint": 111, "right_thumb_pip_joint": 60}, "joint_limit_max_excess_by_joint": {"left_index_dip_joint": 3.964341743767363e-09, "left_index_pip_joint": 0.00017899644444696605, "left_index_pitch_joint": 0.00028656574431806803, "left_middle_dip_joint": 1.079416961147217e-05, "left_middle_pip_joint": 0.00026639935094863176, "left_middle_pitch_joint": 0.00029186418396420777, "left_pinky_dip_joint": 1.1730775440810248e-05, "left_pinky_mcp_joint": 0.43559882044792175, "left_pinky_pip_joint": 0.00016555075126234442, "left_ring_dip_joint": 0.0010837395675480366, "left_ring_mcp_joint": 0.00023371970746666193, "left_ring_pip_joint": 0.11644908785820007, "left_thumb_dip_joint": 1.6995360056171194e-05, "left_thumb_mcp_joint": 0.013870714232325554, "left_thumb_pip_joint": 7.900375931058079e-05, "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": 0.15260618925094604, "right_middle_dip_joint": 0.8403565883636475, "right_middle_mcp_joint": 0.0468006432056427, "right_middle_pip_joint": 0.08274246007204056, "right_middle_pitch_joint": 0.02350728213787079, "right_pinky_dip_joint": 0.025497933849692345, "right_pinky_mcp_joint": 1.4329330921173096, "right_pinky_pip_joint": 0.43049195408821106, "right_ring_dip_joint": 1.1631813049316406, "right_ring_mcp_joint": 4.648150206776336e-05, "right_ring_pip_joint": 0.1470142900943756, "right_thumb_dip_joint": 0.30373236536979675, "right_thumb_mcp_joint": 1.225667953491211, "right_thumb_pip_joint": 1.7652851343154907}, "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": 105, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "right_ring_pip_joint", "role": "finger", "qpos": -0.005747511982917786, "hard_excess_rad": 0.005747511982917786, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.3960000276565552, "operating_lower": 0.0, "operating_upper": 1.3960000276565552, "expanded_target": 3.909987958405914e-11, "shielded_target": 3.909987958405914e-11}], "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_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", "left_index_mcp_joint", "left_middle_mcp_joint", "left_pinky_pip_joint", "left_ring_pip_joint", "left_thumb_mcp_joint", "right_thumb_dip_joint", "left_index_pip_joint", "left_middle_pip_joint", "left_thumb_dip_joint"], "raw_active_action": [1.9203778505325317, -1.4891093969345093, -1.5700000524520874, 1.696826457977295, 1.5700000524520874, 0.3212730586528778, -1.5700000524520874, 1.996379017829895, -1.0511607140273327e-09, 0.31554847955703735, -1.5700000524520874, -6.433157478946683e-11, 0.23055259883403778, 0.34839677810668945, 0.035314079374074936, 0.31170183420181274, 0.18805846571922302, -0.0007544397376477718, -0.06655596196651459, 0.2936156094074249, 3.909987958405914e-11, 0.3840326964855194, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 2.983923221358542e-12, 5.672417396906937e-11, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 0.01646209880709648, 7.024884146611399e-11, 1.699382579101183e-10, 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_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": [1.9203778505325317, -1.4891093969345093, -1.5700000524520874, 1.696826457977295, 1.5700000524520874, 0.3212730586528778, -1.5700000524520874, 1.996379017829895, -1.0511607140273327e-09, 0.31554847955703735, -1.5700000524520874, -6.433157478946683e-11, 0.23055259883403778, 0.34839677810668945, 0.035314079374074936, 0.31170183420181274, 0.18805846571922302, -0.0007544397376477718, -0.06655596196651459, 0.2936156094074249, 3.909987958405914e-11, 0.3840326964855194, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 2.983923221358542e-12, 5.672417396906937e-11, 0.32978904247283936, 4.3916984632241807e-11, 0.4167906939983368, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 3.3515425677810295e-12, 6.371259075876878e-11, 0.01646209880709648, 7.024884146611399e-11, 1.699382579101183e-10, 8.89648424373668e-11, 9.808779483089225e-11, 7.877779539811058e-10, 7.890350178785255e-11, 1.908746494194702e-10, 0.0], "shielded_full_target": [1.9203778505325317, -1.4891093969345093, -1.5700000524520874, 1.696826457977295, 1.5700000524520874, 0.3212730586528778, -1.5700000524520874, 1.996379017829895, -1.0511607140273327e-09, 0.31554847955703735, -1.5700000524520874, -6.433157478946683e-11, 0.23055259883403778, 0.34839677810668945, 0.035314079374074936, 0.31170183420181274, 0.18805846571922302, -0.0007544397376477718, -0.06655596196651459, 0.2936156094074249, 3.909987958405914e-11, 0.3840326964855194, 1.3796604136917523e-10, 2.3521734560105756e-10, 5.876441694363521e-11, 7.992681516633127e-11, 1.5900515626388056e-10, 2.983923221358542e-12, 5.672417396906937e-11, 0.32978904247283936, 4.3916984632241807e-11, 0.4167906939983368, 1.3062583783737813e-12, -9.436857545397359e-12, 7.920659267357522e-11, 8.73288802383243e-11, 7.258619261207855e-10, 3.3515425677810295e-12, 6.371259075876878e-11, 0.01646209880709648, 7.024884146611399e-11, 1.699382579101183e-10, 8.89648424373668e-11, 9.808779483089225e-11, 7.877779539811058e-10, 7.890350178785255e-11, 1.908746494194702e-10, 0.0]}, "joint_limit_active_steps": 423, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 361, "max_joint_limit_excess_rad": 1.7652851343154907, "max_joint_limit_excess_joint": "right_thumb_pip_joint", "joint_role_manifest_available": true, "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} diff --git a/gpt6_astra_10x_icl/source_runs/task_60_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_60_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e6932f21ae460719880d00585c6b43f17c5f82ba --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_60_episode_07/summary.json @@ -0,0 +1,268 @@ +{ + "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": 1, + "successes": 0, + "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": 0.0, + "success_rate_ci": { + "mean": 0.0, + "ci_low": 0.0, + "ci_high": 0.0 + } + }, + "progress": { + "latched_stage_completion_rate": 0.0 + }, + "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": 1.0, + "safety_violation_step_rate": 0.05559968228752978 + }, + "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": 0.0, + "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": null, + "expert_time_s": 33.15, + "expert_time_step": 1989, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 0.0018533227429176596, + "violation_counts": { + "drop_obj_163_baguette_5": 1, + "drop_obj_182_bread_4": 1, + "drop_to_table_obj_163_baguette_5": 1, + "drop_to_table_obj_182_bread_4": 1, + "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": 0.11199364575059571, + "finger_joint_limit_saturation_step_rate": 0.09557850145618216, + "max_joint_limit_excess_rad": 1.7652851343154907, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_pinky_mcp_joint": 27, + "left_ring_pip_joint": 16, + "left_thumb_mcp_joint": 1, + "right_index_dip_joint": 13, + "right_index_mcp_joint": 20, + "right_index_pip_joint": 16, + "right_index_pitch_joint": 5, + "right_middle_dip_joint": 18, + "right_middle_mcp_joint": 4, + "right_middle_pip_joint": 7, + "right_middle_pitch_joint": 1, + "right_pinky_dip_joint": 4, + "right_pinky_mcp_joint": 215, + "right_pinky_pip_joint": 25, + "right_ring_dip_joint": 27, + "right_ring_pip_joint": 20, + "right_thumb_dip_joint": 17, + "right_thumb_mcp_joint": 149, + "right_thumb_pip_joint": 69 + }, + "joint_limit_hard_counts": { + "left_pinky_mcp_joint": 1, + "left_ring_pip_joint": 2, + "left_thumb_mcp_joint": 1, + "right_index_dip_joint": 1, + "right_index_mcp_joint": 2, + "right_index_pip_joint": 1, + "right_index_pitch_joint": 1, + "right_middle_dip_joint": 1, + "right_middle_mcp_joint": 1, + "right_middle_pip_joint": 4, + "right_middle_pitch_joint": 1, + "right_pinky_dip_joint": 1, + "right_pinky_mcp_joint": 1, + "right_pinky_pip_joint": 2, + "right_ring_dip_joint": 1, + "right_ring_pip_joint": 3, + "right_thumb_dip_joint": 3, + "right_thumb_mcp_joint": 3, + "right_thumb_pip_joint": 2 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "left_pinky_mcp_joint": 22, + "right_index_dip_joint": 7, + "right_index_pip_joint": 13, + "right_middle_dip_joint": 15, + "right_pinky_mcp_joint": 200, + "right_pinky_pip_joint": 9, + "right_ring_dip_joint": 24, + "right_thumb_dip_joint": 2, + "right_thumb_mcp_joint": 111, + "right_thumb_pip_joint": 60 + }, + "joint_limit_max_excess_by_joint": { + "left_index_dip_joint": 3.964341743767363e-09, + "left_index_pip_joint": 0.00017899644444696605, + "left_index_pitch_joint": 0.00028656574431806803, + "left_middle_dip_joint": 1.079416961147217e-05, + "left_middle_pip_joint": 0.00026639935094863176, + "left_middle_pitch_joint": 0.00029186418396420777, + 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"left_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": 617, "joint_limit_active_step_rate": 0.08818064884950694, "finger_joint_limit_saturation_steps": 516, "finger_joint_limit_saturation_step_rate": 0.07374589109618408, "max_joint_limit_excess_rad": 0.24097365140914917, "max_joint_limit_excess_joint": "left_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": 2079, "place_2": 5494, "place_3": 6884}, "violation_counts": {"drop_to_table_obj_186_pillbottle_2": 1}, "policy_query_count": 55, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 31020, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_61_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_61_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f28ed4986b18ac36d635e16363566e4dbbe3e304 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_61_episode_05/summary.json @@ -0,0 +1,210 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 116.61666666666133 + }, + "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": 0.00014291839359725596 + }, + "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": 0.29541231956554165, + "expert_time_s": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": 6997, + "avg_policy_steps_to_success": 2333, + "avg_policy_queries_to_success": 55 + }, + "safety": { + "safety_violation_events_per_step": 0.00014291839359725596, + "violation_counts": { + "drop_to_table_obj_186_pillbottle_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.08818064884950694, + "finger_joint_limit_saturation_step_rate": 0.07374589109618408, + "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_pip": 26 + }, + "joint_limit_hard_counts": { + "left_index_mcp": 3, + "left_thumb_mcp": 4, + "left_thumb_pip": 2, + "right_index_mcp": 1, + "right_thumb_abd": 1, + "right_thumb_pip": 5 + }, + "joint_limit_hard_episode_events": 13, + "finger_joint_limit_saturation_counts": { + "left_thumb_mcp": 516 + }, + "joint_limit_max_excess_by_joint": { + "left_index_mcp": 0.013265013694763184, + "left_middle_mcp": 0.002936720848083496, + "left_ring_mcp": 0.003072023391723633, + "left_thumb_abd": 0.003846317995339632, + "left_thumb_mcp": 0.24097365140914917, + "left_thumb_pip": 0.03088366985321045, + "left_wrist": 0.00032019615173339844, + "multi_panda_joint2": 8.082389831542969e-05, + "multi_panda_joint6": 0.0005898475646972656, + "multi_panda_joint7": 0.0001220703125, + "panda_joint1": 0.0005514621734619141, + "panda_joint6": 0.00022268295288085938, + "right_index_mcp": 0.044898033142089844, + "right_middle_mcp": 0.0023081302642822266, + "right_ring_mcp": 0.0015270709991455078, + "right_thumb_abd": 0.008111393079161644, + "right_thumb_mcp": 0.004858970642089844, + "right_thumb_pip": 0.031922101974487305 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 12.145755513060609, + "joint_effort_rms": 34.033548581486436, + "joint_jerk_rms": 1210.771054997936, + "joint_velocity_rms": 0.35136818073011145 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9975080143502202, + "mean_kinematic_grasp_stability": 0.36585791168560866, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.9975054260204828, + "obj_211_hydrating_oil_4": 0.6351825371346752, + "obj_218_tooth_paste_3": 0.9975080143502202 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.564845251139346, + "mean_duration_score": 0.540780969621918, + "mean_hold_score": 0.4423467200228376, + "mean_kinematic_stability_score": 0.07848402535945384, + "mean_legacy_gsi": 0.4844739645866029, + "mean_lift_score": 0.5495212233814492, + "mean_motion_stability_score": 0.42035452767552106 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 6997, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_61_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_61_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3dc52b4a782b9fe2ead7a3d8e3df11990729973 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_61_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 6, "seed": 206100005, "success": true, "steps": 2842, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100005, "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": 180.0, 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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": 0.7273047149894657, "kinematic_grasp_stability_index": 0.990867242826657, "mean_kinematic_grasp_stability": 0.5236250789773319, "per_object_best_kinematic_grasp_stability": {"obj_186_pillbottle_2": 0.990867242826657, "obj_211_hydrating_oil_4": 0.9386238414151895, "obj_218_tooth_paste_3": 0.22451940923583494}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.35154680885400075, "mean_kinematic_stability_score": 0.14794895792357407, "mean_lift_score": 0.2825475017593244, "mean_hold_score": 0.19505043396669244, "mean_motion_stability_score": 0.18754483359498714, "mean_duration_score": 0.1773516303072953, "mean_anti_slip_score": 0.9710688873250679}, "robot_motion_metrics": {"joint_velocity_rms": 0.3250619401924578, "joint_acceleration_rms": 10.850144668536199, "joint_jerk_rms": 1094.1859978424416, "joint_effort_rms": 28.078857774001264}, "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": 3, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"left_index_mcp": 9.083747863769531e-05, "left_middle_mcp": 0.0009982585906982422, "left_ring_mcp": 0.00047087669372558594, "left_thumb_abd": 0.0018567172810435295, "left_thumb_mcp": 0.0030645132064819336, "right_middle_mcp": 0.0008249282836914062, "right_thumb_abd": 0.0017873216420412064, "right_thumb_mcp": 0.0030982494354248047}, "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": 0.0030982494354248047, "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": 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": 0.0030982494354248047, "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": 1298, "place_2": 2113, "place_3": 2744}, "violation_counts": {}, "policy_query_count": 24, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 3102, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_61_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_61_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1a08bc8374128b61e29a589a3ef4be0be6c4c2b4 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_61_episode_06/summary.json @@ -0,0 +1,183 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 47.36666666666526 + }, + "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": { + "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": 0.7273047149894657, + "expert_time_s": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": 2842, + "avg_policy_steps_to_success": 948, + "avg_policy_queries_to_success": 24 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 0.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0030982494354248047, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": {}, + "joint_limit_hard_episode_events": 0, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_mcp": 9.083747863769531e-05, + "left_middle_mcp": 0.0009982585906982422, + "left_ring_mcp": 0.00047087669372558594, + "left_thumb_abd": 0.0018567172810435295, + "left_thumb_mcp": 0.0030645132064819336, + "right_middle_mcp": 0.0008249282836914062, + "right_thumb_abd": 0.0017873216420412064, + "right_thumb_mcp": 0.0030982494354248047 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 10.850144668536199, + "joint_effort_rms": 28.078857774001264, + "joint_jerk_rms": 1094.1859978424416, + "joint_velocity_rms": 0.3250619401924578 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.990867242826657, + "mean_kinematic_grasp_stability": 0.5236250789773319, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.990867242826657, + "obj_211_hydrating_oil_4": 0.9386238414151895, + "obj_218_tooth_paste_3": 0.22451940923583494 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9710688873250679, + "mean_duration_score": 0.1773516303072953, + "mean_hold_score": 0.19505043396669244, + "mean_kinematic_stability_score": 0.14794895792357407, + "mean_legacy_gsi": 0.35154680885400075, + "mean_lift_score": 0.2825475017593244, + "mean_motion_stability_score": 0.18754483359498714 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2842, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_61_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_61_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b1130d682ba628bfada16172a5f7f361c61bfbf --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_61_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/61_medicine_shoebox_pack.yaml", "episode_index": 7, "seed": 206100006, "success": true, "steps": 2975, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206100006, "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": 270.0, "base_yaw_deg": -90.0, "flip_180_applied": false, "physics_enabled": false, "fill_light_intensity": 0.0, "fill_light_jitter_ratio": 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[-0.07654330119863142, 0.3686839865455039, 0.7514221305524487], "rpy_deg": [90.0, 0.0, 0.5052182291425353]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "rigid_pick_place", "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": 2945, "stable_success_step": 2974, "first_stable_success_step": 2974, "steps_to_stable_success": 2975, "policy_steps_to_stable_success": 992, "policy_queries_to_stable_success": 34, "time_to_stable_success_s": 49.5833333333318, "expert_time_s": 34.45, "expert_time_step": 2067, "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": 0.694789915966408, "kinematic_grasp_stability_index": 0.9990727902264918, "mean_kinematic_grasp_stability": 0.49737611484904903, "per_object_best_kinematic_grasp_stability": {"obj_186_pillbottle_2": 0.9989153186782188, "obj_211_hydrating_oil_4": 0.6918669211816528, "obj_218_tooth_paste_3": 0.9990727902264918}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.3778783756739798, "mean_kinematic_stability_score": 0.15470208345332886, "mean_lift_score": 0.3168627450980392, "mean_hold_score": 0.2271148459383786, "mean_motion_stability_score": 0.2244992906814672, "mean_duration_score": 0.2588085901027077, "mean_anti_slip_score": 0.9226890756302529}, "robot_motion_metrics": {"joint_velocity_rms": 0.4321699153563645, "joint_acceleration_rms": 20.574068783879852, "joint_jerk_rms": 2180.7174262971757, "joint_effort_rms": 32.83236743537857}, "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": 3, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"right_thumb_mcp": 39}, "joint_limit_hard_counts": {"left_index_mcp": 1, "right_index_mcp": 1, "right_thumb_mcp": 2}, "joint_limit_max_excess_by_joint": {"left_index_mcp": 0.006751418113708496, "left_middle_mcp": 0.0038971900939941406, "left_ring_mcp": 0.0029436349868774414, "left_thumb_abd": 0.0032069459557533264, "left_thumb_mcp": 0.004602372646331787, "left_wrist": 0.0008555054664611816, "panda_joint4": 3.7670135498046875e-05, "right_index_mcp": 0.008817553520202637, "right_middle_mcp": 0.0024698972702026367, "right_ring_mcp": 0.0024514198303222656, "right_thumb_abd": 0.001484726439230144, "right_thumb_mcp": 0.04530054330825806, "right_thumb_pip": 0.00465703010559082, "right_wrist": 0.0023905038833618164}, "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": 495, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_index_mcp", "role": "finger", "qpos": 1.6648112535476685, "hard_excess_rad": 0.006751418113708496, "hard_tolerance_rad": 0.005, "hard_lower": -0.3490699827671051, "hard_upper": 1.65805983543396, "operating_lower": -0.3490700125694275, "operating_upper": 1.65805983543396, "expanded_target": 1.6562939882278442, "shielded_target": 1.6562939882278442}], "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} diff --git a/gpt6_astra_10x_icl/source_runs/task_61_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_61_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..48081ed54a7b43659967c488e3aa483d9bd2114a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_61_episode_07/summary.json @@ -0,0 +1,195 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 49.5833333333318 + }, + "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": { + "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": 0.694789915966408, + "expert_time_s": 34.45, + "expert_time_step": 2067, + "avg_steps_to_success": 2975, + "avg_policy_steps_to_success": 992, + "avg_policy_queries_to_success": 34 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.01310924369747899, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.04530054330825806, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "right_thumb_mcp": 39 + }, + "joint_limit_hard_counts": { + "left_index_mcp": 1, + "right_index_mcp": 1, + "right_thumb_mcp": 2 + }, + "joint_limit_hard_episode_events": 4, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_mcp": 0.006751418113708496, + "left_middle_mcp": 0.0038971900939941406, + "left_ring_mcp": 0.0029436349868774414, + "left_thumb_abd": 0.0032069459557533264, + "left_thumb_mcp": 0.004602372646331787, + "left_wrist": 0.0008555054664611816, + "panda_joint4": 3.7670135498046875e-05, + "right_index_mcp": 0.008817553520202637, + "right_middle_mcp": 0.0024698972702026367, + "right_ring_mcp": 0.0024514198303222656, + "right_thumb_abd": 0.001484726439230144, + "right_thumb_mcp": 0.04530054330825806, + "right_thumb_pip": 0.00465703010559082, + "right_wrist": 0.0023905038833618164 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 20.574068783879852, + "joint_effort_rms": 32.83236743537857, + "joint_jerk_rms": 2180.7174262971757, + "joint_velocity_rms": 0.4321699153563645 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9990727902264918, + "mean_kinematic_grasp_stability": 0.49737611484904903, + "per_object_best_kinematic_grasp_stability": { + "obj_186_pillbottle_2": 0.9989153186782188, + "obj_211_hydrating_oil_4": 0.6918669211816528, + "obj_218_tooth_paste_3": 0.9990727902264918 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9226890756302529, + "mean_duration_score": 0.2588085901027077, + "mean_hold_score": 0.2271148459383786, + "mean_kinematic_stability_score": 0.15470208345332886, + "mean_legacy_gsi": 0.3778783756739798, + "mean_lift_score": 0.3168627450980392, + "mean_motion_stability_score": 0.2244992906814672 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2975, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_62_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_62_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38891a953c63ccc717a06ba8f0d2764b0b43f6c1 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_62_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": 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"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": 0.3333333333333333, "latched_normalized_progress_score": 0.3333333333333333, "latched_chain_depth_progress_score": 0.3333333333333333, "latched_chain_depth": 1, "task_efficiency": null, "kinematic_grasp_stability_index": 0.861470401254457, "mean_kinematic_grasp_stability": 0.5049118664740729, "per_object_best_kinematic_grasp_stability": {"obj_143_pet_collar_3": 0.0, "obj_153_shoe_2": 0.47002727711619774, "obj_203_seal_4": 0.861470401254457}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2744379430055414, "mean_kinematic_stability_score": 0.013228559925779862, "mean_lift_score": 0.026199740596627757, "mean_hold_score": 0.020709035884133184, "mean_motion_stability_score": 0.014970643587341782, "mean_duration_score": 0.3161521833117039, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.5503012141538842, "joint_acceleration_rms": 13.014543777562164, "joint_jerk_rms": 1279.229609793891, "joint_effort_rms": 49.98537902246694}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 0.0020752269779507897, "safety_violation_rate_time": 0.0020752269779507897, "safety_violation_rate_event": 0.0005188067444876783, "safety_violation_step_rate": 0.0020752269779507134, "safety_violation_events_per_step": 0.0005188067444876783, "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": {"multi_leap_r_10": 17, "multi_leap_r_14": 38, "multi_leap_r_2": 4}, "joint_limit_hard_counts": {"multi_leap_r_10": 1, "multi_leap_r_14": 2, "multi_leap_r_2": 3, "multi_leap_r_5": 1, "multi_leap_r_9": 4}, "finger_joint_limit_saturation_counts": {"multi_leap_r_10": 6, "multi_leap_r_14": 24}, "joint_limit_max_excess_by_joint": {"multi_leap_r_10": 0.3137786388397217, "multi_leap_r_14": 0.4370570182800293, "multi_leap_r_2": 0.02917557954788208, "multi_leap_r_3": 2.9325485229492188e-05, "multi_leap_r_5": 0.005123049020767212, "multi_leap_r_9": 0.00846526026725769}, "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": 276, "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": -0.5121076107025146, "hard_excess_rad": 0.006107687950134277, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.46102866530418396, "shielded_target": -0.46102866530418396}], "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, 1.8898954391479492, 1.3567105772160915e-10, -0.8827528357505798, -1.5700000524520874, 0.09168244153261185, 1.5700000524520874, -1.6761853694915771, -6.398155338871447e-10, 2.4740030765533447, -1.5700000524520874, 0.6867861151695251, -1.9938780069351196, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 5.533952740499615e-10, 1.333587408065796, 1.7008336782455444, 0.11473750323057175, 0.6256684064865112, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, -0.004236907232552767, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.46102866530418396, 1.1123155355453491, 0.01654708944261074, 0.4888404905796051, -0.33583447337150574, -0.0018188327085226774, 0.0030640349723398685, 0.3158169090747833], "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, 1.8898954391479492, 1.3567105772160915e-10, -0.8827528357505798, -1.5700000524520874, 0.09168244153261185, 1.5700000524520874, -1.6761853694915771, -6.398155338871447e-10, 2.4740030765533447, -1.5700000524520874, 0.6867861151695251, -1.9938780069351196, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.333587408065796, 1.7008336782455444, 0.11473750323057175, 0.6256684064865112, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.004236907232552767, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.46102866530418396, 1.1123155355453491, 0.01654708944261074, 0.4888404905796051, -0.33583447337150574, -0.0018188327085226774, 0.0030640349723398685, 0.3158169090747833], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.8898954391479492, 1.3567105772160915e-10, -0.8827528357505798, -1.5700000524520874, 0.09168244153261185, 1.5700000524520874, -1.6761853694915771, -6.398155338871447e-10, 2.4740030765533447, -1.5700000524520874, 0.6867861151695251, -1.9938780069351196, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.333587408065796, 1.7008336782455444, 0.11473750323057175, 0.6256684064865112, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.004236907232552767, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.46102866530418396, 1.1123155355453491, 0.01654708944261074, 0.4888404905796051, -0.33583447337150574, -0.0018188327085226774, 0.0030640349723398685, 0.3158169090747833]}, "joint_limit_active_steps": 59, "joint_limit_hard_episode_events": 10, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 30, "max_joint_limit_excess_rad": 0.4370570182800293, "max_joint_limit_excess_joint": "multi_leap_r_14", "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": 59, "joint_limit_active_step_rate": 0.01530479896238651, "finger_joint_limit_saturation_steps": 30, "finger_joint_limit_saturation_step_rate": 0.007782101167315175, "max_joint_limit_excess_rad": 0.4370570182800293, "max_joint_limit_excess_joint": "multi_leap_r_14", "stage_completion": {"place_1": true, "place_2": false, "place_3": false}, "current_stage_completion": {"place_1": false, "place_2": false, "place_3": false}, "stage_first_completion_step": {"place_1": 609, "place_2": null, "place_3": null}, "violation_counts": {"drop_to_table_obj_203_seal_4": 1, "high_speed_obj_129_shoe_box_1": 1}, "policy_query_count": 25, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 32310, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_62_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_62_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9f4dab3049e2457e3d0d75e86ad6e9ed67e7b4ad --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_62_episode_05/summary.json @@ -0,0 +1,197 @@ +{ + "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": 1, + "successes": 0, + "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": 32310, + "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": 1.0, + "drop_rate": 1.0, + "high_speed_violation_rate": 1.0, + "safety_violation_step_rate": 0.0020752269779507134 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 0, + "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": 0.0005188067444876783, + "violation_counts": { + "drop_to_table_obj_203_seal_4": 1, + "high_speed_obj_129_shoe_box_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.01530479896238651, + "finger_joint_limit_saturation_step_rate": 0.007782101167315175, + "max_joint_limit_excess_rad": 0.4370570182800293, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_leap_r_10": 17, + "multi_leap_r_14": 38, + "multi_leap_r_2": 4 + }, + "joint_limit_hard_counts": { + "multi_leap_r_10": 1, + "multi_leap_r_14": 2, + "multi_leap_r_2": 3, + "multi_leap_r_5": 1, + "multi_leap_r_9": 4 + }, + "joint_limit_hard_episode_events": 10, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_10": 6, + "multi_leap_r_14": 24 + }, + "joint_limit_max_excess_by_joint": { + "multi_leap_r_10": 0.3137786388397217, + "multi_leap_r_14": 0.4370570182800293, + "multi_leap_r_2": 0.02917557954788208, + "multi_leap_r_3": 2.9325485229492188e-05, + "multi_leap_r_5": 0.005123049020767212, + "multi_leap_r_9": 0.00846526026725769 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 13.014543777562164, + "joint_effort_rms": 49.98537902246694, + "joint_jerk_rms": 1279.229609793891, + "joint_velocity_rms": 0.5503012141538842 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.861470401254457, + "mean_kinematic_grasp_stability": 0.5049118664740729, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.0, + "obj_153_shoe_2": 0.47002727711619774, + "obj_203_seal_4": 0.861470401254457 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.3161521833117039, + "mean_hold_score": 0.020709035884133184, + "mean_kinematic_stability_score": 0.013228559925779862, + "mean_legacy_gsi": 0.2744379430055414, + "mean_lift_score": 0.026199740596627757, + "mean_motion_stability_score": 0.014970643587341782 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 3855, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_62_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_62_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31c4fb45f3209682e1e5ec879a0d677ae04f960a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_62_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/62_shoebox_accessory_pack.yaml", "episode_index": 6, "seed": 206200005, "success": false, "steps": 15075, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure 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"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": 659, "multi_leap_r_6": 38, "multi_leap_r_9": 2}, "joint_limit_hard_counts": {"multi_leap_r_2": 137, "multi_leap_r_6": 8, "multi_leap_r_9": 2}, "finger_joint_limit_saturation_counts": {"multi_leap_r_2": 395, "multi_leap_r_6": 4}, "joint_limit_max_excess_by_joint": {"multi_joint5": 0.001739501953125, "multi_leap_r_1": 0.0033883750438690186, "multi_leap_r_2": 1.3980273008346558, "multi_leap_r_3": 0.00019490718841552734, "multi_leap_r_5": 0.004411220550537109, "multi_leap_r_6": 0.17621320486068726, "multi_leap_r_7": 2.6226043701171875e-05, "multi_leap_r_9": 0.01827019453048706}, "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": 309, "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": -0.5226603150367737, "hard_excess_rad": 0.01666039228439331, "hard_tolerance_rad": 0.005, "hard_lower": -0.5059999227523804, "hard_upper": 1.8849998712539673, "operating_lower": -0.5059999227523804, "operating_upper": 1.8849998712539673, "expanded_target": -0.505259096622467, "shielded_target": -0.505259096622467}], "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, 2.23707914352417, 1.3567105772160915e-10, -0.8245869278907776, -1.5700000524520874, -0.40965142846107483, 1.5700000524520874, -1.6342318058013916, -6.398155338871447e-10, 2.451457977294922, -1.5700000524520874, 0.38512298464775085, -1.7555789947509766, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 5.533952740499615e-10, 1.5092183351516724, 1.7657521963119507, 0.1766587793827057, 0.6777808666229248, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, -0.0037539058830589056, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.505259096622467, 1.1283891201019287, 0.04474961757659912, 0.5664028525352478, -0.3659999966621399, -0.0005943281576037407, 0.0012461573351174593, 0.37179988622665405], "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": 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1.3567105772160915e-10, -0.8245869278907776, -1.5700000524520874, -0.40965142846107483, 1.5700000524520874, -1.6342318058013916, -6.398155338871447e-10, 2.451457977294922, -1.5700000524520874, 0.38512298464775085, -1.7555789947509766, 6.238455085849637e-08, 2.663254505819168e-09, 1.3348758542974792e-08, -3.776924728526865e-08, 0.0, 5.533952740499615e-10, 0.0, 0.0, 1.5092183351516724, 1.7657521963119507, 0.1766587793827057, 0.6777808666229248, 6.727913159920718e-08, 8.311267229998975e-09, -2.5916206070064618e-08, -6.044889744316606e-08, 0.0, -0.0037539058830589056, 0.0, 0.0, 1.2566042650874465e-10, -1.9631106462636438e-10, 1.735076804454394e-10, -3.0008148743654317e-10, -0.505259096622467, 1.1283891201019287, 0.04474961757659912, 0.5664028525352478, -0.3659999966621399, -0.0005943281576037407, 0.0012461573351174593, 0.37179988622665405]}, "joint_limit_active_steps": 698, "joint_limit_hard_episode_events": 140, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 399, "max_joint_limit_excess_rad": 1.3980273008346558, "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": 698, "joint_limit_active_step_rate": 0.046301824212271976, "finger_joint_limit_saturation_steps": 399, "finger_joint_limit_saturation_step_rate": 0.02646766169154229, "max_joint_limit_excess_rad": 1.3980273008346558, "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": 11506, "place_2": null, "place_3": null}, "violation_counts": {"drop_to_table_obj_203_seal_4": 1, "high_speed_obj_129_shoe_box_1": 1}, "policy_query_count": 78, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 32310, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_62_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_62_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d3be10a1c2f0d7fc797ef15ca731d4d318d516d1 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_62_episode_06/summary.json @@ -0,0 +1,197 @@ +{ + "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": 1, + "successes": 0, + "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": 32310, + "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": 1.0, + "drop_rate": 1.0, + "high_speed_violation_rate": 1.0, + "safety_violation_step_rate": 0.0009286898839137645 + }, + "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": 0.3333333333333333, + "current_chain_depth_progress_score": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 1, + "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": 0.00013266998341625208, + "violation_counts": { + "drop_to_table_obj_203_seal_4": 1, + "high_speed_obj_129_shoe_box_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.046301824212271976, + "finger_joint_limit_saturation_step_rate": 0.02646766169154229, + "max_joint_limit_excess_rad": 1.3980273008346558, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "multi_leap_r_2": 659, + "multi_leap_r_6": 38, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_counts": { + "multi_leap_r_2": 137, + "multi_leap_r_6": 8, + "multi_leap_r_9": 2 + }, + "joint_limit_hard_episode_events": 140, + "finger_joint_limit_saturation_counts": { + "multi_leap_r_2": 395, + "multi_leap_r_6": 4 + }, + "joint_limit_max_excess_by_joint": { + "multi_joint5": 0.001739501953125, + "multi_leap_r_1": 0.0033883750438690186, + "multi_leap_r_2": 1.3980273008346558, + "multi_leap_r_3": 0.00019490718841552734, + "multi_leap_r_5": 0.004411220550537109, + "multi_leap_r_6": 0.17621320486068726, + "multi_leap_r_7": 2.6226043701171875e-05, + "multi_leap_r_9": 0.01827019453048706 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 10.7272916795996, + "joint_effort_rms": 40.38735465789007, + "joint_jerk_rms": 1067.4023475682322, + "joint_velocity_rms": 0.39402056158725735 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.865689982495278, + "mean_kinematic_grasp_stability": 0.1850201836973791, + "per_object_best_kinematic_grasp_stability": { + "obj_143_pet_collar_3": 0.0, + "obj_153_shoe_2": 0.0, + "obj_203_seal_4": 0.865689982495278 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8401326699835293, + "mean_duration_score": 0.3239027086788281, + "mean_hold_score": 0.012961857379767426, + "mean_kinematic_stability_score": 0.004892960524092104, + "mean_legacy_gsi": 0.2420409431829698, + "mean_lift_score": 0.029386401326699833, + "mean_motion_stability_score": 0.014539834412670916 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 15075, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_62_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_62_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e84502e23a77ab78f090773f0103aada5f024023 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_62_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/62_shoebox_accessory_pack.yaml", "episode_index": 7, "seed": 206200006, "success": false, "steps": 1449, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 206200006, "base_seed": 206200000, "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": 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"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": 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"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} diff --git a/gpt6_astra_10x_icl/source_runs/task_62_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_62_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8e5519321988af242631e3413719e650181f81d1 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_62_episode_07/summary.json @@ -0,0 +1,186 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.0, + "drop_rate": 0.0, + "high_speed_violation_rate": 0.0, + "safety_violation_step_rate": 0.0 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "rigid_pick_place": 0.0 + } + }, + "progress": { + "current_stage_completion_rate": 0.3333333333333333, + "current_chain_depth_progress_score": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 1, + "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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.05037957211870255, + "finger_joint_limit_saturation_step_rate": 0.01932367149758454, + "max_joint_limit_excess_rad": 0.530536413192749, + "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 + }, + "joint_limit_hard_episode_events": 21, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 11.362626009499632, + "joint_effort_rms": 48.368109871591024, + "joint_jerk_rms": 1116.7845729867447, + "joint_velocity_rms": 0.42757021503392456 + }, + "grasp": { + "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_anti_slip_score": 0.7908902691511387, + "mean_duration_score": 0.2361398665746492, + "mean_hold_score": 0.04691741430871875, + "mean_kinematic_stability_score": 0.019328148880892473, + "mean_legacy_gsi": 0.2324038736167802, + "mean_lift_score": 0.07430411778237865, + "mean_motion_stability_score": 0.03772225901403829 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1449, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_64_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_64_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14cfc1b65bbf65f54b3062fded6c6df2adbe46bc --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_64_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 5, "seed": 206400004, "success": true, "steps": 1946, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400004, "base_seed": 206400000, "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": "FloorPlan203", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan203_physics/scene.usda", "scene_offset": [-2.44349, 0.4154, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_metal_metal0473_jpg", "asset_uri": "dex2bench_dataset/textures/metal/metal0473.jpg", "asset_category": "metal", "asset_id": "metal/metal0473.jpg", "asset_split": "unseen", 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"mean_motion_stability_score": 0.3587688295393255, "mean_duration_score": 0.40382836587872567, "mean_anti_slip_score": 0.8689619732785017}, "robot_motion_metrics": {"joint_velocity_rms": 0.20403744191198875, "joint_acceleration_rms": 5.471778751201035, "joint_jerk_rms": 555.9783501208716, "joint_effort_rms": 27.075620739124396}, "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": 4, "robot_constraint_diagnostics": {"joint_limit_hard_counts": {"multi_joint_2_0": 19}, "joint_limit_max_excess_by_joint": {"joint_1_0": 0.000152587890625, "joint_5_0": 0.00017344951629638672, "multi_joint_1_0": 5.1856040954589844e-05, "multi_joint_2_0": 0.007484614849090576, "multi_joint_6_0": 1.1563301086425781e-05, "multi_joint_9_0": 0.00020992755889892578}, "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": 189, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "multi_joint_2_0", "role": "finger", "qpos": -0.18024194240570068, "hard_excess_rad": 0.006241947412490845, "hard_tolerance_rad": 0.005, "hard_lower": -0.17399999499320984, "hard_upper": 1.7089998722076416, "operating_lower": -0.17400002479553223, "operating_upper": 1.7089998722076416, "expanded_target": -0.09775735437870026, "shielded_target": -0.09775735437870026}], "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, 1.1153955459594727, -1.5700000524520874, -0.8585809469223022, 1.583168665608703e-11, 0.18073362112045288, -1.5700000524520874, -2.1409401893615723, 1.5700000524520874, 2.8608789443969727, 6.25, 5.133662223815918, -1.5700000524520874, -2.728511333465576, 0.30000001192092896, 1.2814956903457642, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 1.6099998950958252, 0.07874754071235657, 1.3847259283065796, 1.6099998950958252, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.09775735437870026, 0.8582931756973267, 1.6418217420578003, 1.1851807832717896], "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, 1.1153955459594727, -1.5700000524520874, -0.8585809469223022, 1.583168665608703e-11, 0.18073362112045288, -1.5700000524520874, -2.1409401893615723, 1.5700000524520874, 2.8608789443969727, 6.25, 5.133662223815918, -1.5700000524520874, -2.728511333465576, 0.0, 0.30000001192092896, 0.0, 0.0, 0.0, 1.2814956903457642, 0.0, 0.0, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 1.6099998950958252, 0.07874754071235657, 1.3847259283065796, 1.6099998950958252, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.09775735437870026, 0.8582931756973267, 1.6418217420578003, 1.1851807832717896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "shielded_full_target": [-1.5700000524520874, 1.1153955459594727, -1.5700000524520874, -0.8585809469223022, 1.583168665608703e-11, 0.18073362112045288, -1.5700000524520874, -2.1409401893615723, 1.5700000524520874, 2.8608789443969727, 6.25, 5.133662223815918, -1.5700000524520874, -2.728511333465576, 0.0, 0.30000001192092896, 0.0, 0.0, 0.0, 1.2814956903457642, 0.0, 0.0, 1.0713218090430132e-09, 7.991879380497835e-10, 2.6762703164706636e-09, -1.6848884509812478e-09, 1.6099998950958252, 0.07874754071235657, 1.3847259283065796, 1.6099998950958252, -2.345734717579262e-10, -3.075354415571496e-10, 1.2024473639016264e-09, -9.681625501301028e-10, -0.09775735437870026, 0.8582931756973267, 1.6418217420578003, 1.1851807832717896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "joint_limit_active_steps": 0, "joint_limit_hard_episode_events": 19, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.007484614849090576, "max_joint_limit_excess_joint": "multi_joint_2_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": 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": 0.007484614849090576, "max_joint_limit_excess_joint": "multi_joint_2_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": 1843, "place_2": 1843, "place_3": 1843, "place_4": 1843}, "violation_counts": {}, "policy_query_count": 37, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1995, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_64_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_64_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..896fcdc114ad92d347984f604c1395f70bb0ee48 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_64_episode_05/summary.json @@ -0,0 +1,184 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 32.433333333332776 + }, + "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": { + "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": 4, + "avg_latched_chain_depth": 4 + }, + "efficiency": { + "task_efficiency": 0.6829393627954896, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 1946, + "avg_policy_steps_to_success": 649, + "avg_policy_queries_to_success": 37 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": 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"soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 5.471778751201035, + "joint_effort_rms": 27.075620739124396, + "joint_jerk_rms": 555.9783501208716, + "joint_velocity_rms": 0.20403744191198875 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9707211904078306, + "mean_kinematic_grasp_stability": 0.586947390727215, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.5947353362195844, + "obj_055_baseball_4": 0.9707211904078306, + "obj_057_racquetball_5": 0.9565546929561202, + "obj_058_golf_ball_6": 0.8516025997785578 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.8689619732785017, + "mean_duration_score": 0.40382836587872567, + "mean_hold_score": 0.3898317060637236, + 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0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "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": 0.006931319832801819, "max_joint_limit_excess_joint": "multi_joint_2_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": 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": 0.006931319832801819, "max_joint_limit_excess_joint": "multi_joint_2_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": 1858, "place_2": 1858, "place_3": 1858, "place_4": 1858}, "violation_counts": {}, "policy_query_count": 27, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 1995, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_64_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_64_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..64bfe7d97740bb64ab554b9fd9a8edc129871257 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_64_episode_06/summary.json @@ -0,0 +1,189 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 32.666666666666096 + }, + "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": { + "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": 4, + "avg_latched_chain_depth": 4 + }, + "efficiency": { + "task_efficiency": 0.6780612244898078, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 1960, + "avg_policy_steps_to_success": 654, + "avg_policy_queries_to_success": 27 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.006931319832801819, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": { + "multi_joint_2_0": 1 + }, + "joint_limit_hard_episode_events": 1, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "joint_10_0": 0.004929378628730774, + "joint_1_0": 0.00015354156494140625, + "joint_2_0": 0.0004210472106933594, + "joint_5_0": 9.965896606445312e-05, + "joint_6_0": 0.0002518892288208008, + "multi_joint_10_0": 0.001398324966430664, + "multi_joint_1_0": 3.4809112548828125e-05, + "multi_joint_2_0": 0.006931319832801819, + "multi_joint_5_0": 0.00012636184692382812, + "multi_joint_6_0": 4.4226646423339844e-05, + "multi_joint_9_0": 0.0001226663589477539 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 5.110776111838259, + "joint_effort_rms": 21.061241751413256, + "joint_jerk_rms": 516.9571265959906, + "joint_velocity_rms": 0.17409270253770404 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.99562816139102, + "mean_kinematic_grasp_stability": 0.2741954484134062, + "per_object_best_kinematic_grasp_stability": { + "obj_054_softball_3": 0.576977182462542, + "obj_055_baseball_4": 0.99562816139102, + "obj_057_racquetball_5": 0.4274615540051236, + "obj_058_golf_ball_6": 0.29031747507959754 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7031462585033916, + "mean_duration_score": 0.34349914965986406, + "mean_hold_score": 0.3166900510204105, + "mean_kinematic_stability_score": 0.03374982241312972, + "mean_legacy_gsi": 0.3981902389304762, + "mean_lift_score": 0.3950255102040816, + "mean_motion_stability_score": 0.3011769392756871 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1960, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_64_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_64_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d6e0b916df7dba733612e4639f2ed1d7dbc8136 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_64_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/64_sports_ball_cup_sort.yaml", "episode_index": 7, "seed": 206400006, "success": true, "steps": 4214, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206400006, "base_seed": 206400000, "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": 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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} diff --git a/gpt6_astra_10x_icl/source_runs/task_64_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_64_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8175abf63556b8081895da04a3d8090e140b5581 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_64_episode_07/summary.json @@ -0,0 +1,197 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 70.23333333333063 + }, + "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": 0.0007119126720455624 + }, + "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": 4, + "avg_latched_chain_depth": 4 + }, + "efficiency": { + "task_efficiency": 0.31537731371619626, + "expert_time_s": 22.15, + "expert_time_step": 1329, + "avg_steps_to_success": 4214, + "avg_policy_steps_to_success": 1405, + "avg_policy_queries_to_success": 70 + }, + "safety": { + "safety_violation_events_per_step": 0.0007119126720455624, + "violation_counts": { + "drop_to_table_obj_055_baseball_4": 1, + "drop_to_table_obj_057_racquetball_5": 1, + "drop_to_table_obj_058_golf_ball_6": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.024916943521594685, + "finger_joint_limit_saturation_step_rate": 0.01044138585666825, + "max_joint_limit_excess_rad": 0.22497618198394775, + "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 + }, + "joint_limit_hard_episode_events": 7, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 8.916522021789415, + "joint_effort_rms": 27.27472913473995, + "joint_jerk_rms": 867.495619069727, + "joint_velocity_rms": 0.287882127845826 + }, + "grasp": { + "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_anti_slip_score": 0.8477693402942607, + "mean_duration_score": 0.6464542793861735, + "mean_hold_score": 0.3833353108685329, + "mean_kinematic_stability_score": 0.25406547353778536, + "mean_legacy_gsi": 0.5259020632103562, + "mean_lift_score": 0.44369957285239675, + "mean_motion_stability_score": 0.37291770751608594 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4214, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_67_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_67_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81fcb744d7facb68a7a6d1e2d622be9d94503f40 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_67_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 5, "seed": 206700004, "success": true, "steps": 19684, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700004, "base_seed": 206700000, "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, 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"right_pinky_proximal_joint": 3, "right_ring_proximal_joint": 2}, "joint_limit_max_excess_by_joint": {"left_index_distal_joint": 3.0386062555010085e-09, "left_index_proximal_joint": 0.010822883807122707, "left_middle_distal_joint": 0.0008476328221149743, "left_middle_proximal_joint": 0.058590054512023926, "left_pinky_distal_joint": 0.0008218161528930068, "left_pinky_proximal_joint": 0.006139582954347134, "left_ring_distal_joint": 0.009153462015092373, "left_ring_proximal_joint": 0.04438851401209831, "left_thumb_distal_joint": 0.0013120174407958984, "left_thumb_proximal_joint": 0.003536282107234001, "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}, "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": 0, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_pinky_proximal_joint", "role": "finger", "qpos": -0.006139582954347134, "hard_excess_rad": 0.006139582954347134, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0044166757725179195, "shielded_target": 0.0044166757725179195}], "command_context_available": true, "active_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_thumb_proximal_joint", "left_thumb_proximal_joint"], "raw_active_action": [1.5700000524520874, -1.5638988018035889, 1.5700000524520874, -1.5547411441802979, -1.5700000524520874, 1.5743027925491333, 5.605516051332415e-10, 0.017392799258232117, 1.5700000524520874, -1.5456122159957886, 2.5093929156838612e-09, -0.013201515190303326, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0008597525302320719, 0.000990543863736093, 0.0044166757725179195, 9.528041118755937e-06, 0.01793752610683441, 1.6082230658298613e-08, 0.010647164657711983], "full_joint_names": 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2.5093929156838612e-09, -0.013201515190303326, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0008597525302320719, 0.000990543863736093, 0.0044166757725179195, 9.528041118755937e-06, 0.01793752610683441, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0009930141968652606, 0.001144078210927546, 0.005101260729134083, 1.1004887710441835e-05, 0.010647164657711983, 1.6082230658298613e-08, 0.010647164657711983], "shielded_full_target": [1.5700000524520874, -1.5638988018035889, 1.5700000524520874, -1.5547411441802979, -1.5700000524520874, 1.5743027925491333, 5.605516051332415e-10, 0.017392799258232117, 1.5700000524520874, -1.5456122159957886, 2.5093929156838612e-09, -0.013201515190303326, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0008597525302320719, 0.000990543863736093, 0.0044166757725179195, 9.528041118755937e-06, 0.01793752610683441, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0009930141968652606, 0.001144078210927546, 0.005101260729134083, 1.1004887710441835e-05, 0.010647164657711983, 1.6082230658298613e-08, 0.010647164657711983]}, "joint_limit_active_steps": 61, "joint_limit_hard_episode_events": 18, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 0, "max_joint_limit_excess_rad": 0.058590054512023926, "max_joint_limit_excess_joint": "left_middle_proximal_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": 61, "joint_limit_active_step_rate": 0.0030989636252794148, "finger_joint_limit_saturation_steps": 0, "finger_joint_limit_saturation_step_rate": 0.0, "max_joint_limit_excess_rad": 0.058590054512023926, "max_joint_limit_excess_joint": "left_middle_proximal_joint", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": true, "faucet_open_close": true, "mug_on_tray": true}, "current_stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": true, "mug_on_tray": true}, "stage_first_completion_step": {"spoon_in_mug": 1001, "mug_under_faucet": 16627, "faucet_open_close": 17797, "mug_on_tray": 19504}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1, "high_speed_obj_031_spoon_1": 1}, "policy_query_count": 99, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 28920, "dwell_time_s": 3.0} diff --git a/gpt6_astra_10x_icl/source_runs/task_67_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_67_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4f96f115c3cb00546aa7a3a97eb10c15b50143 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_67_episode_05/summary.json @@ -0,0 +1,210 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 328.06666666669696 + }, + "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": 0.0001016053647632595 + }, + "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": 0.09794757163177312, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": 19684, + "avg_policy_steps_to_success": 6562, + "avg_policy_queries_to_success": 99 + }, + "safety": { + "safety_violation_events_per_step": 0.0001016053647632595, + "violation_counts": { + "drop_to_table_obj_031_spoon_1": 1, + "high_speed_obj_031_spoon_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0030989636252794148, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.058590054512023926, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 1, + "left_middle_proximal_joint": 37, + "left_ring_proximal_joint": 22, + "right_pinky_proximal_joint": 1 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 5, + "left_middle_proximal_joint": 5, + "left_pinky_proximal_joint": 2, + "left_ring_distal_joint": 2, + "left_ring_proximal_joint": 9, + "right_index_proximal_joint": 2, + "right_middle_proximal_joint": 2, + "right_pinky_proximal_joint": 3, + "right_ring_proximal_joint": 2 + }, + "joint_limit_hard_episode_events": 18, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "left_index_distal_joint": 3.0386062555010085e-09, + "left_index_proximal_joint": 0.010822883807122707, + "left_middle_distal_joint": 0.0008476328221149743, + "left_middle_proximal_joint": 0.058590054512023926, + "left_pinky_distal_joint": 0.0008218161528930068, + "left_pinky_proximal_joint": 0.006139582954347134, + "left_ring_distal_joint": 0.009153462015092373, + "left_ring_proximal_joint": 0.04438851401209831, + "left_thumb_distal_joint": 0.0013120174407958984, + "left_thumb_proximal_joint": 0.003536282107234001, + "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 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 7.981370834397181, + "joint_effort_rms": 21.490395497592793, + "joint_jerk_rms": 797.0507394485882, + "joint_velocity_rms": 0.249740901601721 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9295609585168081, + "mean_kinematic_grasp_stability": 0.5998642864270542, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.9295609585168081, + "obj_031_spoon_1": 0.8893117410689476 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.5233607667818195, + "mean_duration_score": 0.5727494411704936, + "mean_hold_score": 0.25383306238569564, + "mean_kinematic_stability_score": 0.06075134398457288, + "mean_legacy_gsi": 0.36357901092185557, + "mean_lift_score": 0.3611562690510059, + "mean_motion_stability_score": 0.2259497554271785 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 19684, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_67_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_67_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc73b56bea4e16ecb232b5bb03dc4f560627a06e --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_67_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 6, "seed": 206700005, "success": true, "steps": 2548, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700005, "base_seed": 206700000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": 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"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": "left_middle_proximal_joint", "role": "finger", "qpos": -0.005990247242152691, "hard_excess_rad": 0.005990247242152691, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0010805921629071236, "shielded_target": 0.0010805921629071236}, {"joint": "left_pinky_proximal_joint", "role": "finger", "qpos": -0.013805604539811611, "hard_excess_rad": 0.013805604539811611, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.00481819175183773, "shielded_target": 0.00481819175183773}, {"joint": "left_ring_proximal_joint", "role": "finger", "qpos": -0.005333855282515287, "hard_excess_rad": 0.005333855282515287, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 1.039422659232514e-05, "shielded_target": 1.039422659232514e-05}], "command_context_available": true, "active_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_thumb_proximal_joint", "left_thumb_proximal_joint"], "raw_active_action": [1.5700000524520874, -1.6320781707763672, 1.5700000524520874, -1.5726567506790161, -1.5700000524520874, 1.63029944896698, 5.605516051332415e-10, -0.057886771857738495, 1.5700000524520874, -1.5553964376449585, 2.5093929156838612e-09, -0.11874735355377197, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009379118564538658, 0.0010805921629071236, 0.00481819175183773, 1.039422659232514e-05, 0.01956821046769619, 1.6082230658298613e-08, 0.011615089140832424], "full_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_index_distal_joint", "right_middle_distal_joint", "right_pinky_distal_joint", "right_ring_distal_joint", "right_thumb_proximal_joint", "left_index_distal_joint", "left_middle_distal_joint", "left_pinky_distal_joint", "left_ring_distal_joint", "left_thumb_proximal_joint", "right_thumb_distal_joint", "left_thumb_distal_joint"], "expanded_full_target": [1.5700000524520874, -1.6320781707763672, 1.5700000524520874, -1.5726567506790161, -1.5700000524520874, 1.63029944896698, 5.605516051332415e-10, -0.057886771857738495, 1.5700000524520874, -1.5553964376449585, 2.5093929156838612e-09, -0.11874735355377197, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009379118564538658, 0.0010805921629071236, 0.00481819175183773, 1.039422659232514e-05, 0.01956821046769619, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0010832882253453135, 0.0012480838922783732, 0.005565011408179998, 1.2005331882392056e-05, 0.011615089140832424, 1.6082230658298613e-08, 0.011615089140832424], "shielded_full_target": [1.5700000524520874, -1.6320781707763672, 1.5700000524520874, -1.5726567506790161, -1.5700000524520874, 1.63029944896698, 5.605516051332415e-10, -0.057886771857738495, 1.5700000524520874, -1.5553964376449585, 2.5093929156838612e-09, -0.11874735355377197, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0009379118564538658, 0.0010805921629071236, 0.00481819175183773, 1.039422659232514e-05, 0.01956821046769619, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0010832882253453135, 0.0012480838922783732, 0.005565011408179998, 1.2005331882392056e-05, 0.011615089140832424, 1.6082230658298613e-08, 0.011615089140832424]}, "joint_limit_active_steps": 36, "joint_limit_hard_episode_events": 9, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 9, "max_joint_limit_excess_rad": 0.17984381318092346, "max_joint_limit_excess_joint": "left_index_proximal_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": 36, "joint_limit_active_step_rate": 0.0141287284144427, "finger_joint_limit_saturation_steps": 9, "finger_joint_limit_saturation_step_rate": 0.003532182103610675, "max_joint_limit_excess_rad": 0.17984381318092346, "max_joint_limit_excess_joint": "left_index_proximal_joint", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": true, "faucet_open_close": true, "mug_on_tray": true}, "current_stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": true, "mug_on_tray": true}, "stage_first_completion_step": {"spoon_in_mug": 592, "mug_under_faucet": 1234, "faucet_open_close": 1865, "mug_on_tray": 2368}, "violation_counts": {}, "policy_query_count": 28, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2892, "dwell_time_s": 3.0} diff --git a/gpt6_astra_10x_icl/source_runs/task_67_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_67_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9500b6c16bff899e3e37b24a24bc450c6875ff4d --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_67_episode_06/summary.json @@ -0,0 +1,210 @@ +{ + "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": 1, + "successes": 1, + "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": 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": 42.46666666666554 + }, + "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": { + "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": 0.7566718995290624, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": 2548, + "avg_policy_steps_to_success": 850, + "avg_policy_queries_to_success": 28 + }, + "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": 0.0141287284144427, + "finger_joint_limit_saturation_step_rate": 0.003532182103610675, + "max_joint_limit_excess_rad": 0.17984381318092346, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_proximal_joint": 34, + "left_middle_proximal_joint": 1, + "left_pinky_proximal_joint": 4, + "left_ring_proximal_joint": 1, + "left_thumb_metacarpal_joint": 9 + }, + "joint_limit_hard_counts": { + "left_index_proximal_joint": 3, + "left_middle_proximal_joint": 5, + "left_pinky_proximal_joint": 4, + "left_ring_proximal_joint": 3, + "left_thumb_distal_joint": 2, + "left_thumb_metacarpal_joint": 1, + "right_pinky_proximal_joint": 3 + }, + "joint_limit_hard_episode_events": 9, + "finger_joint_limit_saturation_counts": { + "left_index_proximal_joint": 9 + }, + "joint_limit_max_excess_by_joint": { + "joint3": 0.0003457069396972656, + "left_index_distal_joint": 7.247085598294234e-09, + "left_index_proximal_joint": 0.17984381318092346, + "left_middle_distal_joint": 0.0013662871206179261, + "left_middle_proximal_joint": 0.013574698008596897, + "left_pinky_distal_joint": 0.001499143778346479, + "left_pinky_proximal_joint": 0.015639672055840492, + "left_ring_distal_joint": 0.0038109386805444956, + "left_ring_proximal_joint": 0.01242226641625166, + "left_thumb_distal_joint": 0.008307218551635742, + "left_thumb_metacarpal_joint": 0.14287704229354858, + "left_thumb_proximal_joint": 0.004870057106018066, + "right_index_distal_joint": 3.111904345320937e-10, + "right_index_proximal_joint": 0.00492618465796113, + "right_middle_distal_joint": 0.0008442623657174408, + "right_middle_proximal_joint": 0.003464736044406891, + "right_pinky_distal_joint": 0.0007720514549873769, + "right_pinky_proximal_joint": 0.0059610228054225445, + "right_ring_distal_joint": 0.002212252700701356, + "right_ring_proximal_joint": 0.004843482282012701 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 15.366586760819425, + "joint_effort_rms": 30.207742852153643, + "joint_jerk_rms": 1621.0179854714247, + "joint_velocity_rms": 0.3093593813558884 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9933503177424605, + "mean_kinematic_grasp_stability": 0.5896054467862547, + "per_object_best_kinematic_grasp_stability": { + "obj_025_mug_1": 0.9933503177424605, + "obj_031_spoon_1": 0.6814805498739188 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.7976190476190328, + "mean_duration_score": 0.7223966509680797, + "mean_hold_score": 0.6247350863422312, + "mean_kinematic_stability_score": 0.3880566460991166, + "mean_legacy_gsi": 0.6586846492751601, + "mean_lift_score": 0.7423469387755102, + "mean_motion_stability_score": 0.5565181499456802 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 2548, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_67_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_67_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3fb7ebe466397053f91725594d6f854b87478f6 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_67_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/67_faucet_cup_water_fill.yaml", "episode_index": 7, "seed": 206700006, "success": true, "steps": 11227, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 206700006, "base_seed": 206700000, "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_metal_metal0489_jpg", "asset_uri": 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{"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_094_faucet_1": {"position": [-0.05, 0.25, 0.8228760647679123], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_025_mug_1": {"position": [0.1, 0.07, 0.7298778608351166], "rpy_deg": [0.0, 0.0, -3.019272971696978]}, "obj_130_tray_1": {"position": [0.52, 0.15, 0.7290798646118448], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_031_spoon_1": {"position": [-0.3, 0.1, 0.7755938616141829], "rpy_deg": [90.0, 0.0, 173.5728115408261]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "articulation_multi", "robot_key": "multi_rm_65_with_revo2", "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": 11047, "stable_success_step": 11226, "first_stable_success_step": 11226, "steps_to_stable_success": 11227, "policy_steps_to_stable_success": 3743, "policy_queries_to_stable_success": 74, "time_to_stable_success_s": 187.11666666670772, "expert_time_s": 32.13333333333333, "expert_time_step": 1928, "success_hold_s": 2.9999999999999942, "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": 0.75, "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": 0.17172886790768477, "kinematic_grasp_stability_index": 0.9946779823068276, "mean_kinematic_grasp_stability": 0.5181874683210369, "per_object_best_kinematic_grasp_stability": {"obj_025_mug_1": 0.9548151366492877, "obj_031_spoon_1": 0.9946779823068276}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.459831654607781, "mean_kinematic_stability_score": 0.19142981427465044, "mean_lift_score": 0.5241382381758262, "mean_hold_score": 0.3445644428609592, "mean_motion_stability_score": 0.3081330958105314, "mean_duration_score": 0.456736735845136, "mean_anti_slip_score": 0.844363290876162}, "robot_motion_metrics": {"joint_velocity_rms": 0.38714282906998243, "joint_acceleration_rms": 18.983346116093042, "joint_jerk_rms": 1945.6031922548445, "joint_effort_rms": 23.699470296415868}, "tool_selection_accuracy": null, "tool_switch_success_rate": null, "tool_switch_total": 0, "tool_switch_successful": 0, "safety_violation_rate": 8.907098957867467e-05, "safety_violation_rate_time": 8.907098957867467e-05, "safety_violation_rate_event": 8.907098957869422e-05, "safety_violation_step_rate": 8.907098957869422e-05, "safety_violation_events_per_step": 8.907098957869422e-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": 4, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"l_joint4": 69, "left_index_proximal_joint": 110, "left_middle_distal_joint": 3, "left_pinky_distal_joint": 16, "left_ring_distal_joint": 17, "left_thumb_distal_joint": 57, "left_thumb_metacarpal_joint": 57, "left_thumb_proximal_joint": 33}, "joint_limit_hard_counts": {"l_joint4": 1, "left_index_proximal_joint": 1, "left_middle_distal_joint": 1, "left_pinky_distal_joint": 2, "left_pinky_proximal_joint": 2, "left_ring_distal_joint": 5, "left_thumb_distal_joint": 2, "left_thumb_metacarpal_joint": 4, "left_thumb_proximal_joint": 10, "right_pinky_proximal_joint": 1}, "finger_joint_limit_saturation_counts": {"left_index_proximal_joint": 37, "left_thumb_distal_joint": 43, "left_thumb_metacarpal_joint": 26, "left_thumb_proximal_joint": 11}, "joint_limit_max_excess_by_joint": {"l_joint4": 0.6398665904998779, "left_index_distal_joint": 2.64910648972716e-09, "left_index_proximal_joint": 0.45414891839027405, "left_middle_distal_joint": 0.026591023430228233, "left_middle_proximal_joint": 0.0036999040748924017, "left_pinky_distal_joint": 0.05928519740700722, "left_pinky_proximal_joint": 0.005574842449277639, "left_ring_distal_joint": 0.12289157509803772, "left_ring_proximal_joint": 0.003764623776078224, "left_thumb_distal_joint": 0.5415257215499878, "left_thumb_metacarpal_joint": 0.49407291412353516, "left_thumb_proximal_joint": 0.19011513888835907, "right_index_distal_joint": 3.419486638289726e-10, "right_index_proximal_joint": 0.0024180093314498663, "right_middle_distal_joint": 0.0003917078429367393, "right_middle_proximal_joint": 0.0017291498370468616, "right_pinky_distal_joint": 0.0003477447899058461, "right_pinky_proximal_joint": 0.008593859151005745, "right_ring_distal_joint": 0.0010264425072818995, "right_ring_proximal_joint": 0.001374093466438353, "right_thumb_proximal_joint": 0.0003823299484793097}, "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": 0, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "left_pinky_proximal_joint", "role": "finger", "qpos": -0.005574842449277639, "hard_excess_rad": 0.005574842449277639, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.4099998474121094, "operating_lower": 0.0, "operating_upper": 1.4099998474121094, "expanded_target": 0.0038545532152056694, "shielded_target": 0.0038545532152056694}], "command_context_available": true, "active_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_thumb_proximal_joint", "left_thumb_proximal_joint"], "raw_active_action": [1.5700000524520874, -1.5638585090637207, 1.5700000524520874, -1.5561391115188599, -1.5700000524520874, 1.5713175535202026, 5.605516051332415e-10, 0.02045927755534649, 1.5700000524520874, -1.5480848550796509, 2.5093929156838612e-09, -0.01652327924966812, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0007503294618800282, 0.0008644761983305216, 0.0038545532152056694, 8.315380910062231e-06, 0.01565456949174404, 1.6082230658298613e-08, 0.00929207168519497], "full_joint_names": ["joint1", "l_joint1", "joint2", "l_joint2", "joint3", "l_joint3", "joint4", "l_joint4", "joint5", "l_joint5", "joint6", "l_joint6", "right_index_proximal_joint", "right_middle_proximal_joint", "right_pinky_proximal_joint", "right_ring_proximal_joint", "right_thumb_metacarpal_joint", "left_index_proximal_joint", "left_middle_proximal_joint", "left_pinky_proximal_joint", "left_ring_proximal_joint", "left_thumb_metacarpal_joint", "right_index_distal_joint", "right_middle_distal_joint", "right_pinky_distal_joint", "right_ring_distal_joint", "right_thumb_proximal_joint", "left_index_distal_joint", "left_middle_distal_joint", "left_pinky_distal_joint", "left_ring_distal_joint", "left_thumb_proximal_joint", "right_thumb_distal_joint", "left_thumb_distal_joint"], "expanded_full_target": [1.5700000524520874, -1.5638585090637207, 1.5700000524520874, -1.5561391115188599, -1.5700000524520874, 1.5713175535202026, 5.605516051332415e-10, 0.02045927755534649, 1.5700000524520874, -1.5480848550796509, 2.5093929156838612e-09, -0.01652327924966812, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0007503294618800282, 0.0008644761983305216, 0.0038545532152056694, 8.315380910062231e-06, 0.01565456949174404, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0008666305220685899, 0.00099847000092268, 0.004452008754014969, 9.604264960216824e-06, 0.00929207168519497, 1.6082230658298613e-08, 0.00929207168519497], "shielded_full_target": [1.5700000524520874, -1.5638585090637207, 1.5700000524520874, -1.5561391115188599, -1.5700000524520874, 1.5713175535202026, 5.605516051332415e-10, 0.02045927755534649, 1.5700000524520874, -1.5480848550796509, 2.5093929156838612e-09, -0.01652327924966812, 0.0, 8.184382949139035e-09, 3.972547624186973e-09, 4.720225987853155e-09, 5.752893716959306e-09, 0.0007503294618800282, 0.0008644761983305216, 0.0038545532152056694, 8.315380910062231e-06, 0.01565456949174404, 0.0, 9.452961968747786e-09, 4.5882924126772195e-09, 5.451861184724294e-09, 1.6082230658298613e-08, 0.0008666305220685899, 0.00099847000092268, 0.004452008754014969, 9.604264960216824e-06, 0.00929207168519497, 1.6082230658298613e-08, 0.00929207168519497]}, "joint_limit_active_steps": 276, "joint_limit_hard_episode_events": 22, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 103, "max_joint_limit_excess_rad": 0.6398665904998779, "max_joint_limit_excess_joint": "l_joint4", "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": 276, "joint_limit_active_step_rate": 0.024583593123719605, "finger_joint_limit_saturation_steps": 103, "finger_joint_limit_saturation_step_rate": 0.009174311926605505, "max_joint_limit_excess_rad": 0.6398665904998779, "max_joint_limit_excess_joint": "l_joint4", "stage_completion": {"spoon_in_mug": true, "mug_under_faucet": true, "faucet_open_close": true, "mug_on_tray": true}, "current_stage_completion": {"spoon_in_mug": true, "mug_under_faucet": false, "faucet_open_close": true, "mug_on_tray": true}, "stage_first_completion_step": {"spoon_in_mug": 861, "mug_under_faucet": 8295, "faucet_open_close": 9572, "mug_on_tray": 11047}, "violation_counts": {"drop_to_table_obj_031_spoon_1": 1}, "policy_query_count": 74, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 28920, "dwell_time_s": 3.0} diff --git a/gpt6_astra_10x_icl/source_runs/task_67_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_67_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8b0d49afc880b6ed5e86f38f5c9a27e98c461c39 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_67_episode_07/summary.json @@ -0,0 +1,222 @@ +{ + "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": 1, + "successes": 1, + "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, + "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": 187.11666666670772 + }, + "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": 8.907098957869422e-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": 0.17172886790768477, + "expert_time_s": 32.13333333333333, + "expert_time_step": 1928, + "avg_steps_to_success": 11227, + "avg_policy_steps_to_success": 3743, + "avg_policy_queries_to_success": 74 + }, + "safety": { + "safety_violation_events_per_step": 8.907098957869422e-05, + "violation_counts": { + "drop_to_table_obj_031_spoon_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.024583593123719605, + "finger_joint_limit_saturation_step_rate": 0.009174311926605505, + "max_joint_limit_excess_rad": 0.6398665904998779, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_joint4": 69, + "left_index_proximal_joint": 110, + "left_middle_distal_joint": 3, + "left_pinky_distal_joint": 16, + "left_ring_distal_joint": 17, + "left_thumb_distal_joint": 57, + "left_thumb_metacarpal_joint": 57, + "left_thumb_proximal_joint": 33 + }, + "joint_limit_hard_counts": { + "l_joint4": 1, + "left_index_proximal_joint": 1, + "left_middle_distal_joint": 1, + "left_pinky_distal_joint": 2, + "left_pinky_proximal_joint": 2, + "left_ring_distal_joint": 5, + "left_thumb_distal_joint": 2, + "left_thumb_metacarpal_joint": 4, + "left_thumb_proximal_joint": 10, + "right_pinky_proximal_joint": 1 + }, + "joint_limit_hard_episode_events": 22, + "finger_joint_limit_saturation_counts": { + "left_index_proximal_joint": 37, + "left_thumb_distal_joint": 43, + "left_thumb_metacarpal_joint": 26, + "left_thumb_proximal_joint": 11 + }, + "joint_limit_max_excess_by_joint": { + "l_joint4": 0.6398665904998779, + 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"full_joint_names": ["A1", "A2", "multi_A1", "A3", "multi_A2", "A4", "multi_A3", "A5", "multi_A4", "A6", "multi_A5", "A7", "multi_A6", "multi_A7", "left_index_MCP_FE", "left_middle_MCP_FE", "left_pinky_CMC", "left_ring_MCP_FE", "left_thumb_CMC_FE", "left_index_MCP_AA", "left_middle_MCP_AA", "left_pinky_MCP_FE", "left_ring_MCP_AA", "left_thumb_CMC_AA", "multi_right_index_MCP_FE", "multi_right_middle_MCP_FE", "multi_right_pinky_CMC", "multi_right_ring_MCP_FE", "multi_right_thumb_CMC_FE", "left_index_PIP", "left_middle_PIP", "left_pinky_MCP_AA", "left_ring_PIP", "left_thumb_MCP_FE", "multi_right_index_MCP_AA", "multi_right_middle_MCP_AA", "multi_right_pinky_MCP_FE", "multi_right_ring_MCP_AA", "multi_right_thumb_CMC_AA", "left_index_DIP", "left_middle_DIP", "left_pinky_PIP", "left_ring_DIP", "left_thumb_MCP_AA", "multi_right_index_PIP", "multi_right_middle_PIP", "multi_right_pinky_MCP_AA", "multi_right_ring_PIP", "multi_right_thumb_MCP_FE", "left_pinky_DIP", "left_thumb_IP", "multi_right_index_DIP", "multi_right_middle_DIP", "multi_right_pinky_PIP", "multi_right_ring_DIP", "multi_right_thumb_MCP_AA", "multi_right_pinky_DIP", "multi_right_thumb_IP"], "expanded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.982492446899414, 9.31874369336505e-13, -0.3059460520744324, -1.5700000524520874, 0.5798373818397522, -5.977571909676627e-11, -0.8676885366439819, -1.4030236972217836e-09, 2.0257959365844727, -4.272712739172846e-10, -0.8785344958305359, 1.1629703044891357, 2.4719001845419086e-10, 4.0406178403173953e-10, 0.0, -5.290308191518989e-10, 1.5527841512597007e-10, 1.933086503369541e-12, -6.474144137458282e-13, -5.197141605961519e-10, -6.3017750739913225e-12, 5.870037789179605e-11, 0.0, 0.0, 0.0, 0.0, 1.399999976158142, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.800000011920929, 4.084306504115176e-11, 1.1278734196595863e-10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.399999976158142], "shielded_full_target": [-1.5700000524520874, -1.5700000524520874, 1.982492446899414, 9.31874369336505e-13, -0.3059460520744324, -1.5700000524520874, 0.5798373818397522, -5.977571909676627e-11, -0.8676885366439819, -1.4030236972217836e-09, 2.0257959365844727, -4.272712739172846e-10, -0.8785344958305359, 1.1629703044891357, 2.4719001845419086e-10, 4.0406178403173953e-10, 0.0, -5.290308191518989e-10, 1.5527841512597007e-10, 1.933086503369541e-12, -6.474144137458282e-13, -5.197141605961519e-10, -6.3017750739913225e-12, 5.870037789179605e-11, 0.0, 0.0, 0.0, 0.0, 1.399999976158142, 0.0, 0.0, 2.7187993176247538e-11, 0.0, 1.0976708431087445e-10, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2484119293887375e-10, 3.5834519379607244e-11, 0.0, 1.2947721887701658e-11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.800000011920929, 4.084306504115176e-11, 1.1278734196595863e-10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.399999976158142]}, "joint_limit_active_steps": 361, "joint_limit_hard_episode_events": 24, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 210, "max_joint_limit_excess_rad": 1.7219103574752808, "max_joint_limit_excess_joint": "multi_right_middle_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": 361, "joint_limit_active_step_rate": 0.02048575644081262, "finger_joint_limit_saturation_steps": 210, "finger_joint_limit_saturation_step_rate": 0.01191692202928158, "max_joint_limit_excess_rad": 1.7219103574752808, "max_joint_limit_excess_joint": "multi_right_middle_PIP", "stage_completion": {"assemble_piece_2": true, "assemble_piece_3": false, "assemble_piece_4": false, "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": 2268, "assemble_piece_3": null, "assemble_piece_4": null, "assemble_piece_5": null}, "violation_counts": {"drop_to_table_obj_326_piece_2": 1, "drop_to_table_obj_326_piece_3": 1, "drop_to_table_obj_326_piece_4": 1}, "policy_query_count": 88, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 36390, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_73_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_73_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c51aca490ddda2dc73a65c913915a2ad8b21cbb5 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_73_episode_05/summary.json @@ -0,0 +1,269 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.25 + }, + "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": 0.00017024174327545113 + }, + "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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 0, + "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": 0.00017024174327545113, + "violation_counts": { + "drop_to_table_obj_326_piece_2": 1, + "drop_to_table_obj_326_piece_3": 1, + "drop_to_table_obj_326_piece_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.02048575644081262, + "finger_joint_limit_saturation_step_rate": 0.01191692202928158, + "max_joint_limit_excess_rad": 1.7219103574752808, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 76, + "left_index_MCP_FE": 37, + "left_index_PIP": 57, + "multi_right_index_DIP": 52, + "multi_right_index_MCP_AA": 49, + "multi_right_index_MCP_FE": 62, + "multi_right_index_PIP": 35, + "multi_right_middle_DIP": 45, + "multi_right_middle_MCP_FE": 43, + "multi_right_middle_PIP": 65, + "multi_right_pinky_CMC": 39, + "multi_right_pinky_MCP_FE": 4, + "multi_right_pinky_PIP": 7, + "multi_right_ring_MCP_FE": 44, + "multi_right_ring_PIP": 40, + "multi_right_thumb_CMC_AA": 25, + "multi_right_thumb_IP": 2, + "multi_right_thumb_MCP_FE": 21 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 3, + "left_index_MCP_FE": 3, + "left_index_PIP": 2, + "multi_right_index_DIP": 6, + "multi_right_index_MCP_AA": 2, + "multi_right_index_MCP_FE": 6, + "multi_right_index_PIP": 7, + "multi_right_middle_DIP": 3, + "multi_right_middle_MCP_FE": 1, + "multi_right_middle_PIP": 2, + "multi_right_pinky_CMC": 2, + "multi_right_pinky_MCP_FE": 1, + "multi_right_pinky_PIP": 3, + "multi_right_ring_DIP": 1, + "multi_right_ring_MCP_FE": 1, + "multi_right_ring_PIP": 3, + "multi_right_thumb_CMC_AA": 4, + "multi_right_thumb_IP": 1, + "multi_right_thumb_MCP_FE": 1 + }, + "joint_limit_hard_episode_events": 24, + "finger_joint_limit_saturation_counts": { + "left_index_DIP": 32, + "left_index_MCP_FE": 27, + "left_index_PIP": 37, + "multi_right_index_DIP": 19, + "multi_right_index_MCP_AA": 30, + "multi_right_index_MCP_FE": 2, + "multi_right_middle_DIP": 19, + "multi_right_middle_MCP_FE": 26, + "multi_right_middle_PIP": 62, + "multi_right_pinky_CMC": 32, + "multi_right_ring_MCP_FE": 19, + "multi_right_ring_PIP": 38, + "multi_right_thumb_CMC_AA": 10 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 0.8007507920265198, + "left_index_MCP_FE": 0.573113739490509, + "left_index_PIP": 0.43156898021698, + "left_middle_DIP": 4.570364035316743e-05, + "left_middle_MCP_FE": 0.00012327730655670166, + "left_middle_PIP": 0.00022418513253796846, + "left_pinky_CMC": 0.00488975690677762, + "left_pinky_DIP": 2.056793891824782e-05, + "left_pinky_MCP_FE": 0.00018474459648132324, + "left_pinky_PIP": 0.00010170022869715467, + "left_ring_DIP": 2.2181593521963805e-05, + "left_ring_MCP_FE": 7.277727127075195e-05, + "left_ring_PIP": 0.00010761668818304315, + "left_thumb_CMC_AA": 0.0031002163887023926, + "left_thumb_CMC_FE": 9.782612323760986e-05, + "left_thumb_IP": 1.7881393432617188e-06, + "left_thumb_MCP_FE": 0.00023496150970458984, + "multi_right_index_DIP": 0.5522264242172241, + "multi_right_index_MCP_AA": 0.4186832010746002, + "multi_right_index_MCP_FE": 0.2834460735321045, + "multi_right_index_PIP": 0.08282418549060822, + "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": 0.0009389047627337277, + "multi_right_pinky_MCP_FE": 0.060624122619628906, + "multi_right_pinky_PIP": 0.0501953661441803, + "multi_right_ring_DIP": 0.008655449375510216, + "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": 0.00023865699768066406, + "multi_right_thumb_IP": 0.011076688766479492, + "multi_right_thumb_MCP_FE": 0.18210947513580322 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 30.277657314197434, + "joint_effort_rms": 29.374798783976352, + "joint_jerk_rms": 3005.2912902899757, + "joint_velocity_rms": 0.5938773868471577 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9784689619007914, + "mean_kinematic_grasp_stability": 0.5104508824419542, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.9207909678121109, + "obj_326_piece_3": 0.9784689619007914, + "obj_326_piece_4": 0.9446627631518613, + "obj_326_piece_5": 0.4299957884520333 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9356864525405785, + "mean_duration_score": 0.24829417773236487, + "mean_hold_score": 0.07469923958687853, + "mean_kinematic_stability_score": 0.04391349096481686, + "mean_legacy_gsi": 0.2768906378162734, + "mean_lift_score": 0.08602882760186131, + "mean_motion_stability_score": 0.06550899290524453 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 17622, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_73_episode_06/per_episode.jsonl 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0.15000000596046448, 0.0, 0.15000000596046448, 0.0]}, "joint_limit_active_steps": 1131, "joint_limit_hard_episode_events": 202, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 484, "max_joint_limit_excess_rad": 0.6076315641403198, "max_joint_limit_excess_joint": "left_index_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": 1131, "joint_limit_active_step_rate": 0.031079967023907668, "finger_joint_limit_saturation_steps": 484, "finger_joint_limit_saturation_step_rate": 0.013300357241000274, "max_joint_limit_excess_rad": 0.6076315641403198, "max_joint_limit_excess_joint": "left_index_MCP_FE", "stage_completion": {"assemble_piece_2": false, "assemble_piece_3": true, "assemble_piece_4": true, "assemble_piece_5": true}, "current_stage_completion": {"assemble_piece_2": false, "assemble_piece_3": false, "assemble_piece_4": false, "assemble_piece_5": true}, "stage_first_completion_step": {"assemble_piece_2": null, "assemble_piece_3": 2976, "assemble_piece_4": 3181, "assemble_piece_5": 35948}, "violation_counts": {"drop_to_table_obj_326_piece_4": 1}, "policy_query_count": 186, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 36390, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_73_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_73_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b23625471566fc73eba705b9258144b1ed60418b --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_73_episode_06/summary.json @@ -0,0 +1,291 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.75 + }, + "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": 2.7480076944215445e-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": 0.25, + "current_chain_depth_progress_score": 1.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 1, + "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": 2.7480076944215445e-05, + "violation_counts": { + "drop_to_table_obj_326_piece_4": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.031079967023907668, + "finger_joint_limit_saturation_step_rate": 0.013300357241000274, + "max_joint_limit_excess_rad": 0.6076315641403198, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_index_DIP": 7, + "left_index_MCP_AA": 2, + "left_index_MCP_FE": 85, + "left_index_PIP": 33, + "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, + "multi_right_index_DIP": 3, + "multi_right_index_MCP_AA": 31, + "multi_right_index_MCP_FE": 414, + "multi_right_index_PIP": 2, + "multi_right_pinky_CMC": 239, + "multi_right_pinky_DIP": 13, + "multi_right_pinky_MCP_FE": 220, + "multi_right_ring_DIP": 38, + "multi_right_ring_MCP_FE": 104, + "multi_right_ring_PIP": 3, + "multi_right_thumb_IP": 194 + }, + "joint_limit_hard_counts": { + "left_index_DIP": 2, + "left_index_MCP_AA": 1, + "left_index_MCP_FE": 6, + "left_index_PIP": 2, + "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, + "multi_right_index_DIP": 4, + "multi_right_index_MCP_AA": 2, + "multi_right_index_MCP_FE": 13, + "multi_right_index_PIP": 3, + "multi_right_middle_MCP_FE": 9, + "multi_right_pinky_CMC": 10, + "multi_right_pinky_DIP": 1, + "multi_right_pinky_MCP_FE": 3, + "multi_right_ring_DIP": 1, + "multi_right_ring_MCP_FE": 4, + "multi_right_ring_PIP": 2, + "multi_right_thumb_CMC_AA": 170, + "multi_right_thumb_IP": 2 + }, + "joint_limit_hard_episode_events": 202, + "finger_joint_limit_saturation_counts": { + "left_index_MCP_FE": 24, + "left_index_PIP": 8, + "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_MCP_FE": 149, + "multi_right_pinky_CMC": 142, + "multi_right_pinky_MCP_FE": 53, + "multi_right_ring_DIP": 20, + "multi_right_thumb_IP": 140 + }, + "joint_limit_max_excess_by_joint": { + "A6": 1.049041748046875e-05, + "left_index_DIP": 0.20248223841190338, + "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_IP": 0.04045915976166725, + "left_thumb_MCP_AA": 0.03789395093917847, + "left_thumb_MCP_FE": 0.004278421401977539, + "multi_right_index_DIP": 0.03205152228474617, + "multi_right_index_MCP_AA": 0.029056400060653687, + "multi_right_index_MCP_FE": 0.4024389982223511, + "multi_right_index_PIP": 0.013235321268439293, + "multi_right_middle_DIP": 0.00011401593656046316, + "multi_right_middle_MCP_FE": 0.009682953357696533, + "multi_right_middle_PIP": 0.0015869928756728768, + "multi_right_pinky_CMC": 0.4196023941040039, + "multi_right_pinky_DIP": 0.0646938756108284, + "multi_right_pinky_MCP_FE": 0.2818913459777832, + "multi_right_pinky_PIP": 0.00380344083532691, + "multi_right_ring_DIP": 0.2511492967605591, + "multi_right_ring_MCP_AA": 0.004061490297317505, + "multi_right_ring_MCP_FE": 0.08749246597290039, + "multi_right_ring_PIP": 0.058275461196899414, + "multi_right_thumb_CMC_AA": 0.005560696125030518, + "multi_right_thumb_CMC_FE": 0.002692699432373047, + "multi_right_thumb_IP": 0.41644221544265747, + "multi_right_thumb_MCP_FE": 5.614757537841797e-05 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 34.42628260007737, + "joint_effort_rms": 23.45051993323617, + "joint_jerk_rms": 3421.4755379941193, + "joint_velocity_rms": 0.6372447359545609 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9890761915166526, + "mean_kinematic_grasp_stability": 0.5894758476013543, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.9890761915166526, + "obj_326_piece_3": 0.9801375349040519, + "obj_326_piece_4": 0.9566563086201191, + "obj_326_piece_5": 0.809746442085908 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.940677841897787, + "mean_duration_score": 0.5864429788403482, + "mean_hold_score": 0.05891316295685433, + "mean_kinematic_stability_score": 0.04053274157373204, + "mean_legacy_gsi": 0.33601612880556686, + "mean_lift_score": 0.07059082165430063, + "mean_motion_stability_score": 0.048051877569007105 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 36390, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_73_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_73_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4f6f7f565ebe65698f78400347e14c7bb8e3152 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_73_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/73_jigsaw_puzzle_assembly.yaml", "episode_index": 7, "seed": 207300006, "success": false, "steps": 15105, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 207300006, "base_seed": 207300000, "seed_policy": "episode_seed = base_seed + 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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} diff --git a/gpt6_astra_10x_icl/source_runs/task_73_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_73_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..eb12a24f311cb979bdbd7cf78730b3b1e1f0eed7 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_73_episode_07/summary.json @@ -0,0 +1,247 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.75 + }, + "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": 6.6203243958954e-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": 0.0, + "current_chain_depth_progress_score": 0.0, + "latched_chain_depth_progress_score": 1.0, + "avg_current_chain_depth": 0, + "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": 6.6203243958954e-05, + "violation_counts": { + "drop_to_table_obj_326_piece_2": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.01939755047997352, + "finger_joint_limit_saturation_step_rate": 0.006752730883813307, + "max_joint_limit_excess_rad": 0.3564506471157074, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "left_thumb_MCP_FE": 81, + "multi_right_index_DIP": 14, + "multi_right_index_MCP_FE": 23, + "multi_right_index_PIP": 57, + "multi_right_middle_DIP": 6, + "multi_right_middle_MCP_FE": 19, + "multi_right_middle_PIP": 70, + "multi_right_pinky_CMC": 27, + "multi_right_pinky_DIP": 8, + "multi_right_pinky_PIP": 87, + "multi_right_ring_DIP": 7, + "multi_right_ring_MCP_FE": 7, + "multi_right_ring_PIP": 80, + "multi_right_thumb_MCP_FE": 52 + }, + "joint_limit_hard_counts": { + "left_thumb_MCP_FE": 2, + "multi_right_index_DIP": 10, + "multi_right_index_MCP_FE": 1, + "multi_right_index_PIP": 5, + "multi_right_middle_DIP": 9, + "multi_right_middle_MCP_FE": 2, + "multi_right_middle_PIP": 5, + "multi_right_pinky_CMC": 1, + "multi_right_pinky_DIP": 16, + "multi_right_pinky_PIP": 9, + "multi_right_ring_DIP": 6, + "multi_right_ring_MCP_FE": 1, + "multi_right_ring_PIP": 2, + "multi_right_thumb_MCP_FE": 2 + }, + "joint_limit_hard_episode_events": 15, + "finger_joint_limit_saturation_counts": { + "multi_right_index_PIP": 12, + "multi_right_middle_PIP": 33, + "multi_right_pinky_CMC": 14, + "multi_right_pinky_PIP": 15, + "multi_right_ring_PIP": 43, + "multi_right_thumb_MCP_FE": 22 + }, + "joint_limit_max_excess_by_joint": { + "left_index_DIP": 1.1477706038931501e-06, + "left_index_MCP_FE": 0.00013731420040130615, + "left_index_PIP": 0.002902914071455598, + "left_middle_DIP": 3.48656831192784e-05, + "left_middle_MCP_FE": 0.0001302957534790039, + "left_middle_PIP": 0.003100008936598897, + "left_pinky_CMC": 0.001259162905625999, + "left_pinky_DIP": 2.4617012968519703e-05, + "left_pinky_MCP_FE": 0.0009362101554870605, + "left_pinky_PIP": 0.001939748297445476, + "left_ring_DIP": 6.409953493857756e-05, + "left_ring_MCP_FE": 9.939074516296387e-05, + "left_ring_PIP": 0.0033406580332666636, + "left_thumb_CMC_AA": 0.0008567273616790771, + "left_thumb_IP": 7.874432412791066e-06, + "left_thumb_MCP_FE": 0.056470632553100586, + "multi_right_index_DIP": 0.1129494458436966, + "multi_right_index_MCP_FE": 0.13607698678970337, + "multi_right_index_PIP": 0.2241603136062622, + "multi_right_middle_DIP": 0.07556665688753128, + "multi_right_middle_MCP_FE": 0.0571865439414978, + "multi_right_middle_PIP": 0.2377234697341919, + "multi_right_pinky_CMC": 0.35393187403678894, + "multi_right_pinky_DIP": 0.03278042748570442, + "multi_right_pinky_MCP_FE": 0.00027774274349212646, + "multi_right_pinky_PIP": 0.275006502866745, + "multi_right_ring_DIP": 0.06448756903409958, + "multi_right_ring_MCP_FE": 0.023117393255233765, + "multi_right_ring_PIP": 0.3564506471157074, + "multi_right_thumb_IP": 1.3644641512655653e-05, + "multi_right_thumb_MCP_FE": 0.12250393629074097 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 20.26617458372063, + "joint_effort_rms": 28.67557408052262, + "joint_jerk_rms": 2060.531180172151, + "joint_velocity_rms": 0.5148738180876561 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9261660612346645, + "mean_kinematic_grasp_stability": 0.5190637200878587, + "per_object_best_kinematic_grasp_stability": { + "obj_326_piece_1": 0.0, + "obj_326_piece_2": 0.9261660612346645, + "obj_326_piece_3": 0.8770127618459876, + "obj_326_piece_4": 0.8268915135094899, + "obj_326_piece_5": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.9000860642171467, + "mean_duration_score": 0.20829791459782582, + "mean_hold_score": 0.058221118834822755, + "mean_kinematic_stability_score": 0.023284844537009804, + "mean_legacy_gsi": 0.25440423091115355, + "mean_lift_score": 0.07361800728235683, + "mean_motion_stability_score": 0.05340871214217688 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 15105, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_76_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_76_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d657ddadc79cba64d2aae4cfa060c70966ba79fd --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_76_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/76_soup_serving.yaml", "episode_index": 5, "seed": 207600004, 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"current_stage_completion": {"scoop_1": true, "scoop_2": false, "ladle_returned": false, "bowl_placed": false}, "stage_first_completion_step": {"scoop_1": 27603, "scoop_2": null, "ladle_returned": null, "bowl_placed": null}, "violation_counts": {"drop_to_table_obj_330_bowl_2": 1, "drop_to_table_obj_330_ladle_3": 1, "high_speed_obj_330_ladle_3": 3, "drop_obj_330_ladle_3": 1}, "policy_query_count": 173, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 29580, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_76_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_76_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f5b97c74c27ed70be54525add4c25cb3486d2f --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_76_episode_05/summary.json @@ -0,0 +1,308 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.25 + }, + "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": 1.0, + "safety_violation_step_rate": 0.03874443178286543 + }, + "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": 0.25, + "current_chain_depth_progress_score": 0.3333333333333333, + "latched_chain_depth_progress_score": 0.3333333333333333, + "avg_current_chain_depth": 1, + "avg_latched_chain_depth": 1 + }, + "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": 0.00020718947477468144, + "violation_counts": { + "drop_obj_330_ladle_3": 1, + "drop_to_table_obj_330_bowl_2": 1, + "drop_to_table_obj_330_ladle_3": 1, + "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": 0.09409855312683449, + "finger_joint_limit_saturation_step_rate": 0.0775924583031182, + "max_joint_limit_excess_rad": 1.9810479879379272, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ1": 25, + "FFJ2": 160, + "FFJ3": 443, + "FFJ4": 44, + "LFJ2": 60, + "LFJ3": 202, + "LFJ4": 96, + "LFJ5": 144, + "MFJ1": 31, + "MFJ2": 569, + "MFJ3": 112, + "MFJ4": 11, + "RFJ1": 3, + "RFJ2": 330, + "RFJ3": 124, + "RFJ4": 192, + "THJ1": 11, + "THJ3": 56, + "THJ4": 117, + "THJ5": 376, + "WRJ1": 77, + "WRJ2": 113, + "l_FFJ2": 52, + "l_LFJ1": 9, + "l_LFJ2": 456, + "l_LFJ3": 196, + "l_LFJ4": 49, + "l_LFJ5": 300, + "l_RFJ2": 168 + }, + "joint_limit_hard_counts": { + "FFJ1": 4, + "FFJ2": 2, + "FFJ3": 11, + "FFJ4": 2, + "LFJ2": 3, + "LFJ3": 2, + "LFJ4": 6, + "LFJ5": 9, + "MFJ1": 2, + "MFJ2": 9, + "MFJ3": 8, + "MFJ4": 6, + "RFJ1": 6, + "RFJ2": 5, + "RFJ3": 5, + "RFJ4": 9, + "THJ1": 1, + "THJ3": 2, + "THJ4": 2, + "THJ5": 12, + "WRJ1": 2, + "WRJ2": 4, + "l_FFJ1": 1, + "l_FFJ2": 2, + "l_LFJ1": 3, + "l_LFJ2": 4, + "l_LFJ3": 8, + "l_LFJ4": 1, + "l_LFJ5": 13, + "l_MFJ2": 3, + "l_MFJ4": 2, + "l_RFJ2": 4, + "l_THJ5": 1 + }, + "joint_limit_hard_episode_events": 43, + "finger_joint_limit_saturation_counts": { + "FFJ2": 153, + "FFJ3": 387, + "FFJ4": 8, + "LFJ2": 55, + "LFJ3": 169, + "LFJ4": 76, + "LFJ5": 55, + "MFJ1": 3, + "MFJ2": 521, + "MFJ3": 63, + "RFJ2": 273, + "RFJ3": 89, + "RFJ4": 90, + "THJ3": 43, + "THJ4": 92, + "THJ5": 279, + "l_FFJ2": 11, + "l_LFJ2": 443, + "l_LFJ3": 36, + "l_LFJ4": 45, + "l_LFJ5": 206, + "l_RFJ2": 117 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 0.19765058159828186, + "FFJ2": 1.9810479879379272, + "FFJ3": 0.44485270977020264, + "FFJ4": 0.4530808627605438, + "LFJ1": 9.672695159679279e-05, + "LFJ2": 0.7364022135734558, + "LFJ3": 0.29016929864883423, + "LFJ4": 0.4583074748516083, + "LFJ5": 0.7859125733375549, + "MFJ1": 0.27812930941581726, + "MFJ2": 1.5137203931808472, + "MFJ3": 0.16405975818634033, + "MFJ4": 0.06168559193611145, + "RFJ1": 0.04688163474202156, + "RFJ2": 0.6823009848594666, + "RFJ3": 0.8088055849075317, + "RFJ4": 1.003745675086975, + "THJ1": 0.17968955636024475, + "THJ3": 0.5016894936561584, + "THJ4": 0.5327948331832886, + "THJ5": 1.4296963214874268, + "WRJ1": 0.2453254759311676, + "WRJ2": 0.2800006866455078, + "l_FFJ1": 0.006259869784116745, + "l_FFJ2": 0.13274884223937988, + "l_FFJ3": 2.2232532501220703e-05, + "l_FFJ4": 0.0006892085075378418, + "l_LFJ1": 0.026788610965013504, + "l_LFJ2": 1.5064268112182617, + "l_LFJ3": 0.5958528518676758, + "l_LFJ4": 1.100192904472351, + "l_LFJ5": 1.776158094406128, + "l_MFJ1": 0.003214339492842555, + "l_MFJ2": 0.007088080979883671, + "l_MFJ3": 6.794929504394531e-06, + "l_MFJ4": 0.0071273744106292725, + "l_RFJ1": 0.0044190832413733006, + "l_RFJ2": 0.56227046251297, + "l_RFJ4": 0.003924071788787842, + "l_THJ4": 0.0048920088447630405, + "l_THJ5": 0.0055713653564453125, + "l_WRJ1": 0.0025249123573303223 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 13.711533263147746, + "joint_effort_rms": 37.73359200694717, + "joint_jerk_rms": 1406.3531373026249, + "joint_velocity_rms": 0.2961222383632924 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9993718480691606, + "mean_kinematic_grasp_stability": 0.6054529309660324, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.9993718480691606, + "obj_330_ladle_3": 0.9990936117386013 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.3810962625321667, + "mean_duration_score": 0.9650649769213946, + "mean_hold_score": 0.37341500051797827, + "mean_kinematic_stability_score": 0.22928976462945808, + "mean_legacy_gsi": 0.4819115666394192, + "mean_lift_score": 0.393573673124072, + "mean_motion_stability_score": 0.3441613129498919 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 28959, + "error_count": 1 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_76_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_76_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e15ee2cbc89d5e462bc111d084ec99c76b7a4bb9 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_76_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/76_soup_serving.yaml", "episode_index": 6, "seed": 207600005, "success": false, "steps": 3528, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 207600005, "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": "FloorPlan219", "asset_split": "unseen", "asset_pool_size": 10, "asset_uri": "dex2bench_dataset/scenes/ithor/FloorPlan219_physics/scene.usda", "scene_offset": [-3.0, 2.5, 0.0]}, "table_surface": {"enabled": true, "clean_surface": false, "asset_name": "table_surface_leather_leather0335_jpg", "asset_uri": "dex2bench_dataset/textures/leather/leather0335.jpg", "asset_category": "leather", "asset_id": "leather/leather0335.jpg", "asset_split": "unseen", "asset_pool_size": 2388}, "usd_scene_light": {"enabled": true, "distant": {"intensity": 1283.542067688832, "color": [0.863936505478641, 0.7270317575112127, 0.9703215305275993], "pitch_deg": -11.686045057651299, "yaw_deg": -72.59032553661048, "angle_deg": 0.5874937912678624}, "dome": {"intensity": 205.98082036783327, "color": [0.9394061273613815, 0.9885738958132282, 0.6897532721403126], "exposure": -0.31304621811136135}, "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": 0.03182010305312813, "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": [0.0033728704560616685, -0.0023273252543961585, 0.0028974858907934173], "target_offset_m": [0.0007848942410042725, 0.003303176812271041, -0.004512489310032759], "distance_offset_m": 0.0005701654669693981, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.004475701773720919, -0.8990224957886446, 0.7982522450029326], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [-0.0022468784341327886, 0.004597821679553848, -0.0039865944574283465], "target_offset_m": [-0.0020702293550408602, 0.003513062503370366, -0.0025463873297140328], "distance_offset_m": -0.0043209405166136465, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [-0.3700413013839603, 0.8287153507845353, 0.6292791387250563], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [0.0037028224531251404, -0.00040523317705039134, -0.0012843424969914054], "target_offset_m": [0.0014033072681532803, -0.003885891849770542, 0.003974329753923331], "distance_offset_m": -0.022056267409081995, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.028981819691747734, 0.9325614905099944, 0.003653244191645477], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [0.0037028224531251404, -0.00040523317705039134, -0.0012843424969914054], "target_offset_m": [0.0014033072681532803, -0.003885891849770542, 0.003974329753923331], "distance_offset_m": -0.022056267409081995, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.028981819691747734, 0.9325614905099944, 0.003653244191645477], "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": [0.0012670925816089954, 0.0028782489885073913, 0.0009488964294577847], "rpy_offset_deg": [0.25919081387925136, 0.1968038357441355, 0.3766198799546705], "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": [0.0030741814936643278, 0.0025519543940610992, 0.0023860694033874504], "rpy_offset_deg": [-0.2600854516144997, -0.25202688617874913, 0.021105274589912293], "has_offset": true}}}}, "clutter": {"tabletop": {"enabled": true, "count": 3, "asset_split": "unseen", "asset_pool_size": 16, "assets": [{"name": "clutter_073b_lego_duplo", "uri": "dex2bench_dataset/Objects/073-b_lego_duplo/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.0401471067540045, 1.0401471067540045, 1.0401471067540045], "body_type": "dynamic", "category": "toy", "asset_code": "073", "asset_id": "clutter_073b_lego_duplo", "asset_split": "unseen", "spawn_position": [-1.0018271732079533, -0.08266683559327745, 0.7822403224751547], "spawn_yaw_deg": 340.5377963411861, "obj_id": "distractor_00_clutter_073b_lego_duplo"}, {"name": "clutter_055_baseball", "uri": "dex2bench_dataset/Objects/055_baseball/usd_decomposition_linux/textured.usd", "scale": [1.0971388793612549, 1.0971388793612549, 1.0971388793612549], "body_type": "dynamic", "category": "ball", "asset_code": "055", "asset_id": "clutter_055_baseball", "asset_split": "unseen", "spawn_position": [0.6412382759698699, 0.2128540540349042, 0.7820450165276938], "spawn_yaw_deg": 287.4979064049329, "obj_id": "distractor_01_clutter_055_baseball"}, {"name": "clutter_072b_toy_airplane", "uri": "dex2bench_dataset/Objects/072-b_toy_airplane/google_16k/usd_decomposition_linux/textured.usd", "scale": [1.0194437328820936, 1.0194437328820936, 1.0194437328820936], "body_type": "dynamic", "category": "toy", "asset_code": "072", "asset_id": "clutter_072b_toy_airplane", "asset_split": "unseen", "spawn_position": [-0.7668026394881055, 0.15909691122427155, 0.7822217638863465], "spawn_yaw_deg": 347.89954052778575, "obj_id": "distractor_02_clutter_072b_toy_airplane"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_333_stove_1": {"position": [0.0, 0.2, 0.7914832192399853], "rpy_deg": [90.0, 0.0, 0.0]}, "obj_330_pot_1": {"position": [0.0, 0.24, 0.841820103053128], "rpy_deg": [0.0, 0.0, 0.0]}, "obj_330_bowl_2": {"position": [-0.5, 0.2, 0.7816922557839506], "rpy_deg": [0.0, 0.0, -0.9893963340633167]}, "obj_330_ladle_3": {"position": [0.07, 0.24, 1.0018201030531282], "rpy_deg": [0.0, 50.0, 184.96198733171624]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "bimanual_soup_scoop_serve", "robot_key": "multi_ur5_shadow_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": 32.86666666666667, "expert_time_step": 1972, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.0, "normalized_progress_score": 0.0, "chain_depth_progress_score": 0.0, "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": 0.0, "latched_normalized_progress_score": 0.0, "latched_chain_depth_progress_score": 0.0, "latched_chain_depth": 0, "task_efficiency": null, "kinematic_grasp_stability_index": 0.9999423872629158, "mean_kinematic_grasp_stability": 0.8562731239928819, "per_object_best_kinematic_grasp_stability": {"obj_330_bowl_2": 0.9999423872629158, "obj_330_ladle_3": 0.9645497366711291}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.603927719471482, "mean_kinematic_stability_score": 0.3794736477785915, "mean_lift_score": 0.4431689342403628, "mean_hold_score": 0.4105087868480745, "mean_motion_stability_score": 0.39294724566508754, "mean_duration_score": 0.8253354119425547, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.31709657669676317, "joint_acceleration_rms": 13.016094608656559, 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1.221730351448059, "operating_lower": 0.0, "operating_upper": 1.221730351448059, "expanded_target": 0.014321335591375828, "shielded_target": 0.014321335591375828}], "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": [1.6392600536346436, -1.5455424785614014, -1.6161932945251465, 1.6328541040420532, 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7.39303432055749e-05, 0.02568742074072361, 0.01914895325899124, 0.022947030141949654, 0.043900005519390106, 0.016636230051517487, 0.0034772641956806183], "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": [1.6392600536346436, -1.5455424785614014, -1.6161932945251465, 1.6328541040420532, 1.5951192378997803, 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0.0195777490735054, 0.02163473144173622, 0.04343138635158539, 0.02430148981511593, 0.020328113809227943, 0.05988381430506706, 0.002194995293393731, -0.0033836043439805508, 0.02798704244196415, 0.031261950731277466, 0.0, 0.031767334789037704, 0.008325185626745224, 7.39303432055749e-05, 0.02568742074072361, 0.01914895325899124, 0.022947030141949654, 0.043900005519390106, 0.016636230051517487, 0.0034772641956806183]}, "joint_limit_active_steps": 355, "joint_limit_hard_episode_events": 16, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 268, "max_joint_limit_excess_rad": 0.7413767576217651, "max_joint_limit_excess_joint": "l_FFJ2", "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": 355, "joint_limit_active_step_rate": 0.10062358276643991, "finger_joint_limit_saturation_steps": 268, "finger_joint_limit_saturation_step_rate": 0.07596371882086168, "max_joint_limit_excess_rad": 0.7413767576217651, "max_joint_limit_excess_joint": "l_FFJ2", "stage_completion": {"scoop_1": false, "scoop_2": false, "ladle_returned": false, "bowl_placed": false}, "current_stage_completion": {"scoop_1": false, "scoop_2": false, "ladle_returned": false, "bowl_placed": false}, "stage_first_completion_step": {"scoop_1": null, "scoop_2": null, "ladle_returned": null, "bowl_placed": null}, "violation_counts": {}, "policy_query_count": 27, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 29580, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_76_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_76_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..53d767c709032e475f6ca3743d5b53434d4be1ab --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_76_episode_06/summary.json @@ -0,0 +1,243 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.0 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "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": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "bimanual_soup_scoop_serve": 0.0 + } + }, + "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": 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": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.10062358276643991, + "finger_joint_limit_saturation_step_rate": 0.07596371882086168, + "max_joint_limit_excess_rad": 0.7413767576217651, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ2": 16, + "LFJ4": 35, + "LFJ5": 47, + 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"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, 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, 0.0, 0.05543448030948639, 0.035971444100141525, 1.0471975803375244, 0.12780755758285522, 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"joint_limit_hard_episode_events": 66, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 596, "max_joint_limit_excess_rad": 1.642417311668396, "max_joint_limit_excess_joint": "l_FFJ2", "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": 879, "joint_limit_active_step_rate": 0.02971602434077079, "finger_joint_limit_saturation_steps": 596, "finger_joint_limit_saturation_step_rate": 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} diff --git a/gpt6_astra_10x_icl/source_runs/task_76_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_76_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..20bcc7ad7a6654ddfe06712f4e6288b9fbff0a51 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_76_episode_07/summary.json @@ -0,0 +1,292 @@ +{ + "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": 1, + "successes": 0, + "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": 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": 0.75 + }, + "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": 6.76132521974307e-05 + }, + "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": 0.75, + "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": 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": 6.76132521974307e-05, + "violation_counts": { + "drop_to_table_obj_330_bowl_2": 1, + "drop_to_table_obj_330_ladle_3": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.02971602434077079, + "finger_joint_limit_saturation_step_rate": 0.020148749154834347, + "max_joint_limit_excess_rad": 1.642417311668396, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "FFJ1": 38, + "FFJ2": 34, + "FFJ3": 17, + "FFJ4": 4, + "LFJ2": 16, + "LFJ4": 7, + "LFJ5": 2, + "MFJ2": 113, + "MFJ4": 69, + "RFJ2": 5, + "THJ4": 77, + "l_FFJ1": 66, + "l_FFJ2": 83, + "l_FFJ4": 47, + "l_LFJ2": 12, + "l_LFJ3": 18, + "l_LFJ5": 286, + "l_MFJ2": 8, + "l_MFJ3": 37, + "l_MFJ4": 2, + "l_RFJ1": 1, + "l_RFJ2": 76, + "l_RFJ4": 18, + "l_THJ3": 21, + "l_THJ4": 246, + "l_THJ5": 129, + "l_WRJ1": 12, + "l_WRJ2": 17 + }, + "joint_limit_hard_counts": { + "FFJ1": 1, + "FFJ2": 4, + "FFJ3": 1, + "FFJ4": 1, + "LFJ2": 3, + "LFJ4": 1, + "LFJ5": 2, + "MFJ1": 3, + "MFJ2": 15, + "MFJ4": 1, + "RFJ2": 1, + "THJ4": 2, + "THJ5": 17, + "l_FFJ1": 3, + "l_FFJ2": 8, + "l_FFJ4": 1, + "l_LFJ2": 2, + "l_LFJ3": 1, + "l_LFJ5": 14, + "l_MFJ2": 2, + "l_MFJ3": 1, + "l_MFJ4": 1, + "l_RFJ1": 2, + "l_RFJ2": 3, + "l_RFJ4": 1, + "l_THJ3": 1, + "l_THJ4": 4, + "l_THJ5": 17, + "l_WRJ1": 1, + "l_WRJ2": 3 + }, + "joint_limit_hard_episode_events": 66, + "finger_joint_limit_saturation_counts": { + "FFJ1": 35, + "FFJ3": 5, + "MFJ2": 54, + "MFJ4": 37, + "THJ4": 46, + "l_FFJ1": 47, + "l_FFJ2": 65, + "l_FFJ4": 44, + "l_LFJ5": 181, + "l_MFJ3": 32, + "l_RFJ2": 51, + "l_RFJ4": 7, + "l_THJ3": 18, + "l_THJ4": 163, + "l_THJ5": 78 + }, + "joint_limit_max_excess_by_joint": { + "FFJ1": 1.4879580736160278, + "FFJ2": 0.10313758999109268, + "FFJ3": 0.3517078161239624, + "FFJ4": 0.05196830630302429, + "LFJ1": 5.388373392634094e-05, + "LFJ2": 0.23519718647003174, + "LFJ4": 0.0756441056728363, + "LFJ5": 0.0539514422416687, + "MFJ1": 0.007970169186592102, + "MFJ2": 0.7520123720169067, + "MFJ4": 0.22446885704994202, + "RFJ1": 0.0014320611953735352, + "RFJ2": 0.041399478912353516, + "RFJ4": 0.0003401339054107666, + "THJ4": 0.9524463415145874, + "THJ5": 0.00937509536743164, + "WRJ1": 0.0011156201362609863, + "WRJ2": 0.001287609338760376, + "l_FFJ1": 0.5258569717407227, + "l_FFJ2": 1.642417311668396, + "l_FFJ4": 0.8317079544067383, + "l_LFJ1": 0.0021416794043034315, + "l_LFJ2": 0.12612712383270264, + "l_LFJ3": 0.1759953796863556, + "l_LFJ5": 0.5614859461784363, + "l_MFJ1": 0.004838909953832626, + "l_MFJ2": 0.1657581329345703, + "l_MFJ3": 0.4394644498825073, + "l_MFJ4": 0.02351054549217224, + "l_RFJ1": 0.01248151995241642, + "l_RFJ2": 0.48377203941345215, + "l_RFJ4": 0.34265628457069397, + "l_THJ1": 7.063150405883789e-06, + "l_THJ2": 0.00016617774963378906, + "l_THJ3": 0.8401055335998535, + "l_THJ4": 0.5562660694122314, + "l_THJ5": 0.4260462522506714, + "l_WRJ1": 0.07994171977043152, + "l_WRJ2": 0.060664474964141846 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 9.221103672681545, + "joint_effort_rms": 31.56694469127501, + "joint_jerk_rms": 919.5135041543718, + "joint_velocity_rms": 0.2098562805656541 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.9771824667637555, + "mean_kinematic_grasp_stability": 0.7233151870079276, + "per_object_best_kinematic_grasp_stability": { + "obj_330_bowl_2": 0.816562578850836, + "obj_330_ladle_3": 0.9771824667637555 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 0.0426921343249944, + "mean_duration_score": 0.9836009691232814, + "mean_hold_score": 0.18459685598377296, + "mean_kinematic_stability_score": 0.009524383547653408, + "mean_legacy_gsi": 0.30923680031691586, + "mean_lift_score": 0.20693035835023665, + "mean_motion_stability_score": 0.1663558154605558 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 29580, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_79_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_79_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..251490c8deea481e159d258ade569909b39d2be5 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_79_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 5, "seed": 207900004, "success": true, "steps": 1720, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900004, "base_seed": 207900000, "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": 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"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": 1, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"index_q1": 0.0008162621525116265, "index_q2": 1.1586512860262133e-09, "middle_q1": 0.0007093391614034772, "middle_q2": 0.001462997985072434, "multi_index_q1": 0.0007665380835533142, "multi_index_q2": 1.0767573499492755e-09, "multi_middle_q1": 0.0006738172960467637, "multi_middle_q2": 0.0018981315661221743, "multi_pinky_q1": 0.00025615416234359145, "multi_pinky_q2": 0.0014513167552649975, "multi_ring_q1": 0.0003193222510162741, "multi_ring_q2": 0.0016872764099389315, "pinky_q1": 0.00022398367582354695, "pinky_q2": 0.0016626488650217652, "ring_q1": 0.00030355987837538123, "ring_q2": 0.0018022495787590742}, "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": 0.0018981315661221743, "max_joint_limit_excess_joint": "multi_middle_q2", "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": 0.0018981315661221743, "max_joint_limit_excess_joint": "multi_middle_q2", "stage_completion": {"play_left_melody": true, "play_right_melody": true}, "current_stage_completion": {"play_left_melody": true, "play_right_melody": true}, "stage_first_completion_step": {"play_left_melody": 1686, "play_right_melody": 1690}, "violation_counts": {}, "policy_query_count": 21, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_79_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_79_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e6be413c230ecf87c6aa15f1c40ba3f1583683 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_79_episode_05/summary.json @@ -0,0 +1,179 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 207900000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 1, + "successes": 1, + "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": 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": 28.66666666666632 + }, + "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": { + "piano_melody": 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": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": 0.7918604651162886, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 1720, + "avg_policy_steps_to_success": 574, + "avg_policy_queries_to_success": 21 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 0.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0018981315661221743, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": {}, + "joint_limit_hard_episode_events": 0, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0008162621525116265, + "index_q2": 1.1586512860262133e-09, + "middle_q1": 0.0007093391614034772, + "middle_q2": 0.001462997985072434, + "multi_index_q1": 0.0007665380835533142, + "multi_index_q2": 1.0767573499492755e-09, + "multi_middle_q1": 0.0006738172960467637, + "multi_middle_q2": 0.0018981315661221743, + "multi_pinky_q1": 0.00025615416234359145, + "multi_pinky_q2": 0.0014513167552649975, + "multi_ring_q1": 0.0003193222510162741, + "multi_ring_q2": 0.0016872764099389315, + "pinky_q1": 0.00022398367582354695, + "pinky_q2": 0.0016626488650217652, + "ring_q1": 0.00030355987837538123, + "ring_q2": 0.0018022495787590742 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 5.9474847670253, + "joint_effort_rms": 71.43985298828474, + "joint_jerk_rms": 596.2454245880796, + "joint_velocity_rms": 0.2737177438042374 + }, + "grasp": { + "kinematic_grasp_stability_index": null, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": {}, + "grasp_gsi_diagnostics": {} + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1720, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_79_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_79_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60b163a553d081a3c533ee529fb23846fefb4633 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_79_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 6, "seed": 207900005, "success": true, "steps": 1895, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900005, "base_seed": 207900000, "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": "FloorPlan219", "asset_split": "unseen", 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"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": 1, "robot_constraint_diagnostics": {"joint_limit_max_excess_by_joint": {"index_q1": 0.00031137411133386195, "index_q2": 1.3009840982292076e-09, "multi_ring_q2": 5.085763041279279e-05, "pinky_q1": 0.00015557305596303195, "pinky_q2": 0.0003683757677208632, "ring_q1": 0.00015352714399341494, "ring_q2": 0.0003889493818860501, "thumb_q1": 0.00023622941807843745}, "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": 0.0003889493818860501, "max_joint_limit_excess_joint": "ring_q2", "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": 0.0003889493818860501, "max_joint_limit_excess_joint": "ring_q2", "stage_completion": {"play_left_melody": true, "play_right_melody": true}, "current_stage_completion": {"play_left_melody": true, "play_right_melody": true}, "stage_first_completion_step": {"play_left_melody": 1865, "play_right_melody": 1861}, "violation_counts": {}, "policy_query_count": 22, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 2043, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_79_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_79_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..546582a951c20ee6d47dc5ee9fdee67732c7db01 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_79_episode_06/summary.json @@ -0,0 +1,171 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 207900000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 1, + "successes": 1, + "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": 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": 31.58333333333282 + }, + "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": { + "piano_melody": 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": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": 0.7187335092348401, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 1895, + "avg_policy_steps_to_success": 632, + "avg_policy_queries_to_success": 22 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 0.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.0003889493818860501, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": {}, + "joint_limit_hard_episode_events": 0, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.00031137411133386195, + "index_q2": 1.3009840982292076e-09, + "multi_ring_q2": 5.085763041279279e-05, + "pinky_q1": 0.00015557305596303195, + "pinky_q2": 0.0003683757677208632, + "ring_q1": 0.00015352714399341494, + "ring_q2": 0.0003889493818860501, + "thumb_q1": 0.00023622941807843745 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 4.140626168392558, + "joint_effort_rms": 64.79761234118051, + "joint_jerk_rms": 427.613395696507, + "joint_velocity_rms": 0.23474586776120215 + }, + "grasp": { + "kinematic_grasp_stability_index": null, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": {}, + "grasp_gsi_diagnostics": {} + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 1895, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_79_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_79_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5efc9ef91d2c6c15e31c14d6074678702831c623 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_79_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/79_bimanual_piano_melody.yaml", "episode_index": 7, "seed": 207900006, "success": true, "steps": 4708, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 207900006, "base_seed": 207900000, "seed_policy": "episode_seed = base_seed + episode_index - 1", "scene_generalization_sample": {"robot_key": "", "appearance": {"background": 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{"joint_limit_max_excess_by_joint": {"index_q1": 0.0002756421163212508, "index_q2": 8.83740747248396e-10, "multi_index_q1": 0.00017136323731392622, "multi_index_q2": 1.1643729314059215e-09, "multi_middle_q1": 0.00021309888688847423, "multi_middle_q2": 0.001593098626472056, "multi_pinky_q1": 0.00042462607962079346, "multi_pinky_q2": 0.0011983815347775817, "multi_ring_q1": 0.0001799588353605941, "multi_ring_q2": 0.0014340011402964592, "multi_thumb_q1": 0.00041921899537555873, "multi_thumb_q2": 8.870397323335055e-06, "pinky_q1": 5.559911733143963e-05, "pinky_q2": 0.0004979299264959991, "ring_q1": 1.7993656001635827e-05, "ring_q2": 0.0005463977577164769, "thumb_q1": 6.219645729288459e-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": []}], "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": 0.001593098626472056, "max_joint_limit_excess_joint": "multi_middle_q2", "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": 0.001593098626472056, "max_joint_limit_excess_joint": "multi_middle_q2", "stage_completion": {"play_left_melody": true, "play_right_melody": true}, "current_stage_completion": {"play_left_melody": true, "play_right_melody": true}, "stage_first_completion_step": {"play_left_melody": 1826, "play_right_melody": 4678}, "violation_counts": {}, "policy_query_count": 42, "terminated_reason": "stable_success", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 20430, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_79_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_79_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2170f7675e2d019a323e79887900b6d74cab7c9a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_79_episode_07/summary.json @@ -0,0 +1,180 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 207900000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 1, + "successes": 1, + "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, + "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": 78.4666666666635 + }, + "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": { + "piano_melody": 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": 1, + "avg_latched_chain_depth": 1 + }, + "efficiency": { + "task_efficiency": 0.2892948173322122, + "expert_time_s": 22.7, + "expert_time_step": 1362, + "avg_steps_to_success": 4708, + "avg_policy_steps_to_success": 1570, + "avg_policy_queries_to_success": 42 + }, + "safety": { + "safety_violation_events_per_step": 0.0, + "violation_counts": {}, + "robot_constraint_violation_rate": 0.0, + "finger_joint_limit_saturation_rate": 0.0, + "joint_limit_active_step_rate": 0.0, + "finger_joint_limit_saturation_step_rate": 0.0, + "max_joint_limit_excess_rad": 0.001593098626472056, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": {}, + "joint_limit_hard_counts": {}, + "joint_limit_hard_episode_events": 0, + "finger_joint_limit_saturation_counts": {}, + "joint_limit_max_excess_by_joint": { + "index_q1": 0.0002756421163212508, + "index_q2": 8.83740747248396e-10, + "multi_index_q1": 0.00017136323731392622, + "multi_index_q2": 1.1643729314059215e-09, + "multi_middle_q1": 0.00021309888688847423, + "multi_middle_q2": 0.001593098626472056, + "multi_pinky_q1": 0.00042462607962079346, + "multi_pinky_q2": 0.0011983815347775817, + "multi_ring_q1": 0.0001799588353605941, + "multi_ring_q2": 0.0014340011402964592, + "multi_thumb_q1": 0.00041921899537555873, + "multi_thumb_q2": 8.870397323335055e-06, + "pinky_q1": 5.559911733143963e-05, + "pinky_q2": 0.0004979299264959991, + "ring_q1": 1.7993656001635827e-05, + "ring_q2": 0.0005463977577164769, + "thumb_q1": 6.219645729288459e-05 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 3.27573212977839, + "joint_effort_rms": 69.97109413718381, + "joint_jerk_rms": 330.75399038785895, + "joint_velocity_rms": 0.21424640913009968 + }, + "grasp": { + "kinematic_grasp_stability_index": null, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": {}, + "grasp_gsi_diagnostics": {} + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 4708, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_80_episode_05/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_80_episode_05/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b09d526775a7d8004628c89f361b4bffcace8942 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_80_episode_05/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/80_gaming_desk_setup.yaml", "episode_index": 5, "seed": 208000004, "success": false, "steps": 17790, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 208000004, "base_seed": 208000000, 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"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": 243, "joint_limit_active_step_rate": 0.013659359190556492, "finger_joint_limit_saturation_steps": 58, "finger_joint_limit_saturation_step_rate": 0.003260258572231591, "max_joint_limit_excess_rad": 1.5117734670639038, "max_joint_limit_excess_joint": "r_f_joint2_1", "stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "current_stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "stage_first_completion_step": {"straighten_monitor": null, "press_escape_key": null, "click_left_mouse_button": null}, "violation_counts": {}, "policy_query_count": 92, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 17790, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_80_episode_05/summary.json b/gpt6_astra_10x_icl/source_runs/task_80_episode_05/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e343d0ee64c5833dcc1adfb83ca6f102e5248d31 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_80_episode_05/summary.json @@ -0,0 +1,238 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 208000000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 1, + "successes": 0, + "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": 17790, + "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": 0.0 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "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": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "desk_organize_interaction": 0.0 + } + }, + "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": null, + "expert_time_s": 19.75, + "expert_time_step": 1185, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "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": 0.013659359190556492, + "finger_joint_limit_saturation_step_rate": 0.003260258572231591, + "max_joint_limit_excess_rad": 1.5117734670639038, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint5_2": 20, + "r_f_joint1_1": 7, + "r_f_joint1_2": 127, + "r_f_joint1_3": 90, + "r_f_joint2_1": 50, + "r_f_joint2_2": 18, + "r_f_joint3_1": 53, + "r_f_joint3_2": 17 + }, + "joint_limit_hard_counts": { + "l_f_joint5_2": 2, + "r_f_joint1_1": 10, + "r_f_joint1_2": 49, + "r_f_joint1_3": 9, + "r_f_joint2_1": 1, + "r_f_joint2_2": 1, + "r_f_joint3_1": 4, + "r_f_joint3_2": 1 + }, + "joint_limit_hard_episode_events": 56, + "finger_joint_limit_saturation_counts": { + "r_f_joint1_2": 28, + "r_f_joint1_3": 5, + "r_f_joint2_1": 46, + "r_f_joint2_2": 4, + "r_f_joint3_1": 46, + "r_f_joint3_2": 2 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 1.5378453099401668e-05, + "l_f_joint1_2": 1.239776611328125e-05, + "l_f_joint1_3": 1.9073486328125e-06, + "l_f_joint1_4": 3.5762786865234375e-07, + "l_f_joint2_1": 0.00013807718642055988, + "l_f_joint2_2": 3.4067595606757095e-06, + "l_f_joint2_3": 0.0013913470320403576, + "l_f_joint2_4": 3.375702917196577e-08, + "l_f_joint3_1": 0.0017701954348012805, + "l_f_joint3_2": 2.481644696672447e-05, + "l_f_joint3_3": 0.00020771028357557952, + "l_f_joint3_4": 1.6516461300852825e-06, + "l_f_joint4_1": 0.0005978187546133995, + "l_f_joint4_2": 1.896767753351014e-05, + "l_f_joint4_3": 0.0001436471939086914, + "l_f_joint4_4": 5.519390106201172e-05, + "l_f_joint5_1": 0.0034653544425964355, + "l_f_joint5_2": 0.06679988652467728, + "l_f_joint5_3": 0.0029938817024230957, + "l_f_joint5_4": 4.756450653076172e-05, + "r_f_joint1_1": 0.03191137686371803, + "r_f_joint1_2": 0.5880715847015381, + "r_f_joint1_3": 0.18545925617218018, + "r_f_joint1_4": 0.0002056347584584728, + "r_f_joint2_1": 1.5117734670639038, + "r_f_joint2_2": 0.26798737049102783, + "r_f_joint2_3": 0.001087862066924572, + "r_f_joint2_4": 3.781343238529189e-08, + "r_f_joint3_1": 1.4735122919082642, + "r_f_joint3_2": 0.251870334148407, + "r_f_joint3_3": 0.0026107339654117823, + "r_f_joint3_4": 0.0007881617057137191, + "r_f_joint4_1": 0.0014663703041151166, + "r_f_joint4_2": 6.134000432211906e-05, + "r_f_joint4_3": 0.0008533523068763316, + "r_f_joint4_4": 8.809283463051543e-05, + "r_f_joint5_1": 0.0002694351423997432, + "r_f_joint5_2": 0.00020345103985164315, + "r_f_joint5_3": 4.4632874050876126e-05, + "r_f_joint5_4": 9.105717253987677e-06 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 12.17225216685054, + "joint_effort_rms": 33.53475993979352, + "joint_jerk_rms": 1252.1013804274346, + "joint_velocity_rms": 0.24538486135199986 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_300_mouse_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.0, + "mean_kinematic_stability_score": 0.0, + "mean_legacy_gsi": 0.19999999999994125, + "mean_lift_score": 0.0, + "mean_motion_stability_score": 0.0 + } + }, + "tool": { + "tool_selection_accuracy": null, + "tool_switch_success_rate": null, + "tool_switch_total": 0, + "tool_switch_successful": 0 + }, + "runtime": { + "avg_steps": 17790, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_80_episode_06/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_80_episode_06/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d26e2f7f45db4f6d5f8ce260237aab7443c21f24 --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_80_episode_06/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/80_gaming_desk_setup.yaml", "episode_index": 6, "seed": 208000005, "success": false, "steps": 17790, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": null, "episode_seed": 208000005, "base_seed": 208000000, "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", 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10.0}, "table_height": {"enabled": true, "height_offset_m": -0.03266779075871412, "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": [0.003565211980702182, 0.0009727475027899446, 0.003671600724589919], "target_offset_m": [-0.0037120813375578253, 0.0030683270943543334, 0.004143725426708986], "distance_offset_m": -0.02976359864372698, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5445770154576526, 0.4214498711994421, 0.7842550094632199], "has_offset": true}, "cam_overhead": {"enabled": true, "position_offset_m": [0.004283851649302602, -0.002523751296986877, 0.0049694530932369715], "target_offset_m": [0.0037998373243222404, 0.0010422717765692958, 0.0016371774164931942], "distance_offset_m": 0.0204500452689807, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.7150559177653595, -0.48501346443696747, 0.1556225838146974], "has_offset": true}, "cam_stereo_left": {"enabled": true, "position_offset_m": [-0.003851654125284658, -0.002140169568706365, -0.000416196114942099], "target_offset_m": [-0.0017147780220821951, 0.0021465586163037535, -0.0034660752123530703], "distance_offset_m": -0.02029532585222587, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5870049243076196, -0.36324315187470546, -0.671260058550291], "has_offset": true}, "cam_stereo_right": {"enabled": true, "position_offset_m": [-0.003851654125284658, -0.002140169568706365, -0.000416196114942099], "target_offset_m": [-0.0017147780220821951, 0.0021465586163037535, -0.0034660752123530703], "distance_offset_m": -0.02029532585222587, "offset_xyz_offset_m": [0.0, 0.0, 0.0], "rpy_offset_deg": [0.5870049243076196, -0.36324315187470546, -0.671260058550291], "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], 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"spawn_position": [-0.548577421968963, 0.18276744787633187, 0.7172262700114035], "spawn_yaw_deg": 20.36821294774546, "obj_id": "distractor_00_clutter_026_sponge"}, {"name": "clutter_033_spatula", "uri": "dex2bench_dataset/Objects/033_spatula/usd_decomposition_linux/textured.usd", "scale": [0.8759054966449009, 0.8759054966449009, 0.8759054966449009], "body_type": "dynamic", "category": "kitchen", "asset_code": "033", "asset_id": "clutter_033_spatula", "asset_split": "unseen", "spawn_position": [0.7163692820668979, 0.12218981590366756, 0.7179348322230494], "spawn_yaw_deg": 168.75100261700808, "obj_id": "distractor_01_clutter_033_spatula"}]}}, "embodiment": {"robot_asset": {"enabled": false, "selection_mode": "default", "default_robot_key": "", "selected_robot_key": "", "allowed_robot_keys": []}}, "resolved_object_placements": {"obj_090_display_1": {"position": [0.014299712643610112, 0.3032595201518913, 0.7173322023364231], "rpy_deg": [90.0, 0.0, 28.674829389956663]}, "obj_098_keyboard_2": {"position": [0.0, 0.05, 0.7267141248986874], "rpy_deg": [0.0, 0.0, 90.0]}, "obj_300_mouse_3": {"position": [0.3896652637959018, 0.17519689321752097, 0.7313113992437004], "rpy_deg": [0.0, 0.0, -85.51754075705257]}}, "_generalization_profile": "inv_cov", "_generalization_split": "unseen"}, "task_family": "desk_organize_interaction", "robot_key": "multi_jaka_zu7_dexhand021_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": false, "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": 19.75, "expert_time_step": 1185, "success_hold_s": 0.0, "terminal_success_rate": 0.0, "stage_completion_rate": 0.0, "normalized_progress_score": 0.0, "chain_depth_progress_score": 0.0, "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": 0.0, "latched_normalized_progress_score": 0.0, "latched_chain_depth_progress_score": 0.0, "latched_chain_depth": 0, "task_efficiency": null, "kinematic_grasp_stability_index": 0.01923364602446492, "mean_kinematic_grasp_stability": 0.004905215280885524, "per_object_best_kinematic_grasp_stability": {"obj_300_mouse_3": 0.01923364602446492}, "grasp_gsi_diagnostics": {"mean_legacy_gsi": 0.2001731708118993, "mean_kinematic_stability_score": 5.51457592005118e-06, "mean_lift_score": 0.0011242270938729624, "mean_hold_score": 0.0001686340640809443, "mean_motion_stability_score": 3.676383946700788e-05, "mean_duration_score": 0.0, "mean_anti_slip_score": 1.0}, "robot_motion_metrics": {"joint_velocity_rms": 0.19758302493036975, "joint_acceleration_rms": 7.054281376550091, "joint_jerk_rms": 719.1618673349403, "joint_effort_rms": 30.1204844449994}, "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": 0, "robot_constraint_diagnostics": {"joint_limit_soft_counts": {"l_f_joint2_1": 4, "l_f_joint2_2": 24, "l_f_joint3_2": 4, "r_f_joint2_1": 21, "r_f_joint2_2": 118, "r_f_joint2_3": 10, "r_f_joint2_4": 1, "r_f_joint3_1": 15, "r_f_joint3_2": 23}, "joint_limit_hard_counts": {"l_f_joint2_1": 12, "l_f_joint2_2": 3, "l_f_joint3_2": 1, "l_f_joint5_2": 1, "r_f_joint2_1": 25, "r_f_joint2_2": 15, "r_f_joint2_3": 6, "r_f_joint2_4": 5, "r_f_joint3_1": 2, "r_f_joint3_2": 3}, "finger_joint_limit_saturation_counts": {"r_f_joint2_2": 23, "r_f_joint3_2": 1}, "joint_limit_max_excess_by_joint": {"l_f_joint1_1": 1.764820240168774e-06, "l_f_joint1_3": 0.000272563163889572, "l_f_joint2_1": 0.021874375641345978, "l_f_joint2_2": 0.08696341514587402, "l_f_joint2_3": 0.00041361566400155425, "l_f_joint3_1": 0.0016213696217164397, "l_f_joint3_2": 0.013225442729890347, "l_f_joint3_3": 0.0011589402565732598, "l_f_joint5_1": 0.0011005997657775879, "l_f_joint5_2": 0.008272343315184116, "l_f_joint5_3": 0.0030717705376446247, "r_f_joint1_1": 1.5617259123246185e-05, "r_f_joint1_2": 0.00391697883605957, "r_f_joint2_1": 0.020900340750813484, "r_f_joint2_2": 0.23547814786434174, "r_f_joint2_3": 0.032912641763687134, "r_f_joint2_4": 0.01071139145642519, "r_f_joint3_1": 0.14287959039211273, "r_f_joint3_2": 0.17991173267364502, "r_f_joint3_3": 0.0013538990169763565, "r_f_joint3_4": 3.0246753794926917e-06, "r_f_joint4_1": 0.0010098121128976345, "r_f_joint4_2": 0.0002688664535526186, "r_f_joint4_3": 0.0008461897377856076, "r_f_joint4_4": 1.56726182467537e-05, "r_f_joint5_1": 0.0009659351781010628, "r_f_joint5_2": 0.00025383810861967504, "r_f_joint5_3": 6.181868957355618e-05, "r_f_joint5_4": 1.3965003745397553e-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": 307, "hard_limit_source": "runtime.joint_pos_limits", "soft_limit_source": "runtime.soft_joint_pos_limits", "shield_applied": false, "violating_joints": [{"joint": "l_f_joint3_2", "role": "finger", "qpos": -0.007547647692263126, "hard_excess_rad": 0.007547647692263126, "hard_tolerance_rad": 0.005, "hard_lower": 0.0, "hard_upper": 1.2999998331069946, "operating_lower": 0.0, "operating_upper": 1.2999998331069946, "expanded_target": 0.13087648153305054, "shielded_target": 0.13087648153305054}], "command_context_available": true, "active_joint_names": ["joint_1", "l_joint_1", "joint_2", "l_joint_2", "joint_3", "l_joint_3", "joint_4", "l_joint_4", "joint_5", "l_joint_5", "joint_6", "l_joint_6", "r_f_joint1_1", "r_f_joint2_1", "r_f_joint3_1", "r_f_joint4_1", "r_f_joint5_1", "l_f_joint1_1", "l_f_joint2_1", "l_f_joint3_1", "l_f_joint4_1", "l_f_joint5_1", "r_f_joint1_2", "r_f_joint2_2", "r_f_joint3_2", "r_f_joint4_2", "r_f_joint5_2", "l_f_joint1_2", "l_f_joint2_2", "l_f_joint3_2", "l_f_joint4_2", "l_f_joint5_2", "r_f_joint1_3", "r_f_joint2_3", "r_f_joint3_3", "r_f_joint4_3", "r_f_joint5_3", "l_f_joint1_3", "l_f_joint2_3", "l_f_joint3_3", "l_f_joint4_3", "l_f_joint5_3", "r_f_joint1_4", "r_f_joint2_4", "r_f_joint3_4", "r_f_joint4_4", "r_f_joint5_4", "l_f_joint1_4", "l_f_joint2_4", "l_f_joint3_4", "l_f_joint4_4", "l_f_joint5_4"], "raw_active_action": [1.8820829391479492, -2.1433048248291016, 1.2236233949661255, -1.1541328430175781, -1.8368854522705078, 1.937538981437683, 0.8126603364944458, -0.8286406397819519, 1.9609707593917847, -2.005366563796997, 0.42345693707466125, -0.5617135763168335, 1.765954766597133e-05, 0.13416926562786102, 0.0010000000474974513, 0.1865455061197281, 0.3680330216884613, 0.05193086341023445, 0.0, -0.0009966902434825897, 0.4295140206813812, 0.5919448137283325, 0.6173411011695862, 1.1152745485305786, 0.42405200004577637, 0.3353143632411957, 0.30315840244293213, 0.678152859210968, 0.6471267938613892, 0.13087648153305054, 0.09516818076372147, 0.0, 0.0072694206610322, 0.08556316792964935, 0.008618532679975033, 0.003558150492608547, 0.042497824877500534, 0.005194509401917458, 0.01614527218043804, 0.02498985081911087, 0.008112519979476929, 1.5021837498352397e-06, 0.11075124889612198, 0.13031741976737976, 0.1130666509270668, 0.11307743936777115, 0.09012884646654129, 0.1132420003414154, 0.10577040910720825, 0.09462758153676987, 0.10803121328353882, 0.3069058954715729], "full_joint_names": ["joint_1", "l_joint_1", "joint_2", "l_joint_2", "joint_3", "l_joint_3", "joint_4", "l_joint_4", "joint_5", "l_joint_5", "joint_6", "l_joint_6", "r_f_joint1_1", "r_f_joint2_1", "r_f_joint3_1", "r_f_joint4_1", "r_f_joint5_1", "l_f_joint1_1", "l_f_joint2_1", "l_f_joint3_1", "l_f_joint4_1", "l_f_joint5_1", "r_f_joint1_2", "r_f_joint2_2", "r_f_joint3_2", "r_f_joint4_2", "r_f_joint5_2", "l_f_joint1_2", "l_f_joint2_2", "l_f_joint3_2", "l_f_joint4_2", "l_f_joint5_2", "r_f_joint1_3", "r_f_joint2_3", "r_f_joint3_3", "r_f_joint4_3", "r_f_joint5_3", "l_f_joint1_3", "l_f_joint2_3", "l_f_joint3_3", "l_f_joint4_3", "l_f_joint5_3", "r_f_joint1_4", "r_f_joint2_4", "r_f_joint3_4", "r_f_joint4_4", "r_f_joint5_4", "l_f_joint1_4", "l_f_joint2_4", "l_f_joint3_4", "l_f_joint4_4", "l_f_joint5_4"], "expanded_full_target": [1.8820829391479492, -2.1433048248291016, 1.2236233949661255, -1.1541328430175781, -1.8368854522705078, 1.937538981437683, 0.8126603364944458, -0.8286406397819519, 1.9609707593917847, -2.005366563796997, 0.42345693707466125, -0.5617135763168335, 1.765954766597133e-05, 0.13416926562786102, 0.0010000000474974513, 0.1865455061197281, 0.3680330216884613, 0.05193086341023445, 0.0, -0.0009966902434825897, 0.4295140206813812, 0.5919448137283325, 0.6173411011695862, 1.1152745485305786, 0.42405200004577637, 0.3353143632411957, 0.30315840244293213, 0.678152859210968, 0.6471267938613892, 0.13087648153305054, 0.09516818076372147, 0.0, 0.0072694206610322, 0.08556316792964935, 0.008618532679975033, 0.003558150492608547, 0.042497824877500534, 0.005194509401917458, 0.01614527218043804, 0.02498985081911087, 0.008112519979476929, 1.5021837498352397e-06, 0.11075124889612198, 0.13031741976737976, 0.1130666509270668, 0.11307743936777115, 0.09012884646654129, 0.1132420003414154, 0.10577040910720825, 0.09462758153676987, 0.10803121328353882, 0.3069058954715729], "shielded_full_target": [1.8820829391479492, -2.1433048248291016, 1.2236233949661255, -1.1541328430175781, -1.8368854522705078, 1.937538981437683, 0.8126603364944458, -0.8286406397819519, 1.9609707593917847, -2.005366563796997, 0.42345693707466125, -0.5617135763168335, 1.765954766597133e-05, 0.13416926562786102, 0.0010000000474974513, 0.1865455061197281, 0.3680330216884613, 0.05193086341023445, 0.0, -0.0009966902434825897, 0.4295140206813812, 0.5919448137283325, 0.6173411011695862, 1.1152745485305786, 0.42405200004577637, 0.3353143632411957, 0.30315840244293213, 0.678152859210968, 0.6471267938613892, 0.13087648153305054, 0.09516818076372147, 0.0, 0.0072694206610322, 0.08556316792964935, 0.008618532679975033, 0.003558150492608547, 0.042497824877500534, 0.005194509401917458, 0.01614527218043804, 0.02498985081911087, 0.008112519979476929, 1.5021837498352397e-06, 0.11075124889612198, 0.13031741976737976, 0.1130666509270668, 0.11307743936777115, 0.09012884646654129, 0.1132420003414154, 0.10577040910720825, 0.09462758153676987, 0.10803121328353882, 0.3069058954715729]}, "joint_limit_active_steps": 169, "joint_limit_hard_episode_events": 55, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 23, "max_joint_limit_excess_rad": 0.23547814786434174, "max_joint_limit_excess_joint": "r_f_joint2_2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_jaka_zu7_dexhand021_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": 169, "joint_limit_active_step_rate": 0.009499718943226532, "finger_joint_limit_saturation_steps": 23, "finger_joint_limit_saturation_step_rate": 0.0012928611579539066, "max_joint_limit_excess_rad": 0.23547814786434174, "max_joint_limit_excess_joint": "r_f_joint2_2", "stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "current_stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "stage_first_completion_step": {"straighten_monitor": null, "press_escape_key": null, "click_left_mouse_button": null}, "violation_counts": {}, "policy_query_count": 101, "terminated_reason": "max_steps", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 17790, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_80_episode_06/summary.json b/gpt6_astra_10x_icl/source_runs/task_80_episode_06/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..9b45cf40e3ec689d97e38fd2835102c679d626bb --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_80_episode_06/summary.json @@ -0,0 +1,226 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 208000000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 1, + "successes": 0, + "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": 17790, + "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": 0.0 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "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": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "desk_organize_interaction": 0.0 + } + }, + "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": null, + "expert_time_s": 19.75, + "expert_time_step": 1185, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "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": 0.009499718943226532, + "finger_joint_limit_saturation_step_rate": 0.0012928611579539066, + "max_joint_limit_excess_rad": 0.23547814786434174, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint2_1": 4, + "l_f_joint2_2": 24, + "l_f_joint3_2": 4, + "r_f_joint2_1": 21, + "r_f_joint2_2": 118, + "r_f_joint2_3": 10, + "r_f_joint2_4": 1, + "r_f_joint3_1": 15, + "r_f_joint3_2": 23 + }, + "joint_limit_hard_counts": { + "l_f_joint2_1": 12, + "l_f_joint2_2": 3, + "l_f_joint3_2": 1, + "l_f_joint5_2": 1, + "r_f_joint2_1": 25, + "r_f_joint2_2": 15, + "r_f_joint2_3": 6, + "r_f_joint2_4": 5, + "r_f_joint3_1": 2, + "r_f_joint3_2": 3 + }, + "joint_limit_hard_episode_events": 55, + "finger_joint_limit_saturation_counts": { + "r_f_joint2_2": 23, + "r_f_joint3_2": 1 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 1.764820240168774e-06, + "l_f_joint1_3": 0.000272563163889572, + "l_f_joint2_1": 0.021874375641345978, + "l_f_joint2_2": 0.08696341514587402, + "l_f_joint2_3": 0.00041361566400155425, + "l_f_joint3_1": 0.0016213696217164397, + "l_f_joint3_2": 0.013225442729890347, + "l_f_joint3_3": 0.0011589402565732598, + "l_f_joint5_1": 0.0011005997657775879, + "l_f_joint5_2": 0.008272343315184116, + "l_f_joint5_3": 0.0030717705376446247, + "r_f_joint1_1": 1.5617259123246185e-05, + "r_f_joint1_2": 0.00391697883605957, + "r_f_joint2_1": 0.020900340750813484, + "r_f_joint2_2": 0.23547814786434174, + "r_f_joint2_3": 0.032912641763687134, + "r_f_joint2_4": 0.01071139145642519, + "r_f_joint3_1": 0.14287959039211273, + "r_f_joint3_2": 0.17991173267364502, + "r_f_joint3_3": 0.0013538990169763565, + "r_f_joint3_4": 3.0246753794926917e-06, + "r_f_joint4_1": 0.0010098121128976345, + "r_f_joint4_2": 0.0002688664535526186, + "r_f_joint4_3": 0.0008461897377856076, + "r_f_joint4_4": 1.56726182467537e-05, + "r_f_joint5_1": 0.0009659351781010628, + "r_f_joint5_2": 0.00025383810861967504, + "r_f_joint5_3": 6.181868957355618e-05, + "r_f_joint5_4": 1.3965003745397553e-05 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + 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"runtime": { + "avg_steps": 17790, + "error_count": 0 + } + } +} diff --git a/gpt6_astra_10x_icl/source_runs/task_80_episode_07/per_episode.jsonl b/gpt6_astra_10x_icl/source_runs/task_80_episode_07/per_episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..328d69bd5a7cdf5520dd1ed570791f852a76628a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_80_episode_07/per_episode.jsonl @@ -0,0 +1 @@ +{"scene": "scenes/80_gaming_desk_setup.yaml", "episode_index": 7, "seed": 208000006, "success": false, "steps": 17391, "metric_schema_version": "core-v1.8-policy-step-query-split", "error": "Policy infrastructure failure", "episode_seed": 208000006, "base_seed": 208000000, "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": 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0.10000000149011612, 1.2899999618530273, 1.2899999618530273, 1.2899999618530273]}, "joint_limit_active_steps": 488, "joint_limit_hard_episode_events": 51, "joint_limit_in_core_safety": false, "finger_joint_limit_saturation_steps": 356, "max_joint_limit_excess_rad": 3.102194309234619, "max_joint_limit_excess_joint": "r_f_joint1_2", "joint_role_manifest_available": true, "joint_role_manifest_robot_key": "multi_jaka_zu7_dexhand021_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": 488, "joint_limit_active_step_rate": 0.028060491058593526, "finger_joint_limit_saturation_steps": 356, "finger_joint_limit_saturation_step_rate": 0.020470358231269047, "max_joint_limit_excess_rad": 3.102194309234619, "max_joint_limit_excess_joint": "r_f_joint1_2", "stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "current_stage_completion": {"straighten_monitor": false, "press_escape_key": false, "click_left_mouse_button": false}, "stage_first_completion_step": {"straighten_monitor": null, "press_escape_key": null, "click_left_mouse_button": null}, "violation_counts": {"high_speed_obj_090_display_1": 1}, "policy_query_count": 97, "terminated_reason": "error", "timeseries": null, "evaluation_protocol": "reach_and_stop", "early_stop": true, "max_episode_steps": 17790, "dwell_time_s": 0.5} diff --git a/gpt6_astra_10x_icl/source_runs/task_80_episode_07/summary.json b/gpt6_astra_10x_icl/source_runs/task_80_episode_07/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f378de2d0953c3e6802e9f1486f62132e818546a --- /dev/null +++ b/gpt6_astra_10x_icl/source_runs/task_80_episode_07/summary.json @@ -0,0 +1,280 @@ +{ + "metric_schema_version": "core-v1.8-policy-step-query-split", + "metadata": { + "policy_name": "gpt-6-astra", + "base_seed": 208000000, + "seed_policy": "episode_seed = base_seed + episode_index - 1", + "randomization_recorded": true, + "n_episodes": 1, + "successes": 0, + "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": 17790, + "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": 0.0 + }, + "efficiency": { + "avg_time_to_success_s": null + }, + "safety": { + "safe_success_rate": 0.0, + "hard_violation_rate": 1.0, + "drop_rate": 0.0, + "high_speed_violation_rate": 1.0, + "safety_violation_step_rate": 0.0006900120752113162 + }, + "robustness": {} + }, + "diagnostic_metrics": { + "completion": { + "ever_instant_success_rate": 0.0, + "at_end_success_rate": 0.0, + "task_family_success_rate": { + "desk_organize_interaction": 0.0 + } + }, + "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": null, + "expert_time_s": 19.75, + "expert_time_step": 1185, + "avg_steps_to_success": null, + "avg_policy_steps_to_success": null, + "avg_policy_queries_to_success": null + }, + "safety": { + "safety_violation_events_per_step": 5.7501006267609686e-05, + "violation_counts": { + "high_speed_obj_090_display_1": 1 + }, + "robot_constraint_violation_rate": 1.0, + "finger_joint_limit_saturation_rate": 1.0, + "joint_limit_active_step_rate": 0.028060491058593526, + "finger_joint_limit_saturation_step_rate": 0.020470358231269047, + "max_joint_limit_excess_rad": 3.102194309234619, + "robot_constraint_diagnostics": { + "joint_limit_soft_counts": { + "l_f_joint2_1": 8, + "l_f_joint5_1": 22, + "l_f_joint5_2": 7, + "l_f_joint5_3": 17, + "l_f_joint5_4": 1, + "r_f_joint1_1": 42, + "r_f_joint1_2": 169, + "r_f_joint1_3": 53, + "r_f_joint1_4": 59, + "r_f_joint2_1": 108, + "r_f_joint2_2": 57, + "r_f_joint2_3": 134, + "r_f_joint2_4": 58, + "r_f_joint3_1": 166, + "r_f_joint3_2": 133, + "r_f_joint3_3": 192, + "r_f_joint3_4": 36, + "r_f_joint4_1": 122, + "r_f_joint4_2": 130, + "r_f_joint4_3": 215, + "r_f_joint4_4": 22, + "r_f_joint5_1": 1, + "r_f_joint5_2": 137, + "r_f_joint5_3": 113 + }, + "joint_limit_hard_counts": { + "l_f_joint2_1": 3, + "l_f_joint5_1": 1, + "l_f_joint5_2": 3, + "l_f_joint5_3": 2, + "l_f_joint5_4": 1, + "r_f_joint1_1": 1, + "r_f_joint1_2": 2, + "r_f_joint1_3": 5, + "r_f_joint1_4": 3, + "r_f_joint2_1": 20, + "r_f_joint2_2": 2, + "r_f_joint2_3": 4, + "r_f_joint2_4": 5, + "r_f_joint3_1": 10, + "r_f_joint3_2": 16, + "r_f_joint3_3": 4, + "r_f_joint3_4": 1, + "r_f_joint4_1": 6, + "r_f_joint4_2": 10, + "r_f_joint4_3": 4, + "r_f_joint4_4": 3, + "r_f_joint5_1": 4, + "r_f_joint5_2": 8, + "r_f_joint5_3": 5 + }, + "joint_limit_hard_episode_events": 51, + "finger_joint_limit_saturation_counts": { + "l_f_joint5_1": 20, + "r_f_joint1_1": 23, + "r_f_joint1_2": 152, + "r_f_joint1_3": 32, + "r_f_joint1_4": 33, + "r_f_joint2_1": 12, + "r_f_joint2_2": 39, + "r_f_joint2_3": 89, + "r_f_joint2_4": 8, + "r_f_joint3_1": 124, + "r_f_joint3_2": 96, + "r_f_joint3_3": 167, + "r_f_joint3_4": 31, + "r_f_joint4_1": 74, + "r_f_joint4_2": 98, + "r_f_joint4_3": 192, + "r_f_joint5_2": 63, + "r_f_joint5_3": 102 + }, + "joint_limit_max_excess_by_joint": { + "l_f_joint1_1": 1.8447893523898529e-07, + "l_f_joint1_3": 0.0009237508056685328, + "l_f_joint2_1": 0.037092819809913635, + "l_f_joint2_3": 0.002948801964521408, + "l_f_joint3_1": 0.0011609300272539258, + "l_f_joint3_2": 7.373910921160132e-05, + "l_f_joint3_3": 0.00041663646697998047, + "l_f_joint3_4": 1.3663688491760695e-07, + "l_f_joint4_1": 0.0002909760514739901, + "l_f_joint4_2": 0.0010262727737426758, + "l_f_joint4_3": 0.00033485889434814453, + "l_f_joint4_4": 5.198870439926395e-06, + "l_f_joint5_1": 0.5622321367263794, + "l_f_joint5_2": 0.06314897537231445, + "l_f_joint5_3": 0.11478531360626221, + "l_f_joint5_4": 0.010350704193115234, + "r_f_joint1_1": 0.33867931365966797, + "r_f_joint1_2": 3.102194309234619, + "r_f_joint1_3": 0.3678777813911438, + "r_f_joint1_4": 0.5744991898536682, + "r_f_joint2_1": 0.25723811984062195, + "r_f_joint2_2": 1.0164289474487305, + "r_f_joint2_3": 0.6718995571136475, + "r_f_joint2_4": 0.16117382049560547, + "r_f_joint3_1": 0.6440406441688538, + "r_f_joint3_2": 1.3038331270217896, + "r_f_joint3_3": 1.1936389207839966, + "r_f_joint3_4": 0.89860999584198, + "r_f_joint4_1": 0.7206621766090393, + "r_f_joint4_2": 0.9932243227958679, + "r_f_joint4_3": 1.654885172843933, + "r_f_joint4_4": 0.11977958679199219, + "r_f_joint5_1": 0.010152008384466171, + "r_f_joint5_2": 0.4253727197647095, + "r_f_joint5_3": 0.5482697486877441, + "r_f_joint5_4": 0.0024138533044606447 + }, + "coverage": { + "hard_limit_source": { + "available": 1, + "unavailable": 0, + "unknown": 0 + }, + "joint_role_manifest": { + "available": 1, + "unavailable": 0, + "unknown": 0 + } + }, + "hard_limit_sources": { + "runtime.joint_pos_limits": 1 + }, + "soft_limit_sources": { + "runtime.soft_joint_pos_limits": 1 + }, + "unknown_runtime_joint_names": [], + "baseline_checks": { + "post_home": { + "checked": 1, + "hard_violation_episodes": 0 + }, + "post_reset": { + "checked": 1, + "hard_violation_episodes": 0 + } + } + } + }, + "robot_motion": { + "joint_acceleration_rms": 27.228276672477108, + "joint_effort_rms": 35.38487933964878, + "joint_jerk_rms": 2808.4549162077806, + "joint_velocity_rms": 0.5492956995186048 + }, + "grasp": { + "kinematic_grasp_stability_index": 0.0, + "mean_kinematic_grasp_stability": null, + "per_object_best_kinematic_grasp_stability": { + "obj_300_mouse_3": 0.0 + }, + "grasp_gsi_diagnostics": { + "mean_anti_slip_score": 1.0, + "mean_duration_score": 0.0, + "mean_hold_score": 0.0, + "mean_kinematic_stability_score": 0.0, + "mean_legacy_gsi": 0.19999999999994408, + "mean_lift_score": 0.0, + "mean_motion_stability_score": 0.0 + } + }, + "tool": { + 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